Chapter 5 Equilibrium

of a Rigid Body
 EQUILIBRIUM OF A RIGID BODY & FREE-BODY
DIAGRAMS

A 200 kg platform is suspended off an oil rig. How do we

determine the force reactions at the joints and the forces in the
cables?
How are the idealized model and the free body diagram used to
do this? Which diagram above is the idealized model?
 APPLICATIONS
(continued)
A steel beam is used to support
roof joists.
How can we determine the
support reactions at A & B?

Again, how can we make use of an idealized model and a free

body diagram to answer this question?
 CONDITIONS FOR RIGID-BODY EQUILIBRIUM

In contrast to the forces on a particle, the

forces on a rigid-body are not usually
concurrent and may cause rotation of the
body (due to the moments created by the
Forces on a particle forces).

For a rigid body to be in equilibrium, the

net force as well as the net moment
about any arbitrary point O must be
equal to zero.
 F = 0 and  MO = 0
Forces on a rigid body
 THE PROCESS OF SOLVING RIGID BODY
EQUILIBRIUM PROBLEMS

For analyzing an actual physical system, first we need to create an

idealized model.
Then we need to draw a free-body diagram showing all the external
(active and reactive) forces.
Finally, we need to apply the equations of equilibrium to solve for
any unknowns.
 FREE-BODY DIAGRAMS
(Section 5.2)

Idealized model Free-body diagram

1. Draw an outlined shape. Imagine the body to be isolated
or cut “free” from its constraints and draw its outlined
shape.
2. Show all the external forces and couple moments. These
typically include: a) applied loads, b) support reactions,
and, c) the weight of the body.
 FREE-BODY DIAGRAMS
(continued)

Idealized model Free-body diagram

3. Label loads and dimensions: All known forces and

couple moments should be labeled with their
magnitudes and directions. For the unknown forces
and couple moments, use letters like Ax, Ay, MA, etc..
Indicate any necessary dimensions.
 SUPPORT REACTIONS IN 2-D

A few examples are shown above. Other support

reactions are given in your textbook

As a general rule, if a support prevents translation of a body in a

given direction, then a force is developed on the body in the
opposite direction. Similarly, if rotation is prevented, a couple
moment is exerted on the body.
Draw a FBD of the bar,
which has smooth points of
contact at A, B, and C.
Draw a FBD of the 5000 N
dumpster (D). It is supported
by a pin at A and the hydraulic
cylinder BC (treat as a short
link).
 EQUATIONS OF EQUILIBRIUM & TWO- AND
THREE-FORCE MEMBERS

For a given load on the platform, how can we determine the

forces at the joint A and the force in the link (cylinder) BC?
 APPLICATIONS
(continued)

A steel beam is used to support roof joists. How can we

determine the support reactions at each end of the beam?
 EQUATIONS OF EQUILIBRIUM

A body is subjected to a system of forces

that lie in the x-y plane. When in y F3
equilibrium, the net force and net moment
acting on the body are zero (as discussed F4
F1
earlier in Section 5.1). This 2-D condition
can be represented by the three scalar O x
equations:
 Fx = 0  Fy = 0  MO = 0 F2
Where point O is any arbitrary point.
Please note that these equations are the ones most commonly
used for solving 2-D equilibrium problems. There are two
other sets of equilibrium equations that are rarely used. For
your reference, they are described in the textbook.
TWO-FORCE MEMBERS & THREE FORCE-MEMBERS

The solution to some equilibrium

problems can be simplified if we
recognize members that are
subjected to forces at only two
points (e.g., at points A and B).

If we apply the equations of equilibrium to such a member, we

can quickly determine that the resultant forces at A and B must
be equal in magnitude and act in the opposite directions along
the line joining points A and B.
 EXAMPLE OF TWO-FORCE MEMBERS

In the cases above, members AB can be considered as two-force

members, provided that their weight is neglected.
This fact simplifies the equilibrium analysis of some rigid
bodies since the directions of the resultant forces at A and B are
thus known (along the line joining points A and B).
STEPS FOR SOLVING 2-D EQUILIBRIUM PROBLEMS

1. If not given, establish a suitable x - y coordinate system.

2. Draw a free body diagram (FBD) of the object under

analysis.

3. Apply the three equations of equilibrium (EofE) to

solve for the unknowns.
 IMPORTANT NOTES

1. If we have more unknowns than the number of independent

equations, then we have a statically indeterminate situation.
We cannot solve these problems using just statics.

2. The order in which we apply equations may affect the

simplicity of the solution. For example, if we have two
unknown vertical forces and one unknown horizontal force,
then solving  FX = O first allows us to find the horizontal
unknown quickly.
3. If the answer for an unknown comes out as negative number,
then the sense (direction) of the unknown force is opposite to
that assumed when starting the problem.
 EXAMPLE
Given: Weight of the boom
= 125 N, the center
of mass is at G, and
the load = 600 N.
Find: Support reactions
at A and B.

Plan:
1. Put the x and y axes in the horizontal and vertical directions,
respectively.
2. Determine if there are any two-force members.
3. Draw a complete FBD of the boom.
4. Apply the E-of-E to solve for the unknowns.
EXAMPLE
(Continued)
 Given: The load on the bent rod
is supported by a smooth
inclined surface at B and
a collar at A. The collar
is free to slide over the
fixed inclined rod.
Find: Support reactions at A
and B.
Plan:
a) Establish the x – y axes.
b) Draw a complete FBD of the bent rod.
c) Apply the E-of-E to solve for the unknowns.
The scale consists of five pin-connected members. Determine the load W on the pan EG
if a weight F is suspended from the hook at A. Draw the free body diagrams in the box
below.

F= 3 N
a=0.05 m
b=0.03 m
c=0.04 m
d=0.06 m
e=0.08 m
f=0.02 m
 FREE-BODY DIAGRAMS, EQUATIONS OF
EQUILIBRIUM & CONSTRAINTS FOR A RIGID BODY

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

mechanical systems.
How can we determine the support reactions at these joints for a
given loading?
APPLICATIONS (continued)

The weights of the fuselage and

fuel act through A, B, and C. How
will we determine the reactions at
the wheels D, E and F ?

A 50 lb sign is kept in equilibrium

using two cables and a smooth
collar. How can we determine the
reactions at these supports?
 SUPPORT REACTIONS IN 3-D

A few examples are shown above. Other support

reactions are given in your text book.
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.
 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. Thus, in these
cases, only force reactions are generated and there are no
moment reactions created.
 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 (EofE). These are
 FX =  FY =  FZ = 0
MX =  MY =  MZ = 0
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. Those
forces do not appear in the moment equation since they pass
through the point. Thus, they do not appear in the equation.
 CONSTRAINTS FOR A RIGID BODY

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.
Given:The cable of the tower
crane is subjected
to 840 N force. A fixed
base at A supports the
crane.
Find: Reactions at the fixed
base A.
Plan:
a) Establish the x, y and z axes.
b) Draw a FBD of the crane.
c) Write the forces using Cartesian vector notation.
d) Apply the equations of equilibrium (vector version) to solve
for the unknown forces.
 EXAMPLE
(continued)

r BC = {12 i + 8 j  24 k} m
F = F [uBC ] N
= 840 [12 i + 8 j  24 k] / (122 + 82 + (– 242 ))½
= {360 i + 240 j  720 k} N
FA = {AX i + AY j + AZ k } N
 EXAMPLE
(continued)

From E-of-E we get, F + FA = 0

{(360 + AX) i + (240 + AY) j + (-720 + AZ ) k} = 0
Solving each component equation yields AX =  360 N ,
AY =  240 N , and AZ = 720 N.
 EXAMPLE
(continued)

Sum the moments acting at point A.

 M = MA + rAC  F = 0 i j k
15 10 0 =0
= MAX i + MAY j + MAZ k +
360 240 -720
= MAX i + MAY j + MAZ k - 7200 i + 10800 j = 0
MAX = 7200 N · m, MAY = -10800 N · m, and MAZ = 0
Note: For simpler problems, one can directly use three scalar
moment equations,  MX =  MY =  MZ = 0
 Given: A rod is supported by
a ball-and-socket joint
at A, a journal bearing
at B and a short link at
C. Assume the rod is
properly aligned.
Find: The reactions at all the
supports for the
loading shown.
Plan:
a) Draw a FBD of the rod.
b) Apply scalar equations of equilibrium to solve for
the unknowns.
 A FBD of the rod:

AZ Z
BZ
Ay Y
AX 1 kN
X
BX
2 kN FC

Applying scalar equations of equilibrium in appropriate order, we get

 MY = 2 (0.2) – FC ( 0.2) = 0 ; FC = 2 k N
 F Y = AY + 1 = 0 ; AY = – 1 k N
 M Z = – 2 (1.4) BX ( 0.8 ) = 0 ; BX = – 3.5 kN
 A FBD of the rod:

AZ Z
BZ
Ay Y
AX 1 kN
X
BX
2 kN FC

 FX = AX – 3.5 + 2 = 0 ; AX = 1.5 kN
 MX = – 2 ( 0.4 ) + BZ ( 0.8) + 1 (0.2) = 0 ; BZ = 0.75 kN
 FZ = AZ + 0.75 – 2 = 0 ; AZ = 1.25 kN