CHAPTER 4

EQUILIBRIUM OF COPLANER FORCE SYSTEMS

STATIC EQUILIBRIUM

CONDTIONS FOR EQUILIBRIUM OF A RIGID OBJECT

The (vector) sum of the external forces on the rigid object must equal zero:

F = 0

5 lbs 10 lbs 10 lbs

5 lbs

we say the object is in Translational Equilibrium

 The sum of the external torques on the rigid object must equal zero.

M = 0

we say the object is in Rotational Equilibrium

F = 0

M = 0

= Static Equilibrium

Since nearly all of the problems we will solve are twodimensional problems, these equations reduce to:

Fx = 0

Fy = 0

Mz = 0

Free body diagrams (1)

FBD is an essential step in the solution of all problems involving forces on bodies it is a diagram of the external surface of the body - not interested in internal forces all other bodies in contact with the one we are interested in are replaced by vectors

Free body diagrams (2)

mg R1 R2

Sketch of person standing

F=ma
R1+R2-mg=ma, but no acceleration so, R1+R2=mg

Free body diagrams (3)

T

mg sketch free body diagram

Free body diagrams (4)

Rules: clear sketches draw in the correct orientation show all forces acting on the body dont show any internal forces between different parts of the body show the forces not the components

TWO FORCE MEMBERS

CAN ONLY HAVE 2 FORCES ACTING ON THEM, AT THEIR ENDS FOR EQUILIBRIUM TO EXIST THE FORCES MUST BE: EQUAL IN MAGNITUDE OPPOSITE IN SENSE COLINEAR LINE OF ACTION PASSES THROUGH CENTER LINE

FORCE TRIANGLE METHOD

Move force A so that it's tail meets the head of force B Draw resultant from tail of B to Tip of A

F2 F3

C
T

100lb

METHOD OF COMPONENTS
APPLY LAWS OF EQUILIBRIUM FH = 0 FV=0

Write equation for Horizontal equilibrium

Write equation for Vertical equilibrium

Substitute for T from earlier equation

Note: the positive signs do not necessarily mean the forces act in a positive direction, only that the senses you assumed were correct

Strategy for solving problems in static equilibrium: Determine all the forces that are acting on the rigid body. They will come from the other objects with which the body is in contact (supports, walls, floors, weights resting on them) as well as gravity Draw a diagram and put in all the information you have about these forces: The points on the body at which they act, their magnitudes (if known), their directions (if known). Write down the equations for static equilibrium. Solve the equations!

APPLY EQUILIBRIUM EQUATIONS

SUSTITUTING

EQUILIBRIUM OF PARALLEL FORCE SYSTEMS

F = 0

M = 0

PARALLEL SYSTEMS CANNOT BE DETERMINED BY F ONLY M MUST BE INVOLVED

Assumptions of + and are important

EQUILIBRIUM OF NONCONCURRENT FORCE SYSTEMS

FH = 0 FV=0 M=0

Compute the Reactions at A and B on the truss below. There is a roller support at A and a pin support at B

Fx = 0

Fy = 0

Mz = 0

- force system is noncoplaner, nonconcurrent and nonparallel

Write Equilibrium Equation for Horizontal Forces

RBH = 423 lbs

As RBH is positive, the assumed sense was correct! Determine Reaction force at A by summing moments about B

Determine Vertical Reaction force at B by summing moments about A

Verify by Writing Equilibrium equation for Vertical Forces.

Note: There a 4 unknown forces, acting on the bar, but we only have 3 equilibrium equations!!!! (Hint: Force N comes from the cylinder)

Knowing Force N allows us to use equilibrium equations

Example
A 6 kN force is supported away from the wall. Determine the reactions at the supports.
We can write the vertical force equilibrium equation to find RB. Fvertical RB sin 45 6 kN 0

RB 8.485kN
Then, the horizontal force equilibrium equation gives us

horizontal

RB cos 45 RC 0

RC 6 kN

Example 2

Determine the weight on front and rear wheels of an 8,000 lb van. The wheelbase (the distance between the front and rear wheels) is 10 ft. Assume that the center of gravity is close to the front tires and at a distance of one-third of the wheelbase from the front wheels.

Example 2

Step I: Draw the free-body diagram of the van

The free-body diagram shows two reactions (Rrear and Rfront) along with the weight of the van.

The weight of the van is placed at its center of gravity. The distances between the forces are marked in terms of wheel base L.

This is a three-force system.

Step II: Apply the equilibrium equations The force equilibrium equation can be written as

F 8000lb R

rear

R front 0

Rrear R front 8000lb

If we take the moment about the rear wheel, the reactions at the rear wheels (Rrear) do not create any moment. We get

M R front L 8000lb
R front 5,333lb

2L 0 3

Substituting the value of Rrear in the force equilibrium equation, we get

Rrear 2,667lb

Each front wheel carries 2667 lb (half of Rfront), and each rear wheel carries 1334 lb. The results make sense because the front wheels, which are close to the load application, carry more weight than the rear wheels. Auto designers arrange the subsystems in such a way that the center of gravity is closer to the drive wheels. As a result, the drive wheels carry more weight and, therefore, have increased traction (frictional force).

Determine the reactions at the supports. The length of the beam is L.

Step I: Draw the free-body diagram

The pin support provides both horizontal and vertical reaction. The roller provides a vertical reaction.

Step II: Apply the equilibrium equations If we take the force equilibrium equation along the x-axis, we get

R Ax 0

The moment equilibrium equation at point A yields

R By L P 0.7L P 0.3L 0

R By 0.4 P

Similarly, the moment at point B gives us

R Ay L P 0.7L P 0.3L 0

R Ay 0.4 P

Tail Tipping

Tail tipping is a phenomenon where an airplane tips over the rear wheels due to an increased load in the aft section. When the airplane is approaching the tipping condition, the normal force acting on the nose wheel is greatly reduced. An airplane close to tail tipping looses the traction force needed for steering during the take-off or landing.

Table Tipping

If the weight distribution is uniform, the weight the table (W) can be applied at the center of gravity The reactions at the supports will be

R A-W 0.5W R B-W 0.5W

If only force F acting at the end of the table, the equilibrium equations are

F = R

A-F

R B-F F

about point B

= R A-F 2a F b 0 2a F 1 b 2a

R A-F F b R B-F

Table Tipping

Using the principle of superposition, the reactions when both forces (W and F) are applied

R A R A-W R A-F 0.5W F b R B R B-W R B-F

2a 0.5W F 1 b

2a

Table Tipping

Increasing the magnitude of force F reduces the reaction at support A and increases the reaction at support B. At a certain magnitude of force F, support A is about to loose contact with the ground.

RA 0

W Fb

This property is useful to experimentally determine the impending tipping condition by measuring the reaction force at the supports by sensors.

Tail Tipping

The second method for determining the impending tipping condition uses the equilibrium equation. The equilibrium equations for the free-body diagram
about point B

= R A 2a W a F b 0

At tipping the magnitude of RA is equal to zero. Substituting the magnitude of RA, we get
W Fb a

Often used to calculate the magnitude of the tipping force.

Footprint

A third method for determining the tipping condition is the use of footprint. Footprint is the minimum area by a closed curve with nonnegative (positive or zero) curvature at any point on the curve encompassing the base. Imagine an elastic band stretched to encompass the object at its base. The area encompassed by the band indicates the footprint.

The Leaning Tower of Pisa

The Tower of Pisa is the tallest self-supporting bell tower. With a diameter of 15.5 m and height of 56 m, the tower weighs 15,000 metric tons. Due to the foundation problems, the tower started leaning, and this design failure resulted in one of the Seven Wonders of the World. The tower leans at an angle of 5.50.

The Leaning Tower of Pisa

To find the critical angle at which it will become unstable (from the rigid-body point of view), the Tower is approximated as a cylinder with uniform density. The tower will tip-over when the weight passes outside the footprint. The critical angle can be calculated as
tan 7.75 m 28 m 15.47 0

The crane shown in the figure below weighs 10,000 lb and its boom weighs 1000 lb. The centers of gravity of the crane and the boom are known. Determine the maximum load the crane can carry at a boom angle of 450.

For tipping, the moment caused by the load W and the boom weight overcomes the moment caused by the weight of the crane. At the point of tipping, the reaction at the support B is zero. Taking the moments about A, we get
W (12cos 45 3) 1000 (9cos 45 3) 10000 6

W 10,325lb

For the step ladder shown, sides AC and EC are 8 ft long and hinged at C. Tie Rod BD is 2.5 ft long and halfway up. A man weighing 192 lb climbs 6 feet up the ladder. Assume floor is frictionless, neglect weight of ladder. 1. Find tension in Rod BD. 2. Reaction forces at points A and E.

FY FX
Hint: consider the sides of ladder as separate objects

FH = 0

FY = 0

M about C = 0

1
2 3

4 From equations 2 & 5 5

From equation 3

3 1 2