Lecture 1.

3
Rigid-body Equilibrium

This lecture provides a review of the concept of static equilibrium as it applies to rigid bodies.

A rigid body is a collection of connected particles. For example, we can view a bar as a collection
of an infinite number of particles arranged in a linear pattern (see Figure 1.37).

particles

rigid body
Figure 1.37: A set of particles forming a rigid body

For the bar to be in a state of static equilibrium, the net force acting on it must be zero. This
means that:

1. The sum of the forces in the x-direction must be zero, and

2. The sum of the forces in the y-direction must be zero.

The above conditions can be written with two algebraic equations as follows:

∑ 𝐹𝑥 = 0 [1.30]

∑ 𝐹𝑦 = 0 [1.31]

Although necessary, Equations [1.30] and [1.31] are not sufficient on their own for constraining
a body from rotating about the z-axis. We need a third equilibrium equation to prevent body
rotation. To see why that is the case, imagine two horizontal forces acting in opposite directions
on the bar, as shown in Figure 1.38.

Chapter 1: Statics Review Page 1.21

 P

Figure 1.38: A bar subjected to two horizontal forces acting in opposite directions

Clearly, the net force in the x-direction is zero, so Equation [1.30] is satisfied. And since no force
is acting in the y-direction, Equation [1.31] is also satisfied. However, the bar is free to rotate
about its center of gravity, as shown in Figure 1.39.

Figure 1.39: A bar subjected to two horizontal forces rotating about its center of gravity

But why does such a rotation take place? The answer is because we have a force that acts at a
distance from the bar’s center of gravity.

Suppose the bar’s center of gravity is located at Point C (see Figure 1.40). Each force vector (𝑷) is
located at some distance from the bar’s center of gravity. More precisely, Point C does not lie on
the line of action of 𝑷. A force acting on a rigid body at a distance from its center of gravity has a
tendency to cause the body to rotate.

Figure 1.40: Two horizontal forces acting at a distance from the center of gravity of a bar

Visualize a line connecting Point C to the line of action of 𝑷. As shown in Figure 1.41, we can
draw an infinite number of such lines. Among them, however, exists one line that has the
shortest path between Point C and the line of action of 𝑷. We refer to that line as the moment

Chapter 1: Statics Review Page 1.22

arm for the force.

Figure 1.41: Lines between the line of action of a force and the center of gravity of a rigid body

The moment arm for the force 𝑷 (applied at the top of the bar) is labeled 𝑟 in Figure 1.42. Note
the angle between 𝑟 and the line of action of the force—it is 90 degrees. A moment arm always
creates a 90-degree angle with the line of action of the associated force.

P
°
90 r

Figure 1.42: The moment arm of a force about the center of gravity of a bar

We can view 𝑟 as the radius of a circle centered at Point C. Now, imagine a particle at the point
of application of 𝑷. The force 𝑷 wants to move the particle, but since the particle is a part of the
rigid body, it cannot move independently of the other particles in the body. More specifically,
the particle can move as long as its distance from Point C does not change. This means it can
move only along the circumference of the circle shown in Figure 1.42. Furthermore, since we are
dealing with a solid object, all of the other particles in the bar need to move in a similar manner.
This means 𝑷 causes the entire bar to rotate around Point C. We use a quantity called moment to
represent the ability of a force to cause rotation in reference to a point.

Therefore, a force (𝑷) applied at a distance (𝑟) from a reference point produces a moment at that
point. The magnitude of the moment is the product of 𝑃 (the magnitude of vector 𝑷) and 𝑟, or
𝑃𝑟. It is important to keep in mind that 𝑟 is the shortest distance between the line of action of 𝑷
and the reference point.

Like force, moment is also a vector. In addition to a magnitude, it has a direction. In the case of
the bar shown in Figure 1.42, the force called 𝑷 causes the bar to rotate in a counterclockwise
direction. Hence, we say the moment caused by 𝑷 has a counterclockwise direction.

The bar is subjected to two (𝑷) forces. Therefore, the total moment produced at Point C can be
written as 𝑃𝑟 + 𝑃𝑟 = 2𝑃𝑟. Since the moment caused by the forces acting on the bar is not zero,

Chapter 1: Statics Review Page 1.23

we say that the bar is not in a state of static equilibrium.

For a rigid body not to rotate (or in other words, for it to remain in static equilibrium), the net
moment at any point on the body must be zero. Mathematically, we can write this condition as:

∑ 𝑀𝑧 = 0 [1.32]

In two-dimensional bodies, rotations are always about the z-axis. This fact is denoted with
subscript 𝑧 for 𝑀 in Equation [1.32].

Collectively, Equations [1.30], [1.31], and [1.32] define the necessary and sufficient conditions
for static equilibrium of two-dimensional rigid bodies.

These equilibrium equations can be used in two ways. We can use them:

1. To determine if a given set of forces places the rigid body in the state of static
equilibrium, or,

2. To determine the magnitude or direction of one or more unknown forces that keeps the
rigid body in the static equilibrium state.

Let’s examine each case using an example.

Consider the L-shaped bracket shown in Figure 1.43. It is subjected to four forces. Is the bracket
in the state of static equilibrium?

3N

C 2m
2N
A

3m

2N B

3N
Figure 1.43: A bracket subjected to four forces

To answer the question, we must check all three equilibrium equations. For Equation [1.30], we
can write:

∑ 𝐹𝑥 = 0 ⇒ 2 − 2 = 0 [1.33]

Equation [1.31] can be expanded as follows:

Chapter 1: Statics Review Page 1.24

 ∑ 𝐹𝑦 = 0 ⇒ 3 − 3 = 0 [1.34]

To check Equation [1.32], we need to pick a point and calculate the sum of the moments at that
point. The point does not need to be specifically on the rigid body; it can be any point on or off
the body in the two-dimensional space. Let’s use Point B in Figure 1.43. Of the four forces acting
on the bracket, two of them are acting directly at the target point; therefore, the distance from
Point B to the line of actions of those forces is zero. That is, they create no moment at Point B.

The other two forces (applied at Point A) cause moments at Point B. The shortest distance (also
known as the moment arm) from the line of action of each force to Point B is shown using
dashed lines in Figure 1.43. We can see that the 3 N force has a moment arm of 2 meters and the
2 N force has a moment arm of 3 meters.

Therefore, the moment that the 2 N force produces at Point B is (2 N)(3 m) = 6 N ∙ m. This is a
counterclockwise moment. The moment of the 3 N force at Point B is (3 N)(2 m) = 6 N ∙ m. This
moment is acting in a clockwise direction.

If we assume the clockwise direction is positive, then we can write the third equilibrium
equation as follows:

∑ 𝑀𝑧 = 0 ⇒ 3(2) − 2(3) = 0 [1.35]

Since all three equilibrium equations are satisfied, we can conclude that the bracket is in the
state of equilibrium.

Now, consider the bar shown in Figure 1.44. It is subjected to five forces, three of which have
unknown magnitudes. The unknown force magnitudes are labeled 𝐴𝑥 , 𝐴𝑦 , and 𝐵𝑦 . What value
should these magnitudes be for the bar to remain in static equilibrium?

26 N
A B
4m 4m
𝐴𝑥 10 N

C
𝐴𝑦 𝐵𝑦

Figure 1.44: A bar subjected to five forces

To find out, let’s write the equilibrium equations. It is a good practice to use a consistent sign
convention when writing the equilibrium equations. A commonly used sign convention is shown
in Figure 1.45.

Chapter 1: Statics Review Page 1.25

 𝑦 𝑥 is positive to the right.
𝑦 is positive upward.
𝑥 Moment is positive in the clockwise direction.

Figure 1.45: A sign convention for writing the static equilibrium equations

Using the sign convention, we can see that Figure 1.44 shows two forces acting in the 𝑥-
direction: one force is acting in the positive direction and the other force is acting in the negative
direction. Therefore, Equation [1.30] can be written as follows:

∑ 𝐹𝑥 = 0 ⇒ 𝐴𝑥 − 10 = 0 [1.36]

We can also see that three forces are acting in the 𝑦-direction: one force is pointing upward, and
two forces are pointing downward. The equilibrium equation for the forces acting in the 𝑦-
direction can be written as follows:

∑ 𝐹𝑦 = 0 ⇒ 𝐴𝑦 − 𝐵𝑦 − 26 = 0 [1.37]

For the third (moment) equilibrium equation, we can use Point A as the reference point. Out of
the five forces shown in Figure 1.44, three of them produce no moment at Point A as their lines
of action pass through Point A. The forces that do produce a non-zero moment at Point A are the
downward force of 26 N and the downward reaction force at Point B. The moment arm for the
26 N force is 4 m, and the moment arm for the downward reaction force is 8 m. Both forces
create a clockwise rotation at Point A. Therefore, the moment equilibrium equation can be
written as follows:

∑ 𝑀𝑧 = 0 ⇒ 8𝐵𝑦 + 4(26) = 0 [1.38]

Solving Equations [1.36] through [1.38] for the unknown force magnitudes, we get:

∑ 𝐹𝑥 = 0 ⇒ 𝐴𝑥 − 10 = 0 ⇒ 𝐴𝑥 = 10 𝑁 [1.39]

∑ 𝐹𝑦 = 0 ⇒ 𝐴𝑦 − 𝐵𝑦 − 26 = 0 ⇒ 𝐴𝑦 = 13 𝑁 [1.40]

∑ 𝑀𝑧 = 0 ⇒ 8𝐵𝑦 + 4(26) = 0 ⇒ 𝐵𝑦 = −13 𝑁 [1.41]

The negative magnitude for 𝐵𝑦 in Equation [1.41] indicates that the assumed (downward)
direction for the reaction force (see Figure 1.44) is incorrect. Instead, the reaction force at B is
upward with a magnitude of 13 N, as shown in Figure 1.46.

Chapter 1: Statics Review Page 1.26

 26 N
A B
4m 4m
10 N 10 N

13 N C 13 N

Figure 1.46: A bar subjected to five forces in the state of equilibrium

Exercise Problems:

A) Consider the rigid body. Assuming 𝑃 and 𝑄 are not zero, show that the body is not in the
state of equilibrium.

P Q

B) Determine the unknown forces in each figure such that the rigid body remains in
equilibrium.

R
1m
R C
P B

2m 2m
B
Q 40 N
A 3m 3m
A 55 °

Q
10 kN
P
(1) (2)

Chapter 1: Statics Review Page 1.27