İSTANBUL AYDIN ÜNİVERSİTESİ

STATICS
Lecture Notes (4)
İSTANBUL AYDIN ÜNİVERSİTESİ

Prof. Dr. Tuncer TOPRAK

 Prof. Dr. Tuncer TOPRAK

EQUILIBRIUM OF RIGID BODIES

 Rigid Body ?

 Free Body Diagram

 Equilibrium Conditions in General Case – 3D

 Equilibrium in Two Dimensional Case

• Equilibrium Equations – Alternative Sets of Equations

• Examples

 Equilibrium in Three Dimensional Case

• Equilibrium Equations
• Examples
 Prof. Dr. Tuncer TOPRAK

EQUILIBRIUM OF RIGID BODIES

In this section, we will develop the conditions for
the equilibrium of the rigid body. As shown, this
body is subjected to an external force and moment
system. The second figure shows the resultant
force and moment for the system.

Equilibrium Conditions

For the equilibrium of the rigid body, resultant

force vector and resultant moment vector about
any point O must be equal to zero.
 Prof. Dr. Tuncer TOPRAK

Equilibrium in Two Dimensions

In order to investigate the equilibrium conditions, we must isolate the body from
the other bodies and define the unknown reactions acting from the other bodies.
Before the application of equilibrium equations, we have to define all the known
and unknown external forces on a figure which is Free Body Diagram.

Free Body Diagram

Before presenting a formal procedure as how to draw free body diagram, we will
first consider the different types of reactions that occur at supports and contact
points between bodies.

Roller Type Support

Body is free to rotate at the roller contact, but free to move on a direction. Since it
is free to rotate, there will be no moment reaction. The only reaction force will be
perpendecular to the direction of movement.

Roller Type Support

 Prof. Dr. Tuncer TOPRAK

Pin Type Support

Body is free to rotate at the pinned support, can not move move on any
direction. Since it is free to rotate, there will be no moment reaction. There
will be reaction force with two components.

Pin Type Support

Fixed Support
Body is supported ina way that can not rotate and can not move on any direction.
In this case, since the body can not rotate, there will be a reaction moment and
there will be two components of reaction forces.

Fixed Support
 Prof. Dr. Tuncer TOPRAK

Weight of the Body

If the mass of the body is taken into account, the weight as a force will act to
the centroid of the body.

How to Draw Free Body Diagram

 Isolate the body from the others by removing contacts and supports.

 Define the type of supports and put the related support reactions
depending on the type of support.

 Put all the given (Known) forces and unknown reactions on the figure.
 Prof. Dr. Tuncer TOPRAK

Equilibrium
Conditions on Two
Dimensional Force
System

Fx = 0
Fy = 0
MO = 0
 Prof. Dr. Tuncer TOPRAK
Example
Draw the free body diagram the system
shown. The mass of the body (Cantilever
Beam) is 100 kg.

Solution
Since the support at A is fixed, there will be
two commponents of force and moment as
unknown reactions.
The sense of the unknown reactions are assumed on the free body diagram. The
weight will act to the mid point of the beam. There are three unknown reactions.
 Prof. Dr. Tuncer TOPRAK

Example
Draw the free body diagram the system
shown. The mass of the body will be
neglected.

Solution
Since the support at A is pin type, there will
be two components of reaction at A.
Body has roller type support at B and is free to move on inclined surface. Thus
the unknown reaction force will be perpendecular to the inclined surface. Free
body diagram will be drawn as shown on the figure belove.
 Prof. Dr. Tuncer TOPRAK

Equations of Equilibrium

As the definition of equilibrium, total force (resultant) and the total moment
vectors must be equal to zero. In two dimensional case, there will be three
scalar equilibrium equations as;

Alternative Sets of Equilibrium Equations

For two dimensional equlibrium, also another set of equations (one force ,
two moment equations) can be used as given below..

Also three moment equations about points A, B and C can be used. But in this
case selected points A, B and C can not be on the same line.
 Prof. Dr. Tuncer TOPRAK
Example
Find the reactions at points A and B for
the beam shown. Neglect the mass of
the beam.
Solution
At point A, there is roller type support,
and reaction force will be on the vertical
direction. At point B, there is pin type
support and there will be two unkown
reactions. Thus the free body diagram
will be as shown on the second figure..

Equilibrium equation on x – direction;

A direct solution for Ay can be obtained by applying the moment equation about
point B.
 Prof. Dr. Tuncer TOPRAK

Continue

Equation of equilibrium on y – direction will give By.

Using three equilibrium equations, we obtained three unknown reactions.

But just for checking our solution, we can write moment equilibrium about
point A.

We get the same result, thus our solution is correct.

 Prof. Dr. Tuncer TOPRAK

Example
Find the reactions at points A and B for the
bem shown. Neglect the mass of the
beam.
Solution
At point A, there is roller type support, and
reaction force will be on the vertical
direction.
At point B, there is pin type support and there will be two unkown reactions. Thus
the free body diagram will be as shown on the free body diagram figure. Moment
equilibrium equations about points B and A,
 Prof. Dr. Tuncer TOPRAK

Continue

Free Body Diagram

Equilibrium equation on x – direction,

 Prof. Dr. Tuncer TOPRAK

Example
Find the reactions at points A and B for the
bem shown. Neglect the mass of the
beam.
Solution
At point A, there is roller type support, and
reaction force will be on the vertical
direction.
At point B, there is pin type
support and there will be
two unkown reactions. Thus
the free body diagram will
be as shown on the free
body diagram figure.
Moment equilibrium
equations about points B
and A,

Free Body Diagram

 Prof. Dr. Tuncer TOPRAK

We can directly obtain NA by taking moment about point B.

The other unknown reactions can be found by writing equilibrium equations

on x and y directions.
 Prof. Dr. Tuncer TOPRAK

Example
Find the reactions at points A and B for the
beam shown. Neglect the mass of the
beam.
Solution
At point A, there is roller type support, and
support at point B is pin type. Thus the free
body diagram will be as follows;
 Prof. Dr. Tuncer TOPRAK

Continue
We can find reaction NA by taking moment abot point B.
 Prof. Dr. Tuncer TOPRAK

EQUILIBRIUM IN THREE DIMENSIONS

Free Body Diagrams

In order to solve three dimensional equilibrium problems, we have to draw
free body diagram for three dimensional force system.

Reactions for different type supports

One unknown reaction. The

reaction force (tension on the
cable) acts away from the body
on the direction of the cable.

One unknown reaction. The

reaction is a force which acts
perpendecular to the surface at
the point of contact.
 Prof. Dr. Tuncer TOPRAK

One unknown reaction. The

reaction is a force which acts
perpendecular to the surface at
the point of contact.

Three unknowns. The reactions

are three rectangular force
components.
 Prof. Dr. Tuncer TOPRAK

Four unknowns. The

reactions are two force and
two moment components
which act perpendecular to
the shaft.

Five unknowns. The reactions

are three force and two
momoment components.
 Prof. Dr. Tuncer TOPRAK

Equations of Equilibrium
From the definition of equilibrium, resultant force and moment vectors must be
equal to zero. Force and moment vectors each will have three companents
which must be equal to zero as scalar equations

Thus, there will be six scalar equilibrium equations in general.

 Prof. Dr. Tuncer TOPRAK

Example
Determine the components
of reaction that the ball-and-
socket joint at A, the smooth
journal bearing at B, and the
roller support at C exerts on
the rod assembly shown on
the figure.

Solution
Unknown reactions can be
defined according to the type of
each support and free body
diagram can be drawn as
shown on the second figure.
 Prof. Dr. Tuncer TOPRAK

Continue
Reaction AY can be determined by writing equilibrium equation on y direction.

Taking moment equilibrium about y axis, we can find FC.

Taking moment equilibrium about x axis and using the calculated values,
we can find Bz.
 Prof. Dr. Tuncer TOPRAK

Continue

Similarly, we can use moment equation about z axis, equilibrium of forces on

x and z directions, we can find the other unknowns as follow.
 Prof. Dr. Tuncer TOPRAK
Example
Determine the components of reaction at the
fixed support A. The 400 N, 500 N, and 600 N
forces are parallel to the x, y, and z axes,
respectively.
Solution
At point A, there is a fixed support and there
will be three unknown force and three
unknown moment reactions as shown on the
free body diagram.

Free Body Diagram

 Prof. Dr. Tuncer TOPRAK

Continue
In order to calculate six unknown reactions, we must write six equilibrium
equations as seen below.
 Prof. Dr. Tuncer TOPRAK

END