Structural Analysis 1

Professor Amit Shaw

Department of Civil Engineering
Indian Institute of Technology Kharagpur
Lecture 3
Static Equilibrium

Hello, welcome to lecture 3 of module 1. Todays topic is equilibrium. You see before we start
todays topic let us quickly review what we have done so far.

(Refer Slide Time: 00:38)

You see in the last class we stopped here and this is the list of our first two classes. What we
have learnt is that analysis essentially is a process where we determine response of a structure
subjected to certain threat. We also learnt that when we do structural analysis then we need to
idealize the system, idealization of structure and as well as idealization of threat. Now we
will be discussing in this course two different idealizations. One is plane truss and plane
frame.

A beam is also, concept of beam is important. So we will also review the concept of beam.
And as far as idealization of threat is concerned, we discussed that any threat can be
translated into concentrated and distributed force or concentrated and distributed moments.
So structure plane truss and plane frame subjected to this and then the response will be
looking for is internal force and deflection. Internal force from safety point of view and
deflection from serviceability point of view.
(Refer Slide Time: 01:53)

So what we will do today? Today we will take the first step towards that, okay. Specifically in
this lecture today we will discuss degrees of freedom, supports and support reactions, static
equilibrium equations, determinate and indeterminate structures and determination of support
reaction using static equilibrium equation, okay.

(Refer Slide Time: 02:19)

Degrees of freedom. What is degrees of freedom? Before I give you formal definition of
degrees of freedom let us try to understand. You see as name suggests it is a freedom of any
object to move in three dimensional space. For instance if I take an object like this.
(Refer Slide Time: 02:45)

Now what are the possible ways that this object can move? First is this object can move in
this direction, then this object can move in this direction and then this object can move in this
direction. So this object can translate in x direction, y direction and then again z direction.
Now this object has three translation degrees of freedom. Now apart from this translation
degree of freedom this object can rotate also. For instance this object can rotate like this, then
this object can rotate like this and then this object can rotate like this.

(Refer Slide Time: 03:28)

So this object has three rotational degrees of freedom. Now therefore any object in three
dimensional space has six degrees of freedom, three translations and three rotations. Now let
us see for two dimensional problem any object, how many degrees of freedom it has. In two
dimensional problem this object can move in this direction, this object can move in this
direction and then this object can rotate like this.

So this object can have three degrees of freedom, two translations and one rotation. Probably
I am going to show you some animation for that and things will be cleared after seeing those
animations. Now if I have to formally define what is degree of freedom then it says that
degrees of freedom of a mechanical system is the number of independent coordinates
required to completely specify the configuration of the system.

(Refer Slide Time: 04:31)

Now just now the way we explained degrees of freedom and the formal definition you will
see that both definitions are consistent. Now to appreciate in a better way let me show you
some animation. You see this is the degrees of freedom in three dimension.
(Refer Slide Time: 05:00)

You consider any object. This cube is an object, okay. Now this is the coordinate system x, y,
z. This object can translate in x direction, this object can translate in y direction and this
object can translate in z direction. So these are the three translation degrees of freedom.
Similarly this object can rotate about x axis, this is object can rotate about y axis and the
object can rotate about z axis. So these are three (trans) rotational degrees of freedom. So
total this object has six degrees of freedom.

(Refer Slide Time: 05:36)

Now we will see that if we want to define the motion of an object in three dimensional space
then these six degrees of freedom is enough to describe its motion. Now let us see in two
dimension. This is x coordinate, this is y coordinate, now z coordinate is suppressed. So this
object can move in x direction, this object can move in y direction and this object can rotate
in z direction, right?

(Refer Slide Time: 06:11)

So this view is the panel view of three dimensional view. So this is x direction, this is y
direction and this rotation is about y axis. So any object in two dimensional space has three
degrees of freedom. Now you see what is external stability of a structure? You see if we
consider any structure, for instance if we consider this structure, okay.

(Refer Slide Time: 06:46)

If you remember we talked about idealization of a chimney where the idealization is the
chimney itself is model idealized as one dimensional element and then support. Now what we
have here if you see there are three components of the structure. One is this is the member
and then this is the support and then another thing we can have component which is the joint.

(Refer Slide Time: 07:26)

Now for instance you take another structure like this. Now it has two members and these two
members are connected here.

(Refer Slide Time: 07:35)

And then in addition to that we have another support here. This structure is supported at
somewhere. So if we see this components of structure there are majorly three components.
One is the member and the joints. Joints means the connection of those members and then the
support. Support means the structure is either fixed at ground or fixed at some other structure
so that it restricts the motion of the structure.

Now today we will be talking about importance of support. Now you see what happens if any
structure is not supported then what happens? The structure becomes unstable. For instance
you take any object which is just kept on the ground. There is no connection, there is no
support between the object and the ground.

(Refer Slide Time: 08:36)

Then if the structure is subjected to some load, horizontal load for instance, then what
happen, this structure becomes unstable. You see, so because there is nothing to hold the
structure to the ground. Now therefore without support any structure becomes unstable.
(Refer Slide Time: 08:58)

Now what the support does? Support provides constraint and reduces number of degree of
freedom. You see in this case it is a two dimensional problem. Now how many degrees of
freedom this object has? This object has three degrees of freedom. One is translation in this
direction, translation in this direction and rotation about z axis, rotation in this plane.

(Refer Slide Time: 09:23)

And these three degrees of freedom completely describes the motion of this object. Now
when this object is not supported then means this object has all three degrees of freedom.
Therefore when it is subjected to any kind of load or any small hesitation this object will
undergo motion which can be described by all these three degrees of freedom. Now you see if
we support the structure.

Suppose in this case the structure is not supported in the ground. Then what happens if I
apply the load? Then because of the support this object will not move the way it was moving
when it was unsupported.

(Refer Slide Time: 10:03)

So what does it means? It means that when we apply a support then this support restricts
some degrees of freedom of this object. Now restrict degrees of freedom means the object is
not now free to move. The freedom of the object is restricted. Freedom of the object to move
is restricted. So one of the major role that support plays the major role support plays is, it
restricts the degrees of freedom and makes this structure stable. Now as I said here there are 3
degrees of freedom.

Now the question comes when a structure is supported then what degrees of freedom is
restricted? Is it the translation degrees of freedom restricted or it is rotational degrees of
freedom restricted? Even if it is translation degrees of freedom then translation in which
direction is restricted? So depending on what kind of support you are giving, depending on
what kind of degrees of freedom you want to restrict, you can have different kinds of support.

Now let us see some examples. For instance the first kind of support is fixed support. Fixed
support means as name itself say that it is fixed to the ground or fixed to any object such that
it cannot move. When I say it cannot move means all degrees of freedom are restricted. For
instance if you see this is the idealization of the chimney and this is the fixed support.
(Refer Slide Time: 11:43)

Now since this is fixed at this point, all the degrees of freedom are restricted. Means this
point cannot move in this direction, this point cannot move in this direction and this point
cannot rotate also and which is evident from this figure. You see this is obvious this point is
not moving either in this direction or this direction. But another important thing is that you
look it carefully, if you draw a straight line and see the slope then you will see the slope at
this point is zero.

(Refer Slide Time: 12:20)

It means the object is not rotating. This is called fixed support. Now the fixed support is
represented like this. There could be different ways. If you see any book but in throughout
this course whenever we use this representation it means it is fixed support. Here are some of
the examples of fixed support. This fixed support is also sometime called built in support.

(Refer Slide Time: 12:48)

Now in this case all degrees of freedom are restricted. Now instead of restricting all degrees
of freedom, restrict only the translation and allow the rotation. And if you do so then we have
the next kind of support that is called hinged support or pinned support. There are some
examples of pinned support.

(Refer Slide Time: 13:12)

You see again this is evident this point is not moving anywhere so translation degrees of
freedom are restricted. But this entire object is free to rotate about this point and therefore if
you see the slope, slope at this point is not zero.

(Refer Slide Time: 13:28)

So this kind of support is called pinned support or hinged support. Representation, whenever
we use this symbol it means that it is hinged support. Now so in this case what we have done
is we allowed the object to rotate. So degrees of freedom the object has now is or at this point
the degrees of freedom allowed is only one which is rotational degrees of freedom and
provided two translations are constraint. Now let us allow one translation also. Meant,
rotation plus one translation.

(Refer Slide Time: 14:06)

Then what happens? Then next kind of support we have is roller support or sticky roller
support. Why it is called sticky roller support? I will tell you shortly. Now you see here what
is happening? This point is also translating in a particular direction.

(Refer Slide Time: 14:25)

So this object has degrees of freedom in this direction, okay. So these degrees of freedom is
not constraint. But why it is called sticky roller? Because it will not leave the ground. Means
these degrees of freedom is not allowed. This is constrained. The only degrees of freedom it
has in this direction.

(Refer Slide Time: 14:52)

So this is roller support. And representation, representation is whenever we use this symbol
this means it is roller support.

(Refer Slide Time: 14:59)

Now let us show you, I have some model for these different kinds of supports. I will show
you those models. First the fixed support. You see suppose this is the support and this is the
member and this is fixed here.

(Refer Slide Time: 15:14)

If you apply any load then this (ob) point neither it translates nor it rotates. So this support is
called fixed support. There is no moment at this point, okay.
(Refer Slide Time: 15:26)

Now next is we have hinged support. You see suppose this is the object, again the idealized
structure and it is hinged here.

(Refer Slide Time: 15:40)

Now it is free to rotate, you see. But the translation degrees of freedom, they are restricted.
The only degrees of freedom it has is rotate. It can rotate. So this is the characteristic of
hinged support.
(Refer Slide Time: 15:55)

Now the next support is roller support where only one translation is allowed. This is roller
support if you see. Now it can slide over this support you see.

(Refer Slide Time: 16:11)

So this translation is allowed but it will not leave the ground. That is why it is sometime
called sticky roller. So this is the example of roller support. Now if you see this is some of the
figures which can tell you how the roller support may look like, okay.
(Refer Slide Time: 16:36)

So these are different kinds of support we can have in a structure. Now if the structure is in
three dimensional then also the concept of fixed support, hinged support and roller support
are equally valid. But in that case what happens, when you talk about translation you have to
talk about three translation, when you talk about rotations, there are three rotations.

So then your characteristic support will based on three translations and three rotations but the
concept, the definition of these different kinds of supports will remain same, okay. Now what
happens when a structure is supported? You see as of now it is clear to us that if the structure
is not supported then it becomes unstable, right? So what support does? Support is because
(unst) without support object is unstable because it has all degrees of freedom, okay.

It can move freely in space. Now when that object is supported, support provides constraint
in certain degrees of freedom. Therefore the object is allowed to move in a particular manner
but other moment is restricted and in doing so we provide stability to the structure, okay.
Now but what exactly support does? Okay, now take example of this.
(Refer Slide Time: 18:08)

You see this is an object. This object is supported at two places, one is at the ground and one
is using a prop. If you do not provide support then what happens? For instance if you take
this thing, if you do not provide support. Now this is supported here.

(Refer Slide Time: 18:38)

So if I remove the support then it will fall. Then what I can do is I need to provide support,
right? Now if I do this, this means this is supported here and this is supported here. This is
hinge here and this is maybe roller or hinge at this point, okay.
(Refer Slide Time: 18:58)

Now what exactly I am doing here? This object is under its self weight, okay. So if I do not
provide any support, because of the self weight it will fall down. Now what exactly we are
doing here? We are applying a force at this point, we are applying a force at this point, okay.
And this force and this force, they balance the weight of the structure, okay. And therefore the
structure is stable, okay.

(Refer Slide Time: 19:30)

Now exactly this is happening here. Now this is the object which is supported at the ground
and also with a prop, okay.
(Refer Slide Time: 19:42)

Now what this floor is actually doing? Floor is actually providing a force to this object or
instead of force we will call reaction to this. This is under self weight. So how this floor will
react to this? The floor will react by providing a force at this point. And that is why this is
called reaction from the floor. Reaction from the floor is (supp) force in this direction.

(Refer Slide Time: 20:14)

Similarly what this prop will do? Prop will also react to this and what will be the reaction?
Reaction will be applying a force like this in this direction, okay. This is a reaction from the
prop.
(Refer Slide Time: 20:27)

Now what happens, intuitively we can say that this object will be stable when the reaction
from the floor and the reaction from the prop, they both balance the self weight of this object.
If they cannot balance the self weight of the object then this object will fall down and
therefore in order to make the object stable this force and this force total reaction must
balance the self weight.

If we tell in a very general way then this two reactions must balance the external load
applying on this object and to make the object stable. Now what is the difference between this
figure and this figure?

(Refer Slide Time: 21:14)

The difference is, object remains same but here the object is made free from the support, it is
taken out from the support and this supports are replaced by equivalent reaction. And this is
the self weight of the object. So this drawing is called free body diagram. Free body diagram
because it is now free from all the support and all the supports are represented by the
reaction.

I believe that some concept of free body diagram you already have in your mechanics course
and solid mechanics course but we will review the concept once again in this course. So this
is the free body diagram.

(Refer Slide Time: 22:03)

Now so you see this table gives you the characteristics of different kinds of support. Now let
us talk about fixed support. Fixed support is what? Fixed support, it restricts all degrees of
freedom. It does not allow translation and rotation. Now how it restricts the translation? It
restricts translation by applying a force in that direction. Now since it has two translations
means this support restricts the translation in this direction and this direction by applying
reaction in this direction and this direction.
(Refer Slide Time: 22:52)

So the restriction in the translation is due to this reaction force and this reaction force.

(Refer Slide Time: 23:01)

Now this support will also restrict, since is it is a fixed support, this also restrict the rotation.
How the rotation is restricted? Rotation is restricted by applying a reaction moment in a
particular direction. So if I have to remove this support then this support has to be represented
by two reaction force and one moment. So by combination of these three forces, two forces
and one moment, all the degrees of freedom at this point is restricted, okay.
(Refer Slide Time: 23:34)

So this is the (charac) characteristic of fixed support. Now let us see the pinned support.
Pinned support allows rotation but it restricts translation. How it restricts translation? It
restricts translation by applying reaction in those directions. So therefore if we remove the
support means that has to be represented by two forces in two reactions. Since it allows
rotation means there is no restriction in rotation therefore there will be no resistive moment.
There will be no reaction moment at the support. This is the (characteris) characteristic of
pinned support.

(Refer Slide Time: 24:13)

Now roller support. Roller support allows translation in one direction and also rotation. And it
restricts translation in only one direction. Suppose in this case the translation in vertical
direction is restricted. Therefore how it will be restricted? It will be restricted by applying a
reaction force here, okay.

(Refer Slide Time: 24:39)

So if you remove this support than that has to be represented by reaction force in vertical
direction. But there will be no reaction in the horizontal direction because the object is free to
move in horizontal direction. There will be no movement there will be no moment because
the object is again free to rotate at this point.

(Refer Slide Time: 24:58)

So these are the major three kinds of support and their free body diagram. So this is
essentially the free body diagram of this support, this is free body diagram of this support and
this is free body diagram for this support. We do have another kind of, not support, yes you
can say support in some way that is internal hinge. Let us not discuss internal hinge here right
now. While attempting to solve the problems we will discuss internal hinge and what is their
effect.

(Refer Slide Time: 25:34)

Another important thing majorly we discussed here three kinds of support. One is fixed
support, roller support and hinge support. There could be different other supports as well. For
instance one support is called the support on elastic foundation, okay. Those things we will
discuss later. But for the time being we have only three supports, fixed, pinned and roller,
okay. Now let us discuss the free body diagram of some problem. You see this is a simply
supported beam subjected to concentrated load. This is hinge support here and this is roller
support here.
(Refer Slide Time: 26:19)

Now let us draw the free body diagram of this object, okay. Now free body diagram means
first it has to be taken out from the support system. It has to be free and then all those
supports need to be represented by the equivalent forces. Now, just now we saw the roller
support means is apply only reaction force in one direction normal to this support. So this
support has to be replaced by equivalent vertical force.

(Refer Slide Time: 26:55)

Now this is hinged support. The characteristic is one horizontal force and one vertical force
and these two forces represent the hinge support.
(Refer Slide Time: 27:09)

Now you give some name. The naming system we will use here is By means it is reaction
force at B in y direction. It is reaction force at A in y direction. It is reaction force at A in x
direction. So this is a free body diagram of beam AB, okay.

(Refer Slide Time: 27:31)

Now let us take one more example. The same, now this hinge support is replaced by fixed
support. Let us draw the free body diagram of this. The same thing, roller support replaced by
vertical support and fixed support is replaced by two horizontal force and one moment and
this becomes the free body diagram of this beam. Again the same naming system and Ma
means moment at point A.
(Refer Slide Time: 27:59)

Now suppose if I take a section here, okay. Now if I take a section here then we have two
parts. One is this part and another one is this part.

(Refer Slide Time: 28:10)

Now suppose I need to draw the free body diagram of this part and this part separately. Now
you take this part and then this hinge is replaced by equivalent forces and this part will be
treated same as fixed support. These things will be more clear when we will talk about
internal hinge.
(Refer Slide Time: 28:35)

Now since if this section is treated as same as fixed support means if we cut this member at
this section means the internal forces will be vertical force, one is vertical direction, one is
horizontal direction and one is moment. So this is the free body diagram of this part.

(Refer Slide Time: 29:02)

Now similarly if I take the free body diagram of this part then again this will be replaced by
vertical force and this is represented by two forces and one moment. You see one thing is
highlighted here. The sign convention in free body diagram will be discussed in next class.
You may ask that why in all other cases you have given force in upward direction. In this case
you have given moment like this but why in this case you have given moment like this, force
in a downward direction.

But when we draw the free body diagram of this part we use horizontal force in this direction,
vertical force is again in other direction, moment in other direction. What sign convention we
will use here? That we will discuss in the next class when we talk about beams, okay. But
here the point what we are going to make is the concept of the free body diagram, okay.

Free body diagram is, if you want to draw the free body diagram the system has to be free,
this system has to be taken from its support system and all the supports need to be replaced
by their equivalent forces, okay. Now so if you take the free body diagram in this case, say in
this case. Now this is the external load and this is the support reaction, right?

(Refer Slide Time: 30:29)

In this case this is the external load and these are the support reactions and these are the
internal forces, okay. Now in order to make the structure stable what we need is all these are
essentially reactions, right? Reactions to this external force. What is (im) needed for the
structure to be stable is all these reaction must balance the external force, okay. And that
property is called equilibrium. So what is equilibrium? Equilibrium is you see you have an
external load on a structure and the structure will respond to that.

When structure respond to that means the internal forces in the member will respond to the
external load. Now when these internal forces, they balance the external load, then we say
this object is in equilibrium, okay. And the object has to be in equilibrium for stability.
Otherwise the object will not be stable.
(Refer Slide Time: 31:41)

Now then what is equilibrium? Equilibrium will be summation of external forces has to be
equal to summation of all internal forces, summation of external moments has to be equal to
all internal moments, okay. Now in three dimension how many forces we can have? We have
three forces and we can have three moments because just now we said that in three dimension
we have six degrees of freedom, three translation and three rotations.

So three translation means three forces and three rotations means three moments. So
summation of forces in any particular direction or summation of moment in about any
particular axis have to be zero. That is the equilibrium equation.

(Refer Slide Time: 32:23)

And similarly (ext) for two dimension case you have two translations means two forces and
one rotation means one moment and this is the equilibrium equations for two dimension,
okay.

(Refer Slide Time: 32:42)

Now when this equilibrium equations are satisfied then we can say the object is stable and the
object will not move in uncontrollable manner, okay. Now you see one point is very
important here. For instance if I give you an example, suppose an aircraft is flying or an
aeroplane is (fying) flying, it is moving, right? Or you fire a bullet and the bullet travels
through here. So this bullet is also moving, okay.

Now the aeroplane is flying means it is in motion, right? Does it mean that it is not in
equilibrium? It is also in equilibrium but that equilibrium will be different. You see in this
case when these equations are satisfied this equilibrium is called (equi) static equilibrium,
okay. Means your underlying assumption is the object is in static condition. So it is not
moving, okay. Now this is static equilibrium and these equations are called equilibrium
equations, okay.
(Refer Slide Time: 33:57)

Just quickly let me give you some demonstration of static. What are the usefulness of static
equilibrium equations? You see when we demonstrated that usefulness of static equilibrium
equation this is a sign convention we are using. But remember, this sign convention and the
sign convention I mentioned while drawing free body diagram, they are different.

Free body diagram sign convention we will discuss later and in subsequent classes. But for
this the sign convention is this. Forces in this direction and forces in this direction is taken as
positive and clockwise moment is taken as positive.

(Refer Slide Time: 34:32)

Quickly suppose this is a simply supported beam subjected to vertical concentrated load at C
and naturally this is the equilibrium equation, right? Now this is a free body diagram.

(Refer Slide Time: 34:38)

Now what are the equilibrium equations? Equilibrium equation says that in two dimension,
summation of forces in y direction is zero, summation of force in x direction is zero and
summation of moment at any point will be zero, right?

(Refer Slide Time: 34:58)

So if you take summation of forces in x direction is zero then the horizontal component of
force is Ax. So Ax will be zero in this case.
(Refer Slide Time: 35:09)

Now take summation of forces in y direction zero. What are the forces we have in y
direction? Ay By which is upward direction means positive, then P downward direction
negative. So Ay plus By minus P is equal to zero. It gives you Ay plus By is equal to P.

(Refer Slide Time: 35:23)

Now then summation of moment is equal to zero. You take moment about B, it gives you that
Ay into A plus B which is clockwise direction, then if we take moment about B, this force
would be in clockwise direction that is why it is positive. Then there will be moment for P as
well and this moment will be anti clockwise direction that is why negative and you have
another Ay is equal to this and substituting Ay here you will get By is equal to zero.
So all the reactions are Ay is equal to this, Ax is equal to and By is equal to this. Now you see
applying equilibrium equation we could determine the reaction forces, right?

(Refer Slide Time: 36:05)

Okay, we will stop here today. Some more examples will be shown in the tutorial class.
Thank you.