Beruflich Dokumente
Kultur Dokumente
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ENGINEERING MECHANICS
Statics
Second Edition
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PWS-KENT
Publishing Company
CIP data for Statics and Dynamics, combined edition, can be found on the back
endpapers.
89 90 91 92 93-10 9 8 7 6 5 4 3 2 1
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'To the memory of Robert W. Shreeves,
friend and colleague
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Preface
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thinking and insight; it may contain tedious calculations; or it may
challenge the student's advanced mathematics skills. We have placed an
asterisk beside especially difficult problems falling into one or more of
these categories.
Statics is characterized by only two basic equations, but these
equations are applied in a wide variety of circumstances. Thus it is
imperative that students develop a feel for realistically modeling an
engineering situation. Consequently, we have included a large number of
actual engineering problems among the examples and exercises. Being
aware of the assumptions and accompanying limitations of the model and
of the solution method can be developed only by sweating over many
problems outside the classroom. Only in this way can students develop
the insight and creativity needed to solve engineering problems.
Some examples and problems are presented in SI (Systeme Inter-
national) metric units, whereas others use traditional United States
engineering system units. Whereas the United States is slowly and
painfully converting to SI units, our consulting activities make it clear
that much engineering work is still being performed using traditional
units. Most United States engineers still tend to think in pounds instead
of newtons and in feet instead of meters. We believe students will become
much better engineers, scientists, and scholars if they are thoroughly
familiar with both systems, especially during the next ten to fifteen
years.
In Chapter I we introduce engineering mechanics and its primitives,
and we set forth the basic laws of statics. This chapter also covers units
and dimensions as well as techniques of problem solving and the im-
portance of accuracy.
In Chapter 2 forces and moments are defined and covered in detail,
after which the equilibrium equations for the finite-sized body are pre-
sented. This approach prepares students for the second half of the chap-
ter, which deals with equipollence and with resultants of discrete and
distributed force systems.
The heart of the book is Chapter 3, in which we analyze equilibrium
problems. The chapter begins with the free-body diagram-crucial to
successful analysis of problems in statics and dynamics. We then
examine the equilibrium of a single body and expand that study to
interacting bodies and to parts of a structure.
In Chapter 4 we extend our study to structures of three common
types: trusses, beams, and cables. In preparation for later courses in
strength of materials or deformable bodies, we include a section on shear
and moment diagrams. The studies of Chapter 4 differ from most of those
in Chapter 3 in that the bodies are routinely "cut" Ion paper' in order to
determine their important internal force distributions.
Though friction forces may sometimes act on the bodies studied in
Chapter 3, the special nature of these forces was not elaborated on there.
This detailed study is done in Chapter 5, which deals exclusively with
Preface Ili
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Coulomb lor dry friction). This chapter also includes fundamental
problems and applications of dry friction alo'ng with special applications
such as the friction on a flexible flat belt wrapped around a cylindrical
surface.
Chapters 6 and 7, although not statics per se, treat topics often
, covered in statics courses. Chapter 6 includes the topics of centroids lof
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lines, areas, and volumes I and of centers of mass. Chapter 7 follows with 1
! study of inertia properties of areas-a necessary background for studie~
of the strength and deflection of beams in courses on the mechanics of
deformable solids. To this end we inclu'de a closing section on Mohr'~
circle for principal axes and moments of inertia of areas. This topic is also
i'" useful in studies of stress and strain as wel1'as in studies of moments, of
inertia of masses Ithe latter of which is covered in our dynamics volumel:
Finally, Chapter 8 includes two special topics in statics. The first is
the principal of virtual work, a very powerful method in mechanics and
an elegant alternative to the equations of equilibrium. The second is
"fluid statics," or the statics of submerged bodies subjected to hydrostaL
tic fluid pressure.
In this second edition, we wish to acknowledge the help of our friend
and colleague, Mike Bernard, who has given us many useful suggestions
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while teaching from the first edition of the book. We also thank ou~
colleagues Ken Reed, Charles Ueng, James Wang, Wan-Lee Yin, Richard
Riff, Don Berghaus, George Rentzepis, John Papastavridis, Larry iacobs~
Manohar Kamat, and Benny Wilner for their com~ents about this book.
We also acknowledge the helpful remarks of Lawrence Malvern of the
University of Florida and Leroy Fuss of Scientific-Atlanta, Inc. .
We are grateful to Betty Mitchell for typing and to our reviewers this
time around: Don Carlson, University of Illinois at Champaign-Urbana~
John Ely, North Carolina State University; Vincent Lee, University of
Southern California; and Han-Chin Wu, University of Iowa.
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Contents
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1 Introduction 1
xi
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i xii Contents
3.1 Introduction I 17
3.2 The Free-Body Diagram 119
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3.3 Fundamental Applications of the Equilibrium Equations 131
3.4 Applications of the Equations of Equilibrium to Interacting Bodies or
Parts of a Structure 180
I TRUSSES 238
Friction 356
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Contents xiii
. ~ ~8 Special Topics
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Index 604
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Engineering Mechanics:
Statics
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Introduction
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I 1.1 Engineering Mechanics
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I 1.3 Basic Laws
1.4 Units and Dimensions
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2 Chapter 1 Introduction
There are several concepts that are primitives in the study of mechanics.
Space. We shall be using ordinary Euclidei'n three-dimensional geome,
try to describe the positions of points on the bodies in which we
are interested, and, by extension, ihe regions occupied by these
bodies. The coordinate axes used in locating the points will be
locked into a reference frame, which is itself no more or less
than a rigid body lone for which the distance between any tWO
points is constant).
Time. Time will be measured in the usual way. It is, of course, the
measure used to identify the chronology of events. Time will
not really enter the picture in statics; it becomes important
when the bodies are no longer at rest, but are instead moving in
the reference frame.
Force. Force is the action of one body upon another, most easily
visualized as a push or pull. A force acting on a body tends to
accelerate it in the direction of the force.
Mass. The resistance of a body to motion is measured by its mass and
by the distribution of that mass. Mass per unit volume, called
density, is a fundamental material property. Mass is a factor in
the gravitational attraction of one body to another. [t is this
manifestation of mass that we shall enCOUnterin statics.
When Isaac Newton first set down the basic laws or principles upon
which mechanics has come to be based, he wrote them for a particle. This
is a piece of material suffiCiently small that we need not distinguish its
material points as to locations (or velocities or accelerations). Therefore,
we could actually consider the Earth and Moon as particles for; sorne
applications sUch as the analysis of celestial orbits (as Newton didl. "
Newton published a treatise called ThePrincipia in 1687, in which
certain principles governing the motion of a particle were developed.
These have come to be known as Newton's Laws of Motion, and are
commonly expressed today as follows:
1. [n the absence of external forces, a particle has constant velocity
(which means it either remains at rest or travels in a straight line at
constant speedl.
2. or
If a force acts on a particle, it will be accelerated in the direction
the force, with an acceleration magnitude proportional to that of the
force.
4 Chapter 1 Introduction
3. The two forces exerted on a pair of particles by each other are equal
in magnitude, opposite in direction, and collinear along the line
joining the two particles.
We must recognize that the laws will not apply when velocities
approach the speed of light, when relativistic effects become important ..
Neither will Newton's Laws apply at a spatial scale appropriate to
individual atoms. It is also important to understand that what we ate
really doing is hypothesizing the existence of certain special frames of
reference in which the laws are valid. These frames are called New-
tonian, or inertial. This poses a chicken-and-egg problem where one tries
to reason which comes first-the inertial frame or the three laws. It,
is true that the laws hold only in inertial frames, but also that inertial
frames are those in which the laws hold, so that neither is of any value
without the other. To establish that a frame is inertial requires numerous
comparisons of the predictions of the laws of motion with experimental 'I
observations. Such comparisons have failed to provide any contradiction
of the assertion that a frame containing the mass center of the solar
system and having fixed orientation relative to the "fixed" stars is
inertial. For this reason many writers refer to this frame of reference as
"fixed" or "absolute." While the earth, which moves and turns relative
to this standard, is not an inertial frame, it closely enough approximates
one for the analysis of most earth-bound engineering problems.
An important extension of Newton's Laws was made in the' 18th
century by the Swiss mathematician Leonhard Euler. The extension was.
the postulation of two vector laws of motion for the finite-sized body.
These laws IEuler's Laws), again valid only in inertial frames, are
expressible as:
1. The resultant of the external forces on a body is at all times equal to
the time derivative of its momentum.
2. The resultant moment of these external forces about a fixed point is '
equal to the time derivative of the body's moment of momentum'
about that point.
Euler's Laws allow us to study the motions lor the special case in .
which the motions '(anish! of bodies, whether or not they are particles. ,
The first law yields the motion of the mass center, and the second leads to
the orientational, or rotational, motion of a rigid body. It can be shown'
that an "action-reaction" principle lequivalent to Newton's Third,LawJ
follows from these two laws of Euler.
Another contribution by Isaac Newton which is of monumental
importance in mechanics is his Law of Gravitation, which expresses the
gravitational attraction between two particles in terms of their masses
1m, and fi,) and the distance II)between them. The magnitude IF) of the
force on either panicle is given by
Gmtml
F = ,
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1k Unitsand Dimensions 5'
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I where G is the universal gravitation constant. For a small body Ip~rticlel
"I being attracted by the earth, the force is given approximately by 'an
1 equation of the same form,
f F=--
r2
GMm
J where now M is the mass of the earth, m is the mass of the particle, and i
the distance from the particle to the center of the earth. If the particle is'
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nearthe earth's surface, r is approximately the radius, r" 'ofthe earth and
to good approximation .
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l F = (~nm = mg
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I The symbol g is called the strength of the gravitational field or the'
'I gravitational acceleration, since this is the free-fall acceleration ofa body
:,f near the surface of the earth. Although g varies slightly from place to
place on the earth, we shall, unless othe~ise noted, u'se the nominal
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I values of 32.2lb/slug (or fUsec2j and 9.81 Nlkg lor m/s2). The force,
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mg, that the earth exerts on the body is called the weight of the body:
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Units and Dimensions
" The numerical value assigned to a physical entity expresses the rela-
tionship of that entity to certain standards of measurement called units'.
There is currently an international set of standards called the Intet-
, , national System 151) of Units. This is a descendant of the MKS met-
ric system. In the 51 system the unit of time is the second lsi, the unit
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of length is the meterlmj, and the unit of mass is the kilogram Ikg).These
.', independent lor basic} units are defined by physical entities or phenom-
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. 6 Chapter1 Introduction
foot per second per second by a force of one pound, or I slug = I Ib-
sec'lft. For the foreseeable future, United States engineers will find it
desirable to be as comfortable as possible with both the U.S. and 51
systems; lor that reason we have used both sets of units in examples and
problems throughout this book.
We next give a brief discussion of unit conversion. The conversion
of units is very quickly and efficiently accomplished by multiplying by
equivalent fractions until the desired units are achieved. For example,
suppose we wish to know how many newton' meters IN . m) of torque
are equivalent to lib-It; since we know there to be 3.281 ft per m and
4.448 N per Ib,
1m )(4.448 N) .
I lb.ft = I-lli'k ( 3.281k 111:5' = 1.356 N . m
For a second example, let us find how many slugs of mass there are in a
kilogram:
Ib-sec'
= 0.06852 ~f-t - or 0.06852 slug
Inversely, I slug = 14.59 kg. A table of units and conversion lactors may
be found in Appendix B.
It is a source of some confusion that sometimes there is used a unit of
mass called the pound, or pound mass, which is the mass whose weight is
one pound of lorce at standard gravitational conditions. Also, the term
kilogram has sometimes been used for a unit of loree, particularly in
Europe. Grocery shoppers in the U.S. are exposed to this confusion by the
fact that packages are marked as to weight (or is it mass?) both in pounds
and in kilograms. Throughout this book, without exception, the pound is
a unit of force and the kilogram is a unit of mass.
The reader is no doubt already aware 01 the care that must be
exercised in numerical calculations using different units. For example, if
two lengths are to be summed in which one length is 2 feet and the other
is 6 inches, the simple sum of the measures, 2 + '6 = 8, does not provide
a measure of the desired length. It is also true that we may not add or
equate the numerical measures 01 different types of entities; thus it
makes no sense to attempt to add a mass to a length. These are said to
have different dimensions, a dimension being the name assigned to the
kind of measurement standard involved, as contrasted with the choice of
a particular measurement standard lunitl. In science and engineering we
attempt to develop equations expressing the relationships among various
physical entities in a physical phenomenon. We express these equations
in symbolic form so that they are valid regardless of the particular choice
of system 01 units; nonetheless, they must be dimensionally consistent.
I 1.4 Units and Dimensions 7
d = do - vot - 2'I at 2
where t is time, do is the distance at t = 0, Vo is the speed at t = 0, and
a is the constant acceleration. Substituting the dimension symbols in
each term
L ( L 2
L =L - T TI - T2 IT I
where the equality sign and the minus signs serve only the purpose of
identifying the terms under consideration. Since each term has the
dimension of length ILlthe equation is dimensionally consistent.
2. A square plate is supported by a pair of ropes; suppose that a
student deduces that the force, P, exerted by one rope is
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where I is the length of a side of the plate, m is the mass of the plate, and.
g is the acceleration of gravity. If, as is intended here, every length
appearing in the problem is a multiple (or fractionl of f, then a student
must immediately conclude that the analysis is in error since the
dimension of 21 is L and the dimension of 3/2 is L2; thus they c~nnot
be added.
A second student analyzing the problem concludes that
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8 Chapter 1 Introduction
This student also must conclude that the analysis is in error since the
dimension of P is F while the dimension of mglis FL.
A third student analyzing this problem concludes that
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P = -mg
2 . ,
w = Sg/(a + bl
Noting that g, the acceleration of gravity, has dimension LIT2, we test
the dimensional consistency of the result by writing
I , LIT2 I
T L T2
which demonstrates that this result is not dimensionally consistent..
A third student obtains
w = S.jg/(a + bl
which is dimensionally consistent since the dimension of.j g/(a + b) is
.jIlT2 = liT
4. A student's analysis of vibrations of an airplane wing yields the
displacement, v (its dimension is LI, of a certain point to be
v = Ae-a' sin pt
where t is time. For this equation to be dimensionally consistent, (at) and
(ptl must be dimensionless; therefore, a and p must each have the
dimension liT Moreover, the dimension of A must be length (LI.
These examples illustrate a compelling reason for expressing the
solutions to problems in terms of symbols so that any system of units can
be used. When that is done it is relatively easy to check the dimensional
consistency of the proposed expressions. With a solution in terms of
symbols, we can also examine limiting cases of the parameters to check
the solution itself. Sometimes we can even Undertake to optimize a
solution quantity with respect to one or more of the parameter"
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1 .5 Problem Solving and Accuracy of Solutions
In Chapter 2 we shall undertake a study of the three vectors of prime
importance in statics: forces, moments, and position vectors. Then these
vectors will be used to develop the concept of the resultant ..ofa
force/couple system. We shall then be ready in Chapter 3 to solve some
equilibrium problems. At that time we shall give a detailed discussion
of problem solving, emphasizing one of the most useful concepts in
mechanics-the free-body diagram. Until we reach that point in our
study, however, it is important that the student/reader do the following
with the problems in the first two chapters:
1. Read the problem carefully, digest the physical meaning, and list the
I'givens" and the "requireds."
2. Sketch any diagrams that might be helpful.
3. Carry out the calculations, using only as many digits as the least
accurate number in the given data'
4. Look over your answers. See if they make sense, and draw and state
all the conclusions you can from them.
In the examples, unless stated otherwise, we shall retain three
significant digits lunless one or more digits are lost through additions or
subtractions; for example, 90.2 - 90. I = 0.11. If, say, a length lis given
in the data to be 2 ft, it will be assumed throughout the example that I is
actually 2.00 ft.
In the next chapter lindeed, throughout most of the rest of the bookl,
we shall be using vectors to represeht the three entities commonly known
as force, moment, and position. In Appendix A we offer a review of .
vectors, and we encourage all student readers to glance through. this
appendix at this time and to study any unfamiliar topics.
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., 't 1.1 Describe a physical problem in which we already 1.3 Explain why velocity and energy aTe riot primitives in
':1 know the configuration llocati0I1J of a body at rest, and are the study of mechanics.
interested in knowing the forces that keep it there.
1.4 A dyne is one gram . centimeter/s2. How many dynes
1.2 Describe a physical problem in which we know at least are there in one pound?
one of the forces acting on a body at rest and ate interested
1.5 How many kilometers are there in one mile?
,in knowing its configuration.
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1.6 What is the weight. in new~ons of a 2500-pound pressible as Gm1m2/r2. Roughly calculate the value of
automobile? G using your own weight and mass, and the fact that for the
earth, (al radius '" 3960 miles, and (bl average specific
1,7 The Btu [British thermal unit) is a unit of energy used gravity = 5.51. (The specific gravity of a material is the
in thermodynamic c~lculations. There are .778 ft-Ib in one ratio of its density to that of warer.1
Btu.;How many joules are there iojone Btu? (One joule =
IN. rn of energy.1 . . 1.12 If the measure of a quantity is known to three
significant figures, what is the maximum percentage of I).
1.8 Determine which of the terms in the following ~
uncertainty? '
equation is dimensionally inconsis~ent with all the others:
, 1.13 A rectangular parallelepiped has sides of lengths I
IDV2 mI21
f
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mgcos 8 ~ N = -- + -,-, 2.00 ffi, 3.00 m, and 4.00 m. Another has sides 2.02 m, ,~
r t' 3.03 m, and 4.04 m. Find the difference in their volumes.
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To how many significant figures is the difference known~
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Forces and Moments
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12 Chapter 2 Forces and Moments
F,
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F,
Figure 2.2
Thus, if F, is the 90-lb force, F2 the 100-lb force, and F3 the 170-lb
sum, we can write algebraically
F3 = F2 + F, = F, + F2
INote that we use bold type to denote vectors.) It is important to point out
that this addition of the vectors representing the two forces doesn't
depend in any way upon the forces having a common point of application;
only the magnitudes and directions come into play.
We have mentioned the point of application of a force on a body.
Usually, in fact, we perceive that the mechanical action is distributed
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Force F "\.
This relationship is shown in Figure 2.3. We shall see that the line of
action of a force plays a central role in mechanics.
In our first example, we make use of the fact that forces add ac-
cording to the parallelogram law of vector addition.
Point of application of F
Figure 2.3 Line of action of a force.
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Find the magnitudes of forces F1 and F2 having the directions shown so that their
sum is the force F, whose magnitude is 10 lb. All three forces lie in the plane of the
paper.
SOLUTION
10
IF,I = 0.707 10.9661 = 13.7 Ib
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2. 1Ft! is the sum of the vertical projections of 10 and IF21i that is,
IFd = 10 cos 30 + IF,I cos 45
10(0.8661 + (7071(0.7071
= 8.66 + 5
~ 13.71b i\..
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Figure 2.4
"'Inthis book a caret, or "hat," over a bold lower-case letter signifies that the vector is
a unit vector. All unit vectors that we use are dimensionless_ Throughout the book, the unit
.vectors (i, J, k] are always parallel, respectively, to the assigried directions of (x, y. zl.
tSometimes in this book we refer to "components" without an adjective; in such
instances it should be clear from the context which components, scalar. or vector, are-
intended.
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2.1 Forces and Lines of Action 15
, , given by
(2.2)
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where F; + F: is itself the magnitude of the component of F in the xy
plane. (Thus the components of a force need not be associated with
coordinate directions.) We can speak of the component in a plane, or
normal to a plane, or along a skewed line, and so on.
Sometimes we shall need to write' a force as the product of its
magnitude IFI and a unit vector e las was shown in Figure 2.41 in its
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direction:
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F = IFle (2.31
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Both Equations 12.II and 12.31are very important in the study of statics. It
is also important to realize that the scalar components of e are the cosines
I. of the angles lor direction cosinesl that F makes with the positive x, y, and
'~. z axes:
d.,
F = IFlle) + ey) + e,k)
= IFllicos e )1
x + Icos e y)) + Icos e.lk]
SOLUTION
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ex ~ 900
+ 30 0
= 120
0
x
er ~ 30 0
ei = 90
(Continued)
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Therefore,
cos Oy = cos 30 0
= 0.866
cos ez = cos 90 0
= 0
and so
,
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Fx = 10(-0.51 = -5 N ~ ,
Fy = 10(0.8661 = 8.66 N
F, = 10101 = 0 ,.
J,
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= -51 + 8.661 N
F, = 0 N
z E x A M p L E 2.3~
Find the components of the force of 100 lb having as its line of action the diagonal
B of the-rectangular solid as shown.
y
SOLU;rION
A vector in the direction of the force is the vector from A to B*:
7 It
rAB ~ - 61 + 7, + 2k It
(Continued)
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rr The unit vector parallel to
-61 + 7j + 2k
lAB is (IAB/lrABIJ,
~
or eAB:'
~ ~
i <AB ~
J6 2
+ 72
+ 2 2
~ -0.636i + 0.742;
The reader should note that eAB has unit magnitude and is dimensionless. Now
+ 0.212k
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writing the force as a vector in the form of its magnitude times the unit vector in'
its direction, we have
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F, ~ 74.21b
F, ~ 21.21b
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A force F has the components shown in the figure lin newtons). Find lal the
magnitude of the force and (hI the angles that the force makes with the XI y, and
z axes.
SOLUTION
300
We have
y
F ~ 2001 + 300j + 600k N
x
'0 that by Equation 12.2),the magnitude of F is
Equation (2.3) then enables us to express F as its magnitude multiplied by the unit
vector in its direction:
2001 + 300j
F = 700 ( ----7-00----
+ 600k)
~ 700
(1.
'7 + '7; + '7
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k, N
(Continued)
*To get a vector from point A to point Brwe merely start at A and write down "what
we have to do" to get to Bi thus, in this case, we travel - 61 to get to the origin plus 7j to get
to C, plus 2k to move finally up to B.
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so that by Equation j2.4j, the angles between F and the coordinate axes are
e, = COS-I G) ~ 73.4 0
ey = COS-I G) ~ 64.6 0
e, ~ COS-I G) = 31.0 0
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E x A M p L E 2.5 l1li.....- I
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Two forces P and Q with respective magnitudes 100 and 200 N are applied to the l'
upper comer of the crate. The sum of the two forces is a horizontal force to the
right of magnitude 250 N. Find the angles that P and Q each make with their
sum-that is, with the horizontal line through A.
SOLUTION
We 'areseeking the angles () and 4J in the figure. We 'aregiven that
P +Q = 2501N
so that, with
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I t"!'
, .l:'
Ii!
or
IOcos</>~9.2S
</> = 22.3
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i Substituting into Equation 131,
o~ 49.40
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y E x A M p L E 2.6~
Express the force of Example 2.2, F = - si + 8.66, N, as the sum of one force
making equal angles with x, y, and z and a second force whose direction is in the
xz plane.
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"j SOLUTION
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I The first force, FJ J may be expressed as
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III where e is a unit vector in the preassigned direction.
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To find el, we write a vector in the direction making equal angles with XJ Y,
and z, such as I + J + k, and then divide it by its magnitude
,
i+,+k
e,
JI'+12+I'
1_ 1_ I-
e, = -; + -j +-k
J3 J3 J3
Now the scalar FI may be positive or negative, but, since e1 is a unit vector, the
absolute value of PI is-the magnitude, [Ftl, of Fl.
(Continued)
19
The only thing we know about the second force is that it has no component'
in the y direction, Therefore, without any loss of generality we may express:F2 as
F2 = Phi + F2zk
FI + F2 = -51 + 8.66j
Therefore
j: 0.577 FI = 8.66
k: 0.577 FI + F" =0
from which
FI ~ 8.66/0.577 = 15.0 N
F, ~ -13.71 - 8.66k N
As the reader is perhaps aware, the dot product lor scalar product' of
two vectors can be used to find the component of one of them in the
direction of the other. The dot product of two vectors F and Q is defined
by
Q
F .Q = IFIIQI cos 0 = Q .F
where 0 is the angle between F and Q in their plane. Thus if F represents a
force and we wish to find its component Isee Figure 2.5' in the direction of
Figure 2.5 Q, we just dot F with the unit vector ii in the direction of Q, which is
20
'~f
'I:! 2.1 Forces and Lines of Action 21
~
'f~'
"il
"
li = Q/IQL and obtain
F . li = IFIlIj cos 0 12.41
which is the desired projection, Therefore the vector component of F in
the direction of Q is IF . lilli, Note that the line of action of F is unim-
portant in this application'
We now develop a useful expression for the dot product of two
vectors when they are expressed in component form. We have:
and
I,,=,'k=I'k=O
We shall now use the dot product in some examples to find com-
ponents of forces.
,
~Ir-- --------------------------------------""-'
y E x A M p L E
.
!I ,
and
x
Fz ~ I- 2, + 5k N
find the component of F) + F2 in the direction of the line through the points
z
whose rectangular coordinates are (0, 6, 51and (4, 0, 21m.
SOLUTION
*We simply mentally move F lalways keeping it parallel to itself) until its tail lies on
the line of vector Q, and then 6nd its component as above.
We next construct the directed line segment (vector whose dimension is length)"
from point A to point B.
~ fBA "'-
eBA = - = -CAB
IrBAI
we would have found the scalar component, (F, +' F2J . eBA to be - 0.384 N, I
E x A M p L E 2.8~
A force, F, has a magnitude of 8 newtons and a line of action through the points A
and B with coordinates (0,6,51 m and (-4,0,21 m, respectively; F is in the
y
/:N
A, (0,6,5) I
I
C. (0,3, -4)
I
I I
/ I
I I
I I
I
B,. I
(-4,0,2)
Dr(4,1,2)
I
x
/ I
I
z
(Continued]
22
. ~-------------.
,I
:'.( direction from A toward B. Find the component of F along the line joining points C
I and D, with coordinates (0, 3, - 41m and (4, I, 21m.
,
.1!11---------~------------------------1
.~ SOLUTION
Let lAB and reD be directed line segments from A and B and from C to D,
respectively. Then
~-41-6j-3km
JI.1 ~ 41 - 2j + 6k m
Unit vectors in these directions are
and
II
.... leD I ~ -:-" ....
'I
l-.! eCD~ -- = --(41 - 2, + 6kl
"1 Irevl JS6
1 il ,
:1 ~ 0.5351 - 0.267) + 0.802k
. I~
I:
I"' Since F is in the direction of lAB' we can express it as the product of its given
II'
~I magnitude and the unit vector in that direction.
I'
~
F = 8eA" = 8(-0.5121 - 0.768j - 0.384kl
~ -3.02N
Thus the projection of F onto the line joining points C and D has a magnitu~e of I
23
24 Chapter 2 Forces and Moments
We can also use the dot product to obtain the angle between a force
and a line, as in the following example. !l
J.;
',I.
1
E x A M p L E
A force has the components (22,7.3, -161 lb. Find the angle between this
force and the line directed from point A at II, 2, 51 inches toward point.R at
(-2,7, -121 inches.
SOLUTION
= -31 + 5) - 17kIn.
The dot product of a unit vector along F with another along the line AB will
yield the cosine at the angle e we are seeking, because
F JAB
-'- = (1/Il/cosO
IFI IrABI
Thus
2.1 Which force has the largest magnitude' 2.5 The orthogonal components of a certain force are
"I
e
2.8 Find a force along = 0.81 - 0.6j and another force 2.24 Resolve the 1000.lb force into parts Inonorthogonal
nonaalto e that add up to theforce F = 51 - tOj + 3k N. componentsl along the directions II and 12 shown in Fig-
~ ure P2.24 .
.~ 2.9 Determine the component of the force in Prob-
lem 2.6 along' a line having the direction cosines I,
III 1-0.3,0.1,0.9487}.
30.
z 5 in.
A ~
C 5 in. B
I
-t--_
q,L
2t1b
_
3 ft Figure P2.30
/ 2ft Y R
6 ft B
x
Figure P2.27
250N
2.28 The x component of the force P in Figure P2.28 is
140 N to the left. Find P.
,:
-Q
x
Figure P2.31
Figure P2.28
z
2.29 Show that the component of the downward force W
in Figure P2.29 that is:
y
a. perpendicular to the plane is W cos 0 (toward the
plane! and
b. parallel to the plane is W sin e
(down the plane!. You
wiIl use this result many times in the study of Figure P2.32
engineering mechanics.
tively: What is the force F, and what are its direction "
cosines?
Figure P2.29 2.34 Rework Example 2.5 if lal the sum of P and Q is to be
again a horizontal force to the right but this time with a
2.30 Resolve the 200-lb force shown in Figure P2.30 into magnitude of 200 lb. Show that there is no solution if this
parts parallel to AB and Be. magnitude is (bl 50 lb or Ic) 400 lb.
2.31 Resolve the 2S0-N force shown in Figure P2.31 into 2.35 Find two 80-lb forces whose sum is the force 401 lb.
parts acting along the members PR and QR.
2.36 Given that F, ~ 1, Fz ~ J. F, = 3i - 41 + Sk, F. =
" x and z components 'of the force F in Fig-
2.32 The 61 - 41 lb, find a vector that is simultaneously in the
ure P2.32 are known to be 100 Nand -30 N, respec- plane of F, and Fz and in the plane of F, and F.
2.2 Moment of a Force About a Point 27
4
~-
F _0
)1
F,
4 3
1~3
3
I 2
2 ),fF:
2
3
6 F,
Figure P2.33 ~ l~
~'
2.37 Find a.unit vector perpendicular to each of the forces F.
F, = I + 2j + 3k Nand Fz = 81 - 9j - 12k N. . F,
Figure P2.40
2.38 Determine a unit vector in the plane of the forces
I+ jib and j + k lb and simultaneously perpendicular to
theforee I + j + k lb. .
,
F,
i x i = II iJ sin 0 it = 0
and similarly
IxJ=kxk=O
If we specify i, I, and k to constitute a right-handed system las will be the
case throughout this bookl
*Through the smaller { < 180) of the two angles between rand F in their plane.
i i
2.2 Moment of a Force About a Point 29
1x I = (ilill sin 90 k 0
= k
jxk=1
kx1 =1
and similarly
I x 1 -k
k x I = -1
1 x k = -I
Therefore
r x F = rxFy(kl + rxF,I- II
+ r,.Fxl- kl + ryF,111
+ r,F.(11 + r,Fy(-11
= (ryF, - r,Fyl1 + Ir,Fx - rxF,11
+ (rxFy - ryFxlk
The reader can easily verify that this can be put in the form of a
determinant
1 I k
r x F= rx ry r,
Fx Fy F,
The cross-product method of finding Mp is particularly useful in a
situation in which the plane containing P and the line of action of F is not
a natural reference plane for the problem under investigation. In such a
circumstance the determination of d and Ii by nonvector methods of
analytic geometry becomes a difficult task. Equation {2.61 effectively
reduces this task to a single straightforward operation .
. ,. '~'_:_.;:'.::::".
",,' " ",-:-('-::, ,'it.' , ',' ~".'- '.' , ' '/; ,,-t, ,,'
Questlo.":2.3 Whyddesr x F yield ..lhesameresult for M,,"
regardless 6twhich point onthe line ol""iion of F is intersected by
l . . 'i=' -",'.' .
r.
I"I---~'-
.'"
.---~.~-.""-
",::",,,.,
...
---.,.,...--."'~"""/"""~'-~".-.-
Questio.l2.4 . Does'itmatter
. ," -;,'
whethefMp is comput~d as r x F
' " ,
or F x r1 . . .
. .
Figure 2.8
Mp = r x FI + r X F2 = IFdd1nl + IF21d2n2
where dl and d2 are shown in Figure 2.9 and where nl and n2 are directed
into the paper. Thus we see that the moment of F about P is equal to the
sum of the moments of FI and F2 about P. By extension we can say in
general that for any number of forces acting at a common point A,
Mp = r X F
Figure 2.9
2.2 Moment of a Force About a Point 31
y E x A M p L E 2.10~
B(0,12) Calculate the moment of the lO-N force with respect to point 0, the origin of the
,.,
rectangular coordinate system shown. Use the approaches suggested by Equa-
tions 12.51, 12.61. and 12.71.
12m "~ION
,,
,,
" C(i6, 0)
o 16m
SOLUTION
y To use Equation 12.51, we need the perpendicular distance d between 0 and the
line of action of the force. It is calculated below to be 9.6 m using the similar
(0,12) (shadedI triangles.
16 5 48
- ~- = d = -.= 9.6 m
d 3 5
(16,0)
Ma = IFldil = (IOIl9.611-kl = -96k N . m or 96 <=> N .m
I
(Continued)
'. -
y
In arriving at this result, we have recalled that the cross-product of a vector
with itself is zero, i.e.,
A 8N ,
I xI x ) k x k ~ o.
I
=) =
~'""" ','
6N ______" ~rI To use Equation (2.7),we shall decompose the fotce F into the 8-N and 6-N fortes
9m at A as shown in the figure. We then revert to ~he "force times perpendicular.
distance" definition to calculate separately the moments of these component
1 1_4m_1 x
forces with respect to 0 . For the 8-N force we have
M~ = 8(911-kl = -72kN'
M o = 6(411-k) ~ -24k N . m
Therefore the sum is Mo = - 96k N . m, the same re'sult we obtained in the 6!"st
I
two parts of the answer. Note how the unit vector is attached using the right-hand
!
: o o
rule. Also, it is important to observe the correspondence of M and M with the
two terms in the cross-product calculation above. We have obtained the result
without the formality of taking the cross product.
Before leaving this example, note that because point B is also on the line of
y action of F, we could alternatively compute Mo by using rOB instead of rOA.
"
,
.,"
32
-:C.ll,. 'r 'I~----~~~~""------------ "" _
I ~r
'Jfr-----------------....
!~
Ii! E x AMP L E
2
111111l......-
-........
.![1,
A position vector from point P to point Q on the line of action of a force F is given
J:!I:
by
i~il
"II'
The force F is
l'f
"I F = I - 2J + 51<Ib
Find the moment of F about point P.
1:1
ilt----------------S-O-L-U-Y-.-O-N--------------------t
=1
I-~-:1 -J
I~-:1 +1< :1.1 2 -~I
= 1(15 - 8) - J(IO + 41 + 1- 4 - 31
= 71 - 14J - 71<lMt las beiOtel
E X A M P L E 2. 12 .........
A force, F = 31 - 5} + k lb, has a line of action through point A with co-
ordinates 10, 3, 4) ft. (aJFind the moment of F about point B whose coordinates
are (4, 1,21 ft, (bl Find the distance from point B to the line of action of F,
(Continued)
33
y
SOLUTION
and
~-4I+2j+2kft
Thus l:
I
MB ~ (-41 + 2j + 2kl x (31 - 5j + kl
+ 2131j + 21-511-11
d = IMBI
IFI
IMBI = ,)1121' + IIOJ' + 1141'
~ J35 = 5921b
Therefore
21.0 -
d ~ -- = 3.55 ft
5.92
34
2.2 Moment of a Force About a Point 35
2.41 A force F with magnitude 1000 Ib is exerted on the 2.45 In Figure P2.45, find the moment of the 50-Ib force
tooth of the gear shown in Figure P2.4t by a tooth of about point P having the coordinates lx, y, zl = 12, 3, 51ft.
another gear that is not shown. The force makes a 20 angle
with the normal to the radius drawn to the tooth from
point 0, as shown in the small figure. Find the moment of F
about O.
a. i x F;
b. Varignon's Theorem after resolving the force atA into
its components.
Figure P2.44
y
2{13 N B
x
'-../ ,
a.2m
0.3 m
50tb y
x
50lb
z
340tb
Figure P2.45
IOlt---1-6ft--
Figure P2.43 x
36 Chapter 2 Forces and Moments
2.46 Find the moment of the weight Wabout the base A of 2.48 The force of 140 Ib acts at A with a line of action
the mast in Figure P2.46 if the intersection of the deck directed toward B. 15ee Figure PZAB,I Find the moment of
plane Ixyl with the plane of the, mast, boom, and cable the force about a and the shortest distance from 0 to the
forms angles with x and yof 30 and 60, respectively. The line of action of the force.
length of the boom is 30 'It.
c z
'i
9 It i I
I,I 1 i
,
I
I
, 2 It
~It
x 31t~
~B
Figure P2.48
y
1
Figure P2.46
2.49 Find the moment about the origin due to the force
1
1~
1;,
'ii
F = - 30i + 40k lb, which acts at the point lx, y, zl = \,
.f
(ZO, 10, 01 ft.
~
'~tl
i
2.50 A force of magnitude P Ib has a line of action through
~i
I
2.47 ]0 raising the heavy mast 'm in Figure P2.47, the I
AI and is to act on the rod, as shown. Find in Figure P2.50 1
tension T in the cable is supplying a moment about a of
magnitude 5000 N . ffi. Find the tension in the cable.
e
the angle for which the moment of the force about B is a ':1'
I
maximum.
A
I--Sft-j
c
'B
A
Figure P2.47
Figure P2.50
I I
2.3 Moment of a Force About a Line 37
I
I
M, = IIr x Fj . iilii
where ii is the unit vector in the direction of I.
(2.91
r
I; Mp= r X F
, .
j r
Ii
I.
i.
!
.. Figure 2.10
oj then
But
Figure 2.11
~
38 Chapter 2 Forces and Moments ,1
l'
'j;
.J'
so that ~
'.'1'
MA = rAB X F + rBQ x F .f
Thus
,,
IMA iilii = [(rAB X FI . iiJii + [(rBQX FI . iiJii
i,~.
But rAB X F is perpendicular to I, that is, to ii, so that
,
.'
,
(MA iilii = 0 + [(rBQ x FI . iilii .'
.' ,''l.
Ii':
(2.101 ,~
1
(MA iilii = (MB iilii ~ J
.;'
'~
and thus M, is independent of the point on I which is chosen for the
computation.
We now provide a physical interpretation of M, as the turning effect,
about I, of the pan of F that is perpendicular to t. To do that we first
Line t
identify, as in Figure 2.12, the plane defined by the line of action of F and
-:---
u
p any line intersecting it and parallel to t. .Let d be the distance between
Figure 2.12 this pJane and I, as shown in Figure 2.12.
i'kxt we construct a plane perpendicular to t. We shall let P be its
intersection with I and Q its intersection with the line of action oLF.
Furthermore, at Q we decompose F into components FII and F~,
respectively parallel and perpendicular to I as shown.
Taking the moment of F about point p, we obtain
M, = IMp' iilii
12.12)
= IlrpQ X FII + rpQ x F~I . iilii
Because rpQ x FII is perpendicular to FII and thus also to I and ii, the
dot product IrpQ x Fill' ii is zero. This means that, as expected, the
component of F parallel to line I produces no moment about t.
Since rpQ and F~ are each perpendicular to I, then rpQ x F~ is in the
direction of I, or, in other words, proportional to ii. Referring to Fig-
ure 2.13, we see that
(2.131
Line of action of F ~
Figure 2.14
is given by the right thumb when the fingers of the right hand curl
about f in the direction of the turning effect of FL about I.
E x A M p L E 2.13~
y Referring to Example 2,8, find the moment of the 8-newton force about the
J line CD,
I
I
Ct(O,3, -4)
SOLUTION
I
I To obtain Mev we need the moment with respect to some point on the line such
I
J as C or D, Using C,
I
Dr(4, 1,1) x Me = ICA X F
J
I ~ 13j + 9kl X 1-410i - 6,14j - 3,07kl
I
~ 46, Ii -: 36,9j + 12.3k N . m
(Continued)
and, since CCD= 0.535i - 0.267T + 0.8Olk, we obtain,
Mn = rnA. X F
so dlat
or lor bothl
E x A M p L E
At the instant shown in the figure, the wrench lies in a horizontal (xyj plane. Two
20-1b forces are applied to a ratchet wrench, down at A and up at B, in an effort to
loosen the bolt IJ. Find the sum of the moments of the two forces about the axis lxj
of the bolt.
SOLUTION
For the force at A
t = {[(
8 +5~
,fi i
8 - 5 ~)
+ ,fi j x
~]
1- 20kl
~}~
.i i
40
:,
I
And for the force at B
~
Ii.
.Il
iI 8 - 8 _) - ] _}_
il = {[( i + .j2
.j2 j x 120k) i i
~
; :1
-160~
= [( --
.j2.j2
J + -160~)
1
~J~
1 1 = --
160~
.j2
'.
1 Ib-m .
The net effect of the two forces toward loosening the holt is then
160 - 60 _ _
M. = .j2 i = 70.7i Ib-in.
The two noncollinear forces in this example, being equal in magnitude hut
opposite in direction, fonn what is called a couple.;.We shall study the properties
of a couple in the next section of this chapter.
x
then
r,
Mp = TpQ X F
r,
= Ir.i + r3 + r,k) x IF) + Fy) + F,kl (2.141
41
;."1
t.L.-
42 Chapter 2 Forces and Moments
Thus, we see from Equation 12.141 that the moment about a point
may be constructed by finding the moments about three mutually
perpendicular axes through the point, and each of these may be computed
by decomposing the force into components parallel to the axes and
summing the moments of the individual components about these axes.
The above process allows us to utilize the fundamental concept of
"magnitude' of force times perpendicular distance," and hence even in
three dimensions we can avoid, if we wish, the formal Ivector productl
calculation. When we do this we must, of course, attach the correct unit ,
"
j
vector (including the proper sign) with the help of the right-hand rule. We !:
are not necessarily advocating the evasion of vector products here, but
.~
rather we are calling attention to the more physical interpretation that
can be given to the terms in Equation 12.141. The following example
illustrates these ideas.
E x A M p L E 2.15~
find the moment of the force F in the figure about point 0, using the ideas!
expressed by Equation 12.14). ,,'
SOLUTION
, The force F has the components
-4
F ~ --;======260 = -SO Ib
x .j3'+4'+12'
Yo F, = 2.
13
260 ~ 60 Ib
12
F, = - 260 = 240 Ib
13
y
We shall obtain MQ by adding the separate moments of the components of F at A
about axes (xQ' YQ' zQ) through Q.
x The component F3, or - 801 lb, of F at A produces moments about
lines through Q parallel to Y and to z. These are SO(IOllb-ft about axis zQ :pd
B011211b-ftabout YQ' as shown in the figure. Thus the contribution of Fxi to
MQ is 960, - SOOkIb-ft. The reader should note how the unit vector is attached
by using the right-hand rule. If the fingers curl in the direction of the turning
effect about an axis through Q, the thumb will aim in the dir~ction of the mo-
ment and the unit vector in this direction is then written down.
(Continued)
I
I
I
II
!
Q
~
Q -~
9601b-ft Yo
~
A
L~q=y~
V- lOft
12ft
BOlb
12ft
!
BOO Ib-ft
Xo
10 ft
A
60lb
The reader is encouraged to check this answer by finding and adding the moments
about Q of F Fy' and Fz placed at B instead of A and also by computing either
X1
QA x For IQB X F. Comparing the two approaches, you will probably observe
f
some loss ?f physical feeling for the moment when using the cross product.
43
44 Chapter 2 Forces and Momenls
.2.51 Find lin Figure P2.511: 2.53 In Figure P2,53 find the moment of the two forces
.r !. . 1
t2 ft
8M Ib
64M Ib 'J
x
Figure P2.53 !
x
Figure P2.51
2.54 All coordinates in Figure P2.54 are given in inches.
Find the moment of the 340-lb force with respect to:
a. Point A
2.52 A bent bar is rigidly attached to a wall at the point
b. LineAR
10,0,01: A force with magnitude IFI = 71b acts at its free
end with a line of action passing through the origin, as Also find:
shown i'1 Figure P2.52. Find: c. The perpendicular dist.1nce from A to -the line of
a. The moment ofF about point':P action of the force.
b. The moment about the line I, passing through P with
a slope of 5/12 in the yz plane as shown.
y
\
" (3, 8, 0)
F
3401b
----
_ A(O,8,9)
z ---..- )
x
\
I :~ \
I '(15,0,9)
I \
I z
I 61t~ \
I Figure P2.54
2 It
..J~ ~
" / y
/' 3ft 2.55 Find the moment of the force in Problem 2.49 about
<?,; the line that passes through pointsy = 12 ft on the y axis
Figure P2.52 and z = 5 ft on the z axis.
-- 2.3 Moment of:a Force About a Line 45
'2.56 Find the moment of the fprce in Figure P2.56 about 2.59 Find the moment of the 21-lb force F in Figure P2.59
point C. Then find the' moment about the line that passes about line AB by laJusing IrA~ x FI . UA8' and (bl resolving
through C and: F into its components at P and finding the moments of each
about the line with the help: of the right-hand rule.
a. ,"Point A
b.Point B 2.60 Find the moment of the force in Figure P2.60 with
c.~Point D. respect to:
'J
2.57 In Figure P2.57 determine the moment of the 2BO-lb a. Line Be
force F with respect to: b. Point A
c. Line BA .
<Point A
. b;",Line OA 2.61 Find lin Figure P2.6Ij:
c'-'Point B
a. The direction cosines associated with the 39.lb force
d. Line BR.
b. The 39.1b force expressed in terms of the unit vectors
.2.58 A particle located at riJp'= -I + 3j - Bk m is A '" ,.. "<-
i, j, and k
acted upon by the two.forces
i . c. The moment of the 39-lh force about point A
F,=-2I+3;-kN and F,=71+;-kN d. The moment of the 39-lb force about a line from A
taB
. Find' the moment of these forces about the z axis. e. The moment of the 39-lb force about a line from A
taD.
z
z
3ft B P
3ft
4m
y
'D 6ft
x
z
.x Figure P2.59
B 4m
B Y
A I
Flgu~e ,P2.56 I
I
z Figure P2.60 I
h---
C // a y
8 in.:; A 5 in. x
z
I 6 in. 12ft ,391b
B
9 in .
a y
\ 10 in.
280%\
x
7 in.
'/- l3in.
/'/ x
R
Figure ;P2.57 Figure P2.61
I
I
46 Chapter 2 Forces and Mo'ments .I
"
.~
,
~ ,
2.62 F~ndthe moment of the 2000;-Nforce in Figure P2.62 2.64 Recompute the moment MCD in Example 2.13, using' ~, 'i
oJ
[alabout the otigin 0, and (bl about the diagonal line AB. both suggestions at the end of that example. ), ,
<
:1 \
2.63 The force F in Figure P2.63:acts along the line CA 2.65 In Example 2.15, find the moment of F aboudine PQ f ~
'.~ .and:hasa magnitude of 520 N. using: " I .[1'
*: ;!
,; "1,
.~
B ,
E
z
4bcm
50-em
F
A
y 13m
x
Figure P2.62
c
Figure P2.66
6ft
x
Figure P2.63 Figure P2.67
2.4 The Couple 47'
x
Figure P2.68
Figure 2.16
48 Chapter2 Forces and MO~
i
:1 'l.
I
,
~
.[
',I
<,,
i
>
i i~:
Figure 2.17
I ;Ii
moment Mp about point P is
Mp = rPB X F + rpA x I-FI I
'1
= IrpB - rpAI x F = rAB X F
on the respective lines of action, since the cross product produces a vector n ,- J
whose magnitude is that of F multiplied by the distance between the lines
of action of the two forces. Moreover, recalling the direction associated :,
.~
":1'; . ,
-~:1
moment of a couple about every point is the same. Consequently, the ;1.
!- 1 Y
/( 4N
ION ,~.
4m
4N ~
ION
SN
Figure 2.18
A mechanic applies two forces, each one of magnitude 20 lb, as 'shown, to ,3 lug
wrench in the process of changing a tire. Find the moment of the couple
comprised of the equal-magnitude, oppositely directed forces.
y
IFI- 201b
SOLUTION
The moment of the couple is calculated as the sum of the moments of F and -F
about any point. Let us .use point Q (at the mechanic's left handl:
lb y ~ 0 + lsi x 20,
Regardless of the point chosen, C, as we have proved, always will be the same
vector. We could also simply multiply either force times the perpendicular dis.
tance between them, obtaining:
where we attach the unit vector k in accordance with the direction in which the
forces are perceived to tum about an axis normal to their plane.
The reader should note that the two 20.lb forces in Example 2.14 in the last
section also formed a couple. In that example, however jdue to the 45 anglel,
only pan of the couple was useful in loosening the bolt.
49
E x A M p L E 2.17~
The two forces shown have magnitudes of 50 N and are oppositely directed. Find
the moment of the couple that they constitute.
A y
SOLUTION
As in the previous example, we compute the moment of the couple by adding the
moments of the two forces. We can add them about any point, and we choose the
origin:
c ~r OA x F + rOB x 1- FJ
= (lOA - lOBI x F
_ _ _
~ 14; - 12i + 2; II x 50
(-41 + 3k)
5
As a check, let us form the moment of the couple, C, by adding the moments
of F and -F about A:
~ 0
_ -
+ 12i - 2j J x 50
(4 - 3k)
5
= ',olBk + 6j + 0 + 611
~ 601 + 60, + BOk N . m las before)
50
I i
J
E x A M p L E 2.18~
One of the two forces that constitute a couple is F = 3i - 4, + Sk lb, having a
,l line of action that passes through the point A at jO, 6, 5) ft. The other force has a
line of action that passes through point B at j-4, 0, 2) ft. Find the moment of the
couple and the distance between the lines of action of the forces.
SOLUTION
:~;
The moment, C, of the couple is
'"
,
C = fBA. X F
because A is on the line of action of F and B is on t.he line of action of the com-
panion force - F. The position vector fBA. is computed as
51
52 Chapter 2 Forces and 'Moments
. "Write the vector expressions Jor the moments of the 2.75 Friction is causing a set of uniformly distributed
..rL couples
.in the following three problems (the forces are in tangential forces of intensity 300 Ib/in. to act on the
the planes labeled in Figutes P2. 71-P2. 731. circular ring of radius 16 in. shown in Figure P2.75.
Determine the moment of these forces about the center, q
2.71 2.72 of the ring. What is the moment about A?
211
y
Figure P2.76
x
Figure P2.73
z
60j + BOk Ib
Figure P2.77
-
y
--.4- ~ __ -!!:..3,0)ft
3ft 2ft
.,/ B--
Figure P2.74 x
"'--~~j.
2.4 The Couple 53
2.78 Write the moment of the couple formed by the two 2.82
3D-Ibforces shown in Figure Pl. 78. What is the moment of
the couple ahout the point lx, y, z) = ii, 5, - 81' Each force = 37 N
z
A
3in.
o
y
30Ib
8 in. B
Pentagon, side 2 m
Figure P2.82
x 6 in.
30 Ib Figure P2.78
2.83
7 in.
Hexagon, side 2 ft
2.79 Show that the direction of the couple result of
Example 2.17 is correct by obtaining a unit vector normal
to the plane ADE and comparing it with the unit vector
A
ole.
Figure P2.80
2.81
B Figure P2.84
BIb
61b
Bib
I
3ft
A
61b j 2.85 The conditions are the same as the preceding prob-
lem, except the loading is distributed around the circle
I 7ft Figure P2.81 with a constant intensity of 141b/ft.
54 Chapter 2 Forces and Moments
1".,
2.86 ForceF in FigureP2.86 has magnitude F ~ ISlb, and 2.87 The two 260-N forceslie in the inclined plane AEDC
j
I
couple M has magnitude 4J4i lb-in. and is normal to
plane ACD. Find the moment of the system of F and M
shown in Figure P2.87. Find the moment of the couple,
which they constitute, about the indicated line I in the
j
..~
with respect to point D. Then determine the moment of
the,system about line CD.
xy plane.
!
:
i,,
z E
j
A
.I
1"
x
Figure P2.86 Figure P2.87
:EF=O 12_16)
:EMp = 0 12.17)
where P denotes the point with respect to which the moments .are
2.5 Laws of Equilibrium: Relationship of Sums of Moments 55
must sum the moments of the forces. These very same operations are
required in dynamics, where we analyze the motion of an accelerating
body. Of immediate importance to us is the fact that, for a given system
of forces, the sums of moments with respect to two different points are
related in a particularly simple way. To establish this relationship, let the
body IFigure 2.191 be acted upon by a number INFIof forces and a number
(f\{;1 of couples. Let Fi be the joh force, for which the point of application is
Ai Iwhich actually could be any point on the line of action of Fi). Also, let
Cj be the moment of the i'" couple. Recall from Section 2.4 that the
moment of a couple about every point is thdsame. To distinguish, in
figures such as Figure 2.19, couples from single forces we use double-
headed arrows, or sometimes curved arrows indicating sense of turning l
Q
Figure 2.19
1
il;' ;\:
Letting LMQ denote the sum of the moments about Q of all the forces' ~ '.
j
J,
.,' iil
But i
I'
j
, ! ,I
-\l'
} ","
so that, making the substitution in Equation 12.181
t , "~: "
!,, '.:.
X F, +
Ne
I Cj
,.~
I
j=l
~
'. i)i:
LMp 12.19) t' ;~
Equation 12.191is very important because it tells us that the sum of,.
the moments about one point is completely determined by the sum of the:
,f , ~ "1:1
1
forces, the sum of the moments about a second point, and the relative ~ l
locations of the two points. We shall use Equation 12.191,a number of j'
1
f :~
"
~
l
j
I,!
I '!
t i~
!
]
",
P rR 0 B L EM 5 / Section 2.5 ~ "
i'l
;~
1
2.~8A body IJ is subjected to five forces acting at points of a. Find:EF and LMp, where P is the origin. ,.'!
an' inertial reference frame giv~n in the following table. b. Show that IJ is not in equilibrium.
c. Add forces at (1,0, 01m and (4, 0, 01ill that would 1:
.. 'j
~:,-
2.6 Equipollence of Force Systems 57
- ~SOOlb
Figure 2.20
Question 2.13 Given three force systems 51' 5" and 53' with 5~
equipollent to both 52 and 5),9'"termine whether 52 and 53 are
,~<{cessarily~q~ipollel1t. ,','il. ':"
-:~",~
1
I
E x A M p L E 2.19~ 1
I
Let the system in the figure, consisting only of the 250.lb force at A, be called 31 !!
Determine a force system 32 that is equipollent to 31 and that consists of a vertical
. ,,
force acting at B, and a pair of horizontal forces acting at D and E. , ,1
1
.1
'j
)"
SOLUTION
Since the original system 31 contains no horizontal forces the two horizontal
l
forces at D and E must be equal in magnitude and opposite in direction; that is, -:!
they have to form a couple. But I"etus proceed as if we had not realized this, and
sketch the sought system 52 shown in the illustration. Our force condition,
(Cominued)
F, which is necessary for equipollence of 51 and 52' gives
FD D 10ft (HI, = (H\,
B
250, = FDi + FEi + F.,
10ft
Thus, from the i coefficients, we find that the forces at D and E are equal in
F, 6 It magnitude and opposite in direction:
A
E ;
FD = -FE; III
System 51
The r coefficients give
250 = F. (21
To find the value of FDI we next ensure that our moment condition is also
satisfiedj we choose point A as our moment center (any point could be used!1
ILMAI, = (LMA\,
0= F8141k+ FDIIOJl-kl
j
,.
But F8 = 250 Ib from Equation 121:
250141
FD = -- = 100Ib
10
Thus the final system 52 appears as shown in the illustration.
fSOlb
As a check, we note that the moment condition is also satisfied at, say, B:
D
lOOlb B ILM811 = ILM8\,
250110 - 6J1-kl = 10011OJI-kl
or
lOOlb
, E - IOOOk= - IOOOkIb-It
, .
E x A M p L E 2.20~
Find a pair of venical forces, F1 at A and F2 at B, that together form a force system
52 equipollent to the pair of O.2-lb forces acting on the spacecraft in the figure.
SOLUTION
If we call the original force system in the figure S1' then using condition I-that
is, the force condition-we have
IHI, = IH\,
-0.2i + 0.2i ~ FI + F,
0= F, + F,
(Continued)
59
so that FI = - Fz. If Fz = FzJ, the system Sz shown in the illustration results.
Next, we use condition 2, or the moment condition, with point C selected as
the moment center:
."!
The reader has probably noticed that the original 0.2-lb forces form a couple;
therefore, the two forces in S2 must do the same, as we have found. Note that if
the forces had been drawn as shown in the figure, then the moment condition
would have yielded ,
810.21k + 810.2)k = FdSII-kJ + FIISII-kl
FI = -0.32Ib
which of course corresponds to the same pair of forces as the F2's in the first sketch
of system S2'
Note also that if we had not required the forces atA and Bto be vertical, then
there would have been lots of correct answers, examples of which are shown
below:
064/~lb
I.
60
I
,
,
!j
E x A M p L E 2.21.
Consider a triangular plate under the six loading conditions shown in the
illustration (SIunits throughout). Determine which of the loadings, or force sys-
tems, are equipollent.
"I
5N 5
5
'1,
7 ,. ~
13
SOLUTION
Since we must computeI:F and I:Mp for each .system and then compare these
results, it will be useful to construct a table. We select the common moment
center P to be the lower left-hand corner of the plate because forces pass through
this point in each case, and thus their r x F is zero, making our calc~lation,s
easier. The resulting table follows.
(Continued)
6t
'~ 1
Force System LF[NI ~M, IN' rnl i
I sI- s) 30k i
2 -sI- s) 30k :~ .j'.
3 -51 + 5) 31k
~
4
5
6
51 + 5)
0
51 + 5)
-14k
l.79k
-14k ,
.....
f....
,.
:;
Notes on the entries of the six systems above are now listed. " .~
(1 I Here, the value of :EF is just the sum of the two forces, 51 and - sl The
moment about P is due to the 60k N . m couple plus the moment of the hori-
i
zontal force, IpQ )( 51 = (31 + 6,) x 51 = - 30k N m. Note that'the latter is
merely 5 newtons times its perpendicular distance 16ml from P, with the -:I{
attached since the force turns clockwise around P.
(2)Both forces pass through P, leaving only the couple to contribute to I:Mp.
Remember t~at couples have the same moment about all points! Note that .
although the moment condition is satisfied in comparing systems 1 and 2/ the
force condition is not, and it takes both for equipollence!
'\'
(3)In the vertical direction, the force is the combination of 7 N up and 2 N
down, or 5, N. Rotationally, the 7-N force and 5-N force each .have moments I
~
around P, their "lever arms" being 3 m and 2 m, respectively.
(4)In this case, the sum of the forces is calculated as
~(1 j5+ 2)) - _ + _ _ _ _ J
~F ~ 8v 5 3i 2j - 13j = lSi ~ SjJ N f~
.'\
i
){
The sum of moments is computed vectorially as follows: ~
i&'
~Mp ~ (31 + 6jl x 1311+ 31 x 2) - 38k ~ ~ 14k N m !)i
Alternatively, using forces times lever arms and attaching the unit. vector w~th f'J
correct sign, ".,
~
~Mp also ~ [3(61 + 2(31 - 38Jk = ~ 14k N . m ;:
fl
(51In this one, we have just a pure couple, since.the two forces cancel each .j ,
other making LF = o. The magnitude of the couple (whose unit vector and. '\
direction is seen to be + k) is given by either force times the distance d between ~
them:
1 I
i
'!"
Note that by inspection of the table through force system (5), there are no ~
equipollent loadings thus far.
(61 The sum of forces is H ~ (4 - 6 + 71i + 5) = 51 + 5) N. And I
~Mp ~ 2) x 1-611 + 6) x 71 + 31 x 5) + Ik ~ (12 - 42 + 15 + Ilk ~
-14k N . m, where we have used 2, and 6, m for the position"vectors to points
I,
on the lines of action of the 6- and 7-N horizontal forces, respectively. I,
We see that(~FI4 ~ I~FJ6and [~Mpl4 = [~MpI6' so that, in conclusion, the
only equipollent systems among the six are numbers 4 and 6. I
I1
62 .1
i
2.6 Equipollence of Force Systems 63
',2.90 By filling in the chart'JFigure P2.90(bIL determine 2.91 Replace the 2S0-1b force in Figure P2.91 by an equi.
rjwhich of the six beam loadings in Figure P2.90(a) are equi- pollent system consisting of a force at Q and a couple.
pollent. Then show that both systems have the same moment
about point B.
lOON 400 N
A t.."...
:~!:.rna ,lOON
A I.~m_~
.. ,'(,"
...
lBOON.m
lOON t
~:_"=:-~':::'~lo\T'~",1i
,
lOON
(a) (b) (e)
d 2.5m
100 N -~.~====,l
-Coo ... ~.
+ tYOON.
9
~
m
J
l
. Ii
G
~C,
.2.5m.
_.
300N.m
A 400Nl
Figure P2.90(a)
(b)
(e)
(d) 4in. p
(e)
B
(f)
x
Figure P2.92
, ~
.:i
',the. same plate :;;hownin Figu~e P2.96. How many differ- o x Figure P2.94
ent comparisons of two systems at a time have now been
made?
z
il.f
r
5N
5N 4N 2b
M,
SN
I y
3N Figure P2.97
, x
:2.97 In Figure P2,97 the magnitude ,of the moments of
.co~ples MI, M2, M'3 are each = Mo = constant. The
forces act in planes ABC, ACP, and BODC, respectively, x
so that the moments of the couples are normal to these
.planes. Find a single .couple that is equipollent to these
x
;thr~e couples.
Figure P2.98
:2.98 A bending moment of 10,000 lh-ft acts on a large
piate bolted to the ground with eight equally spaced bolts
as shown in Figure P2.98. Determine an equipollent sys.
"te~ of eight vertical forces, ea~h acting at one of the bolts
;and having a magnitude propo~ional to the distance of the
:bolt from line If.
-'... -
2.7 The Force-and-Couple Resultant of a System of Forces 65
2.101 The couple lies in the shaded plane, and there are 2.102 Find the force and couple at the origin equipollent
tWO other applied forces as shown in Figure P2.1 0 I. Find to the five forces and the couple shown in Figure P2.102.
the equipollent system consisting of a force at the origin a Then repeat the problem considering the two vertical.
~nd a couple. 30-N forces as a couple, and the two ,horizontal 40-N
, forces as another couple. That is} repeat the problem with:
the system treated as one force and three couples. Com-
z pare the results.
B
y
Figure P2.101
z
y
x
c
Figure P2.103
x
Figure P2.102
!
"1":
-{:
.~
f
.~~
~1
5:
'\<
j
1!
t,
Sy~tem 51 System 52 !
Figure 2.21
ff
!
We have already seen that for the system S2 to be equipollent to S, }
St. For simplicity we are using the phrase "forceand couple at point P" to Ir
describe the resultant, but it is important to realize that there is no reason ,
I
to assign a location-point subscript to the couple since the moment of a
couple about every point is the same. While the force F, does not depend
upon the choice of reference point P, the couple M,p depends upon the
i
j
j
choice of the line of action of F,. Thus, by "force .and couple at P" we
mean the resultant lof S,I when the line of action of F, is chosen to pass
through point P.
We consider now a number of examples of replacement of a system
I
of forces and/or couples by an equipollent system of a force and a couple
(that is, a resultant) at a preselected point. 1
I
I
i
\
,I
E x A M p L E 2.22~ t~
,:
't
Determine the resultant, at the pin P, of the two belt tensions shown. The pulley
~ON ~
has a radius R = 0.6 ffi.
SOLUTION
Using the force condition, the force part of the resultant is calculated as follows:
(HI, ~ (H),
. :
(Continued)
200(cos 30)1 - 1200 + 200(sin 3011, = F,
or
F, ~ 1731 - 300, N
Next, the moment condition tells us that the couple part of the resultant
at P vanishes this time:
I~Mpl,= I~Mpj,
200(0.6)k + 20010.6J1-kl = 0 = M,p
The diagram shows what has happened in going from the original system (Sd to
the resultant at P (5,1.
. "n
~ ~>
Equipollent Equipollent
.I
1.73T ~ 346 N
E x A M p L E 2.23 ......
Determine the resultant at point A of the four forces shown in the figure.
(Continued)
*Hence the subscript "r," for resultant, on each member of the pair.
67
SOLUTION
Since the forces are seen to form a pair of couples, the force F,.of the resultant at
A is zero. The moment of the couple is
51 ~ ~ ..
M,. = L M. = SOl411kl+ 20121k = 240k lb-ft
. . I' . .
.". Questlon.2.1S;: '_Wha~is theresultant at B! Ai' C'? _ .' ~
; "if'" ",'
~""< -n_ " :i:;iJ.'f;" ". ;"," .,
!j" i
E x A M p L E 2.24~.
Replace the force and couple system in the figure by an equipollent force and
couple at O.
7N
I
i
SN.m 3.
Force System 51
SOLUTION
j
The resultant force is
moments of
couples
x 1- 7jJ +
moments of forces
2i x 16i - 8j
I
I
= [ -2 -
14],
J2 - 16 k = -27.9k N .
, m
68
z E x A M p L E 2.25~
Find the force at the origin and couple that are equipollent to the system in the
figure.
SOLUTION
y
The force is
E x A M p L E 2.26~
In the figure a man exens a force of 30 Ib in the x direction to tum the elbow onto
l
the threaded pipe. Determine the force and couple resultant at the origin 0, where
the pipe is screwed into another elbow above a tank.
SOLUTION
The force is simply F, = 30i lb. The moment at a is
M,o = ros x 30i
69
z
I It
~ Before moving to another example, we note that the force and moment are
O.S It undesirable concerning stress and deflection {and maybe leaks!! in the pipes. This
/ can be avoided by the wise use of a second pipe wrench (see the illustration'_ Now,
we see that for the two forces, F, = o. Furthermore, the z component of M,.o is
~.
>. 0- eliminated. The couple at a formed by the two 30-1bforces is simply 30H(-JJ,
.. "'. '. ~J, '
which, if H is, say, 2 in., amounts to only -5j lb-ft. This illustrates the advantage
~
,I ,,'
that may accrue from using two forces to produce a desired moment, which here
is 24k lb-ft on the elbow.
z E x A M p L E 2.27~
For the system shown in the figure, find the force and couple resultant at la) the
origin and (bl point A.
, I~
SOLUTION I ,
Obtaining the resultant moment at the origin, and noting that 0.31 m is a vector 1
from 0 to a point on the line of action of both forces,
1
M,o = 0.31 x 16i - Bkl + 0.3i x 1-61 + B,I + 81 l
= B1 + 2.4) + 2.4k N - m II
(Continued) j
;
'1
1
70
Thus at the origin, the original system is equipollent to
F, = 8) - 8k N
We should note in the preceding example that the two systems at A and 0
are of course not only each equipollent to the given system, but also to each other.
To show this, note thauheir forces are each S; - Sk N, and that the moment of
.~'
the system at A, about 0, is
i
'I,
+ lOA X F,
<.'
~ 81 + 2.4) + 2.4k N . m
This is indeed what we had previously obtained for M,o.
I
I
i
I,
r
71
i
i
72 Chapter 2 Forces an~ Moments
Figure P2.105 z
1.0 m
Y
0.5 m
O.4m
~1 I.2m
SOON
A
~
Y
t
z 2.109 Determine the resultant at A of the forces applied
to the bar shown in Figure P2.l 09. Then, find the moment
at the origin and demonstrat.e that MrA = 1\1.,.0 + I,W X F,..
x
Y ,.-ii
Figure P2.106
F
2.107
,
8. Repeat the preceding problem for A instead of B.
Figure P2.110
b. Demonstrate that MrA ~ Mrs + lAB X Fr, which is, 1000 Ib '!,',r'
120 N . m A
J
~
Y,
x
Figure P2.111
SON. m
C
Figure P2.10a;
2.8 The Simplest Resultant of a Force System 73
2.112 Referring to the preceding problem, find the force 2.114 Check the answer to Example 2.25 by computing:
l
and couple at vertex A that are equipollent to the given LMc and then computing rM
o + leo x I:F and compar-
. system (that is, find the tes~ltant atAI. ing. The two should agree Isee Equation (2.1911.
I '
2.113 In Figure P2.113, couple C lies in plane aBC, and 2.115 The 30-kN load is eccentrically applied to the
i column as shown in Figure P2.115. Determine the force
-! has magnitude 2j34lb-ft. Eind:
and couple at C that are together equipollent to the 30.kN
a. the moment of F1 abou~ OJ
1" b. the moment oJ Fl about 0;
load.
c. the moment of C abou~ 0; 2.116 Determine the resultant of the four forces and the'
(. d. the moment of the resultant (of F1, Fl, and Cl ahout two couples that act on the shaft shown ~nFigure P2.116,
line OC; . expressed as a force and couple at the origin.
e. the moment of the resultant (of F1, F" and CI about
" line OE. I
z
, ~i.-t. Adding the answers to: 3, b, and c, then subtracting
. I 30kN
.' I , those of d and e, gives a vector normal to plane EOG .
I
Without any calculations, explain why this must be
! so.
F,
Figure P2.115
y
4ft G
.X
Figure P2.113
" 80lb
)<;~
:he yzplane
3f~ . . I
~ ~
Equipollent Equipollent
s, s,
Figure 2.22
.,
The real question about the existence of S3 is whether or not a point Q
may be found so that M,Q = O.If Sz and S3 are'to be equipollent, then the
moments about some point, say, PI in the systems must be the same:
,
,
*Some authors use the term "resultant" to denote what we are calling "simplest
resultant." Our choice of language is motivated by what the student will:encounter in the
analysis of stresses in deformable solids. There, the most useful form of resultant is often a
force-couple pair with a preassigned reference point, an,d, even if further reduction to a
single force is possible, it is not usefuL
2.8 The Simplest Resultant of a Force System 75
E x A M p L E
F, = 2,N
F, ~ i+ 2, + Sk N
F] = -4, + lk N
F4 ~ 6iN
SOLUTION
Because the four forces are concurrent at OJ there is a single force resultant that is
simply their sum F" acting at Q (or at any point on the line of F, through OJ:
F, ~ F, + F, + F] + F 4
:
~~.,-,-'
76 Chapter 2 Forces and. Moments
Coplanar Force Systems. In this system, all of the forces have lines of
'A~A action that lie in a plane (say xyj, while all the vectors representing
1:,0\}
moments of couples are normal to this plane (see Figure 2..2.4). '
In this case, if we sketch the equipollent system at P (that is, the
'resultant at Pj in the xy plane (see Figure 2..2.5),we will necessarily have
x F, = F,) + F,J
Figure 2.24 M,p = M,pk
or
- zF,yi + zF,xi + IxF,y - yF,,)k = M,pk
From either the i- or i-coefficients of this equation,
we see that z = O. I'
That is, as we would have anticipated, the line of action of the force-alone
resultant lies in the xy plane (the plane of the forces in the original
systemj. But also
~_~=~ {2..~
----- IF,I
F, .,.."'" I
p
M,e/F,. ""........ I
, '1----7
F,~ x
d~ IM"I
IF,I
~.
Figure 2.26 ~~
~ I
, '
.,
Before proceeding to examples of coplanar systems, we illustrate a "
slightly different view of this process of finding the line of action of the
force-alone resultant. Since M,p and F, are perpendicular, we let M,p be a
pair of forces F, and -F, as shown in the second frame of Figure 2..2.7,
where we let the - F, part of this pair have a line of action through
2.8 The SimplestResultantof a ForceSystem 77
~~..t".:~~~~
..
t
~ ~
Equipollent Equipollent
,I
,f . Figure 2.27
E x A M p L E
In Example 2.24, the original system of forces and couple was shown to be
equipollent to the single force and couple at 0 shown in the figure. Now, funher
reduce this coplanar system to a single force.
SOLUTION
We have M~o.1 F~.Therefore, the equation
will identify all points A on the line of action of the single force, F~,in an
equipollent system consisting only of this force. Thus,
*This is true whether or not the original system, to which F~and M~p are equipollent,
is coplanar!
simply sought a specific point such as the intersection of the line with the x axis.
Setting y = '0 and letting x = a at that intersection, we can write
or
Thus
15a = 27.9
a = 1.86 m
y The same result is obtained w"ith less formality, and perhaps in a manner
\
\ that facilitates physical insight by referring to the figure where F,. has been
\ decomposed into horizontal and vertical parts. Since the horizontal part 110 Nl
\
\ has a line of action through 0, it produces no moment about O. The clockwise
3l 2 \
moment liSa) of the vertical part must then be equal tathe clockwise 27.9 N . ffi.
Thus
\ 15a = 27.9
\ ION
0 , )
, x a = 1.86 m las beforel
_a ,
,
, Additional confirmation of these results is provided by the sketch that
.,, follows, where the 27.9-N . m couple is specified to be composed of a pair of
15 N '18.0 N 18.0-N forces. The equation of the line of action of F,.is obtained as follows:
d 1.55
H H
or
\:
H = 2.79 m
y y
78
Thus
y = - 1. 5x + 2_79 m
and so if y = 0,
I X=--
2.79
I 1.5
= 1.86 m
E x A M p L E
Find the single force that is equipollent to the system shown.
4N
SOLUTION
The resultant force is
F, = 41 + 13 - I + II, = 41 + 3, N
)
x INote that the I-N forces form a couple and thus have no resultant force.) At the
origin 0, the resultant moment is
-llkN'm
-
-llkN'm or II+'N'm
I
I
(Continued)
79
The equipollent system at 0 thus appears as follows:
,. I
,
11 N. m
o x
4b = 11 N . m
b~ 1~ =2.75m
I x
determine the force-alone resultant and thereby obtain the equation of the line of
action of the force, at the possible expense of a bit of physical understanding:
.~;t~~,.'. 0 ,". " -, .' :.~ . ',' .:.... -1- . , .. '\ '(",' ," ,'i' .'~'i
Thus
y = ~x + 141 m
or
Y ~ O.75x + 2.75 m
80
.ij . 2.8 The Simplest Resultant of a Force System 81
Parallel Force Systems. In this system all of the lines of action of the
various forces are parallel; we can let the common direction of these
forces be z (Figure 2.281.
An intermediate equipollent system of one force and one couple at
the origin has
F,= LF; = 1:F;k = F,k
1:(F;y;)
icoefficients: y=--
F,
1:IF,x,) 12.24)
J coefficients: x=---
F,
:~:'.
f,
:j
~
'~ Figure 2.29
"
:~
*Unless, of course; F, = 0 in. which case the simplest resultant is the couple M.a-
i
.1
i
E x A M p L E
Find the single-force resultant for the system of parallel forces acting on the plate
in the figure.
SON
4
----",.
y(m)
/x(m)
SOLUTION
Let us call the given system 5. and the system we are seeking, 52' The force in 52
J
is found to be
51 _ _ _
If we letx and y be the coordinates locating the intersection of the line of action of
the force-alone resultant with the surface of the plate, then
or
or
Y = 2.5 m
and
J: 20x = 40 + 60 = 100
x=5m
(Continued) ..
" .'
'82
z These, of course, are the x and y coordinates of every point on the line of
action of the force F" since in this case the line of action parallels the z axis.
SO N
J
It is important to realize that the i and parts of M,a are the moments about
30N the x and y axes, respectively. This fact may be used to locate the line of action of
the force-alone resultant without recourse to the formalities of the vector algebra.
y
I The force-alone resultant must produce the same moments about these axes as do
','/--v:
"
i x
-y-
20NI/
x l~o N
the forces in the original system. And since all of the forces are perpendicular to
the axes in question, the "force times perpendicular distance" method easily may
be used to calculate the moment. Referring to the figure, then,
y = 2.5 m
and
so Ib
60lb E x A M p L E 2.32~
{;
Determine the force.alone resultant for the system of six parallel forces acting on
40lb the beam as shown in the figure.
~j
30Ib
~:.
"
z 20lb
[j SOLUTION
r:, 10 Ib
The required resultant is comprised of a single force computed as
;1
:; I
a ------;..
F, = H ~ 1-10 - 20 - 30 - 40 - 50 - 60lk
Its location is given by the value of x for which the moment of F, about, say, a is
II a
the same as the moment
-210x
of the six forces about 0:
910
x=--
210 lb 210
~ 4,33 It
\ The y coordinate of the force-alone resultant vanishes this time because all
I
i
!
increase proportionately. In Section 2.9 we shall consider what happens when a
loading becomes continuously distributed across a line or an area, instead of
acting at a few discrete points as above.
83
84 Chapter 2 Forces and Moments
We close this section with two examples. In the first, force and couple
resultants, F, and M,p, are perpendicular. Thus, even though the original
system was neither concurrent, coplanar, nor parallel, a force-alone
resultant can be found.
In the second example F, and M,p are not perpendicular, so a force-
alone resultant does not exist. However, this example will show that we
can reduce such a system to a force and a parallel couple. Since this is the
mechanical action required to advance a screw with a screwdriver lsee
Figure 2.301, we call this simplest resultant the "equipollent screw-
driver" for the system. As the reader will see, the reduction is
accomplished by applying Equation 12.221 to that part of M,p that is
perpendicular to F,.
~I
~,
Figure 2.30
E x A M p L E 2.33~
Reduce the system of Example 2.27 to a force-alone resultant, if possible.
z SOLUTION
At the origin, we have in the previous example already reduced the system to
F, = s) - 8k Nand M,o = 81 + 2.41 + 2.4k N . m
Hence
ION/ M,o . F, = 181 + 2.41 + 2.4kl . 18, - 8kl
I
I
/ --ION y = 2.418) + 2.41- 81 ~ 0
)<s x
l
8N.
03m
m
This zero result means that the resultant moment at
pendicular to the resultant force.
a is in fact per.
(Continued)
*This material has been included for completeness, hut nothing essential to the study
of statics is missed if this.part.of the section is omitted. ~.
Therefore, a force-alone resultant can be found in this example. We proceed
then toward determining its line of action. If A is a point on the line, then we
may write
rOA = xi + y, + zk
and then from
rOA x F, = M,o
we get
i coefficients: - 8y - 8z = 8 111
J coefficients: 8x = 2.4 121
k coefficients: 8x = 2.4 131
Equations 12)and (31 each give the result that x = 0.3; this means that the
line lies in the plane parallel to yz at this value of x. In this plane, its equation is
given by (II:
y+z=-I
z E x A M p L E
The three forces in the figure each have a magnitude of 10 lb. Find the screwdriver
equipollent to this system.
SOLUTION
y
The force resultant is
x
Already, then, we know that la) the force of the "screwdriver" is IO.J3lb and
Ib) the orientation of its line in space is given by the unit vector (i + J + kl/
J3, which means in this case that the axis of the screwdriver makes equal
angles (each ~ cos-'II//31 = 54.7"1 with the coordinate axes.
(Continued)
85
At the origin, an equipollent system to the three given forces is F;
I
accompanied by the resultant couple there:
20-30 -10
J3 - J3 Ib-ft
Therefore,
- 10 F, - 10 (i + j + k) - 10 ~ -
M,oll = J3 TF;T = J3 J3 ~ -.-3-(1 + , + kllb-ft
This moment, M~OIl' is the couple of the screwdriver. Note that this time it
is opposite in direction to F~,as if a wood screw were being unscrewed instead of
advanced.
The "perpendicular component" of M~ois the part of M,o normal to F,:
- - [- 10 _
= 20i - 30j - -3-(i + _j + k)
- ]
= 731- J + 130klb-ft
Finally, if A is any point on the line of action of the screwdriver, located by
rOA = xl + YJ + zk
then the condition
Note that by adding Equations III and 121,and multiplying the result by - I, we
obtain Equation 13). This means that only two of the equations are independent
and necessary to define the axis of the screwdriver. A pair of equati~ns such as (II
(Continued)
86
..
z
and (21 constitute the general form of a line in three-dimensional space. Before
leaving this example, let us find two points on the line, and sketch the final
answer:
Il) y - z ~!
131 x - y ~!
)
Figure P2.117 x
87
88 Chapter2 Forcesand Moments
z
1
6ft
ION
4N
1m
A _I
~
y
./lI6N 8N
x Figure P2.119
2.124
12
2.8 The Simplest Resultant of a Force System 89
'-':\Find the simplest resultant for each of the coplanar force 2.130
. :systems shown in Figures P2.126-P2.131. Give the equa-
t'ion of the line of action in each case, and determine 120lb 30 in.
where it crosses the x axis.
Figure P2.130
2.126 y
Sib
s,fi ft
2.131 y Sib 81b
Figure P2.126
x
-
31b x
3 in.
. 2.127
systems shown in Figures P,2.132-P2. 136. Locate the Hne
'Wind A .,
Resultant of wind forces of action of each in the coordinate system given.
Figure P2.132
I
6 It
20lb
I
lSlb
j 2Stb
~Figure P2.127
2.128
0- ..
'.
-~I i
2ft
30lb
_6ft_I_7ft __
I
3ft
Lilt
2.134 z
10m
12N
Figure P2.128
2.133
ZI
SOlb
40lb
n. 60lb
10m 80lb
3ft/
3m I
pON
2ft y 4m
)
y
x
x Sft
4ft
/'x
Figure P2.133
70lb
21b
21b
~~//// Forces in centers
8 in. ,. ,. of segments
///
o / IS in. ~ 2m
4 Ib x
21b 20N
Figure P2.129 Figure P2.134
,90 Chapter 2 Forces and Moments
2.135 2.139 Replace the two forces acting on the bar in 'Fig-
ure P2.139 by a single force. Give its magnitude, direction,
and line of action.
-
ure P2.140,
Ei
Figure P2.135 forces are normal to it.)
y ....-'
501b
....--
501b
.71
';/1
Figure P2.136
x~ b
2f~ 1 3ft
w
Figure' P2.137
x
2.143 Is it possible to reduce the force system shown in a. The force-alone resultant of the lift. and drag forces
Figure P2. 143 to a single fon;:e? If so, what is the shortest and moment Mel which represent the resultant at C
distance from P to the line of action of this single force? of the wind forces on the parabolic antenna dish.
b. The point where the resultant from part (aJcrosses the
line I in the figure. (This line is the intersection of
the rim plane and the:xy plane.)
~'
2.147 Figure P2.147 shows a force-couple system. The
\M"
magnitudes are:
IF,I~ 3ji3lb
Figure P2.143
IF,I = 2.j40lb
2.144 Suppose we take a complicated system of forces and
couples and reduce them to an equipollent system, at P, of ICt! ~ 21 lb.ft
force F, and moment M,p. When can the system be funher ICz I ~ 9 lb.ft
reduced to (al a single force? (Q) a single couple? Hint: Think
about the figure of the prece~ing problem. Give an equipollent system' consisting of a single force and
couple through point A (2/0, 0). Can your system be fur-
" 2.145 Replace the force system of Figure P2.145 by (al a ther reduced to a single force or to a single couple?
force through a and a couple; Ibl a force.
1 tO lb
351b
I 251b
(-3,2,0)ft
! q
!
(2,2,0) It
)
y 3ft
C,
\ --~.~.-
501b.ft y
I x
Figure P2.147
~ I Figure P2.145
~llOolb
,,
,
I drag ~ 2200 Ib x
1301b _.- 0 I
y
f 2500 llrft = moment Me
~
x~4lt 7 /
501b
z
z z
1ft
,,,
: I ft 1ft
0.*,
, A
_ lib lib
/
/
/ ,,
,, y /x
/
/
,
x I
Figure P2.149
ION. m
lOON 200N
2.149 Find the.force and couple that must he added at
point A to the force system shown at the left in Fig- 30N. m
Ure P2.149 so that it will be equipollent to the force sys- Figure P2.150
tem at the right. What is the screwdriver equipollent to
the original system on the left?
In Problems 2.152-2.163, the procedure outlined in the
~.150 With reference to Figure P2.ISO, and in terms of I, text is to be followed in establishing the "equipollent
find the following: screwdriver" for the given system~that is, the resultant
a. The force and couple at the origin a that are equi- consisting of a collinear force and couple. Give, in addi.
pollent to the three forces and three couples shown
I tion to the force and couple, a complete description of the ..
: acting on the bent bar line of action of the screwdriver.
lb. The value of t for which the system can be further
2.152
reduced to a single force
z
2.151 ]0 Figure P2.lS! a systerrt of four forces and a couple
is shown. Replace this system by an equipollent system ISlb
consisting of a singlecouple and ,asingle force whose line of 12 ft
4ft
action passes through point A, located at coordinates
(2, 6, OJ.Further reduce this new system to a single force, if
possible. 3ft ---- 1
I'
z x
l
Figure P2.152 ,I
2.153
z
3m
4m
y
y 3N
x
IN
Figure P2.151 Figure P2.153
2.8 The Simplest Resulian!'ol a Force System 93
x
y
Each force has
z magnitude 100ft N
x
2.155 y
Figure P2.158
2.159
Figure P2.155
x
.;f,- P a
2.156 z
31b
5 It
30'
Gi'
Figure P2.159
3a
"fi
2.160
z
40N y
30N
Figure P2.156
Figure P2.160
2.157 z 2.161
20N
31b
y
(2, 0, 0) It
x Figure P2.161
Figure P2.157 Couple of magnitude 6 Ib-ft
\
I it _ (F".)
y--x+-- (- M,p)
F,x F,x
y
agrees with Figure P2.165 i that is, show that the slope and
intercept of the line are correct from the information in the
Figure P2.162 figure.
2.163
/'
Zt,
/
'11/
/ /
r( /:/ I
/1 '-j-ISlb
I
I <> I
I '- I I
:::1
: 15ft 1
Y V '--
I 2ft
I \ I
I -, Figure P2.165
x " /9ft \ y
601 + 106J IMt 2.166 The equation of the screwdriver line in the preced-
Figure P2.163 ing problem must obviously be rederived if F,x = O. ObtaIn
the correct equation of the line for this case.
2.164 The pitch of an "equipbllent screwdriver" is de- 2.167 Return to Problem 2.10 1 and find the screwdriver
fined to be M'PII1F,. Suppose that three force-couple systems equipollent to the forces and couples shown again in Fig-
have each been resolved into equipollent screwdrivers, and ure P2.167. At what point does it pierce the ground (xy
that their lines of action are the x, y, and z coordinate axes
(Figure P2.164J. Prove that, if these are further reduced to
a single resultant screwdriver, ,and if it is a single force
Iwithout any couplel, then the pitches IM,/FrI, (M,IFz),
and (M3/F3J cannot all have the'sa~e sign.
planel'
z I
o
4ft
Figure P2.167 y I
y
I dx F,
I(x)
o
_x_ll_dx x
x,
L------~I
Figure 2.31
F, = r fdx = rl-f'ldX
= -(r fdX)'
where the unit vector -, is a constant, both in magnitude and direction. '.1
The couple pan of the resultant at a is obtained by adding up (integratingl j
the moments of the elemental forces in the distributed system so that
x, LL fdx LL xfdx
=
or
x, =
rr xfdx
fdx
(2.251
,'._
L.
I.
..
"
,!
~,-"-~-------~-----~~
.,
E A M p L E
Find the resultant of the uniformly distributed weight of the sacks of cement
stacked on the dock. There are 12 piles as shown, with 8 bags per pile, and each
94-lb bag is 20 in. wide by 2.5 t long as shown in the figure.
L
r 20in._1
I,
I:.
if
2.51{
20in.-I~,_I-- 20It .1
SOLUTION
The total weight of the cement is
Ib
94 -18 x 121 bags ~ 9020lb Ito tbree digitsl
bag
This of course is the magnitude of the resultant Fr By intuition, its hne of
>
action is downward, 10 feet from either end of the cement. But let us obtain the
result by ensuring that the moments of the two systems shown in the next
illustration are the same about the left end A of the loading.
-
f(x) ~ ~~O ~ 451 Ib/ft
~mrnm
r Equipollent
I' I x )
T; I. System I System 2
"
I
L xflxl f'O x'I'O
IM,AI, ~
I
o
9020 x, ~ 90,200
.97:
Note that in the solution we did not need the 2.S-ft dimension. Since the
loading distribution does not vary in the direction perpendicular to the page; we
have idealized the weight as a line load acting in the central plane of the bags.
More will be said about this later in the section.
E x A M p L E 2.36 ......
A ramp has the weight distribution shown in the figure/where PL isthe weight per
unit length at the right end of the ramp. Find the resultant of the triangularly
distributed weight.
B-T
SOLUTION
The distributed loading has the equation
Pc
f (x) ~-x
B
~!
p,
~ ~f(x) ~
I x- I~dx I
B
dF ~ flxl dx ~ P,. x dx
B
98
,I
i
'. ,V
:f:,-
This is 1/2 the base times the height of the triangle, or the area beneath the
loading curve, as we have previously shown. We next locate the line of action of
the resultant by finding the value of x, in the figure for which the moments of the
f
if' two systems are the same about some common point, say, 0:
"
r
I r
~
PI
Equipollem
o
I! - I~--L .1
";."
,, We obtain
8 - f8 P
IF,lx, ~ f o xflxJ dx = 0
x -.!: x dx
B
or
I
I PLB
--x
PL
=--
X318
2 ' B 3 0
2
x , =-B
\ 3
I
the example to follow, we will know the magnitude of its resultant is its area,
and that its line of action is 2/3 the distance from the venex to the opposite side.
I
E x A M p L E 2.37~
Find the single-force resultant of the distributed loading acting on the' beam
shown in the figure.
800 N/m
500 N/m
SOLUTION
We shall consider the loading as the sum of the two distributions illustrated. Note
~ )x that we are familiar with each of the loadings III and (2)from Examples 12,35)and'
1-.--~-9
m~---- (Continued)
99
~300N/m
500N/m~500N/m
(2.361. Therefore, the given loading is equipollent to the following pair of single
forces:
The final step is to find the single force F,.that is equipollent to this two-force
system. Its value is obtained from the force condition:
And if the x coordinate of its vertical line of action iscalledx" we find the value of
X,. from the moment condition
----,
Therefore, our solution is shown in the illustration below.
. rTIJJJJ~w~-
500N/m
9m
Equipollent
r--------
1--4.85m-
I I.--
5850N
I
i
I
I
This procedure of breaking up a loading into two ot more separate ones that are
individually familiar is called "composite parts." We shall study this method in
detail in Chapter 6 in conjunction with centroids.
We are now going to check the above results for F,.and its location by
integrating the distributed load. Equating moments about the pin P, we have
100
so that
or
500 N/m
800 N/m ~
Equipollent r""::::::'-='-:::"
--
f
--r-----l
I
9m 1_-4.5 m-I I
\-6m-
E x A M p L E 2.38 ......
Replace the distributed loading on the cantilever beam by an equipollent set of
forces.
400 Ib/ft
4 ft---1_3ft--l_3ft-I
(Continued)
101
SOLUTION
By viewing the distributed loading as a uniform pan plus two linearly varying
parts, and using the results of Examples 2.35 and 2.36, we obtain the results
shown in the next illustration. These three forces will collectively make the
same contributions to the equilibrium equations for the whole beam as will the
original distributed loading.
+ (400)(3) ~ 600 lb
200(4) ~ 8001b + (200)(3) ~ 300 Ib /]
/1
----- -----,_..... //" I
_-. // I
! -_ /' ,I
.<-' .._ ..-_ _--_ _- .. ~~~.
Z~P(X)Wdx
2 I
~ I p(x)dx
;-- hTml
w
,
~w-----.j~
I
l
\I
(a) (b)
Figure 2.32
1021
2.9 DistributedForce Systems 103
il I
with line of action at y = wl2. Since this is true in each such strip,
the pressure loading is equipollent to a line-distributed system along
the line y = (wl2l with plxlw = flxl being the intensity as shown in
Figure 2..33.* It is in this fashion that line-distributed force systems
pix) w ~ fix)
-~~L--~I~
Figure 2.33 The plane y = w/2.
E x A M p L E
Water is held back by the submerged rectangular gate q in the figure. Find the
value of the single force land its location) that is equipollent to the fluid pressure
forces acting on (j.
SOLUTION
As the reader may recall from previous studies, the pressure p in a fluid ~atrest:
*The same type of equipollent line loading alongy = [wIll occurs when p = pIx, yJ
if the pressure is symmetric about y = (w/21-that is, if pIx, yl is an even function of
(y - w/lj. In that more general case, f(xl = J~ pIx, y) dy.
Pressure = p(x) = pgh(x)
= pg(x cos 4
fix) ~ pw
/ ~ pgw(x cos q,)
z,k
pgh,w ~ 62.4(60)10
~ 37,400 Ib/ft
For a flat gate, the distributed loading caused by the water pressure therefore
forms a parallel force system. Multiplying the pressure by the constant width w of
the gate, we obtain the distributed line load as discussed in the preceding text and
as illustrated above.
]0 the above figure, we have used the fact that h and the "slanted co-
ordinate" x are related quite simply, as shown in the illustration at the left. The
single force that is equipollent to the system of parallel distributed forces caused
h=xcost/J by the water pressure is calculable from
I
60n
F, =
f flxl dx =
20./2
62.41101 r;; x dx
V2
~ 441-
x loon
Z
2 20./2
~ 1.41 x 1061b"
The location of this resultant follows from equating the moment about 0 of the
single-force resultant to that of the distributed loading:
x3160n
f I
60n
F, x, = xflx) dx = 441x'dx = 441-
20,/2 3 20J2
1.4i11061Ib
86.5 X 106
X, = 1.41 X 106
61.3 It
(Continued)
I.
I
*We shall show in Chapter 8 that this resultant equals the product of the pressure at
the centroid of the gate and its area. Thus, as a check, F. = 1162.4)4011160- 201J21 10}1=
1.41 x 106 lb.
104
1~f"
..
.,
Checking these results; using the idea of "composite parts" as in Example 2.37,
we have (see the figure aboveJ
F, = 140,)2112,500 = 707,000Ib
F, = 1140,)2124,900 ~ 704,000Ib
The single force that is equipollent to these tWo forces land thus also to the
original system of forces caused by' the waterl is obtained by the force condition
for equipollence:
F, ~ 707,000 + 704,000
,',
las beforel
40,)2)
M,o = F,x, ~ F, ( 20,)2 + -2- + F,120,)2 + 1140,)211
105
106 Chapter 2 Forces and Moments
y
x
Figure 2.34
where A is the area of the surface S. The resultant couple at the origin is
= -I LYPlx, y) dA + JL xplx, yl dA
x ~---
J xp dA
, J p dA
JypdA
y, = J P dA
]n the special case of p = constant,
J x dA
x, = J dA
(2.26)
J ydA
y, = J dA
I
j
j
)
i
,. x
I
I
i~
,r
:(
,~ Figure 2.35
~
"
!
L,
l":
P" = 1 Iii . lip dA
In the integration, :ii. varies since its direction is always normal to the
" surface. However} Ii . iis the cosine of the .angle between the normal to
the surface and x Iwhich is perpendicular to theyz plane). Thus Iii . Ii dA
is the projection, dA" of that element of the surface on,to the yz plane.
Since p is uniform
P" = P J ii .IdA =p J dAx
= pAx
'Figure 2.36
108 Chapter 2 Forces and Moments
.~
~. I
~
.t
.~
Figure 2.37
Question"2:25' 'Would. the moment about' the axis ofa cone, due
~ to'p~essureori-'a
" ~- i"
portion
of the cone's ~urfate, be zero?' ....
.. -, .... .... , .. ~; ,
where m is the mass of the body. In order to produce the same moments
about the x and y axes as does the distributed system, we must have
x,F, = S xgdm
12.27'
Figure 2.38
= gf xdm
and similarly,
y,F, = f yg dm
12.28'
= gSydm
where x, and y, are coordinates of points on the line of action of the force.
alone resultant.
2.9 Distributed Force Systems 10~
(2.29)
Jydm
y,
m
Jzdm
Z, = ---
m
J
x p dV
x, = ----
J p dV 12.301
m = J dm= J pdV
! *The terms "center of mass" and "center of gravity," of course, refer to different
physical concepts-the former having to do with the mass distribution of _a body and
the latter having to do with the resultant of distributed gravitational attractions. In the
literature of mechanics "center of gravity" is used in two ways. One usage refers to the
location of the equivalent panicle (same mass as the body) that would cause this particle to
be subjected to the same force by an attracting particle as would be the actual body in
question; this center of gravity has a location which depends upon, among other things, the
orientation of the body. The second and more common usage refers to the location of the
point through which the resultant weight passes when the gravity field is unifolll) and
parallel. This center of gravity is independent of the orientation of the body, and, as we have
seen, it has the same location as the mass center of the body. Thus, in this case there, is no
reason to distinguish center of gravity from the center of mass except, perhaps, to remind
the reader of the physical phenomenon motivating location of the point. However, it is
important to realize that the solutions of some engineering problems require recognition of
the fact that a gravitational field is not uniform and paralleL An example of this arises in the
attitude control of an earth satellite. The resultant of the earth's gravitational attraction on
the satellite is a force through the mass center and a couple whose small moment is called
the "gravity gradient torque," and this is a very important factor in establishing control of
the satellite.
,
x
J x dV J x dV
, =---=---
J dV V
(2.3 II
and similarly
J ydV and z=---
J z dV 12.321
y, = --V- , V
t
PRO B L EMS / Section 2.9 3
a
2.169 Specify and locate the single force that is equipollent 2.170 A cantilever beam is loaded as shown in Figure
to the concentrated and distributed loads acting on the P2.170. Replace the distributed line load by an equipollent
shaded plate in Figure P2.169. system at the wall.
on
Yi hx la,
2500lbt 100Ib/ftI:OJ:.l1l300
1_ ft-1-------c-12ft_I
Figure P2.169
B
Ib/f~
x
r~l----t
I---L---i
Figure P2.170
w
th,
sur
0.0
2.1
roOr
2.9 Distributed Force Systems 111
2~171 Pressure acts on a r~ctangular solid as shown in in Figure P2.174. If the concrete weighs 22,600 N/rri3,
Figure P2.171. Find the single force that is equipollent to determine the ramp's weight and its line of action.
the given loading (magnitude and line of action).
Figure P2.174
Figure P2.171
,"
h '" ....
x
p ~
,
(2-)'
100
lb/!t' I. 6m
I'
I', '
2kNI
IkN/m
7m--~.I-am~T
Figure P2.180
* 2.179 Repeat the preceding problem if q = 300 cos 30
Isee Figure P2.1 791.
2.181
aoo
Ib/ft 3001b/ft
Figure P2.181
Figure P2.179
\,
COMPUTER PRO B L EMS I Chapter 2
I
2.183 Write a computer program that will read the
components of the three-dimensional vectors IABI F and L,
whe:re B is a point on the line of action of force F, lAB is a \ "B
position vector from point A to B, and L has as components \ ',..
\\L ./ ""
a set of direction numbers of a line I through A. The
program is to calculate and print (aJ the moment of F about
Aj lb) the moment ofF about line ,; and Ie) the distance from
Avr~ A \ Line t ,
,
:;,
A to the line of action of F. Run the program for these
,,
data:rAB
L = a1 +
= 2.
+
41 -
12k.
3, -
6krnj IF = i - +2, 2kN;and
~
x
o y
Figure P2.183
2.184 Write a program that will read any number of forces
and .couples in a coplanar force system, along with a point
Answers to Questions 113
on the line of action of each of the forces. The program is 2.185 Write a program that will read any number of forces
then to compute and print tRe single-force resultant and parallel to the z axis (with +k suppressed), along with the
the equation of its line of actio'n. Run the program far these (x, y) coordinates of the points where each force pierces
forces and couples: the plane z = O. The program is then to compute and print'
the single-force resultant and its piercing point in the
F, = 10m - 200,lb, passing through lx, yl plane z = O. Run the program for this data:
= (1,31 It;
F1 = 200 N through the origin;
F, = 501 - 340,lb, passing through lx, yl
= 12,-51 ft; F, = 1000 N through lx, y) ~ (10, -20) m;
F4 = 300 lb, lying along the positive x axis; F. = -900 N through:(x, yl = I~10, -21 m.
C, = 400 k lb-ft;
C, ~ - 730 k lb.ft.
~i
Q2.14 (aJ No, for they must form a couple. If they were horizontal, they would be
collinear and their moment would be zero about points on their common line of
action. (bj No, then they still couldn't form a couple. This time neither the force
condition nor the moment condition can be satisfied.
l
,
Q2.15 At B, C, and all other points, the resultant in this problem is the same: a couple of
240k lb-ft, unaccompanied by a force.
Q2.16 :EF = 0 becomes F, = 0, and EMp = 0 becomes M,p = O. or course, in the
context of equilibrium, the force-couple system we are considering is the set of all
the external forces and couples exerted on B.
Q2.17 Because it is made up of (3) couples of the form Ck, and/or (b) moments of forces of
form (xl + 01 x (F) + Fyi). The latter is (xF, - yFxlk, thus M,p has only a z
component.
Q2.18 It passes through 0, and therefore has zero moment about O.
Q2.19 As we have seen in Section 2.2, the vector r in r x F may intersect F at any point
on its line of action and the moment will be the samej in this case r = 4,
intersects the line of action of the force at point B.
Q2.20 We have shown in general that the force-alone resultant for a coplanar force
system lies in that same plane.
Q2.21 Yes, as they must be. Those of the line are [J - 1, j - 0, 0 - 1-11] = 11/1, it
and these are proportional to the direction numbers of the line of action of Fr>
which are II/ft, lift, lift).
Q2.22 In Equation 12.261, if f isnegative over a part (or partsl of the interval [0, L), it
simply contributes a negative result for that portion of the integrals. Note that if
J~ f dx = 0, then the resultant will be (at most) simply a couple.
Q2.23 No. It is the fact that all the forces intersect the center of the sphere (or the axis of
the cylinder) that makes the moment zero.
Q2.24 Yes, for the same reason as in the preceding answer.
Q2.25 Yes. Even though the forces caused by the pressure intersect the cone's axis non-
perpendicularly, they still produce no moment about this line.
1 A force on a body has to result from direct contact with another body.
2 A force has zero moment about any point on its line of action.
3 A force has no moment about a line parallel to its line of action.
Review Question's 115
!" 4 The magnitude of the moment of a force about a"line equals the product of the
component of the force perpendicular to the line and the distance between this
component and the line.
S The moment about a point P of the sum of a set of concurrent forces equals the
sum of the moments about P of the separate forces.
6 A couple has the same moment about any point.
7 If we know the moment of a couple about a point A, then we can find the moment
of the couple about a specified line Be even if A does not lie on'Be.
8 The sum of the moments, about any point, of the external forces acting on a body
at rest in a noninertial frame is always zero.
9 Two force and couple systems are equipollent: if they have either the same
resultant force or if the moments about some point P are the same for both
systems.
10 It is possible for a system consisting of a single couple to be equipollent to a
system of one force and 17 couples.
11 Given any system of forces and couples, and any point P, the system may be
reduced to an equipollent system comprised of a force at P and ,a couple (where
either or both might be zero).
12 The couple part of the resultant of a concurrent .force system will vanish at all
points.
13 If a system of forces is coplanar, there is a point Qin the planewh'ere the resultant
moment vanishes, and the moment also vanishes for any point on the line
through Q normal to the plane of forces.
14 If a system of forces is parallel then there is a line I at every point of which the
resultant moment is zero, and both the line I and the resultant force are parallel to
each of the forces.
15 If a system 51 of forces and couples has a "force-alone" equipollent system Si'
then 51 is either a concurrent, coplanar, or parallel force system:
16 The resultant of the distributed loading shown in the figure is a zero force and a
zero couple.
3.1 Introduction
116
. 3.1 Introduction 117
~3.1 Introduction
Now that we have studied forces and moments in some detail, we extend
our study to bodies in equilibrium under the action of these forces and
moments. This chapter is the heart of the book; the two chapters that
preceded it are preparation for it, while the two that immediately follow
I will be special applications of it. By the end of this chapter the reader
rI should be able to write and solve the equations relating the forces acting
on a body in equilibrium.
The equations of equilibrium IEquations 12.161and (2.171Jrelate cill
of the external forces acting on a body at rest in an inertial frame of
reference. In most engineering problems some of these external forces are
known (or prescribed) before any analysis is carried out; we usually refer
to these as loads. The external forces exerted by attached or supporting
bodies are called reactions; usually we can think of these as forces that
constrain the body against motion the loads tend to produce. It is by the
equations of equilibrium that we try to find these reactions. We empha"
,.
,
~. size, however, that a force "by any other name" is still a:force as far as
the equations of equilibrium are concerned; whether we think of a force
" as a cause (loadl or as an effect (reaction I makes no difference in the
equations of equilibrium. If a body could be equipped with sensors to
measure all of the forces acting on it, the sensors would not be able to
distinguish applied loads from constraint reactions.
To illustrate one of the difficulties encountered ,in statics, We
consider the problem of determining the forces (reactionsl exerted by the
supports of a diving board when a diver (whose weight is the loadl stands
on the end of the board as in Figure 3.1. The configura'tion shown is
that to which the equations of equilibrium must be brought to bear;
the distances from the supports to the diver are important because of
1, the moment equations. However, the diver's distance from each of the
supports depends upon how much the board is bent-the greater the
bending, or sag, of the board, the smaller the distance of the diver from
each of the supports. Clearly, the bending of the board depends upon the
weight of the diver and the stiffness of the board. Thus we might be
tempted to conclude that we can do nothing useful until we study the
geometry changes that occur when a body deforms. Fortunately, for many
engineering problems the picture is not quite as bleak as the one we have
Figure 3.1
118 Chapter 3 Analysis of,EquilibriumProblems
Q- L-a
I _ .....,.
l' ,~
11
3.2 The Free-Body Diagram 119
A,
I ;
k-a-t-B L-a-iw,
Figure 3.4 Free-body diagram of diver
and board.
! t Let us return to the diver and the diving board of the preceding
section. We want to emphasize that a body is whatever collection of
material we choose to focus on; we shall choose here to let the body be the
diver and the diving board, taken together. The free-bodydiagram is then
shown in Figure 3.4.* The meaning of, and reasoning behind, the
symbols appearing on the diagram are as foHows:
*One need not be an artist to draw good free-body diagrams. The roughest of sketches
will suffice as long as the body is clearly identified.
120 Chapter 3 Analysis of Equilibrium Problems
Question 3.1 Why does the force exerted on the board by the
divei;~..feet not appear on this free-body diagram?
L
2
--~
t
Figure 3.5 Free-body diagrams of board
and of diver.
~"'" .~
-T~~le
3.1
Sel~cted Connectioris and the Corresponding Unknown Components of Resultants on Body li'lshaded)
Reaction on IJ
Type of Connection [shaded} Plane Counterpart
l. General
interaction Ino freedom!
F.
or
... clevis
pin
i i
Same Same
III. Rod in
sleeve
(hinge
..
without
thrust
support)
Same as II
(Continued)
I
..' ,,'
:"C.
124 Chapter 3 Analysis of' Equilibrium Problems
, .
Reaction on B I
Type of Connection I:
Ishadedl Plane Counterpan
IV. Pin in slot, or roller, or line'
to,ntact along smooth surfa~e
v. Ball-and-
socket, or self.
aligning bearing, .j'
or local contact
with rough
surface
~.
F,
t F,
\
J
..
~
~~
Same as II
(Continued)
";.
3.2 The Free-Body Diagram 125
'"
VII. Rollerbearing
. il;
l
';\' t
, ~
F,
Same as II
VIII. Cable(rope,wirel
6...
~:_
. ",'
"';r . Same as the figure at the left
c, Same as II
components Fx and Fyi having a line of action through the center of the
shaft. All of this assumes that the bearing provides no thrust support-
that is, resistance to motion of the shaft along its axis. The figure is of
course simplified in that the bearing races are not shown.
VI!. The rollers in a roller bearing exert loads essentially distributed
over Jongitudinal(axiall lines on the surface of the shaft. Consequently,
there is resistance to turning about diameters. Thus the possibility of a
couple perpendicular to the axis of the shaft exists in addition to the
resultant of Fx and Fy.
VJI!. A flexible cable or wire exerts a tensile force in the direction
of tangency to the cable at the attachment point. Unless otherwise indi-
cated we shall assume that cables are suffiCiently taut that the center-
line will be a straight line joining its ends.
IX. The last item is a composite of the clevis pin IJlI and. rod-in
sleeve IIlII. Note that freedom for rotation about the pin axis eliminates
one component of the couple shown in Ill. That vanishing component
is along the axis of the pin.
We now illustrate the construction of free-body diagrams through
several examples. As we do this, we keep in mind that the equilibrium
equations are
I:F=O or F, = 0
LMp = 0 or Mrp = 0
where P is any point, and the subscript "r" denotes resultant (of the
external force systeml. The free-body diagram will provide:
Thus, we shall find that the free-body diagram will include all of the
information to be incorporated in the equations of equilibrium.
In many of the examples and subsequent exercise problems,
information is given only for two spatial dimensions. It is reasonable for
the student to be uneasy about the fact that we have not set down any " ,
criteria by which to decide when we can ignore considerations of the third
dimension. Universally applicable criteria are n'ot easy to establish, and
this, like other issues of mathematical modeling in mechanics, requires
!f,.~
experience. Working a large number of three-dimensional problems will
provide students some of the experience with which to supplement their
raw intuition.
f
. ,
E x A M p L E 3.1~
Draw the free-body diagram of block 8.
SOLUTION
From our previous discussion of item VIII in Table 3.1, each cable is replaced, on
a sketch of IJ, by the single, tensile force which it exerts on B at A in the direction
. Flgu~e1 along its length. The weight is replaced by the equipollent force-alone resultant of
t.he gravity forces, acting as always through the mass center of the body.
In the extended Problem 3.1 57, we outline a proof of the fact that if a body is
in equilibrium under the action of three forces, then these forces are necessarily.
coplanar and either concurrent or parallel. When we examine the equilibrium of
Bfurther in Section 3.3, we shall find that in the case suggested by Figure 1, the
forces acting on IJ are concurrent. If the cables are parallel as shown at the le(tJ
however, then the free-body diagram depicts a system of three parallel forces. It is
interesting that even in three dimensions, the case of bodies in equilibrium under
the action of three forces is never more complicated than one of the two types
above!
E x A M p L E 3.2~
Sketch the free-body diagram of the small advertising sign and supporting post,if
there is a steady wind load producing the resultant shown. The sign itself is sheet.
metal with a weight of 200 lb, and the post weighs SOOlb.
(Resultant
of pressure
from wind)
SOLUTION
.-,
'/
10ft
fJ--- When we separate the sign and post from the ground we see that the external
!
forces on the body are:
127
<,
Note that we have tacitly assumed that the masS center of the POSt is on its
centerline and that the sign itself is of constant thickness and constant density
so that its mass center is in the "middle." It is important to realize that the
connection of the post to the ground provides resistance to displacement in every
direction and r~sistance to rotation about any axis through the base. Thus the
force and couple there will each have three unknown components.
<'C, I/"
c,
E x A M p L E
Sketch the free-body diagram for the pliers and for each of its pans.
10 Ib
3.75in.--
SOLUTION
The only external forces acting on the pliers are the hand-applied IO-pound forces
and the reactions of the nut being gripped. The free-body diagram is shown in the
illustration.
128
.'
10 Ib
F,
,..
F,
F, , "
:<,
,,' "j
f,~_'
Removing the pin that holds the two parts together, the free-body diagrams
of the individual parts are shown in the next illustration. Note that the action
transmitted at the pin is just a force since the pin provides no resistance to relative
rotation of the pans. Note further that the action-reaction principle has be~n
satisfied automatically in depicting the pin forces.
.,'
I
"Draw a free.body diagram of body A in each of the fol.
I,
lowing problems.
il
3.1 Body A in Figure P3.1 is a uniform 40.1b rod, 6 fdong.
129
130 Chapter 3 Analysis of Equilibrium Problems
3.3 Body A in Figure P3.3 is the 200-N uniform cylinder 3.7 Body .A in Figure P3.? is the boom of the crane,
in equilibrium on the rough plane. The cable is parallel to weighing I000 lb.
the plane.
6ft- IBft---'EI2f'-1
3.4 Body A in Figure P3.4 is the 30-kg ladder, together
1
t-
with a 70-kg painter.
6ft
3.5 Body ..A in Figure P3.S is the lower of two cylinders C'l.'o\e I
resting on a floor between two walls. All surfaces are
smooth (meaning friction is negligible! . .A weighs 40 N.
Winch , i
,.
Figure P3.7
Figure P3.4
Figure P3.8
z
'-90cm-
z
Figure P3.5 a.3m
D.2m Figure P3.9 Figure P3.10
D.2m
a.3m O.4m
x I ~ 0.6 m
3.3 Fundamental Applications of the Equilibrium Equations 131
......
3.3 Fundamental Applications of the
Equilibrium Equations
The most common problem in statics is the determination of unknown
forces and couples which together with prescribed forces and couples hold
a body in equilibrium. As we have seen in our discussion of free-body"
diagrams, the unknown forces and couples will be expressed in terms of
the least number of unknown scalars (componentsl consistent with what.
I
is known about directions. There arises then the question: will the
equilibrium equations provide a sufficient number of algebraic equations,
relating these scalars so that they may be found? At first glance we might
be tempted to answer with an unqualified yes, since EMp = 0 for every
point P so that there is no limit to the number of moment equations of
equilibrium. However, in Section 2.5 we found that for a system of forces
12.191
EF = 0
EMp = 0
F, = 0
Mrp = 0
F, F,
~,
".
;
\
I
Figure 3.6
forces have lines of action passing through the same point IA)'; in
Chapter 2 we called this a concurrent force system. Since LMA = 0
regardless of the values of FI and F" the moment equation provides no
information about these forces. More generally, we may state' that
whenever the external forces on a body constitute a concurrent system,
there is a moment equation of equilibrium that is identically satisfied,
and the greatest number of scalar equations relating the forces will be
I
I
three. I
The other equilibrium equation, LF = 0, is
FII-cos 450
i + sin 45,) + F,lcos 30 i + sin 3011 + WI-II
0
= 0 ..~ .. '.'
or, because the iand j coefficients must separately add to zero, we get two
equations in two unknowns:
'I
-FI cos 45 + F, cos 30 = 0
i, .
and
FI sin 45 + F, sin 30 - W = 0 ,
"' ..
from which
FI = 0.897W
and
,. Fi = 0.732W'
We observe that there were only two independent scalar equations
embodied in LF = 0 because all the external forces have lines of action
in a single plane and thus none of the forces has a component in the
direction Iz) perpendicular to that plane. In the language of Chapter 2, our
force system here is coplanar and concurrent. Our two scalar equations
express the vanishing of the sums of components in the x and y direc-
tions, respectively. We shall often write them using the notation
and LF). = 0
*The block must be "hanging" in such a way that the mass center is directly below Ai
otherwise !:MA - O.
3.3 Fundamental Applications of the Equilibrium Equations 133
F,
Figure 3.7
Before leaving this illustrative problem let us see what would happen
if there were a third cable helping to support the block as shown in Fig-
ure 3.7. The force system is still coplanar and concurrent so that there
still will be only two independent equations, now relating F" F2, and F3
(The symbol.!:.- is a reminder that the unit vector in that direction has
been suppressed from each term in the equation to follow. Some call it
the "positive direction" for the force summation.)
..:t.. "LFx = 0
*Note here that a problem can be statically indeterminate with fewer than seven
unknowns.
,.
I
134 Chapter 3 Analysis of Equilibrium Problems
, ,
(The symbol'+) means that the unit vector out of the page has been
T, \
suppressed from each term in the equation.) Thus
That is, the belt tension is the same on both sides of a pulley supponedin '
equilibrium by frictionless bearings.
F, F,
1
1,1
1
j
.f
We now see that the two forces acting on the body must have a common
line of action -the line ;oining the two points of application of the forces.
Individual members in truss structures are idealized as two-force bodies;
we shall study the analysis of such structures in Chapter 4.
While we intentionally have not made a clear separation of discus- ,.1,.'
sions of two- and three-dimensional problems, the examples that fol-
low are ordered so that the two.dimensional ones come first. In these,
where we are dealing with a planar force system, it is important to realize
that three of the component equations are satisfied identically. If the xy
plane is the plane of the force system, LF, '" a and each force produces,
with respect to a point in the plane, a moment perpendicular to the plane.
Thus, if P is a point in this plane, then ILMplx '" a and ILMpj, '" O. For
this restricted class of problems, then, the component equations not
,.
,.~-<.":,'::,,~-" ---------------------------------------------------- ,;
I:Fx = 0
I:F, = 0
(I:Mpl. = 0
E x A M p L E 3.4 .......
A uniform sphere of weight W is supported by smooth (frictionlessl plane surfaces
as shown in the figure. The plane of the page is vertical. (al Find the forces exerted
by the supporting surfaces on the sphere. (b) Investigate the' implications of
friction at the contact surfaces. 'I
SOLUTION
(a) The free-body diagram shows that each unknown force has a line of action
through the sphere's center, which is also its mass center. This is an example ora
body held in equilibrium by three forces (see' Problem 3.157 for a general
discussion). We see that
j i coefficients: III
..fi .j3
[21
; coefficients: -FI +-F, = W
2 2
(Continued)
I
< 11
which we could get from I:Fy = O. (To do this, we would just sum up the venical
components of all forces and omit the unit vector j as we go.) The solution to
Equations (I) and (2) is
F, ~ O.518W
F, ~ 0.732W
(h)If friction exists at the contact surfaces, we have two additional unknown
components of forces. We call them F3 and F4 as shown on the free-body diagram.
The moment-equation of equilibrium I:Mc = 0 yields
or
From I:F = 0 we have, as before, two scalar equations, but now in the four
unknowns FI, F2, F3, and F4 These two equations plus the result of balancing
moments, F4 + FJ = 0, constitute three equations in four unknowns and hence
the problem is statically indeterminate.
- - - -----.
Question 3.5 Why can't we sum moments at some other point to get a
fourth equation?
We note that if one surface is smooth, the remaining friction force vanishes
(from the moment equationj, and Ft and F2 revert to the same answers we found in
pan (a).
E x A M p L E 3.5 .......
Let the sphere of Example 3.4 be nonuniform; that is, the mass center C does not
coincide with the geometric center 0. Taking the surfaces to be smooth, identify
all possible equilibrium configurations of the sphere.
SOLUTION
From the free-body diagram we see, as before, that the lines of action of the two
reactions, Ft and F2, pass through the geometric center (OJof the sphere. Thus in
order for I:Mo = 0 to be satisfied, the mass center C must lie either directly above
or below 0.
The reader may recognize that this probleITl;is similar to that of finding the
equilibrium positions of a body supported in the manner of a pendulum, as shown
in the next illustration. The equations of equilibrium tell us that there are two
such positions: one where the mass center is directly below the support and one
(Continued)
136
". ,"
.. "
Unstable
equilibrium
Pendulum
Stable
equilibrium
where the mass center is directly above. Our experience tells us that the body will
not remain (without additional restraintl in this second position. This con-
figuration is said to be an unstable equilibrium configuration and the first is said
to be a stable equilibrium configuration. The important point to recognize is that
the equilibrium equations do not themselves distinguish these two types of
equilibrium states.
~,'
E x A M p L E
Find the reactions on the ends of the simply supported beam.
2001b/!t 600lb
._. B
A
6!t~--kl2ft~
SOLUTION
I L.
I
I'
~
, From Section 2.9, we recognize the resultant of the distributed load to be the area
i
beneath the loading curve, or 1200 lb. Its line of action is at the center of the
1.
(Continued)
, 'I
~;
~,~l
137
ft
loaded segment as indicated on the free-body diagram of the beam. Using the
f
equilibrium equations,
,EF ~ 0
yields :1'
i .
i ~:
I
I
LJ + L,J+ 1200(-11 + 6001-11 + RI ~ 0
i
which has the following component equations: I
i,
I,
i i'
,
I ,:
I
!
and
~MA ~ 0
:1
, I
yields
I
"
L, ~ 960 Ib
I
t
It is often worthwhile to use another moment equation of equilibrium to check ! f,'i! ,,','
I!
the numerical results. Let's see if ~MB = 0 is satisfied by the values we have I',
! ,~
calculated for Lx, L)I' and R. f
i, .
t
[
1200k + 8400k - 101960)k = 0 I"
.,.,
( (9600 - 9600)k ~ 0
j ~
:~
,i'.
This check correctly suggests that we could have solved this problem using
'IL
il
the three scalar equations: r.Fx = 0, IrMA!: (orsimply r.M..1 = 0, and :LMB = O. :,
Problems 3.40~3.42 are concerned with the possibilities of using two and three ii'
moment equations when the force system (loads and reactions) is coplanar.
*In the future, we shall shorten (:EMA)z to simply :EMA when the problem is a "plane"
onei when this is the case, only liZ moments" are normally written.
138
,.
,.,j
E x A M p L E
The "A-frame" is subjected to the lS0-N load as shown. Find the pin reaction atA
and the force exerted by the roller at C.
, A
1.5m 1.5 m
SOLUTION
,.1,
Referring to the free-body diagram we see that we may obtain the reaction at C
by summing moments at A. Since the force system is coplanar we may easily use
the "scalar" form of the moment equation. Thus, counting counterclockwise
moments as positive,
c
j '+) ~MA = 0
I
31FIZ) - 411501 = 0
F ~ 400N
~,.
The student should realize (or confirm! that this scalar equation is precisely what
results when we write the vector equation :EMA = 0 and then pick off coefficients
of k. Were we instead to take clockwise moments as positive, then
yields
-3(FIZ) + 4(150) = 0
which is nothing more than the result of writing :EMA = 0 and picking off
coefficients of 1- kj'.
The component forms of:EF = 0 are
and
A, + 150 - ~ (4001 ~ 0
(Continued)
,I
139
.,
so that
I
From the second,
A, + F(2 = 0
so that
A, = -200 N
These are the same equations we would obtain by writing :EF = 0 and then
picking off coefficients .of Iand j, respectively.
In conclusion, the magnitude of the pin reaction at A is ~ A; + Ai ~
)(1961' + (200)' ~ 280 N, and vectorially the force exened by the pin on the
frame at A is 1961 - 200, N. The force exerted on the frame at C is
E x A M p L E 3.8~
The pulley is supponed by frictionless bearings at the end of the uniform 750-N
cantilever beam. The IOOO-newton block is supported by the cable that passes
over the pulley as shown. Neglect the weight of the pulley and find the reaction of
the wall on the beam.
SOLUTION
~~~~-2.Sm
At first glance the free-bodydiagram of the beam, pulley, block, and pan of the
cable suggests that possibly this problem is statically indeterminate because we
have a coplanar force system Ithree independent equations of equilibrium! and
(Continued)
140
T
~~ ._c.
M R,1-1.25m--125m-
T c ~ ",m~
M t-125m--125m-
750N IOOON
R, 750 N
'.;.
T - 1000 = 0
T = 1000 N
Returning to the original free.body diagram Ibeam, block, pulley, and part of the
cable!, we equate the moments about A tozeroj this eliminates two jRx, Ry) of the
remaining three unknowns:
'<:l "EM. = 0
where we have used the result from above that T = 1000 N. Thus,
M= 1670N"m
Next we equate the sums of external forces in thex and ydirections to zero, again
using the original free-body diagram:
T
"EF=O=R --=0
'.j2
1000
R. = .j2 = 707 N
T
"EF = 0
, = R, - 750 + -.j2 - 1000 = 0
(Continued)
141
I
..
1000
R, ~ 750 - .,fi + 1000 ~ 1040 N
In summary, the force and couple exerted on the beam by the wall are,
respectively,
7071 + 10401N
and
1670 !:> N . m
E x A M p L E 3.9 .......
A dumping mechanism is shown in the figure. The weight of, the bed plus
contents is 1200 lb. It is in equilibrium in the given position with mass center at
C. Find "the force in the strut AB, which contains a hydraulic cylinder for raising
and lowering the bed.
-----3>
x
D,
SOLUTION
Recognizing that the strut AB is a two-force member, we draw the free-body
diagram as shown in the figure:
Summing moments about the pin at D will give the force in AB:
FA_ = 9661b
(Continued)
142
,,' ...~
We say that the force "in" the two-force memper AB is compressive since the
strut is subjected to a pair of 966-pound forces that tend to cause it to shorten.
Note that we defined (arbitrarily) the scalar FAB in such a way that a positive value'
would indicate compression of the strut. Indeed it turned out that way as Qur
intuition would suggest. Had FAB turned out to be negative, we would have called
the force tensile since the strut would then be subjected to a pair of forces tending
to stretch it.
E x A M p L E
SOLUTION
The member BD is a two.force member because, even though it isn't a straight
bar, it is loaded by forces at only two points. Therefore, we know the direction of
the reaction at B to be along BD. The overall free-body diagram wiH help us
determine this reaction, and those at A as well:
iI F. = IS,/21b
i A.
I
t
:1
,
d
~i
= Ax -
F.
,/2 ~ Ax 15
Ax ~ ISlb
and
~'
I F.
1:F, ~ 0 = A, + ,/2 = A, + 15
I
I A, = -ISlb
-It
atB, 15,/2 Ib
15,fi~ II
Note that these two reactions necessarily form a couple of 60 c; Ib-ft:
143
_. ,I
..
E x A M p L E 3.11~
Find the force and couple reaction at the base of'the advenising sign of Exam.
pIe 3.2.
,
2 It
(Resultant
of pressure
-'- from wind)
- ?"
-".. '
10 It
500 Ib
p--'
~.
~ R./t~_----7
A R.
~;- I~'", .
SOLUTION
H ~O
Rx = 2501b R, = 7001b R, = 0
Next, we sum the moments of all forces and couples about the base A of the sign:
:EM. = 0
so that
IC) + C;i + C,kl + 19, - 2kl x 1200(-,11
+ 19, - 2.5kl x 12501-111 = 0 ,.::
Therefore,
(Continued)
144
. "
...
so that
is the moment of the resultant couple on the base of the post. Therefore
.. .... --:; ..
. Question 3.6 Why doesn't the 500,lbfotce appear explicitly in the!.
l:~
-mom'en~',e1~.ihb,r:i.-Urri-leq?iatl~n, :~~"?J:-'~
'~ ",..'~ ,;' . ..",::'''~;}':;---"''
-;~ ..
E x A M p L E 3.12~
The boom, whose weight may be neglected, is supported by a ball-and-socket
connection at A and two taut wires as shown. Find the tensions in the wires and
the reaction at A.
2ft
j A 2ft
2 ft
B c
:.-
.( z
SOLUTION
From the free-body diagram we see that there are only five unknown scalars
describing the reactions. For a three-dimensional problem such as this, we should
then be concerned that there is not enough constraint provided against a rigid-
I.' ,
body motion-that is, that we might not be able to satisfy the equations of
'equilibrium, However, in this case, one of the equations Ithe balance of moments
about the axis of the boom (xli is satisfied identically since each of the loads and
reactions has a line of action intersecting that axis, The body would not be
adequately restrained were there to be a loading that tended to turn the boom
about its axis,
(Continued)
145
'I. '
I
3 It
D----;,.
x
IOOlb
The vector descriptions of the forces exerted by the wires on the boom are
TIel and TZe2' where
_ 'BG -21 + 2k _ _
el = -- = ---;0==== ~ -0.707i + 0.707k
I'BGI ,J121' + 121'
and
- 41 + 2i - 3k
.,~--I
'en
= ,,====== ~ -0.743i + 0.37lj -
- 0.557k
lIen ,J141' + 121' + (31' .
We first use the moment equation :EM. = 0, since it will not involve the
unknowns R;:(/ R}JI and Rz:
:EM, ~ 0
k: 4(0.37lIT, - 711001 ~ 0
T, = 4721b
and
_.'" ~ 1)0
F .-':210.707IT I + 4(0.557IT,= 0
TI ~ 7441b
Thus :f
H ~ 0
IRJ + R,j + R,kl + T + T,., + 100(-il ~ 0
I
II I
(Continued) .
146
(R) + R,I + R,kl + 1- 5261 + 526kJ
+ (- 351 I + 1751 - 263kl - I001 ~ 0
1: R. - 526 - 35 1 ~ a
R.=8771b
i: Ry + 175 - I00 ~ a
R, ~ -75 Ib
k: R~ + 526 - 263 ~ a
R, ~ -2631b
E X A M p L E 3. 13 .......
The uniform door weighing 1200 N is held in equilibrium in the horizontal
position by the cable and DYthe smooth hinges at A and B. Find the force ex~rted
on the door by the cable.
/ ~---2m /
/
(Continued)
147
,.,ole
)
SOLUTION
As usual we express the unknown reactions in terms of the minimum number of
unknown scalars (components). As indicated on the free-body diagram the hinge
reactions are expressed as follows:
Force at A
M,I + M k 3
Force at B
M,1 + M,k
The force exerted by the cable is
- + 3k-)
-2.Si - - O.Sj
T
(JI2.S)' + 10.SJ' + (31'
= T(-0.63s1 _ 0.1271 + 0.762k}
because we know that force to have the line joining points D and E as its line
of action.
We see that ten .unknown scalars are required to represent the hinge
reactions. Including the unknown cable tension T, we have eleven unknown,
scalars, but we only have six independent equations available from the equations"
of equilibrium. Thus, the problem of finding all of the reactions is statically
indeterminate. However, none of the hinge reactions produces a moment aboutl
the common axis of the hinges, but the cable force T does, and so it may bei
determined from the equilibrium equation requiring that the moments about the:.
hinge axis sum to zero. This equation may be written as
We could have obtained the same result with a little less formality. Suppose
/ we first decompose the cable tension into three parts at D as shown in the ~figute.
We see that only the O.762Tcomponent produces a moment about the hinge axis'
(Continued)
148 .
;~'
..
and that moment {using the "perpendicular distance" method) is 2(O.762Tji.
Similarly the moment of the 1200.N weight is seen to be (IJlI200Jl-i). These
two moments must sum to zero since we can see that the hinge reactions produce
no moments about the hinge axis. Thus
2(0.762TJ) + (IJlI200Jl-)1 ~ 0
or
2[0.762TI - OJll2001 ~ 0
T ~ 787 N
Let us now see what information the other equations of equilibrium yield.
::.i LF = 0
(F,) + F,) + F,kl + (F,) + Fs) + F,kl = l200k + 500) + 100) - 600k
or
Notice that the left-hand side is the sum of the foice parts of the hinge reactions
at A and Bi in other word.~,we have found the force part of the resultant of the
hinge reactions.
Turning to the moment equation
LMA = 0
!
, \
........
-- -- ...,. ."",.
----"1
, Question 3.7 If in thepr~ceding example the hinge at B broke,
1'-
jO
could the body remainiJ.1.equilibrium?If~o, would the probieiri of
It . finding the hinge reaq{Onat A thenb.e statically determinate? :Ii "
I.
I
. ..' 'J '0 . ..pt." 0'
!i,
I
, 149
_.
E x A M p L E 3. 14 ....
The hinged door of Example 3.13 is supported by the (different) cable as shown in
the figure. Find the tension in the cable and the resultant lat 0) of the hinge
reactions.
SOLUTION
Example 3.13 illustrated the futility of attempting to find the individual hinge
reactions; thus here we are seeking their resultant. Because in this example. the
hinge axis is the z axis! the component of the couple in the z direction is zero as
suggested by the free-body diagram. We use here the component forms of the
equilibrium equations and encourage the reader to write out the vector equations
~F= 0 and LMo = 0 in terms of Wlit vectors so as to compare with the results
below. First, we sum moments about the hinge axis:
so that
21T12j - (1111200) = 0
T ~ 1200 N
- ..Jjf, """...... ., M,
Next, we sum moments about the x axis (through OJ:
This yields
c6 I~Mo), = 0
+1
It gives
C, = 0
(Continued)
150
Next, we sum the forces; first, the x components:
giving
R, - r('7) = 0
so that
R, = .r: .r:
T = [12001 1040 N
+1 LF, ~ 0
so that
R, + TI~I - 1200.~ 0
/
giving
Rz = 0
Thus the resultant of the hinge reactions is 10401 + 600; N, with a line of action
through a since ex = Cy = Cz = O.
As we mentioned before, the equilibrium equations won't tell us the
individual hinge reactions. However, it would seem reasonable to assume with
identical hinges symmetrically placed about the xy plane (as is the case here) that
the components of the hinge reactions parallel to this plane will be identical.
. ,"
These components would each equal 5201 + 300; N. At the hinge A, t~e z-
direction force and the x. and y-direction couples will each be equal in magnitude
but opposite in direction to the corresponding :force or couple at B. These:
reactions, however, result from the tendency of the fairly rigid door to defomi.and
are typically small in a problem such as this one ..
The fact that there is a pla-ne (xyj of symmetry for loads and supports
..... "....
suggests that this problem could have been treated as two-dimensional as shown
__
R,O c~
.D
1200N
(Continued)
151
--
.~
1
in the figure and free-body diagram. Invoking the equilibrium equations in the
-!
form appropriate to a coplanar system of loads and reactions, we obtain I
.~
\
'+) IEMo), ~ 0
R, - 1200 + Tsin 30 ~ 0
i
I
R, = 1200 - 1200ltl = 600 N las beforel
I
E x A M p L E 3.15~
The uniform thin triangular plate is supponed by a slider-on-smooth-guide ,,
welded to the plate at A and a similar slider attached at B by a ball-and-socket
I
connection. The plate weighs 10 Ib per square foot of plan area and the mass
center of the plate is at C. Find the reactions atA and Bwhen the plate is subjected
to the 400.lb force shown.
II z
! A
~ y
! '
y
I, 7t
B,
400
,
1
B,
270
x
__I J
SOLUTION
f
The weight olthe plate is 101l9J161121~ 270 Ib and, of course, the line of action
of this resultant of distributed gravitational attractions is through the mass -.j.
center C.
;~
(Continued)
;1.
152
-.;;J
<,
The ball-and-socket at B eliminates the possibility of a couple there, and the
slider eliminates the possibility of an x component of force there. At A the slider
eliminates the possibilities of a y component of force or of couple. Thus, we see
from the free-body diagram that there are six unknown components of reactions.
Since, in addition, the plate is adequately restrained against rigid motion, we
should anticipate that this is a well-posed, statically determinate, three.
dimensional problem; and thus that the six independent component-equations of
equilibrium will provide a solution for the reactions.
Component equations guaranteeing that :EF = 0 are
:;,
3
A, - -(4001 = 0 => A, = 240lb II)
5
~Fy = 0
4
By+ 5(4001 = 0 => By = -320 Ib 121
and
+t ~F,=O
13)
+/X'
/0 ",MA, 1
(~ = 0
W (~MAly = 0
and
'if' (~MAI, = 0
or
M, + 6(3201 + 6(-3201 = 0
and so
Mz = 0
Substituting the result B, = 180 lb into Equations (31and (41we obtain
and
153
We could have used other sets of component equations. For example,
referring to the free-body diagram;'if we had chose~ to balance moments about the
e
lineAE, we would have been able to solve for M;c in one step. To show this, let AB
be a unit vector along AB:
_ 61 - 9, 21 - 3J
CAB = --;0==== = ---
.)(61' + (91' .jl3
The moment of the couple at A about line AB is
2 1620
--M ---=0
.jl3 x .jl3
or
By this time the reader perhaps has developed some feel lor the
delicacy associated with providing adequate support for a body and at the
same time having static determinacy. In the preceding example, if we
were to fix the slider at B, a new component of reaction Bx would be
introduced as shown on the next free-body diagram. This problem is
statically indeterminate, which we can clearly ascertain because we have
seven unknowns IBx, By! Bz, Ax, Az! M ! and Mzl and only six indepen-
X
154
.&.
,.
3.3 FundamentalApplicationsof the EquilibriumEquations 1 55
I,
If the case, for example, were we here to neglect the weight (2.70 lbl of the
, plate. Without neglect of this force, we can see from the next free-body
diagrain that we cannot satisfy :EM, = 0' The inability to satisfy one
F ,
,"!"'
"I' .
, ..
I,
,
z
A,
A,
l/
~------7
A, Y
B, l B, 400
A 270
~
again is not adequately supported. We cannot satisfy the balance' of
moments about the line AB; and this correlates with the freedom to rotate
about the line, which these (inadequatel supports do not curtail.
t
156 Chapter 3 Analysis of Equilibrium Problems
:1.11 A smooth ball weighi~g 10 Ib is supported by a cable 3.14 In Figure P3.14 joints A, B, and C are pinned, and the
and rests against a wall as shown in Figure P3.11. lal Find slender rods AC and BC are light in comparison to the
the tension T in the cable and the normal force N exerted" applied forces" Determine the supporting"Jorce at B acting ': .-f
on the ball by the wall, as Junctions of the distance H. on member Be. Does this force put BC in tension or
(bJ Explain the limiting case results for T and N as H gets compression?
very large.
3.15 In Figure P3.IS the cable ABC is 10 feet long and
flexible. A small pulley rides on the cable and supp:orts a
weight W = SO lb. Find the tension T in the cable.
._._\I
.
neeted to the ceiling at B by cords CR, and to the wall at D
by cords CD. lal Find the positioning angles e
and q, of the
cords. fbI Find the tensions iIi the cords.
600N
I~L5m_
1200N
I
B
Figure P3.13
. \\~I.5 m long
1m 400lb Figure P3.14
8 It
j (s 0.8 m long
D
Figure P3.15
2L----1 B
Figure P3.12
., .I
3.3 Fundamental Applications of the Equilibrium Equations 157
.........
3.17 Find the weight of block P if the system is in equi- 3.20 In Figure P3.20 a lSOO-N weight is attached to a
librium and UJ has a mass of 40 kg. ISee Figure P3.17.) small, light pulley that can roll on the cable ABC. The
pulley and weight are held in the position shown by a
second cable DE, which is parallel to the portion Be of the
- main cable. Find the tension in cable ABC and the tension
in cable DE.
-----2.5 m----'
"f:~< J
;
Figure P3.17
.~
','
. j 3.18 A straight uniform bar weighing 60 lb rests in a
, horizontal position against two frictionless slopes as
shown in Fi~re P3.1B. A concentrated venical load of Figure P3.20
200 lb acts at a distance x from the right end of the bar as
shown. Find the distance x for equilibrium and determine
'* 3.21 In Figure P3.21 the bar of mass m and length I is
the reactions at A and B.
pinned at B to a smooth callari which is free to slide on a
fixed vertical rod. The other end rests on the smooth
200lb parabolic surface shown. Find the x coordinate of the
contact point A.
6ft
,
Figure P3.18
B
;,..,
. ;", :1/1 F,
.' ; 4 .
3OO1b
." ~x'
.. -
-~"
...3.~
;;".~' '. .
. :.: ~
B
F,
Figure P3.19 Figure P3.22
.,
158 Chapter 3 Analysis of Equilibrium Problems
3.23 Find the forces exerted by the smooth planes on the 3.28 In the preceding problem, the nail turns out to be
IOO-kgcylinder C shown in Figure P3.23. IThe dOlled 3 in. long, and the claw hammer only succeeds in pulling
cylinder2 is absent from this problem.) it up I in. at first effort Isee Figure P3.27Ibll. A board is ., ,
3.24 To the preceding problem, add the dotted cylinder 2, then used as shown in Figure P3.27(C)to get enough lever.
age to finish extracting the nail. Assuming 150 lb of verti-
.,' , :'i
i
I,';,~
which though smaller is more dense and has the same I
mass. The contact between: C and 2J is frictionless. Find cal friction force must now be overcome, find the force F . !~
the forces exerted by the planes on C and 2. needed to complete the job. Again assume the nail exerts ,
,
no horizontal force on the clawj that is, the nail has been ,..:
3.25 The man in Figure P3.25 is slowly pulling a drum straightened.
over a circular hill. The drum weighs 60 N, and the hill is
3.29 The cylinder of weight W is in equilibrium between
,~.
'.iii
,~
sinooth. In the given positio~, find the tension in the rope
the two smooth planes. (S~eFigure P3.29.) Find the reac. ~: '.> ~
(which does not vary along the rope if the hill is smoot.hl. 1, .j
Figure P3.25
5"-
Figure P3.26
Figure P3.23
T~ 401b
l~ F
10.5 in.
Figure P3.29
9.5 in.
. > , I , ~j
F I-=------2
.I;.: m. ~,~,2" 1!1'.,.~.__
. -'
(al (b) (c)
Figure P3.27 Figure P3.30
,-
I
3.3 Fundamental Applications of the Equilibrium Equations 159
.3.31 In Figure P3.31 determine the angle ()for which the 3.35 The 7-1b lamp in Figure P3.3S is suspended as in-
ladder is in equilibrium if planes AB and BC are both dicated from a wall and a ceiling. Find the tensions in the
, smooth. two chains.
y
c (m)
Figure P3.31
4t-
Figure P3.32
Figure P3.35
3.33 Find the angle 0 assumed by the stirrer of length L, in
equilibrium in a smooth hemispherical cup, for L = 3R.
3.36 In the preceding problem, suppose the chains are
iSee Figure P3.33.1 replaced by a continuous 7.ft cord. (See Figure P3.36.) If it
supports the lamp by passing through a smooth eye-hook so
that the tension is the same on both sides, find this tension.
'---,41,
FigureP3.33
..,
:160 Chapter 3 Analysis of Equilibrium Problems
3.37 The man in Figure P3.37 weighs 800 N. He pulls 3.40 Show that the three scalar equations of equilib-
down on the rope, raising the 2S0.N weight. He finds that rium for a coplanar system of forces on a body 11F,;{ = 0,
the higher it goes, the more he must pull to raise it funher. r.Fy = 0, r.MA = 01 may be replaced by three moment
Explain this, and calculate and plot the rope tension T as a equations EMA ~ 0, EM. = 0, EMc ~ 0, provided the
function of O. What is the value of the tension, and the points AI 8, and C (in the plane of the forces) are not I,. ~
angle 0, when the man can lift it no further? Neglect the collinear. Hint: Show that satisfaction of the three moment:~
sizes and weights of the pulleys. equations ensures a zero resultant. Use lMA = a to
establish the resultant as, at most, a force through A.
Decompose this force into components parallel and per-
pendicular to the line joining A and 8.- Then apply the 1
remaining moment equations. A sketch will help.
r.F,. = 0
exercise if the equivalent
instead of I:.Fx = O?
conditions include
j
3.43 For equilibrium of the rectangular plate shown in :
Figure P3.43, what are the reactions at A and B?
r
;.... i'
.
I
Figure P3.38
lOON
----..
SON
Figure P3.43
261b
Figure P3.44
Figure P3.39
r ,
.
?-r M I
i-/------j
w
J ~~) " .1 ;;
F,
I---L
Figure P3.51
Figure P3.50
Figure P3.49
---------------_.!-_-----------------------------~,~ ,.
3.52 A man is painting a waH using a crude scaffold that 3.55 In Figure P3.55 find the reactions onto the bent bar at
consists of a pinned board and two cables. jSee Figure A, B, and C.
P3.52.) (aJ Find the tension T in each cable as a function of
the man's weight and position (Wand xl, the length and 3.56 In Figure P3.S6 find the reactions exerted by the wall
weight of the board (I, wI, and the angle (). Investigate the on the beam.
.J'
following limiting cases: IbJ the board is light and the man
is at x = 0 i leJ the board is light and the man is at x = Ii
Idl the man is light. Assume symmetry.
3.53 In the "one size fits al,I" wrench of Figure P3.S3, the
Figure P3.55., ,.
handle JJ and the member B are free to turn relative to
each other about the pin P. Neglecting ricti.on between
the wrench and nut, find:
4000N
Figure P3.56 12000N.m
A
A ~ 4
*@j'n-p- .-
=1'-~----2
Figure P3.57
m----~
.251b
x
J Figure P3.54
3.58
Figure P3.58
20lb
3.59
~".".'"'
. 2
I=--f. I !::__
2
+
1 '
.,~.
6001b/ft
-3ft-I-6ft-
Figure P3.61
3.62 2nx
q = qosin~
L
Figure P3.62
; 3.63
2000lb
C
A D
1-5ft--5ft~I-5ft-
o )x Figure P3.63
3.64
1800N/m
Figure P3.67
c .
3.68
Figure P3.64
3m
B
3m-\
1 It
2m
~
i
i-;:
A I Figure P3.68
;t,
. ,.
164 Chapter 3 Analysis of Equilibrium Problems
Figure P3.71
"-8ft-
1Bit
Figure P3.69
~-
x
3.70 The crane of the preceding problem is lowered so that
angle POA increases to 60 (SeeFigure P3.70.) Again find
0
Figure P3.73
','.i':
3.71 In Figure P3. 71, the equilateral triangular plate has
, ~.
mass 80 kg and is supported by the light members.J' and IJ,
the latter of which is free to slide in a smooth slot. If the
'.,'
'plate is in equilibrium, find;the value of the couple M that '+1
of the center C of C. Assume sufficient friction to prevent antenna in elevation. This rotation takes place about a
slipping. horizontal line through two pins, shown as one at D in
II
,,' ".j
1r
3.3 Fundamental Applications of the Equilibrium Equations 165
1
17 It
I
Elevation jack
B
'""~iJ"j'I;ii
Figure P3.75{b)
'r,l
----....
166 Chapter 3 Analysis of Equilibrium Problems
3.80 The rod weighs 64.4lb and is. held up by three cables 3.83 In Figure P3.83 disc .A is pinned to the bent bar IS
as shown in Figure P3.80. Find the tension in each cable. at A; the bodies weigh 20 N (.A) and 30 N WI. Body Blias
mass center at C and rests on the smooth plane. Find the
~ force P required for equilibrium of the system of .A and B.
A
13 It
Smooth
B
Figure P3.80
Figure P3.83
-
p
Smooth
... ~.". I"'" ..
1---4m-
';0]
---1 "
2m
,
,. .
Figure P3.84
I
Figure P3.81
B
1 3.85 Repeat the preceding problem if a clockwise couple of
SO N . m acts upon the bar.
Figure P3.82
Figure P3.86
I
I
3.3 Fundamental Applications of the Equilibrium Equations 167
3.87 Show that if the cable in .the preceding problem is 3.90 In Figure P3.90 the uniJorm circular disc of weight W
instead attached to the top of the beam (see Figure P3.8?), and radius I has a uniform bar of length L and weig~t W" '"
its tension is constant (i.e., this time it doesn't depend welded to it at A such that the bar is perpendicular to AG.
Find the angle () for equilibrium of the combined body.
on 01.
3.88 What horizontal force F will pull the IOO-kg lawn
roller over the step? (See Figure P3.88.) What is the value of
Smooth pin
F if it is directed normal to AC as shown dotted?
Figure P3.87
Figure P3.92
Figure P3.89
I.~I L
c
." B
4
L=3m
.,
-"--------~---------------
168 Chapter 3 Analysis of Equilibrium Problems
3.93 Repeat Problem 3.82 for the different man and rope 3.97 Zeke the moonshiner has built a "water" tower in
arrangement shown in Figure P3.93. which to store his liquid refreshment. The tank at the top is
5 ft high and 4.8 ft in diameter, and is mounted on four
3.94 The car in Figure P3.94 has weight W. What is the
symmetrically located legs inclined to the horizontal. ISee
resultant of the normal fortes on the driver's-side tires if
Figure P3.97.1 The weight of the whole lOwer Ilegs plus
the car is parked on the indicated incline?
tank) is 3800 lb. Wind force is to be computed on die ba:sis'
3.95 The 1OO-Ib sign in Figure P3.95 is supported by a pin of the pressure times the projected area of the tank on the
at A and a cable from B to C. If the cable breaks at 400-lb plane perpendicular to the direction of the wind. If this
tension and the pin fails at 600 Ib of force, find the safe dynamic pressure is 62.5 Ib/ft2 (blowing left to rightJ, nnd
values of O. whether the tower will blow over or not. IZeke sees the big ,.
storm coming and is running to get something with which
to fill the tank. ,
Figure P3.93
15 f<
Figure P3.94
__ 0 A
Figure P3.97
3.96 In Figure P3.96 the member weighs 50 N and has its 3,99 Bar AB in Figure P3.99 is supported by a roller at C, "
I,
mass center at C. At B, a pin, fixed to the ground, hears and by a smooth wall at A. The bar is uniform, has a mass
-against a slot. The spring carries a tensile load of 100 N. of 20 kg and is 0.6 m long. What vertical force at B is
Find the vertical component of the reaction at A. necessary for equilibrium?
DS\T ~ .. E B
0.3 mI m~JMlI~Ij'~ji,
01 JJj B
l 0.9 m- fi.
FlgureP3.96 1---I.2m_ 0.2m o
+ ","
3.3 Fundamental Applications of the Equilibrium Equations 169
3.100 In Figure P3.100 the beam AB and the pulley each and falling. When the rno'tor is turned off, the t~nsioJi.S Til
weigh 30 lb. Find the tension in the rope, and the pin and Tb are equal if friction is neglected. In this case, find the
reaction at A. tension in the belt.
Figure P3.100
Figure P3.101
JOON
,
''5:
;,,'L
,,'
~,-- .1- j.
1 70 Chapter 3 Analysis of Equilibrium Problems
t 1
2081b
Figure P3.109
1
Figure P3.107
t....
8.ft
"I
.~
8
tI
r<
f(
a,
2081b
a'
Figure P3.108 Figure P3.110(a) a,
'I
3.3 Fundamental Applications of the 'Equilibrium Equations il71
';f,
Figure P3.111
Figure P3.112
Figure P3.110(d)
8-ft sections of the davit weighs 350 lb. Find the force in
the cable (two per davit, .i.e" four per boat) and also the
reactions exerted on the smooth rollers .A and B. The
rollers are pinned to the davit, as are the free pulleys C, '21
1
"
and G.IThere are also pulleys on rhe other side of the davit
at C, D, and E.) Neglect friction and the width of the davit, 3.113 In Problem 3.112, if the child's father uses a hori.
':and note the photographs in Figures P3.110 lb, c, dl. zontal force to pull the swing back 30 from the vertical
r 1
1 72 Chapter 3 Analysis of Equilibrium Problems
plane of the ropes Isee Figure P3.113), what is this force 3.116 The SOO-N reinforced concrete slab in Figure
and what is now the force in each rope? P3.116 is being slowly lower'ed by a winch at the end of
the cable C The cables .A, Ii and :JJ are each attached to
3.114 The boom in Figure P3.114, consisting of the iden-
the slab and to the hook. Find the forces in each of ;the
tical struts S, an:d S2 and the cable C, holds up a compressor
four cables if the distance from the upper surface of the
weighing 1300 lb. Find the forces in the struts and in the.
slab to the hook is 2 m.
cable.
3.117 In Figure P3.1 17 a weight of 2500 N is held up by
3.115 A shaft that carries a thrust of 1000 N terminates in
three cables oA, OB, and oC, which each tie to a ceiling
.a conical bearing as shown in Figure P3.11 5. If the angle e
2 m above point O. The cable OC makes equal angles
is 25, find the normal force that each of four equally with the positive coordinate directions at O. Find the
.spa,cedball bearings exerts on the conical surface. Assume
force in cable oc.
symmetry.
3.118 The 10-1mast OD in Figure P3.118 can carry
Ii
10,000 lb without failing. The cables can each qtrry
. !;
B
2ft y
Figure P3.114
1000 N .
Figure P3.117
Fi
... ', ..
Fi~ureP3.115
Horizontal
circle
z I
x
I
F;igure P3.116 Figure P3.118
. ,-tr
J
3.3 Fundamental Applications of the Equilibrium Equations 173
G
Figure P3.121
c
,'I
!I
)
y
"
x
x
Figure P3.123
"'" I
"
.. ,
1 74 Chapter 3 Analysis of EquilibriumProblems
:.~
~
I',~
5200 N
Figure P3.124
T
)
y
Figure P3.127
x
B,
Figure P3.126 Ball and socket
3.125 A 40-1b cellar door ,is propped open with a light 'I"
stick, as shown in FigureP3;125: Find. the ..force !in the
'stick.
" . I'
3.3 Fundamental Applications of the Equilibrium Equations 175
c(
l'
2m
x
Figure P3.129
Figure P3.130
3.129 In Figure P3. 129 the weight W is 600 N, and it is 3.132 A shaft with two 90 bends is supported by three
0
supported by cables AD, BD, and CD. Find the tension in ball bearings as shown at A, B, and C in Figure P3.132. Find
each cable. (Points A, B, and C are all in the xz plane.1 the reaction of bearing C on the shaft.
3.130 In Figure P3.130 the door weighs 120 lb. If there is 3.133 In Figure P3.133 a heavy uniform rod Rof length
no friction between the rope and the tree limb, what must 1 rests with one end, A, on the ground and the other, B,
the children collectively weigh to start the door swinging against a vertical wall. The vertical plane through the rod
open about its hinges on the x axis~ makes an angle 0 with the wall. End A is 1/ J2 from the
wall. Letting p and (J be the ratios of the tangential to
3.131 The smooth collars lot sleeves) in Figure P3.131 are
normal reactions at the ground and wall, respectively~
a~tached at C1 and C2 to the rod of mass m by ball and
show that
s~cket joints. In terms of mg', find the force P that, when
applied parallel to the x-axis onto the lower collar, will I
~ - - 2.Jzsin'e-
result in equilibrium. Upon completing the solution, p
comment on why o~e of the six scalar component equa-
.tions was redundant li.e.;yie,lded no new informationj.
I).
,
..
176 Chapter 3 Analysis of Equilibrium Problems
y
lJOON
E C
E I
20 ft
Is Figure P3.136
1.3m
! j 12 'it
Ao
5L:::~ B
z
Figure P3.134
.L.
70cm 180cm
x Figure P3.135
lLi
-
5ft
-1
1 .......
Hinge
-'1
2 ft \ 1 B C
-----7
--~.''''''-'=--
31-5It~l-
"--, Cable
6ft
3ft
-~I 3ft
y
2 It
300lb
Top view x Figure P3.138
Figure P3.139
/x.
Side view Figure P3.137
250 N door
'.11:-
I '.
supported by hinges at A and B. ISee Figure P3.134.J It is 3.137 In Figure P3.137 find the force and couple exerted I
held in the position shown by the 0.6-m chain ED. Find the on the 200.lb plate by the hinge at O. !
uniform segment BD, which is 400 Ib.ISee Figure P3.136.1 mains in equilibrium.
I
I
, , .,' <.
j
.'f
F, ~ l20Di + sooj N
E
x
Figure P3.142
Figure P3.140 z
Figure P3.143
Pins
..1- ; .
1 78 Chapter 3 Analysis of Equilibrium Problems
Figure P3.149 \
Ii
.Figure P3.145
~,
t
l2It
U
14 It
Figure P3.147
F~ 101+3j+ 100klb
3.144 When the gas leaks Qut of one of the struts of * 3.150 The plate weighs 100 lb and is supported as shown
Problem 3.143, it will no longer exert a force to hold up the in Figure P3.lS0. Find the reactions at A, B, and D.
door. If the right strut has become useless and the left pin
;breaks, find the resultant fdrces and couples exerted by the z
"left strut and the right pin \hingel. (See Figure P3.144.1
3.145 The horizontal homogeneous trap door in Fig. Figure P3.150 Rests against smooth rod
ure P3.145 weighs 72 pounds. It is supported by the cable
AB, a ball-and-socket at 0, and a hinge at D that provides no
1.
support in the x direction:+:Find the force in the cable.
of the rod are the same for the ring. The combined body is
Smooth guide .~
~'
A
}i
'.'./!; :
'ff a
q v
'j
c,
0
.; c
Ball-and.socket joint Figure P3.146 h,
:1
3.3 Fundamental Applications of the Equilibrium Equations 179
.:to
Figure P3.151
* 3.154 The spring in Figure P3.1 54 is unstretched with
length I when the uniform bar of mass m is venicaL
la)Write the moment equilibrium equation for the bar at an
angle O.lblShow that 0 = 0 satisfies the equation lor any k,
!, ru, and g. leJLet kl = mg and show that there is another
equilibrium angle 0 between 0 and 18~o. Find this angle
0
"3.152 In Figure P3.152 the slender homogeneous rod 12-lt numerically, using a calculator.
longand weighing 5 lb is connected by a pin and a moment
k,f
spring to the vertical walL The moment lor rotational or
torsional) spring exerts a moment when the angle is [
changed between the two bodies to which it is fixed; an
.. example is the springs in most flexible, metal-link watch Figure P3.154
.'bands. In a moment spring the modulus has units such as
lb-ft per radian. If the rod is in equilibrium in the given
: position, and the natural (zero moment) position of the
spring is when the bar is vertical, find the modulus of the
~Im~ment spnng.
li * 3.155 The bead of mass ill can slide on the smooth semi-
circular hoop, and the spring:connects the bead to the'!top
A 01 the hoop 101 radius RI.ISee Figure P3.155.1 The spring
has modulus 2mg/ Rand natural (unstretchedl length R/4.
Find the angle(s) 0 at which the bead is in equilibrium.
Hint: Prove and then use the fact that the three forces
..... -
~~
acting on the bead form a force triangle that is similar to
Figure P3.152
ABC.
..~. .. r
180 Chapter3 Analysisof EquilibriumProblems
* 3.156 A linearly elastic endless spring with modulus k is 2. For case la), apply :EF = 0 to conclude that all three
placed around a smooth cone of vertex angle 2a. (See Fig. lines of action are parallel. Then consider the plane
ure P3.156.1 The natural length of the spring is L, and it defined by the lines of action of F, and F2 lif they are
weighs W. Find the value of h for equilibrium. collinear then they, of course, must coincide with
that of F3J. Requiring that the sum of moments about
any line in that plane vanish, conclude that all three
-1 of the (parallel) lines of action lie in the same plane.
h 3. For case (bl, conclude from:EF = 0 that the three lines
_I of action lie in parallel planes. Let a line, /, be parallel
Figure P3.156 to the line of action of F2 and intersect the line of
action of F1 . From :EM, = 0 conclude that the line of
action of F3 intersects I, and hence lies in the same
plane as do I and the line of action of Fl. Now apply
the moment equation of equilibrium for moments
about the point of intersection of the lines of action of
* 3.157 Show that, if a body is held in equilibrium by three F) and F3 to conclude that the three lines of action are
forces, the forces must have coplanar lines of action that concurrent and coplanar.
are either parallel or concurrent: Note that we only need to
consider the case in which none of the forces vanishes, for * 3.158 Suppose that the sum of the external forces acting
otherwise we have a two-force body that has already been on a body vanishes. Show that the sum of the moments
discussed. Hint: We outline below a set of steps by which about any point is guaranteed to vanish if the sum of the
the result may be obtained; the student is encouraged also moments about each of three nonparallel nonplanar lines
to think about alternative approaches. vanishes.
1. Let F1J F2, and F3 be the three forces. Consider the two
possibilities: (a) two lines of action are parallel and
lbl no two lines of action are parallel.
4. Let F; be the sum of all the forces external to 8 that act on 82, and
M;p be the sum of the moments of those forces and couples about P.
5. Let force R and couple C constitute the resultant at A of all the forces
that 82 exerts on 8,; these are internal to B.
Figure 3.8
F, = F~+ F~'
and
13.2)
F;+I-R)=O 13.3)
.... ,~-- _-
.. -
182 Chapter 3 Analysisof EquilibriumProblems
or :~;
,~t
M,p = 0 (3.6) t~
which is the moment equation of equilibrium for 8.
Two important conclusions can be drawn from this ,analysis. first,
we note that the equilibrium equations for,body 8 are the sums of the
equilibrium equations for its constituents 8, and 8,. Any two of the sets
will be independent, but not all three. Thus while there may be profit to
be gained from writing the equilibrium equations for two, say 8 and 8"
nothing additional can be obtained from the equilibrium equations
for 8,.
Second, if we know, or can determine, all of the external forces on B,
then the resultant interaction between 11} and B2 can be determined from
the equations of equilibrium for 8, lor 8,1. This is the basis for much of
stress analysis in the mechanics of deformable solids Ifor example, the
determination of shear and bending moments in beams IChapter 41J.
Sometimes, as previously mentioned, we find that the equilibrium
equations for a body such as 8 contain more scalar unknowns than there
are independent equations. This suggests that the problem might be
statically indeterminate, but that is not always the case. The special
nature of the connection between two parts 18, and 82) of 8 may render
one or more components of Rand C to vanish so that the equations of
equilibrium for 8 together with those for 8, may in fact yield the same
~,iJ
number of independent equations and unknowns. Some of the examples
that follow illustrate such situations. We note, however, that when we it..7; f. i
,
.
.~,
E x A M p L E 3.16~
Determine the force the man must exert to hold the blocks in equilibrium.
SOLUTION
In a problem involving frictionless (at the axle) pulleys in equilibrium, first re-
member that the tension in the rope is the same going on as it is coming off.
The tensions would differ, of course, if either (a) the pulley were accelerating
angularly, or (bl there were friction between the pulley and its axle.
Let us now start with the load WI and proceed to draw free-body diagrams of
the various bodies. Normally the pulleys' weights 3re neglected and we shall do
I
so here.
In the lower right part of Figure 1, the tension T1 is seen to equal WI- In the
upper right part, the tension T 1 is the same on either side of the pulley PI' as we
have proved in general. But the tension Tz is not known yet.
T3=2T2by'EFy=O
t~ W,- W,
~
Tr2
rT~W'-W'
t 2 2
W,
p,
~ T, ~ W,
T4 = W2 by r.F =
y 0
"
"
W,
Figure 1
(Continued)
:';
I 183
~,
<:-~.
1-
!
We proceed next to pulley pz in Figure 1 and write
+1 LF,. ~ 0 ~ 2T, + w, - w,
where T4 = Wz by 'Fy = a on weight Wz. Therefore,
W,
T, ~
2
i. !J
'I"
c.'
,
:,j
We show the results on the three free-bodies in Figure 2. ',}!', I.
W2 +.:! w
'.}.~'
..!
;}I":
2 2 '
W,
Figure 2
Note that if we put everything back together (see Figure '3), then from the
overall free-body diagram we obtain a check:
or
LF,.=O ./
l
w,
The reader should note that if WI = Wz/ then no force is required to hold
the blocks in equilibrium. This is because, in that case, the tensions on either side
Figure 3 of PI are equal to WI (= W1J, while the tensions On either sideof P3 and A-vanish.
184
1 I
., ;,
I
.j.
r,
;li 3.4 Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 185
'J'.
", '. , '" 'Cc' , ",' ,<'~"',',L " '," ;,~:\,""c 1",-
Questiol\ 3.$ How ihuch aoes the.ma(lhilVti towelgh to stay ,
on t~e"gJ-ound? . , ~. . ."., ' '." '.,.'
I
I'J
!{L
I"
P 2P E x A M p L E 3.17~
~.!o~ _.!o-j_l_ In Figure 1 find the reactions at the supports A, B, D, and E and the forces between
I
"2,414
the beams at F and H.
A . >5': . ,
F
H
D .--~'_:;': __ .0-. E
_.!o_1 ~4
'4
2L
L -~- 4 Figure 1
SOLUTION
The free-body diagrams of the separate beams are shown in Figure 2.
From Figure 2(aJ, we see that Ax vanishes by LFx = O. Then,
. 3 L
~MA = 0 = -LFF - P- - 2PL
4 2
.,
10
FF = ~P
3
: !B , I
B, t
B.
Ff
(b) (e)
(,)
Figure 2
(Continued)
,,'
Therefore, we may find Ay by
+1 LF,. = 0 = A, + FF - P - 2P
10
A,. = 3P --aP ,
-f
,
P
= --
3
"I
i
Thus the pin at A pulls down on the beam A/. Next we study Figure 2Ib). From
force-equilibriumof beam HB in the x direction, we get Bx = O. Then,
'30p
ai.
"::.:,'4 ~
fill
from which :i.} .~
#;1 ~
i'~"
1,( !,
:iio "
'., i
5 ~. ~r
B,. ~-P
6 ~f,t
Last, we examine Figure 2(c), obtaining 1~ 1:
~l
:, ! ., f
~p ;:~ ),
= -P
5
8 ~!
il
I
15
t,', ~
"'~
.
.
D, =-P
8 1:,
'~., !
Putting the beams together and considering an overall free.body diagram of",
them plus the two pins, we obtain (note how and why the various 13 P and -iP . 1
forces become internal and cancell 1
L'- .... rc_o_n_tl_.n_"_ed_! ----- . 4
186 (
..~.
P 2P
~l~
~_.
!.":~",.,,.,i
~
(" ...t;;;,;,;;,,,,: .:,.....-.
,
,~,
~. 2p
k"
~J_~ ..
': pt
Checking the equilibrium,
15 SSP
:EF,~-P+-P+-P---P-'2P~O 0/
, 8 8 6 3
,1.5 in.
3.75 in.- ---
10Ib E x A M p L E 3.18~
~ind ~he torces transmitted through the pin in the pliers of Example 3.3.
" ~~::~j~J
SOLUTION
We first shall consider a free-body diagram of one of the parts of the pliers because
the force we seek will be external to that body.
We can see immediately that there are more (four) unknown forces appearing
t 10 Ib
than independent component-equations (three) of equilibrium for this two-
dimensional problem. Writing these equations, we have
III
Rx - FI = 0 :::;.Rx = Ft
(Cominued)
187
-<
3.7Sin.-
j;
~.o-__ f"
F,
and
+1 'i:F, = 0
121
N, + R, + 10 = 0
and
"i) 'i:MA ~ 0
131
-1.5N, + dF, + 3. 75(10) ~ 0
I.S in.
3.75 in. 10 Ib
F,
F,
:, !i;:J..2lt'P*< .
t 10 Ib
Turning to the free-body diagram' of the whole pair of pliers, and summing
moments at B, we obtain ....
'i:MB ~ 0
F,b ~ 0 = F, = 0
'i:Fx = F, + F, = 0 = F, = -F, = 0
and
+1 'i:F, ~ N, - N, + 10 - 10 = 0 = Nt ~ N,
(Continued)
188
"
Substituting PI = 0 into Equation (3),
I.5N, - 0 - 37.5 ~ 0
Nt ~ 25lb
25 + R, + 10 ~ 0
R, ~ -351b
The results displayed as free-body diagrams of the two parts are shown in the
next figure.
351b
251b
3.75 in-----
351b
Note that we have not actually specified which of the parts of the pliers (if
either) would have the pin at A included in the free~body diagram. Which choice is
made doesn't affect the analysis because the free.body diagram of the pin is
351b
t351b
Note in the three figures that follow, the net result in each case is the pair-of free-
body diagrams of B1 and 82 just shown.
(Continued)
189
J
1
351b
~~>.B'
251b I '<---._ _ __
351bl: . .. ::: ,\>0
,-- I . flO Ib
(' ~'PIO
if) IOlb
10 Ib
i ~~ Ib _,,-
251b I
251b
I
B,
1'-
'- 351b
351b
(a) The pin is a part of neither III nor /]1'
(b) The pin is included with Rio
351b
B,
, ",t:.
flO Ib
10 Ib
351b
(c) The pin is included with 82,
We note also for completeness that the free-body diagram of the nut being
gripped is
~251b
~'"
. . .. . .
Questjon.3;fO
,
different, would/thegrippiilg .
-f
. -" ,~', "'. '~
;
f~rce still be.2:5 times it? !l~
~ - -
190
1
E x A M p L E 3.19~
Find the forces exerted by the various pins shown in Figure l: (a) at A on ABCj
Figure 1 IbJat B on ABC; leJat C on ABC; {dlat D on BD; and leJ at E on CDE.
i
SOLUTION
In frame problems, it is wise to develop the habit of:drawing free-body diagrams of
the overall frame and its constituent parts. * See Figure 2.
A E
_ :]._-- ."'"""
-3t----
.....
-Sft-
l-
C' ,
250 c,
l B,
C'
t
*
~ 250
Tt A,
C~-.
C, tE B,
~
150
D
r
D,
. ":~ . .
Question 3.11 "Draw a free-bo~y diagram 'gf
~he_roller at E and fr~m' it .
argue that the force-excited by the pin on CbB is.the same as thenormal.
force exerted by'the ..ground onto the roller.",;" , :.".
";. '. ,.' .....' :.Or.: '. . ,.~~h'" .; .;.
We first see that we ,can determine the required forces at A and E from the
overall free-body diagram [Figure 2(aJl.
(Continued)
* As we have seen in general at the start of this section, the complete set of equilibrium
equations that we could write using each of the free-body diagrams in Figure 2 won't all be
independent. This is because, when combined (or "put back together"l, the bodies of
Figures 2(b)-2(el form or constitute the "overall" body of Figure 2(al. Thus if we draw a
"redundant" free-body diagram [anyone of Figures 2{a)-2(e) is redundant], we must be
aware that some of the possible equilibrium equations (three, here) will be redundant also,
and will serve us only as checks on our solutions.
191
~I
'+) ~MA = 0 = 15ftlE - 1150 IbJll.5 iii - 1250 lbJl7 ftl
1975
E = -- = 3951b
5
Now, from the force equilibrium equations for the same free-body diagram [Fig-
ure 2/aJl, we may obtain Ax and A}.:
Iwhich means that the reaction A,l is downward-that is, 245 lIb!.
Therefore, the pin at A pulls to the left and downward on the frame member ABC.
We now illustrate a difficulty that often occurs in frame problems. In eac.h of,
the four remaining free-body diagrams IFigures 2Ib)-2Ie)L there are four unknown
forces:
Thus in this example no single one of the four free-body diagrams may be used
to find all four of the unknowns appearing on it. However, if we writel:Fx = 0,
~F, ~ 0, and ~Mp = 0 IP is any pointJ for each body, we shall have four
more equations than we need to solve for the eight remaining unknowns above.
In this example, we shall illustrate how we can obtain these eight forces in a
logical manner.
. If we sum moments on ABC [Figure 2(b)] about B, we can find Cx because we
have already found Ax:
C . = 2.812501 = 1671b
x. 4.2
1 1
t
7ft "j:
~j
~"
_1 1
'~.
-I
~,
I
2ft ~
I-Sft- ij
.;
f"
(Continued)
};
192
:,')
" ..
.L
where similar triangles were used to get the moment arms as follows:
2 5 14
- ~ - => d ~ - ~ 2.8 ft
d 7 5
ii.
Thus
a = 7 - d = 4.2 It
= 3201b
l:Fy ~ 0 ~ -C; - Dy + E
D, ~ - C; + E = - 320 + 395 = 75 Ib
':
!.~
Next, we shall use Dx and Dy on Figure 21e) to obtain Bx,and By. No moment
equation is necessary this time: t .
The reader may wish to'verify now that about any point P, I:.Mp = 0 for the
free-body diagram of Figure 2Ie),
(Continued)
*We are assuming (see Figure 2(cll that the 250-lbforce is applied to the pin at C; Thus
we shall find that Cx ::;6 C~.If the 250-lb force were instead directly applied, say, to m:ember
CDE, then the only forces on the pin would be Cx, Cy, C~, and C~. Therefore Cx would equal
C~,and Cy would equal C~ .. (It is for this reason, incidentally, that we needn't draw free-
body diagrams of the pins at B and D.)
f But, of course, we could write one. For example, moments about D would yield By
independently of our preceding work.
193
.J
320lb Returning now to Figure 2(c) of the pin, we find
Returning to the free-body diagram 121bIJof ABC, we find that there are no ..!
Ii'II.' more unknowns. This free-body is shown in the figure at the left.
I
42ft
751b
It is a good check on the solution to note that
1.40Ib-!t
2451b The value of tMA should be zero, but is not, due to roundoff to three
significant figures. IIf four figures are retained throughout, then this residual is
cutto LMA = 0.141b-ft.1
This problem is an example of a rigid frame; that is; separation of the frame
from the supports at A and E leaves a structure whose shape cannot change ekcept
by deformation of the parts. The reader should observe that were the rolld at E
replaced by a pin (such as at AI, the problem would then become statically
indeterminate. This is a characteristic of rigid frames. Such a frame will be
statically indeterminate if the external reactions cannot be obtained from the
equations of equilibrium written for the assembled structure.
E x A M p L E
The pin, which bears against the slot in B, is fixed to rod I<. The weight of. W is
125 lb. Find the force exerted by the pin onto B, the tension in the cable, and the
reactions at Band R onto bodies Band I<.
(Continued)
194
.,\.
SOLUTION
The free-body diagrams of value to us in this problem are shown in Figure I.
B, R, B,
By
R,
Note from Figure 1(aJthat here the pin reactions cannot all be found from the
overall free-body diagram. Three equations in these four unknowns plus the
tension T could be written. We shall use the free-body diagrams of the separated
bodies [Figures Ilbl and 11cllto solve the problem, then return to the overall free-
body diagram [Figure Iiall to check some 01 the results.
Using Figure 1(bl, we may find the pin force immediately by summing
moments about B:
P = 104lb
The tension in the cable follows from moments ahout R on the free-body
diagram 01 the bar K! [Figure 1(cll:
T ~ 52.011.5) ~ 450 Ib
21,)3121
(Continued)
195
.,'
Then, the equilibrium of forces on J< results in
2:.... I:.Fx = 0 = P cos 30 - T - Rx
from which
Rx ~ 104(y'3121 - 45.0
= 45.llb
Also,
The overall free-body diagram, redrawn showing the calculated values of the
four pin reactions and T, is shown in the figure at the left.
As a check of the results, we see from this diagram by simple calculations
that 1:Fx = 0 and :EFy ~ O. Checking moments,
'+) LMB = -(125 Ib1l2.5 cos 60' Itl + (521b1l211.5 cos 60'1 It]
,
i
3.21............
. I ~,
E E X AMP L E !
In Figure 1 find the forces exerted by the pin at B on (al the pulley, (blthe bar ABE, ,.1
and IcJthe bar Be. . .:.11
-1
196
,
frame in t~is problem, is sketched in Figure 2. Equilibrium requires
;;'
,,, 500
'+) LMA ~ 0 = C,(3 mJ - 1500NJl2.5 mJ - (500 NJl4.5 mJ
/
C ~ 3500
, 3
= 1167 N
"" -667 N
Furthermore, we obtain:
or
Ax = -SOON
We note that the vector sum of AJ and AJ,J lies along BA because ABE,
loaded by forces at just two points, is also a two-force _member. Its free-body
diagram is shown in Figure 3. We see from this simple free-body diagram that the
pin at B exerts the 834-1b force shown on the bar.
The free-body diagram of the pin at B is shown in Figure 4, with Bx and By
representing the components of force extended on the pin by the pulley. The
1167-1b and 834-1b forces are the forces from the pair of two-force members.
4
Equilibrium of the pin requires
B"
--':... LFx = 0 ~ Bx 834(~)
l0
-
6671b 341b
I,
Figure 4
B'-<r 11671b
+\
Bx ~ 500lb
LF,~0=1167-B,-834(~)
B, = 500lb
5001b Putting the reverses of these two forces onto the pulley [see its free-body
diagram (Figure sll provides an immediate check on our solution by inspection.
In conclusion, the force exerted by the pin at B onto:
197
, ,..
'ir
E x A M p L E-3.22~
Rework Example 3.21 if the horizontal portion of the cable is tied to ABE at F
instead of extending past it to the wall at D.
SOLUTION
Recognizing again that Be is a two-force member, we have the overall free-body
diagram shown in the figure. Note that in order to isolate the frame, in this
example we have to cut the rope only once. Thus Ax = 0 because
Continuing,
1250
C ~ -- = 417N
y 3
from which
+1 LF, ~ 0 = Ay + Cy - 500
Ay = 83 N
The free-body diagram of the pulley shown in the next figure is ,the same as in, '~
Example 3,21,
500 N OON B;
~B, . ~B'
SOON J<
B,
~
417 N
500 N
The free-body diagram of the pin, with (B~, B~l representing the forces exerted on
it by bar ABE, is shown above. Note that the force exerted on it by the bar Be is
(Continued)
198
,1.-
"
417 t N. It in turn exerts a force of 417 ! N on Be at B. Thus
:EF, = 0 = 500 - B~
B~ = 500 N
and
83N"
LMA ~ -(83 NII3 mJ - (500 NII4 mJ + 1500N1I4.5 mJ
=IN.m (differing from zero due to roundoff error!
E x A M p L E 3.23~
r,
!r
G
-1 2m
The structure shown in the figure is composed of two light bars and a cable.' Find
the tension in the cable, the external reactions at A and D, and the interaction at
B, when the structure is subjected to the lOO-N load.
f:
~ Cable_
w
J B'll.nd~E
C x
,~' B
1.5m J lOON
1.5 m
Slider
z
: ,
t'
~
to: SOLUTION
['"
F
i r First we shall consider the free-body diagram of the two bars taken together as
shown in the next figure. We observe that, in this free-body diagram, eight
I.I unknown components of reaction appear. Thus we cannot determine all of the
:'.
199
J
y
> / lOON
-1.51 +2) - 2k
eEG = ~=======
Ju .51' + 121' + (2)'
-- = -0.4691 + 0.625) - 0.62sk
Thus from the coefficients of I, ., and k, respectively, in:EF = 0,
Ax - 0.469T ~ 0 11)
A, - 0.62sT + D, ~ 0 (31
Summing moments at A,
~MA = 0
200
"
Holding Equations (11-161 in reserve, we now turn to the free-body diagram
of bar BD. Note that our six equations of equilibrium will involve only four'new
unknowns, because of the special nature of the connection at B.
The geometry here is so simple that it is relatively easy to write out the
equations of equilibrium directly in component form:
B, + SO - 100 = 0 or B, = SO N (81
:1 ;..-- l:Fz = 0 => Dz = a 191
(il (~MBI, = 0
T=~= 160N
0,938
0,938
ISO ) + CD, = 0
( --0,938 - 3(01
CD, = -IS0N. m
(Continued)
201
'.'" ."
J
.;
!
Note that now we have determined the cable tension and the forces and
moments associated with the connections at Band D. We now may return to
Equations I1H31 to obtain the components of reaction at the ball.and.socket
joint. .'
A, - 0.469(1601 ~ 0
A, = 75.0 N
A, + 0.625(1601 + 50 - 100 = 0
A, = -50 N
A, - 0.62511601 + 0 = 0
A, = 100 N
tlsON.m
1 so N
. ----7
x
SON SON
202
,.
)
I
I
E x A M p L E
For the beam of Example 3.6, find the force-couple resultant transmitted at a
cross section 3 feet from the left end.
t=l..r
200
Ib/ft 1600
Ib
I
I
I
. 6ft-+2ft+2ft
SOLUTION
We first separate (cutl the beam at the cross section of interest Ipoint CI and then
sketch the free-body diagram of the material either to the left or to the right of the
cut. Here we choose the material on the left. The free-body diagram is then shown
in the figure, with the dashed 600-lb force representing the resultant of the
'6001b
~
15ft
-+- ~ 15ft~
r~
F
1j
Li
960lb y
L
distributed load over the 3 feet. The 960.1b force at A is the reaction already
determined in Example 3.6. Only a portion (3 feetl of the 200.lb/ft distributed
load is external to the body we have chosen to analyze. The resultant:of that
r distributed loading is 600 pounds as shown on the free-body diagram. For this two-
!, dimensional problem the arrow code indicates that we have chosen to represent
I the force part of the resultant exerted on the material to the left of the cut by the
I material to the right of the cut as .
I FJ + FJ
I
I
et..
so that
:EF, = 0
I
I
! and
+1 ~F, = 0
I (Continued)
203
!
or
F, + 960 - 600 = 0
so that
F, = -360 lb
and
1:Mc = 0
or
M + 1.516001 - 319601 = 0
so that
,
M ~ 1980 Ib-ft
It is instructive to see what would have happened had we chosen instead to I '
apply the equations of equilibrium to the material to the right of the cut. 'the \,
appropriate free-body diagram is shown next. Note the 840-1bright-end reaction
previously found in Example 3.6. Note further that the arrow code and letters
(Fx1 Fy' M) represent automatic satisfaction of the action-reaction principle.
las beforel
and
and
'+) 1:Mc ~ 0
Thus the answers are independent of which: part of the cut body we use to
obtain them.
204
.....
,
.
r
j'
j j
E x A M p L E
For the boom of Example 3.9, find the force-couple resultant transmitted at a
I,
,. cross section 4 feet from the TIght end of the boom.
,
I,
,.
3ft. D
--,
x
loolb
SOLUTION
Isolating the part of the boom to the right of the cross section in question, we
obtain the free.body diagram shown next. We found in Example 3.9 that the force
exerted by the wire is
~ 'CH
T2e2 = T2--
Irc,,1
= 4721-0.7431 + 0.371j - O.S77k)
T1 = 472lb
M, I it C 3ft D
100 Ib
rF = a
IF) + F,l + FJ, + 1-3511 + 17Sj - 263k) + 1001-ji = 0
(Continued)
205
. :
Thus
1: Fx - 351 ~ 0
F, = 351 Ib
J: Fy + 175 - 100 = 0
F, = -75 Ib
k: F, - 263 ~ 0
F, ~ 2631b
~ME = 0
Thus
1: Mx = 0
J: My + 263 ~ 0
My ~ - 263 Ib.ft
k: M, + 175 - 400 = 0
M, = 225 Ib-ft
W ...-!t'~
. l" ,. .
Question 3.13 Why did the force exened by the wireBGon the boom:
appearneither ~n the free~b!Jdydiagram nor~in the equilibrIum equations?
3.159 In Figure P3.159 the force of attraction between a 3.161 Find the weight of IJ for equilibrium of the system
pair of particles is 26 lb. What forces would have to be shown in Figure P3.161.
,applied (if any), and where, for the system to be in equi-
librium'?(No other forces att on the particles.) 3.162 Find, by successively drawing the free-body dia-
grams suggested by I, 2, and 3 in Figure P3.162, the
3.160 Using free-body diagrams, find the forces in the force that the man must exert to hold the weight in
ropes R" R" and R,. (See Figure P3.160.1 equilibrium.
'206
.. ,t. ;,
I
3.4 Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 207
, .
Figure P3.160
x y
Figure P3.159
I \
1\
I I
I I
II f-Q)
I
I I
I I
\ /
' .._--//
Figure P3.162
Figure P3.163
IdJI20N
Figure P3.161
F= R -
( -- 2R
r)
(bJIf R = 10 in., r = 8.5 in., and W ~ 400 lb, how many
pounds are required? ISee Figure P3.164.J Figure P3.164
L.
208 Chapter 3 Analysis of Equilibrium Problems
" .}
"
"1.',
Man CD
e,
W
Figure P3.165
p
Figure P3.167
Figure P3.166
j'
,
: 1:
.~, ~1
3.165 In the block and tackle shown 'in Figure P3.165, a 3.166 In Figure P3.166 what is the force P needed to
single rope passes back and forth over pulleys that are free hold the weight W in equilibrium? Assume that all rope
to rotate within the blocks about axes II and mm in the segments are vertical.
figure. The particular bloc~ and tackle shown has two sc
pulleys in each block. 3.167 In Figure P3.167 what force must the man exert in ea
order to raise the crate of weight W?
a. If the man in the prec~ding problem uses the block
and tackle as indicated,to raise the engine, how much 3.168 Repeat the preceding problem if the weights of the
force must he exert this time? pulleys -A B, C, and 2J are, respectively, W/2, W/S,.
b. What is the ratio of r toR in the preceding problem for W/16, and W/4.
which the force he mus't exert is the same as it is with Ass
3.169 The two painters iii Figure P3.169 are slowly lifted
the block and tackle'
on scaffolds. The first man lifts himself (case aJ. The second 3.1
Assume all rope segments to be vertical. man is lifted by a colleague on the ground lease bJ. Each POrt
., J
__ --i'i
3.4 Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 209
o o
.I 1
'l"
CD @
('J
,.
(b)
Figure P3.169
'-~ ..
,.
I
210 Chapter 3 Analysis of Equilibrium Problems
~.172 The uniform har in jfigure P3.172 weighs 100 lh 3.174 Find the relationship between the load Wand the
and the man 140 lb. Find the tension in the cable for equi- force P for equilibrium of the differential winch sha;wn in [
I.
librium.lean the man exert'this much force?) Figure P3.174. The rope is wrapped around the different. !
,-
r
Figure P3.174
o
~-3ft-1
l.5ft l.5ft
Figure P3.17~
-Scaffold
',. r
3.4 Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 211
22 ft 22 ft---'---- 22h- e
-l
o l 8in
.
A
b.
q
" 1 ",
Figure P3.1 77 Figure P3.178
E:
F
D f
I,
B
A
I,
!' e
II
A e A
Rough surface
iFigure P3.179
a I b.j. a I+.-b_Ta
~ -I, '.
Ij
Figure P3.180
)
212 Chapter 3 Analysis of Equilibrium Problems
Figure P3.182
I-OSm---l
Figure P3.183 Figure P3.184
..~.
3.4 ~ Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 213
Figure P3.187
, ;)1
:1:0pen position
I
."Figure P3.186 .
3~186 Determine the grippirfg forces on (a)the nail in the
rriost closed position of the pliers if F = 20 lb; (b)the pipe
i~ the most -open position of:the pliers if F = 20 lb. (See
,Figure P3, 186.1 ,.
th'e
.
t~e weights or dimensions. Ap
.
s{ichthat it will not turn over.:'(b)Show that if the bottom of
tube is capped, then it will not turn over regardless of
surfac~s are smooth. Figure P3.189
. <,
.,.j
,.. 11 '
214 . Chapter 3 Analysis of Equilibrium Problems
B p
s
~ IX'~64Y~3
300lb
E,
t-
A
x
. '.'
A E,
8ft
Figure P3.194
4ft
Figure P3.192
C~bles
"".
~i'. ~
) .~'~
1m [, \ 1m ",';, I
,
. ~.
O.8m Figure P3.193 ~
lOON
1m
I, ;; 1m
C<ibles Figure P3.195
__ ..-.1
. "-:;:-r-
. 11 ,.
3.4: Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 215
\ ' ,
.,they support a third cylinder C3 of radius R and weight Q. * 3.198 Two small balls .A and B have masses m and 2m,
There is no friction,
,
and the\ tension in the cord is just respectively. (See Figure P3.19S.) They rest on a sniooth
~ufficient to make the contact force between C1 and Cz circular cylinder with a horizontal axis and with radius R.
. zero. Find: They are connected by a thread of length 2R. Find the
a~ The tension in the cord .. angles 01 and 82 between the radii and the vertical line OC
j
b. The force exerted by the groun~ on C1 for equilibrium, as well as the tension in the thread and the
c. The normal force betw~en C1 and C) forces exerted by .A and lIon the cylinder. Assume that
t.he balls are very small and' that the tension is constant.
L~.:(~3.196Five identical smooth: 5-kgcylinders are at rest on a
~,' _,~,
,~.~:/ '300 incline as shown in Fig\ue P3.196. Find the normal
,~;" {~' force exerted by Bon C at A',~ Repeat the problem if there
l':~;~.':"a're100 cylinders instead of five.
t'
.t'.
~\ iii,
-"f." -(:
Figure P3.198
,,'~l ]
~\ :~3.197 Four identicaJ light rods are pinned together to form
'~~;tasquare as shown in Figure :P3.197, and supported by the
~'\four smooth platforms at the corners A, H, C, and D. A
_ . : sQ.loothsphere of radius R (2'R > aJ is then placed on the Figure P3.199
."~:square. Show that the horiz'ontal reaction between two
~'adjacent rods has magnitudeiWa/(Sy2hJ, where h is the
" height of the center of the sphere above the plane of the
square, and W is the weight tif the sphere.
I:)
!
* 3.200 What is the maximum overhang for each identical
c slab shown in Figure P3.2DD so that they are in equilib-
rium? There can be any number of slabs, each of length b.
Hint:' Start at the top instead of the bottom.
'I
\
'I' ".j.
216 Chapter 3 Analysis of Equilibrium Problems
3.201 Two quarter-rings, each of mass rn, are pinned pl., 6 in. _3in._
smoothly together at Q and held in place by the two forces
of magnitude P shown in- Figure P3.201. The plane is -
r------- t---------------,
----------------- ' .
smooth. Find the value of P for equilibrium. ,.A
Figure P3:.201
A (200 N)
p
Figure P3.204(b)
Figure P3.202
'
Compare the mechanical advantage of these simple snips
with the compound snips. Figure P3.206
.,.
3.4 Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 217
ff: ~
~,3.207 In Figure P3.207, the blocks A and Brespectively
weigh 223 Nand 133 N, and the planes are smooth. The
connecting rod is light.(aJ Find the force Pthat will hold the
'System in equilibrium. IbJ Repeat the problem with P
applied instead horizontally to .block A. Figure P3.209
. '
"~.
Figure P3.207
501b
I It
Figure P3.208
..,3.210 In the preceding problem, compute the moment of a 3.213 In Figure P3.2I3 the pulley weighs 151b, the beam
. couple that, when applied to the wheelan the right in the weighs 60 Ib, the man weighs 160 lb, and the system is in
given position, results in equilibrium. equilibrium. Find the force in one of the two ropes at A,
.. 1.-
218 Chapter 3 Analysis of Equilibrium Problems
Dipperstick
-----
G
3ft6in.
39 It
Figure P3.214
"'j ,;
p 15 It
Ilft
7600lb
Figure P3.215
'",.
3.4 Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 219
,.
Figure P3.218
,:J" :1. '
Figure P3.220
'"
,
, 25N
I
1--16 -I:!--16
III Ill-l
A B ;-- ... ,~. ~ -1-
Figure P3.219
25 kN
'~f
i
II
..
I!: E 1 Figure P3.221
," .. 1
220 Chapter 3 Analysis of Equilibrium Problems
8 in .......--.--
t
6em
I
t
25 in.
[' I
r
l
----30 cm----
fI Figure P3.224
75 in.
3.4 Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 221
.,,*, .
30 50~ 3.226 Find the force exerted on member ABeD by the pin
.. C:., em em [-Cord
.~. _..
j.~ D
at B.
J:_C
3.227 The dumptruck in Figure P3.227 is ready to release
a load of gravel. The total weight being hoisted is 15,000 Ib
with mass center at- C. Treating the cylinder rod AE as a
two-force member, find the force in it at the indicated
position.
3.228 Find the force that the bar CE exerts on the bar AF
at C. (See Figure P3.228.1
-40in.----
18 in.
F:igureP3.227
I';
i~ 0.2 m
I,
I IB
-1
C .
F
f-i m-i-2m
I ton 20kgr7J
Figure P3.228 Figure P3.229
.,.i-
222 Chapter 3 Analysis of Equilibrium Prob!ems
3.230 In the frame show~ in Figure P3.230, the members 3.232 A slender, homogeneous, 20-1t rod weighing 64.41b
are pin-connected and their weights can be neglected. The is supported as shown in Figure P3.232. The bars AB and
42 kN force is applied to the pin at C. Find: DE arc of negligible mass. In terms of 0, find the force Pthat
a. The reactions on the frame at A and E must be applied to the right end for equilibrium.
b. The components of th~ forces exerted by the pins at. 3.233 The crane in Figure P3.233 consists of two,trusses,
Band C on member ABC. two cables, and two winches. Cable 1, let out by winch 1 to
3.231 In Figure P3.23} find the reaction onto the frame at lower truss 2, passes over the small pulley at D and is
point F, and the force exerted on the pin at D by the attached to truss 2 at the center of the small pulley at C.
Cable 2, let out by winch 2 attached to truss 2, lowers th'e
member CF.
2000.1b antenna reflecto~ after passing over the pulley at C.
The lengths BD and BC ,are equal, and'the weights of the
4m trusses are to be neglected.
a. Find the tension in cable DC as a function of 8.
b. Find the force exerted by pin B on truss 21 and note
that it is independent of O.
~
f_I
3.234 In Figure P3.234 find the force exerted on ABCD
by the pin at C,
3m
D Cable 1
I
Figure P3.230
~-.
Figure P3.233
F
50 N
-~--3.2m
r-5ft-r-sft-l-IO ft-I
;hi ~ __ .'. -i'".
c
~
,,' .,.
I
3.4 Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 223
3.235 Find the force exerted by the pin at G onto member 3.239 A worker in a "cherry picker" is installing cable
BEG.ISeeFigure P3.235.1 Neglect the weights of the bats, TV equipment. (See Figure P3.239.) If the man plus
.but consider rhe weight of the 200-lb drum ::D. bucket weigh 400 lb and the extendable member CE
weighs 800 lb, find the force in the hydraulic cylinder BD
"3:236 Find the force exerted ~y the pin at C onto member and the pin reactions at C :onto the extendable member
ABC. ISeeFigure P3.236.1 CEo Neglect the weight of BD.
3.237 Repeat the preceding problem if the connections at
A arid B are changed to those s~own in Figure P3.237 -Pin B
is attached to BD and bears against a smooth slot cut in
j; ABC.
:3.238 Repeat Problem 3.236 if the connections at A and B Figure P3.237
are changed to those shown in Figure P3.238. Pin B is
attached to ABC and bears against a smooth slot cut-in BD. A
!--120cm-l.
~Ic D E
90cm '~i
~ 60 em
60 em
'Z A
Figure P3.236
Figure P3.238
IOOOlb 4
3
Figure P3.23S
Figure P3.239
.,,~
~rt':I'r'\'~----------"""-_.=-=.-.-----------------------------------------""
1
1.3m
G I
-1
1.3m
2kNj
A [~ __ m ~ _ il:!=ft
Figure P3.244
i-1-3ft-1
~4ft
4001b
n
15001b
Figure P3.242
I ... 1
..
3.4 Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 225
~I
:
.f
I
J , .
" .. ~.~
Figure P3.246
slightly increased. .
-2ft-I
-a-I- b-
T ~
S
~ciB f2~
Truck
Figure P3.247
H
;: -
,
,A
/
Chain
I
~-lm---lm-
Figure P3.249
/[ l'
.
S20N
226 Chapter 3 Analysis of Equilibrium Problems
3..250 When running, the clothes dryer drum 2>is turned 7 in, 8 in.
2 in.--- -------~
by means of a belt that passe$ around a motor pulley mas
indicated in Figure P3.2SD., The belt also passes under an rc-., 11 A B
. 'l:.t.,
~11
idler pulley .!J that is pinned tQ the bracket 8. The bracket is
I ~
supported by the floor 'J of t~e dryer, which bears against
6 in.
in.; ..
~.~...'
extensions of I] that fit through 'slots in :J. If the force at A is 9 '!...
vertical, and if that at B has both x and y components, find
"thesereaction forces when the dryer is turned off, if the belt
tension then is I lb. Neglect the weights of Band .!J, and 81n(:I
I
I
7;n~1 rn
t ... _~.~~_
note that this means you are actually finding the dif-
ferences between the reactions with and without the belt. c
Cable I
q~---~
~ !
.;> I
I
2~
Figure P3.252
Figure P3.250
",.'
I
I
I
I
I
..
.j'
~' "
Find the magnitude of the force of interaction
-'f:~1'3'.255 which they rest weighs 800 N with mass center at C3, and
is supported by two pairs'of crossbars (one pair shownJ ..
""between the two bars of Figure P3.255.
Neglecting the weights of the crossbars, find the mag-
nitude of the force transmitted by the pin that connects
these two members at F. Assume that half the load is
carried by each pair of crossbars.
T
Figure P3.258 and compute:
a. The force exerted by the pin at C on member ACD
6 It
b. The reactions at A and B.
Figure P3.255
!- :
'"
.~ ~ 30
cm
.. 3.256 Find the pin reactions at B on member AB.
Pin
Figure P3.258
Figure P3.256
3001b
8ft
" 3.257 The blocks in Figure P3,257 each weigh 1250 N, a. The reactions onto the frame members atA and E
..,l. with
centers of mass at C1 and:Cz. The (shaded) platform on b. The force exerted on BDF at D by the pin that joins
the two members BDF and CDE to the pulley there.
5m
3m
"
Cable
5
/'
12
2,15 m F
I 2001b
t 2.25 m 21t-1
_I E
J
228 Chapter 3 Analysis of Equilibrium Problems
3.260 Find the reactions atA and B in Figure P3.260 when 3.263 In Figure P3.263 determine the components of the
the horizontal force P is applied to the three-hinged arch. pin force at Can memberA. A ; I'!,.
Neglect the weight of the arch. '1
'~
1,1
:!
- Pin "1
"
p c /
1'10
I
I
~
Figure P3.26~
1m
Figure P3.261
Figure P3.264
I kN
.;
, , 3.265 In Figure P3.265 :what is the compressive force
3.262 The length of the connecting rod Ie of the steam exerted by the nutcracker ,on the pecan? What is the force
engine is 5 ft and its crank (, to which it is pinned at B, has
l in the link AB?
length 10 in. ISee Figure 1>3.262.) The front and back
pressures on either side of the piston are.indicated. Find the .~
A B
force in. member R, neglec'ting friction and assuming all " ----r
bodies to be in equilibrium. Hint: Note that C carries a
t
moment and is not a two-force member!
1 B
"
Piston
p. J 5 in.
p,-
100 psi
__
1 is;;
20lb 201b
Figure P3.262 Figure P3.265
'oj "
I
~
3.4 Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 229
x----
d
F
5m~25m4
w '.'''''''0
. ~;.
',";
;,
i'
'-1' 200N
~:i:I'gure P3.266 Figure P3.267
{~.i
.>~.
Figure P3.268
~~.I,. ..,.1- J
230 Chapter 3 Analysis of Equilibrium Problems
3.273 The two rods 1]1 and 1]2 are pinned as shown, and 1]2 vertical around the azimuth-bearing and (b) turning around
is fit (with friction) through a sleeve in body 1]31 which is a horizontal (elevation) axis 'normal to the page throu'gh a
pinned smoothly to the grou:~d. The 12N . em couple is about 'two elevation bearings. This is called an elev'ation
applied to lJ1 as shown in FigureP3.2 73. Find the resultant over azimuth positioner. Sometimes there is yet another
of the force system exerted by 1S3 on 82 expressed at Q as
I azimuth rotation (for polarizationj at the top.) If the tooth
a normal force, friction force, and a couple. force F from the pinion onto one of two elevation sector
gears is as shown, find the magnitude of F. Neglect the
weight of the elevation assembly, which is in equilibrium,
and assume just one tooth on each side is in contact.
Figure P3.273
_---2 ft---~ I
3.274 In Figure P3.274, the positioner supports a large
Figure P3.275
paraboloidal antenna that is not shown. The antenna
exerts the forces and couple (caused by wind and weight) 3.276 Repeat the preceding problem if the 60 angle is
shown at Q onto the positioner. (For infonnation's sake, changed to 90.
the ;antenna is "positioned" by la) turning about the
3.277 Figure P3.277 illustrates a jib crane. Its beam
weighs 600 lb and is 10 It in length. The weight of the
suspended object is 400 lb. Plot the tension in the upper
cable as a function of distance d, and find the pin reaction
at Bwhen d = 6 ft.
Figure P3.277
Elevation
sector gear
Azimuth
bearing -- 3.278 On a ten-speed bicycle, measure the following
lengths (shown in Figure P3.278J:
R = wheel radiusj
Figure P3.274 R J = radius to the middle of the pedal.
..../-
3A , Applications of the Equations of Equilibrium to Interacting BOdi~'Sor Parts of a Structure 231
\.. here to be constant for all gear combinations, with the moves the bike RRj
!I pedal in the same position (s.hown)for each. Show, using
Thus the driving force I is largest when i~";Riis largest, i,e.,
, ,I appropriate free-body diagrams, that:
the "easiest" gear ratio iSIs/RI. Make a table ordering the
f.
,
I 1. TR; = FfRf (where Rj is RI or R2, depending on ratios from the easiest to the "hardest," II / R2 Then re-do
the gear being used); the chan by using ratios of numbers of teeth and compare.
loeally, ,he answers should be ,he same. Why should ,hey?
and
Figure P3.278
.c_ r 0
In vertical plane through centers of .A and 2J,
~'-."~
! 1
232 Chapter 3 Analysis of Equilibrium Problems
Top view
p Side view
Figure P3.280
3.2Bf The three rods AB, DB, and CB (Figure P3.281J are
pinned together at B, and are also joined by the three
horizontal bracing members that are pinned to thein at F,
G, and E. Find the forces in the bracing members if a weight
of 1200 Ib is hung from B. Treat the pins as ball-and-socket
connections. The floor is smooth.
2001b
Motor shaft
~lb
2oo1b
Bracket 100 Ib
\ Belt
Figure P3.282
.. -.~..
1
."r"'. _-'ii'
! 3.4 Applications of the Equations of Equilibrium to Interacting Bodies or Parts of a Structure 233
lx, y, z) are
fixed in 83
Q
Figure P3.283
3.283 So as not to interfere with other bodies, an antenna If the reflector is modeled as indicated by a simple disk,
was designed and built with an offset axis as shown in determine the reactions onto /56 at E, and onto /55 at 0, if
Figure P3.283. The antenna is composed of a 12-ft, 1200-1h the system is in equilibrium in the given position. Neglect
p:arabolic reflector 1.11, a counterweight B2, a reflector sup- the weights of B3 and 85,
port structure 8) and a positioner. The positioner con-
sists of III a pedestal 11, that is fixed to the ground; 12)an * 3.284 In Figure P3.284 a quarter-ring is formed by two
azimuth bearing at a and ring gear by means of which the sections lAB and BCI of a circular bar heing connected by a
housing B5 is made to rotate about the venicalj and 13)an ball joint at B. The other ends are fixed to the reference
elevation torque motor at "E that rotates the support frame, also hy hall joints, at A and C. The three cahles then
structure 1]3 with respect Ito 85, The purpose of the hold the bar in the xz plane as shown. The radius R = 2 m,
counterweight is to place the center of gravity of the and the ring weighs ION/in. Find the cable tensions.
combined body 86(B1 + 82 + 03! on its elevation axis (x).
Figure P3.284
i". ., J
234 Chapter 3 Analysis of Equilibrium Problems
.:1elow of the pin at A, sum moments about B, and obtain Use the computer to generate data for a plot of T /Wversus
'/ an equilibrium equation, free of the boom compression C. o for the range a < 0 < 7L
Solve the equation for the ratio T/W as a function only of
, the angles 0, </>, and IjJ in the figure. Prove that </> ~ 012 and
that
5[1 - 2 cos 01
sin IjJ and
.J125 - 100 cos 0
IO sin 0
cos IjJ
.J125 - 100 cos O'
I!,
Q3.10 Y~s.
F Q3.11 LME = 0 = F ~ O}
N LFx = 0 = Ex ~ 0 See the figure at the left.
LF, = 0 = N = Ey
Q3.12 It is loaded at more than two points.
Q3.13 That force is not acting on the material that has been isolated here (free-body
diagram) for analysis.
II,
I
i
I
Structural Applications
I TRUSSES
4.1 Introduction
4.2 The Method of Joints lor Pins)
4.3 Shortcuts and Rigidity/Determinacy Results
4.4 The Method of Sections
4.S Space Trusses
II SYSTEMS CONTAINING MULTIFORC.E MEMBERS
237
2'38 Chap'ter4 Structural Applications
This chapter is divided into three parts. In the first part, we shall study
the truss, in which the internal force system for each member is
representable as a simple axial force. In the second, we shall examine the
internal force system for more complicated structures (beams and frames) t
in wJlich the internal system contains shear force and bending moment in "i'
addition to axial force. We shall then end the chapter with a study of
cables. The distinguishing feature of this chapter is that sections will now
be routinely cut through the members in order to examine the forces
within them. In Chapter 3, while we often separated parts of a multi-
membered structure, we did not often have to slice through the
individual members to form free-body diagrams, but rather just removed
the pins in most cases. Therefore the key word in this chapter is internal.
II Trusses
.......
4. 1 Introduction
We define a tmss to be an idealized structure consisting of straight and
.
'I.
1#,
i ~1
slender bars, each of which is pinned to the rest of the structure and/or
to the ground at its two endpoints by frictionless pins (or, in three-
dimensional trusses, by ball-and-socket joints). In addition, the structure
is loaded only by forces at such pins. Thus trusses are composed entirely
of two-force members. See the examples in Figure 4. I .
.,. ...
lr:
I- '.
Temporary support for new highways.
"
Conveyors.
I,
~
240 Chapter 4 Structur~1Applications
,
,I ~
: .~
Electric power transmission towers. Construction cranes.
1
f,
Derricks. Bridges.
. 4.1 Introduction 241
~~-
,4 .. King Post ~
~
~. Howe ~
~h~' MonO-Pile
~.
KK, Double Howe
~
......-~~
Multi.Panet W. ~
~~
f;W
.
~
~ ~ Cambered
Invened
Umbrella
,jZSZI ISZS1
~.
Cathedral
;;;--I~hd'1 "
Plte e F at
%
Floor Truss
' %
should be mentioned that the names of the trusses may vary from one
manufacturer to another. Each type has its own special use and span ,I
capability.
_ ..
~: } -,~
... ..
.Questio;i 4;1 Three"f the entries'in Figure 4:2,if'Iililde only of '. '
tp
tWb-forcemeinbers; would not be able maintain their shapes if'~
detached from their supports. Which or.es are they?' .. ' .
If the members of the truss all lie in a plane las in Figure 4.llall, then
we have a "plane truss" i if not IFigure 4.11b1Lthe truss is called a "space.
truss." We' shall introduce the methods of truss analysis with plane
trusses, then consider the more complex space trusses later in the section.
By its definition, a truss is made up only of two-force members, and
the force distribution across any cross section of a'member has a very.
simple resultant. To determine it, we note, recalling the discussion of
two-force members in Chapter 3, that a truss member carries only a pair
of equal magnitude, oppositely directed, forces along its length Isee
Figure 4.3).
Therefore, if we cut a section through the respective members
shown in Figure 4.3, we obtain the free-body diagrams shown in
Figure 4.4.
or
Figure 4.3
(,j (b)
Figure 4.4
4.1 Introduction 243
For example, the truss shown in Figure 4.6 has seven members that,
if the truss is solved, t carry the forces indicated in Figure 4.7 lall in kips,
or "kilo-pounds"; I kip = I k = 1000 lb}. The forces exerted on the
various pins are also shown.
We. shall return to that truss in Example 4.1 and actually compute
the indicated member forces after more preliminary discussion.
Though truss members are always assumed to be pinned at their
ends, in reality this is seldom the case. The members of toof trusses and
bridges, for example, are normally connected by means of a plate to which
the members are joined by nails, rivets, pins, welds, or bolts at a number
of points, as suggested in Figure 4.8.
Although it may seem like a bad assumption to replace a plate
and a large number of bolts with a single pin, this is not the case. If the
"'Figure 4.5 refers to a member of a plane truss. If the member is from a space truss,
then equilibrium would require that two shear forces vanish, that two bending moments
and a twisting couple also vanish, and that, again, A = P.
t Meaning all the forces in its members have been found.
244 Chapter 4 Structural Applications
199/ \
~~164
0.74
'1.64
A
3.03
2
3.03
"
.. -_._~,
:~7-':>---
182
0.74 3.03
199/ ~03
2~3.19
LS8
3.19+182 182 - l'
2.42
Figure 4.7 (All forces in kips}
I
1
r we can at the outset find at least one pin on which only two unknown
I
I member forces act; when this is the case, * both these forces may be found.
from LFx = 0 and LF,. = O. After doing so, we repeat the procedure at
another joint and thus work our way into and through the truss.
F"
B
Fu
~
3k 2.42 k
(a) (b)
Figure 4.9
I ,Pin C
free-body diagram above [Figure 4.9(bll of the pin at point B of Fig-
ure 4.9Ial, where the 2.42-kip force is an already determined roller reac-
tion. Now, when we sketch a force such as FeB! pushing on the pin of
Fc~ a joint, we are assuming the member which is doing the pushing (CB
in this case) to be in compression (<<]1. This is because if the member
pushes on the pin, then by action and reaction, the pin pushes back,
compressing the member. Thus the four forces associated with mem-
ber CB (the two it exerts, and the two exerted on itl are in the direc-
tions shown in Figure 4. 10 if member CB turns out to be in compression.
lIn this particular case, we are actually sure that CB is in compression
because in the free-body diagram of joint B, only member CB can have
a Ivertical) component to balance the upward roller reaction of 2.42 kips,
FC~. pinB and the vertical component of FCB onto the pin at B can be downward
Figure 4.10 only if CB is in compression.)
On the other hand, if we draw a force such as FEB pulling on a pin;as in
Figure 4.9(b), then we are assuming the member IEB here) to be in tension
IQJ). Again the reason is action and reaction. If the member pulls on the
pin, the pin likewise pulls back on the member. (See Figure 4. I I.) We are
also sure here that EB is in tension, once we have seen that CB pushes
down and to the right onto pin B. In the free-body diagram of pin B
pin E pin B
- -4!'iIil iiIii lilmll::;~--
FEll FEB Ft8 FEB
Figure 4.11
*This always happens with "simple plane trusses," as we shall see later.
fWe attach no meaning to the order of the subscripts on the force; thus FCB = FBC'
1
'246 Chapter4 StructuralApplications
IFigure 4.9(bJl, only FE. can balance the horizontal component of Fe.,
which is to the right.
Sometimes, however, we are not certain of the direction of a force.
(For example, does it push, or pull, on a pin 11In such a case, we simply,.
guess one or the other, andjf the solutionJor the force_F_turns out in the _ .::
algebraic solution to be negative, this means the bar is in tension if we ~
"assumed" compression, and vice.versa.* For example, suppose we .'
assumed that member AB was in compression and later found FA. ~
- 300 lb. It is common to then communicate that the force in AB is
tensile by writing FA. ~ 300 Ib CD. This second use of the symbol FA. is
not an algebraic statement, but merely a shorthand means of reporting
that the force in AB has been found to be tensile with magnitude 300 lb.
We are now ready for our first example, in which we shall solve (for
all the forces in the members of) the truss of Figure 4.9Ial. ~;.
-I 1
4ft 4ft
lA _I A
F" t FA,.
Figure 1
I
.$O.LU.TI.ON
We begin by finding the reactions at A and B, which are the forces exert~d on the
truss by its supports. Using the free-body diagram of the overall structure, ~e
(Continued)
12
Then,
F: e' 2.42k
I , ~
, I,
~-
+1 LF, ~ 0 ~ FA, + Fie - I k - 3k
I
, so that the vertical component of' the pin reaction is
t FA, = 1.58 k
i
t, ~, ct... LFx=0=2k-FAx=FAx=2k
t
!
r
F" t 2.42 k
We are now ready to use the method of joints. We use the free-body diagram
[Figure 4.9(bll discussed earlier and repeated in Figure 2. We obtain the forces FCB
I.
(
. Figure 2
and FEB by satisfying the equilibrium equations of the pin:
r
, 5
;;.
FCB = -(2.421 = 3.03 k lor FCB = 3.03 k ~I
4
~, Because FCB came out positive, the bar CB is in compression as assumed. Then,
3
~ LFx = 0 = - FCB - FEB
5
FCB = 3.03 4~ k or
then this is OK if what is meant is the force exerted by CB onto the pin at B, and if
such is stated clearly. But if this force vector was used as the force exerted by the
pin onto CB at B, or as the force exerted onto the pin at C by CB, then the result
would be 1800 away from the correct direction. Thereforel a ~ beside the
answer "FCB = 3.03 kips/! removes all this uncertainty.
(Continued)
247
FeD C Next we analyze the pin at C. Its free-body diagram is shown in Figure 3.
2k
Enforcing the equilibrium of joint C,
-7c m
3.03 k
-"- };Fx ~ 0 ~ 2 - FeD - 303m E
',& .' ',_ ,'" ',' .' < ."', :', " }':;"; ':.,'"'", _ ,if "'.'~", . "~>{-, /" , .' .:.: .:
'~ .estiori 4;3 . Whyisthe'.3.03kip force asting upwardj'fidtotheleft ..
:'~onpi:nci~Figure3! '. ' /"" :... ," ,~:,' "'-' ,;',. ",
,i,
(, , ,~
;
Question 4.4 Why is the ~itectio: ass~ci1ted with FCE in the dia~:m:.-:,
j
.bqun"dto be,correc't here, and not "just a gues's? '. .
:. ' 11, : I
This time, we have encountered an incorrect guess for the first time, By "
the way we drew the force FCD in Figure 3, we had "assumed" member CD to
1.64 be in tension. We see now that it is in compression, as evidenced by the solution
FeD = - 1.64 k. Thus, the force in CD is expressed as 1.64 k <g.
We next examine pin D. Assuming members DA and DE to be in com-
pression yields the free-body diagram in Figure 4.
Figure 4
(Cominued)
248
Writing the equilibrium equations,
or
5
FDA + FDE = -111 = 125 k
4
Subtracting,
FDE = 0.74 k QJ
At the pin at A in Figure 5 there is now but one unknown, which is the force
Z
.99k4~
in AE. Checking the equilibrium in the vertical direction, we see that
3
2k~, __ A +1 ~F, = 158 - 199(~) = -0.01 ~ a
FA'
t 1.58 k
the difference being due to numerical roundoff. ]0 the x direction,
Figure 5
-L. Hx = a = FA' - 2 - 199(~)
.,'" . In :'""
tension; thus, they each pull on the pin at E. Checking the equilibrium of the pin,
we see that.
249
;250 Chapter 4 Structural Applications
In the preceding example, the first free-body diagram was of the pin
.!\t
F" '
. 2.42 kiP~"
at B. ISeeFigure 4.12.) It could equally well have been drawn as shown in'
Figure 4.13, which is a free-body diagram of the connection, plusshon,
cut lengths of members CB and EB. With this approach, one sees more
clearly the tension or compression in the bars. '. _.-. _.
Figure 4.12
- F"
2.42 kips In Example 4. I the reader may have noticed that no member weights
Figure 4.13 were considered. If a structure is to be' analyzed as a truss, then, ,by
definition, its members can be loaded only by forces at their pinned ends.
Weights of tniss members will be neglected in the truss analyses in this
book.
In our second example, we shall not explain each step in quite as
much detaiL
",
E x A M p L E
,
SOLUTION
B We calculate the reactions, but only for use at tlte end in checking our solution.
We use the overall free-body diagram:
(Continued)
....:!:.... LFx = a = FD...
Thus the pin reaction is 500 lb l. We now use the method of -joints-to determine ._. _.
the forces in the members. From a free-body diagram of pin C, we have
(Note that in finding FeD or FBC' we did not need the reactions. J Next, from a free-
body diagram of pin B,
2
B LF, ~ 0 = FA' .j5 - 400 = FA' = 200.j5lb lor 200.j51b ~)
F" /O_4001b
~ll
2 * FaD
or
A L .
2
FAD
. :l:F, = 0 =
2
-200.j5 .j5 + FAD = FAD = 400 Ib
lor FAD.= 400 Ib (DI
200 Ib t and for a check, using the precalculated 200-1b roller reaction,
I
LF,~ 200 - 200.j5 -::rs = 0 ,/ ,.
This completes the solution of the truss. As in our other example, though, we can
check our results at the remaining joint D. Applying the now-known member
forces and reactions to the pin, we get the free-body diagram and the following
equations:
5001b
251
252 Chapter 4 Structural Applications
~<
Because of the way its members are loaded, a truss is an extremely. -,l
efficient, lightweight structure. To emphasize this idea; we encourage
you to thInk about the dIfference between the weIghts WI and W2 that
could be safely supported by a yardstick In the two manners shown in ,"
:1 ;:'i~_
'. .FlgureA.14. In the diagram at the left, the membefIs loaded as It would be .1",.
In a truss i at the nght, the member IS a beam and 18 not a two-force
member because the reaction at the wall Includes a couple. .
~
i
We shall work through one more plane truss example with the ;~.
method of joints in the next section, after first discussing some shortcuts !Ii
that sometimes make truss analysis easier. ~
t!
!~
:1:~I ,:'
..
.11 \
4.7. D -j~'- '\
,;
200 Ib
I kip I kip :~;3~
.,,;. ii
Figure P4.2 3 It
, (. 1
Figure P4.6
E
3ft
750lb
.
~I >. I'
;\
;i:: t
,
4.3 B 'C D
F
B .--SOOlb
A
~
21b 31b "iFigure P4.7
F,igure P4.3
4.8 E Pulley,
radius 1 ft
String
A
100 Ib
I
I
"
200 Ib/ft
Figure P4.8
r
!I
D
*.4.9 3m c
: 125N
1
Cables (unloaded when
tr~ss is free of force)
B 8('
calmot support compression.
I, 8 It
Figure P4.11
C 1
Figure P4.9
-I
'. 4,10 In Figure P4, 10 the hexagon ABCDEF of six uniform 8ft
pinned rods AB, BC, CD, DE, EF, and FA of equal lengths
ahd weights W, is stiffened by light rods AC, CE, and EA
ahd suspended by the string ~t A. Find the tension in AC,
_I
a'hd then the upward force that must be applied at D to -6ft-
"
reduce the force in AC to ze~o.
4.11 Members AE and EQ are pinned together as shown in Figure P4.12. Note that the external reactions are indeter-
Figure P4.11 to form a billboJrd. It is subjected to the given minate and cannot be found by statics alone.
distributed wind load. Find the forces in each of the two-
4.13 Find the forces in truss membets AB, BR, and OR '
QTce members. shown in Figure P4.13. Note that the exteI?al reactions are
4.12 Find the force in me~ber BD of the truss shown in indeterminate and cannot be found by statics alone.
7000 lb
8ft
5000lb .'
8ft
:1
1S ft
1500 It! I 3 it l
T
'8 ft
6 ft 1 3000 Ib
E1 3ftl
'20001b
4.14 The truss in Figure P4.14 is pin.connected and is 200lb 400lb 300lb
supponed by the pin at A, and by the cable attached at B
and C. The cable passes over a pulley that is connected to D
the reference frame by a ~mooth pin. Neglecting the
Weights of the truss member~, find the force in RD.
F
F E ~
Figure P4.17
. '~cablc
D
1
51t
3001b 4.1" Find the force in member CG of the truss.
. j
CI~2.5 It
E
1000lb
Figure P4.14
I B
T
lIn A
..
Figure P4.15
........
_ 15"
Figure P4.18
shown in Figure P4.16 if a ~ 4 ft, b = 8 ft, and c =
d =3 ft.
4.19 Find the forces in members AB, AF, AG, and CD of
p the truss shown in Figure P4.19.
"r,-eL.I
D
I 3m
Figure P4.16 L
F
4.17 Find the forces in all members of the truss shown in
Figure P4.17. Figure P4.19
4.3 Shortcuts and Rigidity jDeterminacy Results 255
!
I
3000lb
Figure 4.15
u
Thus AE is a "zero-force member" of the truss. In general, this only
Figure 4.16 happens when there is no external loading at the pin with a component.
along the direction of the bar (such as AEI that is being examined for a
possible zero value. For example, at B (Figure 4.171 we have only BE able
to carry a force normal to DBF. This time, however, this normal
component balances the component of the 200.1b external force in that
"".. ~. ,!" .... - . , ..
200lb
Figure 4.17
256 Chapter 4 Structural Applications
I
F" direction: '~
v
LF. = 0 = 200(~) - FBEcos 30.5'
Even though FBE if' 0 in this case, its value is nonetheless determined
ftom a single equation, which is still a helP,; ,,',,',' , ' ~J;1
~/~, "',!
Figure 4.18 . Question 4.7 Give reasons why a zero-force member like AE In ,,\l}, "I
Figure 4.16 i~ still an impoitanipart ofihe truss even ifit isn't i1 '.
carrying any load. ':" , ", .' "rq;
c ',. ~
~~
A second shortcut in truss analysis arises in a situation where four ill
,'!
members that are lined up in pairs as indicated in Figure 4.18 meet at a
pin. If there are no other members or external forces at that joint, then ~cf'
we see from Figure 4.18 that the forces FA, and FA, are equal, from
the equation LF. = 0 applied to the ftee body shown. In the same way,
LF. = 0 gives FB, = FB,.
A third shortcut arises when two non-collinear members are joined
~I
'h:, ,(
"
at a pin where no other bar or external force appears Isee Figure 4.191. At :~l.1:.:
~,
pin B the equilibrium equations, written with the help of the free-body
n~
u diagram, show that both FBA and FBC are zero:
LF. = 0 = -FBc cos (} :If Ii
FBC = 0 l~
.,
Figure 4.19
LF. = 0 = -FBA cos fJ
I
!~
E x A M p L E
Find the forces in the 'members of the truss.
'II '~ I!
~ ,~
t~
3000 N 5000 N 6000 N t~
~; .;:,
"", 'j~
A B
?
(Continued)
SOLUTION
We shall retain four digits in this example fornumerical checking purposes. Two
of the answers are known by inspection:
j:
'j
1. FBF = a, by considering ~Fy = a at joint F. .
2. Fn; = 5000 N cg, by considering 'f.Fy := a ~t joint ~.
In a simple truss such as this one, as we shall see later in general, we can
always find a joint where only two unknown bar forces act. Here, it is joint D
shown in the illustration.
6000 N 6000 N
_FCD~D or D
I
7 x
or
FCD = 8000 N lor FCD ~ 8000 N GJI
Next, we isolate joint C:
5000 N
"
c
I 8000N (note pulls on node
C since tensile)
,~
We then use joint E because at present B has three unknown forces acting
on it.
E (Contj~ued)
2S7
.' ." . .... . .' . , .'
,..; Questi~n 4.8 In ,th~s'ease/ we kno~ahea~ of,:ti.me thaf FBE is"'@-',and .,.
FFE is@. Why? ; . ,
3OO0N By inspection of joint F, the force in GF is the same as FE. This is because no
other horizontal forces act on the pin at F, so that GF and FE have to equilibrate
each other there. Thus,
BODO N
FGF = 22,660 N lor FGF ~ 22,660 N @J
zero
+t LFy = 0 ::::> Ay = 0
--_..t1Lt22
i,. LFx ~ 0 = Gx - 22,660 - 23,330(~)
660 N Gx = 41,320N
G, G, ' ,
+1 LF, = 0 ~ Gy - 23,330G)
G, ~ 14,000 N
(Continued)
258
I
)
tr
Note that the pin at G actually feels the vector sum of Gx and G}. in shear;
that is, the clevis exerts on it the force
Back-checking with the overall free-body diagram shown next, we see that
our calculations look correct.. -... .-.... .._.'.
A
41,320 N
;,/
,/
//1
,
I
1
"
,
..
,, .
,,
I
-t
41,320 N
G /
14,000 N
=-20N'm
(differing from zero due to rounding to four digits)
Note from the final figure that when considering the entire "overall" truss as a
free-body diagram, one need not take time to draw in all the dashed internal
members; the outside profile is sufficient unless there are forces applied at
"internal" joints. We must, of course, remember that all the elements of the
truss are actually being included.
;
259
-------------------------------------------------------., ,
!
D
p=3+!
m=3+2
-----~
A
B
C
Repeating this procedure once more, we obtain a truss similar to that of
Figure 4.6:
+ +
Li
./, p = 3 ! I 5
I
,,
I m=3+2+2=7
B
For a plane truss constructed in this way (and they often arej, the number
of pins (jointsl and the number of members are related by
m = 3 + 2(p- 3j = 2p - 3
a relation we have seen before. For the last truss, m 2(5j - 3 = 7. A
plane truss constructed in the above manner is called a simple truss. If a
simple truss is supported with a pin and roller (ortheir equivalent),so as to
satisfy overall equilibrium for any loading, it will be a rigid, staple,
I
determinate structure. Note in the bottom figure at the left that the sim-
ple plane truss need not be made up of a series of connected triangles
(though it often is). Note also that in a simple plane truss, we can always
find at least one joint where there are only two unknown member forces.
As we have already seen, this is a natural starting place for solving such a
truss by the method of joints.
It is important to note that the condition m = 2p - 3 is not i
generally either sufficient or necessary for a non-simple plane truss to be
rigid and statically determinate. For example, the (silly) truss shown in
4.3 Shortcutsand Rigidity/Determinacy Results 261
Figure 4.22 has m = 2p - 3 but is not rigid. The truss shown in Fig-
ure 4.23, however, has m # 2p - 3 but is, while not rigid, both stable
and statically determinate. (Note the two support pins!)
There are also well-known and commonly used plane trusses that
with rhree determinate support reactions are both rigid and statically
determinate but not simple (buildable from, a triangle by successively
adding two new members and one new pin at a timel. One such truss is
shown in Figure 4.24. Note again that the equation m = 2p - 3 does
not guarantee a truss to be simple.
and
2p - 3 = 2(PABC + PBDE - II - 3
= 13 + mABel + (3 + mBDE) - 2 - 3
or
2p - 3 = m
J
, flo
Thus m = 2p - 3 even though las the reader may wish to show) the
compound truss is itself not simple. With proper SUPPOTtreactions such as
a pin and a roller, a compound truss, like the simple trusses of which it is
made, will be rigid (non-collapsible upon release from its SUPPOTts!and
- statically determinate ..
E
20 kips 20 kips 20 kips 20 kips
Six panels at 8.h
spans
1000 Ib Figure P4.23
Figure P4.20
'4.21 Find the forces in all' membe-rsof the truss shown in 4.24 Find the forces in members AB, BH, Be, and DF of
FigureP4.21. the truss shown in Figure P4.24.
1000 Ib/ft
B
A I
1--8h--.sh--8ft-
5 kips
Figure P4.21
Figure P4.24
Q
I
A
E G p
s
~ C K M R
Figure P4.25
F,igure P4.22
4:.23 Find the forces in members I, 2, 3, 4, and 5 of the 4.26 Find the force in each of the members of.the truss in
truss shown in Figure P4.23. Figure P4.26.
, .
.,
12 ft----
4.27 Show with a series ofsketches that the K.truss shown B B'
:\ in Figure P4.27 is a simple truss.
PI pins
4.28 Show that the Baltimore truss in Figure P4.28 is not a
i, mt members
simple truss, even though m= 2p - 3.
C
.... _-- C'
~ 4.29 Show that if two simple trusses are joined to form a
Figure P4.29
compound truss by simply bringing two joints together as
I:
shown in Figure P4.29 and orhitting bar B'C', the resulting
I, truss will have m = 2p - 3. PI pins
i,,.
II'
I
~ = 2p - 3 "forthis compound truss. Figure P4.30
,I
'.
il
"
-AIllIIIIIIIII4.4 The Method of Sections
15m 1.5m
1-1~3m-I~1 D
I BI
4m
I t
/3 m
I JA
IkN 1.5 kN 3kN
Figure 4.25
.,
A much quicker way to determine FGH is to-use the method 01
sections, which will be described in the example to follow. In this
method we cut the truss into two separate sections. One of the cut
1
members is the one whose force we seek. This force thus appears as an
external force on each of the two "halves" of the cut ~ss. If only three
members have been cut and the external reactions are(known, then the
three equilibrium equations for either "half" will yield the desired
member force. Sometimes we can find it by just summing moments about
the point of intersection lif there is onel of the other unknown forces; this
is the case in the following example. .
E x A M p L E 4.4~.
Determine the force in member GH of the truss shown in Figure 1.
1.5m 1.5m
- 3 ffi_--.....
C D 2kN
.:I~L B
C D
I \F D,
3m Foe
j A F
~t A, I kN
H
1.5 kN
G
tR -r.-t
A
H
FCH FCIl
1~3m-1--3m_1 3kN
A,
IkN 1.5 kN 3kN
iFigure 1 Figure 2
SOL UTI 0 N:
. II~
...,i'.
Is
In the previous two figures, we have divided the truss into two sections. In each ;i
section one of the unknown forces exposed by the cut is the desired FGH. :il',..
(Continued) i ~.
\. 1 ;\1.'
As we mentioned (following Example 4.1), we can think of the forces of the
cut members in either of the ways shown in .the twO sketches:
or
The three bars DE, DG, and GH have been removed and The bars are still there, but they are each cut in two. Thus
replaced by the forces they exert on their respective pins. their internal (axiall forces become exposed and are
external to the separate sections, each of which is in
equilibrium alone.
- (3 kNII9 ml - (2 kNII4 ml
47
R = - = 3.92 kN
12
r
We are ready to use one of the cut sections of.Figure 2 to find FGH We see
that if we use the section at the right and simply equate the sum of the moments
about D to zero, we shall find the desired force in a single step. This is because
r the other two unknown forces FDa and FDE both pass through point D, and thus the
only unknown appearing in the moment equation will be the desired FGH:
I
! L 3 kN
3m
~J
R ~ 3.92 kN
"+) 1:MD =
FGH
0 = -FGH(4
= 3.29 kN
ml - (3 kNII1.5 ml + (3.92 kN1I4.5 ml
(The force is tensile because it was drawn that way and the scalar FGII turned out
to be positive in the solution.l
1.5m
!----c3m~l- .~. Note that if we were looking for FDEi the same cut section could be used, and
the summation of moments about G would give that force, again in one step,(Le.,
one equation in the single desired unknownj*:
*We could, once FGH has been found, solve for FDE,andFOG by 'LF;< = 0 together with
'LF,. =
O. But 'LMG = 0 gives FDE in one equation, even if FGH has not been previously
determined. Thus errors we may have made in FGn will not propagate into our solution for
FDE
i~
265
(The force is compressive because it was drawn that way and the scalar FDE turned
out positive in the solution.)
In the LMG = 0 equation, note that the force in DE was resolved into its tv{o :/
components at E. The horizontal component, FOE(3/.jlOL has a moment arm (or t
perpendicular distance) from G of 3 ffi. The vertical component, FOE! I/ .jlO), has
a moment arm of 1.5 m. The reader should note that if the point Q in the sketch_at.,.....
the left is used, then the vertical component of FOE has no moment about G and
the computation is shortened to
Im-l
I
T FCH G
F
p ...
3kN 3.92 kN
x
,
.1
266
-,...... '~.
.J
r
~I
and
The reader is encouraged to find the three forces FDE1 FDG1 and FGlI using the
left section of Figure 2, after determining Ax and Ay from the equilibrium
equations on the overall free-body diagram. The answers for the three forces
should, of course, agree with those found above.
t
." _ ,. '_'" . . '. .J ... -..~-J,.:.. ',"_:" ',_,_" /1
Questioll"'.1!l Why would'a seGtionalGut that onli'wentpartly~'
,I thtougha'russ iLe., didn't dl;ideibntp two part:sj".6e1iselessl,
" ...,:_. ," ".--,;<~: .. ~:- .. ,' .. ' .,~"J;-',_:',
1
I:
!!
E F
10k
E x A M p L E 4.5 ......
Find the force in member HI of the truss shown 'in the figure.
10It
D G SOLUTION
We make a horizontal cut through the truss that exposes the force in the member
10It HI, as suggested by the free-body diagram of Figure I. In this problem, we use the
10k
C
E F
10ft 10k
B
D
G
10ft
A 10 k
Fvc I / FHc
./
C
Figure 1
"upper half" of the truss because by so doing we may avoid finding the reactions.
We see that summing moments at point Cwill eliminate the unknown forces Fvc
and FHc and allow an immediate solution for Fill:
Because the force in member HI was drawn as if the member were in tension, and
Fill turned out negative, the force in HI is 40 kips tb).
267
l. - ~- - -~------
-~-,.,- -_.
E x A M p L E 4.6~
Find the forces in members EF, RF, RN, and ON of the K-truss shown in the figure.
,,'
-
1800lb
C F G H 1
I3ft
B
't3 It
A
-.l
--I ,
p
1000lb
0 N
1200lb
Six panels @ 4 ft
M
2000lb
L
SOLUTION
In this truss we will not be able to .cut sections and find all the desired forces one
by one. For instance, a mental vertical cut through the four bars of interest shows
that on each resulting part we will have three equations and four unknowns.
Furthermore, there is no point where three of the four bars intersect. However, we
shall use another section to find two of the four member forces, then employ"force
equilibrium on a second section to complete the solution.
-
IBOOlb
Bit Bit
Tl
4ft
R
A,
lOOOlb 1200lb 2000lb
'+) I:MA = 0 = R(24 Itl - 11000 Ibll4 It) - (1200 Ibll12 It)
R = 2550 Ib
A, = 16501b
Ax ~ -1800 Ib
(Continued)
,Ii"
:)1
268
Next, we consider the sectioning of the truss shown in the figure.
C D E F G H
1800lb
"' ...~" ..
B
A
" "- "-
\
I~ 1000ib :
Six panels @ 4 ft
1200lb _2_0~00_lb J- --
-
1800 E Using the left section, we can determine two of the desired member forces:
Fo ~M = 0 will give us FON; lFx = 0 will then give us FEE' Thus,
and
1650 1000
-I.. I:Fx = 0 = FE' + FON + 1800 - 1800
1650lb 1000Ib
~
(a) (b)
the figure is the only possibility. This is because the vertical components of these
two forces must add to 1650 - 1000 = 650 lb downward. Therefore,
or
269
so that
(by inspectionl
= 0.401b '" 0
These values differ from zero due to roundoff error. (If four digits are retained
instead of three, then ~MN becomes less than 0.5 Ib-It.!
E x A M p L E 4. 7 ......
Find the force in member EL, the only member of the truss in Figure I that hasa
length other than I m.
-, ,
"
.'
(Continued)
270
\j
I
SOLUTION
Except for isolating joint E where there are three unknown bar forces acting, any
complete section through ELwill have to cut at least three other members that are
not all concurrent. Thus the solution cannot be obtained with just one moment
i equation using the method of sections; nor could we obtain it by a combination of
I equilibrium equations from one sectioning. We shall have to use a combination of ._.
the methods of sections and joints before arriving at FJ:l,'
First, we find the roller reaction from equilibrium of the overall truss s~own
in Figure 2.
A,
- (3 kNII2 sin 60 0
mJ
R = 1.31 kN
Next we cut a section that will allow us to find FOE (see Figure 3). Then we
can isolate pin E and find FEL.
3kN
Figure 3
(Continued)
271
"+) LML = 0 ~ 11.6 kNIlI ml + (0.5 kNJl2 mJ + 11.31 kNJl3ml
-12.4 kNJlI sin 60 ml
,",E
-2.2kN
"'1
7.6 kN
...
,~;
,
I!
,
1
0.19 kN IkN 1.2 kN
1
1.4 kN 1.6 kN 0.5 kN 1.31 kN
1"0 .\
Figure 5
-=!:.... LFx = 12.2 + 2.4 - 7.6 + 5.14 cos 60 + 0.860 cos 601 kN
=0
= 0.003 kN ~ 0 ,f
"+) LME = (2.2 + 2.41 kN(1 sin 60 mJ + 11.31 kNII3 mJ
- (0.19 kNII3 ml - (7.6 kNII2 sin 60 ml
= -0.02 kN ' m ~ 0 ,f
(Continued)
*Wherc, as the reader may wish to show from Figure 1 with R = 1.31 kN, Ax = 4.:l
-7.6 kN and A, = 0.19 kN. sho
'272
.II'
,. We note that these checks will usually ind)cate an error. However, they are
OJ
only necessary conditions for equilibrium and are no guarantee that an error has
not been made. For instance, if the 0.860 kN <:D force FDE had been incorrectly
drawn as compressive on Figure 4, erroneous results would have resulted for FEF
., and FE/.. Applying these {with FDE = 0.860 kN ~'onto the free-body diagram
of Figure 5 would interestingly and erroneously ~have given the same three "0 "
~:
. 1
4kN
~3m
f\lVSJv\
3m--ll3kN
I
T
4m
t
~
Fi,gure P4.31 1 13 kN
13kN
G
t
4m
F C
13kN 1
I
E
360lbs
4m
Figure P4.32
B~
4.33 Determine the force in member GH of the truss ~ ~
shown in Figure P4.33. Figure P4.33
273
L
J:',
274 Chapter 4 Structural Applications
Find the forces in the darkened members of the trusses in 4.37 <DON
r
A
Problems 4.34-4.38.
4.34 4.35
Sm
3ft-r-6ft-1D
-I -C-
3ft
t~
3 It
D
Sm
1- G 3 kips
4.36
3kN
Figure P4.36
200
G
:"t
4.38 ~
a E
F
Figure P4.37
j
3 kip :
J..
.~
~
~
,,
Figure P4.39 ~.~,
1.
Figure P4.38
4.40 For the pin connected truss shown in Figure P4.40: 4.43 In Figure P4.43 find the forces in members AD, ED,
and AB. Can the forces in all members of this truss be found
, ,8. Using the method of joints, find the force in member
"
SOlb 801b
3fl~3ft-1-3ft-l
E ~D C
B 100lb
A
Figure P4.43
CD length is ? ft
Figure P4.40
SOOlb ~
SOOlb L K 1/ H"
E
F 2m , I
3kN ~2m--l 300lb 800lb
Figure P4.42 Figure P4.44
276 Chapter 4 Structural Applications
Figure P4.46
A
5OO1b 500 Ib
Figure P4.47
2oo01b
,."
Figure P4.45(b)
3 ft each
~ ~.
6 ft _. ">J.
~----Four @'8ft
5 kips
Figure P4.S0
3000lb
A
IiiOOiiiiiiIII
Figure P4.49
c tv
Figure P4.51
"
4.49 Find the forces in members CT, BL, FI, and HG shown 4.51 Find the forces in members DE, CD, and CH of the
in Figure P4.49. All members have length 12 ft or 12/j2 truss in Figure P4.5 I.
'ft, and all angles between members are 0,45,90, 135 or
180'. 4.52 Find the force in member EF of the truss shown in
,, Figure P4.52.
4.50 Find the force in member BH of the truss in Figure 4.53 Demonstrate with a series of sketches that the truss
P4.50. Identify three zero-force members. in Figure P4".53is simple. Find the force in BE.
I
1-'" 31t-----j
I
~IA
1.5 It
c
-H
,
'.
w
*~-
2 It
L
I It 1ft
2 It
Figure P4.52 Figure P4.S3
"..--"._----~---~.------
'278 Chapter 4 Structural Applications
r
truss in F.igure P4.54.
--=3
6ft
P4.55 if the weight of Wis 1000 newtons.
L:
-!- -L -L
b;;;" _ """"' ...-ij Figure P4,57,
:r
!=-6ft 6ft,. 6ft . 6ft-=!
Figure P4.54
IJft
~
F I L3ft
j-
1,2 ft
I I
G I I 105ft
f---2ft-~.-2ft--.I.-2ft--l r
Figure P4.S7
Figure P4.55
r-L2miLsm-r--2 m
A --- I -
----;--- I __
B D
12 kN
~4m~2~m-~.l:--4m
I ~, ~
O.6m
1 C D E I ~
0.3m C
tt1
gOON
1
~B
Figure P4.58
3m
L
Figure P4.56
4.4 The Method of Sections 279
4.61 Find the forces in FE, EE, and Be of the truss shown
in Figure P4_61.
c E
r
~t
15 It
G~ Figure P4.59
Figure P4.60
Figure P4.62
rJ
H
. 0l Four paneIS@
. I kN
3m
I kN I kN
~ ... G E "-
300lb
~:,m -
IBOOlb
c D E F G H I
!
3 It
Figure P4.61
B
't
3 It
-.l
IOOOlb 1200lb 2000 Ib
,
L
280 Chapter 4 Structural,Applications
1i
,
, ...
~" I
Figure P4.65
4.64 Find the forces in members EL and GH of the truss of
Example 4. 7 under the new loading shown in Figure P4.64.
IDo no~ use the reactions of that example!1 a. Show that three members of the truss are zero-force
members.
4.65 Determine the force"in member HE for the truss in
b. Find the forces in members FC, FD, FE, and CD.
Figure P4.65. All member~! are of length 0.8 m except GR.
Hint:
4.66 In Figure P4.66IaJ, the two pulleys at A are indepen- 1 + 0.9 cos 0
dently mounted. tan O =------ ISee Figure P4.66(b1.] ,
;
I
6- 0.9 sin 8 i
which can be solved by trial-and-error for e.
4.67 The cable in Figure P4.67 extends from a winch at A
around twO pulleys PI and P2 to the weight W. Find the
forces in truss members Cl and If. The pulleys each have a
radius of 0.2 m.
, ~
E 3m F "
Figure P4.66(a)
.
w~ 700llN
9
E
6m
Figure P4.66{b) Figure P4.67
Space Trusses 281
D D
A A
c c
Figure 4.26
,'.
' ',' _01.-
.,
E x A M p L E 4.8~
Find the forces in the three members AB, AC, and AD of the space truss shown in
the figure.
SOLUTION
Just as in a plane truss, the bars of a space truss are all two-force members.
Therefore, isolating pin A, we have the free-body diagram showl! in the :figure.
The three bar forces are expressible as:
k to zero,
,,
I,
i-coefficienlS =0+0+ 0.46IFAD + 1800 = 0
'I , )
1I ~i
';1
from which ~
FAD = -3900 Ib it
j
,~
(Continued)
J
'282
1
FAB = 36901b
FAc = 5541b
Both these members are in tension, because we assumed, they were and
positive answers were then obtained for PltB and F,K'
E x A M p L E 4.9~
The space truss shown in the figure supports a parabolic antenna. The antenna is
positioned in azimuth* by altering the lengths of AQ and BO, and in elevation by
the screwjack member OR. The wind and gravity loads for a certain orientation of
the antenna are equipollent to the forces at P, Q, and R given in the followi~g
equations. The locations of Q and R are also indicated. Find the force in the
screwjack.
~I
\
Coordinates 01 Q: 1- 1.5, 2, 61It
,I CoordinatesolR: (-2.75, -c0.25,3Ift
(Continued)
283
SOLUTION
The free-body diagram of the antenna dish is shown in the figure.
F,
A moment summation about the line PQ will yield the screwjack force ,FOR:
The only forces contributing to this equation are FOR and FR' Therefore,
,"",.~I. ,<. '" The scalar triple product can be expressed as a determinant:
,FR + FRO components --+ 1700 - 0.674FoRI 1500 - 0.0613FoRI 1-400 + 0.735FoRJ
Adding ~ times the first column to the second column will simplify the evalua-
tion of the determinant:
-0.6 o o
~
-275 -3.92 -3 = 0 i
1700 - 0.674FoRI 1J430 - 0.960FoRI 1-400 + 0.735FoRI
(Continued)
284
Thus,
-0.61-3.92(-400 + 0.735FoRJ + 3(1430 - o.96oFoRIi ~ 0
1570 - 2.88FoR + 4290 - 2.88FoR = 0
5860
F ---- = 10201b (compressive as assumed)
OR 5.76
~".~',
Question 4.12 At the .outset of the pre~ed;ng example, ;s'(here aj
., line. ab"utwh;eh thembmertts, summe~ and equated to zero,~illl
I 'YieXiI,j,ytllissingleeqtl:ition the for~ehLBE? ON AP?AQ?BQ? .~
;'! . <'~,'~\'"_" .-: :~,',::;P:<L
".' ;:""">:.,'<fG,'C,'-~:,- ,~,.,~: :j:";\,';l-.. '.:"~':;>" it ':'~:4'>< ""tl:
E x A M p L E 4.10~
The space truss in the figure was recently used to support a large "cross log
periodic antenna" jwhich is shown in Figure P6.93(al of Chapter 61. A certain
loading under heavy wind, self-weight, and ice weight is transmitted to the truss
as indicated in the figure. Find the forces in the truss members. *
I,.
(Continued) .
*The actual truss had a seventh member from point B to D. Because this makes the
truss statically indeterminate, we omit it for this example.
L.
285
SOLUTION
We consider first a free-body diagram of joint B {see the sketch). Writing the
9001b~ equilibrium equations,
Fe.
7501b __ B
LF, ~ 0 ~ 1400 - Fcs "" Fcs ~ 1400 lb ~
,. OJ
1400
Ib~\ F" 27.5) (27.5) (II
LF, = 0 ~ 750 - FSA( 69.7 - FFS 69.7
M27.5
64 69.7
Solving Equations II) and 12),
27.5
FFS = 1440 lb ~ and FSA = 460 Ib CD
We note that FFB could have been found without the need to solve two.
equations simultaneously:
FSF ~ + 1440 Ib ~
300lb 1200lb Moving next to a free-body diagram of joint C, we see that we can avoid three
equations in three unknowns jwhich we would get from :I:F = OJby summing
moments about line FE:
- FCD(~)155
69.7
in.1
FCD = 787 Ib CD
E Similarly, moments about line DE will yield FCF:
FCF = 3550 Ib CD
Note that the force FCF was broken up into components at joint C. If we had'
broken it up at F, the last term in Equation (3) would have been .
;
(Continued)
'J";.
r
286
which is the same result but with a different lever arm. Finally,
~F = 0 ~ FeE 27.5)
-- - 787 (27.5)
-- + 3550 (27.5)
-- + 750
, ( 69.7 69.7 102
The - lO-lbresult for :EF, differs from zero due to rounding to three digits. Had we
, kept more digits, :EF, would have been smaller, as the reader may wish to show,
I but we must always remember that an answer is no more accura~e than the least
.1
accurate number in the data.
*To three digits, 787{64/69.7} is 723; however, the units digit in the second and
third terms (3250 and - 2230) is insignificant.
4.68 A set of three forces in coordinate directions is 4.69 Two uniform light bars BD and DC are pinned
applied at point C in Figure ;P4.68. Find the forces in the together at D, where a cable is also attached as shown in'
three bars, which are pinned' together at C and rest on ball Figure P4.69. The bars are connected to the reference
joints at A, 0, and B. frame at Band C by smooth ball joints. The system
zt F~-300ilb
8 kips
1~2V21t-1
c
15 kips
( B
12V21t
Figure P4.68
c I )
y
Figure P4.69
287
288 Chapter 4 Structural Applications
supports the 300-1b force pulling at D in the negative x 4.72 The light tripod in Figure P4. 72 supports a weight of
direction. Find the force in the cable, and the reactions at B 144 lb. If the legs -A C, and :b are pinned at B and if the"
and C. The bars are in the yz plane. ground is rough, find the force in leg C.
600lb
Figure P4.72
j. :-
1>~
\t'
:,~~
OB~ 12ft
f.:..~
~, ",'\~
"~ '
,:" ,
A
z
II It Figure P4.73
B
x
9601b y
Figure P4.71 x
J
j
Space Trusses 2&9
and FB .. represent
(FA_", FAy' the only nonzero reaction Figures P4.77-P4.81
4.75 In Figure P4. 75 the rtine members all have the same
length I. Find the forces in the members, noting that, by
symmetry, ial the forces in AB, AC, AD, EB, EC, and ED are
equal; and lbl the forces in Be, CD, and DB are equal.
Figure P4.82
Y B,E x
S ft S{2ft
Sft x
Figure P4.76 A,V C,P
i
I
f
L
.~
A 2000lb
Note: The support ~ __ transmits force only"
. ,.," 2
e,
normal to the plane defined by the two perpendicular lines
I) and 12,
z
F ~ 101 - 61 - t2k Ib
c y
-
4.6 Axial and Shear Forces and Bending Moments 291
p
p
M Figure 4.28
p p
This moment (called a bending moment because it tends to bend the ringl
is seen to vanish at 8 = 0 and 180.
)
t'
Question 4.13 Looking at Figure 4.28, why is it clear thatM .
1i 'must vanish at 0 = 0 and 1801
,', .'
",
..
. '.'
'
'1
I
1
Our member above thus differs from a truss member in that it carries
! a bending moment. But also, the force acting on the cross sections has
beco!?e complicated.
N=PsinO
Figure 4.29
We see in Figure 4.29 that if we resolve the force at the cut into its
two components lal tangent to the center line of the curved ring, and
(b) normal to the center line, we obtain, respectively, in addition to the
familiar axial force INI studied in trusses, a shear force IVI. Note from the
figure that N and V, as was the case with M, vary with 8. This is another
distinct difference from a truss, in which the (axial) member forces were
constant from end to end.
The body need not be curved for V and M to be present. Consider a
second example, in which we seek N, V, and M at isolated points.
E x A M p L E 4. 11......
Find the axial force, shear force, and bending moment at points P and Q of the
frame.
A D
..l,'.'... 40 cm-.:j''''''''
300N SOLUTION
The free-body diagram of the complete frame is shown in Figure 1. Note that BD is
a two-force member, which will allow us to determine A", and AY1 and also the
force Dy in BD, from this single free-body diagram:
A,
D, = 375 N
A _40cm
Thus
A, D,
Figure 1
+1 LF, = 0 = D, - A, = 375 - A,
,
375 N A, = 375 N
~,
:.375 N
B
Also,
M = -3000 N. m
d~ 4~25cm
Therefore the forces are in the directions sketched in Figure 3, while the bending
JOON moment is in the opposite lor clockwise) direction to that shown on the free-body
-g-~A diagram.
' '~"'"
Figure 3
292
"
)
4.6 Axial and Shear Forces and Bending Moments 293
The next example is similar to the last one, but it is a bit longer and
requires more free-body diagrams.
-
C 250lb E x A M p L E
In the frame of Example 3.19, find the axial 'force, shear force, and bending
moment at the points P, Q, and R in the figure.
320lb
c c
-I 1671b
2.2 ft
I P
T
2ft 751b
751b 751b
t B B Q 4171b
3ft-
5It~-~ 41 Ib 4171b D
3201b 2.8 ft 15 Ib
c 1671b
20lb
I A
Member BD E
2451b t3951b
2.2 ft
Member ABC Member CDE
qr
M, P.
V, SOLUTION
N, We had found the results in Example 3.19 by dismantling the frame, as shown in
3201b the three figures above. Making a cut at P in member ABC, we have, with the help
of the resulting free-body diagram just below the main figure:
1671b
_ .x.... . LF._~ 0 = Vp- 167. = Vp '" 167.1b
'.1367Ib~lt- P
2ft
+1 LF, ~ 0 = 320 - Np = Np = 320lb
I
r
2.8 It
B
751b
4171b
(:' LMp ~ 0 = Mp + 1167.lbJl2.2 11=
Note that if we had chosen to use the lower section of ABC, shown at the left,
we would have had more forces to deal with but we would have obtained
Mp = -367.1b.ft
L 250lb
A
consistent results-the opposites* of those oil the upper section, in agreement
with action and reaction. Either set of answers [shown on the proper section) is
correct.
2451b (Continued)
*The moment is off by I Ib-ft due to rounding to three digits in the original example.
i
I ~_
~.
For the internal force system at 0, we cut the bar BDthere. We can use either
side of the cut:
V 751b
o
B D
N 417lb
417lb I 1501b,
C 1.5 It I It
(t' LMQ = 0 = MQ + 1150 IbJlI Itl - 1751bJl2.5 Itl (t' LMQ = 0 = -MQ + 175 IbJlO.5 ftl
MQ = 37.5 lb-It MQ ~ 37.5 Ib.1t
The results agree, as they must, for each of the axial force INQI. shear force (VQI,
afi"dbending moment (MQl. Note that we took care of "Newton's Third Law"
when we assigned the directions on the free-body diagrams.
-f(t,
For the internal force system at R, we use a cut section of eDE. From similar
2.8 7
triangles, - = - => (j = 2 ft. We can avoid having to solve two equations in VR
J 5
and NR by summing forces in the slanted coordinate directions x and y in the
-I figure.
2.8 It
"\ LFx = 0 = N. + 320(~) + 417(~)
I v,
N. ~ -5031b
(Note that for the moment calculation we have used the original horizontal and
vertical force and moment arm components.l
The reader is encouraged to check the above results using the lower cut
section of member eDE.
294
I;
.'
1
181b E x A M p L E 4.13 .......
Determine the distribution of internal forces in the bent member ABC.
, V
A B
Ii
.,-
In contrast to the first two examples, we are looking for N, V, and M at all points
~
, instead of just two or three. In other words, we wish to know how N, \1,and'M
,.I, vary along the member.
'I
i: The three reactions are found first. Using the free-body diagram at the left,
181b~C
1.5 I, '<) l:M. = 0 ~ D(3 It I - 118 Ibll1.5 Itl
3ft
tv 2 It
D ~ 91b
-"... l:Fx = 0 ~ 18 Ib - Ax = Ax = 18 Ib
+1 l:Fy ~ 0 ~ Ay +D = Ay + 9
or Ay ~ -91b
91b Next we consider a free-body diagram of a .portion of the horizontal section "
AB of the bar, extending from the left end A to a cut section with x <,-3 ft (see
181b IA Q Figure 11.
For equilibrium, we see that not only do we need the normal force NH1 las
[J~X~ with trussesl, but also a shear force VHI and bending moment MJIl:
Figure 1
l:Fx = 0 ~ Nil, - 18 lb = Nil, = 18 lb
After x becomes greater than 3 ft, the free-body diagram changes. At a cut section
91b Q M",
such that 3 ft < x < 5 ft, we now have (see Figure -2 at the left):
..
N",
18Ibt-3ft t9lb[
l:Fx = 0 = NIl2 - 181b = NIl2 = 18lb Istill the sameJ
X
but
and
MIl2 = - 27 lb-It
(Continued)
L 295
.I..
L'"
Note that NUl and MHl are continuous across the cut at x = 3 t, but that there
has occurred a jump (or discontinuity) in the shear force VH2 caused by the
concentrated reaction at the roller.
c The above expressions for NUl' VH2 rand MHl are valid until x = 5 t when
181b the bend occurs. On a cut past the bend at P, we may use the upper section from P
I
1.5 ft
'.' to C to most easily determine what is' happening,:in the vertical.part-jBGj of the ,.it~
bar. (See Figure 3.1 Enforcing equilibrium gives
,
,I,i'"
:i:Mp = 0 = M" -
-' I
IISlblll.S - y) ft
]f we now look at a free-body diagram of the bend alone, we see that it, too, is
of course in equilibrium. ISee Figure 4.1We note that the discontinuity of V~and~
in "rounding the bend" is somewhat artificial. It is due to their exchange of roles
caused by the discontinuity at the corner in the orientation of the center line.
Normal N = 0 27Ib,!t}
These are the negatives of the forces
and moment actmg on Figure 3 at y = o.
181b
181b
271b-ft
~--~v----
These are the negatives of the forces
and moment acting on Figure 2 at x = 5 ft.
Figure 4
We mention again that when we wish to know the internal force resultant
IN, V, and Ml at a point, we may use either of the two free-body diagrams formed
by the cut section. For example, in the preceding example, if the section to the ,
"
f
right of the first cut is used instead of the section in Figure 1, then equilibrium
requires:
I
I
181b :i:F, ~ 0 = IS - NH1 "" NH1 = IS Ib las before) ,I
>
:i:Fy = 0 ~ - VH I + 9 "" VH 1 = 9 Ib las beforeJ !
:i:MQ = 0 ~ -MH1 - IISlblll.S Itl + 191bJl3 - x) ft
I
St
[~.
'K
MH1 ~ -9x Ib-It las beforeJ !i
~
t
Thus all three results are in agreement with those we obtained using the material
on the other side of the cut. ..;
296
_.
.
Figure P4.85
4.81 In Figure P4.87 a weight of 3000 N is suspended from
beam B at point C. The beam is connected to a vertical wall
hya frictionless pin and a cable as shown. If the:beam (of
negligible weightl has length 3 m and the length AC is 1 m,
Bnd the internal forces and moment transmitted at section
E.E,
8
15m _3mI 3m_
D
4.88 In Figure P4.88:
8. Find the force exerted on the shaded member in
Figure P4,88 by pin A.
b. Find the internal forces laxial, shear, and bending B
moment) at the midpoint M of the horizontal part of
the shaded member.
Figure P4.90
Figure P4.88
Figure P4.89
l
I
298 Chapter 4 Structural Applications
4.91 Find the internal force resultants laxial, shear, and In Problems 4.93-4.98 find the shear force and bending
bending momentJ at sections A-A, B-B, and e-c in Fig- moment in the beam at point P. Show the result on a free-
ure P4.91. body diagram of the part of the beam between P and B.
4.95
20N. m
"
1
--~
.'1''''. p
1--120cm
Figure P4.95
4.96
--_""'I""'" I It
~--------20 ft- --I B
-2ft .-.: 2 ft
D
Each of the nine forces has magnitude 2S lb.
Figure P4.96
A 4.97
B
Figure P4.92
Ijl'"
~,
6ocm'F 60cm 250N
1000Ib
25N -m
4ft Figure P4.97
4ft 2ft 2ft
'I
.~
4.93 4.98
3ft
,!
I 06 in I 100 Ib-ft
!SO Ib I I
B
~-
A
.. "'-- B I
"-~
P
i
2 m~.~--~I'" 3ft
j
Figure P4.93 Figure P4.98
4.7 Beams/Shear and Moment Distributions 299
A
4.99 Find the shear force and bending moment on section
A-A of the beam in Figure P4.99. 20lb
1800 N/m
4.101 Find the internal forces and moments at points E
D and F of the light frame shown in Figure P4.1 0 1.
, 13m
-1
2m
A
___ 3m __ ~
I F
~i~Llft-1
2.5 ft.-----
500 Ibs
Figure P4.100 Figure P4.101
\.
" 1
"
300 Chapter 4 Str6ctural Applications
C
Figure 4.30
F,
F,
(a) (b)
Figure 4.31
The two force components lying in the plane of the cut, F, and F, in
this case (see Figure 4.31), are called shear forces. The force perpendicular
to the plane of the cut (here, F,I is known as a normal force. When B, is a .
slender member, as shown in Figure 4.31(bl, the two moment compo-
nents whose vector directions (thumb of right handllie in the plane of the I
cut are called bending moments (MA" MA, -herel, while the other one, I,
MA" with vector normal to the plane of the cut and turning effect in the
plane,js called a twisting moment . The same six components acting at
A on B2\vould each be respectively opposite in direction, by the principle
of action and reaction.
When B is a slender member that carries shear force(sl, bending
moment(sl, and/or a twisting moment, in addition to the axial force of a
truss member, it is called a beam.
A beam can be loaded in two planes such that it carries a perpen-
dicular pair of shearing force and bending moment components. It may
also be loaded so that the twisting moment component is present. In this
elementary look at beams, we shall, however, restrict our attention to
the case in which the beam is loaded in just one Ixyl plane. That is, all
*The student can readily appreciate this by successively applying moment compo-
nents to a slender body such as a yardstick.
;j'
4.7 Beams/Shear and. Moment Distributions 301
~l/
I
,.
I' ..
I
I
V ,,
I
, V
t
"
~N
(b)
(3)
Figure 4.32
(c)
the forces will lie in a plane and all the unit vectors of the couples will
be normal to that plane lin the :t z direction),
Thus, only one shear force IF" which we shall call VI and one
bending moment IMA., which we shall call MI will be produced, in
addition to the axial load IF" called N). The twisting moment MAx will
necessarily be absent, as will the othe,'>component of shear force IF,) and
i of bending moment IJW~,I. In Figure 4.32 we illustrate these ideas. With '
~: all the forces in the plane of the paper, and with the couples normal to this
plane, the only resultant of all the internal forces at a cut section at x is
expressible as the shear force V, axial force N, and bending moment M.
Outward normals We next set down our sign conventions for N, V, and M . Suppose a
ti:"';it:k'J!~ '> (;.~ beam has been cut, or "sectioned," into two parts. If we are considering
the section on the left, then the exposed face is called a "right-hand face"
Right-hand face Left-hand face Iwith outward normal t9 the rightl. If we are considering the section on
Figure 4.33 the right, then the exposed face is on the left loutward norma.!to the leftl,
and is called a "left-hand face" Isee Figure 4_331.
We are now in a position to define our sign conventions for N, V, and
M Isee Figure 4.341.
-.
.. V
M M
x
Right.hand face V Lefl-hand face
Figure 4.34 Sign convention for axial force, shear force, and bending moment in beams.
*Unfonunately; these conventions vary from book to book, and one must be aware of
this when referring to other texts.
I. "
~ .. -.,
il
., I
,302 Chapter4 StructuralApplications
Figure 4.35
normal-that is, to the right for a right-hand face and70 the left for a left-
hand face. In other words, in both cases N is positive if it tends to produce
. tension in lor to stretch) the axial fibers aligned""jth x. Saying that "N is
in the direction of the outward normal" is shorthand for saying that the
scalar N multiplies a unit vector in the direction of the outward normal to
form the axial force.
As for the shear force V, it is defined to'be positive if directed upward
on a right-hand face and positive if downward on a\left-hand face. The
bending moment is positive if counterclocKwise on a " right-hand face and
if clockwise on a left-hand face. Thus M is positive in both instances if it
bends the section upward (i.e., toward a concave upward configuration).
Perhaps the summary sketches shown in Figure 4.35 will be helpful.
1501b/ft
Figure 4.36
Consider next the typical beam shown in Figure 4.36. Such a beam,
supported on one end by a pin and on the other by a roller, is said to be
"simply supported."
In presenting beam problems, the piT\is usually drawn as either
"
f1
,I