EQUILIBRIUM OF RIGID BODIES

(THREE DIMENSIONS)
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS

We saw in the early part of this chapter that six scalar

equations are required to express the conditions for the
equilibrium of a rigid body in the general three-dimensional
case:
F X = 0 F Y = 0 F Z = 0
M X =0  MY =0 MZ =0

These equations can be solved for no more than six

unknowns, which generally will represent reactions at
supports or connections.
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS
In most problems the scalar equations will be more
conveniently obtained if we first express in vector form the
conditions for the equilibrium of the rigid body considered.
We write
F = 0  M o =  (r x F ) = 0
and express the forces F and position vectors r in terms of
scalar components and unit vectors. Next, we compute all
vector products, either by direct calculation or by means
of determinants.
By equating to zero the coefficients of the unit vectors in
each of the two relations, we obtain the desired scalar
equations.
REACTIONS AT SUPPORTS AND CONNECTIONS
REACTIONS AT SUPPORTS AND CONNECTIONS
REACTIONS AT SUPPORTS AND CONNECTIONS
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS

Problem:
A 5 x 8-ft sign of uniform
density weighs 405 lb 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
Solution:
Forces:
d BD = (− 8 ) 2 +4 2
+ (− 8 )
2
= 12 ft d EC = (− 6 ) 2 +3 2
+2 2
= 7 ft

T BD
T BD = (− 8 i + 4 j − 8 k ) = − 2 T BD i + 1 T BD j − 2 T BD k
12 3 3 3
T EC
Ay
T EC = (− 6 i + 3 j + 2 k ) = − 6 T EC i + 3 T EC j + 2 T EC k
Ax TBD 7 7 7 7
TEC
R A = Ax i + Ay j + Az k
Az W = −405 j
2 6
 Fx = 0 : −
3
T BD − T EC + Ax = 0
7
1

1 3
F y =0 :
3
T BD + T EC + Ay − 405 = 0
7
2

2 2
W
F z =0 : − T BD + T EC + Az = 0
3 7
3
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS
Solution:
Moment at A: rBD = 8 i rEC = 6 i rW = 4 i
 2 1 2
MA = r x F = 8 i x − T BD i + T BD j − T BD k 
 3 3 3


+  6 3 2 
i j k i j + 6 i x − T EC i + T EC j + T EC k 
-  7 7 7 
Ay + 4 i x (− 405 j ) = 0
Ax TBD
TEC 8 16 18 12
T BD k + T BD j + T EC k − T EC j − 1620 k = 0
3 3 7 7
Az 16 12
 My = 0 :
3
T BD −
7
T EC = 0
8 18
 M z = 0 : T BD +
3 7
T EC − 1620 = 0

T BD = 151.875 lb T EC = 472.5 lb
From 1 , 2 & 3 :
W
Ax = 506.25 lb Ay = 151.875 lb Az = −33.75 lb
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS

Problem:
The rigid L-shaped member
ABC is supported by a ball-
and-socket joint at A and
by three cables. If a 450-lb
load is applied at F,
determine the tension in
each cable.
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS
Solution: Forces:
T CD
T CD = (24 j − 32 k ) = 0.6 TCD j − 0.8TCD k
40
T BD 21 12 16
T BD = (− 42 i + 24 j − 32 k ) = −
29
T BD i +
29
T BD j −
29
T BD k
58
Ay T
TCD T BE = BE (42 i − 32 k ) = 0.7954 T BE i − 0.606 T BE k
52.8
TBD R A = Ax i + Ay j + Az k
Az Ax
F = −450 j
TBE

21
d CD = 0 + 24 2
+ (− 32 )
2
= 40 in
 Fx = 0 : −
29
T BD + 0.7954 T BE + Ax = 0 1

12
d BD = (− 42 ) 2 + 24 2
+ (− 32 )
2
= 58 in  F y = 0 : 0.6 T CD +
29
T BD + Ay − 450 = 0 2

(42 ) 2 + 0 + (− 32 ) 16

2
d BE = = 52.80 in
F z = 0 : − 0.8 T CD − T BD − 0.606 T BE + Az = 0 3
29
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS

Moment at A:
MA = r x F = (− 42 i + 32 k ) x (0.6 T CD j − 0.8 T CD k )
 21 12 16 
+ + (32 k ) x − T BD i + T BD j − T BD k 
Ay i j k i j  29 29 29 
TCD -
+ (32 k ) x (0.7954 T BE i − 0.606 T BE k )
TBD
Az Ax + (− 21 i + 32 k ) x (− 450 j ) = 0

TBE
672
− 25.2T CD k − 33.6 T CD j − 19.2T CD i − T BD j
29
Position vector of each force from A: 384
− T BD i + 25.4528 T BE j + 9450 k + 14 ,400 i = 0
rCD = −42 i + 32 k 29
rBD = 32 k
rBE = 32 k
rF = −21 i + 32 k
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS

672
− 25.2T CD k − 33.6 T CD j − 19.2T CD i − T BD j
29
384
− T BD i + 25.4528 T BE j + 9450 k + 14 ,400 i = 0
29
384
Mx =0 : − 19.2T CD −
29
T BD + 14 ,400 = 0

672
My = 0 : − 33.6 T CD −
29
T BD + 25.4528 T BE = 0

Mz = 0 : − 25.2T CD + 9450 = 0

T CD = 375 lb T BD = 543.75 lb T BE = 990.068 lb

From 1 , 2 & 3 :

Ax = −393.75 lb Ay = 0 Az = 1200.04 lb
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS

Problem:
The assembly shown is welded
to collar A that fits on the
vertical pin shown. The pin can
exert couples about the x and
z axes but does not prevent
motion about or along the y
axis. For the loading shown,
determine the tension in each
cable and the reaction at A.
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS
Solution: Forces:
TCF
TCF = (− 80 i + 60 j ) = −0.8TCF i + 0.6 TCF j
100
T
T DE = DE (120 j − 90 k ) = 0.8 T DE j − 0.6 T DE k
Mx 150
Mz
Ax R A = Ax i + Az k
Az
F = −480 j
TDE
TCF

F x =0 : − 0.8 T CF + Ax = 0 1

F y =0 : 0.6 T CF + 0.8 T DE − 480 = 0 2

d CF = (− 80 ) 2 + (60 ) 2 + 0 = 100 mm
F z =0 : − 0.6 T DE + Az = 0 3
+ (− 90 )
2 2
d DE = 0 + 120 = 150 mm
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS

Moment at A:
MA = r x F = (80 i + 135 k ) x (− 0.8 T CF i + 0.6 T CF j )
+ (80 i + 90 k ) x (0.8 T DE j − 0.6 T DE k )
Mx +
Mz i j k i j + (80 i + 135 k ) x (− 480 j )
-
Az Ax
+ Mxi + Mzk = 0
TDE 36 T CF k − 108 T CF j − 81T CF i + 64 T DE k + 48 T DE j
TCF
− 72T DE i − 38 ,400 k + 64 ,800 i + M x i + M z k = 0

Mx = 0 : − 81T CF − 72T DE + 64 ,800 + M x = 0 4

Position vector of each force from A: My =0 : − 108 T CF + 48 T DE = 0 5

rCF = 80 i + 135 k rF = 80 i + 135 k

Mz =0 : 36 T CF + 64 T DE − 38 ,400 + M z = 0 6
rDE = 80 i + 90 k
EQUILIBRIUM OF A RIGID BODY IN THREE DIMENSIONS

Equilibrium equations: From 1:

1 − 0.8 T CF + Ax = 0 − 0.8 (200 ) + Ax = 0
2 0.6 T CF + 0.8 T DE − 480 = 0 Ax = 160 N
3 − 0.6 T DE + Az = 0 From 3:
− 0.6 (450 ) + Az = 0
4 − 81T CF − 72T DE + 64 ,800 + M x = 0
Az = 270 N
5 − 108 T CF + 48 T DE = 0
From 4:
6 36 T CF + 64 T DE − 38 ,400 + M z = 0
− 81 (200 ) − 72 (450 ) + 64 ,800 + M x = 0
Combine 2 and 5: M x = −16 ,200 N − mm
2 0.6 T CF + 0.8 T DE − 480 = 0 From 6:
5 − 108 T CF + 48 T DE = 0 36 (200 ) + 64 (450 ) − 38 ,400 + M z = 0
T CF = 200 N T DE = 450 N M z = 2400 N − m