5.

2 Rigid Bodies in Two-Dimensional Force Systems

5.2 Rigid Bodies in Two-Dimensional Force Systems Example 1, page 1 of 1
1. Determine the reactions at A and
B. The weight of the rod is
negligible. 3 ft B
40 lb 30°

3 ft

30°

A
3 The force from the roller must be perpendicular
to the plane upon which the roller rests.
x
1 Free-body diagram of rod AB.
B 4 Equilibrium equations for rod AB:
40 lb + Fx = 0: Ax = 0
By
y + Fy = 0: Ay 40 lb + By = 0

MA = 0: 40 lb)(3 ft) + By(3 ft + 3 ft) = 0

+
A
3 ft
Ax
5 Solving these equations simultaneously gives
Ay 3 ft Ax = 0 Ans.

Ay = 20.0 lb Ans.
2 The force components at A can be assumed to act in any
direction we choose. Choosing them in the direction of the By = 20.0 lb Ans.
inclined coordinate system simplifies the calculation a little.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 2, page 1 of 1
2. Determine the reactions at A and B. The
weight of the rod is negligible.
A
4 Equilibrium equations for member AB:

3 kip +
Fx = 0: Ax + Bx = 0
5 ft
Fy = 0: 3 kip + By = 0

+
B MB = 0: Ax(5 ft) + (3 kip)(4 ft) = 0

+
4 ft 4 ft

1 Free-body diagram of member AB 5 Solving these equations simultaneously gives

A 2 The force from the roller at A Ax = 2.4 kip Ans.
Ax must be perpendicular to the plane
upon which the roller rests. Bx = 2.4 kip Ans.
5 ft By = 3.0 kip Ans.
3 kip
B Bx

By 3 The pin support at B

provides two force
4 ft 4 ft components.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 3, page 1 of 3
3. Determine the reactions at supports A and C.
A

400 lb
4 ft

30°
B C

5 ft

A 1 Free-body diagram of member ABC

FA 400 lb
2 The force from the roller
is perpendicular to the 3 The pin support provides two
inclined plane. The components of reaction.
B
angle will be
determined later. C Cx

Cy
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 3, page 2 of 3
4 Free-body diagram showing horizontal and vertical components
of the unknown reaction force FA.

A
FA cos

FA sin 400 lb
4 ft

30° B C
Cx

(4 ft)/tan 30° 5 ft Cy

5 Equilibrium equations for member ABC:

+ Fx = 0: FA cos + Cx = 0 (1)

Fy = 0: FA sin + Cy 400 lb = 0 (2)

+

MC = 0: FA cos (4 ft) + (400 lb)(5 ft)

+

FA sin 5 ft 4 ft)/tan 30°] = 0 (3)

5.2 Rigid Bodies in Two-Dimensional Force Systems Example 3, page 3 of 3

30° A 6 Geometry
7 Substituting = 60° in Equations 1, 2, and 3
= 90° 30 ° = 60° and solving gives

FA = 162.2 lb Ans.

30° Cx = 81.1 lb Ans.

B Cy = 260 lb Ans.

8 Free-body diagram showing forces

with correct senses

60° 9 We had assumed that Cx pointed to the right, but

solving the equilibrium equations gave a negative
FA = 162.2 lb 400 lb value for Cx, so our assumption was wrong. Cx
points to left as shown.

B |Cx| = 81.1 lb

Cy = 260 lb
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 4, page 1 of 2
4. The automobile shown is being pushed up the incline at
a constant velocity by a force, P, from a tow truck. The
2,600-lb weight of the car acts at the center of gravity, O, O
and the friction forces acting on the wheels are negligible.
Determine the force P and the forces from the ground
20 in. B
acting on the individual tires.

P A
12 in.
10°
55 in. 15 in.

1 Free-body diagram of car

y

2 It is convenient to use x and y coordinates that

x
are parallel and perpendicular to the incline,
O because the forces from the tow truck and
from the ground acting on the tires are parallel
and perpendicular to the incline.
B
P 2,600 lb
A
2 FB 3 If FB is the force acting on each front
wheel, then 2FB is the resultant force
2 FA acting on the body.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 4, page 2 of 2
4 Free-body diagram of car, with dimensions shown
y
x

O 10° 20 in.
20 in 12 in = 8 in

P B
2,600 lb
12 in. A
2 FB

2 FA
15 in. 6 Equilibrium equations for the car:
55 in.
+ Fx = 0: P (2,600 lb) cos =0

+ Fy = 0: 2FA + 2FB (2,600 lb) sin =0

5 Geometry
MO = 0: P(8 in.) 2FA(55 in.) + 2FB(15 in.) = 0

+
= 90° 10° = 80°
10° Solving simultaneously, with = 80°, gives

P = 451 lb Ans.

FA = 300 lb Ans.

FB = 980 lb Ans.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 5, page 1 of 3
5. Plate ABCD is supported by cord EC and a pin at A.
Determine the tension in the cord and the horizontal and
vertical reactions at A. The weight of the plate is negligible.

4 kN D 20° C

2m

5 kN·m
A
B

3m
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 5, page 2 of 3
1 Free-body diagram of plate ABCD
T
4 kN D 20°
2 The tension T points away from the
C plate and is collinear with the cord.

2m

5 kN·m 3 Equilibrium equations for plate ABCD

A
Ax B + Fx = 0: Ax + 4 kN T cos 20° = 0
Ay Fy = 0: Ay + T sin 20° = 0
3m +
MA = 0: 4 kN)(2 m) + (T cos 20°)(2 m) + (T sin 20°)(3 m) 5 kN·m = 0
+

4 The 5 kN·m couple-moment at corner B can be

considered to act anywhere; in particular, then, we can
consider it to act at point A, about which we are
summing moments. So we just insert "5 kN·m" into the
equation. The minus sign signifies that the 5 kN·m
couple-moment has a sense opposite to what we have
chosen to call a positive sense.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 5, page 3 of 3
5 Solving these equations simultaneously gives 6 Free-body diagram of plate ABCD showing
correct senses of forces.
T = 4.47 kN Ans.
T = 4.47 kN
Ax = 0.20 kN Ans. 4 kN D 20°
C
Ay = 1.53 kN Ans.

5 kN · m
A
Ax = 0.20 kN B

Ay = 1.53 kN

7 Initially we arbitrarily assumed Ay points upward.

Solving the equilibrium equations gave Ay = 1.53 kN.
The minus sign shows that our assumption was wrong,
and the correct sense of Ay is down, as shown on this
free body.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 6, page 1 of 2
6. Member ABC has the shape of a quarter circle centered at O.
Determine the reactions at each of the roller supports.

O C
3
ft

45°

60 lb A
45°
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 6, page 2 of 2
1 Free-body diagram of member ABC

FC

O C

3 ft

B 2 The force from the 3 Equilibrium equations for plate member ABC
A roller must be +
perpendicular to the Fx = 0: 60 lb FB sin 45° = 0
60 lb plane upon which
45° Fy = 0: FA + FB cos 45° FC = 0

+
FB the roller rests. This
is true at all three
MO = 0: (60 lb)(3 ft) FC(3 ft) = 0

+
points, A, B, and C.
Solving these equations simultaneously gives
FA
4 The lines of action of the forces FA
and FB go through point O, so FA FA = 0 Ans.
and FB have no moment about O.
FB = 84.9 lb Ans.

FC = 60.0 lb Ans.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 7, page 1 of 3
7. The end of pole DA is buried deep in the ground. The
tension in cable BE is 2 kip and in cable CF is 3 kip.
Determine the reactions at A.

D
6 kip
2 ft
C
2 ft
B

5 ft
E A F

8 ft 12 ft
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 7, page 2 of 3
1 Free-body diagram of pole ABCD 4 Equilibrium equations for pole ABCD
D +
6 kip Fx = 0: Ax (2 kip) sin + (3 kip) sin + 6 kip = 0
2 ft
C Fy = 0: Ay (2 kip) cos (3 kip) cos =0

+
2 ft
B TCF = 3 kip MA = 0: M + (2 kip)(sin )(5 ft) (3 kip)(sin (5 ft + 2 ft)

+
(6 kip)(5 ft + 2 ft + 2 ft) = 0
TBE = 2 kip
5 ft
2 The tensions
5 Geometry
A point away from 8 ft )
M
the pole and are = tan-1 ( = 58.00°
Ax 5 ft
collinear with the C
Ay = tan-1 ( 12 ft ) = 59.74°
cables. 2 ft 5 ft + 2 ft
B
3 Because the end of the pole is buried
in the ground, not only do two force
components Ax and Ay act at the end 5 ft
of the pole, but also a couple moment
A F
M acts to prevent the pole from
rotating. E
8 ft 12 ft
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 7, page 3 of 3
6 Solving these equations, with = 58.00° and = 59.74°, gives

Ax = 6.9 kip Ans.

Ay = 2.6 kip Ans.

M = 63.7 kip·ft Ans.

7 Free-body diagram showing the

correct sense of the forces.
D
6 kip
C 8 Initially we assumed that Ax acted to the
right. Solving the equilibrium equations
B 3 kip gave a negative value for Ax, so the
correct sense of Ax must be to the left as
2 kip shown here.

M = 63.7 kip·ft
Ax = 6.9 kip
Ay = 2.6 kip
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 8, page 1 of 3
8. A smooth slot has been cut in the plate shown, and
a pin, C, fixed to a support behind the plate, fits in
the slot. Determine the forces acting on the plate at
the supports A and B and from pin C.

4 lb·ft
B
D
1.5 ft
C
15°
1.5 ft
A
2 lb

3 ft 2 ft
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 8, page 2 of 3
1 Free-body diagram of plate ABD
2 Because the slot is smooth, no
friction force acts on it from the pin.
The only force from the pin must be
the normal force, NC. That is, the
force is perpendicular to the slot.
Here its direction has been arbitrarily
3 The force from the roller supports at B and A
assumed to be up and to the right.
are perpendicular to the surface upon which
4 lb·ft the roller rests.
NC B FB
D 4 Equilibrium equations for plate ABD:
1.5 ft
+ Fx = 0: 2 lb FB + NC cos =0
C
Fy = 0: FA + NC sin =0

+
1.5 ft
A MA = 0: 4 lb·ft (NC cos )(1.5 ft ) + (NC sin (3 ft)

+
2 lb + FB (1.5 ft + 1.5 ft) = 0
FA
3 ft 2 ft
5 The 4 lb·ft couple moment at corner D can be
considered to act anywhere; in particular, then, we
can consider it to act at point A, about which we are
summing moments. So we just insert "4 lb·ft" into
the equation.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 8, page 3 of 3
6 Geometry 7 Substituting the value = 75° into the equilibrium
equations and solving simultaneously, gives

FA = 2.94 lb Ans.
= 90° 15° = 75°
FB = 1.212 lb Ans.

NC = 3.04 lb Ans.
15° C 15°

8 Free-body diagram of plate ABD showing correct senses of forces

4 lb·ft
B FB = 1.212 lb
D
NC = 3.04 lb
9 Initially we arbitrarily assumed NC points upward
C and to the right. Solving the equilibrium
equations gave NC = 3.04 lb. The minus sign
shows that our assumption was wrong, and the
A correct direction of NC is down and to the left as
2 lb shown on this free body.
FA = 2.94 lb
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 9, page 1 of 3
9. Pin C is rigidly attached to the plate and can slide freely
in the slot cut in member DB. Determine the reaction
force at the pin support at A and the force transmitted at C.
100 mm
B

C
D
30°

425 mm

E
A
12 N·m
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 9, page 2 of 3
1 Free-body diagram of plate ACE
100 mm

C
3 Equilibrium equations for plate ACE
30° NC
D + Fx = 0: Ax NC sin =0

425 mm Fy = 0: Ay NC cos =0

+
MA = 0: 12 N·m (NC sin (0.425 m) + (NC cos )(0.1 m) = 0

+
Ax E
12 N·m
Ay

2 Because the slot is smooth, no friction force acts on

it from the pin. The only force from the pin must
be the normal force, that is, the force is
perpendicular to the slot. Here its direction has
been arbitrarily assumed to be up and to the left.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 9, page 3 of 3
4 Geometry 90° 30° = 60° 5 Substituting = 30° into the equilibrium equations and
solving simultaneously gives
C
Ax = 20.1 N Ans.

Ay = 34.7 N Ans.
30°
NC = 40.1 N Ans.
D
= 90° 60° = 30°
6 Free-body diagram of plate ACE showing correct
senses of forces

30° NC = 40.1 N

7 The sense of the force A E

vector has been reversed
because solving the Ax = 20.1 N
12 N·m
equilibrium equations Ay = 34.7 N
gives a minus sign.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 10, page 1 of 2
10. Member ABD is supported by a pin at A and a cord attached at
B and D. The cord passes over a frictionless pulley at C.
Determine the reaction at A and the tension in the cord.

3 kN·m 60° 40°

A B D

2m 2m 3m 5 kN

1 Moment equilibrium for pulley C: The moment about the

center produced by T1 must equal the moment produced by
T2. That is, T1r = T2r. Canceling the r's gives T1 = T2. In
fact, it's always true that for a frictionless pulley, the
tensions on the two sides of the pulley must be equal.

Radius r
T2
T1
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 10, page 2 of 2
2 Free-body diagram of beam ABD 3 Because the tensions on the two sides
of pulley C are equal, the same tension
T acts on point B as on point D.
T
T
3 kN·m 60° 40°
Ax A B D

Ay 4m 3m
5 kN

4 Equilibrium equations for beam ABD

+ Fx = 0: Ax + T cos 60° T cos 40° = 0

Fy = 0: Ay + T sin 60° +T sin 40° 5=0

+

MA = 0: 3 kN·m + (T sin 60°)(4 m)

+

+ (T sin 40°)(4 m + 3 m)
(5 kN)(4 m + 3 m) = 0
5 Solving these equations simultaneously gives

Ax = 1.269 kN Ans.

Ay = 2.20 kN Ans.

T = 4.77 kN Ans.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 11, page 1 of 3
11. The rigid bar AB is supported by two rollers attached to its
ends at A and B. If the bar is in equilibrium in the position
shown, determine the inclination, , of the inclined plane.

C
7 in.

20 lb

3 in.
25°

A
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 11, page 2 of 3
1 Free-body diagram of bar AB
FB

2 The force acting on roller A is perpendicular

to the wall; the same is true for roller B.

C
7 in.
3 Equilibrium equations for rod AB:
+ Fx = 0: FB cos + FA cos 20 lb = 0 (1)

Fy = 0: FB sin + FA sin =0 (2)

+

20 lb
25° MB = 0: (FA cos )(3 in. + 7 in.) (20 lb)(7 in.) = 0 (3)
+

3 in.

FA
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 11, page 3 of 3
4 Geometry
= 90° (90° )
= 5 Substituting = 25° in Eq. 3 and solving gives FA = 15.447 lb.

Substituting = 25°, = , and FA = 15.447 lb in Eqs. 1 and 2 gives

B FB cos + (15.447 lb) cos 25° = 20 lb (4)

90°
FB sin + (15.447 lb) sin 25° = 0 (5)

C Eqs. 4 and 5 can be solved with a calculator that can handle two
simultaneous nonlinear equations.

6 Alternatively, rewrite Eqs. 4 and 5 so that the constant terms are

on the right:

FB cos = 20 lb (15.447 lb) cos 25° (6)

25° FB sin = (15.447 lb) sin 25° (7)

90° 25° = 65°
Now eliminate FB by dividing Eq. 7 by Eq. 6:
A
FB sin (15.447 lb) sin 25°
=
= 90° 65° = 25° FB cos 20 lb (15.447 lb) cos 25°

tan
Solving for gives

= 47.4° Ans.
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 12, page 1 of 3
12. The uniform square plate ABC of mass 10 kg is supported
by a vertical cord at B. Determine the tension in the cord and
the forces from the walls if the walls are smooth at the contact
points A and C.

20° B

A
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 12, page 2 of 3
1 Free-body diagram of plate ABC

FBD 2 Since the wall is smooth, no friction force acts. Only

the normal force FC is present at C. Similarly only
the normal force FA is present at A.
d1
B

FC
C
Center of Mass
G d3
4 Equilibrium equations for plate ABC:
FA d2
A
+ Fx = 0: FA FC = 0 (1)

Fy = 0: FBD 98.1 N = 0 (2)

+
3 Weight = mg = (10 kg)(9.81m/s2) = 98.1 N MA = 0: (FBD)(d1) + (FC)(d3) (98.1 N)(d2) = 0
+
(3)
5.2 Rigid Bodies in Two-Dimensional Force Systems Example 12, page 3 of 3
5 Geometry - calculation of d1 7 Geometry - calculation of d3
d1 B d1 = L sin 20° B L2 + L2 = L 2
L
C
L C L
20° 20°
45° d3

25°
A
A

d3 = (L 2) sin 25°
6 Geometry - calculation of d2
B
L cos 45°

8 Substituting these expressions for d1, d2, and

L C
20° d3 into Eq. 3, canceling L, and solving Eqs. 1,
2, and 3 simultaneously gives
45° G
90° 20° 45° = 25° FA = 49.0 N Ans.

FC = 49.0 N Ans.
A d2

d2 = (L cos 45°)(cos 25°) FBD = 98.1 N Ans.