CHAPTER 3

STATIC OF RIGID BODIES IN

TWO DIMENSIONS

1.EQUIVALENT SYSTEMS OF FORCES

2.EQUILIBRIUM OF RIGID BODIES
 INTRODUCTION
• Treatment of a body as a single particle is not always possible. In general,
the size of the body and the specific points of application of the forces must
be considered.
• Most bodies in elementary mechanics are assumed to be rigid, i.e., the
actual deformations are small and do not affect the conditions of
equilibrium or motion of the body.
• Current chapter describes the effect of forces exerted on a rigid body and
how to replace a given system of forces with a simpler equivalent system.
• moment of a force about a point
• moment of a force about an axis
• moment due to a couple
• Any system of forces acting on a rigid body can be replaced by an
equivalent system consisting of one force acting at a given point and one
couple.
 PART 1
EQUIVALENT SYSTEMS OF FORCES
 External and Internal Forces
• Forces acting on rigid bodies are divided into two groups:
- External forces
- Internal forces

• External forces are shown in a free-body diagram.

• If unopposed, each external force can impart a motion of translation or

rotation, or both.
Principle of Transmissibility: Equivalent Forces
• Principle of Transmissibility -
Conditions of equilibrium or motion are not affected by transmitting a
force along its line of action.
NOTE: F and F’ are equivalent forces.

• Moving the point of application of the force F to the rear bumper does not
affect the motion or the other forces acting on the truck.

• Principle of transmissibility may not always apply in determining internal

forces and deformations.
 Moment of a Force About a Point
• Two-dimensional structures have length and breadth but negligible depth
and are subjected to forces contained in the plane of the structure.
• The plane of the structure contains the point O and the force F. MO, the
moment of the force about O is perpendicular to the plane.
• If the force tends to rotate the structure clockwise, the sense of the moment
vector is into the plane of the structure and the magnitude of the moment is
negative.
• If the force tends to rotate the structure counterclockwise, the sense of the
moment vector is out of the plane of the structure and the magnitude of the
moment is positive.
 Varignon’s Theorem

•The moment of a force about any axis is equal to the sum of the moments
of its components about that axis.

B
d2
d F
d1
Q
P
A

Varignon’s Theorem states that:

Fd = Pd1 + Qd2
 Sample Problem 3.1

A 90-N force is applied to the control rod AB as shown. Knowing that the
length of the rod is 225 mm and that α = 25o, determine the moment of the
force about point B by:

(a) resolving the force into components along AB and in direction

perpendicular to AB

(b) Resolving the force into horizontal and vertical components

 Sample Problem 3.1
(a) By resolving the force into components along AB and in direction
perpendicular to AB

Free-Body Diagram
 Sample Problem 3.1
(b) By Resolving the force into horizontal and vertical components

Free-Body Diagram

Fx  F cos 25o  90 cos 25o  81.57 N

Fy  F sin 25o  90 sin 25o  38.04 N

M  Fd
M B  Fy x  Fx y
 (38.04 N)(0.0951 m) - (81.57 N)(0.2039 m)
 13.01 N  m
 13.01 N  m
Sample Problem 3.2

A 100-N vertical force is applied to the end of

a lever which is attached to a shaft at O.
Determine:
a) moment about O,
b) horizontal force at A which creates the
same moment,
c) smallest force at A which produces the
same moment,
d) location for a 240-N vertical force to
produce the same moment,
e) whether any of the forces from b, c, and d
is equivalent to the original force.
Sample Problem 3.2

a) Moment about O is equal to the product of

the force and the perpendicular distance
between the line of action of the force and
O. Since the force tends to rotate the lever
clockwise, the moment vector is into the
plane of the paper.

M O  Fd
d  24 cm cos 60  12 cm
M O  100 N 12 cm M O  1.2 N  m
Sample Problem 3.2

b) Horizontal force at A that produces the

same moment,

d  24 cm sin 60  20.8 cm

M O  Fd
1200 N  cm  F 20.8 cm 
1200 N  cm
F F  57.7 N
20.8 cm
Sample Problem 3.2

c) The smallest force A to produce the same

moment occurs when the perpendicular distance
is a maximum or when F is perpendicular to OA.

M O  Fd
1200 N  cm  F 24 cm 
1200 N  cm
F F  50 N
24 cm
Sample Problem 3.2
d) To determine the point of application of a 240 N
force to produce the same moment,

M O  Fd
1200 N  cm  240 N d
1200 N  cm
d  5 cm
240 N
OB cos60  5 cm OB  10 cm
Sample Problem 3.2
e) Although each of the forces in parts b), c), and d)
produces the same moment as the 100 N force,
none are of the same magnitude and sense, or on
the same line of action. None of the forces is
equivalent to the 100 N force.
 Moment of a Couple

• Two forces F and -F having the same

magnitude, parallel lines of action, and
opposite sense are said to form a couple.

• Moment of a couple, (F = F’)

 ve M  Fd1  Fd 2 F
 F (d1  d 2 ) A ’
F
 Fd d2
d

d1

• The moment M of a couple is constant. Its magnitude is equal to the product

Fd of their common magnitude F and the distance between their lines of action.
The sense of M (clockwise or counterclockwise) is obtained by direct observation.
 Equivalent Couples
• Couples having the same moment, both in magnitude and sense, are
equivalent.
• Each will have the same effect on a rigid body.
• When a couple acts on a rigid body, it does not matter where the two forces
forming the couple act, or what magnitude and direction they have.
• The only thing that counts is the moment (magnitude and sense) of the
couple.

300 N
250
120 N mm
100 mm 200 N 120 N
300 N
50 mm

50 mm 150 mm 150 mm
200 N
 Addition of Couples

• A couple is completely defined by its moment (magnitude and sense).

• Two couples formed by P, P’ and Q, Q’ acting on a rigid body may be

replaced by a single couple of moment equal to the algebraic sum of the
moments of the given couples.
Q’

q
S’
Q
P+S
S

P P
p p p
P’ P’

P’ + S’

Sp  Qq
M  P  S  p  Pp  Sp  Pp  Qq
 Sample Problem 3.3

A plate in the shape of a parallelogram is acted upon by two couples.

Determine:

(a) The moment of the couple formed by the two 84 N forces

(b) The perpendicular distance between the 48 N forces if the resultant of
two couples is zero
(c) The value of α if the resultant couple is 2.88 N∙m clockwise and d is 42
cm.
 Sample Problem 3.3
(a) The moment of the couple formed by the two 84 N forces
 Sample Problem 3.3
(b) The perpendicular distance between the 48 N forces if the resultant of two
couples is zero
 Sample Problem 3.3
(c) The value of α if the resultant couple is 2.88 N∙m clockwise and d is 42 cm.
Resolution of a Given Force into a Force Acting at a
Given Point and a Couple
• Any force F acting on a rigid body may be moved to any given point A,
provided that a couple M is added, the moment M of the couple must equal the
moment of F (in its original position) about A.

• This combination is referred to as a force-couple system.

F F

F
F

A
A
= =
A
M=Fd

F’
• Inversely, a force F acting at A and a couple M may be combined into a
single resultant force F, by moving F such that the moment M of the couple
is eliminated.
d =M/F
F

M
A
= A
M
Sample Problem 3.4

A 30-N vertical force P is applied at

A to the bracket shown, which is
held by screws at B and C.

(a) Replace P with an equivalent

force couple system at B.

(b) Find the two horizontal forces at

B and C that are equivalent to
the couple obtained in part a.
 Sample Problem 3.4
(a) Replace P with an equivalent force couple system at B.
 Sample Problem 3.4
(b) Find the two horizontal forces at B and C that are equivalent to the
couple obtained in part a.

Part (a) Part (b)

Reduction of a System of Coplanar Forces to One Force and
One Couple. Resultant of a System of Coplanar Forces

• Any given system of coplanar forces may be reduced to a

single force R, called the resultant of the system or a single
couple M, called the resultant couple of the system, as the case
may be.

• When both R and M are zero, then the system exerts no

action on the rigid body, and the rigid body is said to be in
equilibrium.

= =
• The reduction of a system of coplanar forces to a force R at any point and a
couple M, will be considerably simplified if the given forces F1, F2, F3. etc.,
are resolved into their x and y components prior to moving them to the point.

= =

y
Sample Problem 3.5

Three horizontal forces are applied

as shown to a vertical cast iron arm.
Determine the resultant of the forces
and the distance from the ground to
its line of action when
(a) P = 200 N
(b) P = 2400 N
(c) P = 1000 N.
 Sample Problem 3.5
(a) Determine the resultant of the forces and the distance from the ground
to its line of action when P = 200 N
 Sample Problem 3.5
(b) Determine the resultant of the forces and the distance from the ground
to its line of action when P = 2400 N
 Sample Problem 3.5
(c) Determine the resultant of the forces and the distance from the ground
to its line of action when P = 1000 N
 PART 2
EQUILIBRIUM OF RIGID BODIES
 Equilibrium of Rigid Bodies
• A rigid body is said to be in equilibrium when the external forces acting on
it form a system of forces equivalent to zero, i.e., a system which has no
resultant force and no resultant couple.

• The necessary and sufficient conditions for equilibrium thus can be written
as :

F x 0 F y 0 M A 0
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.
Reactions at Supports and Connections for a Two-
Dimensional Structure

• Reactions equivalent
to a force with known
line of action.
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
Equilibrium of a Rigid Body in Two Dimensions

• Equations of equilibrium are

 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
 Statically Indeterminate Reactions

More unknowns than Fewer unknowns than Equal number unknowns and
equations equations, partially equations but improperly
constrained constrained
 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.
A fixed crane has a mass of 1000 kg
• Determine the reactions at A by
and is used to lift a 2400 kg crate.
solving the equations for the sum of all
It is held in place by a pin at A and a
horizontal force components and all
rocker at B. The center of gravity
vertical force components.
of the crane is located at G.
• Check the values obtained for the
Determine the components of the
reactions by verifying that the sum of
reactions at A and B.
the moments about B of all forces is
zero.
 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
and all vertical forces.
• Create the free-body diagram.  Fx  0 : Ax  B  0
Ax  107.1kN

 Fy  0 : Ay  9.81kN  23.5 kN  0

Ay  33.3 kN

• Check the values obtained.

 Sample Problem 4.2
A loading car is at rest on an inclined
track. The gross weight of the car and its
load is 5500 N, and it is applied at G.
The cart is held in position by the cable.
Determine the tension in the cable and
the reaction at each pair of wheels.
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
solving the equation for the sum of
force components parallel to the track.
• Check the values obtained by
verifying that the sum of force
components perpendicular to the track
are zero.
 Sample Problem 4.2
• Determine the reactions at the wheels.
 M A  0 :  2320 N  25cm  4980 N  6cm
 R2 50cm  0
R2  1758 N

 M B  0 :  2320 N  25cm  4980 N  6cm

 R1 50cm  0
R1  562 N

• Create a free-body diagram • Determine the cable tension.

Wx  5500 N  cos 25  Fx  0 :  4980 N  T  0
 4980 N
T  4980 N
W y  5500 N sin 25


 2320 N
 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.
 Sample Problem 4.3
• Solve 3 equilibrium equations for
the reaction force components and
couple.
4.5
 Fx  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 the  M E  0 :  20 kN7.2 m   20 kN5.4 m 

 20 kN3.6 m   20 kN1.8 m 
frame and cable.

6
 150 kN 4.5 m  M E  0
7.5
M E  180.0 kN  m
 Equilibrium of a Two-Force Body
Equilibrium of a two-force body: two force body must have the same magnitude,
the same line of action and opposite sense

• 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.
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.
 Sample Problem 4.4
Determine the reactions at A and B when a = 150 mm
 Sample Problem 4.4
Free-Body Diagram
 Sample Problem 4.5

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

A man raises a 10 kg joist, of length 4 m,
by pulling on a rope.
Find the tension in the rope and the
reaction at A.
• Utilize a force triangle to determine the
static equilibrium. Therefore, the
reaction R must pass through the
intersection of the lines of action of the
weight and rope forces. Determine the
direction of the reaction force R.
magnitude of the reaction force R.
Sample Problem 4.5

• Create a free-body diagram of the joist.

• Determine the direction of the reaction

force R.

AF  AB cos 45o  4 m  cos 45o  2.828 m

CD  AE  12 AF  1.414 m
BD  CD tan 20o  1.414 m  tan 20o  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
Sample Problem 4.5
• 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
END OF CHAPTER 3

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