Engineering Mechanics: Statics in SI Units, 12e: Equilibrium of A Rigid Body

Engineering Mechanics:
Statics in SI Units, 12e

5
Equilibrium of a Rigid Body
Copyright 2010 Pearson Education South Asia Pte Ltd
Chapter Objectives
Develop the equations of equilibrium for a rigid body
Concept of the free-body diagram for a rigid body
Solve rigid-body equilibrium problems using the
equations of equilibrium
Chapter Outline
1.
2.
3.
4.
5.
6.
7.
Conditions for Rigid Equilibrium

Free-Body Diagrams
Equations of Equilibrium
Two and Three-Force Members
Free Body Diagrams
Constraints and Statical Determinacy
5.1 Conditions for Rigid-Body Equilibrium
The equilibrium of a body is expressed as

FR F 0
M R O M O 0
Consider summing moments about some other point,

such as point A, we require
r FR M R O 0
5.2 Free Body Diagrams

Support Reactions
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.

Internal Forces
External and internal forces can act on a rigid body

For FBD, internal forces act between particles which
are contained within the boundary of the FBD, are not
represented
Particles outside this boundary exert external forces
on the system

Weight and Center of Gravity
Each particle has a specified weight

System can be represented by a single resultant force,
known as weight W of the body
Location of the force application is known as the
center of gravity

Procedure for Drawing a FBD
1. Draw Outlined Shape
Imagine body to be isolated or cut free from its
constraints
Draw outline shape
2. Show All Forces and Couple Moments

Identify all external forces and couple moments that
act on the body

3. Identify Each Loading and Give Dimensions
Indicate dimensions for calculation of forces
Known forces and couple moments should be properly
labeled with their magnitudes and directions
Example 5.1
Draw the free-body diagram of the uniform beam. The
beam has a mass of 100kg.
Solution
Free-Body Diagram
Solution
Free-Body Diagram
Support at A is a fixed wall
Three forces acting on the beam at A denoted as Ax, Ay,
Az, drawn in an arbitrary direction
Unknown magnitudes of these vectors
Assume sense of these vectors
For uniform beam,
Weight, W = 100(9.81) = 981N
acting through beams center of gravity, 3m from A
5.3 Equations of Equilibrium
Please refer to
the Companion
CD for the
animation:
Equilibrium of
a Free Body
For equilibrium of a rigid body in 2D,

Fx = 0; Fy = 0; MO = 0
Fx and Fy represent sums of x and y components of
all the forces
MO represents the sum of the couple moments and
moments of the force components
Please refer to
the Companion
CD for the
animation:
Equilibrium of
a Free Body
Alternative Sets of Equilibrium Equations

For coplanar equilibrium problems,
Fx = 0; Fy = 0; MO = 0
2 alternative sets of 3 independent equilibrium
equations,
Fa = 0; MA = 0; MB = 0
Please refer to
the Companion
CD for the
animation:
Equilibrium of
a Free Body
Procedure for Analysis

Free-Body Diagram
Force or couple moment having an unknown
magnitude but known line of action can be assumed
Indicate the dimensions of the body necessary for
computing the moments of forces
Please refer to
the Companion
CD for the
animation:
Equilibrium of
a Free Body

Apply MO = 0 about a point O
Unknowns moments of are zero about O and a direct
solution the third unknown can be obtained
Orient the x and y axes along the lines that will provide
the simplest resolution of the forces into their x and y
components
Negative result scalar is opposite to that was assumed
on the FBD
Example 5.5
Determine the horizontal and vertical components of
reaction for the beam loaded. Neglect the weight of the
beam in the calculations.
Solution
Free Body Diagrams
600N represented by x and y components
200N force acts on the beam at B
Solution
Fx 0;
600 cos 45 N Bx 0 Bx 424 N
M B 0;
100 N (2m) (600 sin 45 N )(5m) (600 cos 45 N )(0.2m) Ay (7 m) 0
Ay 319 N
Fy 0;
319 N 600 sin 45 N 100 N 200 N B y 0
B y 405 N
5.4 Two- and Three-Force Members

Two-Force Members
When forces are applied at only two points on a
member, the member is called a two-force member
Only force magnitude must be determined
5.4 Two- and Three-Force Members

Three-Force Members
When subjected to three forces, the forces are
concurrent or parallel
Example 5.13
The lever ABC is pin-supported at A and connected to a
short link BD. If the weight of the members are negligible,
determine the force of the pin on the lever at A.
Solution
Free Body Diagrams
BD is a two-force member
Lever ABC is a three-force member
0 .7
60.3
0 .4
Fx 0; FA cos 60.3 F cos 45 400 N 0
tan 1
Fy 0;
Solving,
FA sin 60.3 F sin 45 0
FA 1.07 kN
F 1.32kN
5.5 Free-Body Diagrams

Support Reactions
As in the two-dimensional case:
A force is developed by a support
A couple moment is developed when rotation of the
attached member is prevented
The forces orientation is defined by the coordinate
angles , and
Example 5.14
Several examples of objects along with their associated
free-body diagrams are shown. In all cases, the x, y and z
axes are established and the unknown reaction
components are indicated in the positive sense. The
weight of the objects is neglected.
Solution

Vector Equations of Equilibrium
For two conditions for equilibrium of a rigid body in
vector form,
F = 0 MO = 0
Scalar Equations of Equilibrium

If all external forces and couple moments are
expressed in Cartesian vector form
F = Fxi + Fyj + Fzk = 0
MO = Mxi + Myj + Mzk = 0
5.7 Constraints for a Rigid Body

Redundant Constraints
More support than needed for equilibrium
Statically indeterminate: more unknown
loadings than equations of equilibrium

Improper Constraints
Instability caused by the improper constraining by the
supports
When all reactive forces are concurrent at this point,
the body is improperly constrained

Free Body Diagram
Draw an outlined shape of the body
Show all the forces and couple moments acting on the
body
Show all the unknown components having a positive
sense
Indicate the dimensions of the body necessary for
computing the moments of forces

Apply the six scalar equations of equilibrium or vector
equations
Any set of non-orthogonal axes may be chosen for this
purpose
Choose the direction of an axis for moment summation
such that it insects the lines of action of as many
unknown forces as possible
Example 5.15
The homogenous plate has a mass of 100kg and is
subjected to a force and couple moment along its edges.
If it is supported in the horizontal plane by means of a
roller at A, a ball and socket joint at B, and a cord at C,
determine the components of reactions at the supports.
Solution
Free Body Diagrams
Five unknown reactions acting on the plate
Each reaction assumed to act in a positive coordinate
direction
Fx 0; Bx 0
Fy 0; B y 0
Fz 0; Az Bz TC 300 N 981N 0
Solution
M x 0; TC (2m) 981N (1m) BZ (2m) 0
M y 0;
300 N (1.5m) 981N (1.5m) Bz (3m) Az (3m) 200 N .m 0
Components of force at B can be eliminated if x, y and

z axes are used
M x ' 0;981N (1m) 300 N (2m) Az (2m) 0
M y ' 0;
300 N (1.5m) 981N (1.5m)200 N .m TC (3m) 0
Solution
Solving,
Az = 790N Bz = -217N TC = 707N
The negative sign indicates Bz acts downward
The plate is partially constrained as the supports
cannot prevent it from turning about the z axis if a force
is applied in the x-y plane
QUIZ
1. If a support prevents translation of a body, then the
support exerts a ___________ on the body.
A) Couple moment
B) Force
C) Both A and B.
D) None of the above
2. Internal forces are _________ shown on the free body
diagram of a whole body.
A) Always
B) Often
C) Rarely
D) Never
QUIZ
3. The beam and the cable (with a frictionless pulley at D)
support an 80 kg load at C. In a FBD of only the
beam, there are how many unknowns?
A) 2 forces and 1 couple moment
B) 3 forces and 1 couple moment
C) 3 forces
D) 4 forces
QUIZ
4. Internal forces are not shown on a free-body diagram
because the internal forces are_____.
A) Equal to zero
B) Equal and opposite and they do not affect the
calculations
C) Negligibly small
D) Not important
QUIZ
5. The three scalar equations FX = FY = MO = 0,
are ____ equations of equilibrium in two dimensions.
A) Incorrect
B) The only correct
C) The most commonly used D) Not sufficient
6. A rigid body is subjected to forces.
This body can be considered
as a ______ member.
A) Single-force
B) Two-force
C) Three-force
D) Six-force
QUIZ
7. For this beam, how many support reactions are there
and is the problem statically determinate?
A) (2, Yes)
B) (2, No) C) (3, Yes) D) (3, No)
F
8. The beam AB is loaded as shown: a) how many

support reactions are there on the beam, b) is this
problem statically determinate, and c) is the structure
Fixed
stable?
F
support
A) (4, Yes, No)
B) (4, No, Yes)
A
B
C) (5, Yes, No)
D) (5, No, Yes)
QUIZ
9. Which equation of equilibrium allows you to determine
FB right away?
100 lb
A) FX = 0
B) FY = 0
AX A
B
C) MA = 0
D) Any one of the above.
F
AY
10. A beam is supported by a pin joint and a roller. How

many support reactions are there and is the structure
stable for all types of loadings?
A) (3, Yes) B) (3, No)
C) (4, Yes) D) (4, No)
QUIZ
11.
If a support prevents rotation of a body about an

axis, then the support exerts a ________ on the
body about that axis.
A) Couple moment
B) Force
C) Both A and B.
D) None of the above.
12.
When doing a 3-D problem analysis, you have

________ scalar equations of equilibrium.
A) 3
B) 4
C) 5
D) 6
QUIZ
13. The rod AB is supported using two cables at B and a
ball-and-socket joint at A. How many unknown
support reactions exist in this problem?
A) 5 force and 1 moment reaction
B) 5 force reactions
C) 3 force and 3 moment reactions
D) 4 force and 2 moment reactions
QUIZ
14. If an additional couple moment in the vertical direction is applied
to rod AB at point C, then what will happen to the rod?
A) The rod remains in equilibrium as the cables provide the
necessary support reactions.
B) The rod remains in equilibrium as the ball-and-socket joint will
provide the necessary resistive reactions.
C) The rod becomes unstable as the cables cannot support
compressive forces.
D) The rod becomes unstable since a
moment about AB cannot be restricted.
QUIZ
15. A plate is supported by a ball-and-socket joint at A, a
roller joint at B, and a cable at C. How many unknown
support reactions are there in this problem?
A) 4 forces and 2 moments
B) 6 forces
C) 5 forces
D) 4 forces and 1 moment
QUIZ
16. What will be the easiest way to determine the force
reaction BZ ?
A) Scalar equation FZ = 0
B) Vector equation MA = 0
C) Scalar equation MZ = 0
D) Scalar equation MY = 0

Engineering Mechanics: Statics in SI Units, 12e: Equilibrium of A Rigid Body

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Engineering Mechanics:

Statics in SI Units, 12e

Equilibrium of a Rigid Body

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Conditions for Rigid Equilibrium

Copyright 2010 Pearson Education South Asia Pte Ltd

5.1 Conditions for Rigid-Body Equilibrium

The equilibrium of a body is expressed as

Consider summing moments about some other point,

Copyright 2010 Pearson Education South Asia Pte Ltd

5.2 Free Body Diagrams

If a support prevents the translation of a body in a

Copyright 2010 Pearson Education South Asia Pte Ltd

5.2 Free Body Diagrams

Copyright 2010 Pearson Education South Asia Pte Ltd

5.2 Free Body Diagrams

Copyright 2010 Pearson Education South Asia Pte Ltd

5.2 Free Body Diagrams

External and internal forces can act on a rigid body

Copyright 2010 Pearson Education South Asia Pte Ltd

5.2 Free Body Diagrams

Each particle has a specified weight

Copyright 2010 Pearson Education South Asia Pte Ltd

5.2 Free Body Diagrams

2. Show All Forces and Couple Moments

Copyright 2010 Pearson Education South Asia Pte Ltd

5.2 Free Body Diagrams

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

5.3 Equations of Equilibrium

For equilibrium of a rigid body in 2D,

Copyright 2010 Pearson Education South Asia Pte Ltd

5.3 Equations of Equilibrium

Alternative Sets of Equilibrium Equations

Copyright 2010 Pearson Education South Asia Pte Ltd

5.3 Equations of Equilibrium

Procedure for Analysis

Copyright 2010 Pearson Education South Asia Pte Ltd

5.3 Equations of Equilibrium

Procedure for Analysis

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

600 cos 45 N Bx 0 Bx 424 N

Copyright 2010 Pearson Education South Asia Pte Ltd

5.4 Two- and Three-Force Members

Copyright 2010 Pearson Education South Asia Pte Ltd

5.4 Two- and Three-Force Members

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

FA sin 60.3 F sin 45 0

5.5 Free-Body Diagrams

Copyright 2010 Pearson Education South Asia Pte Ltd

5.5 Free-Body Diagrams

Copyright 2010 Pearson Education South Asia Pte Ltd

5.5 Free-Body Diagrams

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd