Professional Documents
Culture Documents
ch04 Equilibrium of Rigid Bodies
ch04 Equilibrium of Rigid Bodies
ch04 Equilibrium of Rigid Bodies
h
Eight
Engr. Muhammad Arslan Jameel Malik (Ph.D. Scholar MNS UET Multan)
4-1
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
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.
4-2
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
Free-Body Diagram
First step in the static equilibrium analysis of a
rigid body is identification of all forces acting on
the body with a free-body diagram.
4-3
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
4-4
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
• Reactions equivalent to a
force of unknown direction
and magnitude.
• Reactions equivalent to a
force of unknown
direction and magnitude
and a couple.of unknown
magnitude
4-5
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
4-6
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
Fy 0 : Ay 9.81 kN 23.5 kN 0
Ay 33.3 kN
4980 lb Fx 0 : 4980 lb T 0
T 4980 lb
W y 5500 lb sin 25
2320 lb
4 - 11
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
4 - 12
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
6
Fy 0 : E y 420 kN 150 kN 0
7.5
E y 200 kN
4 - 13
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
4 - 14
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
4 - 15
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
4 - 16
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
58.6
4 - 17
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
T 81.9 N
R 147.8 N
4 - 18
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
4 - 19
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
4 - 20
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
4 - 21
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
4 - 22
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Vector Mechanics for Engineers: Statics
h
Eight
4 - 24
© 2007 The McGraw-Hill Companies, Inc. All rights reserved.
Problem 4.6
25
Problem 4.6
P Solving Problems on Your Own
A O
D The semicircular rod ABCD is
o o
45 45
maintained in equilibrium by
B C the small wheel at D and the
rollers at B and C. Knowing
that = 45o, determine the
reactions at B , C , and D.
26
Problem 4.6
P Solving Problems on Your Own
A O
D The semicircular rod ABCD is
45o 45o
maintained in equilibrium by
B C the small wheel at D and the
rollers at B and C. Knowing
that = 45o, determine the
reactions at B , C , and D.
P P sin D
A O
D
P cos 45o 45o
B R C
B/ 2 C/ 2
B B/ 2 C
C/ 2
28
Problem 4.6 Solution
P P sin D
A O Write three equilibrium
D
P cos 45 o
45 o equations and solve
B R C for the unknowns.
B/ 2 C/ 2
B B/ 2 C
C/ 2
+ MO = 0: (P sin) R _ D (R) = 0 D = P sin
+Fx = 0: P cos + B/ 2 _
C/ 2=0 (2)
_
+Fy = 0: P sin + B/ 2 + C / 2 _ P sin = 0
_
2P sin + B/ 2 + C / 2 = 0 29
(3)
P P sin D Problem 4.6 Solution
A O
D
P cos 45o 45o
B R C
B/ 2 C/ 2
B B/ 2 C
C/ 2
2 2 _ 1 1 1
EQ. (4) : B = ( )P= 2 P; B= P 45o
2 2 2 2
2 2 _ 1 3 3
EQ. (5) : C = ( )P= 2P; C= P 45o
2 2 2 2
EQ. (1) : D = P/ 2 D = P/ 2
31
Problem 4.7
4 in 4 in
32
4 in 4 in Problem 4.7
Solving Problems on Your Own
20 lb 40 lb
A B The T-shaped bracket shown is
supported by a small wheel at E
2 in
C and pegs at C and D. Neglecting
D 3 in the effect of friction, determine
E 3 in the reactions at C , D , and E
when = 30o.
33
4 in 4 in Problem 4.7
Solving Problems on Your Own
20 lb 40 lb
A B The T-shaped bracket shown is
supported by a small wheel at E
2 in
C and pegs at C and D. Neglecting
D 3 in the effect of friction, determine
E 3 in the reactions at C , D , and E
when = 30o.
20 lb 40 lb
A B Draw a free-body diagram of the body.
2 in
C
D 3 in 4 in 4 in
E 3 in
20 lb 40 lb
A B
C 2 in
C
D 3 in
D
3 in
E
E
30o
35
4 in 4 in Problem 4.7 Solution
20 lb 40 lb
A B
C 2 in Write equilibrium equations and
C
D 3 in solve for the unknowns.
D
3 in
E
E
30o
E = 69.3 lb 60o
36
4 in 4 in Problem 4.7 Solution
20 lb 40 lb
A B
C 2 in
C
D 3 in
D
3 in
E
E
M
30o D = 0:
C = 7.974 lb C = 7.97 lb 37
4 in 4 in Problem 4.7 Solution
20 lb 40 lb
A B
C 2 in
C Fx= 0:
+
D 3 in
D
3 in E sin 30o + C _ D = 0
E
E
( 69.28 lb )( 0.5 ) + 7.974 lb _ D = 0
30o
D = 42.6 lb
38
Problem 4.8
y 1.2 m
A 3-m pole is supported by a
E
1.2 m ball-and-socket joint at A and
by the cables CD and CE.
Knowing that the line of action
D C of the 5-kN force forms an
1.5 m x angle =30o with the vertical
A B xy plane, determine (a) the
5 kN tension in cables CD and CE,
z
(b) the reaction at A.
2m 1m
39
y 1.2 m Problem 4.8
E Solving Problems on Your Own
1.2 m
A 3-m pole is supported by a
ball-and-socket joint at A and
D by the cables CD and CE.
C Knowing that the line of action
1.5 m
A B x
of the 5-kN force forms an
5 kN angle =30o with the vertical
z xy plane, determine (a) the
2m 1m tension in cables CD and CE,
(b) the reaction at A.
40
y 1.2 m Problem 4.8
E Solving Problems on Your Own
1.2 m
A 3-m pole is supported by a ball-
and-socket joint at A and by the
D cables CD and CE. Knowing that
C the line of actionof the 5-kN force
1.5 m
A B x
forms an angle =30o with the
5 kN vertical xy plane, determine (a)
z the tension in cables CD and CE,
2m 1m (b) the reaction at A.
2. Write equilibrium equations and solve for the unknowns.
For three-dimensional body the six scalar equations
Fx = 0 Fy = 0 Fz = 0
Mx = 0 My = 0 Mz = 0
should be used and solved for six unknowns. These equations
can also be written as
F = 0 MO = (r x F ) = 0
41
where F are the forces and r are position vectors.
y 1.2 m Problem 4.8 Solution
E
1.2 m
Draw a free-body diagram
of the body.
D C
1.5 m
A B x
y 1.2 m
5 kN
z E
1.2 m
2m 1m
D TCE
TCD
Ax i C
1.5 m
A B x
Az k 30o
z Ay j 5 kN
2m 1m
42
y 1.2 m Problem 4.8 Solution
E Write equilibrium equations
1.2 m
and solve for the unknowns.
D TCE 5 unknowns and 6 equations of
TCD equilibrium, but equilibrium is
Ax i C
maintained, MAC = 0 .
1.5 m
A B x
Az k 30o
z Ay j 5 kN rB/A = 2 i rC/A = 3 i
2m 1m
Load at B, FB = _ ( 5 cos 30o ) j + ( 5 sin 30o ) k = _ 4.33 j + 2.5 k
D TCE
TCD
Ax i C
1.5 m
A B x
Az k 30o
z Ay j 5 kN
2m 1m
i j k i j k i j k
TCD TCE
3 0 0 + 3 0 0 + 2 0 0 =0
3.562 3.562
_
3 1.5 1.2 _
3 1.5 1.2
_
0 _4.33 2.5
44
y 1.2 m Problem 4.8 Solution
E Equate coefficients of unit
1.2 m
vectors to zero.
D TCE TCD TCE
TCD j: 3.6
_
+ 3.6 _
5=0
3.562 3.562
Ax i C
1.5 m
A B x _3.6 TCD+3.6 TCE_17.81 = 0 (1)
Az k 30o
z Ay j 5 kN TCD TCE
k: 4.5 + 4.5 _
8.66 = 0
3.562 3.562
2m 1m
4.5 TCD+4.5 TCE = 30.85 (2)
Eq. (1): _
3.6TCD + 3.6 (5.902) _ 17.81 = 0 TCD = 0.954 kN
45
y 1.2 m Problem 4.8 Solution
E F = 0: A + TCD + TCE + FB = 0
1.2 m
D 0.954 _ 5.902 _
TCE i: Ax + ( 3) + ( 3) = 0
TCD 3.562 3.562
Ax i C
1.5 m
A B x Ax = 5.77 kN
Az k 30o
z Ay j 5 kN
2m 1m
0.954 5.902
j: Ay + (1.5) + (1.5) _ 4.33 = 0 Ay = 1.443 kN
3.562 3.562
0.954 5.902 _
k: Az + (1.2) + ( 1.2) + 2.5 = 0 Az = _ 0.833 kN
3.562 3.562
47
Problem 4.9
A Solving Problems on Your Own
a
Rod AC is supported by a pin and
B 20 in bracket at A and rests against a
peg at B. Neglecting the effect of
C friction, determine (a) the reactions
at A and B when a = 8 in., (b) the
60 lb 10 in distance a for which the reaction
at A is horizontal and the
corresponding magnitudes of the
reactions at A and B.
48
Problem 4.9
A Solving Problems on Your Own
a Rod AC is supported by a pin and
20 in bracket at A and rests against a
B
peg at B. Neglecting the effect of
friction, determine (a) the reactions
C
at A and B when a = 8 in., (b) the
distance a for which the reaction
60 lb 10 in at A is horizontal and the
corresponding magnitudes of the
reactions at A and B.
2. For a three-force body, solution can be obtained by
constructing a force triangle. The resultants of the three forces
must be concurrent or parallel. To solve a problem involving a
three-force body with concurrent forces, draw the free-body
diagram showing that the three forces pass through the same
point. Complete the solution by using a force triangle.
49
Problem 4.9 Solution
A (a) a = 8 in
a
Draw a free-body diagram
B 20 in of the body.
10 in
C
A
60 lb 10 in E
F
A
D 8 in
1 G
tan = 2 B
B 12 in
= 26.57 o 2
C 1
60 lb 10 in
50
10 in Problem 4.9 Solution
A Construct a force triangle.
E
F 3 - FORCE BODY
A
D 8 in Reaction at A passes through D
G where B and 60-lb load intersect
B
1 1
B 12 in AE = EB = (8) = 4 in.
2 2 2
C 1
EF = BG = 10 _ 4 = 6 in
60 lb 10 in 1 1
DG = 2 BG = 2 (6) = 3 in.
FD = FG _ DG = 8 _ 3 = 5 in.
FD 5
Tan = AF = ; = 26.57o
10
51
10 in Problem 4.9 Solution
A FORCE TRIANGLE
E
F
A = 26.57o
D 8 in 30 lb
A
G 60 lb
B
B 12 in B
2 30 lb
1 = 26.57o
C
60 lb 10 in 30 lb
A=B= = 67.08 lb
sin 26.57o
A = 67.1 lb 26.6o
B = 67.1 lb 26.6o
52
Problem 4.9 Solution
A (b) For A horizontal
a
Draw a free-body diagram
B 20 in of the body.
10 in
C
A
60 lb 10 in F
A a
G
B
B
2 = 26.57o
C 1
60 lb
53
10 in Problem 4.9 Solution
a = 4.00 in.
54
10 in Problem 4.9 Solution
A FORCE TRIANGLE
F
A a
G
B
B B
60 lb
2 = 26.57 o
= 26.57o
C 1
A
60 lb
60 lb
A= = 120 lb A = 120.0 lb
tan
B = 60 lb = 134.16 lb B = 134.2 lb 26.6o
sin
55
Problem 4.10
56
Problem 4.10
Solving Problems on Your Own
a a a
Rod AD supports a vertical load
P and is attached to collars B
A B C D and C, which may slide freely on
30o 30o the rods shown. Knowing that
P the wire attached at D forms an
angle = 30o with the vertical,
determine (a) the tension in the
wire, (b) the reactions at B and C.
57
Problem 4.10
Solving Problems on Your Own
a a a Rod AD supports a vertical load
P and is attached to collars B
A B C and C, which may slide freely on
D the rods shown. Knowing that
o
30 30o the wire attached at D forms an
P
angle = 30o with the vertical,
determine (a) the tension in the
wire, (b) the reactions at B and C.
2. Write equilibrium equations and solve for the unknowns.
For two-dimensional structure the three equations might be:
Fx = 0 Fy = 0 MO = 0
where O is an arbitrary point in the plane of the structure
or Fx = 0 MA = 0 MB = 0
where point B is such that line AB is not parallel to the y axis
or MA = 0 MB = 0 MC = 0
where the points A, B , and C do not lie in a straight line. 58
Problem 4.10 Solution
a a a
Draw a free-body diagram
of the body.
A B C D
30o 30o
P
30o 30o 30 o
30o 30
o
C T
A B C
D
o
30
P B
a a a
59
30o 30o
Problem 4.10 Solution
30o 30 o
30 o
C T
A B C
D Write equilibrium equations
o
30
B and solve for the unknowns.
P
a a a
30o F = 0: _
P cos 30o + T cos 60o = 0
cos 30o 3/2
T = P cos 60o = P 1 / 2 T= 3 P
+ MB = 0: P a _ (C sin 30o) a + T cos 30o (2a) = 0
_ 1 3
P a ( 2 C ) a + 3 P ( 2 ) 2a = 0
_ 1
2 C + (1 + 3) P = 0; C=8P C=8P 3060o
30o 30o
Problem 4.10 Solution
30o 30 o
30 o
C T
A B C
D
o
30
P B
a a a
+F = 0: _
B cos 30o + C cos 30o _ T sin 30o = 0
3 3 1
_
B 2 +8P 2 _
3 P ( 2 ) = 0;
B= 7P B=7P 30o
61