Lacanilao Johnley F.

AE-207

Equilibrium of Rigid Bodies

Rigid bodies are those bodies in which the distance between particles is constant despite any kind of
external force. So while studying the equilibrium of rigid bodies, we mainly aim to define the behavior of
these constituting particles in changed conditions of force or torque. Since we are concentrating on the
equilibrium of rigid bodies under motion, therefore we need to take both translational and rotational motion
into consideration.
Equilibrium is a defined as any point where the total amount of external force or torque is zero. This
point may be anywhere near the center of mass. External force in translational motion of the rigid body
changes the linear momentum of that body. While the external torque in rotational motion can change the
angular momentum of the rigid body.

Common Support / Connection Element Types in Two Dimensional Analysis

In rigid bodies subjected to two dimensional force systems, the forces exerted from supports and
connection elements are shown in the free body diagram as follows:

It should be kept in mind that reaction will occur along the direction in which the motion of the body is
restricted.
Equations of Equilibrium in Two Dimensional Case
If all the forces acting on the rigid body are planar and all the couples are perpendicular to the plane of the
body, equations of equilibrium become two dimensional.
Lacanilao Johnley F.
AE-207

   
R  F  R x i  R y j  0 R x  Fx  0 R y  Fy  0
 
M  M z k  0
or in scalar form,

Fx  0 F y  0 M O  0
*At most three unknowns can be determined.
Alternative Equations of Equilibrium
In two dimensional problems, in alternative to the above set of equations, two more sets of equations can
be employed in the solution of problems.
Fx  0 M A  0 M B  0
M A  0 M B  0 M C  0
Points A, B and C in the latter set cannot lie along the same line, if they do, trivial equations will be
obtained.

Two-force Member

Members which are subjected to only two forces are named as “two force members”. Forces acting on
these members are equal in magnitude, opposite in direction and are directed along the line joining the
two points where the forces are applied.

Three-Force Member
Lacanilao Johnley F.
AE-207

In rigid bodies acted on by only three forces, the lines of action of the forces must be concurrent;
otherwise the body will rotate about the intersection point of the two forces due to the third force which is
not concurrent. If the forces acting on the body are parallel, then the point of concurrency is assumed to
be in infinity.

Free Body Diagram

The procedure for drawing a free body diagram which isolates a body or system consists of the following
steps:

1) If there exists, identify the two force members in the problem.

2) Decide which system to isolate.
3) Isolate the chosen system by drawing a diagram which represents its complete external
boundary.
4) If not given with the problem, select a coordinate system which appropriately suits with the given
forces and/or dimensions.
5) Identify all forces which act on the isolated system applied by removing the contacting or
attracting bodies, and represent them in their proper positions on the diagram.
6) Write the equations of equilibrium and solve for the unknowns.
Lacanilao Johnley F.
AE-207
Lacanilao Johnley F.
AE-207
1. The pin A, which connects the 200-kg steel beam with center of gravity at G to the vertical column, is
welded both to the beam and to the column. To test the weld, the 80-kg man loads the beam by exerting a
300 N force on the rope which passes through a hole in the beam as shown. Calculate the torque (couple)
M supported by the pin.

2. A fixed crane has a mass of 1000 kg and is used to lift a 2400 kg 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.

3. The small crane is mounted on one side of the bed of a pickup truck. For the position q=40o ,
determine magnitude of the force supported by the pin at O and the oil pressure p against the 50-mm
diameter piston of the hydraulic cylinder BC.

4. 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.
Lacanilao Johnley F.
AE-207

5. Determine the support reactions of roller A and the smooth collar B on the rod. The collar is fixed to
the rod AB, but is allowed to slide along rod CD.