Chapter 5

Chapter 5
Equilibrium of a Rigid Body

5.1 Conditions for Rigid Body Equilibrium
From Ch.3 Equilibrium meant:

F = 0
 Fx = 0
 Fy = 0
 Fz = 0
Forces on a particle
Now Equilibrium is extended to:
F = 0 (no translation)
M0 = 0 (no rotation)
 Fx = 0
 Fy = 0
 Fz = 0
 Mx = 0
 My = 0
 Mz = 0
Forces on a rigid body
5.2 Free-Body Diagrams
For analyzing an actual physical system, first we need

to create an idealized model (above right).
Then we need to draw a free-body diagram

(FBD) showing all the external (active and
reactive) forces.
SUPPORT REACTIONS IN 2-D
Prevents translation in Prevents translation in Prevents translation and

the vertical direction any direction rotation
A few example sets of diagrams s are shown above. Other support reactions
are given in your textbook (Table 5-1).
Table 5-1 should be studied carefully.. Important for other courses as well
A few interesting examples (other than mentioned in the previous slide)
internal forces that act between adjacent particles
in a body always occur in collinear pairs such that they
have the same magnitude and act in opposite
directions (Newton’s third law).
will not create an external effect
not to be included on the free-body diagram if the
entire body is to be considered
Single resultant force (weight W ) acting through a specified point (center of gravity)
:consider a corresponding analytical or idealized model that gives

results that approximate as closely as possible the
actual situation.
Procedure for Analysis
Idealized model Free-body diagram (FBD)
1. Draw an outlined shape. Imagine the body to be

isolated or cut “free” from its constraints and draw its
outlined shape.
2. Show all the external forces and couple moments.

These typically include: a) applied loads, b) support
reactions, and c) the weight of the body.
Idealized model Free-body diagram
3. Label loads and dimensions on the FBD: All known

forces and couple moments should be labeled with
their magnitudes and directions. For the unknown
forces and couple moments, use letters like Ax, Ay,
MA. Indicate any necessary dimensions.
Draw the free-body diagram of the foot lever shown in the figure. The operator applies a
vertical force to the pedal so that the spring is stretched 36 mm and the force on the link
at B is 100 N.
m
5.3 Equations of Equilibrium (2-D)
A body is subjected to a system of forces that lie in the x-y plane. When in
equilibrium, the net force and net moment acting on the body are zero (as
discussed earlier in Section 5.1). This 2-D condition can be represented by
the three scalar equations: F = 0 (no translation)
M0 = 0 (no rotation)
where point O is any arbitrary point.
These equations are the ones most

commonly used for solving 2-D equilibrium
problems.
Set 2
Condition: line passing

through points A and B is
not parallel to the y axis
Set 3
Condition: points A, B , and C do not

lie on the same line
Using Equations of Equilibrium “intelligently”
2-D means  3 Eqs  max 3 unknowns can be solved
Determine the horizontal and vertical components of reaction on the beam caused by
the pin at B and the rocker at A as shown in Fig. 5–12 a . Neglect the weight of the
beam.
The cord shown in the Fig. supports a force of 500 N and wraps over the frictionless
pulley. Determine the tension in the cord at C and the horizontal and vertical
components of reaction at pin A .
500 (0.15 ) – T (0.15 ) = 0 T= 500 N
-Ax+500sin30° = 0 Ax = 250 N
Ay - 500 - 500cos30° = 0 Ay = 933N

The member shown in the figure is pin connected at A and rests against a smooth
support at B . Determine the horizontal and vertical components of reaction at the
pin A .
30°
Determine the horizontal and vertical components of reaction on the member at the
pin A , and the normal reaction at the roller B in Fig. 5–16 a .
30°
Note that this choice gives one

[NB cos 30](0.6 m) - [NB sin 30](0.2 m) - 750 N(0.3 m) = 0 unknown NB while if we had
NB = 536.2 N chosen ΣMB we would have two
unknowns Ax and Ay
Check rest of solution in book!

The uniform smooth rod shown in Fig. is subjected to a force and couple moment. If
the rod is supported at A by a smooth wall and at B and C either at the top or bottom
by rollers, determine the reactions at these supports. Neglect the weight of the rod.
We can use primary x-y axes (as in the book solution), but it would be easier to use x’-y’ axes
ΣFx’ = 0 300 sin(30)-Ax cos(30) = 0 Ax = 173.2 N
ΣMc = 0 -Ax sin(30)*6+By’ *4+ 4000 + 300cos(30)*2 = 0 By’ = -1000 N
ΣFy’ = 0 -300 cos(30)+Cy’+By’-Ax sin(30) = 0 Cy’ = 1346 N
5.4 Two-force Members & Three Force-members
The solution to some equilibrium problems can be simplified (reduce the
number of unkowns) if we recognize members that are subjected to
forces at only two points (e.g., at points A and B in the figure below).
weightless
Forces Equilibrium (ΣF=0)  FA and FB must be equal in magnitude and opposite in

direction
Moment Equilibrium (ΣMA=0 OR ΣMB=0)  FA and FB must share the same line of
action  can only happen if they are directed along the line joining points A and B
EXAMPLES OF TWO-FORCE MEMBERS
In the cases above, members AB can be considered as two-

force members, provided that their weight is neglected.
This fact simplifies the equilibrium

analysis of some rigid bodies since the
directions of the resultant forces at A and
B are thus known (along the line joining
points A and B).
Similarly, the solution to some equilibrium problems can be achieved
geometrically if we recognize members that are subjected to forces at
only three points (e.g. the figure below).
Moment equilibrium can be satisfied only if the three forces form a

concurrent or parallel force system.
If the lines of action of F1 and F2 intersect at point O , then the line of action of F3
must also pass through point O so that the forces satisfy ΣMO = 0 .
(b) Is a special case where point O approaches infinity.
The lever ABC is pin supported at A and connected to a short
link BD as shown in Fig. 5–22 a . If the weight of the members
is negligible, determine the force of the pin on the lever at A .
the short link BD is a two-force member , so the resultant

forces at pins D and B must be equal, opposite, and collinear.
Question: how come the force is not in the direction of the link like:
Force is in the direction of

the line joining the pins.. If
the link happens to be
straight, then the force
will be in its direction!
(Continue)
Either: OR:
Ax
Ay
F
 Ax 
 Ay 
Problem 5-14 The overhanging beam
is supported by a pin at A and the two-
force strut BC. Determine the
horizontal and vertical components of
reaction at A and the reaction at B on
the beam.
Ax
5
3
Ay 4
FBC
Problem 5-15: Determine the reactions at the pins A and B. The spring has
an unstretched length of 80 mm.
Note that CB is welded with

AB..
Thus cannot consider AB as a
link for CB
ABC is one part, and if we
wish to separate it, a
moment should be included.
Compare with previous links!
Note as well pin B is a sliding

pin which means it does not
prevent movement in x
direction
5-41 The uniform beam has a weight W and length 2l and is supported by a pin
at A and a cable BC . Determine the horizontal and vertical components of
reaction at A and the tension in the cable necessary to hold the beam in the
position shown.
Ax
Ay W
5-33 During an exercise on the rowing machine, a holding force of F = 200 N was
exerted on handle ABC , determine the horizontal and vertical components of
reaction at pin C and the force developed along the hydraulic cylinder BD on the
handle.
30°
5.5 Equilibrium in Three Dimensions (FBD)
Support Reactions in 3-D (Table 5-2)
prevent translation  reaction force
Prevent rotation  couple moment
Ball Thrust
Bearing
Roller Thrust Bearing
Journal
Bearing
Typical Examples of Actual Supports
IMPORTANT NOTE
A single bearing or hinge can prevent rotation by providing a
resistive couple moment. However, it is usually preferred to use
two or more properly aligned bearings or hinges. Thus, in these
cases, only force reactions are generated and there are no
moment reactions created [couple moments become
Redundant].
5.6 Equilibrium in Three Dimensions (EoE)
As stated earlier, when a body is in equilibrium, the net force
and the net moment equal zero, i.e.,  F = 0 &  MO = 0 .
These two vector equations can be written as six scalar

equations of equilibrium (E-of-E). These are:
The moment equations can be determined about any point.

Usually, choosing the point where the maximum number of
unknown forces are present simplifies the solution. Any
forces occurring at the point where moments are taken do
not appear in the moment equation since they pass through
the point.
In 3-D, moment about axes can be extremely helpful.
5.7 Constraints and Statical Determinacy (FYI)
Redundant Constraints: When a body has more supports

than necessary to hold it in equilibrium, it becomes
statically indeterminate.
A problem that is statically indeterminate has more

unknowns than equations of equilibrium.
The additional equations needed to solve statically indeterminate
problems are generally obtained from the deformation conditions at
the points of support. These equations involve the physical properties
of the body which are studied in subjects dealing with the mechanics
of deformation, such as “TME213 Mechanics of Materials” and “IE221
Material Science”.
The homogeneous plate shown in the figure has a mass
of 100 kg and is subjected to a force and couple
moment along its edges. If it is supported in the
horizontal plane by a roller at A , a ball-and-socket joint
at B , and a cord at C , determine the components of
reaction at these supports.
5 unknowns
Simple enough for scalar analysis
&
----(1)
Take moments about axes (easier) – made up axes at B
Substitute in (1)
Determine the components of reaction that the ball-and-socket joint at A , the
smooth journal bearing at B , and the roller support at C exerted on the rod assembly.
the reactive forces of the supports will

prevent the assembly from rotating about each
coordinate axis
the journal bearing at B only exerts reactive
forces on the member
No couple moments are required
The boom is used to support the 375-N flowerpot in the
figure. Determine the tension developed in wires AB and AC.
A(0, 3, 0) B(1, 0, 1.5) C(-1, 0, 1.5)
1 1
2 2
(Cont.)
A Few notes:
 Note that ΣFx = 0 and ΣFz = 0 will yield Ox =0 and
Oz= 0; respectively.
This means that the setup is well-designed

(symmetrical about AO) where the force resultant
of the 3 cables on A is in the direction of AO only
(y component)..
If we had known that piece of information, we

would have been able to solve the problem as in
Ch. 2 (sum of forces only)
FAB= +125 i -375 j +187.5 k
What would happen if C and B are moved 0.5 m FAC= -125 i -375 j +187.5 k
upwards? Would Ox =0 and Oz= 0 still be satisfied? W= -375.0 k
How can we guess that?
Rod AB shown in the figure is subjected to the 200-N
force. Determine the reactions at the ball-and-socket
joint A and the tension in the cables BD and BE . The
collar at C is fixed to the rod.
yC
yC/1.5 =(2/3) yc= 1 m
Notes: (1) coordinates of C

can be obtained by ur =ur
200*xC - 2TE AB AC
as well (2) check book
xC/1.5=(1/3)  xc=0.5 m solution using:
5–64. The wing of the jet aircraft is
subjected to a thrust of T = 8 kN from its
engine and the resultant lift force L = 45 kN.
If the mass of the wing is 2.1 Mg and the
mass center is at G , determine the x, y, z
components of reaction where the wing is
fixed to the fuselage A .
W= 2.1*103*9.81 = 20601 N
5–69. Determine the components of reaction acting at the smooth journal bearings A,
B, and C.
Cz
Cy
Az
Bz
Ax
Bx

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Equilibrium of a Rigid Body

From Ch.3 Equilibrium meant:

For analyzing an actual physical system, first we need

Then we need to draw a free-body diagram

Prevents translation in Prevents translation in Prevents translation and

:consider a corresponding analytical or idealized model that gives

Idealized model Free-body diagram (FBD)

1. Draw an outlined shape. Imagine the body to be

2. Show all the external forces and couple moments.

3. Label loads and dimensions on the FBD: All known

where point O is any arbitrary point.

These equations are the ones most

Condition: line passing

Condition: points A, B , and C do not

500 (0.15 ) – T (0.15 ) = 0 T= 500 N

Ay - 500 - 500cos30° = 0 Ay = 933N

Note that this choice gives one

Check rest of solution in book!

Forces Equilibrium (ΣF=0)  FA and FB must be equal in magnitude and opposite in

In the cases above, members AB can be considered as two-

This fact simplifies the equilibrium

Moment equilibrium can be satisfied only if the three forces form a

the short link BD is a two-force member , so the resultant

Force is in the direction of

Note that CB is welded with

Note as well pin B is a sliding

Roller Thrust Bearing

These two vector equations can be written as six scalar

The moment equations can be determined about any point.

Redundant Constraints: When a body has more supports

A problem that is statically indeterminate has more

the reactive forces of the supports will

This means that the setup is well-designed

If we had known that piece of information, we

Notes: (1) coordinates of C

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