Question 1 - Answer Model

Given the truss system in figure 1. LBC : LAC : LAB = 5 : 12 : 13

LCD : LBC : LBD = 5 : 12 : 13
LCE : LCD : LDE = 3 : 4 : 5
B

Px = 8P
Py = 5P

A C
Px
D
E

Py

Figure 1: Truss structure loaded with forces Px and Py .

a. Determine the reaction forces in D and E. Use figure 3 of the answer pages for the FBD. Hint : do not
elaborate on the fractions!
b. Show that the truss system is statically determinate.
c. Determine the forces in the trusses AC, BC and BD. Use, depending on the method you choose,
either figure 4 or figure 5 (the latter contains more fields than necessary!). Obey the sign conventions
and indicate in your answer whether the forces are tensile or compressive.
d. Assess whether it was needed to calculate the reaction forces, as done in 1a, to answer 1c.

1
 B

13
5 13
12
12 5 Dy

Px = 8P C Dx
A
4 D
3
5
E
Py = 5P

Ey
L

Figure 1: (a) FBD of truss.

2
Question 1(a)
The following steps have to be followed to calculate the reaction forces:
1. Draw a FBD of the complete truss system.
2. Formulate the equations of equilibrium.
3. Solve the equations of equilibrium.
The equations of equilibrium for the force in x and y direction read:
X
Fx = 0 : − Px + Dx = 0 (1)
X
Fy = 0 : − Py + Dy + Ey = 0 (2)

The equilibrium equation for the moment depend on the chosen reference point, which, for that
reason, should be explicitly mentioned. Choosing a ‘handy’ point results in a short and easy to solve
equation. The point D is chosen for that reason. The unknown reaction forces in D do not appear in
this equation. The only unknown is the reaction force in E.

The equation for the moment equilibrium reads:

X
Mz,D = 0 : Py LAD − Ey LCD = 0 (3)

Note:

LAD = LAC + LCD = L + LCD (4)

5 25
LCD = LBC = L (5)
12 144
(6)

Therefore, from Eq.3 the unknown reaction force Ey is obtained as,

169
Ey = P (7)
5
and upon substituting Ey in Eq.(2), we get the unknown reaction Dy ,

−144
Dy = P (8)
5
Alternative method: An alternative method is to use two moment equations and a force equation.
The points about which moment equations are written should not lie on the same line. The equations
of equilibrium are:
X
Fx = 0 : −Px + Dx = 0 (9)
X
Mz,C = 0 : Py L + Dy LCD = 0 (10)
X
Mz,D = 0 : Py LAD − Ey LCD = 0 (11)
(12)

Summarising:

Dx = 8P (13)
−144
Dy = P (14)
5
169
Ey = P (15)
5

3
Question 1(b)
For a truss system, static determinacy is determined by considering the number of members (m), unknown
reaction forces (r) and the number of joints (j). There is one unknown member force per member m
and 2 equations per joint. The number of unknown reaction forces depends on the given problem.

Therefore, a truss system should satisfy the following equation to be statically determinable. Note
that this equation does not prove static stability.

m+r = 2·j (16)

In this problem, m = 7, r = 3 and j = 5. The equation Eq.(16) is thus satisfied, hence it is a
statically determinate system.

Question 1(c)
One of the following two methods can be chosen to solve this question:
1. The method of sections
2. The method of joints

Method of Sections
A FBD must be made in which exactly three trusses are sectioned. Either the top-left, or bottom-right
part of the structure can be chosen. In other words: one FBD is sufficient.

Top-left part The equations of equilibrium read:

X 5
Fx = 0 : FBD = 0
− Px + FAC + (17)
13
X 12
Fy = 0 : − Py − FBC − FBD = 0 (18)
13
X 5
Mz,C = 0 : Py L − FBD LBC = 0 (19)
13
5
Where, LBC = 12 L

The equation for the moment about point C directly gives the solution for FBD :
13 12 156 156
FBD = · Py L = 5P = P (20)
5 5L 25 5
Thus, FBC can be calculated with equation 18:
12 12 · 13 169
FBC = −5P − · P =− P (21)
13 5 5
Finally solving FAC with equation 17 gives:
5 5 12 · 13
FAC = Px − FBD = 8P − · P = −4P (22)
13 13 5
A few alternative moment equations can be used:
X
Mz,B = 0 : − Px LBC + Py L + FAC LBC = 0 (23)
X
Mz,D = 0 : Py LAD + FBC LCD = 0 (24)
(25)
169 25
Where, LAD = 144 and LCD = 144 .

4
 B
Top-left section

section line
13
5 13
12
12 5
Px = 8P A C
FBD
FAC 4
3
FBC
5
Py = 5P
L

Or
Bottom-right section

FBD

13
FBC
5
13 D
12 12 y

FAC
5
C Dx

4 D
3
5
E
section line

Ey

Figure 1: (b) FBD of sections for using method of section. Two alternatives are presented.

5
Bottom-right part The equations of equilibrium read:
X 5
Fx = 0 : − FAC − FBD + Dx = 0 (26)
13
X 12
Fy = 0 : FBC + FBD + Ey + Dy = 0 (27)
13
X
Mz,D = 0 : − Ey LCD − FBC LCD = 0 (28)

The alternative moment equations mentioned in the previous section can be used here as well.

The unknown member forces FAC , FBC and FBD can be solved from the above equations Eqs.(26, 27,
28).

Method of Joints
The first step is to draw the FBDs of the joints. There are different routes to the solution. A lot of time
can be saved if one first tries to analyse which route is the best one. This is not always clear though
(practise makes perfect ) and therefore a pragmatic solution is to draw the FBD for all (five) joints.
However, only the necessary FBD’s are shown here and rest is left to the student to practice.

B
13
FAB
5 FAB
12
Px = 8P A
13 FBD
5
FAC 12 FBC

Py = 5P 12 13

Figure 1: (b) FBD of two joints (A and B) for using method of joints.

FBD A The equations of equilibrium read:

X 12
Fx = 0 : − Px + FAC + FAB = 0 (29)
13
X 5
Fy = 0 : − Py + FAB = 0 (30)
13
(31)

FBD B The equations of equilibrium read:

X 12 5
Fx = 0 : − FAB + FBD = 0 (32)
13 13
X 5 12
Fy = 0 : − FBC − FAC − FBD = 0 (33)
13 13
(34)

6
 The above 6 equations can be solved to obtain the unknown member forces FAC , FBC and FBD . Just
for the sake of completeness, the intermediate solution FAB = 13P .

Summarized, the following has been found:

|FAC | = −4P compressive

|FBC | = − 169
5 P compressive (35)
|FBD | = 156
5 P tensile

At the outset all the unknown forces are assumed as tensile forces (note: a force pointing away
from the joint is the tensile force with which the truss pulls on the joint!). Positive values are tensile
forces, while negative forces indicate compressive forces in the beam. This must be applied consistently
throughout the exercise, hence the sign of the final answers indicate the actual direction of the member
force.

Question 1(d)
Upon assessing the solution procedures (method of joints and/or method of sections), the reaction forces
are not required to solve for the unknown member forces AC, BC and BD.
1. If one uses the method of joints, the solution can be obtained by solving equilibrium equations
for Joint A and Joint B successively. There are 2 unknown forces in each joint in this sequence
(A→B), and the support reactions are not involved.

2. If you choose to use method of sections, a cut can be made through members AC, BC and BD and
the top-left part of the truss can be chosen for analysis. This part of the truss does not involve the
support reactions.

7
Question 2 - Answer Model
Figure 2 shows a 2D view of a hospital-bed raising mechanism frozen at a moment in time. The con-
struction is made of massless rigid linkages and hydraulic pistons. The lower platform on wheels is not
a part of the question and is shown in dotted lines just for completeness. The members coloured in gray
are fixed to the platform and can be assumed to be fixed to the ground.
The following additional assumptions and data are also given:
1. BCE, DG, and EFGH are rigid linkages. AB and IF are hydraulic pistons.
2. Members DG and IF are not intersecting with each other.
3. All 9 pin joints from A to I are assumed to be ideal and frictionless hinges.
4. Assume a patient of mass m [kg] is lying on the bed with a center of gravity CGPatient .
5. The CGPatient falls halfway between points I and H in the horizontal axis. Hence, the weight is
equally distributed over I and H.
6. Assume the horizontal reaction forces at I and H are equal and opposite.
7. Use notations LAB , LBC , LCE ...LIH and so on for lengths of members.


Patient

F
D E
A B

L   t t

C
Assume
   

D  ne is a construction line

Figure 2: Question 2: Mechanism of hospital bed.

Answer the following questions:

a) Define a two-force member by giving valid properties of a two-force member. Are there any two
force member(s) in the mechanism shown in Figure 2? If so, which of the member(s)?
b) Draw the Free Body Diagram (FBD) for the whole structure (use Figure 3(b)).
c) Draw the FBD of member AB (use Figure 3(c)).
d) Draw the FBD of member BCE (use Figure 3(d)).
e) Draw the FBD of members DG (use Figure 3(e)
f) Draw the FBD of member IF (use Figure 3(f)).
g) Draw the FBD of member EFGH (use Figure 3(g)).
h) Write the equations of equilibrium for the 6 FBDs drawn in the previous questions 2(b)-2(g).
Find the reaction forces at joint E and the force in cylinder IF in terms of m, α and β.

8
Question 2(a):
1. A structural member for which, the net resultant forces acting at the ends (supports or joints) of
the member are:
• Equal in magnitude and opposite in direction;
• Are collinear (acts on the same line of action);
• The line of action passes through the end joints(supports) of the member.
• Additional point: Shape of the member is irrelevant when it satisfies the above criteria.
2. Members AB, DG and IF are two-force members.

Figure 3: (a). Answer space for question 2(a)

9
 F
10

F
!
y

F ||
F
!


A
D
A


FA
F
y

"


F
"
y

Figure 3: (b) FBD of full structure.

 Two force member
version

F
11

||
FD
FA A
D

F
#
$

F ;
#
%

Figure 3: (b) FBD of full structure.

F &' A F )'

FA
(
F )(
and mention FAy = FBy = 0

or

FA A F )

Figure 3: (c) FBD of member AB.

12
 F -, F .+

F
-+

F .,

F*+

F *, F
.,

or
F
.+

F-

F *+

F
*,

Figure 3: (d) FBD of member BCE.

13
 D or
F
/

FD D

Figure 3: (e) FBD of member DG.

14
 F

or

Figure 3: (f) FBD of member IF.

or

F 2 F 34
2
34

F
76

F 74
1 F7
1

F F6

F F4
F FF F

F 54
0
F
0

54

F 56
F 56

Figure 3: (g) FBD of member EFGH.

15
Question 2(b-g)
The Free body diagram is complete when the following items are present:
• A suitable coordinate system
• All important dimensions and angles of members denoted as symbols or numbers to enable
writing equilibrium equations.
• Supports or connections to external world should not be present, however relevant support
reactions should be present.
• Full FBD: Reaction forces should only be mentioned for the supports/constraints to external
world. Not at the joints between any members, they are internal forces.
– The choice of direction of reaction forces at supports is free.
• FBD of individual members: The reaction forces at matching joints should be equal and
opposite to each other (using Newton’s 3rd law).
– In case of a two-force member, the resultant force direction should be along the line
connecting the joints of the member. The resultant forces at the joints should be equal in
magnitude and shown to be opposite in direction.

Question 2(e) and 2(f )

If Question 2(a) is answered correctly then the FBD of member DG in Figures 3(e) and 3(f) is
expected to show the resultant forces at the joints with respect to the two-force member theory.

Question 2(h)
All written equations will be evaluated for correctness. However, additional equations will not fetch
more points than necessary.
The equilibrium equation should be complete and correct withP respect toPthe respective FBD to attain
the allocated points. Atmost
P two force-equilibrium equations ( Fx = 0, Fy = 0) and one
moment-equilibrium ( Mx = 0) equation can be written for each member; except for a two-force
member where the moment equation is not necessary. Every moment equation should mention the
point about which the moments are considered. As in Mx , where x is the reference point about which
the moments are calculated.
The equations of equilibrium for the members are as follows, where, units of forces are in Newton and
lengths in mm.

Member AB:

−FA = FB (36)

or
X
Fx = 0 : −FAx + FBx = 0 (37)
X
Fy = 0 : FAy − FBy = 0 (38)

However, for a two-force member the ratio of vertical-to-horizontal components of force should be equal
to the geometric ratio of rise-to-run of the member. Therefore, for a horizontal two-force member,
FAy FBy 0
= = (39)
FAx FBx LAB
⇒ FAy = FBy = 0 (40)

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Member BCE:

X
Fx = 0 : −FBx + FCx + FEx = 0 (41)
X
Fy = 0 : FCy − FEy = 0 (42)
X
MC = 0 : FBx · LBC cos(α) − FEx · LCE sin(α) + FEy · LCE cos(α) = 0 (43)

Member DG:

−FD = FG (44)
or
X
Fx = 0 : −FDx + FGx = 0 (45)
X
Fy = 0 : −FDy + FGy = 0 (46)

DF is a two force member, therefore,

FDy FGy
= = tan(α) (47)
FDx FGx
(48)

Member IF:

FI = −FF (49)
or
X
Fx = 0 : FIx − FF x = 0 (50)
X
Fy = 0 : −FIy + FF y = 0 (51)

Since the load of the patient mg lies in the middle of IH,

mg
FIy = (52)
2
As per the properties of a two-force member,
FIy FF y
= = tan(β) (53)
FIx FF x
mg
⇒ FIx = (54)
2 tan(β)

Member EFGH:

X
Fx = 0 : −FEx + FF x − FGx − FHx = 0 (55)
X
Fy = 0 : −FHy − FGy − FF y − FEy = 0 (56)
X
ME = 0 : −FF x · LEF + FGx · 2LEF + FHx · 3LEF = 0 (57)
or
X
Fx = 0 : −FEx + FF cos(β) − FG cos(α) − FHx = 0 (58)
X
Fy = 0 : −FHy − FG sin(α) − FF sin(β) − FEy = 0 (59)
X
ME = 0 : −FF cos(β) · LEF + FG cos(α) · 2LEF + FHx · 3LEF = 0 (60)

17
Reactions at joint E:
The final answer should be derived in terms of m, α, β
The known variables are as follows:

From Eq.(54)
mg
FIx = (61)
2 tan(β)
FF x = FIx (since IF is a two-force member) (62)

From Eq.(52)
mg
FIy = (63)
2
Similar to FIy , point H carries the rest of the patients vertical load,
mg
FHy = (64)
2
From assumption 6 given in question,

FHx = FIx (magnitudes) (65)

Upon substituting the above known variables in Eq.(60),

−FIx −mg
FG = = (66)
cos(α) 2 tan(β) cos(α)

Substituting FG from Eq.(66) in Eq.(59), we get FEy as,

 
mg tan(α)
FEy = −2 (67)
2 tan(β)

Substituting FG , FF and FHx in Eq.(58)

mg
FEx = (68)
2 tan(β)

Force in member IF:

The final answer should be derived in terms of m, α, β.
Option 1: Resultant force
q
FI = FIx 2 + F2 (69)
Iy
s
mg 1 mg
= 1+ = (70)
2 tan2 (β) 2 sin(β)

Option 2: Approach from Eq.(63):

The answer to this question can also be directly calculated from the given data:
1. Force mg acts half way between I and F
2. The assumption that the force magnitudes FIx = FHx
⇒ FIy = mg
2 (from two-force member theory).

Since IF is a two force member FIy = FI sin(β)

Thus,
mg
FI = (71)
2 sin(β)

18