P1-TH-C4-2 Can Bang Cua Vat Ran KG - He Thanh KG - English - Compatibility Mode

Hê lực không gian và cân bằng vật rắn không gian – Spatial force systems & Equilibrium of a spatial
rigid body
EQUILIBRIUM OF SPATIAL RIGID BODIES
1. Equilibrium condition and equations

2. Type of connection/ Constraints
3. Free Body Diagram
4. Examples
Department of Applied Mechanics 1
Hê lực không gian và cân bằng vật rắn không gian – Spatial force systems & Equilibrium of a spatial rigid body
A free planar rigid body in equilibrium  The C1

z Cj
force system acting on the body is the
F2
equilibrium one (~ to zero) F3
    
(F1, F2 ,..., Fn ,C 1,...,C m )  0 F1
F4
O
       x
y
(F1, F2 ,..., Fn ,C 1,...,C m )  (RO , MO )  0
A free rigid body in space
has six DOF
 
RO   Fk  0,
   
MO   mO (Fk )   C j  0, O


      
(F1, F2 ,..., Fn ,C 1,...,C m )  (RO , MO )  0 z Cj
F2
 
RO   Fk  0, F3
   
MO   mO (Fk )   C j  0, O F1
Equations of equilibrium (6 eqs., 6 unk.) F4
O
 Fkx  0,  Fky  0,  Fkz  0, y
x
 MOx  0,  MOy  0,  MOz  0 A free rigid body in space has six DOF
Concurrent force system (3 Eqs.)  Fkx   Fky   Fkz  0

Couple system (3 Eqs.)  MOx   MOy   MOz  0
Parallel force system, // z (3 Eqs.)  Fkz   MOx   MOy  0

All forces intersect y-axis (5 Eqs.)  Fkx   Fky   Fkz   MOx   MOz  0
Type of force No. of

Figure Eqs. of Equilibrium
system Eqs.
z  Fkx  0,  Fky  0,
Cj
General force F3  Fkz  0
system F1 F2 6  MOx  0,
O  MOy  0,
y
x  MOz  0
z
 Fkx  0,
Concurrent F3 3
force system F1  Fky  0,
O  Fkz  0
y
x F2


system Eqs.
z
C3  MOx  0,
Couple system C4
C1 C2 3  MOy  0,
O  MOz  0
y
x
z
Parallel force F3  Fkz  0
system 3  MOx  0,
F1
O  MOy  0,
y
x F2

system Eqs.
z
 Fkx  0,  Fky  0,
F2 F3
All forces  Fkz  0
intersect y- F1 5
axis  MOx  0,
O
y  MOz  0
x
Note: the maximum of number of unknowns is less than the number of equations of equilibrium.

2. Constraints
Number of unknowns and directions

Types of connection Reaction
of reactions and possible motion
1. Cable (in tension) One unknown.
T The reaction is a force which acts away from
the member in the known direction of the
cable. Only the movement in this direction is
restricted.
2. Smooth surface support One unknown.

The reaction is a force which acts
perpendicular to the surface at the point of
contact. Only the movement in this direction is
restricted.
N
3. Smooth roller One unknown.
The reaction is a force which acts
perpendicular to the surface at the point of
contact. Only the movement in this direction is
restricted.
N
2. Constraints
Number of unknowns and directions
of reactions and possible motion
4. Ball and socket Three unknowns.
The reactions are three rectangular force
components. Three rotations are possible
Z
Y
Z X
Z
Y
X
Y
X
5. Single journal bearing Four unknowns.

(long) The reactions are two force and two couple-
Z
Mz moment components which act
perpendicular to the shaft. The translation
X along y axis and rotation about this axis are
Mx possible

2. Constraints
Number of unknowns and directions of
Types of connection Reaction reactions and possible motion
6. Single journal (long) bearing
Five unknowns.
with square shaft Z
Mz The reactions are two force and three
couple-moment components. Only
X the translation along y axis is
My possible.
7. Single thrust long bearing Five unknowns.
Z
Mz The reactions are three force and two
couple-moment components. Only the
X rotation about y axis is possible.
Mx Y
8. double smooth pin Five unknowns.

Z The reactions are three force and two
Mz couple-moment components. Only the
rotation about y axis is possible.
X Y
Mx
2. Constraints
Number of unknowns and
Types of connection Reaction directions of reactions and
possible motion
9. Single journal bearing Two unknowns. Single journal bearing
(short) The reactions are two force (short, thrust)
which act perpendicular to the
Y shaft.
X
10. Fixed support Six unknowns.

The reactions are three force and Z
Z Mz three couple-moment
Y
components. No movement is Y
possible X
X Mx My

Number of unknowns and directions of

reactions and possible motion
9. Single hinge (long) Five unknowns. The reactions are three
Z
force and two couple-moment
Mz components. The rotation about y axis is
Y
possible.
X Mx
double smooth pin
11. Short bearing 12. Thrust short bearing Long bearing Thrust long bearing
(2 forces) (3 forces)
(4 unk.) (5 unk.)
3. Free Body Diagram (FBD) z
Example 1.
• Draw an outlined shape of the body. D
• Show all the forces and couple moments acting on F1, 400 N F2, 300 N
2m
the body. 2m 1m
A
• Establish the origin of the x, y, z axes at a 2m
C
convenient point and orient the axes so that they
are parallel to as many of the external forces and B y
moments as possible.
x z
• Label all the loadings and specify their directions
relative to the x, y, z axes. In general, show all the D
unknown components having a positive sense T F2, 300 N
F1, 400 N
along the x, y, z axes if the sense cannot be 2m
2m 1m
determined. A NC
2m
• Indicate the dimensions of the body necessary for NB
C
computing the moments of forces. y
B
x
3. Free Body Diagram (FBD)

Example 2. The windlass is supported by a thrust journal bearing at A and a smooth journal bearing
at B, which are properly aligned on the shaft. Draw free body diagram of the windlass.
z
z
a YA ZA a
A b b ZB
c c
x A
B x
M XA M
r C r B C
C y C y
R XB R
Q Q
3. Free Body Diagram (FBD)

Example 3. The homogeneous plate is supported by a ball and socket at A and a short bearing at
B, and cable DE. Draw free body diagram of the plate.
E E
 z
 ZB
T
z B y ZA B y
a b YA a b XB
 
A C A C
F XA F
D x P D x P

4. Examples
Steps for solving problems
 Set a Cartesian coordinate system Oxyz
 Draw Free Body Diagram. (see Types of connection)
 As a general rule, if a support prevents the translation of a body in a given direction, then a
reactive force is developed on the body in that direction.
 In the similar manner, if rotation is prevented, a reactive couple moment is exerted on the
body. In other word the reactive force exerted on the body by a constraint is always in the
sense to oppose the movement of the body which would occur if the constraint were
removed.
 List all forces / couples act on the body (given forces and reaction forces).
 Write equations of equilibrium.
 Check if number of Eqs is equal to number of unknown (?) (check condition of statical
determinate or indeterminate).
 Solving equations of equilibrium.
4. Examples
Example 1. structure consists of three bars (weights negligible), their lengths are the same. Three
rods are inclined to the vertical wall an angle  = 45. It is loaded at K by a cylinder of weight P.
Determine forces in the bars (show it in compression or in tension).
z B z B
 S2
O K y O 
K y
 
A A
S1
S3 P
x  x 
P
C C
   
  45 (P, S1, S 2 , S 3 )  0
 Fkx  S1 cos 45  S 2 cos 45  0 S 3  P 2,

 Fky  S1 sin 45  S 2 sin 45  S 3 sin 45  0
S1  S 2  21 P 2.
 Fkz  P  S 3 cos 45  0
4. Examples
z
Example 2. A right triangle plate is supported by two rollers B, C
and a vertical rope AD. Determine reactions at B, C and tension D
in the rope. Neglect the weight of the plate.
F1, 400 N F2, 300 N
2m
Instruction 2m
A
1m
     2m
C
(F1, F2 ,T , N B , NC )  0 // z
B y
 Fkz  N B  NC  T  F1  F2  0 z
 x
 mx (Fk )  3  NC  2  F2  0 D

 my (Fk )  2  F1  4  N B  0 F1, 400 N T F2, 300 N
2m
2m 1m
A NC
NC  2  F2 / 3  .. 2m
C
N B  F1 / 2  .. NB
B y
T  F1  F2  N B  NC  ..
x
4. Examples
Example 3. The windlass is supported by a thrust z
journal bearing at A and a smooth journal bearing ZA a
at B, which are properly aligned on the shaft.
A b ZB
Determine moment of a couple to keep the load c
XA
Q stay at rest and reactions at A and B.
x B
Givens: Q, a, b, c, and r. Neglect the weight of the M
windlass. r C
C y
XB
Instruction R
     
(Q, M , X A, Z A, X B , Z B )  0
Q
 Fkx  X A  X B  0
 Fkz  Z A  Z B  Q  0 M  Qr

 mx (Fk )  (a  b)  Z B  a  Q  0 X B  0, XA  0

 my (Fk )  r  Q  M  0 aQ bQ
 ZB  , ZA 
 mz (Fk )  (a  b)  X B  0 a b a b

4. Examples
Example 4. The homogeneous plate of size a×b is E
supported by a ball and socket at A and a short bearing at
Z
B, and cable DE. Determine reactions at A, B and cable B
T
tension. Givens: P, F, a, b, . z ZA B y
YA a b XB
Instruction 
A C
       
(P, F , X A,YA, Z A, X B ,YB ,T )  0 XA
F
D x P
 Fkx  X A  X B  T sin  sin   0 T  T sin  sin  ,

  x
 Fky  YA  T sin  cos   0 T Ty  T sin  cos ,
T  T cos 
 Fkz  Z A  Z B  T cos   P  F  0  z

 mx (Fk )  a  Z B  12 a  P  a  F  0 T  .., Z B  ..

 my (Fk )  b  F  21 b  P  b  T cos   0 X B  .., X A  ..

 mz (Fk )  b  T sin  cos   a  X B  0 YA  .., Z A  ..
SPATIAL TRUSS
1. Method of Joints and Method of Sections (see chapter 3)

2. Zero-force members (see chapter 3)
3. Examples

Examples
Example 8. A structure consists of three bars (weights negligible),
their lengths are the same. Three rods are inclined to the vertical wall
an angle  = 45. It is loaded at K by a cylinder of weight P.
Determine forces in the bars (show it in compression or in tension).
z B
z B S2
 O  y
O K y K
 
A A
S1
S3 T=P
x x 
 P T=P
C C
Draw FBD of the point K and the cylinder
Example
   
The point K: (P , S 1, S 2 , S 3 )  0 z B
O  S2
K y
A 
Equations of equilibrium S1
S3 T=P
x 
T=P
 Fkx  S1 cos 45  S 2 cos 45  0 C
 Fky  S1 sin 45  S 2 sin 45  S 3 sin 45  0
P
 Fkz  P  S 3 cos 45  0
Solving three equations gives:

S1  S 2  0
S1  S 2  S 3  0 S 3  P 2, S1  S 2   21 S 3  21 P 2.
P  S3 2 / 2  0 S1, S 2  0 (bar KA and KB in tension)
S3  0 (bar KC in compression)
Example
z 2 kN
Example 2. Determine the forces acting in the 45o
members of the space truss shown in Figure.
Indicate whether the members are in tension or B 2m y
compression. A
2m
P=4 kN D
C E
2m
(a)
x
Example
Since there are one known force and three unknown forces z 2 kN
acting at joint A, the force analysis of the truss will begin at 45o
this joint.
B 2m y
Joint A. Expressing each force that acts on the free-body
A
diagram of joint A in vector notation, we have
2m
P=4 kN D
P  (4 j)kN, FAB  FAB j, FAC  FAC k,
z E
y C
r 
FAE  FAE  AE   FAE (0.577i  0.577 j  0.577 k) FAB 2m
A
 rAE 
(a)
For equilibrium, P=4 kN
FAE x
FAC x
F  0: P  FAB  FAC  FAE  0
(b)
4 j  FAB j  FAC k  0.577FAE i  0.577FAE j  0.577 FAE k  0
 Fx  0 : 0.577FAE  0
 Fy  0 : 4  FAB  0.577FAE  0
 Fz  0 :  FAC  0.577FAE  0 FAC  FAE  0, FAB  4 kN

Example
z 2 kN
y z
Since FAB is known, joint B may be analysed next. 45o
Joint B A FAB
B 2m y
P=4 kN A
FAE
 Fx  0 : RB cos 45  0.707FBE  0 FAC x
2m
P=4 kN D
 Fy  0 :  4  RB sin 45  0
 Fz  0 : 2  FBD  0.707FBE  0 C E
RB  FBE  5.66 N (T), FBD  2 kN (C) 2m

(a)
x
The scalar equations of equilibrium may also be applied z
2 kN
directly to the force systems on the free-body diagrams of RB
45o y
joints D and C since the force components are easily
determined. Show that B
x
FBA=4 kN
FBE
FDE  FDC  FCE  0 FBD
Example
Example 2. Determine the forces acting in the members of the space truss shown in Figure. Indicate
whether the members are in tension or compression.
2 kN z
z y
45o
A FAB
B 2m y
A P=4 kN
FAE
2m FAC x
P=4 kN D
(b) z
C E 2 kN
RB
45o y
2m
B
(a)
x
x FBA=4 kN
FBE
FBD
(c)

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Hê lực không gian và cân bằng vật rắn không gian – Spatial force systems & Equilibrium of a spatial

EQUILIBRIUM OF SPATIAL RIGID BODIES

1. Equilibrium condition and equations

Department of Applied Mechanics 1

1. Equilibrium condition and equations

A free planar rigid body in equilibrium  The C1

Department of Applied Mechanics 2

1. Equilibrium condition and equations

Concurrent force system (3 Eqs.)  Fkx   Fky   Fkz  0

Parallel force system, // z (3 Eqs.)  Fkz   MOx   MOy  0

Department of Applied Mechanics 3

1. Equilibrium condition and equations

Type of force No. of

Department of Applied Mechanics 4

1. Equilibrium condition and equations

Type of force No. of

Department of Applied Mechanics 5

1. Equilibrium condition and equations

Type of force No. of

Department of Applied Mechanics 6

Number of unknowns and directions

2. Smooth surface support One unknown.

Department of Applied Mechanics 7

5. Single journal bearing Four unknowns.

Department of Applied Mechanics 8

8. double smooth pin Five unknowns.

Department of Applied Mechanics 9

10. Fixed support Six unknowns.

Department of Applied Mechanics 10

Number of unknowns and directions of

double smooth pin

Department of Applied Mechanics 11

3. Free Body Diagram (FBD) z

3. Free Body Diagram (FBD)

Department of Applied Mechanics 13

3. Free Body Diagram (FBD)

Department of Applied Mechanics 14

Department of Applied Mechanics 15

 Fkx  S1 cos 45  S 2 cos 45  0 S 3  P 2,

Department of Applied Mechanics 18

 Fkx  X A  X B  T sin  sin   0 T  T sin  sin  ,

Department of Applied Mechanics 19

1. Method of Joints and Method of Sections (see chapter 3)

Department of Applied Mechanics 20

Draw FBD of the point K and the cylinder

Department of Applied Mechanics 21

Solving three equations gives:

Department of Applied Mechanics 23

Department of Applied Mechanics 24

RB  FBE  5.66 N (T), FBD  2 kN (C) 2m

Department of Applied Mechanics 25

Department of Applied Mechanics 26

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