CHAPTER-5

Equilibrium of a Rigid Body

Book:
▪ Engineering Mechanics Statics, R. C. Hibbeler, 12th Ed
 EQUILIBRIUM OF A RIGID BODY
• Conditions for Rigid Body Equilibrium

• Free Body Diagrams

• Equations of Equilibrium
 CONDITIONS FOR RIGID BODY EQUILIBRIUM
• In order to develop both the necessary and sufficient
conditions for the equilibrium, consider a rigid body
which is subjected to an external force and couple
moment system that is the result of the effects of
gravitational, electrical, magnetic, or contact forces
caused by adjacent bodies.
• The internal forces caused by interactions between
particles within the body are not shown in this
figure because these forces occur in equal but
opposite collinear pairs and hence will cancel out, a
consequence of Newton’s third law.
 CONDITIONS FOR RIGID BODY EQUILIBRIUM
• Force and Couple Moment System acting on a body can be reduced
to an Equivalent Resultant Force and Resultant Couple moment at
any arbitrary point O on or off the body
• If this Resultant Force and Couple Moment are both equal to zero,
then the body is said to be in Equilibrium
• Mathematically, the equilibrium of a body is expressed as:

• When applying the Equations of Equilibrium, It will be assumed that

the body remains Rigid
• In reality, all bodies deform when subjected to loads, but most
Engineering Materials such as Steel and Concrete are very Rigid and
so their deformation is usually very small
 FREE BODY DIAGRAMS
• Successful application of the equations of equilibrium requires a complete specification of
all the known and unknown external forces that act on the body
• The best way to account for these forces is to draw a free-body diagram
• This diagram is a sketch of the outlined shape of the body, which represents it as being
isolated or “free” from its surroundings, i.e., a “free body”
• On this sketch it is necessary to show all the forces and couple moments that the
surroundings exert on the body so that these effects can be accounted for when the
equations of equilibrium are applied

• A thorough understanding of how to draw a free-body diagram is of primary importance

for solving problems in mechanics
 FREE BODY DIAGRAMS
Support Reactions
• General Rule regarding the various types of Reactions that occur at
supports and points of contact between bodies subjected to Coplanar
Force Systems are:
– If a support prevents the translation of a body in a given
direction, then a force is developed on the body in that direction
– If rotation is prevented, a couple moment is exerted on the body

Roller Support
• This support only prevents the beam from translating in the Vertical
Direction, therefore, a Roller will only exert a force on the beam in this
direction
 FREE BODY DIAGRAMS
Pin Support
• The beam can be supported in a more restrictive
manner by using a pin
• The pin passes through a hole in the beam and
two leaves which are fixed to the ground
• Here the pin can prevent translation of the beam
in any direction Φ and so the pin must exert a
force F on the beam in this direction
• For purposes of analysis, it is generally easier to
represent this resultant force F by its two
rectangular components Fx and Fy
• If Fx and Fy are known, then F and Φ can be
calculated
 FREE BODY DIAGRAMS
Fixed Support
• The most restrictive way to support the beam would
be to use a fixed support
• This support will prevent both translation and
rotation of the beam
• To do this a force and couple moment must be
developed on the beam at its point of connection
• As in the case of the pin, the force is usually
represented by its rectangular Fx and Fy
COMMON TYPES OF SUPPORTS FOR BODIES SUBJECTED TO COPLANAR
FORCE SYSTEMS.
COMMON TYPES OF SUPPORTS FOR BODIES SUBJECTED TO COPLANAR
FORCE SYSTEMS.
COMMON TYPES OF SUPPORTS FOR BODIES SUBJECTED TO COPLANAR
FORCE SYSTEMS.
COMMON TYPES OF SUPPORTS FOR BODIES SUBJECTED TO COPLANAR
FORCE SYSTEMS.
 FREE BODY DIAGRAMS
Internal Forces

• Internal Forces cancel each other

• They will not create an external effect on the body,
therefore, should not be included on the Free-body
Diagram if the entire body is to be considered
• For example, internal forces between all the
connected engine parts such as the screws and bolts,
will cancel out because they form equal and opposite
collinear pairs
• Only the external forces T1 and T2, exerted by the
Chains and the Engine Weight W, are shown on the
Free-body Diagram
 FREE BODY DIAGRAMS
Weight and The Center of Gravity

• When a body is within a Gravitational Field, then each of its particles has a Specified
Weight
• Such a system of forces can be reduced to a single resultant force acting through a
specified point referred to as the Weight W of the body and to the location of its point
of application as the Center Of Gravity
• When the body is uniform or made from the same material, the center of gravity will be
located at the Body’s Geometric Center or Centroid
• If the body consists of a Non-uniform Distribution of material, or has an unusual shape,
then the location of its center of gravity G will be given
EXAMPLE 5-1
Draw the free-body diagram of the uniform beam shown. The beam has a mass of
100 kg.
EXAMPLE 5-2
Draw the free-body diagram of the foot lever shown. The operator applies a vertical
force to the pedal so that the spring is stretched 1.5 in. and the force in the short link at
B is 20 lb.
EXAMPLE 5-3
Two smooth pipes, each having a mass of 300 kg, are supported by the forked tines of
the tractor. Draw the free-body diagrams for each pipe and both pipes together.
EXAMPLE 5-4
Draw the free-body diagram of the unloaded platform that is suspended off the edge of
the oil rig shown. The platform has a mass of 200 kg.
 FREE BODY DIAGRAMS
Examples:
5.1, 5.2,5.3, 5.4
Fundamental Problems:
-
Practice Problems:
5-2, 5-4, 5-5, 5-8
PROBLEM 5-2
Draw the free-body diagram of member AB, which is supported by a roller at A and
a pin at B. Explain the significance of each force on the diagram.
PROBLEM 5-4
Draw the free-body diagram of the beam which supports the 80-kg load and is
supported by the pin at A and a cable which wraps around the pulley at D. Explain
the significance of each force on the diagram
PROBLEM 5-5
Draw the free-body diagram of the truss that is supported by the cable AB and pin C.
PROBLEM 5-8
Draw the free-body diagram of member ABC which is supported by a smooth collar
at A, roller at B, and short link CD.
EXAMPLE 5-5
Determine the horizontal and vertical components of reaction on the beam caused by
the pin at B and the rocker at A. Neglect the weight of the beam.
EXAMPLE 5-7
The member is pin-connected at A and rests against a smooth support at B. Determine
the horizontal and vertical components of reaction at the pin A.
EXAMPLE 5-10
The uniform smooth rod is subjected to a force and couple moment. If the rod is
supported at A by a smooth wall and at B and C either at the top or bottom by rollers,
determine the reactions at these supports. Neglect the weight of the rod.
EXAMPLE 5-12
Determine the support reactions on the member. The collar at A is fixed to the
member and can slide vertically along the vertical shaft.