Engineering Mechanics (ME-221)

• Book: Vector Mechanics for Engineers Statics and dynamics

By: Beer & Johnston
• Chapter # 4: Equilibrium of Rigid Bodies
 Contents
Introduction Equilibrium of a Rigid Body in Three
Dimensions
Free-Body Diagram
Reactions at Supports and Connections for a
Reactions at Supports and Connections fo
r a Two-Dimensional Structur Three-Dimensional Structure
e Sample Problem 4.8
Equilibrium of a Rigid Body in Two
Dimensions
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
Introduction
• 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.

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

body are that the resultant force and couple from all external forces
form a system equivalent to zero,
   
 F  0  M O   r  F   0

• Resolving each force and moment into its rectangular components

leads to 6 scalar equations which also express the conditions for
static equilibrium,
 Fx  0  F y  0  Fz  0
Mx  0 M y  0 Mz  0

4-3
Free-Body Diagram
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 extent of the free-body and detach it

from the ground and all other bodies.

• Indicate point of application, magnitude, and

direction of external forces, including the rigid
body weight.

• Indicate point of application and assumed

direction of unknown applied forces. These
usually consist of reactions through which the
ground and other bodies oppose the possible
motion of the rigid body.

• Include the dimensions necessary 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.

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

4-6
Equilibrium of a Rigid 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
where A is any point in the plane of the
structure.

• 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
4-7
Statically Indeterminate Reactions

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

equations equations, partially and equations but
constrained improperly constrained
4-8
 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.
4-9
 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.

4 - 10
 Sample Problem 4.3
SOLUTION:
• Create a free-body diagram for the car
with the coordinate system aligned
with the track.

• Determine the reactions at the wheels

by solving equations for the sum of
moments about points above each axle.

• 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.
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 Sample Problem 4.3
• 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 - 12
 Sample Problem 4.4
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.

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 Sample Problem 4.4
• 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
4 - 14
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.

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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.

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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  M O   r  F   0

4 - 17
Reactions at Supports and Connections for a Three-
Dimensional Structure

4 - 18
Reactions at Supports and Connections for a Three-
Dimensional Structure

4 - 19
 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 - 20
 Sample Problem 4.8
  
rD  rB
TBD  TBD  
rD  rB
  
 8i  4 j  8k
 TBD
12
 1 2
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
 3 2
Since there are only 5 unknowns, 6 
 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 - 21
 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 - 22
Problems

• Examples: All
• 4.F1 to 4.F4
• 4.1 to 4.4
• 4.8 to 4.12
• 4.23, 4.25, 4.26

4 - 23