93

Chapter 5 – EQUILIBRIUM OF RIGID BODIES

Objectives:
At the end of the chapter, the students should be able to:
1. draw free-body diagrams of rigid bodies.
2. know the equations of equilibrium for a rigid body.
3. apply the equations of equilibrium to solve rigid-body problems.

5.a. Introduction
The most general force system is expressed in terms of a resultant force R and a resultant couple C;
therefore, for a rigid body to be in equilibrium, both the resultant force and the resultant couple must be equal to
zero. In scalar form,
Fx = 0; Fy = 0; Fz = 0; Mx = 0; My = 0; Mz = 0

5.b. Equilibrium in Two Dimensions

The three equations that are necessary and sufficient conditions for equilibrium of a two-dimensional
body are
Fx = 0; Fy = 0; M = 0

5.b-1. Idealization of Two-dimensional Supports and Connections

Supports and connections are the devices used to restrict movement of one rigid body with respect to
another in order for the bodies to be in equilibrium. Common types of supports and connections used with rigid
bodies subjected to two-dimensional force systems are the following:

Type of Connection Reaction Number of Unknowns

1. Cable
One unknown. The reaction is a
θ tension force which acts away
θ
from the member in the
R direction of the cable.

2. Weightless link

θ
θ R One unknown. The reaction is a
or
force which acts along the axis
of the link.
θ
R

3. Roller

One unknown. The reaction is a

force which acts perpendicular
90º to the surface at the point of
R contact.
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Type of Connection Reaction Number of Unknowns

4. Roller or pin in confined

smooth slot
One unknown. The reaction is a
or force which acts perpendicular
to the slot.
90º 90º
R R

5. Rocker
One unknown. The reaction is a
force which acts perpendicular
90º to the surface at the point of
R contact.

6. Smooth contacting surface

One unknown. The reaction is a
force which acts perpendicular
to the surface at the point of
θ θ
contact.
R

7. Member pin connected to

collar on smooth rod

One unknown. The reaction is a

R R force which acts perpendicular
or
to the rod.
A A θ A
θ θ

8. Smooth pin or hinge

Two unknowns. The reactions
RH are two components of force, or
the magnitude and direction 
RV of the resultant force.

9. Member fixed connected to

collar on smooth rod
Two unknowns. The reactions
are the couple moment and the
force which acts perpendicular
to the rod.

10. Fixed support Three unknowns. The reactions

are the couple moment and the
RH
two force components, or the
couple moment and the
M magnitude and direction  of
RV the resultant force.
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5.b-2. Equilibrium of a two-force body

A rigid body subjected to two forces acting at only two F1
points is commonly called a two-force body. If a two-force body A
is in equilibrium, the two forces must have the same magnitude, F2
the same line of action, and opposite sense. B

5.b-3. Equilibrium of a three-force body

If a rigid body in equilibrium is subjected to forces F1 C
A O F3
acting at only three points, the lines of action of the three forces
must be either concurrent or parallel.
B
F2
SAMPLE PROBLEMS

1. Bar AB has a uniform cross-section, a mass of 25 kg, and a length of 1 m. Determine the angle  for
equilibrium. (Riley, 1993)
B
L

A 

45
30

Solution: W
B
a. Draw the free-body diagram of bar AB.
L
The ends are roller-supported, hence,
45
reactions are perpendicular to the surface. A  RB
b. Find the weight of the bar
W = 25 (9.81) = 245.25 N
30
c. Apply the equations of equilibrium to RA
find one reaction
FH = 0] RA sin 30º – RB sin 45º = 0
0.5RA – 0.707RB = 0
FV = 0] RA cos 30º – RB cos 45º – W = 0

2. Determine the force P required to pull the 250-lb roller over the step shown in the figure. (Riley, 1993)

12 in 30º
x

3 in
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Solution:
a. Draw the free-body diagram of the roller
250 lb
P 9
P sin 30º cos  
12
30º
x   41.41
P cos 30º
9 in θ 12 in

A
R
b. Find the required load P
MA = 0] 250 (12 sin 41.41)  P cos 30 (9) – P sin 30 (12 sin 41.41) = 0
P = 168.694 lb

3. Determine the horizontal and vertical components of reaction at the pin A and the reaction on the beam at C.
(Hibbeler, 2010)

Solution:
RC 1.5  43  0
1
MA = 0]
2
AH RC = 11.3137 kN
1 1
1 FH = 0] RC  AH  0
AV RC 2
AH = 8 kN
1
FV = 0] RC  AV  4  0
2
AV = 4 kN

4. The truss is supported by a pin at A and a roller at B. Determine the support reactions. (Hibbeler, 2010)

AH BV

4.2426 m
AV
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Solution:
MA = 0] BV (10.2426) – 10 (6.2426) – 5 (4) = 0
BV = 8.047 kN
FH = 0] 5 cos 45º – AH = 0
AH = 3.536 kN
FV = 0] AV + BV – 5 sin 45º – 10 = 0
AV = 5.489 kN

5. An 8-kg slender rod of length L is attached to collars which may slide freely along the guides shown.
Knowing that the rod is in equilibrium and that  = 30, determine a) the angle  that the rod forms with the
vertical, b) the reactions at A and B. (Beer, 1998)

AV
L

Solution:
c. Draw the free-body diagram of rod AB
RB
0.5L sin
θ 30º
78.48 N

L cos θ

RA

d. Reactions at A and B
FV = 0] RB cos 30º – 78.48 = 0; RB = 90.621 N
FH = 0] RB sin 30º  RA = 0; RA = 45.31 N

e. Find angle 
MB = 0] 78.48 (0.5L sin  )  RA (L cos  ) = 0
78.48 (0.5 sin ) – 45.31 cos =0

tan  = 45.31 ;  = 49.11

39.24
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6. The wall footing is used to support the load of 12,000 lb. Determine the intensities w1 and w2 of the
distributed loading acting on the base of the footing for equilibrium. (Hibbeler, 1986)

Solution:
a. Divide the distributed load into two triangular loads

1
R1  (35) w1  17.5w1
A
2
1
R2  (35) w2  17.5w2
2

R2
R1

b. From the equations of equilibrium,

 35 
 + R2   12000 (14) = 0
70
MA = 0] R1 
3  3 
204.167w1 + 408.333w2 = 168000 Eq. 1
FV = 0] R1 + R2 – 12000 = 0

17.5w1 + 17.5w2 = 12000 Eq.2

Solving Eq. 1 and Eq. 2 simultaneously, we get

w1 = 548.571 lb/in and w2 = 137.143 lb/in

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7. A cylinder is supported by a bar and a cable as shown in the figure. The weight of the cylinder is 150 lb and
the weight of the bar is 20 lb. If all surfaces are smooth, determine the reaction at support C of the bar and
the tension in the cable. (Riley, 1993)
A

36 in 3
4

C
17 in

32 in
Solution:
a. Draw the free-body diagrams of the cylinder and the bar
150 lb T
3 B
R2 8
4
R1 3 3
4 24 in
17
in
4 CH
3 C
R2
CV
32 in
b. From the free-body diagram of the cylinder,
4
FV = 0] R2  150 = 0; R2 = 187.5 lb
5
c. From the free-body diagram of the bar
8 3
MC = 0] T (24) + T (32) – 20(16) – R2(17) = 0
73 73
288
T = 3507.5; T = 104.056 lb
73
8
FH = 0] CH + 3 R2  T = 0; CH = 15.069 lb
5 73
4 3
FV = 0] CV  R2 + T  20 = 0; CV = 133.463 lb
5 73
d. Total reaction at C

RC  15.069 2  133.463 2 = 134.311 lb up to the left

133.463
  Arc tan = 83.56 from the horizontal
15.069
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8. A mass of 200 kg is supported by a bar, pulley, and cable as shown in the figure. Determine a) the force
exerted on the bar by the pin at D; b) the reaction at support A of the bar and the force exerted by link BC.
(Riley, 1993)

Solution:
a. Draw the free-body diagrams of the pulley and the bar
DH 1
D
1
T
DV

BC 1962 N
DV

AH A
DH
D
AV

b. From the FBD of the pulley

MD = 0] 75(1962) – 75 T = 0; T = 1962 N
FH = 0] 1
T  DH = 0; DH = 1387.344 N
2
FV = 0] DV  1
T  1962 = 0; DV = 3349.344 N
2

RD  1387.3442  3349.3442 = 3625.304 lb down to the right

3349 .344
  Arc tan = 67.5 from the horizontal
1387 .344

c. From the FBD of the bar

MA = 0] 300BC – 600DV = 0; BC = 6698.687 N
MD = 0] 600AV – 300BC = 0; AV = 3349.344 N
FH = 0] DH  AH = 0; AH = 1387.344 N

RA  1387.3442  3349.3442 = 3625.304 lb down to the left

3349 .344
  Arc tan = 67.5 from the horizontal
1387 .344
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9. A beam is loaded and supported as shown in the figure. Determine the reactions at supports A and B when
m1 = 75 kg and m2 = 225 kg. (Riley, 1993)

W1

W2

Solution:
a. Draw the free-body diagrams of mass m2 and beam AB
W1 = 75(9.81) = 735.75 N R T
R
W2 = 225(9.81) = 2207.25 N
2
b. From the FBD of mass m2 AH A
1

FV = 0] R  W2 + W1 = 0; R = 1471.5 N B

AV 520 mm 480 mm
c. From the FBD of the beam
2
MA = 0] T (1000)  R(520) = 0; T = 855.497 N
5

FV = 0] AV  R + 2 T = 0; AV = 706.32 N
5

1
FH = 0] AH + T = 0; AH = 382.59 N
5

10. A rope and pulley system is used to support a body W as shown in the figure. Each pulley is free to rotate
and the rope is continuous over the pulleys. Determine the tension T in the rope required to hold body W in
equilibrium if the weight of the body W is 400 lb. Assume that all rope segments are vertical and that the
pulleys are frictionless. (Riley, 1993)

Solution:
FV = 0] 4T – W = 0
T 4T – 400 = 0
T
T T T = 100 lb