Engineering Mechanics

3D Equilibrium
Support reactions in 3D structures

2
Support reactions in 3D Struct.

3
Categories of Equilibrium in 3D

4
Reactions at Supports and Connections
for a Three-Dimensional Structure
 Universal Joint

Ball Support (or ball Ball and socket joint

caster)
Categories of Equilibrium in 2D
Conditions of Equilibrium
Adequacy of
Constraints
 Adequacy of Constraints

In
 Problem 23
A uniform pipe cover of radius r = 240 mm and mass 30 kg is held in a horizontal position by the
cable CD. Determine the tension in the cable.

11
 Problem 23 - Solution
Weight of pipe cover, W = 30 kg x 9.81 m/s2 = 294 N

The reactions acting at points A and B would also consist of

couples about the x and y axes. However these couples are not
shown in the FBD as they are not significant in this problem and
the tension in the cable can be obtained without taking these
couples into consideration.

Bz k

The self weight and cable tension acting on the pipe cover can be
represented as follows:

! !
W = (− 294 N )j B = (0,0,0), C ≡ (0,240mm,80mm), D ≡ (480mm,0,240mm),
! ! ! ! ! ! !
T = TrˆDC rDC = rBC − rBD = (− 480mm )i + (240mm )j + (− 160mm )k
!
( 2 2 2
)
rDC = (480mm ) + (240mm ) + (160mm ) = 560mm
⎛ 6 ⎞! ⎛ 3 ⎞ ! ⎛ 2 ⎞ !
rˆDC = ⎜ − ⎟i + ⎜ ⎟ j + ⎜ − ⎟k !12
⎝ 7⎠ ⎝7⎠ ⎝ 7⎠
 Problem 23 - Solution
! !
W = (− 294 N )j
! ⎡⎛ 6 ⎞ ! ⎛ 3 ⎞ ! ⎛ 2 ⎞ ! ⎤
T = T ⎢⎜ − ⎟i + ⎜ ⎟ j + ⎜ − ⎟k ⎥
⎣⎝ 7 ⎠ ⎝ 7 ⎠ ⎝ 7 ⎠ ⎦
∑ M Bz =0
! ! !! !
k .rBG × W + k .rBD × T = 0
! ! ! Bz k
rBG = (240mm )i + (240mm )k
! ! ! G
rBD = (480mm )i + (240mm )k

0 0 1 0 0 1
∴ 240mm 0 240mm + T 480mm 0 240mm = 0
6 3 2
0 − 294 N 0 − −
7 7 7
3
⇒ (− 294 N )(240mm )+ T . (480mm )= 0
7
⇒T =
(294 N )(240mm )
!13
3
(480mm ) T = 343 N
7
 Problem 24
The rigid L-shaped member ABC is supported by a ball-and-socket joint at A and by three
cables. Determine the tension in each cable and the reaction at A caused by the 1 kN load applied
at G.

14
 Problem 24 - Solution
A ≡ (0,0,0), B ≡ (152,0,0), C ≡ (152,0,−76),
D ≡ (0,0,63.5), E ≡ (0,63.5,0),
F ≡ (0,63.5,−76), G ≡ (152,0,−38).
! ! ! ! ! ! !
rBD = rAD − rAB = (− 152cm )i + (63.5cm )k ⇒ rˆBD = −0.923i + 0.385k
! ! ! ! ! ! !
rBE = rAE − rAB = (− 152cm )i + (63.5cm )j ⇒ rˆBE = −0.923i + 0.385 j
! ! ! ! ! ! !
rCF = rAF − rAC = (− 152cm )i + (63.5cm )j ⇒ rˆCF = −0.923i + 0.385 j
! ! !
T1 = T1rˆBD = T1 (−0.923i + 0.385k ) T3
! ! ! Ax A
T2 = T2 rˆBE = T2 (−0.923i + 0.385 j ) T2
! ! ! G C
T3 = T3 rˆCF = T3 (−0.923i + 0.385 j ) Az Ay
! ! T1 B
F = 1(− j )kN F
! ! ! ! 15
RA = Ax i + Ay j + Az k
 Problem 24 -
! ! Solution
! ! ! ! ! ! !
∑ M = 0 ⇒ r ×T + r ×T + r × F + r
A AB 1 AB 2 AG AC × T3 = 0 ! ! !
! ! ! ! ! ! T
!
= T ˆ
r = T (1−0 . 923
1 BD i 1
!
+ 0 . 385 k
!
)
i j k i j k T = T rˆ = T (−0.923i + 0.385 j )
!
2 2 BE
!
2
!
T = T rˆ = T (−0.923i + 0.385 j )
⇒ T1 152cm 0 0 + T2 152cm 0 0 ! !
F = 1(− j )kN
3 3 CF 3

! ! ! !
− 0.923 0 0.385 − 0.923 0.385 0 R = A i + A jA+ Ax k y z

! ! ! ! ! !
i j k i j k
+ 152cm 0 − 38cm + T3 152cm 0 − 76cm = 0
0 −1 0 − 0.923 0.385 0
! ! ! !
⇒ T1 (−58.52 j ) + T2 (58.52k ) + (−38i − 152k )
! ! ! Ax A T3
+ T3 (29.26i + 70.148 j + 58.52k ) = 0 T2
! ! G C
⇒ (−38 + 29.26T3 )i + (−58.52T1 + 70.148T3 ) j Az Ay
! T1 B
+ (58.52T2 − 152 + 58.52T3 )k = 0 F
16
 Problem 24 -
Solution
A A x
T3
T2
G C
Az Ay
T1 B
F

! !
∑ M A =(−38 + 29.26T3 )i + (−!58.52T1 + 70.148T3 ) j
+ (58.52T2 − 152 + 58.52T3 )k = 0
Equating the individual moment components of MA to zero we get three equations of
equilibrium as shown below:

− 38 + 29.26T3 = 0 T3 = 1.3kN
− 58.52T1 + 70.148T3 = 0 T1 = 1.56kN
58.52T2 − 152 + 58.52T3 = 0 T2 = 1.3kN 17
 Problem 24 - Solution
T1 = 1.56kN
T2 = 1.3kN
Ax T3 = 1.3kN T3
A
T2
G C
Az Ay
T1 B
!
F !
!
T1 = T1rˆBD = T1 (−0.923i + 0.385k )
! ! ! ! ! ! ! ! !
T2 = T2 rˆBE = T2 (−0.923i + 0.385 j )
∑ F = 0 ⇒ T1 + T2 +! T3 +F + RA = 0. ! ! !
T3 = T3 rˆCF = T3 (−0.923i + 0.385 j )
! ! ! ! !
F = 1(− j )kN
T1 (−0.923i + 0.385k ) + T2 (−0.923i + 0.385 j ) ! ! !
RA = Ax i + Ay j + Az k
!

! ! ! ! !
+ T3 (−0.923i + 0.385 j ) + 1(− ˆj ) + Ax i + Ay j + Az k = 0
!
(−0.923T1 − 0.923T2 − 0.923T3 + Ax )i + (0.385T2 +
! !
18
0.385T3 + Ay − 1) j + (0.385T1 + Az )k = 0
 Problem 24 - Solution
T1 = 1.56kN
T2 = 1.3kN
Ax T3 = 1.3kN T3
A
T2
G C
Az Ay
! T1 B
! F
∑ F = (−0.923T1 − 0.923T2 − 0.923T3 !+ Ax )i + (0.385T2 +
!
0.385T3 + Ay − 1) j + (0.385T1 + Az )k = 0
Equating the individual force components to zero we get three equations of equilibrium as
shown below:

− 0.923T1 − 0.923T2 − 0.923T3 + Ax = 0 Ax = 3.84kN

0.385T2 + 0.385T3 + Ay − 1 = 0 Ay = 0
19
0.385T1 + Az = 0 Az = −0.6kN
 Problem 24 - Solution

1.3 kN
Ax A 3.89 kN
1.3 kN
G C
Az Ay
1.56 k B
α = 8.9o F

Ax = 3.84kN T1 = 1.56kN
Ay = 0 T2 = 1.3kN
Az = −0.6kN T3 = 1.3kN ⎛ Az ⎞
−1 −1 ⎛ 0.6 N ⎞
α = tan ⎜ ⎟ = tan ⎜
⎜ ⎟ ⎟
⎝ Ax ⎠ ⎝ 3.84 N ⎠
RA = Ax2 + Ay2 + Az2 = 3.89kN α = 8 .9 O
20
 

Problem A
• The uniform 10-lb rod
AB is supported by a
ball-and-socket joint at
A and leans against
both the rod CD and
the vertical wall.
Neglecting the effects
of friction, determine
(a) the force which rod
CD exerts on AB, (b)
the reactions at A and
B.
( )
B = 3.00 lb k ( ) ( )
E = 3.20 lb i + 4.27 lb j ( ) ( ) ( )
A = − 3.20 lb i + 5.73 lb j − 3.00 lb k
 Problem B
In the planetary gear system
shown, the radius of the central
gear A is a = 24 mm, the radius
of the planetary gears is b, and the
radius of the outer gear E is
(a+2b). A clockwise couple of
magnitude 15N.m is applied to the
central gear A, and a
counterclockwise couple of
magnitude 75N.m is applied to the
spider BCD. If the system is to be
in equilibrium, determine (a) the
required radius b of the planetary
gears, (b) the couple ME that must
be applied to the outer gear E.
 Planetary Gear

http://machinedesign.com/mechanical-
drives/planetary-gears-review-basic-
design-criteria-and-new-options-sizing
 Problem 25
Three identical steel balls, each of mass m, are placed in the
cylindrical ring which rests on a horizontal surface and
whose height is slightly greater than the radius of the balls.
The diameter of the ring is such that the balls are virtually
touching one another. A fourth identical ball is then placed
on top of the three balls. Determine the force P exerted by the
ring on each of the three lower balls.

25
 Problem 26
A window is temporarily held open in the 50o position shown by a wooden prop CD until a
crank-type opening mechanism can be installed. If a=0.8m and b=1.2 m and the mass of the
window is 50 kg with mass center at its geometric center, determine the compressive force FCD
in the prop.

26
 Problem 26 - Solution
Reactions at hinges A and B: B
(i) No Mz Reactions
(ii)Other Reactions are not required in this problem

A E

! ! ! ! ! ! b!
rA = aj ; rB = aj − bk ; rC = − k ;
4 C
! ! ! D W
rD = a sin θi + a (1 − cos θ ) j ;
! a ! ⎛ cos θ ⎞ ! b ! ! ! ! b!
rE = sin θi + a⎜1 − ⎟ j − k. rCD = a sin θi + a (1 − cos θ ) j + k
2 ⎝ 2 ⎠ 2 4
! a ! a ! b! ! ⎛b⎞
2

rAE = sin θi − cos θj − k rCD = (a sin θ ) 2 + (a (1 − cos θ )) 2 + ⎜ ⎟

2 2 2 ⎝4⎠
! ! ! 27
rAD = a sin θi − a cos θj
 Problem 26 - Solution B

! a ! a ! b!
rAE = sin θi − cos θj − k
2 2 2
! ! !
rAD = a sin θi − a cos θj A E
! ! ! b!
rCD = a sin θi + a (1 − cos θ ) j + k
4
2
! ⎛b⎞
rCD = (a sin θ ) 2 + (a (1 − cos θ )) 2 + ⎜ ⎟ C
⎝ 4⎠
! ! D W
W = −Wj
! FCD ⎛ ! ! b !⎞
FCD = FCD rˆCD = ! ⎜ a sin θi + a (1 − cos θ ) j + k ⎟
rCD ⎝ 4 ⎠
! ⎛ ! ! b !⎞
Let FCD = F ⎜ a sin θi + a (1 − cos θ ) j + k ⎟
⎝ 4 ⎠
F FCD
F = !CD =
rCD
(a sin θ )2 + (a(1 + cos θ ))2 + (b 4 )
2
28
 Problem 26 - Solution B

! a ˆ a ˆ b ˆ
rAE = sin θi − cos θj − k
2 2 2
!
rAD = a sin θiˆ − a cos θˆj
A E
! ! ! b!
rCD = a sin θi + a (1 − cos θ ) j + k
4
2
! ⎛b⎞
rCD = (a sin θ ) 2 + (a (1 − cos θ )) 2 + ⎜ ⎟
⎝4⎠ C
! ! D W
W = −Wj
! ⎛ ! ! b !⎞ F FCD
FCD = F ⎜ a sin θi + a (1 − cos θ ) j + k ⎟ F = !CD =
4 ⎠ rCD
⎝
!! !! !
2 2
(a sin θ ) + (a(1 + cos θ )) ( 4)
+ b
2

∑ M AB = −k .rAE ×W − k .rAD × FCD = 0

0 0 −1 0 0 −1
a a b
⇒ sin θ − sin θ − + F a sin θ − a cos θ 0 =0
2 2 2 b 29
0 −W 0 a sin θ a(1 − cos θ )
4
 Problem 26 - Solution B
! !
W = −Wj
! ⎛ ! ! b !⎞
FCD = F ⎜ a sin θi + a (1 − cos θ ) j + k ⎟
⎝ 4 ⎠
F FCD A E
F = !CD =
rCD
( 4)
(a sin θ )2 + (a(1 + cos θ ))2 + b
2

!! ! !! !
∑M AB = k .rAE × W + k .rAD × FCD = 0
C
0 0 −1 0 0 −1 D
a a b W
⇒ sin θ − sin θ − + F a sin θ − a cos θ 0 =0
2 2 2 b
0 −W 0 a sin θ a(1 − cos θ )
4
a
W sin θ − Fa 2 (sin θ (1 − cos θ )+ sin θ cos θ ) = 0
2
a
W sin θ − Fa 2 sin θ = 0
2
W 30
F=
2a
 Problem 26 - Solution B
! !
W = −Wj
! ⎛ ! ! b !⎞
FCD = F ⎜ a sin θi + a (1 − cos θ ) j + k ⎟
⎝ 4 ⎠
F FCD A E
F = !CD =
rCD
( 4)
(a sin θ )2 + (a(1 + cos θ ))2 + b
2

W
F=
2a
C
2
! W 2 2 ⎛b⎞ D W
FCD = F rCD = (a sin θ ) + (a(1 − cos θ )) +⎜ ⎟
2a ⎝4⎠
Putting W = mg; m = 50 kg; g = 9.81 m/s2; a = 0.8 m; b = 1.2 m; θ = 50O

FCD = 226.9 N
31
 Problem C

• Two shafts AC and CF, which lie in the vertical xy plane, are
connected by a universal joint at C. The bearings at B and D
do not exert any axial force. A couple of magnitude
(clockwise when viewed from the positive x axis) is applied
to shaft CF at F. At a time when the arm of the crosspiece
attached to shaft CF is horizontal, determine (a) the
magnitude of the couple which must be applied to shaft AC
at A to maintain equilibrium, (b) the reactions at B, D, and
E.
Universal Joint
 Problem 1
• The frame ACD is supported by ball-and-socket joints at A and D and
by a cable that passes through a ring at B and is attached to hooks at
G and H. Knowing that the frame supports at point C a load of
magnitude determine the tension in the cable.
 Problem 2
• The rigid L-shaped member ABC is supported by a
ball and socket at A and by three cables. Determine
the tension in each cable and the reaction at A
caused by the 500-lb load applied at G.
 Problem 3
• A uniform 0.5 x 0.75m steel plate ABCD has a mass
of 40 kg and is attached to ball-and-socket joints at A
and B. Knowing that the plate leans against a
frictionless vertical wall at D, determine (a) the
location of D, (b) the reaction at D.
 Problem 4
• The two bars AB and OD, pinned together at C, form the
diagonals of a horizontal square AOBD. The ends A and O are
attached to a vertical wall by ball and socket joint, point B is
supported by a cable BE, and a vertical load P is applied at D.
Find the components of the reactions at A and O.
 Problem 5
• Three identical steel balls, each of mass m, are placed in the
cylindrical ring which rests on a horitontal surface and whose height is
slightly greater than the radius of the balls. The diameter of the ring is
such that the balls are virtually touching one another. A fourth
identical ball is then placed on top of the three balls. Determine the
force P exerted by the ring on each of the three lower balls.
 Problem 6
• A rectangular sign over a store has a mass of 100kg, with the
center of mass in the center of the rectangle. The support against
the wall at point C may be treated as a ball-and-socket joint. At
corner D support is provided in the y-direction only. Calculate the
tensions T1 and T2 in the supporting wires, the total force
supported at C, and the lateral force R supported at D
 Problem 7
• A window is temporarily held open in the 50o position shown by a
wooden prop CD until a crank-type opening mechanism can be
installed. If a=0.8m and b=1.2 m and the mass of the window is 50
kg with mass center at its geometric center, determine the
compressive force FCD in the prop.
 Problem 1
• Two rods are welded together to form a T-shaped
lever which leans against a frictionless wall at D and
is supported by bearings at A and B. A vertical force
P of magnitude 600 N is applied at the midpoint E of
rod DC. Determine the reaction at D. [FD = 375 N]

D
Problem 2
• A camera weighing 0.53 lb is
mounted on a small tripod
weighing 0.44 lb on a smooth
surface. Assuming that the
weight of the camera is
uniformly distributed and that
the line of action of the weight of
the tripod passes through D,
determine (a) the vertical
components of the reactions at A,
B, and C when θ = 0 (b) the
maximum value of θ if the tripod
is not to tip over. [(a) Na=
0.656lb, NB= NC= 0.157lb, (b)
min = 62deg.]
 Problem 3
• A 450 N load P is applied at the corner C of rigid pipe ABCD which has
been bent as shown. The pipe is supported by the ball and socket joints
A and D, fastened respectively to the floor and to a vertical wall, and
by a cable attached at the midpoint E of the portion BC of the pipe and
at a point G on the wall. Determine (a) where G should be located if
the tension in the cable is to be minimum, (b) the corresponding
minimum value of the tension. [(a) height of G = 5m from A, same
horizontal component as A, on the wall (b) Tmin = 300N]
 Problem 4
• Three identical steel balls, each of mass m, are placed in the
cylindrical ring which rests on a horitontal surface and whose
height is slightly greater than the radius of the balls. The
diameter of the ring is such that the balls are virtually touching
one another. A fourth identical ball is then placed on top of the
three balls. Determine the force P exerted by the ring on each of
the three lower balls. [N = W/3√2 ]
500N, at A’