Ch-5: Equilibrium of A Rigid Body: Book: Engineering Mechanics Statics and Dynamics by R. C. Hibbeler

Ch-5: Equilibrium of a Rigid Body
Book:
 Engineering Mechanics Statics and Dynamics by R. C. Hibbeler
Mechanical Engineering Dept. CEME NUST 129

Equilibrium of a Rigid Body
Conditions for Rigid-Body Equilibrium
 A body is subjected to an External Force and Couple Moment System that is the
result of the effects of Gravitational, Electrical, Magnetic, or Contact Forces
caused by adjacent bodies
 Internal Forces caused by interactions between

particles within the body are not shown in this
figure Because:
these forces occur in equal but opposite

collinear pairs and hence will cancel out --- a
consequence of Newton’s third law


 Forceand Couple Moment System acting on a body can be reduced to an
Equivalent Resultant Force and Resultant Couple moment at any arbitrary point
O on or off the body
If this Resultant Force and Couple Moment are both

equal to zero, then the body is said to be in Equilibrium
 When applying the Equations of Equilibrium, It

will be assumed that the body remains Rigid
 In reality, all bodies deform when subjected to loads,

but most Engineering Materials such as Steel and
Concrete are very Rigid and so their deformation is
usually very small

EQUILIBRIUM IN TWO DIMENSIONS
 A 2-Dimensional or Coplanar Force System is one:

o where the Force System acting on a Rigid Body lies in or may be projected onto a
Single Plane and, furthermore,
o any Couple Moments acting on the body are directed perpendicular to this plane
 Airplane has a plane of symmetry through its

center axis loads acting on the airplane are
symmetrical with respect to this plane.
oEach of the two wing tires will support the

same load T, which is represented on the side
(Two-dimensional) view of the plane as 2T

Free-Body Diagrams
 Free-body Diagram is a sketch of the outlined shape of the body, which
represents it as being Isolated or “Free” from its surroundings
 itis necessary to show all the Forces and Couple Moments on Free-body
Diagram that the surroundings exert on the body so that these effects can be
accounted for when the Equations of Equilibrium are applied
Support Reactions
 General Rule regarding the various types of Reactions that occur at supports
and points of contact between bodies subjected to Coplanar Force Systems are:
o If a support prevents the Translation of a body in a given direction, then a

force is developed on the body in that direction
o If rotation is prevented, a Couple Moment is exerted on the body

Free-Body Diagrams
--- Support Reactions
Roller Support
This support only prevents the beam from translating in the
Vertical Direction → Roller will only exert a force on the
beam in this direction
Pin Support
o Beam can be supported in a more restrictive
manner by using a Pin
o Pin can prevent translation of the beam in any
direction, ɸ
o and so the Pin must exert a force F on the
beam in this direction
OR
o it is easier to represent this Resultant Force F
by its two rectangular components, Fx and Fy
Free-Body Diagrams
--- Support Reactions
Fixed Support
o Most restrictive way to support the beam would be to

use a Fixed Support
o This support will prevent both Translation and Rotation
of the beam
o To do this a Force and Couple moment must be
developed on the beam at its point of connection
o it is easier to represent this Resultant Force F by its two

rectangular components, Fx and Fy

Free-Body Diagrams
Typical Examples of Actual Supports
Cable exerts a force on the bracket in oOne unknown

the direction of the cable
oReaction is a Tension Force acts away from
the member in the direction of the cable

Free-Body Diagrams
---Typical Examples of Actual Supports
oTwo unknowns
oReactions are two components of force, or
Utility building is Pin Supported at the magnitude and direction ɸ of the
the top of the column Resultant Force

Free-Body Diagrams
oSmooth Contacting Surface

oOne unknown
Concrete Girder rests on the ledge that is oReaction is a force which acts
assumed to act as a smooth contacting perpendicular to the surface at the point
surface of contact

Free-Body Diagrams
oThree unknowns
oReactions are the Couple Moment and the two
Floor beams of this building are Force Components, OR the couple moment and
welded together and thus form the magnitude and direction of the resultant force
Fixed Connections
Further details on Types of Connections and their Reactions refer to:

Mechanical Engineering Dept. CEME NUST
Chap-5 (page: 202-205), Book: Engineering Mechanics by R. C Hibbeler, 12139ed.
Free-Body Diagrams
Internal Forces
 InternalForces cancel each other → they will not
create an external effect on the body, therefore,
Should not be included on the Free-body Diagram if
the entire body is to be considered
oE.g. Internal Forces between all the connected Engine

Parts such as the screws and bolts, will cancel out
because they form Equal and Opposite Collinear Pairs
oOnly the External Forces T1 and T2 , exerted by the

Chains and the Engine Weight W, are shown on the
Free-body Diagram

Free-Body Diagrams
Weight and Center of Gravity
 When a body is within a Gravitational Field, then each of its particles has a
Specified Weight
 such a system of forces can be reduced to a single resultant force acting
through a specified point referred to as the Weight W of the body and to the
location of its point of application as the Center Of Gravity
 when the body is uniform or made from the same material, the center of gravity
will be located at the Body’s Geometric Center
 If the body consists of a Non-uniform Distribution of material, or has an unusual

shape, then the location of its center of gravity G will be given

Free-Body Diagrams
Example 5.1
Draw the free-body diagram of the uniform beam shown in Fig. The beam has a
mass of 100 kg.

Free-Body Diagrams
Example 5.2
Two smooth pipes, each having a mass of 300 kg, are supported by the forked
tines of the tractor in Fig. Draw the free-body diagrams for each pipe and both
pipes together.
Idealized Model

Free-Body Diagrams
Example 5.3
Draw the free-body diagram of the truss that is supported by the cable AB
and pin C. Explain the significance of each force acting on the diagram

Equations of Equilibrium
 Conditions for Equilibrium in Two Dimensions are:
𝚺 Fx and 𝚺 Fy = Algebraic sums of the x and y

components of all the forces acting on
the body
𝚺 Mo = algebraic sum of the Couple Moments and the

Moments of all the force components about the
z axis, which is perpendicular to the x–y plane

Alternative Sets of Equilibrium Equations
o When using these equations it is required
that a line passing through points A and B
is not parallel to the y axis
o All the forces on the free-body diagram may be

replaced by an equivalent resultant force FR = 𝚺 F
acting at point A, and a resultant couple moment MRA =
𝚺 MA
o If 𝚺 MA = 0 is satisfied, it is necessary that MRA= 0
o in order that FR satisfy 𝚺 Fx = 0, it must have no component

along the x axis ⇒ FR must be parallel to the y-axis
o For 𝚺 MA = 0 where B does not lie on the line of action of FR

then FR = 0

---Alternative Sets of Equilibrium Equations
o it is necessary that points A, B, and C do not lie on

the same line
o If 𝚺 MA = 0 is to be satisfied then MRA= 0
o 𝚺 MC = 0 is satisfied if the line of action of FR passes

through point C
o 𝚺 MB = 0 it is necessary that FR = 0

Example 5.5
Determine the horizontal and vertical components of reaction on the beam
caused by the pin at B and the rocker at A as shown in Fig. Neglect the weight of
the beam

Example 5.10
The uniform smooth rod shown in Fig. is subjected to a force and couple moment.
If the rod is supported at A by a smooth wall and at B and C either at the top or
bottom by rollers, determine the reactions at these supports. Neglect the weight
of the rod.

Two- and Three-Force Members

 some Equilibrium Problems can be simplified by recognizing members that are
subjected to only Two or Three Forces
Two-Force Members
 A two-force member has forces applied at only two points on the member
 To satisfy Force Equilibrium:
o FA and FB must be equal in magnitude, FA = FB = F but opposite in direction (𝚺 F = 0)
o Moment Equilibrium requires that FA and FB and share the same line of action, which
can only happen if they are directed along the line joining points A and B


---Two-Force Members
link AB on the back-hoe is a typical example

of a Two-Force Member
Since
it is Pin connected at its ends and, provided
its weight is neglected, no other force acts on
this Member


Three Force Members
 If a member is subjected to only three forces, it is called a Three-Force Member
 Moment Equilibrium can be satisfied only if

the three forces form a Concurrent OR
Parallel Force System
 If the lines of action of F1 and F2 intersect at

point O, then the line of action of F3 must
also pass through point O so that the forces
satisfy M=0


---Three Force Members
Boom on this Lift is a Three-Force
Member, provided its weight is
neglected
Lines of action of the weight of the

worker, W, and the force of the two-
force member (Hydraulic Cylinder)
at B, FB , intersect at O
For Moment Equilibrium, the resultant force at the pin

A, FA , must also be directed towards O
Example 5.13
Lever ABC is pin supported at A and

connected to a short link BD as shown
in Fig. If the weight of the members is
negligible, determine the force of the pin
on the lever at A.

Problem 5.25
The 300-lb Electrical Transformer with center

of gravity at G is supported by a pin at A and
a smooth pad at B. Determine the horizontal
and vertical components of reaction at the
pin A and the reaction of the pad B on the
Transformer.

Example 5.8
A skeletal diagram of a hand holding a load
is shown in the upper figure. If the load and
the forearm have masses of 2 kg and 1.2
kg, respectively, and their centers of mass
are located at and , determine the force
developed in the biceps CD and the
horizontal and vertical components of
reaction at the elbow joint B. The forearm
supporting system can be modeled as the
structural system shown in the lower
figure.

Problem 5.49
Determine the magnitude and direction θ of

the minimum force P needed to pull the 50-
kg roller over the smooth step.

Example 5.60
The uniform rod has a length l and

weight W. It is supported at one end
A by a smooth wall and the other
end by a cord of length s which is
attached to the wall as shown. Show
that for equilibrium it is required that

Equilibrium in Three
Dimensions


Ch-5: Equilibrium of A Rigid Body: Book: Engineering Mechanics Statics and Dynamics by R. C. Hibbeler

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Ch-5: Equilibrium of a Rigid Body

Mechanical Engineering Dept. CEME NUST 129

Conditions for Rigid-Body Equilibrium

 Internal Forces caused by interactions between

these forces occur in equal but opposite

Mechanical Engineering Dept. CEME NUST 130

Conditions for Rigid-Body Equilibrium

If this Resultant Force and Couple Moment are both

 When applying the Equations of Equilibrium, It

 In reality, all bodies deform when subjected to loads,

Conditions for Rigid-Body Equilibrium

 A 2-Dimensional or Coplanar Force System is one:

 Airplane has a plane of symmetry through its

oEach of the two wing tires will support the

Mechanical Engineering Dept. CEME NUST 132

o If a support prevents the Translation of a body in a given direction, then a

o If rotation is prevented, a Couple Moment is exerted on the body

Mechanical Engineering Dept. CEME NUST 133

o Most restrictive way to support the beam would be to

o it is easier to represent this Resultant Force F by its two

Mechanical Engineering Dept. CEME NUST 135

Cable exerts a force on the bracket in oOne unknown

Mechanical Engineering Dept. CEME NUST 136

Mechanical Engineering Dept. CEME NUST 137

oSmooth Contacting Surface

Mechanical Engineering Dept. CEME NUST 138

Further details on Types of Connections and their Reactions refer to:

oE.g. Internal Forces between all the connected Engine

oOnly the External Forces T1 and T2 , exerted by the

Mechanical Engineering Dept. CEME NUST 140

 If the body consists of a Non-uniform Distribution of material, or has an unusual

Mechanical Engineering Dept. CEME NUST 141

Mechanical Engineering Dept. CEME NUST 142

Mechanical Engineering Dept. CEME NUST 143

Mechanical Engineering Dept. CEME NUST 144

 Conditions for Equilibrium in Two Dimensions are:

𝚺 Fx and 𝚺 Fy = Algebraic sums of the x and y

𝚺 Mo = algebraic sum of the Couple Moments and the

Mechanical Engineering Dept. CEME NUST 145

o All the forces on the free-body diagram may be

o If 𝚺 MA = 0 is satisfied, it is necessary that MRA= 0

o in order that FR satisfy 𝚺 Fx = 0, it must have no component

o For 𝚺 MA = 0 where B does not lie on the line of action of FR

Mechanical Engineering Dept. CEME NUST 146

o it is necessary that points A, B, and C do not lie on

o 𝚺 MC = 0 is satisfied if the line of action of FR passes

Mechanical Engineering Dept. CEME NUST 147

Mechanical Engineering Dept. CEME NUST 148

Mechanical Engineering Dept. CEME NUST 149

Two- and Three-Force Members

Mechanical Engineering Dept. CEME NUST 150

Two- and Three-Force Members

link AB on the back-hoe is a typical example

Mechanical Engineering Dept. CEME NUST 151

Two- and Three-Force Members

 If a member is subjected to only three forces, it is called a Three-Force Member

 Moment Equilibrium can be satisfied only if

 If the lines of action of F1 and F2 intersect at

Mechanical Engineering Dept. CEME NUST 152

Two- and Three-Force Members

Lines of action of the weight of the

For Moment Equilibrium, the resultant force at the pin