Topic 3.

Equilibrium in Three Dimensions – Part 3 Examples

by
Dr. Sushanta Chakraborty

Department of Civil Engineering

Indian Institute of Technology Kharagpur

Reference: Engineering Mechanics: Statics

J. L. Meriam and L. G. Kraige

December 2020
‐‐‐‐

Example 3.1 (Ref: Meriam and Kraige Sample problem 3/5)

The uniform 7‐m steel shaft has a mass of 200 kg and is supported by a ball‐and‐socket joint at A in
the horizontal floor. The ball end B rests against the smooth vertical walls as shown. Compute the
forces exerted by the walls and the floor on the ends of the shaft

Figure Reference: Engineering Mechanics: Statics J. L. Meriam and L. G. Kraige

Solution:

Step 1 Identify the ‘body’ which is the shaft here. The walls and the floor are the ‘environment’ or
the ‘supports’. From geometry, the height ‘h’ of the point ‘B’ above the floor can be calculated as‐

7 2 6 ℎ
h=3 m

Step 2 Identify the forces and moments (both active and reactive) acting on the body.

The only active force is the self‐weight of the shaft W=mg=200 x 9.81 = 1962 N, acting vertically
downward from the midpoint (center of gravity) of the shaft

The components of reaction at ‘B’ are the normal reactions ‘by’ the walls on the shaft. Since the
walls are smooth, no frictional forces (tangential to the wall surface) will act.

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The components of reaction at ‘A’ will be only force components without any moments since ball‐
and‐socket joint does not provide any moment resistance.

Now draw the free‐body diagram (FBD)

Figure Reference: Engineering Mechanics: Statics J. L. Meriam and L. G. Kraige

Step 3 Apply equilibrium equations

Apply the force equilibrium equations‐

Σ𝐹 0 gives 𝐴 𝐵 0

Σ𝐹 0 gives 𝐴 𝐵 0

Σ𝐹 0 gives 𝐴 𝑊 0 so, 𝐴 1962 𝑁

Now apply the moment equilibrium equations, it may be readily observed that taking moments
about axes passing through A will eliminate the effects of force components passing through A

Σ𝑀 0 gives 𝑊 3 𝐵 3 0 so, 𝐵 1962𝑁

Σ𝑀 0 gives 𝑊 1 𝐵 3 0 so, 𝐵 654 𝑁

Σ𝑀 0 gives 𝐵 6 𝐵 2 0 so, 𝐵 3𝐵 (This is no longer required as the

problem is already solved, however given for completeness)

Now, substituting the values of 𝐵 , 𝐵 we can compute the values of 𝐴 , 𝐴 from the first two force
equilibrium equations.

𝐴 654 𝑁 𝐴 1962 𝑁

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Vector Approach of solution:

The above scalar solution provides much more insight into the ‘happenings’ hence put forward first.
A vector treatment, although will not make the solution concise for this simple problem, needs to be
exercised to understand their efficacy for further complicated problems.

From the coordinates of B and A, the position vectors 𝑟⃗ and 𝑟⃗ can be written as

𝑟⃗ 1𝑖 3𝑗 1.5𝑘
𝑟⃗ 2𝑖 6𝑗 3𝑘
(note that the unit vectors are i,j,k , for simplicity not written bold or with arrow)

Vector force equilibrium ∑ 𝐹⃗ 0 gives

𝐵 𝐴 𝑖 𝐵 𝐴 𝑗 𝑊 𝐴 𝑘 0

Equating the scalar coefficients of the I,j,k individually to zero, we get

𝐵 𝐴 , 𝐵 𝐴 , 𝑊 𝐴 = 1962 N

Similarly, vector force equilibrium equation ∑ 𝑀 ⃗ 0 gives

𝑟⃗ 𝐵 𝑖 𝐵 𝑗 𝑟⃗ 𝑊⃗ 𝑘 0

Which when expanded will provide

2𝑖 6𝑗 3𝑘 𝐵 𝑖 𝐵 𝑗 1𝑖 3𝑗 1.5𝑘 𝑊⃗ 𝑘 0

Expanding further

3𝐵 5890 𝑖 3𝐵 1962 𝑗 2𝐵 6𝐵 𝑘 0

Equating the scalar coefficients of the I,j individually to zero, we get

𝐵 1962𝑁 𝐵 654 𝑁

Back substitution to previous sets of equations will now solve for

𝐴 𝐵 654 𝑁
𝐴 𝐵 1962 𝑁

N.B. It may be noted that the correct sense of the components of the forces 𝐴 , 𝐴 , 𝐴 and 𝐵 , 𝐵
are assumed in this FBD, although there is no such binding. In fact, the student can always assume
the positive direction of the axis as the initially assumed direction of the force component. Later, if
this assumption is correct, a positive answer will emerge, otherwise negative.

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 Topic 3. Equilibrium in Three Dimensions – Part 3 Examples (Continued)
by
Dr. Sushanta Chakraborty

Department of Civil Engineering

Indian Institute of Technology Kharagpur

Reference: Engineering Mechanics: Statics

J. L. Meriam and L. G. Kraige

December 2020
‐‐‐‐

Example 3.2 (Ref: Meriam and Kraige Sample problem 3/7)

The welded tubular frame is secured to the horizontal x‐y plane by a ball‐and‐ socket joint at A and
receives support from the loose‐fitting ring at B. Under the action of the 2‐kN load, rotation about a
line from A to B is prevented by the cable CD, and the frame is stable in the position shown. Neglect
the weight of the frame compared with the applied load and determine the tension T in the cable, the
reaction at the ring, and the reaction components at A.

Figure Reference: Engineering Mechanics: Statics J. L. Meriam and L. G. Kraige

Solution:

Step 1 Identify the ‘body’ or the ‘mechanical system’ which is assembly of two rigid bodies‐ a
horizontal ‘T’ structure rigidly connected on a vertical shaft. The ball‐and‐socket joint at ‘A’ and the
loose fitting ring at ‘B’ and a cable at C along CD provide the ‘environment’ or the ‘supports’.

Step 2 Identify the forces and moments (both active and reactive) acting on the body.

The only active force is the 2 kN force parallel to the ‘y’ axis.

1
The reaction at ‘A’ will be the force components of reactions without any moments since ball‐and‐
socket joint does not provide any moment resistance.

The loose fitting ring at ‘B’ will provide only force reaction components on a plane parallel to x‐z
plane.

Eliminating anchor at ‘D’ will result a tensile force ‘T’ at ‘C’ along CD

Now draw the free‐body diagram (FBD)

Figure Reference: Engineering Mechanics: Statics J. L. Meriam and L. G. Kraige

Step 3 Apply equilibrium equations

It may be observed that if moment equilibrium is considered about the line ‘AB’, the effects of all the
force components at A and B will be nullified. The unknown vector 𝑇⃗ will be determined easily from
a vector treatment, since orientation of 𝑇⃗ is arbitrary but known and the force 𝐹⃗ is well defined in
magnitude and direction.

2
The direction of AB is defined by the unit vector along AB as 𝑛⃗ 4.5𝑗 6𝑘 𝑗 𝑘
√ .

The coordinates of C and D are (‐3,0,6) and (‐1,2.5,0)

The length of the line CD is 1 3 2.5 6 = √46.25 m

.
Therefore, 𝑇⃗ 𝑇
√ .

Also, 𝐹⃗ 2𝑗

We need convenient points along the line of actions of the vectors 𝐹⃗ and 𝑇⃗ to determine the cross
products to find moment vectors about point A. Further to align these moments along the desired
direction, i.e. along line AB, a further dot product with 𝑛⃗ will be required.

For this purpose, two points‐ the point of application of 𝐹⃗ , as well as the point D are found to be
convenient here. The position vectors are

𝑟⃗ 1𝑖 2.5𝑗
𝑟⃗ 2.5𝑖 6𝑘

Moment of 𝑇⃗ about AB is the component in the direction of AB of the vector moment about the
point A and is equal to

𝑟⃗ 𝑇⃗. 𝑛⃗
Similarly,

Moment of 𝐹⃗ about AB is the component in the direction of AB of the vector moment about the
point A and is equal to

𝑟⃗ 𝐹⃗ . 𝑛⃗
Therefore, ∑ 𝑀 0 gives

𝑟⃗ 𝑇⃗. 𝑛⃗ + 𝑟⃗ 𝐹⃗ . 𝑛⃗ =0
.
𝑖 2.5𝑗 𝑇 . 𝑗 𝑘 + 2.5𝑖 6𝑘 2𝑗 . 𝑗 𝑘 =0
√ .

Solving, T=2.83 kN
2𝑖 2.5𝑗 6𝑘
𝑇⃗ 2.83 0.833𝑖 1.042𝑗 2.5𝑘
√46.25
Thus, 𝑇 0.833 𝑘𝑁 , 𝑇 1.042 𝑘𝑁 , 𝑇 2.5 𝑘𝑁

Now the remaining force components can easily be found out by writing the scalar equilibrium
equations

Apply the force equilibrium equations‐

Σ𝐹 0 gives 𝐴 𝐵 𝑇 0

Σ𝐹 0 gives 𝐴 𝑇 𝐹 0 gives 𝐴 3.042 𝑘𝑁

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Σ𝐹 0 gives 𝐴 𝐵 𝑇 0

Now apply the moment equilibrium equations

Σ𝑀 0 gives 𝐵 4.5 𝐹 6 𝑇 6 0 so, 𝐵 4.06 𝑘𝑁

Σ𝑀 0 gives 𝐵 6 𝑇 6 𝑇 3 0 so, (This becomes identity)

Σ𝑀 0 gives 𝐵 4.5 𝐹 2.5 𝑇 3 0 so, 𝐵 0.417 𝑘𝑁

Substituting into the force equilibrium equations, we get 𝐴 1.25 𝑘𝑁, 𝐴 1.556 𝑘𝑁

4
 Topic 3. Equilibrium in Three Dimensions – Part 3 Examples
by
Dr. Sushanta Chakraborty

Department of Civil Engineering

Indian Institute of Technology Kharagpur

Reference: Engineering Mechanics: Statics

J. L. Meriam and L. G. Kraige

December 2020
‐‐‐‐

Example 3.3 (Ref: Meriam and Kraige Example problem 3/72)

The 9‐m steel boom has a mass of 600 kg with center of mass at midlength. It is supported by a ball‐
and‐socket joint at A and the two cables under tensions T1 and T2. The cable which supports the
2000‐kg load leads through a sheave (pulley) at B and is secured to the vertical x‐y plane at F.
Calculate the magnitude of the tension T1 (Hint: write a moment equation which eliminates all
unknowns except T1)

Figure Reference: Engineering Mechanics: Statics J. L. Meriam and L. G. Kraige

Solution:

Step 1 Identify the ‘body’ which is the steel boom AC. Although so many structural components are
distracting attention, the ‘mechanical system’ under consideration is the boom itself, others are
either supporting structures or appliances of loading

Step 2 Identify the forces and moments (both active and reactive) acting on the body.

The ball‐and‐socket joint at ‘A’ provides only force components as reactions.

1
The cable anchors at D,E,F provide the ‘supports’.

We also need to realize that at ‘B’ the direction of the force corresponding to the 2000 kg mass just
changes direction.

The weight of the boom itself is also comparable force and cannot be neglected and is working
through the centroid of the boom downward.

Now draw the free‐body diagram (FBD)

Step 3 Apply equilibrium equations

Since we are primarily interested to determine 𝑇 , we should be in search of an axis through which
most (if not all) of the other unknown force vectors pass. Line AD is such an axis through which the
line of action of the force 𝑇 passes, hence its moment effect will be nullified. So also the reaction
force components at the point A. All other forces are having known magnitude

Let us find out unit vector in the direction of AD to compute the dot product later

Here 𝐴𝐷⃗ 6𝑖 2𝑗

So, unit vector along 𝐴𝐷⃗ 𝑛⃗

√ √

Now, ∑ 𝑀 0 𝑖. 𝑒. 𝑟 𝐹. 𝑛 needs to be imposed for the force 𝑇⃗ , force 𝑃⃗ along BF, force
𝑃⃗ downward, force 𝑊⃗ downward

For the force 𝑇⃗, the term 𝑟 𝐹. 𝑛 is

2𝑖 6𝑗 9𝑘 3𝑖 𝑗 180𝑇
9𝑘 𝑇 .
2 6 9 √10 11√10

For the force 𝑃⃗ along BF, the term 𝑟 𝐹. 𝑛 is

2
 .
5𝑘 2 9.81 .
√ . √

For the force 𝑃⃗ downward, the term 𝑟 𝐹. 𝑛 is

3𝑖 𝑗 294.3
5𝑘 2 9.81 𝑗 .
√10 √10

For the force 𝑊⃗ downward, the term 𝑟 𝐹. 𝑛 is

3𝑖 𝑗 79.46
4.5𝑘 0.6 9.81 𝑗 .
√10 √10
The sum total of the above four components and equating to zero provides ∑ 𝑀 0
. . .
Therefore, 0, or 𝑇 19.76 𝑘𝑁
√ . √ √ √

Similarly, if 𝑇 is to be determined, we should seek the value of ∑ 𝑀 0 and unit vector along AE
is to be determined

3
 Topic 3. Equilibrium in Three Dimensions – Part 3 Examples
by
Dr. Sushanta Chakraborty

Department of Civil Engineering

Indian Institute of Technology Kharagpur

Reference: Engineering Mechanics: Statics

J. L. Meriam and L. G. Kraige

December 2020
‐‐‐‐

Example 3.4 (Ref: Meriam and Kraige Example problem 3/78)

Determine the magnitude of the force R and couple M exerted by the nut and bolt on the loaded
bracket at ‘O’ to maintain equilibrium

Figure Reference: Engineering Mechanics: Statics J. L. Meriam and L. G. Kraige

Solution:

Step 1 Identify the ‘body’ which is the loaded bracket here, supported at ‘O’ rigidly.

Step 2 Identify the forces and moments (both active and reactive) acting on the body.

The fixed joint at ‘O’ provides force and moment components as reactions. The cables will apply
active tensile forces only in the directions of the cables

Now draw the free‐body diagram (FBD)

1
Step 3 Apply equilibrium equations

Apply the force equilibrium equations‐

Σ𝐹 0 gives 𝑅 1.6 cos 50 0 therefore, 𝑅 1.028 𝑘𝑁

Σ𝐹 0 gives 𝑅 2.4 cos 30 1.6 sin 50 0 therefore, 𝑅 0.853 𝑘𝑁

Σ𝐹 0 gives 𝑅 2.4 sin 30 0 therefore, 𝑅 1.2 𝑘𝑁

Magnitude of the resultant force reaction vector 𝑅 𝑅 𝑅 𝑅 = 1.796 kN

Now apply the moment equilibrium equations

Σ𝑀 0 gives 𝑀 2.4 cos 30 0.15 1.6 sin50 0.35 0

therefore 𝑀 0.1172 𝑘𝑁𝑚

Σ𝑀 0 gives 𝑀 1.6 cos 50 0.35 0 therefore, 𝑀 0.36 𝑘𝑁𝑚

Σ𝑀 0 gives 𝑀 1.6 sin 50 0.2 0 therefore, 𝑀 0.245 𝑘𝑁𝑚

Magnitude of the resultant moment reaction vector 𝑀 𝑀 𝑀 𝑀 = 0.451 kN‐m