Engineering Mechanics MEI 101

Equilibrium of Rigid Bodies

Dr. Antarip Poddar

Department of Mechanical Engineering
IIT (ISM) Dhanbad
Email: antarip@iitism.ac.in
 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,

෍ 𝐹Ԧ = 0 ෍ 𝑀𝑂 = ෍ 𝑟Ԧ × 𝐹Ԧ = 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 ෍ 𝐹𝑦 = 0 ෍ 𝐹𝑧 = 0

෍ 𝑀𝑥 = 0 ෍ 𝑀𝑦 = 0 ෍ 𝑀𝑧 = 0
Reactions at Supports/Connections
Equilibrium of a Rigid Body in Two Dimensions
• For all forces and moments acting on a two-dimensional structure,

𝐹𝑧 = 0 𝑀𝑥 = 𝑀𝑦 = 0 𝑀𝑧 = 𝑀𝐴

• 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
 Statically Indeterminate Reactions

• More unknowns than • Fewer unknowns than • Equal number unknowns

equations equations, partially and equations but
constrained improperly constrained
Equilibrium of a Rigid Body in Two Dimensions: Example 1
SOLUTION:
• Create a free-body diagram for the crane.

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.
• 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
Equilibrium of a Rigid Body in Two Dimensions: Example 1

• 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 for the reactions by verifying that the sum of the
moments about B of all forces is zero.
 Equilibrium of a Rigid Body in Two Dimensions: Example 2
SOLUTION:
• Create a free-body diagram for the car

Wx = +(5500 N ) cos 25

= +4980 N
W y = −(5500 N )sin 25
= −2320 N
• Determine the reactions at the wheels:

= 0 : − (2320 N ) 625mm − (4980 N )150mm

A loading car is at rest on an inclined
track. The gross weight of the car M A R2 = 1758 N
and its load is 5500 N, and it is + R2 (1250mm) = 0

M = 0 : + (2320 N ) 625mm − (4980 N )150mm R1 = 562 .4N

applied at G. The cart is held in
B
position by the cable.
− R1 (1250mm) = 0
Determine the tension in the cable
and the reaction at each pair of • Determine the cable tension:
wheels. T = +4980 N
 Fx = 0 : + 4980 N − T = 0
Equilibrium of a Rigid Body in Two Dimensions: Example 3
SOLUTION:
• Create a free-body diagram for the frame and cable.

The frame supports part of the roof

of a small building. The tension in • Solve 3 equilibrium equations for the reaction force components
the cable is 150 kN. and couple.
4.5
Determine the reaction at the fixed  Fx = 0 : E x + (150 kN ) = 0
end E. 7.5
E x = −90.0 kN
Equilibrium of a Rigid Body in Two Dimensions: Example 3

6
 Fy = 0 : E y − 4(20 kN ) − (150 kN ) = 0
7.5
E y = +200 kN

 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
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.
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.

• This property is useful for graphical method (alternative).

Equilibrium of a Three-Force Body
 Equilibrium of a Three-Force Body: Example 4
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.

• Determine the direction of the reaction force R.

AF = AB cos 45 = (4 m ) cos 45 = 2.828 m

A man raises a 10 kg joist, of
length 4 m, by pulling on a CD = AE = 12 AF = 1.414 m
rope.
BD = CD cot( 45 + 20) = (1.414 m ) tan 20 = 0.515 m
Find the tension in the rope
and the reaction at A. CE = BF − BD = (2.828 − 0.515) m = 2.313 m
CE 2.313
tan = = = 1.636
AE 1.414

 = 58.6
Equilibrium of a Three-Force Body: Example 4

• 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
 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  M O =  (r  F ) = 0
Reactions at Supports/Connections
Equilibrium of a Rigid Body in Three Dimensions: Example 5
SOLUTION:
• Create a free-body diagram for the sign.

A sign of uniform density weighs 540 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.
Equilibrium of a Rigid Body in Three Dimensions: Example 5
• Determine the tension forces’ directions.

𝑟Ԧ𝐷 − 𝑟Ԧ𝐵 𝑟Ԧ𝐶 − 𝑟Ԧ𝐸

𝑇𝐵𝐷 = 𝑇𝐵𝐷 𝑇𝐸𝐶 = 𝑇𝐸𝐶
𝑟Ԧ𝐷 − 𝑟Ԧ𝐵 𝑟Ԧ𝐶 − 𝑟Ԧ𝐸
−2.4Ԧ𝑖 + 1.2Ԧ𝑗 − 2.4𝑘 −1.8Ԧ𝑖 + 0.9Ԧ𝑗 + 0.6𝑘
= 𝑇𝐵𝐷 = 𝑇𝐸𝐶
3.6 2.1
2 1 2
= 𝑇𝐵𝐷 − 𝑖Ԧ + 𝑗Ԧ − 𝑘 6 3 2
3 3 3 = 𝑇𝐸𝐶 − 𝑖Ԧ + 𝑗Ԧ + 𝑘
7 7 7
Equilibrium of a Rigid Body in Three Dimensions: Example 5
• Apply the conditions for static equilibrium to
develop equations for the unknown reactions.

෍ 𝑀𝐴 = 𝑟Ԧ𝐵 × 𝑇𝐵𝐷 + 𝑟Ԧ𝐸 × 𝑇𝐸𝐶 + 1.2 m 𝑖Ԧ × −540N 𝑗Ԧ = 0

𝑗Ԧ: 1.6𝑇𝐵𝐷 − 0.5143𝑇𝐸𝐶 = 0

𝑘: .8𝑇𝐵𝐷 + .771𝑇𝐸𝐶 − 648N = 0

෍ 𝐹Ԧ = 𝐴Ԧ + 𝑇𝐵𝐷 + 𝑇𝐸𝐶 − 540N 𝑗Ԧ = 0

2 6
𝑖Ԧ: 𝐴𝑥 − 𝑇𝐵𝐷 − 𝑇𝐸𝐶 = 0
3 7
1 3
𝑗Ԧ: 𝐴𝑦 + 𝑇𝐵𝐷 + 𝑇𝐸𝐶 − 540 N = 0
3 7
2 2
𝑘: 𝐴𝑧 − 𝑇𝐵𝐷 + 𝑇𝐸𝐶 = 0
3 7
𝑇𝐵𝐷 = 202.6 N 𝑇𝐸𝐶 = 630.3 N
𝐴Ԧ = 675.3 N 𝑖റ + 202.3 N 𝑗Ԧ − 45.02 N 𝑘
Equilibrium of a Rigid Body in Two Dimensions: Example 6
Neglecting friction and the radius of the pulley, determine the tension
in cable BCD and the reaction at support A when d = 10 cm.

20 N
3 unknows
3 unknows