Chapter 5

It is important to be able to determine the forces in the cables used to support

this submarine to insure that they do not fail. In this chapter we will study how
to apply equilibrium methods to determine the forces acting on the supports of
a rigid body such as this.
Dr. Aslam Al-Omari

5.1) Conditions for Rigid-Body

Equilibrium

ƒ Equilibrium of a rigid-body
¾ First:
G
∑ F =0⇒
G G G
∑ Fx = 0 & ∑ Fy = 0 & ∑ Fz = 0

¾ Second:
G
∑M o
=0

2
Dr. Aslam Al-Omari

5.2) Free-Body Diagrams

4
Dr. Aslam Al-Omari

5.2) Free-Body Diagrams

5
 202 CHAPTER 5 EQUILIBRIUM OF A RIGID BODY

TABLE 5–1 Supports for Rigid Bodies Subjected to Two-Dimensional Force Systems

Types of Connection Reaction Number of Unknowns

(1)

u u One unknown. The reaction is a tension force which acts

F
away from the member in the direction of the cable.

cable

(2)

u or u One unknown. The reaction is a force which acts along

u
the axis of the link.
F F
weightless link

(3)

One unknown. The reaction is a force which acts

5 perpendicular to the surface at the point of contact.
u u

roller F

(4)

One unknown. The reaction is a force which acts

u
u perpendicular to the surface at the point of contact.
F
rocker

(5)

One unknown. The reaction is a force which acts

u u perpendicular to the surface at the point of contact.
smooth contacting
surface F

(6)

or One unknown. The reaction is a force which acts

u F u F u
perpendicular to the slot.
roller or pin in
confined smooth slot
(7)

or
One unknown. The reaction is a force which acts
u u u perpendicular to the rod.
F
member pin connected
to collar on smooth rod

continued
 5.2 FREE-BODY DIAGRAMS 203

TABLE 5–1 Continued

Types of Connection Reaction Number of Unknowns

(8) Fy F
Two unknowns. The reactions are two components of
u
or f force, or the magnitude and direction f of the resultant
force. Note that f and u are not necessarily equal [usually
Fx
not, unless the rod shown is a link as in (2)].
smooth pin or hinge

(9)

Two unknowns. The reactions are the couple moment

and the force which acts perpendicular to the rod.
M
F
member fixed connected
to collar on smooth rod

(10) 5
Fy F

Fx f
Three unknowns. The reactions are the couple moment
or and the two force components, or the couple moment and
the magnitude and direction f of the resultant force.
M M
fixed support

Typical examples of actual supports are shown in the following sequence of photos. The numbers refer to the
connection types in Table 5–1.
This concrete girder
rests on the ledge that
is assumed to act as
a smooth contacting
surface. (5)

The cable exerts a force on the bracket

The rocker support for this
in the direction of the cable. (1)
bridge girder allows horizontal
movement so the bridge is free
to expand and contract due to
a change in temperature. (4)

The floor beams of this

This utility building is building are welded
pin supported at the top together and thus form
of the column. (8) fixed connections. (10)
 5.2 FREE-BODY DIAGRAMS 207

EXAMPLE 5.1
Draw the free-body diagram of the uniform beam shown in Fig. 5–7a.
The beam has a mass of 100 kg.

1200 N
2m

6m

(a)

SOLUTION
The free-body diagram of the beam is shown in Fig. 5–7b. Since the
support at A is fixed, the wall exerts three reactions on the beam,
denoted as Ax, Ay, and MA. The magnitudes of these reactions are
unknown, and their sense has been assumed. The weight of the beam,
W = 100(9.81) N = 981 N, acts through the beam’s center of gravity G,
which is 3 m from A since the beam is uniform.

y 1200 N
2m
x Ay Effect of applied
force acting on beam
Ax G
Effect of fixed A
support acting MA
on beam 3m
981 N

Effect of gravity (weight)

acting on beam
(b)

Fig. 5–7
 216 CHAPTER 5 EQUILIBRIUM OF A RIGID BODY

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. 5–12a.
Neglect the weight of the beam.
y

600 N 200 N 600 sin 45⬚ N

200 N
0.2 m 600 cos 45⬚ N 0.2 m
Bx
A B A x
D D B

2m 3m 2m
2m 3m 2m
Ay By
100 N 100 N
(a) (b)

5 Fig. 5–12

319 N 319 N SOLUTION

Free-Body Diagram. Identify each of the forces shown on the
A free-body diagram of the beam, Fig. 5–12b. (See Example 5.1.) For
simplicity, the 600-N force is represented by its x and y components as
319 N shown in Fig. 5–12b.
319 N
Equations of Equilibrium. Summing forces in the x direction yields
(c)

+ ⌺Fx = 0;
S 600 cos 45⬚ N - Bx = 0
Bx = 424 N Ans.
A direct solution for Ay can be obtained by applying the moment
equation ⌺MB = 0 about point B.
a+ ⌺MB = 0; 100 N (2 m) + (600 sin 45⬚ N)(5 m)
- (600 cos 45⬚ N)(0.2 m) - Ay(7 m) = 0
Ay = 319 N Ans.
Summing forces in the y direction, using this result, gives

+ c ⌺Fy = 0; 319 N - 600 sin 45⬚ N - 100 N - 200 N + By = 0

By = 405 N Ans.

NOTE: Remember, the support forces in Fig. 5–12b are the result of
pins that act on the beam. The opposite forces act on the pins. For
example, Fig. 5–12c shows the equilibrium of the pin at A and the
rocker.