2020-05-19

 Module 3-1 – Introduction & Free

Body Diagrams
 Module 3-2 – Equilibrium in 2-D
 Module 3-3 – Equilibrium in 3-D

Luke MacDonald, MASc., P.Eng.

luke.macdonald@smu.ca

 A mechanical system is isolated

when all external forces acting on it
are accounted for
 A body is in equilibrium when:
Introduction & Free  Resultant force is zero
Body Diagrams  Resultant moment is zero
 External forces include:
 Applied
 Body
 Reactive

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 An FBD is a graphical representation

of all external forces acting on an
isolated body, and includes:
 Sketch of rigid body
REACTIVE REACTIVE
 ALL external forces (magnitudes and
orientations) FORCES MOMENTS
 Relevant dimensions/Labels  To identify  To identify
reactive forces, reactive moments,
 Axes system consider if the
consider if the
rigid body can rigid body can
rotate about a
translate in a given given axis:
direction:  If it is free to rotate:
 If it is free to move: no reaction
no reaction force moment
 If movement is  If rotations are
restrained: reaction restrained: reaction
force is applied moment is applied

Reactions Reactions

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Reactions

 If all forces acting on an isolated

body are concurrent, the following
equilibrium equations may be
applied:
Equilibrium in 2-D Σ𝐹𝑥 = 0
Σ𝐹𝑦 = 0

Physical
System

Free Body
Diagram

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 For a general application of 2-D  The force exerted by a spring is a

forces and couple moments on an function of the
isolated body, the following scaler extension/compression of the
equilibrium equations apply: spring from the neutral position:

Σ𝐹𝑥 = 0 𝐹𝑠 = 𝐾𝑥
Σ𝐹𝑦 = 0
Σ𝑀𝑜 = 0

 The tension in a cable running over
an ideal frictionless pulley is the
same on both sides:
 2-force members are linkages that
transfer a force along a single axis
 They are identified by the following
criteria:
 Pin connections at each end
 No other forces/moments/connections

Physical FBD of Rope FBD of

System and Pulley Rope/Pulley
System

2-Force
Member

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SECTION 2: SECTION 3:
STATICALLY STATICALLY FORCE SYSTEM EQUILIBRIUM
DETERMINANT INDETERMINATE RESULTANTS
 Involves reducing a  Involves the
 Reactions may be  Contain redundant force system (forces isolation of a rigid
determined from the reaction forces and couples) to the body through the
simplest possible form construction of a
principles of statics  May not collapse if 1
such that the external
alone or more supports fail reactions remain the free body diagram
 In 2-D: ≤ 3 unknowns same and calculation of
 Sample language: the external
 In 3-D: ≤ 6 unknowns
 Calculate the resultant reactions
force and indicate  Sample language:
where it acts on the  Calculate the
rigid body reaction forces at
 Reduce the force the supports
system to a force-
couple system at A

 The process for

Physical
calculating System
reaction forces
in 3-D is very
Equilibrium in 3-D similar to 2-D
 Identify rigid
body to isolate
 Draw complete
FBD
 Apply equilibrium
equations

Free Body
Diagram

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Ball &
Socket

Fixed

Roller

 Properly aligned journal bearings  If all forces acting on an isolated

generally do not produce moment body are concurrent, the following
reactions equilibrium equations may be
 Equilibrium is maintained through applied: Σ𝐹 = 0
𝑥
force reactions which prevent Σ𝐹𝑦 = 0
rotation: Physical
Physical System
Σ𝐹𝑧 = 0
Free Body
System
Diagram

Free Body
Diagram

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 For a general application of 2-D

forces and couple moments on an
isolated body, the following
equilibrium equations apply:
Vector Equations Scaler Equations
Σ𝑭 = 0 Σ𝐹𝑥 = 0
Σ𝐹𝑥 = 0
Σ𝑴 = 0 Σ𝐹𝑥 = 0
Σ𝑀𝑥 = 0
Σ𝑀𝑦 = 0
Σ𝑀𝑧 = 0