Ninth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

STATICS

4 Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Texas Tech University
Equilibrium of Rigid
Bodies

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 Vector Mechanics for Engineers: Statics
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Contents
Introduction Equilibrium of a Rigid Body in Three
Dimensions
Free-Body Diagram
Reactions at Supports and Connections
Reactions at Supports and Connection
for a Three-Dimensional Structure
s for a Two-Dimensional Structur
e Sample Problem 4.8
Equilibrium of a Rigid Body in Two
Dimensions
Statically Indeterminate Reactions
Sample Problem 4.1
Sample Problem 4.3
Sample Problem 4.4
Equilibrium of a Two-Force Body
Equilibrium of a Three-Force Body
Sample Problem 4.6

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Introduction
For a rigid body in static equilibrium, the external forces and
moments are balanced and will impart no translational or rotational
motion to the body.

The necessary and sufficient condition for the static equilibrium of a

body are that the resultant force and couple from all external forces
form a system equivalent to zero,

F 0 M O r F 0

Resolving each force and moment into its rectangular components

leads to 6 scalar equations which also express the conditions for
static equilibrium,
Fx 0 F y 0 Fz 0
Mx 0 M y 0 Mz 0

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Free-Body Diagram
First step in the static equilibrium analysis of a
rigid body is identification of all forces acting on
the body with a free-body diagram.

Select the extent of the free-body and detach it

from the ground and all other bodies.

Indicate point of application, magnitude, and

direction of external forces, including the rigid
body weight.

Indicate point of application and assumed

direction of unknown applied forces. These
usually consist of reactions through which the
ground and other bodies oppose the possible
motion of the rigid body.

Include the dimensions necessary to compute

the moments of the forces.

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Reactions at Supports and Connections for a Two-Dimensional Structure

Reactions equivalent to a
force with known line of
action.

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Reactions at Supports and Connections for a Two-Dimensional Structure

Reactions equivalent to a
force of unknown direction
and magnitude.

Reactions equivalent to a
force of unknown
direction and magnitude
and a couple.of unknown
magnitude

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Equilibrium of a Rigid Body in Two Dimensions

For all forces and moments acting on a two-
dimensional structure,
Fz 0 M x M y 0 M z M O

Equations of equilibrium become

Fx 0 Fy 0 M A 0
where A is any point in the plane of the
structure.

The 3 equations can be solved for no more

than 3 unknowns.

The 3 equations can not be augmented with

additional equations, but they can be replaced
Fx 0 M A 0 M B 0

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Statically Indeterminate Reactions

More unknowns than Fewer unknowns than Equal number unknowns

equations equations, partially and equations but
constrained improperly constrained
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Sample Problem 4.1

SOLUTION:
Create a free-body diagram for the crane.
Determine B by solving the equation
for the sum of the moments of all forces
about A. Note there will be no
contribution from the unknown
reactions at A.
Determine the reactions at A by
A fixed crane has a mass of 1000 kg solving the equations for the sum of
and is used to lift a 2400 kg crate. It all horizontal force components and
is held in place by a pin at A and a all vertical force components.
rocker at B. The center of gravity of
the crane is located at G. Check the values obtained for the
reactions by verifying that the sum of
Determine the components of the the moments about B of all forces is
reactions at A and B. zero.
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Sample Problem 4.1

Determine B by solving the equation for the
sum of the moments of all forces about A.
M A 0 : B1.5m 9.81 kN 2m
23.5 kN 6m 0
B 107.1 kN

Determine the reactions at A by solving the

equations for the sum of all horizontal forces
Create the free-body diagram.
and all vertical forces.
Fx 0 : Ax B 0
Ax 107.1 kN

F y 0 : Ay 9.81 kN 23.5 kN 0
Ay 33.3 kN

Check the values obtained.

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Sample Problem 4.3

SOLUTION:
Create a free-body diagram for the car
with the coordinate system aligned
with the track.

Determine the reactions at the wheels

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

Determine the cable tension by

A loading car is at rest on an inclined solving the equation for the sum of
track. The gross weight of the car and force components parallel to the track.
its load is 25 kN, and it is applied at at
G. The cart is held in position by the Check the values obtained by verifying
cable. that the sum of force components
perpendicular to the track are zero.
Determine the tension in the cable and
the reaction at each pair of wheels.
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Sample Problem 4.3

Determine the reactions at the wheels.
M A 0 : 10.5 kN 625 mm 22.65 kN 150 mm
R2 1250 mm 0

R2 8 kN

M B 0 : 10.5 kN 625 mm 22.65 kN 150 mm

R1 1250 mm 0

R1 2.5 kN
Create a free-body diagram
Determine the cable tension.
Wx 25 kN cos 25

22.65 kN F x 0 : 22.65 kN T 0

W y 25 kN sin 25 T 22.7 kN
10.5 kN

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Sample Problem 4.4

SOLUTION:
Create a free-body diagram for the
telephone cable.
Solve 3 equilibrium equations for the
reaction force components and
couple at A.

A 6-m telephone pole of 1600 N is

used to support the wires. Wires T1 =
600 N and T2 = 375 N.
Determine the reaction at the fixed
end A.

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Sample Problem 4.4

Solve 3 equilibrium equations for the
reaction force components and couple.
F x 0 : Ax (375N ) cos 20 (600 N ) cos10 0

Ax 238.50 N

F y 0 : Ay 1600 N 600N sin 10 375 N sin 20 0

Ay 1832.45 N
Create a free-body diagram for
the frame and cable.
M A 0 : M A 600N cos10(6m) 375N cos 20
(6m) 0

M A 1431.00 N.m

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Equilibrium of a Two-Force Body

Consider a plate subjected to two forces F1 and F2

For static equilibrium, the sum of moments about A

must be zero. The moment of F2 must be zero. It
follows that the line of action of F2 must pass
through A.

Similarly, the line of action of F1 must pass

through B for the sum of moments about B to be
zero.

Requiring that the sum of forces in any direction be

zero leads to the conclusion that F1 and F2 must
have equal magnitude but opposite sense.

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Equilibrium of a Three-Force Body

Consider a rigid body subjected to forces acting at
only 3 points.

Assuming that their lines of action intersect, the

moment of F1 and F2 about the point of intersection
represented by D is zero.

Since the rigid body is in equilibrium, the sum of the

moments of F1, F2, and F3 about any axis must be
zero. It follows that the moment of F3 about D must
be zero as well and that the line of action of F3 must
pass through D.
The lines of action of the three forces must be
concurrent or parallel.

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Sample Problem 4.6

SOLUTION:
Create a free-body diagram of the joist.
Note that the joist is a 3 force body acted
upon by the rope, its weight, and the
reaction at A.
The three forces must be concurrent for
static equilibrium. Therefore, the reaction
A man raises a 10 kg joist, of R must pass through the intersection of the
length 4 m, by pulling on a lines of action of the weight and rope
rope. forces. Determine the direction of the
Find the tension in the rope and reaction force R.
the reaction at A. Utilize a force triangle to determine the
magnitude of the reaction force R.

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 Vector Mechanics for Engineers: Statics
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Sample Problem 4.6

Create a free-body diagram of the joist.

Determine the direction of the reaction

force R.
AF AB cos 45 4 m cos 45 2.828 m
CD AE 12 AF 1.414 m
BD CD cot(45 20) 1.414 m tan 20 0.515 m
CE BF BD 2.828 0.515 m 2.313 m
CE 2.313
tan 1.636
AE 1.414

58.6

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 Vector Mechanics for Engineers: Statics
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Sample Problem 4.6

Determine the magnitude of the reaction
force R.
T R 98.1 N

sin 31.4 sin 110 sin 38.6

T 81.9 N
R 147.8 N

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 Vector Mechanics for Engineers: Statics
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Equilibrium of a Rigid Body in Three Dimensions

Six scalar equations are required to express the
conditions for the equilibrium of a rigid body in the
general three dimensional case.
Fx 0 Fy 0 Fz 0
Mx 0 My 0 Mz 0

These equations can be solved for no more than 6

unknowns which generally represent reactions at supports
or connections.
The scalar equations are conveniently obtained by applying the
vector forms of the conditions for equilibrium,

F 0 MO r F 0

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 Vector Mechanics for Engineers: Statics
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Reactions at Supports and Connections for a Three-Dimensional Structure

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 Vector Mechanics for Engineers: Statics
Ninth

Reactions at Supports and Connections for a Three-

Dimensional Structure

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 Vector Mechanics for Engineers: Statics
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Sample Problem 4.8

SOLUTION:
Create a free-body diagram for the sign.

Apply the conditions for static

equilibrium to develop equations for
the unknown reactions.

A sign of uniform density weighs

1200 N and is supported by a ball-
and-socket joint at A and by two
cables.
Determine the tension in each cable
and the reaction at A.
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 Vector Mechanics for Engineers: Statics
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Sample Problem 4.8

rD rB
TBD TBD
rD rB

2.4i 1.2 j 2.4k
TBD
3.6
1 2

TBD 3 i 3 j 3 k
2

rC rE
TEC TEC
rC rE
Create a free-body diagram for the
sign. 6i 3 j 2k
TEC
Since there are only 5 unknowns, 7
the sign is partially constrain. It is
free to rotate about the x axis. It is,
3 2

TEC 7 i 7 j 7 k
6

however, in equilibrium for the

given loading.
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 Vector Mechanics for Engineers: Statics
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Sample Problem 4.8

F A TBD TEC 1200 N j 0
i : Ax 23 TBD 76 TEC 0

j : Ay 13 TBD 73 TEC 1200 N 0

k : Az 23 TBD 72 TEC 0

M A rB TBD rE TEC 1.2 m i 1200 N j 0
j : 1.6TBD 0.514TEC 0

k : 0.8 TBD 0.771TEC 1440 N . m 0
Apply the conditions for
static equilibrium to Solve the 5 equations for the 5 unknowns,
develop equations for the
unknown reactions. TBD 451 N TEC 1402 N

A 1502 N i 419 N j 100.1 N k

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