Chapter 5

Equilibrium of a Rigid Body

1/40

Chapter 5
Equilibrium of a Rigid Body
5.1
5.2
5.3
5.4
5.5
5.6
5.7

Conditions for Rigid-Body Equilibrium

Free-Body Diagrams
Equations of Equilibrium
Two- and Three-Force Members
Free-Body Diagrams
Equations of Equilibrium
Constraints and Statical Determinacy
2/40

Chapter Objectives
To develop the equations of equilibrium for a rigid
body.
To introduce the concept of the free-body diagram for
a rigid body.

To show how to solve rigid-body equilibrium problems

using the equations of equilibrium.

Ch5. Equilibrium of a Rigid Body

3/40

5.1 Conditions for Rigid-Body Equilibrium

Free the target rigid body from surroundings and substitute
the surroundings with action & reaction forces, which is
called FBD diagrams.

Ch5. Equilibrium of a Rigid Body

4/40

5.1 Conditions for Rigid-Body Equilibrium

FR F 0

M RO M O 0

These two equations are not only necessary for equilibrium,

they are also sufficient.

Ch5. Equilibrium of a Rigid Body

5/40

5.1 Conditions for Rigid-Body Equilibrium

Equilibrium

in Two Dimensions

the force system acting on a rigid body lies in or may

be projected onto a single plane and, furthermore, any
couple moments acting on the body are directed
perpendicular to this plane.

Ch5. Equilibrium of a Rigid Body

6/40

5.2 Free-Body Diagrams

A thorough understanding of how to draw a free-body
diagram is of primary importance for solving problems
in mechanics.
Support

Reactions

General Rules
If a support prevents the translation of a body in a
given direction, then a force is developed on the
body in that direction.

If rotation is prevented, a couple moment is exerted

on the body.
Ch5. Equilibrium of a Rigid Body

7/40

5.2 Free-Body Diagrams

Support

Reactions

Types of Connection

Reaction

Number of Unknowns

Cable
One Unknown

Weightless Link

One Unknown

Ch5. Equilibrium of a Rigid Body

8/40

5.2 Free-Body Diagrams

Support

Reactions

Types of Connection

Reaction

Number of Unknowns

Roller

One Unknown
Roller or Pin in Confined Smooth Slot
One Unknown
Ch5. Equilibrium of a Rigid Body

9/40

5.2 Free-Body Diagrams

Support

Reactions

Types of Connection

Reaction

Number of Unknowns

Rocker
One Unknown
Smooth Contacting Surface
One Unknown
Ch5. Equilibrium of a Rigid Body

10/40

5.2 Free-Body Diagrams

Support

Reactions

Types of Connection

Reaction

Number of Unknowns

Member Pin Connected to Collar on Smooth Rod

One Unknown
Smooth Pin or Hinge

Two Unknowns

Ch5. Equilibrium of a Rigid Body

11/40

5.2 Free-Body Diagrams

Support

Reactions

Types of Connection

Reaction

Number of Unknowns

Member Fixed Connected to Collar on Smooth Rod

Two Unknowns

Fixed Support

Three Unknowns
Ch5. Equilibrium of a Rigid Body

12/40

5.2 Free-Body Diagrams

Support

Reactions (Actual Supports)

Cable
Rocker

Smooth
Contacting
Surface

Smooth Pin

Fixed Support
Ch5. Equilibrium of a Rigid Body

13/40

5.2 Free-Body Diagrams

Internal

Weight

Forces

and the Center of Gravity

when the body is uniform or made from the same

material, the center of gravity will be located at the
bodys geometric center or centroid
14/40
Ch5. Equilibrium of a Rigid Body

5.2 Free-Body Diagrams

Idealized

Models

i) rigid, ii) negligible weight,

iii) pin support at A, iv) roller at B

i) rigid,
ii) negligible weight

Ch5. Equilibrium of a Rigid Body

15/40

5.2 Free-Body Diagrams

Procedure for Analysis
Draw Outlined Shape: Imagine the body to be isolated or cut
free from its constraints and connections and draw (sketch)
its outlined shape.
Show All Forces and Couple Moments: Identify all the
known and unknown external forces and couple moments
that act on the body, which generally include (1) applied
loadings, (2) reactions occurring at the supports or at points
of contact with other bodies, and (3) the weight of the body.
Identify Each Loading and Give Dimensions: The known
forces and couple moments should be labeled with their
proper magnitudes and directions. Letters are used to
represent the magnitudes and direction angles of forces and
couple moments that are unknown.

Ch5. Equilibrium of a Rigid Body

16/40

Example 5.1
Draw the free-body diagram of the uniform beam shown
in Fig.5.1a. The beam has a mass of 100 kg.

Fig. 5.1a

Ch5. Equilibrium of a Rigid Body

17/40

Example 5.1

Solution

Fig. 5.1b

Ch5. Equilibrium of a Rigid Body

18/40

Example 5.2
Two smooth pipes, each having a mass of 300 kg, are
supported by the forked tines of the tractor in Fig.5.2a.
Draw the free-body diagrams for each pipe and both
pipes together.

Fig. 5.2a

Ch5. Equilibrium of a Rigid Body

Fig. 5.2b
19/40

Example 5.2

Solution

Fig. 5.2c

Fig. 5.2b

Fig. 5.2d

Ch5. Equilibrium of a Rigid Body

Fig. 5.2e
20/40

Example 5.3
Draw the free-body diagram of the unloaded platform
that is suspended off the edge of the oil rig shown in Fig.
5.3a.The platform has a mass of 200 kg.

Fig. 5.3a

Fig. 5.3b

Ch5. Equilibrium of a Rigid Body

21/40

Example 5.3

Solution

Fig. 5.3c
Fig. 5.3b

Ch5. Equilibrium of a Rigid Body

22/40

5.3 Equations of Equilibrium

FR F 0

M RO M O 0

F 0
F 0
M 0
x

M RO

Ch5. Equilibrium of a Rigid Body

23/40

5.3 Equations of Equilibrium

Alternative

Sets of Equilibrium Equations

F 0
M 0
M 0
x

M
M
M

The line passing through points A Points A, B, and C do not lie on the
and B is not parallel to the y axis same line

Ch5. Equilibrium of a Rigid Body

24/40

5.3 Equations of Equilibrium

Procedure

for Analysis

1. Free-Body Diagram
2. Equations of Equilibrium
Apply the moment equation of equilibrium about a point (O)
that lies at the intersection of the lines of action of two
unknown forces.
When applying the force equilibrium equations, orient the x
and y axes along lines that will provide the simplest
resolution of the forces into their x and y components.
If the solution of the equilibrium equations yields a negative
scalar for a force or couple moment magnitude, this indicates
that the sense is opposite to that which was assumed on the
free-body diagram.

Ch5. Equilibrium of a Rigid Body

25/40

Example 5.4
Determine the horizontal and vertical components of
reaction on the beam caused by the pin at B and the
rocker at A as shown in Fig.5.4a. Neglect the weight of
the beam.

Fig. 5.4a

Ch5. Equilibrium of a Rigid Body

26/40

Example 5.4

Solution
Free-Body Diagram
Equations of Equilibrium

600cos 45 Bx 0

Bx 424 N

Ans.

100 2 600sin 45 5 600cos 45 0.2 7 Ay 0

Ay 319 N

Fig. 5.4b

Ans.

319 600sin 45 100 200 By 0

By 405 N

Ans.

Ch5. Equilibrium of a Rigid Body

27/40

Example 5.5
The member shown in Fig.5.5a is pin-connected at A and
rests against a smooth support at B. Determine the
horizontal and vertical components of reaction at the pin A.

Fig. 5.5a

Ch5. Equilibrium of a Rigid Body

28/40

Example 5.5

Solution
Free-Body Diagram
Equations of Equilibrium

Fig. 5.5b

90 60 1 0.75N B 0

N B 200 N

Ans.

Ax 200sin 30 0

Ax 100 N

Ans.

Ay 200cos30 60 0

Ay 233 N

Ans.

Ch5. Equilibrium of a Rigid Body

29/40

Example 5.6
The box wrench in Fig.5.6a is used to tighten the bolt at A.
If the wrench does not turn when the load is applied to the
handle, determine the torque or moment applied to the bolt
and the force of the wrench on the bolt.

Fig. 5.6a

Ch5. Equilibrium of a Rigid Body

30/40

Example 5.6

Solution
Free-Body Diagram
Equations of Equilibrium

Ax 52 5 13 30cos 60 0

Ax 5.00 N

Ans.

Ay 52 12 13 30sin 60 0

Ay 74.0 N

Fig. 5.6b

Ans.

0 M A 52 12 13 0.3 30sin 60 0.7 0

Ans.
M A 32.6 N m

Resultant Force on the wrench is

FA (5.00)2 (74.0)2 74.1 N

Ch5. Equilibrium of a Rigid Body

Ans.
31/40

Example 5.7
The uniform smooth rod shown in Fig.5.7a is subjected to
a force and couple moment. If the rod is supported at A by
a smooth wall and at B and C either at the top or bottom by
rollers, determine the reactions at these supports. Neglect
the weight of the rod.

Fig. 5.7a

Ch5. Equilibrium of a Rigid Body

32/40

Example 5.7

Solution

Fig. 5.7a

Free-Body Diagram
Equations of Equilibrium

F 0
F 0
M 0
x

Cy sin 30 By sin 30 Ax 0

300 Cy cos30 By cos30 0

2By 4000 6Cy 300cos30 8 0

Solving Equations, we obtain

Ax 173 N

Ans.

By 1000.0 N 1.00 kN

Ans.

Cy 1346.4 N 1.35 kN

Ans.
Fig. 5.7b

Ch5. Equilibrium of a Rigid Body

33/40

Example 5.8
Determine the support reactions on the member in Fig.5.8a.
The collar at A is fixed to the member and can slide
vertically along the vertical shaft.

Fig. 5.8a

Ch5. Equilibrium of a Rigid Body

34/40

Example 5.8

Solution
Free-Body Diagram
Equations of Equilibrium

F
F

Ax 0

N B 900 0

Ans.

N B 900 N

Fig. 5.8b

Ans.

0 M A 900 1.5 500 900(3 1cos 45 ) 0

M A 1486 N m 1.49 kN m

Ans.

Fig. 5.8a

Ch5. Equilibrium of a Rigid Body

35/40

5.4 Two- and Three-Force Members

Two-Force

Members

The two forces acting on the member must have the

same magnitude, act in opposite directions, and have
the same line of action, directed along the line joining
the two points where these forces act.

(a)

(b)

Ch5. Equilibrium of a Rigid Body

(c)
36/40

5.4 Two- and Three-Force Members

Three-Force

Members

If a member is subjected to only three forces, it is called

a three-force member. Moment equilibrium can be
satisfied only if the three forces form a concurrent or
parallel force system

(a)

Ch5. Equilibrium of a Rigid Body

(b)
37/40

5.4 Two- and Three-Force Members

Ch5. Equilibrium of a Rigid Body

38/40

Example 5.9
The lever ABC is pin supported at A and connected to a
short link BD as shown in Fig.5.9a. If the weight of the
members is negligible, determine the force of the pin on
the lever at A.

Fig. 5.9a

Ch5. Equilibrium of a Rigid Body

39/40

Example 5.8

Solution
Free-Body Diagram
=arctan ( 0.7 0.4)=60.3
Equations of Equilibrium

F
F

FA cos60.3 F cos45 +400 0

FA sin 60.3 F sin 45 0

Solving Equations, we obtain

FA 1.07 kN Ans.
F 1.32 kN

Ch5. Equilibrium of a Rigid Body

40/40