Engineering Mechanics:

Statics in SI Units, 12e

5 Equilibrium of a Rigid Body

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Chapter Objectives

• Develop the equations of equilibrium for a rigid body

• Concept of the free-body diagram for a rigid body
• Solve rigid-body equilibrium problems using the
equations of equilibrium

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Chapter Outline

1. Conditions for Rigid Equilibrium

2. Free-Body Diagrams
3. Equations of Equilibrium
4. Two and Three-Force Members
5. Free Body Diagrams
6. Equations of Equilibrium
7. Constraints and Statical Determinacy

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5.1 Conditions for Rigid-Body Equilibrium

• The equilibrium of a body is expressed as

FR =  F = 0
(M R )O =  M O = 0

• Consider summing moments about some other point,

such as point A, we require

M A = r  FR + (M R )O = 0

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5.2 Free Body Diagrams

Support Reactions
• If a support prevents the translation of a body in a
given direction, then a force is developed on the body
in that direction.
• If rotation is prevented, a couple moment is exerted on
the body.

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5.2 Free Body Diagrams

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5.2 Free Body Diagrams

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5.2 Free Body Diagrams

Internal Forces
• External and internal forces can act on a rigid body
• For FBD, internal forces act between particles which
are contained within the boundary of the FBD, are not
represented
• Particles outside this boundary exert external forces
on the system

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5.2 Free Body Diagrams

Weight and Center of Gravity

• Each particle has a specified weight
• System can be represented by a single resultant force,
known as weight W of the body
• Location of the force application is known as the
center of gravity

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5.2 Free Body Diagrams

Procedure for Drawing a FBD

1. Draw Outlined Shape
• Imagine body to be isolated or cut free from its
constraints
• Draw outline shape

2. Show All Forces and Couple Moments

• Identify all external forces and couple moments that
act on the body

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5.2 Free Body Diagrams

3. Identify Each Loading and Give Dimensions

• Indicate dimensions for calculation of forces
• Known forces and couple moments should be properly
labeled with their magnitudes and directions

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Example 5.1

Draw the free-body diagram of the uniform beam. The

beam has a mass of 100kg.

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Solution

Free-Body Diagram

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Solution

Free-Body Diagram
• Support at A is a fixed wall
• Three forces acting on the beam at A denoted as Ax, Ay,
Az, drawn in an arbitrary direction
• Unknown magnitudes of these vectors
• Assume sense of these vectors
• For uniform beam,
Weight, W = 100(9.81) = 981N
acting through beam’s center of gravity, 3m from A

Copyright © 2010 Pearson Education South Asia Pte Ltd

 Please refer to
the Companion
CD for the
5.3 Equations of Equilibrium animation:
Equilibrium of
a Free Body

• For equilibrium of a rigid body in 2D,

∑Fx = 0; ∑Fy = 0; ∑MO = 0

• ∑Fx and ∑Fy represent sums of x and y components of

all the forces

• ∑MO represents the sum of the couple moments and

moments of the force components

Copyright © 2010 Pearson Education South Asia Pte Ltd

 Please refer to
the Companion
CD for the
5.3 Equations of Equilibrium animation:
Equilibrium of
a Free Body

Alternative Sets of Equilibrium Equations

• For coplanar equilibrium problems,
∑Fx = 0; ∑Fy = 0; ∑MO = 0

• 2 alternative sets of 3 independent equilibrium

equations,
∑Fa = 0; ∑MA = 0; ∑MB = 0

Copyright © 2010 Pearson Education South Asia Pte Ltd

 Please refer to
the Companion
CD for the
5.3 Equations of Equilibrium animation:
Equilibrium of
a Free Body

Procedure for Analysis

Free-Body Diagram
• Force or couple moment having an unknown
magnitude but known line of action can be assumed
• Indicate the dimensions of the body necessary for
computing the moments of forces

Copyright © 2010 Pearson Education South Asia Pte Ltd

 Please refer to
the Companion
CD for the
5.3 Equations of Equilibrium animation:
Equilibrium of
a Free Body

Procedure for Analysis

Equations of Equilibrium
• Apply ∑MO = 0 about a point O
• Unknowns moments of are zero about O and a direct
solution the third unknown can be obtained
• Orient the x and y axes along the lines that will provide
the simplest resolution of the forces into their x and y
components
• Negative result scalar is opposite to that was assumed
on the FBD

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Example 5.5

Determine the horizontal and vertical components of

reaction for the beam loaded. Neglect the weight of the
beam in the calculations.

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Solution

Free Body Diagrams

• 600N represented by x and y components
• 200N force acts on the beam at B

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Solution

Equations of Equilibrium
+ →  M B = 0; 600 cos 45 N − Bx = 0  Bx = 424N
 M B = 0;
100N (2m) + (600 sin 45 N )(5m) − (600 cos 45 N )(0.2m) − Ay (7m) = 0
Ay = 319N
+   Fy = 0;
319N − 600 sin 45 N − 100N − 200 N + B y = 0
B y = 405N

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5.4 Two- and Three-Force Members

Two-Force Members
• When forces are applied at only two points on a
member, the member is called a two-force member
• Only force magnitude must be determined

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5.4 Two- and Three-Force Members

Three-Force Members
• When subjected to three forces, the forces are
concurrent or parallel

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Example 5.13

The lever ABC is pin-supported at A and connected to a

short link BD. If the weight of the members are negligible,
determine the force of the pin on the lever at A.

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Solution

Free Body Diagrams

• BD is a two-force member
• Lever ABC is a three-force member
Equations of Equilibrium
 0.7 
 = tan −1   = 60.3


 0.4 
+ →  Fx = 0; FA cos 60.3 − F cos 45 + 400N = 0
+   Fy = 0; FA sin 60.3 − F sin 45 = 0

Solving, FA = 1.07kN
F = 1.32kN
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5.5 Free-Body Diagrams

Support Reactions
As in the two-dimensional case:
• A force is developed by a support
• A couple moment is developed when rotation of the
attached member is prevented
• The force’s orientation is defined by the coordinate
angles α, β and γ

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5.5 Free-Body Diagrams

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5.5 Free-Body Diagrams

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Example 5.14

Several examples of objects along with their associated

free-body diagrams are shown. In all cases, the x, y and z
axes are established and the unknown reaction
components are indicated in the positive sense. The
weight of the objects is neglected.

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Solution

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5.6 Equations of Equilibrium

Vector Equations of Equilibrium

• For two conditions for equilibrium of a rigid body in
vector form,
∑F = 0 ∑MO = 0

Scalar Equations of Equilibrium

• If all external forces and couple moments are
expressed in Cartesian vector form
∑F = ∑Fxi + ∑Fyj + ∑Fzk = 0
∑MO = ∑Mxi + ∑Myj + ∑Mzk = 0

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5.7 Constraints for a Rigid Body

Redundant Constraints
• More support than needed for equilibrium
• Statically indeterminate: more unknown
loadings than equations of equilibrium

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5.7 Constraints for a Rigid Body

Improper Constraints
• Instability caused by the improper constraining by the
supports
• When all reactive forces are concurrent at this point,
the body is improperly constrained

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5.7 Constraints for a Rigid Body

Procedure for Analysis

Free Body Diagram
• Draw an outlined shape of the body
• Show all the forces and couple moments acting on the
body
• Show all the unknown components having a positive
sense
• Indicate the dimensions of the body necessary for
computing the moments of forces

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5.7 Constraints for a Rigid Body

Procedure for Analysis

Equations of Equilibrium
• Apply the six scalar equations of equilibrium or vector
equations
• Any set of non-orthogonal axes may be chosen for this
purpose

Equations of Equilibrium
• Choose the direction of an axis for moment summation
such that it insects the lines of action of as many
unknown forces as possible
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Example 5.15

The homogenous plate has a mass of 100kg and is

subjected to a force and couple moment along its edges.
If it is supported in the horizontal plane by means of a
roller at A, a ball and socket joint at N, and a cord at C,
determine the components of reactions at the supports.

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Solution

Free Body Diagrams

• Five unknown reactions acting on the plate
• Each reaction assumed to act in a positive coordinate
direction
Equations of Equilibrium
 Fx = 0; Bx = 0
 Fy = 0; B y = 0
 Fz = 0; Az + Bz + TC − 300 N − 981N = 0

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Solution

Equations of Equilibrium
 M x = 0; TC (2m) − 981N (1m) + BZ (2m) = 0
 M y = 0;
300 N (1.5m) + 981N (1.5m) − Bz (3m) − Az (3m) − 200 N .m = 0
• Components of force at B can be eliminated if x’, y’ and
z’ axes are used
 M x ' = 0;981N (1m) + 300 N (2m) − Az (2m) = 0
 M y ' = 0;
− 300N (1.5m) − 981N (1.5m)200 N .m + TC (3m) = 0

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Solution

Solving,
Az = 790N Bz = -217N TC = 707N
• The negative sign indicates Bz acts downward
• The plate is partially constrained as the supports
cannot prevent it from turning about the z axis if a force
is applied in the x-y plane

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