EQUILIBRIUM OF A RIGID BODY

Statics
• A particle is in a state of equilibrium if the resultant force
and moment acting on it are zero
• According to Newton’s law of motion, it will have no
acceleration and will be a rest
• solid bodies, structures or any subdivided part will be in
equilibrium if the resultant of all external forces and
moments is zero
• This may be expressed mathematically in the Cartesian
co-ordinate axes x, y and z, as follows:

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 Components of force:

• Fx, Fy and Fz
 Fx  0 represent
components of
F y 0 force in the x, y
and z directions,

F z 0
respectively

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 Components of moment:

Mx  0 • Mx, My and Mz

represent
components of
My  0 moment in the x, y
and z directions,
respectively
Mz  0
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 Equations of Equilibrium for 2D

F x 0
F y 0
M O 0

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 Alternative Sets of Equilibrium
Equations

F
Walaupun pers diatas sering
digunakan, namun ada 2 pers a 0
M
alternatif yang sering
digunakan. Pers pertama A 0
adalah:
M
B 0
Pers ini dapat digunakan jika titik A dan B tidak
segaris, dimana garis tersebut tegaklurus
terhadap aksis a (lihat gbr dibawah)

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 Cont’

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 Alternatif Kedua adalah:
M A 0
M B 0
M C 0

Pers ini digunakan jika titik

A, B dan C tidak segaris,
dimana garis tersebut
tegaklurus terhadap aksis a

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 Types of Support and Connection for Structural
Components

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 Cont’

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 Sample Problem 4.1
SOLUTION:
• Create a free-body diagram for the
crane.
• Determine B by solving the equation
for the sum of the moments of all
forces about A. Note there will be
no contribution from the unknown
reactions at A.
• Determine the reactions at A by
A fixed crane has a mass of 1000 solving the equations for the sum
kg and is used to lift a 2400 kg of all horizontal force components
crate. It is held in place by a pin and all vertical force components.
at A and a rocker at B. The
center of gravity of the crane is • Check the values obtained for the
located at G. reactions by verifying that the sum
of the moments about B of all
Determine the components of the
forces is zero.
reactions at A and B. 4 - 10
 Sample Problem 4.1
• Determine B by solving the equation for
the sum of the moments of all forces
about A.
 M A  0 :  B1.5m  9.81kN2m
 23.5 kN6m  0
B  107.1kN

• Determine the reactions at A by solving

the equations for the sum of all
• Create the free-body
horizontal forces and all vertical forces.
diagram.
 Fx  0 : Ax  B  0
Ax  107.1 kN

 Fy  0 : Ay  9.81 kN  23.5 kN  0
Ay  33.3 kN

• Check the values obtained.

4 - 11
 Sample Problem 4.4
SOLUTION:
• Create a free-body diagram for
the frame and cable.
• Solve 3 equilibrium equations for
the reaction force components
and couple at E.

The frame supports part of the roof

of a small building. The tension in
the cable is 150 kN.
Determine the reaction at the fixed
end E.

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 Sample Problem 4.4
• Solve 3 equilibrium equations for
the reaction force components and
couple. 4 .5
 xF  0 : E x  150 kN   0
7 .5
E x  90.0 kN

6
 Fy  0 : E y  420 kN   150 kN   0
7 .5
E y  200 kN

• Create a free-body diagram  M E  0 :  20 kN7.2 m   20 kN5.4 m 

for the frame and cable.
 20 kN3.6 m   20 kN1.8 m 
6
 150 kN 4.5 m  M E  0
7.5
M E  180.0 kN  m
4 - 13
 Sample Problem 7.1
SOLUTION:
• Compute reactions and forces at
connections for each member.

• Cut member ACF at J. The internal

forces at J are represented by equivalent
force-couple system which is determined
by considering equilibrium of either part.

• Cut member BCD at K. Determine

force-couple system equivalent to
Determine the internal forces (a) in internal forces at K by applying
member ACF at point J and (b) in equilibrium conditions to either part.
member BCD at K.

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 Sample Problem 7.1
SOLUTION:
• Compute reactions and connection forces.

Consider entire frame as a free-body:

ME  0:
 2400 N 3.6 m   F 4.8 m   0 F  1800 N
 Fy  0 :
 2400 N  1800 N  E y  0 E y  600 N

 Fx  0 : Ex  0

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 Sample Problem 7.1
Consider member BCD as free-body:

MB  0:
 2400 N 3.6 m   C y 2.4 m   0 C y  3600 N
 MC  0 :
 2400 N 1.2 m   B y 2.4 m   0 B y  1200 N
 Fx  0 :  Bx  C x  0

Consider member ABE as free-body:

MA  0: Bx 2.7 m   0 Bx  0
 Fx  0 : B x  Ax  0 Ax  0
 Fy  0 :  Ay  B y  600 N  0 Ay  1800 N

From member BCD,

 Fx  0 :  Bx  C x  0 Cx  0
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 Sample Problem 7.1
• Cut member ACF at J. The internal forces at J are
represented by equivalent force-couple system.

Consider free-body AJ:

MJ  0:
 1800 N 1.2 m   M  0 M  2160 N  m
 Fx  0 :
F  1800 N  cos 41.7  0 F  1344 N
 Fy  0 :
V  1800 N  sin 41.7  0 V  1197 N

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 Sample Problem 7.1
• Cut member BCD at K. Determine a force-couple
system equivalent to internal forces at K .

Consider free-body BK:

MK  0:
1200 N 1.5 m   M  0 M  1800 N  m

 Fx  0 : F 0
 Fy  0 :
 1200 N  V  0 V  1200 N

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