8/30/2012

1
3 Equilibrium
KL21 03, CLASS 02
SEMESTER I 201 2/ 201 3
Equilibrium Equations
When a body is in static equilibrium, the resultant of
all forces acting on it is zero. all forces acting on it is zero.
This means that the resultant force Rand the
resultant couple Mare both zero.
0
0
x x
y y
R F
R F
= = = =
= =

R F 0
y y
= =

M M 0 about any point in the plane

8/30/2012
2
Alternative Sets of Equilibrium Equations

where A could be any point in the plane

0, 0, 0
x y A
F F M = = =

where A could be any point in the plane.

where A and B must not lie on a line perpendicular to the x

direction.
0, 0, 0
x A B
F M M = = =

where A, B, and C must not be on a straight line.

0, 0, 0
A B C
M M M = = =

8/30/2012
3
Free-body Diagram
Definition: a simplified sketch of a structure (or part
of a structure) complete with all forces, external of a structure) complete with all forces, external
and internal, known and unknown, acting on the
structure.
Drawing the free-body diagram is the most
important step in solving problems in statics.
You cannot write equilibrium equation without q q
drawing the free-body diagram.
8/30/2012
4
Example 1
Determine the
magnitudes of the forces
C d T h h fi C and T so that the five
forces in the free-body
diagram shown are in
equilibrium.
The forces are concurrent (their line of actions intersect at the x-y origin),
therefore only two force equilibrium equations need to be satisfied.
(i) Equilibrium in the x-y axes
o o
0: 8 cos40 sin20 16 0
x
F T C = + + =

o o
0: sin40 cos20 3 0
y
F T C = =

9.09 kN ; 3.03 kN T C = =
(ii) Equilibrium in the x -y axes
o o o o
0: cos20 3cos40 8sin40 16sin40 0
y
F C
'
= + =

o o o o
3.03 kN
0: 8cos40 16cos40 3sin40 sin20 0
9.09 kN
x
C
F T C
T
'
=
= + =
=

8/30/2012
5
(iii) Graphical solution
Arrange all the known forces as in triangle rule addition.
Draw the line of actions T and C to close the polygon.
The resulting intersection at P completes the solution.
Note: The known forces may be added in any order, but Note: The known forces may be added in any order, but
they must be added before the unknown forces.
Example 2
Determine the reaction
forces (drawn in red) so
h h f b d f h
20 kN
15 kN
2 m 3 m 3 m 2 m
that the free-body of the
truss structure shown is
in equilibrium.
10 kN
20 kN
20 kN
15 kN
6 m
6 m
5 m 5 m
R
y1
R
y2
R
x
A
B
8/30/2012
6
( )( ) ( )( ) ( )( ) ( )( )
2
2
0: 10 20 0 30 kN
0: 10 12 20 6 20 5 15 8 10 0
46 kN
0 20 1 0 11k
x x x
A y
y
F R R
M R
R
= + = =
= + + + =
=

1 2 1
0: 20 15 0 11 kN
y y y y
F R R R = + = =

To avoid simultaneous solution (thus reducing chance of errors),

choose equilibrium equation that contains only one unknown force,
if possible.
Support
A structure needs supports to ensure that it remains
in the required position under all loading conditions. in the required position under all loading conditions.
Supports are classified based on the movements
prevented and the reaction forces exerted by
the supports on the structure.
8/30/2012
7
Pin Support
Movements prevented:
translation in any directions. translation in any directions.
Movements allowed: rotation
Reaction forces: a horizontal
force and a vertical force, or a
single force of unknown
direction.
R
x
R
y
R
u
R
x
R
y
Roller Support
Movements prevented:
translation in perpendicular p p
directions.
Movements allowed:
translation parallel to the
support (sliding), rotation.
Reaction forces: a single
force perpendicular to the force perpendicular to the
support.
R
R
8/30/2012
8
Fixed (clamped) Support
Movements prevented:
translation in all directions, translation in all directions,
rotation.
Movements allowed: none.
Reaction forces: a horizontal
force, a vertical force, and a
moment.
M
R
x
R
y
M
Hinge
Movements prevented:
relative displacement of both p
ends.
Movements allowed:
horizontal and vertical
translation, rotation.
Reaction forces: equal and
oppositely directed horizontal oppositely directed horizontal
and vertical forces.
R
x
R
y R
y
R
x
8/30/2012
9
(external) load
reaction
Generally, support reactions are
the unknown forces in
equilibrium problems in
structural analysis.
Example 3
Compute the reactions of
the beam structure
h shown.
8/30/2012
10
Free-body diagram
25 kN
15 kN
R
ay
R
ax
R
b
Equilibrium equations
0: 0 F R

( )( ) ( )( )
( )
( )
0: 0
0: 25 3 15 9 15 0
4 kN
0: 25 15 0 14 kN
x ax
a b
b
y ay b ay
F R
M R
R
F R R R
= =
= =
= +
= + + = = |

25 kN
15 kN
14 kN
4 kN
Example 4
Compute the reactions of the beam structure shown
below. below.
8/30/2012
11
Free-body diagram
Equilibrium equations
| |
| |
10
k
R
ay
R
ax
R
b
20
k
q q
( )( ) ( ) ( ) ( )
( )
( ) ( )
k
k
3 2
0: 10 10 20 20 30 0
2
5
16.64
1 1
0: 20 0 17.44
2
5
a b
b
x ax b ax
M R
R
F R R R
| |
| |
= + =
|
|
\ .
\ .
=
| | | |
= = =
| |
\ . \ .

( )
( )
k
2
5
3 2
0: 10 20 0
2 5
12.44
y ay b
ay
F R R
R
\ . \ .
| |
= + =
|
\ .
= |

10
k
k
20
k
17.44
k
12.44
k
16.64
k
8/30/2012
12
Example 5
Compute the reactions of
the structure shown.
There are 4 reactions (2 at each
pin support), so that the
equilibrium equations for the
FBD of the whole structure will
not be sufficient to calculate the
reactions reactions.
B
R
Bx
10
10
However, the structure can be divided at the hinge,
with additional 2 unknown hinge forces.
B
R
Bx
R
By
10
A
R
Ax
R
Ay
R
By
10
C
R
Cx
R
Cy
5
hinge reactions,
two pairs of equal and opposite forces
8/30/2012
13
For each FBD, the 3 equilibrium equations can be
applied.
Now we have 6 equilibrium equations to solve for 6
unknown reactions.
A
B
R
Ax
R
Bx
R
By
10
10
10
FBD AB
( )( ) ( )( )
( )( )
0: 0
0: 10 20 10 40
10 60 60 60 0
0: 30 0
x Ax Bx
A
Bx By
y Ay By
F R R
M
R R
F R R
= =
= +
+ =
= + =

R
Ay
( )
( )
( )
1
20 2
30 3
Ax Bx
Bx By
Ay By
R R
R R
R R
=
+ =
+ =
B
R
Bx
R
By
R
10
5
FBD BC
( )( ) ( )( )
0: 5 0
0: 40 40
10 20 5 20 0
0: 10 0
x Bx Cx
C Bx By
C B
F R R
M R R
F R R
= =
=
=
= =

C
R
Cx
R
Cy
0: 10 0
y Cy By
F R R

( )
( )
( )
5 4
2 2 15 5
10 6
Bx Cx
Bx By
Cy By
R R
R R
R R
=
=
=
Eq (2) and (5):
1375ki 625ki R R
Eq. (2) and (5):
Eq. (1), (4):
Eq. (3), (6):
13.75 kips ; 6.25 kips
Bx By
R R = =
( ) ( ) 13.75 kips ; 8.75 kips
Ax Cx
R R = =
( ) ( )
23.75 kips ; 16.25 kips
Ay Cy
R R = | = |
8/30/2012
14
Determinacy
When all the unknown forces, external and internal,
can be determined from equilibrium equations, the can be determined from equilibrium equations, the
structure is referred to as statically determinate.
Structures having more unknown forces than
available equilibrium equations are called statically
indeterminate.
Statically Determinate Structure
For a planar structure (2-D), there are at most 3
equilibrium equations for each free-body diagram. equilibrium equations for each free body diagram.
Therefore a statically determinate structure requires
a maximum of 3 reactions.
If a structure can be separated into several FBD
(usually at hinge connections), then each part has 3
equilibrium equations, and the number of unknown q q ,
can be adjusted accordingly.
8/30/2012
15
Stability
If the supports do not supply enough constraint to
the structure, the structure is unstable. the structure, the structure is unstable.
Analytically, the equilibrium equations can not be
satisfied in an unstable structure.
There are two causes of instability:
Partial constraints: less support reactions than equilibrium
equations.
Improper constraints: the supports are improperly placed
so that one or more equilibrium equations cannot be satisfied.
For instance:
All reactions are parallel.
All reactions are concurrent.