Equilibrium of rigid body

Equations of equilibrium become

∑ Fx  0 ∑ Fy  0 ∑ M A 0

There are three unknowns and number of

equation is three.

Therefore, the structure is statically

determinate

The rigid body is completely

constrained
Equilibrium of rigid body

More unknowns than Fewer unknowns than Equal number unknowns

equations equations, partially and equations but
constrained improperly constrained
Example problem 1
SOLUTION:
• Create a free-body diagram for the crane.
• Determine B by solving the equation
for the sum of the moments of all forces
about A. Note there will be no
contribution from the unknown
reactions at A.
• Determine the reactions at A by
A fixed crane has a mass of 1000 kg solving the equations for the sum of
and is used to lift a 2400 kg crate. It all horizontal force components
is held in place by a pin at A and a and all vertical force components.
rocker at B. The center of gravity of
the crane is located at G. • Check the values obtained for the
reactions by verifying that the sum of
Determine the components of the
the moments about B of all forces is
reactions at A and B.
zero.
Example problem 4
SOLUTION:
• Create a free-body diagram for the sign.

• Apply the conditions for static

equilibrium to develop equations for
the unknown reactions.

A sign of uniform density weighs

1200-N and is supported by a ball-
and-socket joint at A and by two
cables.
Determine the tension in each cable
and the reaction at A.
Example problem 4

r rD  rB
TBD  TBD
rD  rB
rr r r
r 2.4i 1.2 j 
 BD
2.4k 3.6
T
 r 1r
 TBD 23 i  3 j  2 kr

r C r 3
TEC  EC rE
• Create a free-body diagram for the rrC  rrE
T
sign. r r r r
1.8i  0.9 j 
Since there are only 5 unknowns,  TEC
the sign is partially constrain. It is 0.6k 2.1
free to rotate about the x axis. It is,
 TEC r r
 0.85i  0.428 j  r
however, in equilibrium for the
 0.285k 
given loading.
Example problem 4

∑ rF  A  T  TEC  1200 Nj 

BD

0 ir : Ax  0.67TBD  0.86TEC  0
j : Ay  0.33TBD  0.43TEC 1200 N  0
r
k : Az  0.67T
r BD  0.29TEC  0 r r
r r
Mr Ar   r   1.2  m i 1200 Njr  0
∑r B TBD E TEC
j : 1.6TBD  0.514TEC  0
r
k : 0.8TBD  0.771TEC 1440 N . m  0
• Apply the conditions for
static equilibrium to Solve the 5 equations for the 5 unknowns,
develop equations for the
unknown reactions. TrBD  451 N vTEC  1402 rN
A  1502 N i  419
 N j  100.1 Nr
 k
Structural Analysis
Engineering Structure
An engineering structure is
any connected system of
members built to support or
transfer forces and to
safely withstand the loads
applied to it.
Structural Analysis
Statically Determinate
Structures

To determine the internal forces in

the structure, dismember the
structure and analyze separate free
body diagrams of individual
members or combination of
members.
Structural Analysis: Plane Truss
Truss: A framework composed of members joined at their ends to
form a rigid structure

Joints (Connections): Welded, Riveted, Bolted, Pinned

Plane Truss: Members lie in a single plane

Structural Analysis: Plane Truss
Simple Trusses
Basic Element of a Plane Truss is the Triangle
• Three bars joined by pins at their ends € Rigid Frame
– Non-collapsible and deformation of members due to induced
internal strains is negligible

• Four or more bars polygon € Non-Rigid Frame

How to make it rigid or stable?

by forming more triangles!

Structures built from basic triangles

€Simple Trusses
Structural Analysis: Plane Truss
Basic Assumptions in Truss Analysis
➢ All members are two-force members.
➢ Weight of the members is small compared with the
force it supports (weight may be considered at joints)
➢ No effect of bending on members even if weight is
considered
➢ External forces are applied at the pin connections
➢ Welded or riveted connections
➢ Pin Joint if the member centerlines are concurrent at the
joint

Common Practice in Large Trusses

➢ Roller/Rocker at one end. Why?
➢ to accommodate deformations
due to temperature changes and
applied loads.
➢ otherwise it will be a statically
indeterminate truss
Structural Analysis: Plane Truss
Truss Analysis: Method of Joints
• Finding forces in members
Method of Joints: Conditions of equilibrium are satisfied for the forces
at each joint
– Equilibrium of concurrent forces at each joint
–only two independent equilibrium equations are involved
Steps of Analysis
1. Draw Free Body Diagram of Truss
2. Determine external reactions by applying
equilibrium equations to the whole truss
3. Perform the force analysis of the remainder
of the truss by Method of Joints
Structural Analysis: Plane Truss
Method of Joints
• Start with any joint where at least one known load exists and where not
more than two unknown forces are present.

FBD of Joint A and members AB and AF: Magnitude of forces denoted as AB & AF
- Tension indicated by an arrow away from the pin
- Compression indicated by an arrow toward the pin
Magnitude of AF from
Magnitude of AB
from

Analyze joints F, B,
C, E, & D in that
order to complete the
analysis
Structural Analysis: Plane Truss
Method of Joints

Zero Force
Member

Check
Equilibrium
• Negative force if assumed
sense is incorrect
Show
forces on

members
Method of Joints: Example
Determine the force in each member of the loaded truss by Method of Joints
Method of Joints: Example
Solution
Method of Joints: Example
Solution
Structural Analysis: Plane Truss
When more number of members/supports are present than
are needed to prevent collapse/stability
€ Statically Indeterminate Truss
• cannot be analyzed using equations of equilibrium alone!
•additional members or supports which are not necessary for
maintaining the equilibrium configuration € Redundant

Internal and External Redundancy

Extra Supports than required € External Redundancy
– Degree of indeterminacy from available equilibrium equations
Extra Members than required € Internal Redundancy
(truss must be removed from the supports to calculate internal
redundancy)
– Is this truss statically determinate internally?

Truss is statically determinate internally if m + 3 = 2j

m = 2j – 3 m is number of members, and j is number of joints in truss

L06
Structural Analysis: Plane Truss
Internal Redundancy or
Degree of Internal Static Indeterminacy
Extra Members than required € Internal Redundancy

Equilibrium of each joint can be specified by two scalar force equations €

2j equations for a truss with “j” number of joints
€ Known Quantities

For a truss with “m” number of two force members, and maximum 3
unknown support reactions € Total Unknowns = m + 3
(“m” member forces and 3 reactions for externally determinate
Therefore:
truss)
A necessary condition for Stability
m + 3 = 2j€Statically Determinate Internally but not a sufficient condition since
m + 3 > 2j€Statically Indeterminate Internally one or more members can be
m + 3 < 2j€Unstable Truss arranged in such a way as not to
contribute to stable configuration of
the entire truss
Structural Analysis: Plane Truss

Why to Provide Redundant Members?

➢ To maintain alignment of two members during construction

➢ To increase stability during construction
➢ To maintain stability during loading (Ex: to prevent buckling
of compression members)
➢ To provide support if the applied loading is changed
➢ To act as backup members in case some members fail or
require strengthening
➢ Analysis is difficult but possible
Structural Analysis: Plane Truss
Zero Force Members
Structural Analysis: Plane Truss
Structural Analysis: Plane Truss
Zero Force Members: Conditions
If only two non-collinear members form a truss joint and no external load or
support reaction is applied to the joint, the two members must be zero
force members

If three members form a truss joint for which two of the members are collinear,
the third member is a zero-force member provided no external force or support
reaction is applied to the joint
Structural Analysis: Plane Truss
Special Condition

When two pairs of collinear members are joined as shown in figure,

the forces in each pair must be equal and opposite.
Method of Joints: Example
Determine the force in each member of the loaded truss by Method of Joints.

Is the truss statically determinant

externally? Is the truss statically Ye
determinant internally? s
Are there any Zero Force Members in the Ye
truss? s
No
Method of Joints: Example
Solution
Method of Joints: Example
Solution
 P P

DETERMINATE DETERMINATE

P
P

INDETERMINATE INDETERMINATE

P
P

INDETERMINATE DETERMINATE
Example problem 1
Determine B by solving the equation for the
sum of the moments of all forces about A.
∑ M A 0 :  B1.5m
9.81kN2m
 23.5 kN6m  0
B  107.1 kN

equations
Determineforthethe sum ofatallAhorizontal
reactions by solvingforces
the
• Create the free-body diagram.
and all vertical forces.

∑ Fx  0 : Ax  B  0
Ax  107.1kN

∑ Fy  0 : Ay  9.81kN  23.5 kN 
0
Ay  33.3 kN
Example problem 2
SOLUTION:
• Create a free-body diagram for the car
with the coordinate system aligned
with the track.

• Determine the reactions at the wheels

by solving equations for the sum of
moments about points above each axle.

• Determine the cable tension by

A loading car is at rest on an inclined solving the equation for the sum of
track. The gross weight of the car and force components parallel to the track.
its load is 25 kN, and it is applied at
G. The cart is held in position by the • Check the values obtained by verifying
cable. that the sum of force components
perpendicular to the track are zero.
Determine the tension in the cable and
the reaction at each pair of wheels.
Example problem 2
Determine the reactions at the wheels.

∑ MA 0:  10.5 kN625 mm  22.65 kN150

 R21250 mm 
mm
0
R2   8 kN

 10.5 kN625 mm  22.65 kN150

∑ MB  0 :
mm R 1250 mm 
1
0
R1  2.5 kN
Create a free-body diagram
Determine the cable tension.
Wx 25 kNcos 25o
 22.65 kN  T 
 22.65 kN ∑ Fx  0 : 0
Wy  25 kNsin 25o
T  22.7 kN
 10.5 kN
Example problem 3
SOLUTION:
• Create a free-body diagram for the
telephone cable.
• Solve 3 equilibrium equations for the
reaction force components and
couple at A.

A 6-m telephone pole of 1600-N used

to support the wires. Wires T1 = 600 N
and T2 = 375 N.
Determine the reaction at the fixed
end A.
Example problem 3
• Solve 3 equilibrium equations for the
reaction force components and couple.
Ax  (375N) cos 20  (600N) cos10 
∑ F 0: 0
x

Ax  238.50 N

Ay 1600N  600Nsin10  375 Nsin 20 

∑ Fy  0 :
0
Ay  1832.45 N
• Create a free-body diagram for
the frame and cable.
∑ M A  0 : M A  600Ncos10(6m)  375Ncos
20 (6m)  0

M A  1431.00N.m
Example
SOLUTION:
• Based on a free-body diagram of the
entire truss, solve the 3 equilibrium
equations for the reactions at E and C.

• Joint A is subjected to only two unknown

member forces. Determine these from the
joint equilibrium requirements.
• In succession, determine unknown
member forces at joints D, B, and E from
joint equilibrium requirements.
Using the method of joints, determine
the force in each member of the • All member forces and support reactions
truss. are known at joint C. However, the joint
equilibrium requirements may be applied
to check the results.
Example
SOLUTION:
• Based on a free-body diagram of the entire truss,
solve the 3 equilibrium equations for the reactions
at E and C.
∑ MC  0
 10 kN 12 m  5 kN 6 m  E 3
m
E  50kN 
Cx  0
∑ Fx  0  C x

∑  0  10kN - 5 kN  50 kN  C y
Fy C y  35 kN 
Example

• Joint A is subjected to only two unknown

member forces. Determine these from the
joint equilibrium requirements.

10 kN F F FAB  7.5 kN T
FAD  12.5 kN
4  3
AB AD
5 C

• There are now only two unknown member

forces at joint D.

FDB  FDA
FDB  12.5 kN T
FDE  2 53 FDE  15 kN C
FDA
Example

• There are now only two unknown member

forces at joint B. Assume both are in tension.
4
12kN  4 F
∑ F  0  5kN  5
y 5 BE

F  18.75 kN FBE  18.75 kN C

 BE

∑ F  0  F  7.5kN  12.5kN
3 3

18.75
F 26.25 kN
BCx BC F 5  26.25 kN
5 T
BC

• There is one unknown member force at joint

E. Assume the member is in tension.
 0  3 F 15kN 
∑F 35 EC 5

F18.75kN  kN
x

EC 43.75 FEC  43.75 kN C

Example
• All member forces and support reactions are
known at joint C. However, the joint equilibrium
requirements may be applied to check the results.

∑F   26.25  3 43.75  0
x 5
checks
35 45 43.75  0

∑
y
F
checks
L5
Structural Analysis: Plane Truss
Method of Joints: only two of three equilibrium
equations were applied at each joint because the
procedures involve concurrent forces at each joint

€Calculations from joint to joint

€More time and effort required

Method of Sections
Take advantage of the 3rd or moment equation of equilibrium by selecting an entire
section of truss

€Equilibrium under non-concurrent force system

€Not more than 3 members whose forces are unknown should be cut in a single
section since we have only 3 independent equilibrium equations
 Structural Analysis: Plane Truss
Method of Sections
Find out the reactions from equilibrium of whole truss

To find force in member BE

Cut an imaginary section (dotted line)
Each side of the truss section should remain in
equilibrium

For calculating force on member EF, take moment

about B

Take moment about E, for calculating force BC

Now apply Σ Fy = 0 to obtain forces on the

members BE
Structural Analysis: Plane Truss
Method of Sections

• Principle: If a body is in equilibrium, then any part of the body is also

in equilibrium.
• Forces in few particular member can be directly found out quickly without
solving each joint of the truss sequentially
• Method of Sections and Method of Joints can be conveniently combined
• A section need not be straight.
• More than one section can be used to solve a given problem
Structural Analysis: Plane Truss
Method of Sections: Example
Find out the internal
forces in members FH,
GH, and GI

Find out the reactions

∑ M A  0  5 m6 kN 10 m6 kN 15 m6 kN

 20 m1 kN 25 m1 kN 30
mL L  7.5 kN 
∑ Fy  0  20 kN  L  A
A  12.5 kN 
Method of Sections: Example Solution

• Pass a section through members FH, GH, and

GI and take the right-hand section as a free
body.
FG 8m
tan     0.5333   28.07
GL 15 m

• Apply the conditions for static equilibrium to determine the

desired member forces.

∑ M H 
07.50 kN 10 m   1 kN 5 m   FGI 5 .33 m   0
  13 .13 kN
F GI
 13 .13 kN T
F GI
Method of Sections: Example Solution

∑ MG  0
7.5 kN15 m 1 kN10 m 1
kN5FFH
mcos 8 m 
0  13.82 kN
FFH
 13.82 kN C
FFH
GI 5m
tan     0.9375   43.15
HI 2

3
∑ M L 08 m
1 kN10 m 1 kN5 GH cos  15 m 
F 1.371
mGH F kN 0
 1.371 kN C
FGH
Structural Analysis: Space Truss
3-D counterpart of the Plane Truss
Space Truss Idealized Space Truss € Rigid links
connected at their ends by ball and
socket joints

L07
Structural Analysis: Space Truss
Space Truss
➢ 6 bars joined at their ends to form the edges of a
tetrahedron as the basic non-collapsible unit.
➢ 3 additional concurrent bars whose ends are attached to
three joints on the existing structure are required to add
a new rigid unit to extend the structure.

A space truss formed in this way is

called a Simple Space Truss

If center lines of joined members intersect at a

point
➢ Two force members assumption is justified
➢ Each member under Compression or
Tension
Structural Analysis: Space Truss
Static Determinacy of Space Truss
Six equilibrium equations available to find out support reactions
➢ If these are sufficient to determine all support reactions
➢ The space truss is Statically Determinate Externally

Equilibrium of each joint can be specified by three scalar force equations

➢ 3j equations for a truss with “j” number of joints
➢ Known Quantities

For a truss with “m” number of two force members, and maximum 6 unknown support
reactions € Total Unknowns = m + 6
(“m” member forces and 6 reactions for externally determinate truss)
Therefore: A necessary condition for Stability but not a
m + 6 = 3j€Statically Determinate Internally sufficient condition since one or more members
m + 6 > 3j€Statically Indeterminate Internally can be arranged in such a way as not to
m + 6 < 3j€Unstable Truss contribute to stable configuration of the entire
truss
Structural Analysis: Space Truss
Method of Joints
- If forces in all members are required
- Solve the 3 scalar equilibrium equations at each joint
- Solution of simultaneous equations may be avoided if a joint having at least one known force &
at most three unknown forces is analysed first
- Use Cartesian vector analysis if the 3-D geometry is complex (∑F=0)

Method of Sections
- If forces in only few members are required
- Solve the 6 scalar equilibrium equations in each cut part of truss
- Section should not pass through more than 6 members whose forces are unknown
- Cartesian vector analysis (∑F=0, ∑M=0)
Space Truss: Example
Determine the forces acting in members
of the space truss.

Solution:
Start at joint A: Draw free body diagram
Express each force in vector notation
Space Truss: Example

Rearranging the terms and equating the coefficients of i, j, and k unit

vector to zero will give:

Next Joint B may be analysed.

Space Truss: Example
Joint B: Draw the Free Body Diagram
Scalar equations of equilibrium may be used at joint B

Using Scalar equations of equilibrium at joints D and C will give:

Example problem
Example problem
From similar triangle OFD and OGC, We have

4 6
x = 4n
=
4+ x 8+ x