Vector Mechanics For Engineers: Statics

Twelfth Edition

Chapter 4
Equilibrium of Rigid
Bodies

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 Contents
Introduction
Free-Body Diagram
Reactions for a Two-Dimensional Structure
Rigid Body Equilibrium in Two Dimensions
Practice
Sample Problem 4.1
Sample Problem 4.4
Practice
Statically Indeterminate Reactions and Partial Constraints
Rigid Body Equilibrium in Three Dimensions
Reactions for a Three-Dimensional Structure
Sample Problem 4.8

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 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.

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 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 weight of the body.
• 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 that will be needed,
such as those necessary to compute the
moments of the forces.

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 Reactions for a Two-Dimensional Structure

• Reactions consisting of a
single force with a known line
of action.

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 Reactions at Supports and Connections for a
Two-Dimensional Structure

• Reactions consisting of a
force of unknown
direction and magnitude.

• Reactions consisting of a
force of unknown direction
and magnitude and a
couple of unknown
magnitude.

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 Practice 1

The frame shown supports part

of the roof of a small building,
and the tension in cable BDF is
known to be 150 kN. Your goal
is to draw the free body
diagram (FBD) for the frame.
On the following page, you will
choose the most correct FBD
for this problem.
First, you should draw your
own FBD.

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 Practice 2

A B

Choose the most

correct FBD for
the original C D
problem.
Discuss with a
neighbor why
each choice is
correct or
incorrect. Access the text alternative for these images.
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 Practice 3

A B

Answer is: B is the most correct, though C

Choose the most is also correct. A & D are incorrect; why?
correct FBD for
the original C D
problem.
Discuss with a
neighbor why
each choice is
correct or
incorrect. Access the text alternative for these images.
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 Rigid Body Equilibrium in Two Dimensions
• For known forces and moments that
act on a two-dimensional structure,
the following are true:
Fz = 0 Mx = My = 0 M z = MO

• Equations of equilibrium become:

F x =0 F y =0 M A =0

where A can be any point in the

plane of the body.
• The 3 equations can be solved
for no more than 3 unknowns.
• The 3 equations cannot be augmented
with additional equations, but they
can be replaced.
F x =0 M A =0 M B =0

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 Sample Problem 4.1 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.
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 Sample Problem 4.1 2

Analysis: • Determine B by solving the equation for the

sum of the moments of all forces about A.
M A = 0 : + B (1.5m) − 9.81kN (2m)
− 23.5kN (6m) = 0

B = +107.1kN
• Determine the reactions at A by solving
the equations for the sum of all horizontal
forces and all vertical forces.
F x = 0 : Ax + B = 0
Ax = −107.1kN

F y = 0 : Ay − 9.81kN − 23.5kN = 0

Ay = +33.3 kN
• Check the values obtained.

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 Sample Problem 4.1 3

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

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 Sample Problem 4.4 1

Strategy:
• Discuss with a neighbor the steps
for solving this problem.

• Create a free-body diagram

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

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 Sample Problem 4.4 2

Modeling: • Which equation is correct?

A.  Fx = 0 : Ex + 4.5 (150 kN ) = 0
7.5

B.  x
F = 0 : E x + cos36.9 o
(150 kN ) = 0
C. F x = 0 : Ex + sin 36.9o (150 kN ) = 0

6
Analysis: D.  Fx = 0 : Ex + (150 kN ) = 0
• Apply one of the three 7.5
equilibrium equations. Try E. F x = 0 : Ex − sin 36.9o (150 kN ) = 0
using the condition that the sum
of forces in the x-direction must
sum to zero.

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 Sample Problem 4.4 3

Modeling: • Which equation is correct?

A.  Fx = 0 : Ex + 4.5 (150 kN ) = 0
7.5
Ex = −90.0 kN

B.  x
F = 0 : E x + cos36.9 o
(150 kN ) = 0
C. F x = 0 : Ex + sin 36.9o (150 kN ) = 0
Ex = −90.0 kN
6
Analysis: D.  Fx = 0 : Ex + (150 kN ) = 0
• Apply one of the three 7.5
equilibrium equations. Try E. F x = 0 : Ex − sin 36.9o (150 kN ) = 0
using the condition that the sum
of forces in the x-direction must • What does the negative sign signify?
sum to zero.
• Discuss why the others are incorrect.

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 Sample Problem 4.4 4

• Which equation is correct?

A.  Fy = 0 : E y − 4 ( 20 kN ) − sin 36.9o (150 kN ) = 0

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

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

6
D.  Fy = 0 : E y − 4 ( 20 kN ) − 7.5
(150 kN ) = 0
• Now apply the condition
that the sum of forces in
6
the y-direction must sum E.  Fy = 0 : E y + 4 ( 20 kN ) − 7.5
(150 kN ) = 0
to zero.

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 Sample Problem 4.4 5

• Which equation is correct?

A.  Fy = 0 : E y − 4 ( 20 kN ) − sin 36.9o (150 kN ) = 0

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

C.  F y = 0 : E y − 4 ( 20 kN ) − cos36.9o (150 kN ) = 0

E y = +200 kN
6
D.  Fy = 0 : E y − 4 ( 20 kN ) − 7.5
(150 kN ) = 0
• Now apply the condition
E y = +200 kN
that the sum of forces in
6
the y-direction must sum E.  Fy = 0 : E y + 4 ( 20 kN ) − 7.5
(150 kN ) = 0
to zero.
• What does the positive sign signify?
• Discuss why the others are incorrect.

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 Sample Problem 4.4
• Finally, apply the condition that
the sum of moments about any
point must equal zero.
• Discuss with a neighbor which
point is the best for applying
this equilibrium condition, and
why.
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6
• 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 )
+20 kN ( 3.6 m ) + 20 kN (1.8m )
6
− (150 kN ) 4.5m + M E = 0
7.5
M E = 180.0 kN  m
• Discuss with a neighbor the origin of
each term in the above equation and
what the positive value of ME means.
 Sample Problem 4.4 7

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.

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 Practice 4

A 2100-lb tractor is used to lift 900

lb of gravel. Determine the
reactions at each of the two rear
wheels and two front wheels.

• First, create a free body diagram.

• Second, apply the equilibrium
conditions to generate the three
equations, and use these to solve for
the desired quantities.
Discuss with a neighbor
what steps to take to
solve this problem.
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 Practice 5

• 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.

C. D.

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 Practice 6

• 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.

Answer is: A. B.

C. D.

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 Practice 7

Now let’s apply the equilibrium

conditions to this FBD.
• Start with the moment equation:
M pt =0

Discuss with a neighbor:

• What’s the advantage to starting
Points A or B are equally with this instead of the other
good because each results conditions?
in an equation with only • About what point should we sum
one unknown. moments, and why?

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 Practice 8

Assume we chose to use point B.

Choose the correct equation for
M B = 0.

A. + FA (60 in.) − 2100 lb (40 in.) − 900 lb (50 in.) = 0

B. + FA (20 in.) − 2100 lb (40 in.) − 900 lb (50 in.) = 0
C. − FA (60 in.) − 2100 lb (40 in.) + 900 lb (50 in.) = 0
D. − FA (60 in.) + 2100 lb (40 in.) − 900 lb (50 in.) = 0

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 Practice 9

Assume we chose to use point B.

Choose the correct equation for
M B = 0.

A. + FA (60 in.) − 2100 lb (40 in.) − 900 lb (50 in.) = 0

B. + FA (20 in.) − 2100 lb (40 in.) − 900 lb (50 in.) = 0
C. − FA (60 in.) − 2100 lb (40 in.) + 900 lb (50 in.) = 0
Answer is D. − FA (60 in.) + 2100 lb (40 in.) − 900 lb (50 in.) = 0

FA= 650 lb, so the reaction at each rear

wheel is 325 lb

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 Practice 10

Naapply the final equilibrium

condition,  Fy = 0.

FA − 2100 lb + FB − 900 lb = 0
or + 650 lb − 2100 lb + FB − 900 lb = 0
 FB = 2350 lb, or 1175 lb at each front wheel

Why was the third equilibrium

condition,  Fx = 0 not used?

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 What if…? 1

• 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.
• Hint: Think about what the free
body diagram would be for this
situation…

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 Statically Indeterminate Reactions and
Partial Constraints

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

equations: statically equations: partially and equations but
indeterminate. constrained. improperly constrained.
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 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.

F = 0 F = 0 F = 0
x y z

M = 0 M = 0 M = 0
x y z

• 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 can be conveniently obtained by first applying the
vector forms of the conditions for equilibrium:

F = 0 M O ( )
=  r F = 0

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 Reactions at Supports and Connections for a
Three-Dimensional Structure 1

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 Reactions at Supports and Connections for a
Three-Dimensional Structure 2

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 Sample Problem 4.8 1

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 270 lb 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.
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 Sample Problem 4.8 2

Analysis:
rD − rB
TBD = TBD
rD − rB
−8i + 4 j − 8k
= TBD
12
(
= TBD − 23 i + 13 j − 32 k )
rC − rE
TEC = TEC
rC − rE
Modeling:
−6i + 3 j + 2k
Since there are only 5 unknowns, the = TEC
sign is partially constrained. All forces 7
intersect with the x axis, so the equation (
= TEC − 76 i + 73 j + 72 k )
 M x = 0 is not useful to the solution.
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 Sample Problem 4.8 3

F = A+T BD + TEC − ( 270 lb ) j = 0

i : Ax − 23 TBD − 76 TEC = 0
j : Ay + 13 TBD + 73 TEC − 270 lb = 0
k : Az − 23 TBD + 72 TEC = 0
M A = rB  TBD + rE  TEC + ( 4 ft ) i  ( −270 lb ) j = 0
j : 5.333TBD − 1.714 TEC = 0
k : 2.667 TBD + 2.571TEC − 1080lb = 0

• Apply the conditions for

Solve the 5 equations for the 5 unknowns,
static equilibrium to
develop equations for the TBD = 101.3 lb TEC = 315 lb
A = ( 338 lb ) i + (101.2 lb ) j − ( 22.5 lb ) k
unknown reactions.

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 Sample Problem 4.8 4

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.

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 What if…? 2

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 TECz) that 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 provides.
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 End of Chapter 4

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