P1-TH-C3-2 Can Bang Cua Vat Ran Phang - English - Compatibility Mode

Cơ học kỹ thuật Engineering Mechanics
TĨNH HỌC STATICS
Planar force system and

equilibrium of planar
rigid bodies
Applied Mechanics
Department of Applied Mechanics
Hê lực phẳng và cân bằng vật rắn phẳng – Planar force systems & Equilibrium of a planar rigid body
EQUILIBRIUM OF A PLANAR RIGID BODY
1. Equilibrium condition and equations

2. Constraints- Free Body Diagram
3. Examples
4. Statically determinate or indeterminate
Department of Applied Mechanics 2

1. Equilibrium condition and equations for a 2D body
A free planar rigid body in equilibrium  y

The force system acting on the body is the F2
equilibrium one (~ to zero) F3
  
(F1, F2 ,..., Fn ,C 1,...,C m )  0 F1 Cj
F4
    O
(F1, F2 ,..., Fn ,C 1,...,C m )  (RO , MO )  0 x
 
RO   Fk  0,

MO   mO (Fk )   C j  0, O

 
RO   Fk  0,
 y
MO   mO (Fk )   C j  0, O F2
F3
Cj
Type 1.  Fkx  0, (1)
F1
 Fky  0, (2) F4

 mO (Fk )   C j  0 (3) O
x
Type 2. Type 3.

 Fkx  0, (1)  mA (Fk )   C j  0 (1)
 
 mA (Fk )   C j  0 (2)  mB (Fk )   C j  0 (2)
 
 mB (Fk )   C j  0 (3)  mC (Fk )   C j  0(3)
(x not  AB) (A, B, C are not in one line)

Type of
Number of
force Figure Equations of equilibrium
Equations
system
y Cj
F1  Fkx  0,
General F3
planar force F2 3  Fky  0,
system

O  mO (Fk )   C j  0,
x
F3  Fkx  0,
Concurrent F1 2
planar force  Fky  0,
system O x
F2
Type of Number
Equations of
force Figure of
equilibrium
system Equations
y
C1
planar C3
C k  0
couple 1
system C2
O
x
y
Parallel F3 F2 2  Fky  0

planar force  mO (Fk )  0
system F1
O
x

2. Constraints and Free Body Diagram

A Free body in a plane can perform three Free body
independent motions, we say it has three degree of y
freedom (DOF)

As a general rule, if a support prevents the translation of a
body in a given direction, then a reactive force is developed
on the body in that direction. In the similar manner, if
rotation is prevented, a reactive couple moment is exerted x
on the body. In other word the reactive force exerted on the
body by a constraint is always in the sense to oppose the
movement of the body which would occur if the constraint
Constrained body
were removed.
If a support prevents translation of a body in a particular direction, then the

support exerts a force on the body in that direction.
If rotation is prevented, then the support exerts a couple moment on the body
Linear spring Rope wrapped around pulley,

K – spring constant smooth bearing
l0 (stiffness constant)
k s

 T
Fs T
Fs
s 
T
T P
Force-deformation relation (Hooke’s law)


F  ks  k (l  l 0 ) s / l 0 small P


(one-side constraint)
  N1
T
N2
Rope (cable) in tension N2
N1
N
Smooth contact
Smooth contact
N
N
or
N
Roller (one side
Roller in smooth slot
constraint) (Two-side constraint)
Fy (Two-side constraint)
N
or
Fx or
N F

Pin and collar on smooth rod Smooth pin (hinge)
Fy
 
or S
M Fx
F
Fixed support 
 S
Weightless rod
M


P
Short bearing (~ contacts of two-side) N1 N2
Long bearing (~ sliding clamp)
N2 P N P
N1 M
Free-body diagram
1. Draw outlined shape. Imagine the body to be isolated or cut "free" from its
surroundings by drawing its outlined shape.
2. Show all forces. Indicate on this sketch all the forces that act on the body.
These forces can be active forces or reactive forces.
3. Identify each force. The forces that are known should be labeled with their
proper magnitudes and directions. Letters are used to represent the
magnitudes and directions of forces that are unknown.


Example 1. Draw Free Body Diagram for a beam of mass 100 kg with fixed support at A.
2m
2m
1200 N 1200 N
Ay
200 N 200 N
A Ax
6m MA 3m
981 N
(a) Fig. 3-9 (b)
Solution
- Isolate the beam from surrounding
- Draw all given forces
- Weight W of the beam at the middle.
- Draw force/couple at fixed support A: Ax, Ay, MA (or XA, YA, MA), (unknown
magnitude, assumed direction).

Example 2. Draw Free Body Diagram for a triangle plate of mass 250 kg
with a smooth pin at A and roller at C.

3. Examples
Example 3.
600 N 200 N
Determine the horizontal and vertical components 0.2 m
of reaction for the beam loaded as shown. Neglect 45o
the weight of the beam. A B
D
2m 3m 2m
Free Body Diagram
100 N
Moving pin at A: == > Ay

F1, 600 N F3, 200 N
Pin at B: == > Bx, By 0.2 m
45o
Bx
A
Force system in equilibrium D B
      2m 3m 2m
(F1, F2 , F3 , Ay , Bx , By )  0 Ay By
F2, 100 N
3. Examples
600 N
200 N
Equations of Equilibrium 0.2 m
45o
Bx
A
D B
2m 3m 2m
Ay By
100 N
 Fx  0 : 600 cos 45  Bx  0

 Fy  0 : Ay  600 sin 45  100  200  By  0
 M B  0 : 100  2  600 sin 45  5  600 cos 45  0.2  Ay  7  0
Solving the equations gives:
Ay  319 N, Bx  424 N, By  405 N

3. Examples
Example 4. D
Beam AB is kept horizontal by a pin at A and a rope CD. 
Determine reaction at A and tension in the rope.
C B
A
FBD a b
Tension in rope: TCD Pin at A: XA, YA P
D
Force system in equilibrium  TCD
    YA
(P,TCD , X A,YA )  0 C B
A
XA
a b
Equations of equilibrium P
 Fkx  X A  TCD sin   0,

(a  b) b
 Fky  YA  TCD cos   P  0 TCD  P, YA   P
 a cos  a
 mA (Fk )  aTCD cos   (a  b)P  0 XA 
(a  b)
P tan  ,
a
3. Examples
Q
Example 5. Determine the magnitude of force Q to 
maintain the equilibrium of the system. Givens: P , r , h, 
h r
O
FBD
Q
 P
Force system in equilibrium
     r
(P ,G ,Q, XO ,YO )  0 h
YO
Equations of equilibrium O XO

 mO (Fk )  hQ cos   rP  0 G
r
 Q P
h cos  P

3. Examples
Example 6. A homogeneous rectangular plate of size A 2a O
2a, 2b and weight P is hang by spooth pin at O 2b 
(middle of edge AB). Determine the equilibrium G
B
position, angle , if we hang a weight Q at vertex C. D
a) C
Force system in equilibrium

FBD
    YO
(P ,Q, XO ,YO )  0 A 2a
O XO
2b 
Equations of equilibrium B
 G 
 mO (Fk )  Pb sin   Q[a cos   2b sin  ]  0 D
(P  2Q )b sin   Qa cos   0 P C
b)
Qa
 tan      ...
(P  2Q )b
Q
3. Examples

 F2
Flipping body. It is necessary to determine the ability of F1 
the object to overturn around any point, the sense of Fn
flipping, from which to calculate the flipping moment and 
the anti-flipping moment: NA 
NB
M cl  M gl
A  B
XA
Example 7: Determine the distance
NB  0
F
a so that the system can not flip
over pin A. Givens: h, P and F.
M cl  Pa / 2, M gl  Fh P
h
M cl  M gl  Pa / 2  Fh A B
 a  2Fh / P
a

4. Statically determinate and indeterminate
Statically determinate Statically indeterminate (over-constraint)
1200 N
(3 equations, 5 unknowns)
1200 N
1200 N C
A Ay By y
A C Ax
B MA
1200 N 3m 981
N
A 1200 N C
B 1200 N Ay By y
B Ax
A C
981 N
3m
4. Statically determinate and indeterminate

Statically indeterminate systems
(due to arrangement of constraints)
A B
100 N
200 N
C
O
Fkx  0
A B

Fky  0, mO (Fk )  0 100 N
A B
O
C 
mO (Fk )  0

EQUILIBRIUM OF A PLANAR MULTIBODY SYSTEM
1. Method of body separation and sub-structrure
2. Two-force member and three-force member
Each body in Method of

equilibrium body separation
Multibody
system in
equilibrium Each group some
Method of
or all bodies in
sub-structrure
equilibrium
Axiom: action = reaction
P F
5 F
3 IV
P
4 V
III II 1 6
I
B B
2 A
A
FBD: Method of body separation

B
Method of body separation
P
By By
Q Bx Bx
P
A C Q
A Ax Cx C
Method of sub-structrure
Ay Cy
B Bx
P P
Q
By
Ax
A C A Ax
Cx
Ay Cy Ay Axiom: action = reaction
F By S
B
C D
Bx K
P
Bx B
1m By
F 2m 2m F
N
C B C B
D D Ay
K K S
2m
MA Ax
P P
N N A
Ay
2m
Ax
A MA
A

Two-force member B A
B
F3 F4
FB=-FA FA FB=-FA
FA
A B FB
F1 FB=-FA B FA A
F5
F2
A
Three-force member FA A
B
FB=-FA FA
F1 F2
F2
F1
O
F3
F3
Three concurrent forces Three parallel forces

Example 8. Determine reactions at pins A, B, D. P, 400 N
(a) C
Neglect weights of all members.
0.2m 0.5 m
FBD: Show that BD is a two-force member
FB B
(b) 0.2m
D A
B 0.5 m
45o P, 400 N O
C 0.1m
D 45o
FD 0.5 m
 
FD  FB Show that ABC is a
B three-force member
FA
FB 
  
A (P , FB , FA )  0
(c)
0.1m

Show that ABC is a three-force member. That is a concurrent force system.
  
0.5 m (P, FB , FA )  0
P, 400 N O
C P
45o
0.5 m 45o
 FA  Short calculation
B
FB
FB FA 0.2 m tan   0.7 / 0.4

   60.3     45
A
(c)
0.1m P FA FB
 
sin  sin 45 sin(180  45   )
 FA, FB FA  1.07 kN , F  1.32 kN .

Remark: We can apply the Method of body separation
(two bodies, 6 equations, 6 unknowns,)
400 N
C 400 N
 C
YB
0.2m 0.5 m  0.5 m
XB 
 XB
YD B B
B
 
0.2m
XD  YA
D A D YB

A XA
(a) 0.1m 0.1m
(b) (c)
        
FA  X A  YA, FB  X B  YB , FD  X D  YD
SOME TYPICAL PLANAR SYSTEMS
1. Arch structure / Structures with three hinges

2. Hinged beam
3. Machines
4. Pulleys
5. Trusses


Xác định lực liên kết cho kết cấu vòm tạo bởi hai tam giác đồng chất có trọng
lượng W và chịu lực như trên Hình.
Tấm (I): mA  XC h  W 13 a  YC a  0
Tấm (II): mB  W 13 a  XC h  YC a  Fh  0
Thực hiện cộng và trừ hai phương trình trên, ta suy ra
XC  a
3h
W  12 F , YC   2ha F
Viết các phương trình hình chiếu cho hai vật:
Tấm (I):
Fkx  X A  XC  0  X A  XC  a
3h
W  21 F
Fky  YA  W  YC  P  0  YA  W  P  YC  W  P  h
2a
F
Tấm (II): Fkx  X B  XC  F  0  X B  F  XC   21 F  a
W
3h
Fky  YB  W  YC  0  YB  W  YC  W  h
2a
F

2. Hinged beam
a) Statically indeterminate (continuous beam)
b) Statically determinate (hinged beam)
c) Statically determinate (hinged beam)
d) Statically indeterminate (hinged beam)
2. Hinged beam
Example 9. For a hinged beams with dimensions and supports as shown in Figure. Determine the
reactions at supports and hinges.

3. Machines
3. Machines

Arm OAB: mO (Fk )  S 1b  Pa  0 Solving 4 equations gives
Node C: Fkx  S1  S 2 sin   S 3 sin   0 a cos  cos 

Fc  P
Fky  S 2 cos   S 3 cos   0 b(sin  cos   cos  sin  )
Cutter: Fky  Fc  S 2 cos   0

4. Pulleys (weightless cable, smooth journals)

Example 10. Determine the cable tension to keep a load of 1000 kg at rest. Neglect friction and
the weight of the pulleys.
W mg
5T  W  0  T    200g  1962 N
5 5

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Cơ học kỹ thuật Engineering Mechanics

TĨNH HỌC STATICS

Planar force system and

Department of Applied Mechanics

EQUILIBRIUM OF A PLANAR RIGID BODY

1. Equilibrium condition and equations

Department of Applied Mechanics 2

1. Equilibrium condition and equations for a 2D body

A free planar rigid body in equilibrium  y

Department of Applied Mechanics 3

1. Equilibrium condition and equations for a 2D body

Department of Applied Mechanics 4

1. Equilibrium condition and equations for a 2D body

Department of Applied Mechanics 5

1. Equilibrium condition and equations for a 2D body

Department of Applied Mechanics 6

2. Constraints and Free Body Diagram

If a support prevents translation of a body in a particular direction, then the

Department of Applied Mechanics 7

2. Constraints and Free Body Diagram

Linear spring Rope wrapped around pulley,

Force-deformation relation (Hooke’s law)

Department of Applied Mechanics 8

2. Constraints and Free Body Diagram

Department of Applied Mechanics 9

2. Constraints and Free Body Diagram

Department of Applied Mechanics 10

2. Constraints and Free Body Diagram

Long bearing (~ sliding clamp)

Department of Applied Mechanics 11

2. Constraints and Free Body Diagram

Department of Applied Mechanics 12

2. Constraints and Free Body Diagram

Department of Applied Mechanics 13

2. Constraints and Free Body Diagram

Department of Applied Mechanics 14

Moving pin at A: == > Ay

Department of Applied Mechanics 15

 Fx  0 : 600 cos 45  Bx  0

Solving the equations gives:

Ay  319 N, Bx  424 N, By  405 N

Department of Applied Mechanics 16

 Fkx  X A  TCD sin   0,

Department of Applied Mechanics 17

Department of Applied Mechanics 18

Force system in equilibrium

Department of Applied Mechanics 19

Department of Applied Mechanics 20

4. Statically determinate and indeterminate

Statically determinate Statically indeterminate (over-constraint)

Department of Applied Mechanics 21

4. Statically determinate and indeterminate

Department of Applied Mechanics 22

EQUILIBRIUM OF A PLANAR MULTIBODY SYSTEM

1. Method of body separation and sub-structrure

2. Two-force member and three-force member

Department of Applied Mechanics 23

1. Method of body separation and sub-structrure