4

CHAPTER

STATICS

Equilibrium of Rigid Bodies

Statics
String , pulleys
String or cable: A mechanical device that can only transmit a
tensile force along itself.

Frictionless pulleys: For a frictionless pulley in static equilibrium,

the tension in the cable is the same on both sides of the pulley.

4-2

Dr. N. El-Hassan

Statics
Reduction of a simple distributed loading (4-10)
Distributed loads are caused by wind, fluid pressure, surface tractions,
We consider uniform distributed loads
The distributed load is a series of parallel forces, dF.
We
W can reduce
d
a parallel
ll l system
t off forces
f
down
d
to
t a single
i l point
i t load.
l d

4-3

Statics
Example (4.139)
The loading on the bookshelf is distributed as shown. Determine the magnitude
of the equivalent resultant location, measured from point O.

4-4

Dr. N. El-Hassan

Statics
Example (4.139)

4-5

Statics
Introduction

4-6

Dr. N. El-Hassan

Statics
Example:

4-7

Statics
Introduction
Ch. 2:Forces were applied at a single point, so equilibrium would occur if
F = 0
Ch. 4:Forces are applied at various points. In some cases, these forces will
give
i the
th object
bj t a tendency
t d
to
t rotate
t t andd F = 0 is
i nott enoughh to
t insure
i
equilibrium.
100 lb

100 lb

B
Case 1: The object is in equilibrium
F=0

100 lb

100 lb

Case 2: The object is NOT i n equilibrium

F=0

In Case 2 above, the object has a tendency to rotate (a moment, M), so the object is
not in equilibrium. Equilibrium for Case 2 also requires that the sum of the moments
equal zero, indicating that there is no tendency to rotate.
So the general conditions for equilibrium are: F = 0 (no translation)
M = 0 (no rotation)
4-8

Dr. N. El-Hassan

Statics
Introduction

conditions for static equilibrium,

Fx = 0 Fy = 0

Fz = 0
Mx = 0 M y = 0 Mz = 0
4-9

Statics
Equations of equilibrium (coplanar forces)

4 - 10

Dr. N. El-Hassan

Statics
Equations of equilibrium (coplanar forces)
2 Alternative sets of equilibrium equations
if a line passing
through points A and
B is not perpendicular
to the a axis

it is necessary that
points A, B and C do
not lie on the same line

4 - 11

Statics
Support reactions: Example
Beam - structural member designed to support loads applied at
various points along its length.
Let us consider three ways in which a beam is supported at its end:

pin or hinge

roller support

Fixed support

4 - 12

Dr. N. El-Hassan

Statics
Support reactions:
As a general rule:
- if a support prevents the translation of a body in a given
direction, then a force is developed on the body in that
di ti
direction.
- if rotation is prevented, a couple moment is exerted on the
body.

4 - 13

Statics
Reactions at Supports and Connections for a TwoDimensional Structure (Figure 5-1)

Reactions equivalent to
a force with known line
of action.

4 - 14

Dr. N. El-Hassan

Statics
Reactions at Supports and Connections for a TwoDimensional Structure (Figure 4-1 continued)
Reactions equivalent to a
f
force
off unknown
k
direction and magnitude.

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

4 - 15

Statics
Roller support
dilation support: roller

4 - 16

Dr. N. El-Hassan

Statics
Support dilation (roller support): definition
allow free dilation in one direction

kinematic of support

reaction support

4 - 17

Statics
Hinge support: definition
allow free rotation at a point

kinematic of support

reaction support

4 - 18

Dr. N. El-Hassan

Statics
Hinge support: example

4 - 19

Statics
Fixed support: definition
deny all d.o.f. (translation + rotation) at a point

4 - 20

Dr. N. El-Hassan

10

Statics
Fixed support: example

4 - 21

Statics
Types of supports

4 - 22

Dr. N. El-Hassan

11

Statics
Weight and the center of gravity

The weight of a body is an external force, and its

effect is shown as a single resultant force acting
through the bodys center of gravity G.

4 - 23

Statics
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.
A fixed crane has a mass of 1000 kg
and is used to lift a 2400 kgg crate. It
is held in place by a pin at A and a
rocker at B. The center of gravity of
the crane is located at G.
Determine the components of the
reactions at A and B.

Determine the reactions at A by

solving the equations for the sum of
all horizontal force components and
all vertical force components.
Check the values obtained for the
reactions by verifying that the sum of
the moments about B of all forces is
zero.
4 - 24

Dr. N. El-Hassan

12

Statics
Sample Problem 4.1
Determine B by solving the equation for the
sum of the moments of all forces about A.
M A = 0 : + B(1.5m ) 9.81 kN(2m )
23.5 kN(6m ) = 0
B = +107.1 kN

Create the free-body diagram.

Determine the reactions at A by solving the

equations for the sum of all horizontal forces
and all vertical forces.
Fx = 0 : Ax + B = 0
Ax = 107.1 kN
Fy = 0 : Ay 9.81 kN 23.5 kN = 0
Ay = +33.3 kN

Check the values obtained.

4 - 25

Statics
Sample Problem 4.2
SOLUTION:
Create a free-body diagram for the car
with the coordinate system aligned
with the track.
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.
k The
Th gross weight
i h off the
h car andd
force components parallel to the track.
its load is 5500 lb, and it is applied at
G. The car 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.
4 - 26

Dr. N. El-Hassan

13

Statics
Sample Problem 4.2
Determine the reactions at the wheels.
M A = 0 : (2320 lb ) 25in. (4980 lb ) 6in.
+ R2 (50in.) = 0

R2 = 1758 lb
M B = 0 : + (2320 lb ) 25in. (4980 lb ) 6in.
R1 (50in.) = 0

R1 = 562 lb

Create a free-body diagram

W x = +(5500 lb ) cos 25D

Determine the cable tension.

= +4980 lb
W y = (5500 lb ) sin 25D

Fx = 0 : + 4980 lb T = 0
T = +4980 lb

= 2320 lb
4 - 27

Statics
Sample Problem 4.3
SOLUTION:
Create a free-body diagram for the
frame and cable.
Solve 3 equilibrium equations for the
reaction force components and
couple at E.

The frame supports part of the roof of

a small building. The tension in the
cable is 150 kN.
Determine the reaction at the fixed
end E.

4 - 28

Dr. N. El-Hassan

14

Statics
Sample Problem 4.3
Solve 3 equilibrium equations for the
reaction force components and couple.
4.5
(150 kN ) = 0
Fx = 0 : E x +
7.5
E x = 90.0 kN
Fy = 0 : E y 4(20 kN )

6
(150 kN ) = 0
7.5

E y = +200 kN

Create a free-body
y diagram
g
for
the frame and cable.

M E = 0 : + 20 kN(7.2 m ) + 20 kN(5.4 m )

+ 20 kN(3.6 m ) + 20 kN(1.8 m )

6
(150 kN )4.5 m + M E = 0
7.5

M E = 180.0 kN m
4 - 29

Statics
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.

4 - 30

Dr. N. El-Hassan

15

Statics
Equilibrium of a Three-Force Body
Consider a rigid body subjected to forces acting at
only 3 points.
intersect the
Assuming that their lines of action intersect,
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.

4 - 31

Statics
Sample Problem 4.4
SOLUTION:
Create a free-body diagram of the joist.
Note that the joist is a 3 force body acted
upon by
b the
h rope, iits weight,
i h andd the
h
reaction at A.

A man raises a 10 kg joist, of

length 4 m, by pulling on a rope.
p and
Find the tension in the rope
the reaction at A.

The three forces must be concurrent for

static equilibrium. Therefore, the reaction
R must pass through the intersection of the
lines of action of the weight and rope
forces. Determine the direction of the
reaction force R.
Utilize a force triangle to determine the
magnitude of the reaction force R.

4 - 32

Dr. N. El-Hassan

16

Statics
Sample Problem 4.4
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
tan =

CE 2.313
=
= 1.636
AE 1.414

= 58.6D

4 - 33

Statics
Sample Problem 4.4
Determine the magnitude of the reaction
force R.
T
sin 31.4D

R
sin 110 D

98.1 N
sin 38.6 D

T = 81.9 N
R = 147.8 N

4 - 34

Dr. N. El-Hassan

17

Statics
Equilibrium of a Rigid Body in Three Dimensions (5.5)

4 - 35

Statics

4 - 36

Dr. N. El-Hassan

18

Statics
Reactions at Supports and Connections for a ThreeDimensional Structure (table 5-2)

4 - 37

Statics
Reactions at Supports and Connections for a ThreeDimensional Structure

4 - 38

Dr. N. El-Hassan

19

Statics
Examples of supports
This ball-and-socket joint provides a
connection for the housing of an earth
grader to its frame (reference: Statics, 9th
Edition, Hibbeler).

This journal bearing supports the

end of a shaft (reference: Statics,
9th Edition, Hibbeler).

4 - 39

Statics
Examples of supports
This thrust bearing is used to
support the drive shaft on a
machine (reference: Statics, 9th
Edition, Hibbeler).

This pin is used to support the end

of the strut used on a tractor
(reference: Statics, 9th Edition,
Hibbeler).

4 - 40

Dr. N. El-Hassan

20

Statics

4 - 41

Statics
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 270

pp
by
y a ball-andlb and is supported
socket joint at A and by two cables.
Determine the tension in each cable
and the reaction at A.

4 - 42

Dr. N. El-Hassan

21

Statics
Sample Problem 4.8
G
G
rD rB
G
G
rD rB
G
G
G
8i + 4 j 8k
= TBD
12
G
G
G
= TBD 23 i + 13 j 23 k
G G
G
r r
TEC = TEC GC GE
rC rE
G
G
G
6i + 3 j + 2 k
= TEC
7
G 3G 2G
6
= TEC 7 i + 7 j + 7 k

G
TBD = TBD

Create a free-body diagram for the

sign.
Since there are only 5 unknowns,
the sign is partially constrain. It is
free to rotate about the x axis. It is,
however, in equilibrium for the
given loading.

4 - 43

Statics
Sample Problem 4.8
G
F =
G
i:
G
j:
G
k:
G
MA
G
j:
G
k:

A
Apply
l the
h conditions
di i
for
f
static equilibrium to
develop equations for the
unknown reactions.

G G
G
G
A + TBD + TEC (270 lb ) j = 0
Ax 23 TBD 76 TEC = 0
Ay + 13 TBD + 73 TEC 270 lb = 0
Az 23 TBD + 72 TEC = 0
G
G
G
G G
G
= rB TBD + rE TEC + (4 ft )i ( 270 lb ) j = 0
5.333TBD 1.714 TEC = 0
2.667 TBD + 2.571TEC 1080 lb = 0

Solve the 5 equations for the 5 unknowns,

TBD = 101.3 lb TEC = 315 lb
G
G
G
K
A = (338 lb )i + (101.2 lb ) j (22.5 lb )k
4 - 44

Dr. N. El-Hassan

22