CHAPTER 4

EQUILIBRIUM OF A RIGID BODY

R.C.Hibbeler Book – page 175

SUHAILA SAHAT
 Chapter Objectives

• To develop the equation of equilibrium.

• To introduce the concept of the free body diagram.
• To show how to solve rigid body equilibrium
problems in two and three dimensions.
Types of Support and
Support Reaction
 Idealized Models

04_06b
04_06a
Types of Loads
Axial Load / Point Load

Uniform Distributed Load

L/2 L/2

Triangle Uniform
Distributed Load
2 1
L L
3 3
Example 4.1

A simple supported beam is subjected to the corresponding loads.

Determine the reaction at support A and B.
Example 4.2

A simple supported beam is subjected to the corresponding load and

concentrated moment. Determine the reaction at support A and B.
Example 4.2
Example 4.4
A simple supported beam is subjected to the corresponding loads.
Determine the reaction at support A and B.
Example 4.5
A simple supported beam is subjected to the corresponding loads.
Determine the reaction at support A and B.
Example 4.6
A simple supported beam is subjected to the corresponding loads.
Determine the reaction at support A.
Example 4.7
The figure shows a pin-connected at A and rests against a smooth
surface at B. Compute the horizontal and vertical components of
reaction at the pin A.
Friction on Rigid
Bodies

Definition:
A force that resists the
movement between two
contacting surfaces that
slide relative to one
another.

This force always acts

tangent to the surface at
the points of contact, and is
directed so as to oppose
the possible or existing
motion between the
surfaces.
The Laws of Dry Friction. Coefficients of
Friction
• Block of weight W placed on horizontal
surface. Forces acting on block are its weight
and reaction of surface N.

• Small horizontal force P applied to block. For

block to remain stationary, in equilibrium, a
horizontal component F of the surface reaction
is required. F is a static-friction force.

• As P increases, the static-friction force F

increases as well until it reaches a maximum
value Fm.
Fm   s N

• Further increase in P causes the block to begin

to move as F drops to a smaller kinetic-friction
force Fk.
Fk   k N
The Laws of Dry Friction. Coefficients of
Friction
• Maximum static-friction force:
Fm  s N

• Kinetic-friction force:
Fk   k N
 k  0.75 s

• Maximum static-friction force and kinetic- friction

force are:
- proportional to normal force
- dependent on type and condition of contact
surfaces
- independent of contact area
The Laws of Dry Friction. Coefficients of
Friction
• Four situations can occur when a rigid body is in contact with
a horizontal surface:

• No friction, • No motion, • Motion impending, • Motion,

(Px = 0) (Px < Fm) (Px = Fm) (Px > Fm)
 Angles of
Friction
• It is sometimes convenient to replace normal force
N and friction force F by their resultant R:

• No friction • No motion • Motion impending • Motion

tans 
Fm

sN Tan  k 
Fk

 kN
N N N N
tans  s Tan  k   k
 Angles of
Friction
• Consider block of weight W resting on board with
variable inclination angle 

• No friction • No motion • Motion • Motion

impending
 Problems Involving Dry
Friction

• All applied forces known • All applied forces known • Coefficient of static
friction is known
• Coefficient of static friction • Motion is impending
is known • Motion is impending
• Determine value of coefficient
• Determine whether body of static friction. • Determine magnitude or
will remain at rest or slide direction of one of the
applied forces
 Sample Problem
SOLUTION:
• Determine values of friction force
and normal reaction force from plane
required to maintain equilibrium.

• Calculate maximum friction force

and compare with friction force
required for equilibrium. If it is
greater, block will not slide.

• If maximum friction force is less

A 100 N force acts as shown on a 300 N than friction force required for
block placed on an inclined plane. The equilibrium, block will slide.
coefficients of friction between the block Calculate kinetic-friction force.
and plane are s = 0.25 and k = 0.20.
Determine whether the block is in
equilibrium and find the value of the
friction force.
Sample Problem
SOLUTION:
• Determine values of friction force and normal
reaction force from plane required to maintain
equilibrium.
 Fx  0 : 100 N - 53 300 NF  0
F  80 N

 Fy  0 : N - 45 300 N  0

N  240 N
• Calculate maximum friction force and compare
with friction force required for equilibrium. If it is
greater, block will not slide.
Fm  sN Fm  0.25240 N  60 N

The block will slide down the plane.

Sample Problem
• If maximum friction force is less than friction
force required for equilibrium, block will slide.
Calculate kinetic-friction force.
Factual  Fk  kN
 0.20240 N
Factual  48 N
 Sample Problem
SOLUTION:
• When W is placed at minimum x, the
bracket is about to slip and friction
forces in upper and lower collars are at
maximum value.
• Apply conditions for static equilibrium
to find minimum x.

The moveable bracket shown may be

placed at any height on the 3-cm
diameter pipe. If the coefficient of
friction between the pipe and bracket is
0.25, determine the minimum distance
x at which the load can be supported.
Neglect the weight of the bracket.
Sample Problem
SOLUTION:
• When W is placed at minimum x, the bracket is about to
slip and friction forces in upper and lower collars are at
maximum value.
FA  sN A  0.25N A
FB  sN B  0.25NB
• Apply conditions for static equilibrium to find minimum x.
 Fx  0 : N B  N A 0 N B  NA
 Fy  0 : FA  FB W  0
0.25N A  0.25NB W  0
0.5N A  W N A  N B  2W
 M B  0 : N A 6 cm FA 3 cmW x 1.5 cm  0
6N A  30.25NA W x 1.5  0
62W  0.752W W x 1.5  0
x 12 cm