Engineering Mechanics: Statics

Fifteenth Edition

Chapter 5
Equilibrium of a Rigid Body
Section 5.5 Free-Body Diagrams
Section 5.6 Equations of
Equilibrium
Section 5.7 Constraints and
Statical Determinacy
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3-D Free-Body Diagrams, Equilibrium Equations,
Constraints and Statical Determinacy

Today’s Objectives:
a. Identify support reactions in 3-
D and draw a free-body
diagram, and,
b. Apply the equations of
equilibrium.

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Reading Quiz (1 of 2)
1. 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.

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Reading Quiz (2 of 2)
1. When doing a 3-D problem analysis, you have _______
scalar equations of equilibrium.
A. 3
B. 4
C. 5
D. 6

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Applications (1 of 3)

Ball-and-socket joints and journal bearings are often used in

mechanical systems. To design the joints or bearings, the
support reactions at these joints and the loads must be
determined.
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Applications (2 of 3)
The tie rod from point A is used to
support the overhang at the
entrance of a building. It is pin
connected to the wall at A and to
the center of the overhang B.
If A is moved to a lower position D,
will the force in the rod change or
remain the same? By making such
a change without understanding if
there is a change in forces, failure
might occur.

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Applications (3 of 3)

The floor crane, which weighs 350 lb,

is supporting a oil drum.
How do you determine the largest oil
drum weight that the crane can
support without overturning?

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Support Reactions In 3-D (Table 5-2)

A few examples of supports are shown above. Other support

reactions are given in your textbook (Table 5-2).
As a general rule, if a support prevents translation of a body in a
given direction, then a reaction force acting in the opposite
direction is developed on the body. Similarly, if rotation is
prevented, a couple moment is exerted on the body by the
support.
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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. In
these cases, only force reactions are generated and no
moment reactions are created.

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Section 5.6: Equations of Equilibrium
As stated earlier, when a body is in equilibrium, the net force
and the net moment equal zero, i.e.,  F =0 and  Mo = 0.
These two vector equations can be written as six scalar
equations of equilibrium (E-of-E). These are
F = F = F = 0
X Y Z

M = M = M = 0
X Y Z

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 passing through the point where moments are taken do
not appear in the moment equation.

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Section 5.7: Constraints and Statical
Determinacy

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.
Are statically indeterminate structures used in practice? Why or why
not?
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Improper Constraints

Here, while we have 6 unknowns, there is nothing restricting

rotation about the AB axis!
In some cases, there may be as many
unknown reactions as there are equations of
equilibrium.
However, if the supports are not properly
constrained, the body may become unstable
for some loading cases.
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Example Ⅰ (1 of 3)
Given: The rod, supported by thrust
bearing at A and cable BC, is
subjected to an 80 lb force.
Find: Reactions at the thrust bearing
A and cable BC.

Plan:
a. Use the established x, y and z-axes.
b. Draw a FBD of the rod.
c. Write the forces using scalar equations.
d. Apply scalar equations of equilibrium to solve for the unknown
forces.
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Example Ⅰ (2 of 3)
FBD of the rod:

Applying scalar equations of equilibrium in appropriate order,

we get
 FX = A X = 0; AX = 0
 F = A + F − 80 = 0;
Z Z BC

 M Y = −80(1.5) + FBC (3.0) = 0;

Solving the last two equations: FBC = 40 lb, A Z = 40 lb
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Example Ⅰ (3 of 3)
FBD of the rod

Now write scalar moment equations about what point? Point A!

MX = ( MA )X + 40 ( 6 ) – 80 ( 6 ) = 0 ; ( MA ) X = 240 lb ft CCW

M Z
= (MA )Z = 0; ( MA ) Z = 0

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Example Ⅱ (1 of 3)
Given: The uniform plate has a
weight of 500 l b, supported
by three cables.
Find: The tension in each of the
supporting cables.

Plan:
a. Use established x, y and z-axes.
b. Draw a FBD of the plate.
c. Write the forces using scalar equations.
d. Apply scalar equations of equilibrium to solve for the unknown
forces.
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Example Ⅱ (2 of 3)
FBD of the plate:

Applying scalar equations of equilibrium:

F z
= TA + TB + TC – 200 – 500 = 0 (1)
M x
= TA ( 3 ) + TC (3) – 500 (1.5 ) – 200 (3) = 0 (2)
M y
= – TB ( 4 ) – TC ( 4 ) + 500(2) + 200(2) (3 )

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Example Ⅱ (3 of 3)
F Z
= TA +TB +TC – 200 – 500 = 0 (1)
M x
= TA ( 3 ) + TC (3) – 500 (1.5 ) – 200 (3) = 0 ( 2)
M y
= – TB ( 4 ) – TC ( 4 ) + 500(2) + 200 ( 2 ) = 0 (3 )
Using Equations (2) and (3), express TA and TB in terms of
TC:
Equation ( 2 )  TA = 450 – TC
Equation ( 3 )  TB = 350 – TC

Substituting the results into Equation (1) & solving for TC

Equation (1)  (450 – TC ) + (350 – TC ) + TC – 200 – 500 = 0
TC = 100 lb 
TA = 350 lb  and TA = 250 lb 
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Concept Quiz (1 of 2)

1. 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. Five force and one moment
reaction
B. Five force reactions
C. Three force and three
moment reactions
D. Four force and two moment
reactions

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Concept Quiz (2 of 2)
2. 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.

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Group Problem Solving (1 of 4)
Given: A bent rod is supported by
smooth journal bearings at
A, B, and C. F=800 N.
Assume the rod is properly
aligned.
Find: The reactions at all the
supports.

Plan:
a. Draw a FBD of the rod.
b. Apply scalar equations of equilibrium to solve for the
unknowns.

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Group Problem Solving (2 of 4)
A FBD of the rod

The x, y and z components of force F are F = 346.4 i + 200 j + 692.8 k

Fx = (800 cos 60) cos 30 = 346.4N
Fy = (800 cos 60°) sin 30° = 200 N
Fz = 800 sin 60 = 692.8N
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Group Problem Solving (3 of 4)

Applying scalar equations of equilibrium, we A FBD of the rod

get

F x
= Ax + Cx + 346.4 = 0 (1)
F Y
= 200 + B y + Cy = 0 ( 2)
F z
= A z + Bz – 692.8 = 0 (3 )

 M = –C (2) + B (2) – 692.8(2) = 0

x y z ( 4)
Recall
 My = Bz (1) + CX (2) = 0 (5) F = 346.4 i + 200 j + 692.8 k

M z
= –Cy (1.75 ) – Cx ( 2 ) – B y (1)
– 346.4 ( 2 ) = 0 (6)

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Group Problem Solving (4 of 4)

Solving Equations (1) to (6),

A x = 400 N, By = 600N, Cx = 53.6N

A z = 800 N, Bz = −107 N, Cy = 800N

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Attention Quiz (1 of 2)

1. 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. Four forces and two moments
B. Six forces
C. Five forces
D. Four forces and one moment

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Attention Quiz (2 of 2)
2. What will be the easiest way to determine the force
reaction BZ?

A. Scalar equation F Z
= 0

B. Vector equation  M A = 0
C. Scalar equation M Z
= 0

D. Scalar equation M Y
= 0

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