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Chapter - 5
Equilibrium Part Page no 11-23

Chapter - 5
Equilibrium Part Page no 11-23

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5 Equilibrium

y

a2

a1

a3

C

A

(a)

y

a2

a1

O

a3

B

TAB

1 2

A

TAC

(b)

Fig. E5.2 Example 5.2

There are two equations with two unknowns. The problem is therefore statically

sin 1

determinate, i.e., it can be solved. From Eq. (5.7), TAC =

TAB . Substiting into

sin 2

Eq. (5.8) it results

sin 1

TAB cos 2 = m g,

TAB cos 1 +

sin 2

or

mg

mg sin 2

=

.

TAB =

sin 1

cos 1 sin 2 + sin 1 cos 2

cos 1 +

cos 2

sin 2

The trigonometric functions are

a1

a3

a2

a3

sin 1 =

, cos 1 =

, sin 2 =

, and cos 2 =

,

lAB

l

l

l

AB

AC

AC

where lAB = a21 + a23 and lAC = a22 + a23 .

It results

a2 a21 + a23

5 32 + 12

= 10 (9.81)

= 193.887 N,

TAB = m g

a3 (a1 + a2 )

(1)(3 + 5)

5.6 Examples

17

a22 + a23

3 52 + 1 2

= 10 (9.81)

= 187.58 N.

TAC = m g

a3 (a1 + a2 )

(1)(3 + 5)

a1

The same solution could also be obtained by writing an equilibrium moment equation with respect to a point that yields to one unknown. Suppose, for example, the

moment equation is written about the point B. Then

(5.9)

where

G = Gj = mgj, TAB = TABx + TABy j, TAC = TACx + TACy j,

and

rBA TAB = 0.

(5.10)

rA = xA + yA j = a3 j, rB = xB + yB j = a1 , rC = xC + yC j = a2 .

Equation (5.9) becomes

MB = r BA TAC + rBA G

j

j

k

k

yA yB 0 + xA xB yA yB 0

= xA xB

TAC sin 2 TAC cos 2 0 0

G 0

= [(xA xB ) TAC cos 2 (yA yB ) TAC sin 2 + (xA xB ) G] k = 0,

or

(xA xB ) TAC cos 2 (yA yB ) TAC sin 2 + (xA xB ) G = 0.

It results

TAC = mg

(xA xB )

.

(xA xB ) cos 2 (yA yB ) sin 2

The unknown TAB is calculated from a equilibrium moment equation of the system

about the point C.

and from the previous relation the tension TAB is calculated. The M ATLAB program

for the problem is given by

% problem 5.2

clear all; clc; close

18

5 Equilibrium

list={m, g, a_1, a_2, a_3 };

listn={10, 9.81, 3, 5, 1 };

lAB=sqrt(a_12+a_32);

lAC=sqrt(a_22+a_32);

s_theta_1=a_1/lAB;

c_theta_1=a_3/lAB;

s_theta_2=a_2/lAC;

c_theta_2=a_3/lAC;

TAB=[ -T_AB*s_theta_1, T_AB*c_theta_1, 0];

TAC=[ T_AC*s_theta_2, T_AC*c_theta_2, 0];

G=[0, -m*g, 0];

fprintf(Method I \n)

% SF = TAB + TAC + G = 0

fprintf(sum forces = TAB + TAC + G = 0 \n)

SF=TAB+TAC+G;

SFx=SF(1);

SFy=SF(2);

sol=solve(SFx, SFy,T_AB, T_AC);

Tab=eval(sol.T_AB);

Tac=eval(sol.T_AC);

fprintf(T_AB = \n);pretty(simple(Tab)); fprintf(\n)

fprintf(T_AC = \n);pretty(simple(Tac)); fprintf(\n)

Tabn=subs(Tab, list, listn);

Tacn=subs(Tac, list, listn);

fprintf(T_AB = %g (N) \n, Tabn);

fprintf(T_AC = %g (N) \n, Tacn);

fprintf(\n)

fprintf(Method II \n)

rB=[-a_1, 0, 0];

rC=[ a_2, 0, 0];

5.6 Examples

19

rA=[0,-a_3,0];

% SM_B = rBA x (TAC+G) = 0

fprintf(sum M about B = rBA x (TAC+G) = 0 \n)

SM_B=cross(rA-rB,TAC+G);

TACs=solve(SM_B(3),T_AC);

fprintf(T_AC = \n);pretty(simple(TACs)); fprintf(\n)

TACn=subs(TACs, list, listn);

fprintf(T_AC = %g (N) \n, TACn);

fprintf(\n)

% SM_C = rCA x (TAB+G) = 0

fprintf(sum M about C = rCA x (TAB+G) = 0 \n)

SM_C=cross(rA-rC,TAB+G);

TABs=solve(SM_C(3),T_AB);

fprintf(T_AB = \n);pretty(simple(TABs)); fprintf(\n)

TABn=subs(TABs, list, listn);

fprintf(T_AB = %g (N) \n, TABn);

Method I

sum forces = TAB + TAC + G = 0

T_AB =

2

2 1/2

(a_1 + a_3 )

m g a_2

-----------------------a_3 (a_1 + a_2)

T_AC =

2

2 1/2

(a_2 + a_3 )

m g a_1

-----------------------a_3 (a_1 + a_2)

T_AB = 193.887 (N)

T_AC = 187.58 (N)

20

5 Equilibrium

Method II

sum M about B = rBA x (TAC+G) = 0

T_AC =

2

2 1/2

(a_2 + a_3 )

m g a_1

-----------------------a_3 (a_1 + a_2)

T_AC = 187.58 (N)

sum M about C = rCA x (TAB+G) = 0

T_AB =

2

2 1/2

(a_1 + a_3 )

m g a_2

-----------------------a_3 (a_1 + a_2)

T_AB = 193.887 (N)

Chapter 6

Problems

5.1 The beam shown in Fig. P5.1 is loaded with the concentrated forces F1 =100 N

and F2 =500 N. The following dimensions are given: a=0.5 m, b=0.3 m, and

l=1 m. Find the reactions at the supports O and C.

l

FA

a

FB

5.2 The beam depicted in Fig. P5.2 is loaded with the two concentrated forces with

the magnitude F=200 lbs. The dimensions of the beam are given: a=5 in and

l=1 ft. Find the reactions at the supports.

l

a

F

a

F

21

22

6 Problems

5.3 Consider the cantilever beam of Fig. P5.3, subjected to a uniform load distributed, w=100 N/m, over a portion of its length. The dimensions of the beam

are: a=10 cm and l=1 m. Find the support reaction on the beam.

l

a

5.4 A smooth sphere of mass m is resting against a vertical surface and an inclined

surface that makes an angle with the horizontal, as shown in Fig. P5.4. Find

the forces exerted on the sphere by the two contacting surfaces.

Numerical application: a) m = 10 kg, = 30 , and g = 9.8 m/s2 ; b) m = 2 slugs,

= 60 , and g = 32.2 ft/sec2 .

5.5 The links 1 and 2 shown in Fig. P5.5 are each connected to the ground at A

and C, and to each other at B using frictionless pins. The length of link 1 is

AB = l. The angle between the links is ABC = . A force of magnitude P is

applied at the point D (AD = 2l/3) of the link 1. The force makes an angle

with the horizontal. Find the force exerted by the lower link 2 on the upper

link 1. Numerical application: a) l = 1 m, = 30 , and P = 1000 N; b) l = 2 ft,

= 45 , and P = 500 lb.

6 Problems

23

2

C

Fig. P5.5 Problem 5.5

5.6 The shaft shown in Fig. P5.6 turns in the bearings A and B. The dimensions of

the shaft are a = 6 in. and b = 3 in. The forces on the gear attached to the shaft

are Ft = 900 lb and Fr = 500 lb. The gear forces act at a radius R = 4 in. from the

axis of the shaft. Find the loads applied to the bearings.

Fr

bearing A

bearing B

Ft

a

b

Fig. P5.6 Problem 5.6

5.7 The shaft shown in Fig. P5.7 turns in the bearings A and B. The dimensions of

the shaft are a = 120 mm and b = 30 mm. The forces on the gear attached to the

shaft are Ft = 4500 N, Fr = 2500 N, and Fa = 1000 N. The gear forces act at a

radius R = 100 mm from the shaft axis. Determine the bearings loads.

24

6 Problems

Fr

Ft

bearing A

Fa

bearing B

a

b

Fig. P5.7 Problem 5.7

5.8 The dimensions of the shaft shown Fig. P5.8 are a = 2 in. and l = 5 in. The force

on the disk with the radius r1 = 5 in. is F1 = 600 lb and the force on the disk with

the radius r2 = 2.5 in. is F2 = 1200 lb. Determine the forces on the bearings at A

and B.

B

r2

F2

r1

F1

l

a

6 Problems

25

5.9 The dimensions of the shaft shown Fig. P5.9 are a = 50 mm and l = 120 mm.

The force on the disk with the radius r1 = 50 mm is F1 = 4000 N and the force

on the disk with the radius r2 = 100 mm is F2 = 2000 N. Determine the bearing

loads at A and B.

F2

r2

r1

F1

l

a

5.10 The force on the gear in Fig. P5.10 is F = 1.5 kN and the radius of the gear

is R = 60 mm. The dimensions of the shaft are l = 300 mm and a = 60 mm.

Determine the bearing loads at A and B.

A

F

20

B

l

R

a

Fig. P5.10 Problem 5.10

26

6 Problems

5.11 A torque (moment) of 24 N m is required to turn the bolt about its axis, as shown

in Fig. P5.11, where d = 120 mm and l = 14 mm. Determine P and the forces

between the smooth hardened jaws of the wrench and the corners of A and B of

the hexagonal head. Assume that the wrench ts easily on the bolt so that contact

is made at corners A and B only.

d

B

l

A

Fig. P5.11 Problem 5.11

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