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• Or you may say the body which does not deform under the
influence of forces is known as a rigid body.
• But, in real life, there would be some force under which the
body starts to deform. For example, a bridge does not
deform under the weight of a single man but it may deform
under the load of a truck or ten trucks. However, the
deformation is small.
Condition for rigid body equilibrium
• General equation of equilibrium for a rigid body
ΣF=0
ΣM=0
• Equilibrium in two dimension
ΣFx=0
ΣFy=0
ΣM=0
• Equilibrium in three dimension
ΣFx=0
ΣFy=0
ΣFz=0
ΣM=0
Free Body Diagram (2D)
• Support Reactions
– there are various types of reaction that occur at
supports and point
– As a general rules,
• If a support prevents the translation of a body in a given
direction, then a force is developed on the body in that
direction. Likewise, if rotation is prevented, a couple
moment is exerted on the body
Example :
(i) Prevents the beam from translating in the
vertical direction
Prevents the beam from
translating in the vertical
direction, the roller can
only
exert a force on the
beam
The pin passes through
a hole in the beam and
two leaves which are
fixed to the ground. The
pin can prevent
translation of the beam
in any direction
W = mg
• Idealized Model
APPLICATIONS
How are the idealized model and the free body diagram used to do
this? Which diagram above is the idealized model?
Example 4.1
Draw the free body diagram of the uniform beam shown
in figure below. The beam has a mass of 100kg
Example 1
By taking moment at B (MB):
RA = 215 kN
L/2 L/2
P
HA
L/2 L/2
VA VB
• Example Point Load
48 kN 60 kN 60 kN
HA
VA VB
1.5 m 1.5 m 0.6 m 0.9 m
ΣFx = 0
ΣMA = 0
• Example Uniform Distributed Load (UDL)
w
ΣFx = 0
ΣFy = 0 VA + VB = wL
ΣMA = 0
• Example Uniform Distributed Load (UDL)
120 kN
45 kN/m
1.8 m 0.9 m
4.5 m
• Example Uniform Distributed Load (UDL)
400 N/m
300 N/m
ΣFx = 0 HA = 0
ΣFy = 0 VA + VB = 300(1.5) +
ΣMB = 0
Equilibrium of rigid body in 3 Dimension
Free body diagram of Support Reactions
• The magnitude of forces, F =
• Force’s orientation defined by the coordinate
direction angles α, β and γ
Example 4.3
• On Inclined plane
Friction laws for dry surface on horizontal plane
– Condition 1: No applied load (Not moving)
• No friction
Weight(W)
F
Normal
force(N)
– Condition 2 : applied load P pushed the block and the block
has impending motion
• F acted as a reacting force an not be great enough to
balance P and subsequently the block will tend to slip.
• In other words P will slowly increases until the block is
on verge sliding, F can be to max value (Fmax) but the
block still in equilibrium
– At this state F is know as static friction force, F S
Weight(W)
P Fs=μsN
F
Coefficient of
Normal static friction
force(N)
Notes: if F=P, F< Fs, the equation of FS can not be use to determine the
friction since the friction force not achieved the maximum value
– Condition 3 : when the block is start moving (motion)
• F will reduced fastly because of the momentum influence
– At this state F is know as kinetic friction force, Fk
– At this condition Fk is less than Fs
Weight(W)
P
Fk=μkN
Fk
Normal
force(N)
– Condition 4 : the block is sliding/overturning
• When P is increased (P > Fk) until it make the block
sliding/overtuning at point B. Moment at B = zero.
+ ΣMB =P(h)-W(a)
Weight(W)
Fk
Normal
force(N)
W W
P P
F N Fs
N
R R
Φ Φs
tan Φs =Fs /N
= μs N / N
= μs
Φs = tan-1μs
– Defining the angle of kinetic friction, фk
W W
P P
F Fk
N N
R Φk R
Φ
tan Φk =Fk /N
= μk N / N
= μk
Φk = tan-1μk
• CONDITION 1 = F<Fs
• CONDITION 3 = F>Fs, Fk = μk N
• CONDITION 4 = P> Fk
Example 4.18
• The 70N force shown in figure causes impending motion to
the right. The block is not moving due to this force.
Determine the static coefficient of friction, μs. Given the
mass of block is 40kg.
70N
Solution;
Draw the free body diagram of block.
W = mg = 40(9.81)
W
70N = 392.4N
W=N
Ncc Fs
Example 4.19
• The mass of block is 20000 kg is subjected to the applied
load as shown in figure. Determine the friction force if μs =
0.5.
80kN
Ө=20º
Solution;
Draw the free diagram of block.
P
Ө = 30º
Friction laws for dry surfaces on an inclined plane
• Condition 1 : the block is not moving (no friction)
F< Fs
• Condition 2 : the block is in the verge of
impending motion
N can be determined
using ΣFy = 0, N = W
cos θ.
F k = μk N
Fk = μk N= μk W cos θ
• Condition 4 : the block is sliding/overtuning
Σfx = 0
100 - 180 – F = 0
F = -80N (the friction force is acted opposite direction, thus
directed up and to the right)
F = 80N ( )
F > Fs , 80N > 60N, the block is moving down due to this
condition. Use μk to determine the actual friction force.