0

A Strong Partner for Sustainable Development

Module
In
ES 104c

STATICS OF RIGID BODIES

College of Engineering and Technology

Bachelor of Science in Civil Engineering
WPU-QSF-ACAD-82A Rev. 00 (09.15.20)
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Module No. 3

Equilibrium

First Semester AY 2022 - 2023

Kristine Clarisse S. Canilla

Instructor I

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Table of Contents

Content Page

Title Page 1
Table of Contents 2
Instruction to User 3
Introduction 4
Chapter 3
Equilibrium 5
Overview 5
Learning Outcomes 5
Pretest 6
Lesson 1: Equilibrium of A Particle; Equilibrium of A Rigid Body 7
Specific Learning Outcome 7
Time Allotment 7
Discussion 7
3.1 Conditions for the Equilibrium 7
3.2 The Free-body Diagram 7
3.3 Equilibrium of Bodies Acted by Two to Three Forces 12
3.4 Equilibrium of Bodies Acted Upon by Coplanar Non-
Concurrent Force System 17
3.5 Three-Dimensional Forces Systems 19
Activities/Exercises 22
Evaluation/Post-test 23
References 26

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INSTRUCTION TO THE USER

This module would provide you an educational experience while

independently accomplishing the task at your own pace or time. It aims as
well to ensure that learning is unhampered by health and other challenges. It
covers the topic about the Introduction to Structural Engineering.

Reminders in using this module:

1. Keep this material neat and intact.

2. Answer the pretest first to measure what you know and what to be
learned about the topic discussed in this module.
3. Accomplish the activities and exercises as aids and reinforcement for
better understanding of the lessons.
4. Answer the post-test to evaluate your learning.
5. Do not take pictures in any parts of this module nor post it to social
media platforms.
6. Value this module for your own learning by heartily and honestly
answering and doing the exercises and activities. Time and effort were
spent in the preparation in order that learning will still continue amidst
this Covid-19 pandemic.
7. Observe health protocols: wear mask, sanitize and maintain physical
distancing.

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Welcome to Western Philippines University!

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STAY SAFE AND HEALTHY!

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INTRODUCTION

Statics of Rigid Bodies is a basic engineering course of solid mechanics dealing

with bodies that are or remain at rest. It is designated to provide fundamental concepts
about forces, moment and couples and their systems. The concept of resultants and
equilibrium of forces and moments is utilized to enable solution of statically
determinate problems.
The module includes discussions as input about the topic. Problems with
detailed solutions are also included. Enhancement activities and exercise problems are
also provided to reinforce the understanding of the topics.
As user, you are expected to read the discussions carefully, solve the sample
problems and follow instructions provided while performing the activities and
exercises. You may use books, internet and other references to further your knowledge
on the topics.

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Chapter 3

Equilibrium

Overview

Module 1 covers fundamental concepts of statics of rigid bodies. The module

includes one lesson: Lesson 1 – Equilibrium of a Particle; Equilibrium of a Rigid Body.

Learning Outcomes

At the end of the module, you can:

1. Develop the equations of equilibrium for a rigid body.

2. Apply the concept of the free-body diagram for a rigid body.
3. Solve rigid-body equilibrium problems using the equations of equilibrium.

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C. Pre Test

Hello learner! Before we begin with our discussion, please try to answer the
following test. Don’t worry about your performance. This test aims to assess your prior
knowledge on the topic and your score will not be recorded.

Test I. Directions. Draw the Free Body Diagram of the figure below.

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Lesson 1

Equilibrium of A Particle; Equilibrium of A Rigid Body

A. Specific Learning Outcomes

At the end of the lesson, you can:

1. Develop the equations of equilibrium for a rigid body.

2. Apply the concept of the free-body diagram for a rigid body.
3. Solve rigid-body equilibrium problems using the equations of equilibrium.

B. Time allotment: 6 hours

C. Discussion

3.1 Condition for the Equilibrium

A particle is said to be in equilibrium if it remains at rest if originally at rest,
or has a constant velocity if originally in motion. The term “equilibrium” or specifically
“static equilibrium” is used to describe an object at rest. To maintain equilibrium, it is
necessary to satisfy Newton’s first law of motion, requires the resultant force acting
on a particle to be equal to zero. This condition is stated by the equation of
equilibrium,
𝛴𝐹 = 0
where ΣF is th vector sum of all the forces acting on the particle.

3.2 The Free-body Diagram

To apply the equation of equilibrium, we must account for all the known and
unknown forces (ΣF) which act on the particle. The best way to do this is to think of
the particle as isolated and “free “from its surroundings. A drawing that shows the
particle with all the forces that act on it is called a free-body diagram (FBD).

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3.2.1 Springs
If a linearly elastic spring (0r cord) of undeformed length 𝑙0 is used to support
a particle, the length of the spring will change in direct proportion to the force F acting
on it, Figure 1. Characteristic that defines the elasticity of a spring is the spring
constant or stiffness k.

Figure 1. the spring will change in direct proportion to the force F acting on
it.
The magnitude of the force exerted on a linearly elastic spring which has
stiffness k and is deformed (elongated or compressed) a distance 𝑠 = 𝑙 − 𝑙0, measured
from its unloaded position, is
𝐹 = 𝑘𝑠
If s is positive, causing an elongation, then F must pull on the spring; whereas
if s is negative, causing a shortening, then F must push on it.
3.2.2 Cables and Pulleys
All cables will be assumed to have negligible weight and they cannot stretch
(unless otherwise stated). A cable can only support a tension or pulling force, and this
force always acts in the direction of the cable. The tension force developed in a
continuous cable which passes over a frictionless pulley must have a constant
magnitude to keep the cable in equilibrium. For any angle θ, shown in figure 2, the
cable is subjected to a constant tension T throughout its length.

Figure 2. Cable is in tension.

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3.2.3 Smooth Contact

If an object rests on a smooth surface, then the surface will exert a force on the
object that is normal to the surface at the point of contact as shown in Figure 3a. In
addition to this normal force N, the cylinder is also subjected to its weight W and the
force T of the cord. Sine these three forces are concurrent at the center of the cylinder,
Figure 3b, we can apply the equation of equilibrium to this particle, which is the same
as applying it to the cylinder.

Figure 3. a) object rests on smooth surface; b) forces are concurrent at the center of
the cylinder.
3.2.4 Procedure for Drawing a Free-Body Diagram
Since we account for all the forces acting on the particle when applying the equations
of equilibrium, the importance of first drawing a free-body diagram cannot be
overemphasized. The following steps are necessary to construct a free-body diagram:
1. Draw outlined shape
Imagine the particle to be isolated or cut free from its surroundings. This
requires removing all the supports and drawing the particle’s outlined shape.
2. Show all forces
Indicate in the sketch all the forces that act on the particle. These forces can be
active forces, which tends to set the particle in motion, or they can be reactive
forces which are result of the constraints or supports that tend to prevent
motion. To account for all these forces, it may be helpful to trace around the
particle’s boundary, carefully noting each force acting on it.
3. Identify each force
The forces that are known should be labeled with their proper magnitudes and
directions. Letters are used to represent the magnitudes and directions of forces
that are unknown.

The 5-kg plate is suspended by two straps A and B. To find in each strap we
should consider the free-body diagram of the plate. As noted, the three forces
acting on it are concurrent at the center.

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Problem 3.1 The sphere has a mass of 6 kg and is supported as shown. Draw a free-
body diagram of the sphere, the cord CE, and the knot at C.

Solution:

For FBD 1 (Sphere):

Once the supports are removed, we can see that there are four forces acting on the
sphere, its weigh, 6 kg (p.81 m/s2) = 58.9 N, the force of cord CE, and the two normal
forces caused by the smooth inclined planes.

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FBD 1

FBD 2 (Cord CE):

When the cord CE is isolated from its surroundings, only two forces acting on it, the
force of the sphere and the force of the knot.

FBD 2
FBD 3 (Knot):
The knot at C is subjected to three forces. They are caused by the cords CBA and CE
and the spring CD.

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FBD 3

3.3 Equilibrium of Bodies Acted by Two to Three Forces

If a particle is subjected to a system of coplanar forces that lie in the xy-plane, then
each force can be resolved into its components. For equilibrium, these forces must
sum up to produce a zero resultant.

𝛴𝐹𝑥 = 0
𝛴𝐹𝑦 = 0

Problem 3.2. Determine the tension in cables BA and BC necessary to support the
60-kg cylinder in the figure.

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Solution:

FBD 1

𝛴𝐹𝑦 = 0;
𝑇𝐵𝐷 − 60(9.81) = 0
𝑇𝐵𝐷 = 588.6 𝑁

FBD 2
4
𝛴𝐹𝑥 = 0; 𝑇𝐶 𝑐𝑜𝑠45° − (𝑇𝐴) = 0 ---- Eq. 1
5
3
𝛴𝐹𝑦 = 0; 𝑇𝐶 𝑠𝑖𝑛45° + 5 (𝑇𝐴) − 60(9.81) = 0 ---- Eq. 2

From Eq. 1:
𝑇𝐴 = 0.8839𝑇𝐶 ---- Eq. 3
Substitute Eq. 3 to Eq. 2
3
𝑇𝐶 𝑠𝑖𝑛45° + 5 (0.8839𝑇𝐶 ) − 60(9.81) = 0

𝑇𝐶 = 475.66 𝑁

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Substute 𝑇𝐶 either in equation 1 or 2, then

𝑇𝐴 = 420.43 𝑁

Problem 3.3. The 200 g catre in the figure is suspended using the ropes AB and AC.
Each rope can withstand a maximum force of 10 kN before it breaks. If AB always
remains horizontal, determine the smallest angle θ to which the crate can be
suspended before one of the ropes breaks.

Solution:

𝑊𝑐𝑟𝑎𝑡𝑒 = 200 𝑘𝑔 (9.81 𝑚/𝑠 2 )

𝑊𝑐𝑟𝑎𝑡𝑒 = 1962 𝑁
𝑊𝑐𝑟𝑎𝑡𝑒 = 1.962 𝑘𝑁 < 10𝑘𝑁
𝐹𝐷 = 𝑊𝑐𝑟𝑎𝑡𝑒 = 1962 𝑁

𝛴𝐹𝑥 = 0; −𝐹𝐶 𝑐𝑜𝑠𝜃 + 𝐹𝐵 = 0

𝐹
𝐹𝐶 = cos𝐵𝜃 ---- Eq. 1

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𝛴𝐹𝑦 = 0; 𝐹𝐶 𝑠𝑖𝑛𝜃 − 1962 = 0 ---- Eq. 2

𝐹𝐶 is always greater than 𝐹𝐵 since 𝑐𝑜𝑠𝜃 ≤ 1. Therefore, rope AC will reach the
maximum tensile force of 10 kN before rope AB. Substitute 𝐹𝐶 = 10 𝑘𝑁 = 10 × 103 𝑁:
10 × 103 𝑠𝑖𝑛𝜃 − 1962 = 0
𝜃 = 𝑠𝑖𝑛−1 (0.1962)
𝜃 = 11.31°
Substitute θ and 𝐹𝐶 into equation 1:
𝐵𝐹
10𝑘𝑁 = cos 11.31°

𝐹𝐵 = 9.81 𝑘𝑁
Problem 3.4. The cable and the boom shown in the figure support a load of 600 lb.
Determine the tensile force T in the cable and the compressive force C in the boom.

Solution 1:

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𝛴𝐹𝐻 = 0
𝐶𝑐𝑜𝑠45° = 𝑇𝑐𝑜𝑠30°
𝐶 = 1.2247𝑇 --- eq. 1

𝛴𝐹𝑣 = 0
𝑇𝑠𝑖𝑛30° + 𝐶𝑠𝑖𝑛45° = 600 -- eq. 2
Substitute eq. 1 to eq. 2:
𝑇𝑠𝑖𝑛30° + (1.2247𝑇)𝑠𝑖𝑛45° = 600
1.366𝑇 = 600
𝑇 = 439.24 𝑙𝑏
Substitute T to eq. 1:
𝐶 = 1.2247(439.24)
𝐶 = 537.94 𝑙𝑏

Solution 2 (By Rotation of Axes):

𝛴𝐹𝑦 = 0

𝑇𝑠𝑖𝑛75° = 600𝑠𝑖𝑛45°
𝑇 = 439.23

𝛴𝐹𝑥 = 0
𝐶 = 𝑇𝑐𝑜𝑠75° + 600𝑐𝑜𝑠45°
𝐶 = 439.23𝑐𝑜𝑠75° + 600𝑐𝑜𝑠45°

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𝐶 = 537.94 𝑙𝑏

Solution 3 (By Force Polygon)

𝑇 𝐶 600
= =
𝑠𝑖𝑛45° 𝑠𝑖𝑛60° 𝑠𝑖𝑛75°
𝑇 = 439.23 𝑙𝑏
𝐶 = 537.94 𝑙𝑏
3.4 Equilibrium of Bodies Acted Upon by Coplanar Non-concurrent
Force System
3.4.1 Equilibrium of Parallel Force System
The sum of al the forces is zero.
𝛴𝐹 = 0
The sum of moment at any point O is zero:
𝛴𝑀𝑂 = 0
Problem 3.5 Determine the reactions for the beam loaded as shown in the figure.

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Solution 1:
𝛴𝑀𝑅2 = 0
1
7.5𝑅1 = 6(12) + 4.5[3(6)] + 1 [ (3)(15)]
2
𝑅1 = 23.4 𝑘𝑁
𝛴𝑀𝑅1 = 0
1
7.5𝑅2 = 1.5(12) + 3[3(6)] + 6.5 [ (3)(15)]
2
𝑅2 = 29.1 𝑘𝑁

Solution 2:
𝛴𝑀𝑅2 = 0
1
7.5𝑅1 = 6(12) + 4.5[3(6)] + 1 [ (3)(15)]
2
𝑅1 = 23.4 𝑘𝑁
𝛴𝐹𝑦 = 0
1
𝑅1 − 12 − 3(6) − (3)(15) + 𝑅2 = 0
2
1
23.4 − 12 − 3(6) − (3)(15) + 𝑅2 = 0
2
𝑅2 = 29.1 𝑘𝑁

Solution 3:
𝛴𝑀𝑅1 = 0
1
7.5𝑅2 = 1.5(12) + 3[3(6)] + 6.5 [ (3)(15)]
2
𝑅2 = 29.1 𝑘𝑁
𝛴𝐹𝑦 = 0
1
𝑅1 − 12 − 3(6) − (3)(15) + 𝑅2 = 0
2
1
𝑅1 − 12 − 3(6) − (3)(15) + 29.1 = 0
2
𝑅2 = 23.4 𝑘𝑁

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3.5 Three-Dimensional Force Systems

In three-dimensional force system, resolve forces into their respective

components.

The algebraic sum of the components of all the forces acting on the particle
along each of the coordinate axes must be zero.
𝛴𝐹𝑥 = 0
𝛴𝐹𝑦 = 0

𝛴𝐹𝑧 = 0
Problem 3.4. A 90 lb load is suspended from the hook shown in the figure. If the
load is supported by two cables and a spring having a stiffness k = 500 lb/ft, determine
the force in the cable and the stretch of the spring for aquarium. Cable AD lies in the
xy-plane and cable AC lies in the xz-plane.

Solution:
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4
𝛴𝐹𝑥 = 0; 𝐹𝐷 𝑠𝑖𝑛30° − (5) 𝐹𝐶 = 0 Eq. 1

𝛴𝐹𝑦 = 0; −𝐹𝐷 𝑐𝑜𝑠30° + 𝐹𝐵 = 0 Eq. 2

3
𝛴𝐹𝑧 = 0; (5) 𝐹𝐶 − 90 = 0 Eq. 3

From equation 3:
𝐹𝐶 = 150 𝑙𝑏
Substitute 𝐹𝐶 on equation 1:
4
𝐹𝐷 𝑠𝑖𝑛30° − (5) 150 = 0

𝐹𝐷 = 240 𝑙𝑏
Substitute 𝐹𝐷 to equation 2:
−240𝑐𝑜𝑠30° + 𝐹𝐵 = 0
𝐹𝐵 = 207.8 𝑙𝑏
Solving for the stretch of the spring:
𝐹𝐵 = 𝑘𝑠𝐴𝐵
207.8 𝑙𝑏 = (500 𝑙𝑏/𝑓𝑡)(𝑠𝐴𝐵 )
𝑠𝐴𝐵 = 0.416 𝑓𝑡
Each cable is in tension since the results for all cable forces are positive.
Problem 3.5 The 10 kg lamp is suspended from the three equal-length cords.
Determine its smallest vertical distance s from the ceiling if the force develop in any
cord is not allowed to exceed 50 N.

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Solution:

𝐷𝐴 = 𝐷𝐵 = 𝐷𝐶 = 600 𝑚𝑚
𝛴𝐹𝑧 = 0; 3 (𝑇𝑐𝑜𝑠𝛾) − 10(9.81) = 0; Since 𝑇 = 50 𝑁, then
3 (50𝑐𝑜𝑠𝛾 ) − 10(9.81) = 0
98.1
𝛾 = 𝑐𝑜𝑠 −1 ( )
150
𝛾 = 49.16°

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From the shaded triangle:

600𝑚𝑚
𝑡𝑎𝑛49.16° =
𝑠
𝑠 = 519 𝑚𝑚

D. Activities/Exercises

Exercise 1. The two inform cylinders, each of weight W, are resting against inclined
surfaces. Neglecting friction, draw the free-body diagrams for each cylinder for the two
cylinders together. Count the total number of unknowns and the total number of
independent equilibrium equations.

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E. Evaluation/Post-test

Directions: Solve the following problems.

2. The homogeneous bar AB weighs 25 lb. Determine the forces acting on the bar at
A and B. Neglect friction.

3. Determine the smallest horizontal force P that would push the homogenous
cylinder of weight W over the curb. Neglect friction.

4. The homogeneous beam AB weighing 800 lb carries the uniformly varying load
shown. Find the support reactions A and B.

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5. Neglect the mass of the beam, compute the reactions at A and B.

6. A 1200 kg car is being lowered slowly onto the dock using the hoist A and winch
C. Determine the forces in cables BA and BC for the position shown.

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7. The boom is used to support the 75 lb flowerpot in the figure. Determine the
tension developed in wires AB and AC.

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F. References

Beer, F. P., Johnston, E. R. Jr., & Mazurek, D. F., Cornwell, P. J., & Self, B. P. (2013)
Vector Mechanics for Engineers Statics and Dynamics 10 th Edition. McGraw-Hill
Companies, Inc.
Besavilla, V. I. Jr. (2009) Simplified Structural Design (With Solutions to Recent
Board Problems). VIB Publisher
Pytel, A & Kiusalaas J. (2017) Engineering Mechanics Statics 4 th Edition. Cengage
Learning
Singer, F. L. (1975) Engineering Mechanics Statics and Dynamics Third Edition.
Harper & Row, Publishers.

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