Chapter Objectives

ü To develop the equations of equilibrium for a rigid

body.
ü To introduce the concept of the free-body diagram
for a rigid body.
ü To show how to solve rigid-body equilibrium
problems using the equations of equilibrium.
In-Class Activities

1. Reading Quiz 9. Characteristics of

2. Applications Dry Friction
3. Conditions for Rigid 10. Problems Involving
Equilibrium Dry Friction
4. Free-Body Diagrams 11. Frictional Forces on
5. Equations of Equilibrium Flat Belts
6. Two and Three-Force 12. Frictional Forces on
Members Screws
7. Free-Body Diagrams 13. Concept Quiz
8. Equations of Equilibrium
READING QUIZ

1) If a support prevents translation of a body,

then the support exerts a ___________ on the
body.

a) Couple moment

b) Force

c) Both A and B.

d) None of the above

READING QUIZ (cont)

2) Internal forces are _________ shown on the free

body diagram of a whole body.

a) Always

b) Often

c) Rarely

d) Never
READING QUIZ (cont)

3) Internal forces are not shown on a free-body

diagram because the internal forces are _____.

a) Equal to zero

b) Equal and opposite and they do not affect the

calculations

c) Negligibly small

d) Not important
READING QUIZ (cont)

4) If a support prevents rotation of a body about

an axis, then the support exerts a ________ on
the body about that axis.

a) Couple moment

b) Force

c) Both A and B.

d) None of the above.

READING QUIZ (cont)

5) When doing a 3-D problem analysis, you have

________ scalar equations of equilibrium.

a) 3

b) 4

c) 5

d) 6
APPLICATIONS
CONDITIONS FOR RIGID-BODY
EQUILIBRIUM

• The equilibrium of a body

is expressed as

FR F 0
MR O
MO 0

• Consider summing moments

about some other point, such
as point A, we require

MA r FR MR O
0
FREE-BODY
DIAGRAMS

Support Reactions
• If a support prevents the
translation of a body in a
given direction, then a
force is developed on
the body in that direction.
• If rotation is prevented,
a couple moment is
exerted on the body.
FREE-BODY DIAGRAMS (cont)
FREE-BODY DIAGRAMS (cont)
FREE-BODY DIAGRAMS (cont)
FREE-BODY DIAGRAMS (cont)
Internal Forces
• External and internal forces can act on a rigid body
• For FBD, internal forces that act between particles contained
within the boundary of the FBD are not represented
• Particles outside this boundary exert external forces on the
system
FREE-BODY DIAGRAMS (cont)

Weight and Center of Gravity

• Each particle has a specified weight
• System can be represented by a single resultant
force, known as weight W of the body
• Location of the force application is known as the
center of gravity
FREE-BODY DIAGRAMS (cont)
Procedure for Drawing a FBD:

1. Draw Outlined Shape

• Imagine body to be isolated or cut free from its constraints
• Draw outlined shape

2. Show All Forces and Couple Moments

• Identify all external forces and couple moments that act on the
body

3. Identify Each Loading and Give Dimensions

• Indicate dimensions for calculation of forces
• Known forces and couple moments should be properly labeled
with their magnitudes and directions
EXAMPLE 1

Draw the free-body diagram of the uniform beam. The

beam has a mass of 100 kg.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 1 (cont)

Solution

Free-Body Diagram:

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 1 (cont)

Solution

Free-Body Diagram:
• Support at A is a fixed wall
• Three forces acting on the beam at A denoted as Ax,
Ay, Az, drawn in an arbitrary direction
• Unknown magnitudes of these vectors
• Assume sense of these vectors
• For a uniform beam,
Weight, W = 100(9.81) = 981 N
acting through beam’s center of gravity, 3 m from A

Copyright © 2011 Pearson Education South Asia Pte Ltd

 Please
refer to
EQUATIONS OF EQUILIBRIUM the website for
the animation:
Equilibrium of
a Free Body

• For equilibrium of a rigid body in 2D,

∑Fx = 0; ∑Fy = 0; ∑MO = 0

• ∑Fx and ∑Fy represent sums of x and y components of

all the forces

• ∑MO represents the sum of the couple moments and

moments of the force components
 Please
refer to
EQUATIONS OF EQUILIBRIUM (cont) the website for
the animation:
Equilibrium of
a Free Body

Alternative Sets of Equilibrium Equations

• For coplanar equilibrium problems,
∑Fx = 0; ∑Fy = 0; ∑MO = 0

• 2 alternative sets of 3 independent equilibrium

equations,
∑Fa = 0; ∑MA = 0; ∑MB = 0
 Please
refer to
EQUATIONS OF EQUILIBRIUM (cont) the website for
the animation:
Equilibrium of
a Free Body

Procedure for Analysis

Free-Body Diagram
• Force or couple moment having an unknown
magnitude but known line of action can be assumed
• Indicate the dimensions of the body necessary for
computing the moments of forces
 Please
refer to

EQUATIONS OF EQUILIBRIUM (cont) the website for

the animation:
Equilibrium of
a Free Body

Procedure for Analysis

Equations of Equilibrium
• Apply ∑MO = 0 about a point O
• Unknowns moments of force are zero about O and a
direct solution the third unknown can be obtained
• Orient the x and y axes along the lines that will
provide the simplest resolution of the forces into their
x and y components
• Negative result scalar is opposite to that was
assumed on the FBD
EXAMPLE 2

Determine the horizontal and vertical components of

reaction for the beam loaded. Neglect the weight of the
beam in the calculations.

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EXAMPLE 2 (cont)

Solution

Free Body Diagram

– 600 N represented by x and y components
– 200 N force acts on the beam at B

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 2 (cont)

Solution

Equations of Equilibrium
MB 0; 600 cos 45 N Bx 0 Bx 424 N
MB 0;
100 N (2m) (600 sin 45 N )(5m) (600 cos 45 N )(0.2m) Ay (7 m) 0
Ay 319 N
Fy 0;
319 N 600 sin 45 N 100 N 200 N By 0
By 405 N

Copyright © 2011 Pearson Education South Asia Pte Ltd

TWO- AND THREE-FORCE MEMBERS

Two-Force Members
• When forces are applied at only two points on a
member, the member is called a two-force member
• Only force magnitude must be determined
TWO- AND THREE-FORCE MEMBERS (cont)

Three-Force Members
• When subjected to three forces, the forces are
concurrent or parallel
EXAMPLE 3

The lever ABC is pin-supported

at A and connected to a short
link BD. If the weight of the
members is negligible,
determine the force of the pin
on the lever at A.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 3 (cont)

Solution

Free Body Diagrams

• BD is a two-force member
• Lever ABC is a three-force member
Equations of Equilibrium
1 0.7
tan 60.3
0.4
Fx 0; FA cos 60.3 F cos 45 400 N 0
Fy 0; FA sin 60.3 F sin 45 0

Solving, FA 1.07 kN
F 1.32kN
Copyright © 2011 Pearson Education South Asia Pte Ltd
FREE-BODY DIAGRAMS

Support Reactions
As in the two-dimensional case:
• A force is developed by a support
• A couple moment is developed when rotation of the
attached member is prevented
• The force’s orientation is defined by the coordinate
angles α, β and γ
FREE-BODY DIAGRAMS (cont)
FREE-BODY DIAGRAMS (cont)
FREE-BODY DIAGRAMS (cont)
EXAMPLE 4

Several examples of objects along with their associated

free-body diagrams are shown. In all cases, the x, y and z
axes are established and the unknown reaction
components are indicated in the positive sense. The
weight of the objects is neglected.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 4 (cont)

Solution

Copyright © 2011 Pearson Education South Asia Pte Ltd

EQUATIONS OF EQUILIBRIUM

Vector Equations of Equilibrium

• For two conditions for equilibrium of a rigid body in
vector form,
∑F = 0 ∑MO = 0

Scalar Equations of Equilibrium

• If all external forces and couple moments are
expressed in Cartesian vector form
∑F = ∑Fxi + ∑Fyj + ∑Fzk = 0
∑MO = ∑Mxi + ∑Myj + ∑Mzk = 0
CHARACTERISTICS OF DRY FRICTION

Friction
• Force that resists the movement of two contacting
surfaces that slide relative to one another
• Acts tangent to the surfaces at points of contact with
other body
• Opposing possible or existing motion of the body
relative to points of contact
• Two types of friction – Fluid and Coulomb Friction
CHARACTERISTICS OF
DRY FRICTION (cont)
• Fluid friction exist when the contacting surface are
separated by a film of fluid (gas or liquid)
• Depends on velocity of the
fluid and its ability to resist
shear force
• Coulomb friction occurs
between contacting
surfaces of bodies in the
absence of a lubricating
fluid
CHARACTERISTICS OF
DRY FRICTION (cont)
Theory of Dry Friction
• Consider the effects caused by pulling horizontally on
a block of uniform weight W which is resting on a
rough horizontal surface

• Consider the surfaces of

contact to be nonrigid or
deformable and other
parts of the block to be rigid
CHARACTERISTICS OF
DRY FRICTION (cont)

Theory of Dry Friction

• Normal force ∆Nn
and frictional force
∆Fn act along the
contact surface

• For equilibrium, normal forces act upward to balance

the block’s weight W, frictional forces act to the left to
prevent force P from moving the block to the right
CHARACTERISTICS OF
DRY FRICTION (cont)
• Many microscopic irregularities exist between the two
surfaces of the floor and the block
• Reactive forces ∆Rn develop at each protuberance
• Each reactive force consists of both a frictional
component ∆Fn and normal component ∆Nn
CHARACTERISTICS OF
DRY FRICTION (cont)
Theory of Dry Friction
Equilibrium
• Effect of normal and frictional
loadings are indicated by
their resultant N and F
• Distribution of ∆Fn indicates
that F is tangent to the
contacting surface, opposite
to the direction of P
• Normal force N is determined
from the distribution of ∆Nn
CHARACTERISTICS OF
DRY FRICTION (cont)

Theory of Dry Friction

Equilibrium
• N is directed upward
to balance W
• N acts a distance x to the
right of the line of action of W
This location coincides with the centroid or the geometric
center of the loading diagram in order to balance the
“tipping effect” caused by P
CHARACTERISTICS OF
DRY FRICTION (cont)
Theory of Dry Friction
Impending Motion
• As P is slowly increased, F correspondingly increase
until it attains a certain maximum value F, called the
limiting static frictional force
• Limiting static frictional force
Fs is directly proportional to
the resultant normal force N

Fs = μsN
CHARACTERISTICS OF
DRY FRICTION (cont)

Theory of Dry Friction

Impending Motion
• Constant of proportionality μs is known as the
coefficient of static friction
• Angle Φs that Rs makes with N is called the angle of
static friction

1 Fs 1 sN 1
s tan tan tan s
N N
CHARACTERISTICS OF
DRY FRICTION (cont)

Typical Values of μs

Contact Materials Coefficient of Static Friction μs

Metal on ice 0.03 – 0.05

Wood on wood 0.30 – 0.70

Leather on wood 0.20 – 0.50

Leather on metal 0.30 – 0.60

Aluminum on aluminum 1.10 – 1.70

CHARACTERISTICS OF
DRY FRICTION (cont)
Theory of Dry Friction
Motion
• When P is greater than Fs, the frictional force is
slightly smaller value than Fs, called kinetic frictional
force
• The block will not be held in
equilibrium (P > Fs) but
slide with increasing speed
CHARACTERISTICS OF
DRY FRICTION (cont)
Theory of Dry Friction: Motion
• The drop from Fs (static) to Fk (kinetic) can by
explained by examining the contacting surfaces
• When P > Fs, P has the capacity to shear off the
peaks at the contact surfaces
CHARACTERISTICS OF
DRY FRICTION (cont)
Theory of Dry Friction
• Resultant frictional force Fk is directly proportional to
the magnitude of the resultant normal force N
Fk = μkN
• Constant of proportionality μk is coefficient of kinetic
friction
• μk are typically 25% smaller than μs
• Resultant Rk has a line of action defined by Φk, angle
of kinetic friction
1 Fk 1 kN 1
k tan tan tan k
N N
CHARACTERISTICS OF
DRY FRICTION (cont)
Theory of Dry Friction
• F is a static frictional force if equilibrium is maintained
• F is a limiting static frictional force when it reaches a
maximum value needed to maintain equilibrium
• F is termed a kinetic frictional force when sliding
occurs at the contacting surface
CHARACTERISTICS OF
DRY FRICTION (cont)

Characteristics of Dry Friction

• The frictional force acts tangent to the contacting
surfaces
• The max static frictional force Fs is independent of the
area of contact
• The max static frictional force is greater than kinetic
frictional force
• When slipping, the max static frictional force is
proportional to the normal force and kinetic frictional
force is proportional to the normal force
PROBLEMS INVOLVING DRY FRICTION

Types of Friction Problems

• In all cases, geometry and dimensions are assumed
to be known
• 3 types of mechanics problem involving dry friction
- Equilibrium
- Impending motion at all points
- Impending motion at some points
PROBLEMS INVOLVING DRY FRICTION
(cont)
Types of Friction Problems
Equilibrium
• Total number of unknowns = Total number of available
equilibrium equations
• Frictional forces must satisfy F ≤ μsN; otherwise,
slipping will occur and the body will not remain in
equilibrium
• We must determine the frictional
forces at A and C to check
for equilibrium
PROBLEMS INVOLVING DRY FRICTION
(cont)

Equilibrium Versus Frictional Equations

• Frictional force always acts so as to oppose the
relative motion or impede the motion of the body over
its contacting surface
• Assume the sense of the frictional force that require F
to be an “equilibrium” force
• Correct sense is made after solving the equilibrium
equations
• If F is a negative scalar, the sense of F is the reverse
of that assumed
EXAMPLE 5

The uniform crate has a mass of 20 kg. If a force P = 80 N

is applied on to the crate, determine if it remains in
equilibrium. The coefficient of static friction is μ = 0.3.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 5 (cont)
Solution

Resultant normal force NC act a distance x from the

crate’s center line in order to counteract the tipping effect
caused by P.

3 unknowns to be
determined by 3
equations of equilibrium.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 5 (cont)
Solution

Fx 0;
80 cos 30 N F 0
Fy 0;
80 sin 30 N N C 196.2 N 0
MO 0;
80 sin 30 N (0.4m) 80 cos 30 N (0.2m) N C ( x) 0
Solving
F 69.3 N , N C 236 N x 0.00908m 9.08mm

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 5 (cont)
Solution

Since x is negative, the resultant force acts (slightly) to

the left of the crate’s center line.

No tipping will occur since x ≤ 0.4 m

Max frictional force which can be developed at the

surface of contact
Fmax = μsNC = 0.3(236N) = 70.8 N

Since F = 69.3 N < 70.8 N, the crate will not slip thou it is
close to doing so.

Copyright © 2011 Pearson Education South Asia Pte Ltd

FRICTIONAL FORCES ON FLAT BELTS

• It is necessary to determine the frictional forces

developed between the contacting surfaces
• Consider the flat belt which passes over a fixed curved
surface
• Obviously T2 > T1
• Consider FBD of the belt
segment in contact with the surface
• N and F vary both in
magnitude and direction
FRICTIONAL FORCES ON FLAT BELTS
(cont)

• Consider FBD of an element having a length ds

• Assuming either impending motion or motion of the belt,
the magnitude of the frictional force
dF = μ dN
• Applying equilibrium equations
Fx 0;
d d
T cos dN (T dT ) cos 0
2 2
Fy 0;
d d
dN (T dT ) sin T sin 0
2 2
FRICTIONAL FORCES ON FLAT BELTS
(cont)

We have
dN dT
dN Td
dT
d
T

T T1 , 0, T T2 ,
T2 dT
d
T1 T 0

T
In 2
T1
T2 T1e
EXAMPLE 6

The maximum tension that can be developed In the cord

is 500N. If the pulley at A is free to rotate and the
coefficient of static friction at fixed drums B and C is μs =
0.25, determine the largest mass of cylinder that can be
lifted by the cord. Assume that the force F applied at the
end of the cord is directed vertically downward.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 6 (cont)
Solution
Weight of W = mg causes the cord to move CCW over
the drums at B and C.
Max tension T2 in the cord occur at D where T2 = 500 N
For section of the cord passing over the drum at B
180° = π rad, angle of contact between drum and cord
β = (135°/180°)π = 3/4π rad
T2 T1e s
;
500 N T1e 0.25 3/ 4

500 N 500 N
T1 0.25 3 / 4
277.4 N
e 1.80

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 6 (cont)
Solution

For section of the cord passing over the drum at C

W < 277.4 N

T2 T1e s
;
277.4 We 0.25 3/ 4

W 153.9 N
W 153.9 N
m 15.7 kg
g 9.81m / s 2

Copyright © 2011 Pearson Education South Asia Pte Ltd

FRICTIONAL FORCES ON SCREWS

• Screws used as fasteners

• Sometimes used to transmit power or motion from one
part of the machine to another
• A square-ended screw is commonly used for the latter
purpose, especially when large forces are applied
along its axis
• A screw is thought as an inclined plane or wedge
wrapped around a cylinder
FRICTIONAL FORCES ON SCREWS (cont)

• A nut initially at A on the screw will move up to B when

rotated 360°around the screw
• This rotation is equivalent to translating the nut up an
inclined plane of height l and length 2πr, where r is the
mean radius of the head
• Applying the force equations of equilibrium, we have
M rW tan s
FRICTIONAL FORCES ON SCREWS (cont)

Downward Screw Motion

• If the surface of the screw is very slippery, the screw
may rotate downward if the magnitude of the moment
is reduced to say M’ < M

• This causes the effect of

M’ to become S’
M’ = Wr tan(θ – Φ)
EXAMPLE 7

The turnbuckle has a square thread with a mean radius of

5 mm and a lead of 2 mm. If the coefficient of static
friction between the screw and the turnbuckle is μs = 0.25,
determine the moment M that must be applied to draw the
end screws closer together. Is the turnbuckle self-locking?

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 7 (cont)
Solution
Since friction at two screws must be overcome, this
requires
M 2 Wr tan
1 1
W 2000 N , r 5mm, s tan s tan 0.25 14.04
1 1
tan /2 r tan 2mm / 2 5mm 3.64
Solving
M 2 2000 N 5mm tan 14.04 3.64
6374.7 N .mm 6.37 N .m
When the moment is removed, the turnbuckle will be self-
locking

Copyright © 2011 Pearson Education South Asia Pte Ltd

CONCEPT QUIZ

1) The beam and the cable (with a

frictionless pulley at D) support an 80 kg
load at C. In a FBD of only the beam,
there are how many unknowns?

a) 2 forces and 1 couple moment

b) 3 forces and 1 couple moment

c) 3 forces

d) 4 forces
CONCEPT QUIZ (cont)

2) The three scalar equations å FX = å FY =

å MO = 0, are ____ equations of
equilibrium in two dimensions.

a) Incorrect

b) The only correct

c) The most commonly used

d) Not sufficient
CONCEPT QUIZ (cont)

3) A rigid body is subjected to forces. This

body can be considered as a ____________
member.

a) Single-force

b) Two-force

c) Three-force

d) Six-force
CONCEPT QUIZ (cont)

4) For this beam, how many support

reactions are there and is the problem
statically determinate?

a) (2, Yes)
F F F
b) (2, No) F

c) (3, Yes)

d) (3, No)
CONCEPT QUIZ (cont)

5) The beam AB is loaded as shown: a) how

many support reactions are there on the
beam, b) is this problem statically
determinate, and c) is the structure
stable?
Fixed support
F
a) (4, Yes, No)
A B
b) (4, No, Yes)

c) (5, Yes, No)

d) (5, No, Yes)

CONCEPT QUIZ (cont)

6) Which equation of equilibrium allows you

to determine FB right away?

a) å FX = 0 100 lb
AX A B
b) å FY = 0

c) å MA = 0
FB
d) Any one of the above. AY
CONCEPT QUIZ (cont)

7) A beam is supported by a pin joint and a

roller. How many support reactions are
there and is the structure stable for all
types of loadings?

a) (3, Yes)

b) (3, No)

c) (4, Yes)

d) (4, No)
CONCEPT QUIZ (cont)

8) The rod AB is supported using two cables

at B and a ball-and-socket joint at A. How
many unknown support reactions exist in
this problem?

a) 5 force and 1 moment reaction

b) 5 force reactions

c) 3 force and 3 moment reactions

d) 4 force and 2 moment reactions

CONCEPT QUIZ (cont)
9) If an additional couple moment in the
vertical direction is applied to rod AB at
point C, then what will happen to the rod?

a) The rod remains in equilibrium

as the cables provide the necessary
support reactions.
b) The rod remains in equilibrium as
the ball-and-socket joint will provide
the necessary resistive reactions.
c) The rod becomes unstable as the
cables cannot support compressive
forces.
d) The rod becomes unstable since a moment about AB cannot be
restricted.
CONCEPT QUIZ (cont)

10) A plate is supported by a ball-and-socket

joint at A, a roller joint at B, and a cable
at C. How many unknown support
reactions are there in this problem?

a) 4 forces and 2 moments

b) 6 forces

c) 5 forces

d) 4 forces and 1 moment

CONCEPT QUIZ (cont)

11) What will be the easiest way to determine

the force reaction BZ ?

a) Scalar equation å FZ = 0

b) Vector equation å MA = 0

c) Scalar equation å MZ = 0

d) Scalar equation å MY = 0
CONCEPT QUIZ (cont)

12) A frictional force always acts _____ to the

contact surface.

a) Normal b) At 45°
c) Parallel d) At the angle of static friction

13) If a block is stationary, then the friction

force acting on it is ________ .

a) £ µs N b) = µs N
c) ³ µs N d) = µk N
CONCEPT QUIZ (cont)

14) A 100 lb box with a wide base is pulled

by a force P and µs = 0.4. Which force
orientation requires the least force to
begin sliding?
P(A)
a) P(A)
P(B)
b) P(B) 100 lb
P(C)
c) P(C)

d) Not determined
CONCEPT QUIZ (cont)

15) A ladder is positioned as shown. Please

indicate the direction of the frictional
force on the ladder at B.

a) ­
B
b) ¯

c)
A
d)
CONCEPT QUIZ (cont)

16) Considering friction forces and the

indicated motion of the belt, how are belt
tensions T1 and T2 related?

a) T1 > T2

b) T1 = T2

c) T1 < T2

d) T1 = T2 eµ
CONCEPT QUIZ (cont)

17) In the analysis of frictional forces on a

flat belt, T2 = T1 e µ b. In this equation,
b equals ______ .

a) Angle of contact in deg

b) Angle of contact in rad

c) Coefficient of static friction

d) Coefficient of kinetic friction