MEC412

CHAPTER 4

Equilibrium of Rigid
Bodies
Contents
Introduction Rigid Body Equilibrium in Three
Free-Body Diagram Dimensions

Reactions for a Two-Dimensional Reactions for a Three-Dimensional

Structure Structure

Rigid Body Equilibrium in Two Sample Problem 4.8

Dimensions
Sample Problem 4.1
Sample Problem 4.4
Practice
Statically Indeterminate Reactions
and Partial Constraints

4-2
Introduction
• For a rigid body, the condition of static equilibrium means that the
body under study does not translate or rotate under the given loads
that act on the body

• The necessary and sufficient conditions for the static equilibrium of a

body are that the forces sum to zero, and the moment about any point
sum to zero:
   
 F = 0  M O =  (r  F ) = 0

• Equilibrium analysis can be applied to two-dimensional or three-

dimensional bodies, but the first step in any analysis is the creation of
the free body diagram

4-3
Free-Body Diagram
The first step in the static equilibrium analysis of a
rigid body is identification of all forces acting on
the body with a free body diagram.

• Select the body to be analyzed and detach it

from the ground and all other bodies and/or
supports.
• Indicate point of application, magnitude, and
direction of external forces, including the rigid
body weight.

• Indicate point of application and assumed

direction of unknown forces from reactions of
the ground and/or other bodies, such as the
supports.

• Include the dimensions, which will be needed

to compute the moments of the forces.

4-4
Reactions for a Two-Dimensional Structure

• Reactions equivalent to a
force with known line of
action.

4-5
Reactions at Supports and Connections for a Two-Dimensional Structure

• Reactions equivalent to a
force of unknown direction
and magnitude.

• Reactions equivalent to a
force of unknown
direction and magnitude
and a couple of unknown
magnitude

4-6
Sample Problem 4.1
STRATEGY:

Draw a free-body diagram to show all of

the forces acting on the crane, then use the
equilibrium equations to calculate the
values of the unknown forces.

MODELING:
A fixed crane has a mass of 1000 kg
and is used to lift a 2400 kg crate. It
is held in place by a pin at A and a
rocker at B. The center of gravity of
the crane is located at G.
Determine the components of the
reactions at A and B.

4-7
Sample Problem 4.1
• Determine B by solving the equation for the
ANALYSIS:
sum of the moments of all forces about A.
 M A = 0 : + B(1.5m ) − 9.81 kN(2m )
− 23.5 kN(6m ) = 0
B = +107.1 kN

• Determine the reactions at A by solving the

equations for the sum of all horizontal forces
and all vertical forces.
 Fx = 0 : Ax + B = 0
Ax = −107.1 kN

 Fy = 0 : Ay − 9.81kN − 23.5 kN = 0
Ay = +33.3 kN

• Check the values obtained.

4-8
Sample Problem 4.1

REFLECT and THINK:

You can check the values obtained for

the reactions by recalling that the sum
of the moments of all the external
forces about any point must be zero.
For example, considering point B, you
can show

M B = −(9.81 kN)(2 m) − (23.5 kN)(6 m) + (107.1 kN)(1.5 m) = 0

4-9
Sample Problem 4.4
STRATEGY:
- Discuss with a neighbor the steps for
solving this problem

• Create a free-body diagram for the

frame and cable.

• Apply the equilibrium equations

for the reaction force components
The frame supports part of the roof of and couple at E.
a small building. The tension in the
cable is 150 kN.
Determine the reaction at the fixed
end E.

4 - 10
Sample Problem 4.4
MODELING: • Which equation is correct?
4.5
A.  Fx = 0 : E x + 7.5 (150 kN) = 0
E x = −90.0 kN
B.  Fx = 0 : Ex + cos36.9 o (150kN )= 0

C.  Fx = 0 : Ex + sin36.9 o (150kN )= 0
 E x = −90.0 kN
ANALYSIS: 6

D.  Fx = 0 : Ex +
7.5
(
150kN )= 0
• Apply one of the three
equilibrium equations. Try
using the condition that the E.  Fx = 0 : Ex − sin36.9 o (150kN )= 0
sum of forces in the x- 
• What does the negative sign signify?
direction must sum to zero.
 • Discuss why the others are incorrect.
4 - 11
Sample Problem 4.4
• Which equation is correct?
A.  Fy = 0 : Ey − 4(20kN )− sin36.9o (150kN )= 0

6
B.  Fy = 0 : Ey − 4(20kN )+ (
150kN )= 0
 7.5

C.  Fy = 0 : Ey − 4(20kN )− cos36.9 (150kN )= 0

o

 Ey = +200 kN
• Now apply the condition 6
D. ( )
 Fy = 0 : E y − 4 20 kN − (150 kN) = 0
that the sum of forces in  7.5
the y-direction must sum Ey = +200 kN

to zero. 6
E.  Fy = 0 : Ey + 4(20kN )− (150kN )= 0
7.5
• What does the positive sign signify?

• Discuss why the others are incorrect.
 4 - 12
Sample Problem 4.4
• Three good points are D, E, and F.
Discuss what advantage each point has
over the others, or perhaps why each is
equally good.
• Assume that you choose point E to
apply the sum-of-moments condition.
Write the equation and compare your
answer with a neighbor.
 M E = 0 : + 20 kN(7.2 m ) + 20 kN(5.4 m )

• Finally, apply the condition + 20 kN(3.6 m ) + 20 kN(1.8 m )

that the sum of moments about
any point must equal zero.
• Discuss with a neighbor which
point is the best for applying
• Discuss with a neighbor the origin of
this equilibrium condition, and
why.
6
− (150 kN )4.5 m + M E = 0
7.5
M E = 180.0 kN  m
each term in the above equation and
what the positive value of ME means.
4 - 13
Sample Problem 4.4

REFLECT and THINK:

The cable provides a fourth constraint, making this situation

statically indeterminate. This problem therefore gave us the value
of the cable tension, which would have been determined by
means other than statics. We could then use the three available
independent static equilibrium equations to solve for the
remaining three reactions.

4 - 14
Practice

A 8.4kN tractor is used to

lift 3.6kN of gravel.
Determine the reaction at
each of the two rear wheels
and two front wheels

• First, create a free body diagram.

• Second, apply the equilibrium
Discuss with a neighbor conditions to generate the three
what steps to take to solve equations, and use these to solve
this problem. for the desired quantities.
4 - 15
Practice
• Draw the free body diagram of the tractor (on your own first).
• From among the choices, choose the best FBD, and discuss the
problem(s) with the other FBDs.

A. B.

FA 952 kg FB
FA 952 kg FB

C. D.

FA 952 kg FB FA 952 kg FB
4 - 16
Practice
Now let’s apply the equilibrium
conditions to this FBD.
• Start with the moment equation:

 M pt = 0
FA FB
952 kg Discuss with a neighbor:
• What’s the advantage to
Points A or B are equally  starting with this instead of the
good because each results in other conditions?
an equation with only one • About what point should we
unknown. sum moments, and why?

4 - 17
Practice
Assume we chose to use point B.
Choose the correct equation for
 M B = 0.

FA A. +FA (1.5 m.)-952kg (1 m.)-408 kg (1.2 m.)=0

952 kg FB

B. +FA (0.5 m.)-952kg (1 m.)-408 kg (1.2 m.)=0

C. -FA (1.5 m.)-952kg (1 m.)+408 kg (1.2 m.)=0

D. -FA (1.5 m.)+952kg (1 m.)-408 kg (1.2 m.)=0

FA=249 kg, so the reaction at each wheel is 147 kg
4 - 18
Practice

Now apply the final equilibrium

condition, Fy = 0.

FA FB
952 kg
FA − 952kg +FB − 408kg =0
or +294kg − 952kg +FB − 408kg =0
 FB = 1065kg , or 532kg at each front wheel

Why was the third equilibrium

condition, Fx = 0 not used?

4 - 19
What if…?
W=?
• Now suppose we have a different
problem: How much gravel can this
tractor carry before it tips over?
• Discuss with a neighbor how you
would solve this problem.
FB
952kg • Hint: Think about what the free
body diagram would be for this
W situation…

952kg FB
4 - 20
Statically Indeterminate Reactions and Partial Constraints

• More unknowns than • Fewer unknowns than • Equal number unknowns

equations equations, partially and equations but
constrained improperly constrained
4 - 21
Rigid Body Equilibrium in Three Dimensions
• Six scalar equations are required to express the
conditions for the equilibrium of a rigid body in the
general three dimensional case.
 Fx = 0  Fy = 0  Fz = 0
Mx = 0 My = 0 Mz = 0

• These equations can be solved for no more than 6

unknowns which generally represent reactions at supports
or connections or unknown applied forces.

• The scalar equations are conveniently obtained by applying the

vector forms of the conditions for equilibrium,
   
 F = 0  M O =  (r  F ) = 0

4 - 22
Reactions for a Three-Dimensional Structure

4 - 23
Reactions at Supports and Connections for a Three-Dimensional Structure

4 - 24
Sample Problem 4.8
STRATEGY:
Draw a free-body diagram of the sign, and
express the unknown cable tensions as
Cartesian vectors. Then determine the
cable tensions and the reaction at A by
writing and solving the equilibrium
equations.

A sign of uniform density weighs 122

kg and is supported by a ball-and-
socket joint at A and by two cables.
Determine the tension in each cable
and the reaction at A.

4 - 25
Sample Problem 4.8
ANALYSIS:

r r
r rD − rB
TBD = TBD r r
rD − rB
r r r
−8i + 4 j − 8 k
= TBD
12
r 1r 2r
(
= TBD − 3 i + 3 j − 3 k
2
)
r r
MODELING: r r −r
TEC = TEC rC rE
Since there are only 5 unknowns, rC − rE
the sign is partially constrained. r r r
−6i + 3 j + 2 k
All forces intersect with the x-axis, = TEC
so MX=0, so this equation is not 7
r 3r 2r
useful to the solution. (
= TEC − 7 i + 7 j + 7 k
6
)
4 - 26
Sample Problem 4.8

 F = A+T BD + TEC − (1200 N ) j = 0

i : Ax − 23 TBD − 76 TEC = 0
j : Ay + 13 TBD + 73 TEC − 1200 N = 0
k : Az − 23 TBD + 72 TEC = 0
M A = rB  TBD + rE  TEC + (1.2m ) i  ( −1200 N ) j = 0
j : 5.333TBD − 1.714 TEC = 0
k : 2.667 TBD + 2.571TEC − 1440 N = 0

• Apply the conditions for

static equilibrium to Solve the 5 equations for the 5 unknowns,
develop equations for the
unknown reactions.
TBD = 450 N TEC = 1400.8 N
A = (1500.7 N ) i + ( 499.7 N ) j − (100.2 N ) k

4 - 27
Sample Problem 4.8

REFLECT and THINK: Cables can only act in tension, and

the free-body diagram and Cartesian vector expressions for the
cables were consistent with this. The solution yielded positive
results for the cable forces, which confirms that they are in
tension and validates the analysis.

4 - 28
What if…?

Could this sign be in static equilibrium

if cable BD were removed?
Discuss with your neighbor, and be
sure to provide the reason(s) for your
answer.

The sign could not be in static equilibrium because TEC causes

a moment about the y-axis (due to the existence of TEC,Z) which
must be countered by an equal and opposite moment. This can
only be provided by a cable tension that has a z-component in
the negative-z direction, such as what TBD has.
4 - 29