EQUILIBRIUM OF RIGID

BODIES
ENGR. NINO MAR H. CLARITO, RCE, SO2,RMP
 Equilibrium of a Particle & a Rigid Body Lecture 6

Equilibrium of a particle:
A particle at rest: A particle is at rest if originally at rest or has a constant velocity if
originally in motion.
A particle is in equilibrium: if the resultant of ALL forces acting on the particle is equal to
zero. (Newton’s first law is that a body at rest is not subjected to any unbalanced forces).

Equilibrium equations for a particle:

Sum of all forces acting on a particle = F = 0

In a rectangular coordinate system the equilibrium equations can be represented by three
scalar equations:

F x 0
F y 0 Equilibrium

F z 0 Forces on a
particle
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 Equilibrium of a Particle & a Rigid Body Lecture 6

Equilibrium of a Rigid Body:

 In contrast to the forces on a particle, the forces on a rigid-body are not usually
concurrent and may cause rotation of the body (due to the moments created by the forces).
 For a rigid body to be in equilibrium, the net force as y
well as the net moment about any arbitrary point ( O )
must be equal to zero.
Equilibrium in 2D:
2D x
F = 0 (no translation)  MO = 0 (no rotation)

F x 0, F y 0, M o 0
Equilibrium in 3D:
F = 0 (no translation)  MO = 0 (no rotation)

F x 0  F =0 y F z 0
And:

 MX = 0,  MY = 0,  MZ = 0 3D
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 EXAMPLES of (2 D) Equilibrium: Lecture 6

Example 1: A beam (AB) is supported by pins (A &

C), a vertical force (4 kN) is applied at point (B). Find
the support reactions at (A and C).
Solution procedures:
1. Put the x and y axes respectively.
2. Determine if there are any two-force members.
3. Draw a complete FBD of the boom.
Note: Upon recognizing CD as a two-force member,
the number of unknowns at C are reduced from two y FBD of the beam:
to one. Now, using E - of - E, we get, 4 kN
AY 1.5 m 1.5 m
+  MA = FC sin 45  1.5 – 4  3 = 0 AX
x
Fc = 11.31 kN or 11.3 kN A C B
45°
FC
 +  FX = AX + 11.31 cos 45 = 0;
y
 AX = – 8.00 kN AY 4 kN
1.5 m 1.5 m
 +  FY = AY + 11.3 sin 45 – 4 = 0; AX
 + A Y = – 4.00 kN A C B
x
FC cos 45o
Note: that the negative signs means that the reactions
FC sin 45o
have the opposite direction to that shown on FBD. 6
 EXAMPLES of (2 D) Equilibrium: Lecture 6

Example 2: Two smooth pipes, each having a mass

of 300 kg, are supported by the tines of the tractor
fork attachment. Determine all the reactive forces ?
Solution procedures:
1. Isolate the object from its surroundings,
2. Draw the outline of the object; consider all
dimensions and angles,
3. Include all forces and couple moments, Idealized
4. Label known forces and moments with their proper model
magnitudes and directions,
5. Unknown forces and moments should be represented
with letters.
For Pipe A:
 The moment equations can be determined about D
any point. Choosing the point where the maximum y
number of unknown forces are present simplifies C x
2943 sin30o
the solution.
O

2943 cos30o
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Continue Example 2: Lecture 6
Or:

y
x
2943 sin30o

For Pipe B:
D

2943 cos30o

x
y 0.7 m
For both Pipes ( A & B ):
 When pipes A and B are considered as one object, C
you neglect the reaction forces between them.
O

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