Eighth Edition

CHAPTER VECTOR MECHANICS FOR

4
ENGINEERS: STATICS
Ferdinand P. Beer
Equilibrium of Rigid Bodies
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Texas Tech University

© 2007 The McGraw-Hill Companies, Inc. All rights reserved.

 Vector Mechanics for Engineers: Statics
Edition
Eighth

Contents
Introduction Equilibrium of a Rigid Body in Three
Dimensions
Free-Body Diagram
Reactions at Supports and Connections fo Reactions at Supports and Connections for a
r a Two-Dimensional Structur Three-Dimensional Structure
e Sample Problem 4.8
Equilibrium of a Rigid Body in Two Dim
ensions
Statically Indeterminate Reactions
Sample Problem 4.1
Sample Problem 4.3
Sample Problem 4.4
Equilibrium of a Two-Force Body
Equilibrium of a Three-Force Body
Sample Problem 4.6

4-2
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Introduction
Equilibrium of body
When numbers of forces and moments acting on body, if the resultant of
such forces and moments is equal to zero the body is said to be in equilibrium.
Than according to Newton first law of motion the body will sustain its initial state
of rest or motion.
For a rigid body in static equilibrium, the external forces and moments
are balanced and will impart no translational or rotational motion to the body

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 Vector Mechanics for Engineers: Statics
Edition
Eighth


FR = 0---------------------------- 1
It means the components of FR is also zero, we get
ΣFx = 0
ΣFY = 0 ------------------------------------- A
ΣFz = 0
Similarly the moment produce by each force and given moments are also
equal to zero to maintain the equilibrium.
ΣMR = 0---------------------------- 1
It means the components of MR is also zero, we get
ΣMx = 0
ΣMY = 0 ------------------------------------- B
ΣMz = 0   4-4
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

SUPPORTS OR CONNECTIONS:
The supports or connections are provided in structure (frame, truss, machine
etc) to prevent the motion of body in particular direction. The motion may be
Translational or rotational and even both in particular direction.
The supports or connections provide the necessary reactions needed to
maintain the structure in the same position (in static equilibrium).
These supports and connections are classified according to the reaction
provided by supports as shown in figure and discussed as under.

1. Reactions Equivalent to a Force with Known Line of Action

2. Reactions Equivalent to a Force of Unknown Direction and Magnitude.

3. Reactions Equivalent to a Force and a Couple (moment).

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Classification of reactions
Reactions Equivalent to a Force with Known Line of Action
The supports and connections which prevent motion in one direction
only have one reaction. The magnitude of reaction is unknown but the line
of action of reaction is known.
Supports and connections causing reactions of this type include
1. Rollers 2. Rockers
3. Frictionless surfaces 4. Short links
5. Cables
6. Collars on frictionless rods
7. Frictionless pins in slots.
These supports are shown in table 1 and table 2, together with the
reactions they produce. Each of these reactions involves one unknown. The
line of action of the reaction is known and should be indicated clearly in
the free-body diagram.

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Classification of reactions

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Classification of reactions
2. Reactions Equivalent to a Force of Unknown Direction and Magnitude.
These Supports and connections prevent translation of the body in all directions,
but they cannot prevent the body from rotating about the connection.
Causing reactions of this type include
1. Frictionless pins in fitted holes 2. Hinges
3. Rough surfaces
All these supports are shown table 3 and table 4.
Reactions induced by this group involve two unknowns and are usually
represented by their x and y components. In the case of a rough surface, the
component normal to the surface must be directed away from the surface.

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Classification of reactions
3. Reactions Equivalent to a Force and a Couple (moment).
These supports and connections prevents the motion in all the direction as
well as the rotation.
For example fixed supports, which oppose any motion of the free body
and thus constrain it completely.
Reactions of this group involve three unknowns, consisting usually of the
two components of the force and the moment of the couple..

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Equilibrium of body in two dimensions

Equilibrium of body in two dimensions
Consider a truss shown in fig (a) is subjected to the given forces P, Q, and S.
The truss is held in place (statics Equilibrium) by providing a pin support
at A and a roller support at B.
The pin support prevents point A from moving by exerting on the truss a
force which can be resolved into the components Ax and Ay.
The roller keeps the truss from rotating about A by exerting the vertical
force B. The free-body diagram of the truss is shown in Fig. (b)

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Equilibrium of body in two dimensions

In FBD all the unknown reactions Ax, Ay and B as well as the applied
known forces P, Q, S (the rectangular components of each force) and the weight W
of the truss shown.
The possible equations of equilibrium, for all forces and moments acting on
structure is given by
ΣFx = 0 ΣMx = 0
ΣFY = 0 ΣMY = 0
ΣFz = 0 ΣMz = 0

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Equilibrium of body in two dimensions

• For all forces and moments acting on a two-dimensional structure,
Fz  0 M x  M y  0 M z  M O
Equations of equilibrium become
 Fx  0  Fy  0  M A  0
• The 3 equations can be solved for no more than 3 unknowns
• The 3 equations can not be augmented with additional equations, but they can be
replaced
 Fx  0  M A  0  M B  0

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Statically Indeterminate Reactions

• More unknowns than • Fewer unknowns than • Equal number unknowns

equations equations, partially and equations but
constrained improperly constrained
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

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 - 14
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

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  107.1 kN

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

• Check the values obtained.

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.2

SOLUTION:
T
• Create a free-body diagram for the car
with the coordinate system aligned
in 25 with the track.
50 0S
R1 WY
=5
• Determine the reactions at the wheels
Wx = 5500 Cos 25
by solving equations for the sum of
moments about points above each axle.
R2 W = 5500 lb
• Determine the cable tension by
A loading car is at rest on an inclined solving the equation for the sum of
track. The gross weight of the car and force components parallel to the track.
its load is 5500 lb, and it is applied at
at G. The cart is held in position by • Check the values obtained by verifying
the cable. that the sum of force components
perpendicular to the track are zero.
Determine the tension in the cable and
the reaction at each pair of wheels.
4 - 16
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.2

• Determine the reactions at the wheels.
 M A  0 :   2320 lb  25in.   4980 lb  6in.
 R2  50in.  0
R2  1758 lb

 M B  0 :   2320 lb 25in.   4980 lb  6in.

 R1  50in.  0
R1  562 lb
• Create a free-body diagram
W x   5500 lb  cos 25 • Determine the cable tension.

 4980 lb  Fx  0 :  4980 lb  T  0
T  4980 lb
W y   5500 lb  sin 25
 2320 lb
4 - 17
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.3

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.

4 - 18
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.3

• 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 for  M E  0 :  20 kN 7.2 m   20 kN 5.4 m 

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

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample problem 4.5

The 480-kg bent bar ABC of
uniform cross section is supported Solution
by a pin at A and a vertical cable at Draw free body diagram
C. The weight of bar AB is 160 kg
and weight of BC is 360 kg. Ry
Determine the pin reactions and the
force in the cable.
Rx

W2
T
W1

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sapmle problem 4.6

The bent beam ABC is attached to a pin at
C and rests against a roller support at B. Solution
Neglecting the weight of the beam, find Draw free body diagram
the reactions at B and C caused by the
150-kg load

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample problem 4.7

Compute all reactions at the base A of the Solution
traffic light standard, given that the Draw free body diagram
tension in the cable BC is (a) T = 544 lb;
and (b) T =0. The weight of the standard
is negligible compared with the 320-lb
weight of the traffic light.

T
W

Ax

AY

MA
4 - 22
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample problem 4.7

A 2100-lb tractor is used to lift 900 lb of Solution
gravel. Determine the reaction at each of the Draw free body diagram
two (a) rear wheels A, (b) font wheels B.

2RA 2RB

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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.9

Three point (concentrated) loads are Solution
applied to a over hanging beam as Draw free body diagram
shown. The beam is supported by a
roller at A and by a pin at B.
Neglecting the weight of the beam,
determine the reactions at A and B
when P = 15 kips.

RX

RA
RB

4 - 24
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.9

Neglecting the weight of the beam, Solution
determine the reactions at A and B Beam = simply supported
Load = Uniformly distributed load (UDL)
Support at A = Roller
Support at B = Hinge or pined
Draw free body diagram

Convert UDL into

point load or single load or resultant load =
RX UDL * span of UDL
= 300 * 15 = 4500 lbs
And it acts at a distance = 15/2 = 7.5 ft from the
support.

RB RA

4 - 25
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.9

Neglecting the weight of the beam, Solution
determine the reactions at A and B Beam = simply supported
Load = varying load
Support at A = Roller
Support at B = Hinge or pined
Draw free body diagram

RX
RB
RA
4 - 26
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.9

Neglecting the weight of the truss, Solution
determine the reactions at A and H Truss = simply supported
Load = concentrated load
Support at A = Roller
Support at B = Hinge or pined
Draw free body diagram

RX

RA RH

4 - 27
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Equilibrium of a Two-Force Body

• Consider a plate subjected to two forces F1 and F2

• For static equilibrium, the sum of moments about A

must be zero. The moment of F2 must be zero. It
follows that the line of action of F2 must pass
through A.

• Similarly, the line of action of F1 must pass

through B for the sum of moments about B to be
zero.

• Requiring that the sum of forces in any direction be

zero leads to the conclusion that F1 and F2 must
have equal magnitude but opposite sense.

4 - 28
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Equilibrium of a Three-Force Body

• Consider a rigid body subjected to forces acting at
only 3 points.

• Assuming that their lines of action intersect, the

moment of F1 and F2 about the point of intersection
represented by D is zero.

• Since the rigid body is in equilibrium, the sum of the

moments of F1, F2, and F3 about any axis must be
zero. It follows that the moment of F3 about D must
be zero as well and that the line of action of F3 must
pass through D.
• The lines of action of the three forces must be
concurrent or parallel.

4 - 29
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.6

SOLUTION:
• Create a free-body diagram of the joist.
Note that the joist is a 3 force body acted
upon by the rope, its weight, and the
reaction at A.
• The three forces must be concurrent for
static equilibrium. Therefore, the reaction
A man raises a 10 kg joist, of R must pass through the intersection of the
length 4 m, by pulling on a lines of action of the weight and rope
rope. forces. Determine the direction of the
Find the tension in the rope and reaction force R.
the reaction at A. • Utilize a force triangle to determine the
magnitude of the reaction force R.

4 - 30
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.6

• Create a free-body diagram of the joist.

• Determine the direction of the reaction

force R.
AF  AB cos 45   4 m  cos 45  2.828 m
CD  AE  12 AF  1.414 m
BD  CD cot(45  20)  1.414 m  tan 20  0.515 m
CE  BF  BD   2.828  0.515 m  2.313 m
CE 2.313
tan    1.636
AE 1.414

  58.6

4 - 31
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.6

• Determine the magnitude of the reaction
force R.
T R 98.1 N
 
sin 31.4 sin 110  sin 38.6

T  81.9 N
R  147.8 N

4 - 32
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Equilibrium of a Rigid Body in Three Dimensions

• Six scalar equations are required to express the
conditions for the equilibrium of a rigid body in the
general three dimensional case.
 Fx  0  Fy  0  Fz  0
Mx  0 My  0 Mz  0

• These equations can be solved for no more than 6

unknowns which generally represent reactions at supports
or connections.
• The scalar equations are conveniently obtained by applying the
vector forms of the conditions for equilibrium,
 F  0  MO   r  F   0
   

4 - 33
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Reactions at Supports and Connections for a Three-

Dimensional Structure

4 - 34
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Reactions at Supports and Connections for a Three-

Dimensional Structure

4 - 35
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.8

SOLUTION:
• Create a free-body diagram for the sign.

• Apply the conditions for static

equilibrium to develop equations for
the unknown reactions.

A sign of uniform density weighs 270

lb and is supported by a ball-and-
socket joint at A and by two cables.
Determine the tension in each cable
and the reaction at A.

4 - 36
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.8

 
 rD  rB
TBD  TBD  
rD  rB
  
 8i  4 j  8k
 TBD
12
2
 1 2

 TBD  3 i  3 j  3 k
 
 rC  rE
TEC  TEC  
rC  rE
  
• Create a free-body diagram for the  6i  3 j  2k
 TEC
sign. 7
Since there are only 5 unknowns, 6
 3 2

 TEC  7 i  7 j  7 k
the sign is partially constrain. It is
free to rotate about the x axis. It is,
however, in equilibrium for the
given loading.
4 - 37
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 Vector Mechanics for Engineers: Statics
Edition
Eighth

Sample Problem 4.8

    
F  A  TBD  TEC   270 lb  j  0

i: Ax  23 TBD  76 TEC  0

j: Ay  13 TBD  73 TEC  270 lb  0

k: Az  23 TBD  72 TEC  0
      
MA  rB  TBD  rE  TEC   4 ft  i    270 lb  j  0

j: 5.333TBD  1.714 TEC  0

k: 2.667 TBD  2.571TEC  1080 lb  0
• Apply the conditions for
static equilibrium to Solve the 5 equations for the 5 unknowns,
develop equations for the
unknown reactions. TBD  101.3 lb TEC  315 lb
   
A   338 lb i  101.2 lb j   22.5 lb k

4 - 38
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