1

ME A 3102 ENGINEERING MECHANICS

UNIT II: EQUILIBRIUM OF RIGID BODIES

MOMENT & COUPLES

Moment: Moment of a force about a point is defined as the product of the magnitude of the
force and the perpendicular distance of the point from the line of action of the force.

Couple: Two parallel forces equal in magnitude and opposite in direction and separated by a
definite distance is said to form a couple.

Differentiate between Moment and Couple

Moment of a force about a point is defined as the product of the magnitude of the force and the
perpendicular distance of the point from the line of action of the force.

Two parallel forces equal in magnitude and opposite in direction and separated by a definite
distance is said to form a couple.

Sum of the forces forming a couple is zero, since they are essentially in opposite directions;
however there is a moment due a couple, since they are separated by a definite distance.

Varignon’s theorem

The moment of the resultant force about a point is equal to the sum of moment of the given
individual forces (that constitute the resultant) about the same point.

Free body diagram

The diagram in which the body under consideration is freed from all other connected members
and shown with all the forces acting on it is called a free body diagram. All the forces including
the self-weight of the body and the reactions from contact surfaces are accounted in a free body
diagram. Through this approach, the analysis becomes easier.

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 2

PROBLEMS

II-1 Two spheres, each of weight 1000N and radius 25cm rest in a horizontal channel of
width 90cm as shown in fig, find the reactions on the points A, B, and C.

E C

D
A F

1000N
B

1000N

Ball-A
E RC
RD C E
RD Ball-B
D β
RA A F D α
F G

B 25 40 25
RB
90cm 90

In right angle triangle, FE = FD + DE = radius of ball B + radius of ball A

=25 + 25 = 50 cm

Cosα = FG/FE = 40/50 = 0.8

α = Cos-1(0.8) = 36.90
RD
36.9.
RC 1

1000N
Free body diagram of Ball-A

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 3

Equilibrium Conditions of Ball-A

ΣFX = 0 - RC + RD Cos 36.9 = 0

- RC + 0.8RD = 0 ----------------------(1)

ΣFY = 0 - 1000 + RD Sin 36.9 = 0

- 1000 + RD x0.6 = 0
RD = 1000/ 0.6 = 1666.7 N

Substituting the value of RD in (1),

- RC + (0.8x1666.7) = 0
RC = 1331.4 N

RB

RA
36.9
1
RD
1000N

Free body diagram of Ball-B

Equilibrium Conditions of Ball-B

ΣFX = 0 RA - RD Cos 36.9 = 0

- RA + 0.8RD = 0 ----------------------------- (2)

Substituting the value of RD in (2),

RA = 0.8 x 1666.7 = 1331.4 N

ΣFY = 0 - 1000 - RD Sin 36.9 + RB = 0

- 1000 - RD x 0.6 + RB = 0
RB = 1000 + (1666.7 x 0.6) = 2000 N

RA = 1331.4 N
RB = 2000 N
RC = 1331.4 N
RD = 1666.7 N

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 4

II-2 Two identical rollers each of weight 500N are supported by an inclined plane and a
vertical wall as shown in fig. Find the reactions at the points of supports A, B, and C.

30
C
C A
500N
B
500N

Ball-A
Ball-B
E
RD
RD D
RC A
C F α
B
RA

RB

RA RD

60 30

500N
Free body diagram of Ball-A

For Equilibrium conditions,

ΣFX = 0 - RA Cos 60 + RD Cos 30 = 0
- 0.5RA + 0.866RD = 0 ----------------------(1)

ΣFY = 0 - 500 + RA Sin 60 + RD Sin 30 = 0

- 500 + 0.866RA + 0.5RD = 0
0.866RA + 0.5RD = 500 ----------------------(2)

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 5

Solving (1) & (2) (1)x0.866 (- 0.5x0.866RA) + (0.866x0.866RD) = 0

(2)x0.5 (0.866x0.5RA) + (0.5x0.5RD) = (500x0.5)
Adding RD =250

RD = 500 N

Substituting the value of RD in (1),

- 0.5RA + (0.866x500) = 0
RA = 433/0.5 = 866 N

RB

60
RC
30

RD
1000N

Free body diagram of Ball-B

For Equilibrium conditions,

ΣFX = 0 RC – RB Cos 60 – RD Cos 30 = 0
RC – 0.5RB – 0.866RD = 0 ----------------------------- (3)

ΣFY = 0 - 1000 - RD Sin 30 + RB Sin 60 = 0

- 1000 - 500 x 0.5 + 0.866RB = 0
0.866RB = 1000 + 250 = 1250
RB = 1250/0.866 = 1443.4 N

Substituting the value of RB in (3), RC = (0.5x1443.4) + (0.866x500) = 1154.7 N

RA = 866 N
RB = 1443.4 N
RC = 1154.7 N
RD = 500 N

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 6

II-3 Four coplanar non-concurrent and non-parallel forces act on a rectangular plate as
shown in fig. Locate the resultant force.

6kN 12kN
60 A B 45

3m
D C
30 2m
60 10kN
4kN

Step 1: Resolve the given forces into horizontal and vertical components and find
the resultant.
6Sin60 12Cos45
(5.19) (8.49)
2m
6Cos60 A B 12Cos45
(3.0) (8.49)
3m
YI
4Cos30 D C 10Cos30
(3.46) XI (8.66)

4Sin30 10Sin30
(2.0) (5.0)

ΣFX = -3.0 +8.49 + 8.66 - 3.46 = 10.69 kN

ΣFY = 5.20 +8.49 – 5.0 - 2.0 = 6.69 kN

R = ΣFX2 + ΣFY2 = 10.692 + 6.692 =12.61 N

α = tan-1(ΣFY/ ΣFX) = tan-1(6.69/ 10.69) =32.00

Step2: Take moment about D,

MD = (3x3) + (8.49x2) – (8.49x3) – (5x2) = - 9.49 kN.m (CW)

Step3: Locate the resultant line considering the quadrant & direction of moment.
The resultant lies in first quadrant, since ΣFX & ΣFY are both positive.
XI = MD/ ΣFY = 9.48/6.67 = 1.42 m
YI = MD/ ΣFX = 9.48/10.68 = 0.88 m

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 7

II-4 Replace the given system of forces acting on the body by a single force and the
couple acting at a point A.
10kN
12kN
2
50mm B 3
A
40mm
D C
60mm 30

20 20kN
25kN

Step 1: Resolve the given forces into horizontal and vertical components and find
the resultant.
Angle at B, ΘB = tan-1(2/3) =33.70
12Sin33.7
10 R (6.66)

50mm B 12Cos33.7
A
(9.98)
40mm
25Cos70 D C 20Cos30
(8.55) 60mm (17.32)

25Sin70 20Sin30
(23.49) (10.0)

ΣFX = 9.98 – 17.32 - 8.55 = 1.21 kN

ΣFY = - 10.0 + 6.66 – 10.0 - 23.49 = 30.15 kN

R = ΣFX2 + ΣFY2 = 1.212 + 30.152 = 30.17 kN

α = tan-1(ΣFY/ ΣFX) = tan-1(1.21/ 30.15) = 87.70

Step2: Take moment about D,

MA = (6.66x50) - (17.32x40) + (10.0x60) – (8.55x40) = 582.2 kN.mm (CCW)

Step3: Locate the resultant line considering the quadrant & direction of moment.
The resultant lies in first quadrant, since ΣFX & ΣFY are both positive.
XI = MA/ ΣFY = 582.2/30.15 = 19.31 m
YI = MA/ ΣFX = 582.2/1.21 = 481.16 m

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 8

II-5 Find the magnitude and point of meeting of the line of action of the resultant with the
side KL for the system of forces shown in fig.

50kN
30 K L
10kN

4m
N M
4m 5 30
22kN

Step 1: Resolve the given forces into horizontal and vertical components and find
the resultant.
50Sin30
(25.0)
4m
50Cos30 K L
(43.30) 10

4m
YI
N M 22Cos30
XI (19.05)

22Sin30
(11.0)
ΣFx = - 43.3 + 10 + 19.05 = -14.25
ΣFy = 25.0 – 11.0 0 = 14.0

R = ΣFX2 + ΣFY2 = (-14.25)2 + 14.02 =19.98 N

α = tan-1(ΣFY/ ΣFX) = tan-1(14.0/ -14.25) =44.50

Step2: Take moment about D,

MK = (19.05x4) - (11.0x4) = 32.20 kN.m (CCW)

Step3: Locate the resultant line considering the quadrant & direction of moment.
The resultant lies in first quadrant, since ΣFX & ΣFY are both positive.
XI = MD/ ΣFY = 32.20/14.0 = 2.30 m
YI = MD/ ΣFX = 32.20/-14.25 = 2.26 m

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 9

II-6 Four forces and a couple are applied to a rectangular plate as shown in fig. Determine
the magnitude and direction of the resultant force-couple system. Also determine the
distance x from „O‟ along x-axis where the resultant exists.

600kN

50mm
750kN
Y 1.2m
80kN-m
O X
0.3m
500kN
0.25m 0.6m

300kN

Step 1: Resolve the given forces into horizontal and vertical components and find
the resultant.

50mm
750kN
Y 1.2m
80kN-m
R O X
0.3m
500kN
0.25m 0.6m

300kN
ΣFX = – 750 – 750 = – 1250 kN
ΣFY = – 600 +300 = – 300 kN

R = ΣFX2 + ΣFY2 = (–1250)2 + (–300)2 = 1285.5 kN

α = tan-1(ΣFY/ ΣFX) = tan-1(300/ 1250) = 13.50

Step2: Take moment about O,

MO = (750x1.2) + (300x0.6) – (500x0.3) – (600x0.25) + 80 = 1160 kN.mm (CCW)

Step3: Locate the resultant line considering the quadrant & direction of moment.
The resultant lies in III quadrant, since ΣFX & ΣFY are both negative.
XI = MO/ ΣFY = 1160/300 = 3.86 m
YI = MO/ ΣFX = 1160/1250 = 0.93 m

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 10

BEAM: A beam is a structural member that carries loads acting over it in the direction
perpendicular to the axis of the beam. A beam transfers the load through supports to the columns
or walls on which the beam is supported.

Types of Beams

RAH A B
Simply supported
1

RAV RBV

RAH A B
Overhanging
2

RAV RBV

RAH
A
Cantilever
3 MA

RAV

RAH RBH
A B MB
Fixed Beam
4 MA

RAV RBV

RAH A B C
Continuous beam
5

RAV RBV RCV

A
Propped cantilever beam
6 MA

RAV RBV

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 11

Types of Support

MA A B MB
Fixed Support
1 RAV RAB

A fixed support can resist both linear and angular displacements

by developing support reaction force and reaction moment.

Hinged Support
2
A hinged support can resist only linear displacements both in x and
y directions. It cannot resist angular displacement.

Roller Support
3 A roller support can resist only linear displacements perpendicular
to the plane of support.

Types of Loads

1
P
Concentrated Load

A load acting at a point on a beam is known as point load.

2 Uniformly w N/m
distributed Load
(UDL)
A load that is spread over the length of a beam is called uniformly
distributed load.
Conversion of UDL into point load, P = w L acting at L/2
3 Uniformly
Varying Load
(UVL)
A B

Conversion of VDL into point load, P = (WL/2) acting at (2/3)xL

from end A.

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 12

II-7 A simply supported beam of length 5m carries a uniformly increasing load of 800 N/m
at one end to 1600 N/m at the other end. Calculate the reactions at both ends.

800

800 800
B
A 5m

RAV RBV

The given load is divided into Uniformly Distributed Load of 800 N/m and uniformly
varying load of 800 N/m.

Converting UDL & UVL into concentrated loads,

UDL : 800 x 5 = 4000 N acting at 2.5m from “A”.

UVL : 0.5 x 800 x 5 = 2000 N acting at 3.33m (5x2/3) from “A”.

4000N 2000N

A B
2.5m
3.33
RAV 5m RBV

Apply conditions of equilibrium,

ΣFV =0 RAV – 4000 – 2000 + RBV = 0
RAV + RBV = 6000 -----------------------(1)

Taking moment about A, – (4000x2.5) – (2000x3.33) + (RB x 5) = 0

5RBV = 10000 + 6660
RBV = 16660/ 5 = 3332 N

Substituting the value of RB in (1), RA = 6000 – 3332 = 2668 N

RA = 2668 N
RB = 3332 N

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 13

II-8 A simply supported beam AB of span 10m carries vertical concentrated loads of 6 kN,
8 kN, 9 kN, 11 kN at 2m, 4m, 6m and 8m from A. The beam is also subjected to a
couple of 6 kN-m (clockwise) at mid span. In addition, an uniformly distributed load
of 2 kN/m act over the entire length of the beam. The beam is provided with hinged
support at A and roller support at B. Determine the reaction at A and B.

6kN 8kN 9kN 11kN

6kN-m
2kN/m UDL
A B

2m 2m 2m 2m 2m
5m

Converting UDL into Concentrated Loads,

UDL: 2 x 10 = 20 kN acting at 5m from “A”.

6kN 8kN 20kN 9kN 11kN

6kN-m
A
B

RAV 2m 2m 2m 2m RBV
2m
5m

Apply conditions of equilibrium,

ΣFV =0 RAV – 6 – 8 – 20 – 9 – 11 + RBV = 0
RAV + RBV = 54 ---------------------(1)

Taking moment about A,

– (6x2) – (8x4) – (20x5) – 6 – (9x6) – (11x8) + (RBV x 10) = 0
10RBV = 12 + 32 + 100 + 6 + 54 + 88
RBV = 292/ 10 = 29.2N

Substituting the value of RBV in (1), RAV = 54 – 29.2 = 24.8 N

RAV = 24.8 kN
RBV = 29.2 kN

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 14

II-9 Find the reactions at points A and B.

20kN 30kN
40kN
10kN/m UDL
60 70
A B
2m
1.5m 1.0m 2.0m 0.5m

Converting UDL into Concentrated Loads,

UDL: 10 x 0.5 = 5 kN acting at 4.75m from “A”(0.25m from “B”)

40Sin60 20Sin70
30kN 5kN
(34.6kN) (18.8kN)
40Cos60 20Cos70
RAH A (20kN) (6.84kN) B
2m
1.5m 1.0m 2.0m 0.5m RBV
RAV

Apply conditions of equilibrium,

ΣFH =0 282.8 – RBH = 0
RBH = 282.8 N

ΣFV =0 RAV – 6 – 8 – 20 – 9 – 11 + RBV = 0

RAV + RBV = 54 ---------------------(1)

Taking moment about A,

– (6x2) – (8x4) – (20x5) – 6 – (9x6) – (11x8) + (RBV x 10) = 0
10RBV = 12 + 32 + 100 + 6 + 54 + 88
RBV = 292/ 10 = 29.2N

Substituting the value of RBV in (1), RAV = 54 – 29.2 = 24.8 N

RAV = 24.8 kN
RBV = 29.2 kN

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 15

II-11 Using the conditions of equilibrium for a rigid body in 2D, determine the reactions
for the beam shown in fig. which is pinned at B and supported on rollers at A.

200N 400N 100N

1
1
A B

2.0m 2.5m 1.5m

35m 35m

400Cos45
200N (282.8N) 100N

400Sin45
C (282.8N) D
RBH
A B
2.0m 2.5m 1.5m
RBV
RAV

Input Values: Angle at D, θD = tan-1(1/1) =450

Apply conditions of equilibrium,

ΣFH =0 282.8 – RBH = 0
RBH = 282.8 N

ΣFV =0 RAV – 200 – 282.8 – 100 + RBV = 0

RAV + RVB = 582.8 -----------------------(1)

Taking moment about A,

– (200x2.0) – (282.8x4.5) – (100x6) + (RBV x 6) = 0
6RBV = 400 + 1272.6 +600
RBV = 2272.6/ 5 = 378.7N

Substituting the value of RBV in (1), RAV = 582.8 – 378.7 = 204.1 N

RAH = 282.8 N
RAV = 204.1 N
RBV = 378.7 N

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 16

PART-A Q&A II-RIGID BODIES

II-1 Define moment.

Moment of a force about a point is defined as the product of the magnitude of the force
and the perpendicular distance of the point from the line of action of the force.

II-2 Define a Couple

Two parallel forces equal in magnitude and opposite in direction and separated by a
definite distance is said to form a couple.

II-3 Differentiate between moment and couple

Moment of a force about a point is defined as the product of the magnitude of the force
and the perpendicular distance of the point from the line of action of the force.

Two parallel forces equal in magnitude and opposite in direction and separated by a
definite distance is said to form a couple.

Sum of the forces forming a couple is zero, since they are essentially in opposite
directions; however there is a moment due a couple, since they are separated by a
definite distance.

II-4 State Varignon’s theorem

The moment of the resultant force about a point is equal to the sum of moment of the
given individual forces (that constitute the resultant) about the same point.

II-5 Represent the rectangular components of moment of a force in determinant form.

i j k
M=dxF = x y z
Fx Fy Fz

M = (yFz –zFy)i + (zFx –xFz)j + (xFy –yFx)k

F – Force vector
d – Distance vector

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 17

II-6 A force F = (100i + 50j + 20k) N acts at a point P whose coordinates are (2,4,5) m.
Find the moment of the force about X, Y and Z axes.

i j k i j k
M=dxF = x y z = 2 4 5
Fx Fy Fz 100 50 20

M = [(4x20) – (5x50)] i + [(5x100 – (2x20)] j +[(2x50) – (4x100)] k

M = -170i + 460j – 300k

II-7 Why the couple moment is said to be a free vector?

Two parallel forces equal in magnitude and opposite in direction and separated by a
definite distance is said to form a couple. Sum of the forces forming a couple is zero,
since they are essentially in opposite directions; however there is a moment due a
couple, since they are separated by a definite distance. The effect of a couple is a
moment and it can be rotated through any angle and also it can be shifted to any
position. The resulting value of moment is the same.

Since, the couple can be rotated through any angle and it can be shifted to any position,
it is called a free vector.

II-8 Define the State of equilibrium.

A body is said to in equilibrium when the net effect of all the forces acting on the body
including the support reactions and moments is zero.

Hence, for a general case of non-coplanar non-concurrent force system,

ΣFX = 0 ΣFY = 0 ΣFZ = 0 and ΣMX = 0 ΣMY = 0 ΣMZ = 0

For Coplanar Concurrent force system,

ΣFX = 0 and ΣFY = 0

For Non-Coplanar Concurrent force system,

ΣFX = 0 ΣFY = 0 and ΣFZ = 0

For Coplanar Non-Concurrent force system,

ΣFX = 0 ΣFY = 0 ΣMABOUT ANY POINT = 0

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 18

II-9 State the necessary and sufficient conditions for equilibrium of rigid bodies in two
dimensions.

A body is said to in equilibrium when the net effect of all the forces acting on the body
including the support reactions and moments is zero. A rigid body in two dimensions
refers to the case of coplanar forces.

Hence, for a Coplanar Concurrent force system,

ΣFX = 0 and ΣFY = 0

For a Coplanar Non-Concurrent force system,

ΣFX = 0 ΣFY = 0 and ΣMABOUT ANY POINT = 0

II-10 What is a free body diagram? Give its significance with one example.

The diagram in which the body under consideration is freed from all other connected
members and shown with all the forces acting on it is called a free body diagram. All
the forces including the self-weight of the body and the reactions from contact surfaces
are accounted in a free body diagram. Through this approach, the analysis becomes
easier.

600mm 800mm
A B

1000mm

LOAD

F2
F1

F3

FREE BODY DIAGRAM

II-11 Define beam

A beam is a structural member that carries loads acting over it in the direction
perpendicular to the axis of the beam. A beam transfers the load through supports to the
columns or walls on which the beam is supported.

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 19

II-12 Name any four types of beams.

i. Simply Supported Beam

ii. Cantilever beam
iii. Fixed beam
iv. Continuous beam

II-13 List out various types of loads applied in beams.

i. Concentrated Load or Point Load

ii. Uniformly Distributed Load (UDL)
iii. Uniformly Distributed Load

II-14 List out various supports used in practice.

Fixed support:

MA A B MB

RAV RAB

A fixed support can resist both linear and angular displacements by developing support
reaction force and reaction moment.

Hinged support:

A hinged support can resist only linear displacements both in x and y directions. It
cannot resist angular displacement.

Roller support:

A roller support can resist only linear displacements perpendicular to the plane of
support.

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 20

TUTORIAL PROBLEMS IN UNIT II-RIGID BODIES

II-1 Two cylinders of diameters 25mm and 70mm weighing 50N and 200N respectively
are placed as shown in figure. Assuming all the contact surfaces to be smooth, find the
reactions on the points A, B, and C.

D
A

II-2 Two identical rollers each of weight 500N are supported by an inclined plane and a
vertical wall as shown in fig. Find the reactions at the points of supports A, B, and C.

C
C A
B
45

II-3 Four coplanar non-concurrent and non-parallel forces act on a rectangular plate as
shown in fig. Locate the resultant force.

16kN 10kN
60 A B 45

2m
D C
30 2m
60 18kN
8kN

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University
 21

II-4 Replace the given system of forces acting on the body by a single force and the couple
acting at a point A.
10kN
12kN
B 3
100mm 4
A
80mm
D C
120mm 30

30 20kN
25kN

II-5 Determine the reaction at the hinged support A and roller support at B.

10kN/m
10kN
25kN-m 5kN/ 12kN
m 30
A
B
2m 2m 4m 3m

II-6 Find the horizontal and vertical reactions at the supports of the beam shown in Fig.
Neglect the weight of the beam.

250kN
500N 200N

30 45
2m
A B
3m 3m 2m 2m

Engineering Mechanics – Unit II RIGID BODIES Dr.M.Ramakrishnan, Professor, Mechanical Engineering, Hindustan University