STATICS OF RIGID BODIES

Characteristics of Forces
1. Magnitude
2. Direction
3. Line of Action
4. Point of Application
Principle of Transmissibilty - A force may be moved anywhere along its line of action without
changing its external effects on a rigid body.(Not applicable in Deformable Bodies)
Varignon’s Theorem - The moment of a force about a point is equal to the sum of the moments
of its components about that point. (Pierre Varignon)
Couple of Forces - Two forces with equal magnitude but opposite in direction acting with a
certain distance.
Analysis of Structure:
Method of Joints (MOJ):

∑ 𝐹𝑥 = 0

∑ 𝐹𝑦 = 0

Zero-Force Member
Truss analysis using the method of joints is greatly simplified if we can first identify those
members which support no loading. These zero-force membersare used to increase the stability
of the truss during construction and to provide added support if the loading is changed.
If only two non-collinear members form a truss joint and no external load or support reaction is
applied to the joint, the two members must be zero-force members.
Methods of Section

∑ 𝐹𝑥 = 0

∑ 𝐹𝑦 = 0

∑𝑀 = 0

Counter Diagonals - A diagonal member in a truss that acts as compressive member, that
member will be equal to zero.

Method of Members
FRICTION
Frictional force is a force that resists the movement of two contacting surfaces that slide relative
to one another.
Limiting Static Frictional Force - the maximum frictional force that an object will have the
tendency to move. It is equal to the product of coefficient of static friction and the normal force
acting in the contact surface.
𝑓𝑠 = 𝜇𝑠 𝐹𝑁
Kinetic Frictional Force - the force acting in the
contact surface while the object has moving.
𝑓𝑘 = 𝜇𝑘 𝐹𝑁

Friction at Flat Belt

𝑇2 = 𝑇1 𝑒 𝜇𝑠 𝛽

Geometrical Property of an Area

Centroid - This point coincides with the center of mass or the center of gravity only if the
material composing the body is uniform or homogeneous.
Centroid of a line:
2 𝑥 𝑦2
∫𝑥 𝑥𝑑𝐿 ∫𝑦 𝑦𝑑𝐿
1 1
𝑥̅ = 𝑥2 𝑎𝑛𝑑 𝑦̅ = 𝑦 2
∫𝑥1 𝑑𝐿 ∫𝑦1 𝑑𝐿

Centroid of an area:
2 𝑥 𝑦2
∫𝑥 𝑥𝑑𝐴 ∫𝑦 𝑦𝑑𝐴
1 1
𝑥̅ = 𝑥2 𝑎𝑛𝑑 𝑦̅ = 𝑦2
∫𝑥 𝑑𝐴 ∫𝑦 𝑑𝐴
1 1

Centroid of a volume:
𝑥2 𝑦2 𝑧2
∫𝑥 𝑥𝑑𝑉 ∫𝑦 𝑦𝑑𝑉 ∫𝑧 𝑧𝑑𝑉
1 1 1
𝑥̅ = 𝑥2 𝑎𝑛𝑑 𝑦̅ = 𝑦2 𝑎𝑛𝑑 𝑧̅ = 𝑧 2
∫𝑥1 𝑑𝑉 ∫𝑦1 𝑑𝑉 ∫𝑧1 𝑑𝑉

Moment of Inertia - second moment of area

𝑥2 𝑦2
𝐼𝑥 = ∫ 𝑥 2 𝑑𝐴 𝑎𝑛𝑑 𝐼𝑦 = ∫ 𝑦 2 𝑑𝐴
𝑥1 𝑦1

Polar Moment of Inertia

𝜃2
𝐽 = ∫ 𝑟 2 𝑑𝐴 = 𝐼𝑥 + 𝐼𝑦
𝜃1

Transfer’s Formula (Parallel Axis Theorem)

𝐼 = 𝐼𝑜 + 𝐴𝑑 2
Radius of Gyration

𝐼𝑥
𝑘𝑥 = √
𝐴

𝐼𝑦
𝑘𝑦 = √
𝐴

𝐽𝑜
𝑘𝑜 = √
𝐴

Product of Inertia
 𝐼𝑥𝑦 = ∫ 𝑥𝑦𝑑𝐴
𝐴

𝐼𝑥𝑦 = ̅̅̅̅
𝐼𝑥𝑦 + 𝐴𝑑𝑥 𝑑𝑦

Moment of Inertia of about Inclined Axes

𝐼𝑥 + 𝐼𝑦 𝐼𝑥 − 𝐼𝑦
𝐼𝑢 = + 𝑐𝑜𝑠2𝜃 − 𝐼𝑥𝑦 𝑠𝑖𝑛2𝜃
2 2
𝐼𝑥 + 𝐼𝑦 𝐼𝑥 − 𝐼𝑦
𝐼𝑣 = − 𝑐𝑜𝑠2𝜃 + 𝐼𝑥𝑦 𝑠𝑖𝑛2𝜃
2 2
𝐼𝑥 − 𝐼𝑦
𝐼𝑢𝑣 = 𝑠𝑖𝑛2𝜃 − 𝐼𝑥𝑦 𝑐𝑜𝑠2𝜃
2