Solid Mechanics-2

Static Equilibrium of rigid bodies

2.1 Condition for static equilibrium of a particle

In mechanics, we distinguish ‘particle’ from ‘body’ in that particle is treated as a point

with zero volume. Hence, all forces on it act at the same location. There can be no rotation of
a particle (rotation needs a torque. Generation of torque requires that the points of action of
forces are spatially separated). Hence, if a particle is in static equilibrium, the sum of all forces
acting on it are zero.
∑𝑖 𝑓⃗𝑖 = ⃗0⃗ (1)
In Cartesian coordinates, we write
𝑓⃗𝑖 = 𝑓𝑖𝑗 𝑒̂𝑗

Here, 𝑓𝑖𝑗 is the 𝑗th Cartesian component of 𝑓⃗𝑖 and 𝑒̂𝑗 is the 𝑗th base vector of the Cartesian
coordinates. We have used the index notation for the summation over 𝑗.
Combining the last two equations, we get

∑ 𝑓𝑖𝑗 𝑒̂𝑗 = ⃗⃗
0
𝑖

Since 𝑒̂𝑗 s are independent, we get

∑𝑖 𝑓𝑖𝑗 = 0 𝑗 = 1,2,3 (2)
These are three equations containing 𝑖 forces (each with three components). This means, we
have 3𝑖 quantities in these three equations. We can get a unique solution if we have only
three unknown quantities and the rest are known.
Sometimes, the system is confined to two dimensions. In that case, the forces have
only two components. The equation for the static equilibrium then transforms to
∑𝑖 𝑓𝑖𝑗 = 0 𝑗 = 1,2 (3)
We say that a system is statically determinate, if the equations describing the static equilibrium
have the unique solution. On the other hand, we call a system statically indeterminate, if the
equations describing the static equilibrium do not have the unique solution. In the examples
below, we describe these two cases.

2.2 Example-1. In the figure below, a particle suspended in a vertical plane using two
weightless strings. The weight of the particle is 50 N. Find the tensions in the strings.

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 2

𝑓⃗1
30𝑜
60𝑜 𝑓⃗2
1

𝑓⃗3

50 N

Solution: Let the tensions in the left and the right strings be denoted by 𝑓⃗1 and 𝑓⃗2 respectively
and the weight of the particle be denoted by 𝑓⃗3 . With respect to coordinate frame shown in the
figure we can express these vectors as
1 √3
𝑓⃗1 = −𝑓1 𝑐𝑜𝑠60𝑜 𝑒̂1 + 𝑓1 𝑠𝑖𝑛60𝑜 𝑒̂2 = − 𝑓1 𝑒̂1 + 𝑓 𝑒̂
2 2 1 2
√3 1
𝑓⃗2 = 𝑓2 𝑐𝑜𝑠30𝑜 𝑒̂1 + 𝑓2 𝑠𝑖𝑛30𝑜 𝑒̂2 = 𝑓2 𝑒̂1 + 𝑓2 𝑒̂2
2 2
𝑓⃗3 = −50𝑒̂2
Here 𝑓1 and 𝑓2 are the absolute magnitudes of 𝑓⃗1 and 𝑓⃗2 respectively. From Eq 1, we have
1 √3 √3 1
∑ 𝑓⃗𝑖 = (− 𝑓1 + 𝑓2 ) 𝑒̂1 + ( 𝑓1 + 𝑓2 − 50) 𝑒̂2 = ⃗0⃗
2 2 2 2
𝑖

From this we derive the following two equations

1 √3 √3 1
− 2 𝑓1 + 𝑓 = 0 and 𝑓 + 2 𝑓2 − 50 = 0
2 2 2 1

The first equation yields

𝑓1 = √3𝑓2
and the second equation gives
3 1
𝑓 + 2 𝑓2 = 50 or 𝑓2 = 25 𝑁 and 𝑓2 = 25√3 𝑁
2 2

Since the only unknowns are 𝑓⃗1 and 𝑓⃗2 are now known, the system is statically determinate.

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2.3 Example-2. Consider a case shown in the figure below where a particle of weight 50 N is
held by two vertical strings. Find the forces 𝑓⃗1 and 𝑓⃗2 and check whether or not the system is
statically determinate.

𝑓⃗1

𝑓⃗3 50 N

𝑓⃗2

Solution: We note that

𝑓⃗1 = 𝑓1 𝑒̂2 , 𝑓⃗2 = −𝑓2 𝑒̂2 and 𝑓⃗3 = −50𝑒̂2

∑𝑖 𝑓⃗𝑖 = ⃗0⃗ gives 𝑓1 −𝑓2 = 50 𝑁

Since, we have only one equation, bur two unknowns, we cannot find them both. Hence this
system is statically indeterminate. The reason for this is that here we have insufficient data to
compute the forces. Either one of the two quantities 𝑓1 , 𝑓2 should be given or we have some
alternative method to find one of them. One such method is suggested below
Suppose the length of the lower string is 𝐿2 in its present stretched condition, whereas
under unstretched condition, it is 𝐿20 . Then the strain in the string is (𝐿2 − 𝐿20 )/𝐿20 . If the
modulus of elasticity of the string is 𝐸2 and the area of cross section of the string is 𝐴2 , then
we can compute 𝑓2 as
𝐿2 − 𝐿20
𝑓2 = ( ) 𝐸2 𝐴2
𝐿20
Thus if the values of these quantities are known, we can find 𝑓2 . On the other hand, we may
know the quantities associated with sring-1. Then we can find 𝑓1

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 𝐿1 − 𝐿10
𝑓1 = ( ) 𝐸1 𝐴1
𝐿10
and then find 𝑓2 . If the data for both strings are available, we have an overdetermined
system. If do everything correctly, then all three equations should be consistent with each
other. If not, we need to check if any data are incorrect.
2.1 Condition for static equilibrium of rigid bodies
The forces acting on a body can be divided into two categories, body forces and contact
forces. Body forces are non-contact forces and act in the bulk of the body (e.g. gravity, electric
forces or magnetic forces). These forces are distributed over volume of the body. On the other
hand, the contact forces act on the surface of the rigid body. They are distributed on the surface.
In the present analysis, we consider the forces to be concentrated at points. Thus the gravity
force is assumed to be concentrated at the centre of mass of the body and contact forces are
concentrated at some points on the surface of the body.
Consider a rigid body with forces, 𝑓⃗1 , 𝑓⃗2 ⋯ , 𝑓⃗𝑛 acting on it at points 𝑃1 , 𝑃2 ⋯ , 𝑃𝑛
respectively.

𝑓⃗1
𝑃1 𝑓⃗2
𝑃2
𝑃𝑛
𝑓⃗n 𝑃3 𝑓⃗3
𝑃𝑖
𝑓⃗i

𝑟⃗i
𝑂
These forces cause two types of motions in the rigid body, translation and rotation. At
the static equilibrium, both these motions must cease. This requires that

∑𝑖 𝑓⃗𝑖 = ⃗0⃗
and ⃗⃗⃗⃗⃗⃗⃗𝑖 = ⃗⃗
∑𝑖 𝑀𝑜 0
⃗⃗⃗⃗⃗⃗⃗𝑖 is the moment of force 𝑖 at any arbitrary point 𝑂 space. We may take that point as
where 𝑀𝑜
the origin and write

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 𝑀𝑜𝑖 = 𝑟⃗𝑖 ∧ 𝑓⃗𝑖
⃗⃗⃗⃗⃗⃗⃗
Where 𝑟⃗𝑖 is the position vector of point 𝑃𝑖 and the symbol ∧ represents the cross product of
two vectors. We can write the cross product in abbreviate form as
𝑎⃗ ∧ 𝑏⃗⃗ = 𝑒𝑖𝑗𝑘 𝑎𝑖 𝑏𝑗 𝑒̂𝑘
where, 𝑒𝑖𝑗𝑘 is the permutation symbol
𝑒𝑖𝑗𝑘 = +1 if 𝑖𝑗𝑘 are even permutations of 123 ( that is 𝑒123 = 𝑒231 = 𝑒312 = +1 )
𝑒𝑖𝑗𝑘 = −1 if 𝑖𝑗𝑘 are odd permutations of 123( that is 𝑒132 = 𝑒213 = 𝑒321 = −1 )
𝑒𝑖𝑗𝑘 = 0 in all other cases.
Using this notation, we can write the moment equation as

∑ 𝑟⃗𝑙 ∧ 𝑓⃗𝑙 = ⃗0⃗

𝑙

in components we can write the equations for the static equilibrium as

∑𝑙 𝑓𝑙𝑘 = 0 𝑘 = 1,2,3
and ∑𝑙 𝑒𝑖𝑗𝑘 𝑟𝑙𝑖 𝑓𝑙𝑗 = 0 𝑘 = 1,2,3
Cross product can also be written in the alternative form as a determinant. Thus
𝑒̂𝑘 𝑒̂𝑘 𝑒̂𝑘
⃗
⃗
𝑎⃗ ∧ 𝑏 = |𝑎1 𝑎2 𝑎3 |
𝑏1 𝑏2 𝑏3

2.2 Exercise-1: (a) Show that the expression 𝑎⃗ ∧ 𝑏⃗⃗ = 𝑒𝑖𝑗𝑘 𝑎𝑖 𝑏𝑗 𝑒̂𝑘 is equivalent to the

determinant expression shown above. (b) Using the expression 𝑎⃗ ∧ 𝑏⃗⃗ = 𝑒𝑖𝑗𝑘 𝑎𝑖 𝑏𝑗 𝑒̂𝑘 show that

if the vectors 𝑎⃗ and 𝑏⃗⃗ are parallel to each other, the cross product is a zero vector. (c) using the
expression 𝑎⃗ ∧ 𝑏⃗⃗ = 𝑒𝑖𝑗𝑘 𝑎𝑖 𝑏𝑗 𝑒̂𝑘 show that if both 𝑎⃗ and 𝑏⃗⃗ lie in plane-12 (i.e. xy-plane), then

𝑎⃗ ∧ 𝑏⃗⃗ = (𝑎1 𝑏2 − 𝑎2 𝑏1 )𝑒̂3 (d) Show using the expression 𝑎⃗ ∧ 𝑏⃗⃗ = 𝑒𝑖𝑗𝑘 𝑎𝑖 𝑏𝑗 𝑒̂𝑘 that if both 𝑎⃗ and

𝑏⃗⃗ lie in plane-12 and the angle between them is 𝜃, then 𝑎⃗ ∧ 𝑏⃗⃗ = 𝑎𝑏𝑠𝑖𝑛𝜃𝑒̂3 and hence if 𝑎⃗ and
𝑏⃗⃗ are orthogonal then 𝑎⃗ ∧ 𝑏⃗⃗ = 𝑎𝑏𝑒̂3

2.3 Choice of the origin for computing the moments

𝑀𝑜𝑖 = ⃗⃗
We now show that if the system is at static equilibrium, ∑𝑖 ⃗⃗⃗⃗⃗⃗⃗ 0 irrespective of
the choice of the point about which the moments are calculated. Suppose that we change the
point from 𝑂 to 𝑂′ .

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 𝑓⃗1
𝑃1 𝑓⃗2
𝑃2
𝑃𝑛
𝑓⃗n 𝑃3 𝑓⃗3
⃗⃗⃗ 𝑃𝑖
𝑟′i
𝑂’ 𝑓⃗i

𝑟⃗i
𝑂

Let the position vectors of points 𝑃1 , 𝑃2 ⋯ , 𝑃𝑛 with respect to 𝑂′ be denoted by

𝑟⃗1′ , 𝑟⃗2′ ⋯ 𝑟⃗𝑛′ respectively. We see from the triangle 𝑃𝑖 𝑂′𝑂 that
⃗⃗⃗⃗⃗⃗⃗⃗ + 𝑟⃗𝑖
𝑟⃗𝑖′ = 𝑂′𝑂
Hence,
⃗⃗⃗⃗⃗⃗⃗⃗) ∧ 𝑓⃗𝑖 = ∑ 𝑟⃗𝑖 ∧ 𝑓⃗𝑖 + ∑ 𝑂′𝑂
∑ 𝑟⃗𝑖′ ∧ 𝑓⃗𝑖 = ∑ (𝑟⃗𝑖 + 𝑂′𝑂 ⃗⃗⃗⃗⃗⃗⃗⃗ ∧ 𝑓⃗𝑖 = ∑ 𝑟⃗𝑖 ∧ 𝑓⃗𝑖 + 𝑂′𝑂
⃗⃗⃗⃗⃗⃗⃗⃗ ∧ ∑ 𝑓⃗𝑖
𝑖 𝑖 𝑖 𝑖 𝑖 𝑖

Since the system is at static equilibrium, ∑𝑖 𝑟⃗𝑖 ∧ 𝑓⃗𝑖 = 0 and ∑𝑖 𝑓⃗𝑖 . Hence

∑ 𝑟⃗𝑖′ ∧ 𝑓⃗𝑖 = 0
𝑖

This implies that when a system is at the static equilibrium, sum of moments of the forces
acting on it zero around every point in space. This allows us freedom to choose a convenient
point for computing moments in a system at static equilibrium.

2.4 Exercise-2: An arbitrary shaped body is hanged on a wall using a nail passing thought it
and embedded in the wall. If the body can freely rotate around the nail, show that it will attain
static equilibrium in a such a position that its centre of mass will lie on the vertical line
passing through the nail.

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 𝑂

𝑚𝑔
Solution:
Consider the body as shown in the figure. Let point 𝑂 represent the point at which the body
is hanged on the wall and let 𝐶 represent the centre of mass of the body. Let the mass of the
body be 𝑚. Then the force of gravity will be
⃗⃗⃗⃗
𝑓1 = −𝑚𝑔𝑒̂2
The point of action of this force is the centre of mass of the body.
Let ⃗⃗⃗⃗
𝑓2 be the reaction at the nail. For static equilibrium
⃗⃗⃗⃗
𝑓1 + ⃗⃗⃗⃗
𝑓2 = ⃗0⃗
Hence, ⃗⃗⃗⃗ ⃗⃗⃗⃗1 = 𝑚𝑔𝑒̂2
𝑓2 = −𝑓
If we assume coordinates of points 𝐶 with respect to 𝑂 be (𝑧1 , 𝑧2 , 𝑧3 ) . Then moment of
forces around point 𝑂 will be
(𝑧1 𝑒̂1 + 𝑧2 𝑒̂2 + 𝑧3 𝑒̂3 ) ∧ (−𝑚𝑔𝑒̂2 ) = −𝑚𝑔(𝑧1 𝑒̂1 ∧ 𝑒̂2 + 𝑧2 𝑒̂2 ∧ 𝑒̂2 + 𝑧3 𝑒̂3 ∧ 𝑒̂2 )
= −𝑚𝑔(𝑧1 𝑒̂3 − 𝑧3 𝑒̂1 )
For the static equilibrium, this moment should be zero. For this to happen 𝑧1 = 𝑧3 = 0. This
means the 𝑧1 and 𝑧3 coordinates of points 𝐶 and 𝑂 are identical, only 𝑧2 varies. This implies
that centre of mass will lie on the vertical line passing through the nail.