Chapter 04

Equilibrium of Rigid Bodies

Application

Engineers
designing this
crane will need
to determine the
forces that act
on this body
under various
conditions.

4-2
Introduction
• For a rigid body, the condition of static equilibrium means that the
body under study does not translate or rotate under the given loads
that act on the body

• The necessary and sufficient conditions for the static equilibrium of a

body are that the forces sum to zero, and the moment about any point
sum to zero:
   
 F  0  M O   r  F   0

• Equilibrium analysis can be applied to two-dimensional or three-

dimensional bodies, but the first step in any analysis is the creation of
the free body diagram

4-3
Free-Body Diagram
The first step in the static equilibrium analysis of a
rigid body is identification of all forces acting on
the body with a free body diagram.

• Select the body to be analyzed and detach it

from the ground and all other bodies and/or
supports.
• Indicate point of application, magnitude, and
direction of external forces, including the rigid
body weight.

• Indicate point of application and assumed

direction of unknown forces from reactions of
the ground and/or other bodies, such as the
supports.

• Include the dimensions, which will be needed

to compute the moments of the forces.

4-4
Reactions at Supports and Connections for a Two-Dimensional Structure

• Reactions equivalent to a
force with known line of
action.

• Refer to figure 4.1 on

page 163. Use this
table for most two
dimensional structures.

4-5
Reactions at Supports and Connections for a Two-Dimensional Structure

• Reactions equivalent to a
force of unknown direction
and magnitude.

• Reactions equivalent to a
force of unknown
direction and magnitude
and a couple.of unknown
magnitude

Refer to figure 4.1 on page 163. Use this table for most two
dimensional structures.
4-6
Practice
The frame shown supports part of
the roof of a small building. Your
goal is to draw the free body
diagram (FBD) for the frame.

On the following page, you will

choose the most correct FBD for
this problem.
Sample Problem 4.4
On page 171

4-7
Practice

A B
150 kN

B is the most correct, though C is also

Choose the most correct. A & D are incorrect; why?
correct FBD for the C 150 kN
D
150 kN
150 kN
original problem.
Why each choice is
correct or incorrect?

4-8
Equilibrium of a Rigid Body in Two Dimensions
• For known forces and moments that act on a
two-dimensional structure, the following are
true:
Fz  0 M x  M y  0 M z  M O

• Equations of equilibrium become

 Fx  0  Fy  0  M A  0
where A can be any point in the plane of
the body.
• The 3 equations can be solved for no more
than 3 unknowns.

• The 3 equations cannot be augmented with

additional equations, but they can be replaced
 Fx  0  M A  0  M B  0

4-9
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 kg solving the equations for the sum of
and is used to lift a 2400 kg crate. It all horizontal force components and
is held in place by a pin at A and a all vertical force components.
rocker at B. The center of gravity of
the crane is located at G. • Check the values obtained for the
reactions by verifying that the sum of
Determine the components of the
the moments about B of all forces is
reactions at A and B.
zero.
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   9.81 kN 2m 
 23.5 kN 6m   0
B  107.1 kN

• Determine the reactions at A by solving the

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

 Fy  0 : Ay  9.81kN  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.

• Apply the equilibrium equations

for the reaction force components
The frame supports part of the roof of and couple at E.
a small building. The tension in the
cable is 150 kN.
Determine the reaction at the fixed
end E.

4 - 12
Sample Problem 4.4
• Which equation is correct?
4.5
A.  xF  0 : E x  150 kN   0
7.5
E x  90.0 kN
B.  Fx  0 : Ex  cos36.9o 150kN 0

C.  Fx  0 : Ex  sin 36.9o 150kN 0

 E x  90.0 kN
• The free-body diagram was
6
created in an earlier exercise.

D.  Fx  0 : Ex 
7.5

150kN 0
• Apply one of the three
equilibrium equations. Try
using the condition that the E.  Fx  0 : Ex  sin 36.9o 150kN 0
sum of forces in the x- 
• What does the negative sign signify?
direction must sum to zero.

• Why the others are incorrect ?
4 - 13
Sample Problem 4.4
• Which equation is correct?
A.  Fy  0 : Ey  420kN sin 36.9o 150kN 0

6
B.  Fy  0 : Ey  420kN 
150kN 0
 7.5

C.  Fy  0 : Ey  420kN cos36.9 150kN 0

o

 Ey  200 kN
• Now apply the condition 6
D.  
 Fy  0 : E y  4 20 kN  150 kN   0
that the sum of forces in  7.5
the y-direction must sum Ey  200 kN

to zero. 6
E.  Fy  0 : Ey  420kN 150kN 0
7.5
• What does the positive sign signify?

• Why the others are incorrect?
 4 - 14
Sample Problem 4.4
• Three good points are D, E, and F.
What advantage each point has over the
others, or perhaps why each is equally
good?
• Assume that you choose point E to
apply the sum-of-moments condition.
Write the equation and compare your
answer with a neighbor.
 M E  0 :  20 kN 7.2 m   20 kN 5.4 m 

• Finally, apply the condition  20 kN 3.6 m   20 kN 1.8 m 

that the sum of moments about 6
any point must equal zero.  150 kN 4.5 m  M E  0
7.5
• Which point is the best for M E  180.0 kN  m
applying this equilibrium
• What is the origin of each term in the
condition, and why?
above equation? What the positive
value of ME means?
4 - 15
Practice

A 2100-lb tractor is used to

lift 900 lb of gravel.
Determine the reaction at
each of the two rear wheels
and two front wheels

• First, create a free body diagram.

• Second, apply the equilibrium
What steps to take to conditions to generate the three
solve this problem? equations, and use these to solve
for the desired quantities.
4 - 16
Practice
• Draw the free body diagram of the tractor (on your own first).
• From among the choices, choose the best FBD, and discuss the
problem(s) with the other FBDs.

A. B.

FA 2100 lb FB FA 2100 lb FB

C. D.

FA 2100 lb FB FA 2100 lb FB
4 - 17
Practice
Now let’s apply the equilibrium
conditions to this FBD.
• Start with the moment equation:

 M pt  0
FA FB
2100 lb
• What’s the advantage to
starting with this instead of the
other conditions?
Points A or B are equally 
good because each results in • About what point should we
an equation with only one sum moments, and why?
unknown.

4 - 18
Practice
Assume we chose to use point B.
Choose the correct equation for
 M B  0.

FA 2100 lb FB A. + FA (60 in.)- 2100lb (40 in.)- 900 lb (50 in.)= 0


B. + FA (20 in.)- 2100lb (40 in.)- 900 lb (50 in.)= 0

C. - FA (60 in.)- 2100lb (40 in.)+ 900 lb (50 in.)= 0

D. - FA (60 in.) + 2100lb (40 in.)- 900 lb (50 in.)= 0

FA=650 lb, so the reaction at each wheel is 325 lb
4 - 19
Practice

Now apply the final equilibrium

condition, SFy = 0.

FA FB
2100 lb
FA  2100 lb + FB  900 lb = 0
or + 650 lb 2100 lb+ FB  900 lb = 0
 FB  2350 lb, or 1175 lb at each front wheel

Why was the third equilibrium

 condition, SFx = 0 not used?

4 - 20
What if…?
W=? • Now suppose we have a different
problem: How much gravel can this
tractor carry before it tips over?
• How you would solve this problem.
• Hint: Think about what the free
2100 lb FB
body diagram would be for this
situation…
W

2100 lb FB
4 - 21