1

Contents

1 Types of connections – Reactions

2 Equilibrium of a rigid body

2
I. Types of connections – Reactions

1.1. Smooth surfaces

Free-body diagram

NA NB
I. Types of connections – Reactions

1.2. Roller support

One unknown. The reaction is a force which acts perpendicular to

the surface at the point of contact.
I. Types of connections – Reactions

2.2. Roller support

I. Types of connections – Reactions

1.3. Freely sliding guide

N
N

N
I. Types of connections – Reactions

1.4. Pin connection

X
Y

X
Y
II. Types of connections – Reactions

2.4. Pin connection

I. Types of connections – Reactions

3.4. Pin connection

II. Types of connections – Reactions

1.4. Pin connection

I. Types of connections – Reactions

1.5. Fixed support

X M

Y
I. Types of connections – Reactions

1.5. Fixed support

A B
L
I. Types of connections – Reactions

1.6. Cable connection

I. Types of connections – Reactions

1.7. Weightless link

I. Types of connections – Reactions

FCB
XA
YA

FCB

FCB
I. Types of connections – Reactions

1.7. Weightless link

XC

YC

FBA FBA

FBA
I. Types of connections – Reactions

1.7. Weightless link

FBD XA
YA

FBD

FBD
I. Types of connections – Reactions
II. Types of connections – Reactions

1.8. Connections in 3-D

I. Types of connections – Reactions

1.8. Connections in 3-D

I. Types of connections – Reactions
I. Types of connections – Reactions

Example: Draw the free-body diagram of the beam AB

Free-body diagram
A
200 200
MB
2kN 2kN
B 0 300
30 YB
XB
I. Types of connections – Reactions

Example: Draw the free-body diagram of the cantilever beam

A B
L

MA q
XA
A B
YA L
I. Types of connections – Reactions

Example : The beam AB is a standard I-beam with a mass of 50 kg per

meter of length. Draw free-body diagram
=q 50.10
= 500 N / m
A B

P = 2.2 kN
5.6 m 2.4 m

Free-body diagram
q
A
B
XA
YA YB
P
I. Types of connections – Reactions

Problem: Draw the free-body diagram of the dumpster D of the truck,

which has a mass of 2.5 Mg and a center of gravity at G. It is supported
by a pin at A and a pin-connected hydraulic cylinder BC (short link).
Explain the significance of each force on the diagram.
I. Types of connections – Reactions

Problem: Draw FBD for crane AB.

I. Types of connections – Reactions

Problem: Draw free-body diagram for plate AB.

I. Types of connections – Reactions

Problem: Draw free-body diagram for beam.

I. Types of connections – Reactions

Problem: Draw free-body diagram for beam CE.

I. Types of connections – Reactions

Problem: Plate ABC have a mass 250kg. Draw free-body diagram.

I. Types of connections – Reactions

Problem: Draw free-body diagram.

I. Types of connections – Reactions

Problem: Draw free-body diagram.

I. Types of connections – Reactions

Problem: Draw free-body diagram for beam AC, BC.

I. Types of connections – Reactions

Problem: Draw free-body diagram for frame ABCDE.

I. Types of connections – Reactions

Problem: Draw free-body diagram for beam AB.

I. Types of connections – Reactions

Problem: A 120-lb crate rests on the 60-lb pickup tailgate. The centers of
gravity are at G1 and G2. The crate is located midway between the two
cables. Draw free-body diagram
I. Types of connections – Reactions

Problem: Draw free-body diagram for beam AD.

I. Types of connections – Reactions

Problem: Draw free-body diagram for beam AC.

I. Types of connections – Reactions

Problem: The jib crane shown. The beam AB is a standard 0.5-m I-beam
with a mass of 95 kg per meter of length. Draw free-body diagram
I. Types of connections – Reactions

Problem: Draw free-body diagram.

I. Types of connections – Reactions

Problem: Draw free-body diagram.

I. Types of connections – Reactions

Problem: Draw free-body diagram for the crane.

I. Types of connections – Reactions

Problem: Draw free-body diagram for beam.

I. Types of connections – Reactions

Problem: Draw free-body diagram for the beam.

I. Types of connections – Reactions

Problem: Draw free-body diagram for beam.

I. Types of connections – Reactions

Problem: Draw free-body diagram for beam.

I. Types of connections – Reactions

Problem: Draw free-body diagram for column.

I. Types of connections – Reactions

Problem: Draw free-body diagram for column.

I. Types of connections – Reactions

Problem: Draw free-body diagram for the beam.

I. Types of connections – Reactions

Problem: Draw free-body diagram the cantilever beam.

Change units
Change units
II. Equilibrium of a rigid body

2.1 Conditions for rigid-body equilibrium

For a rigid body to be in equilibrium, resultant force of the system
as well as resultant couple moment of the system about any arbitrary
point O must be equal to zero. M =0
O

R=0

Equations of Equilibrium:
53
II. Equilibrium of a rigid body

2.1 Conditions for rigid-body equilibrium z

Mz
Rz
 Rx ∑
= Fkx 0
=
 Rx y
Mx Ry My
 Ry ∑
= =Fky 0

 Rz ∑
= Fkz 0
= x

 M Ox ∑
= = mx ( Fk ) 0

 M Oy ∑
= = m y ( Fk ) 0
M
 Oz ∑
= = mz ( Fk ) 0
54
II. Equilibrium of a rigid body

2.2. Equilibrium in two dimensions

R

MA

3 equations of equilibrium:

= Rx ∑
= Fkx 0


= Ry ∑
= Fky 0

=M A ∑
 = M A ( Fk ) 0 55
II. Equilibrium of a rigid body

2.2. Equilibrium in two dimensions

* Parallel force system

F1 F3
A
F2 F4

Q
NA NB
56
II. Equilibrium of a rigid body

2.2. Equilibrium in two dimensions

* Parallel force system

F1 F3
y A
F2 F3
x

Two equilibrium equations:


 Ry
= ∑
= F 0
ky =
or

M A ∑
= M (F )
A k 0
 
M A
 ∑= M (F ) A k 0 = M B
 ∑
= M (F )
B k 57 0
II. Equilibrium of a rigid body

2.2. Equilibrium in two dimensions

Concurrent Force System
F3
F2

y
A F4

F1
x
Two equilibrium equations:

 Rx
= ∑
= F kx 0

 Ry
=
 ∑
= F ky 0 58
 * Ví dụ : Thanh thép AB đồng chất có khối lượng m=60kg/1m chiều dài,
có liên kết và chịu lực như hình vẽ. Xác định phản lực liên kết tại liên kết
A, B.

q = 600N /m P = 2200N

A B

5,6m 2,4m
 + Giải phóng liên kết và xét cân bằng dầmAB

q = 600N /m P = 2200N

R = 4,8kN P = 2,2kN
A B
XA B
5,6m 2,4m A
YA YB
4m
5,6m 2,4m

∑F x = 0 ⇔ X A =0

∑m A = 0 ⇔ − 4,8.4 − 2,2.5,6 + YB .8 = 0 ⇒YB = 3,94kN

II. Equilibrium of a rigid body

Example. A disk in equilibrium, Determine NA, NB

y

Solution: NB 450
x
O
Q

NA
Equilibrium equations

X 0 N B  P  cos 45 0
 0  NB  P 2 / 2

Y  0  N A  Q  P  cos 450  0  N A  Q  P 2 / 2

61
II. Equilibrium of a rigid body

Example. Determine the horizontal and vertical components of reaction

on the beam caused by the pin at B and the rocker at A. Neglect the
weight of the beam.

Solution
Free-Body Diagram

XB

NA 100N
YB 62
II. Equilibrium of a rigid body

Solution Free-Body Diagram

Equations of Equilibrium
XB
Rx = 0 ⇔ − X B + 600 cos 450 = 0
NA 100N
YB
424 N
⇒ XB =

M A = 0 ⇔ −600 sin 450 ⋅ 2 − 600 sin 450 ⋅ 0, 2 − 100 ⋅ 5 − 200 ⋅ 7 + YB ⋅ 7 = 0

405 N
⇒ YB =

Ry =0 ⇔ N A − 600 sin 450 − 100 − 200 + YB =0

319 N
⇒ NA =
63
II. Equilibrium of a rigid body

Solution Free-Body Diagram

Alternative sets of equilibrium equations XB

Rx = 0 ⇔ − X B + 600 cos 450 = 0 NA 100N

YB

424 N
⇒ XB =

M A = 0 ⇔ −600 sin 450 ⋅ 2 − 600 cos 450 ⋅ 0, 2 − 100 ⋅ 5 − 200 ⋅ 7 + YB ⋅ 7 = 0

405 N
⇒ YB =

M B = 0 ⇔ 100 ⋅ 2 + 600 sin 450 ⋅ 5 − 600 cos 450 ⋅ 0, 2 + N A ⋅ 7 = 0

319 N
⇒ NA =
64
II. Equilibrium of a rigid body

Example. The cord shown in figure supports a force of 100lb and wraps
over the frictionless pulley. Determine the tension in the cord at C and
the horizontal and vertical components of reaction at pin A .

Free-Body Diagram
15cm 15cm

XA
YA
400N
T
400N
Solution:

65
II. Equilibrium of a rigid body

Solution: Free-Body Diagram

15cm
Equations of Equilibrium:

∑m A = 0 ⇔ 400 ⋅15 − T ⋅15 = 0

400 N
⇒T = XA
YA
0
Rx = 0 ⇔ − X A + T sin 30 = 0

200 N
⇒ XA = T
400N

Ry =0 ⇔ YA − 400 − T cos 300 =0

573 N
⇒ YA =

66
II. Equilibrium of a rigid body

Example. The member shown in figure is pin connected at A and rests

against a smooth support at B. Determine the horizontal and vertical
components of reaction at the pin A.

Solution:
NB

Free-Body Diagram:
XA
YA
67
II. Equilibrium of a rigid body

Solution: Free-Body Diagram:

NB
Equations of Equilibrium

∑m A = 0 = 0 ⇔ N B ⋅ 0, 75 − 60 ⋅1 − 90 = 0 XA
YA
200 N
⇒ XB =

Rx =0 ⇔ X A − N B sin 300 =0

100 N
⇒ YB =

Ry =0 ⇔ YA − N B cos 300 − 60 =0

233 N
⇒ YA =
68
II. Equilibrium of a rigid body

Example. The 500kg uniform beam is subjected to the three external

loads shown. Compute the reactions at the support point O. The x-y plane
is vertical.

Solution:
2.4m

MO
XO G
Free-Body Diagram:
YO 5kN 69
II. Equilibrium of a rigid body

Solution: Free-Body Diagram:

2.4m

MO
XO G
Equations of Equilibrium

Rx =0 ⇔ X O − 3sin 300 =0 YO 5kN

1, 5kN
⇒ XO =

∑m O =0 ⇔ M O + 1, 4 ⋅1, 2 − 5 ⋅ 2, 4 + 15 + 3cos 30 ⋅ 4,8 =0

7, 79kN .m
⇒ MO =

Ry = 0 ⇔ YO + 1, 4 − 5 − 3 ⋅ sin 30 = 0

5,1kN
⇒ YO =
70
II. Equilibrium of a rigid body

Example. Determine the horizontal and vertical components of reaction

on the member at the pin A, and the normal reaction at the roller B.
750N
30cm 30cm

20cm

Solution: 750N
30cm 30cm
XA

Free-Body Diagram: YA 20cm

NB 71
II. Equilibrium of a rigid body
750N
Solution: 30cm 30cm
XA

YA 20cm
Equations of Equilibrium
NB

∑m A = 0 ⇔ −750 ⋅ 30 + N B cos 30 0
⋅ 60 − N B sin 30 0
⋅ 20 = 0
536, 2 N
⇒ NB =

∑ X =0 ⇔ X A − N B sin 30 0
=0

268 N
⇒ XA =

∑ Y =0 ⇔ YA − 750 + N B cos 30 0
=0

286kN
⇒ YA = 72
II. Equilibrium of a rigid body

Example. The uniform smooth rod is subjected to a force and couple

moment. If the rod is supported at A by a smooth wall and at B and C
either at the top or bottom by rollers, determine the reactions at these
supports. Neglect the weight of the rod.
Free-Body Diagram:

NA
NC
NB

Solution:
73
II. Equilibrium of a rigid body

Solution: Free-Body Diagram:

x
y

Equations of Equilibrium
NA
NC
∑X =
0 ⇔ N cos 30A
0 0
− 300 sin 30 =
0
NB
⇒ N=
A 100 =
3 173.2 N

∑ B
m = 0 ⇔ − N A sin 30 0
⋅ 2 + 4000 − N C ⋅ 4 + 300 cos 30 0
⋅6 = 0

1346.4 N
⇒ NC =

∑ Y =0 ⇔ N A sin 300 + N B + N C − 300 cos 300 =0

−1000 N
⇒ NB =
74
II. Equilibrium of a rigid body

Example. The uniform truck ramp has a weight of 400lb and is pinned to
the body of the truck at each side and held in the position shown by the
two side cables. Determine the tension in the cables.

Solution:

Free-Body Diagram:
XA
75
YA
II. Equilibrium of a rigid body

Solution: Free-Body Diagram:

Equations of Equilibrium
XA
∑ B
m = 0 ⇔ 400 cos 30 0
⋅ 5 − 2T cos 80 0
⋅7 = 0
YA
712 lb
⇒T =

∑X= 0 ⇔ − X A + 2T cos 200 = 0

1339  lb
⇒ XA =

∑ Y =0 ⇔ Y A − 400 − 2T sin 200 =0

887.4 lb
⇒ YA =
76
II. Equilibrium of a rigid body

Example. The collar at A is fixed to the member and can slide vertically
along the vertical shaft. Determine the support reactions on the member.

Solution:
XA

MA
Free-Body Diagram:
XA
77
YA NB
II. Equilibrium of a rigid body

Solution: Free-Body Diagram

XA
Equations of Equilibrium MA
XA
∑ X =0 ⇔ X A =0
YA NB
0
⇒ XA =

∑ Y =0 ⇔ N B − 900 =0

900 N
⇒ NB =

∑ A
m = 0 ⇔ M A − 500 − 900 ⋅ 1, 5 + N B ⋅ ( 3 + 1 ⋅ cos 45 0
)= 0
−1486 N.m
⇒ MA =
78
II. Equilibrium of a rigid body

Example. The collar at A is fixed to the member and can slide vertically
along the vertical shaft. Determine the support reactions on the member.

Free-Body Diagram

N BC XA

YA
Solution:
79
II. Equilibrium of a rigid body

Solution: Free-Body Diagram

Equations of Equilibrium

∑ A
m 0
= ⇔ N BC cos 45 0
⋅ ( 0.2 ) + N BC sin 450
⋅ ( 0.1) −
−400 ⋅ ( 0.7 ) =
0
N BC XA
1320 N
⇒ N BC =
YA
∑ X =0 ⇔ X A − N BC cos 450 + 400 =0
533.3 N
⇒ XA =

∑ Y =0 ⇔ Y A − N BC sin 450 =0

933.3 N
⇒ YA =
80
II. Equilibrium of a rigid body

Example. The weight of the bicycle is 29lb with center of gravity at G.

Determine the normal forces at A and B when the bicycle is in
equilibrium.
y
Free-Body Diagram

29lb
x

NA NB
Solution:
81
II. Equilibrium of a rigid body

Solution: y
Free-Body Diagram

Equations of Equilibrium

∑m A = 0 ⇔ −29 ⋅ (18.5 ) + N B ⋅ ( 41) = 0 29lb

x

13 lb
⇒ NB =
NA NB
∑ Y =0 ⇔ N A + N B − 29 =0

∑m B =0 ⇔ 29 ⋅ ( 22.5 ) − N A ⋅ ( 41) =0

16 lb
⇒ NA =
82
II. Equilibrium of a rigid body

Example. Determine the tension in cables BA and BC necessary to

support the 60kg cylinder

Free-Body Diagram

Solution:
83
II. Equilibrium of a rigid body

Solution:
Free-Body Diagram

Equations of Equilibrium

4
∑ X = 0 ⇔ TC cos 450 − TA ⋅ 5
=0

4
∑ Y = 0 ⇔ TC sin 45 + TA ⋅ 5 − 60 ⋅ 9.81 = 0
0

420 N
⇒ TA = TC = 475.6 N

84
II. Equilibrium of a rigid body

Problem. Determine the horizontal and vertical components of reaction

at the supports. Neglect the thickness of the beam.

Problem. Determine the horizontal and vertical components of reaction

at the pin A and the reaction on the beam at C.

85
II. Equilibrium of a rigid body

Problem. The truss is supported by a pin at A and a roller at B.

Determine the support reactions.

Problem. Determine the components of reaction at the fixed support A.

Neglect the thickness of the beam.

86
II. Equilibrium of a rigid body

Problem. Determine the reactions at the smooth contact points A, B, and

C on the bar.

Problem. Determine the horizontal and vertical components of reaction

at the pin A and the reaction of the rocker B on the beam.

87
II. Equilibrium of a rigid body

Problem. Determine the components of the support reactions at the fixed

support A on the cantilevered beam.

Problem. The 75kg gate has a center of mass located at G. If A supports

only a horizontal force and B can be assumed as a pin, determine the
components of reaction at these supports.
88
II. Equilibrium of a rigid body

Problem. The overhanging beam is supported by a pin at A and the two-

force strut BC. Determine the horizontal and vertical components of
reaction at A and the reaction at B on the beam.

Problem. Determine the horizontal and vertical components of reaction

at the pin at A and the reaction of the roller at B on the lever.

89
II. Equilibrium of a rigid body

Problem. Determine the components of reaction at the supports A and B

on the rod.

Problem. Determine the tension in the cable and the horizontal and
vertical components of reaction of the pin A. The pulley at D is
frictionless and the cylinder weighs 80lb.
90
II. Equilibrium of a rigid body

Problem. The 500-kg engine is suspended from the jib crane at

the position shown. Determine the components of reaction at the
supports A and B on the rod.

2m 4m

91
II. Equilibrium of a rigid body

Problem. The overhanging beam is supported by a pin at A and the two-

force strut BC. Determine the horizontal and vertical components of
reaction at A and the reaction at B on the beam.

Problem. The smooth disks D and E have a weight of 200lb and 100lb,
respectively. If a horizontal force of P = 200lb is applied to the center of
disk E , determine the normal reactions at the points of contact with the
ground at A, B, and C . 92
II. Equilibrium of a rigid body

Problem. Determine the magnitude of force at the pin A and in the cable
BC needed to support the 500lb load. Neglect the weight of the boom AB.

Problem. The floor crane and the driver have a total weight of 2500lb
with a center of gravity at G. Determine the largest weight of the drum
that can be lifted without causing the crane to overturn when its boom is
in the position shown. 93
II. Equilibrium of a rigid body

Problem. The operator applies a vertical force to the pedal so that the
spring is stretched 1.5in. and the force in the short link at B is 20lb.

94
II. Equilibrium of a rigid body

Problem. The jib crane is supported by a pin at C and rod AB. The load
has a mass of 2000kg with its center of mass located at G. Assume x =
5m. Determine Support reactions at B and C.

95
II. Equilibrium of a rigid body

Problem. The jib crane is pin connected at A and supported by a smooth

collar at B . Determine the roller placement x of the 5000lb load so that it
gives the maximum and minimum reactions at the supports. Calculate
these reactions in each case. Neglect the weight of the crane.
Require 4 ft ≤ x ≤ 10 ft.

96
II. Equilibrium of a rigid body

Problem. The device is used to hold an elevator door open. If the spring
has a stiffness of k = 40N/m and it is compressed 0.2m, determine the
horizontal and vertical components of reaction at the pin A and the
resultant force at the wheel bearing B .

97
II. Equilibrium of a rigid body

Problem. The truck has a mass of 2.5Mg and a center of gravity at G. It

is supported by a pin at A and a pin-connected hydraulic cylinder BC
(short link). Explain the significance of each force on the diagram.
Determine reactions at pin A and cylinder BC

98
II. Equilibrium of a rigid body

Problem. A 68kg crate rests on the 27kg pickup tailgate. Calculate the
tension T in each of the two restraining cables, one of which is shown.
The crate is located midway between the two cables.

99
II. Equilibrium of a rigid body

Problem. Determine the normal reaction at the roller A and horizontal

and vertical components at pin B for equilibrium of the member.

Problem. Determine reaction at pin A and link BC.

100
II. Equilibrium of a rigid body

Problem. The 20-kg drum is suspended from the hook

mounted on the wooden frame. Determine the support reaction at pin A
and cable BD

101
II. Equilibrium of a rigid body

Problem. Determine the reactions at fixed support A

A A
A
102
II. Equilibrium of a rigid body

Problem. Determine the reaction at B for equilibrium of the beam AB.

A B
2m 103
II. Equilibrium of a rigid body

Problem. Determine the reaction at A for equilibrium of the beam AB.

A B

B A

104
II. Equilibrium of a rigid body

Problem. Determine the reaction at A and B for equilibrium of the beam

AB.
150kN

10 kN.m
1m 3m

105
II. Equilibrium of a rigid body

Problem. Determine the reaction at A and B for equilibrium of the beam

AB.

106
II. Equilibrium of a rigid body

Problem. Determine the reaction at A and B for equilibrium of the beam

AB.

107
II. Equilibrium of a rigid body

Problem. The elements of a heavy-duty fluid valve are shown in the

figure. When the member OB rotates clockwise about the fixed pivot O
under the action of the force P, the element S slides freely upward in its
slot, releasing the flow. If an internal torsional spring exerts a moment
M = 20N.m as shown, determine the force P required to open the valve.
Neglect all friction.

108
II. Equilibrium of a rigid body

Problem. Calculate the magnitude of the force supported by the pin at A

under the action of the 1.5kN load applied to the bracket. Neglect friction
in the slot.

Problem. The light bracket ABC is freely hinged at A and is constrained

by the fixed pin in the smooth slot at B. Calculate the magnitude R of the
force supported by the pin at A under the action of the 80N.m applied
couple. 109
II. Equilibrium of a rigid body

Problem. A 35N axial force at B is required to open the spring-loaded

plunger of the water nozzle. Determine the required force F applied to
the handle at A and the magnitude of the pin reaction at O. Note that the
plunger passes through a vertically-elongated hole in the handle at B, so
that negligible vertical force is transmitted there.

110
II. Equilibrium of a rigid body

Problem. The two light pulleys are fastened together and form an
integral unit. They are prevented from turning about their bearing at O by
a cable wound securely around the smaller pulley and fastened to point
A. Calculate the magnitude R of the force supported by the bearing O for
the applied 2kN load.

111
II. Equilibrium of a rigid body

Problem. The portable floor crane in the automotive shop is lifting a

420lb engine. For the position shown compute the magnitude of the force
supported by the pin at C and the oil pressure p against the 3.20in. -
diameter piston of the hydraulic-cylinder unit AB.

112
II. Equilibrium of a rigid body

Problem. The small crane is mounted on one side of the bed of a pickup
truck. For the position θ = 400 determine the magnitude of the force
supported by the pin at O and the oil pressure p against the 50-mm-
diameter piston of the hydraulic cylinder BC.

113
II. Equilibrium of a rigid body

Problem. Calculate the force and moment reactions at the bolted base O
of the overhead traffic-signal assembly. Each traffic signal has a mass of
36kg, while the masses of members OC and AC are 50kg and 55kg,
respectively. The mass center of member AC is at G.

114
II. Equilibrium of a rigid body

Problem. If the 75-kg man stands in the position shown, determine the
support reactions at B and C. The center of gravity of the man
is at G. Assume that the contact point at C is smooth.

0.9 m

115
II. Equilibrium of a rigid body

Problem. The gear reducer shown is acted on by the two couples and its
weight of 200N. To design adequate mounts, determine the vertical force
supported by each of the reducer mountings at A and B.

116
II. Equilibrium of a rigid body

Problem. The crate has a weight of 550lb. Determine the force in each
supporting cable.

Problem. The concrete pipe elbow has a weight of 400lb and the center
of gravity is located at point G. Determine the force FAB and the tension
in cables BC and BD needed to support it.
117
II. Equilibrium of a rigid body

2.3 Equilibrium in three dimensions

Scalar equations of equilibrium:

 Rx ∑
= Fkx 0
=

 Ry ∑
= =Fky 0
 Free-Body Diagram
 Rz ∑
= Fkz 0
=
ZA
z

 M Ox ∑ mx ( Fk ) 0 Mx
= = My
YA

 M Oy ∑
= = m y ( Fk ) 0 XA y
Mz
M
 Oz ∑ mz ( Fk ) 0 x
= =
118
II. Equilibrium of a rigid body

Example. System of forces in equilibrium, determine: X A , YA , Z A , M x , M y , M z

. Assume a = 3m, b = 2m
Solution:
Equations of Equilibrium
F1 = 10kN
F2 = 5kN
z C a X 0 X A  F3  0  X A  F3  1kN
b D

B F3 = 1kN Y  0  Y A  F2  0  YA  F2  5kN

a ZA y

Mx My Z  0  Z A  F1  0  Z A  F1  10kN
A
XA
YA M x m x  0  M x  F2  a  0  M x  15kN .m
z

m y  0  M y  F3  a  0  M y  3kN .m

m z  0  M z  F2  a  F3  b  0  M x  11913kN .m
II. Equilibrium of a rigid body

Example: System of forces in equilibrium, determine: XA, YA, XB, YB, ZB

Solution:
z
Equations of Equilibrium
A
XA b
b Pb
YA D  x
m  0   P 
2
 YA  a  0  YA  
2a

ZB m y  0  XA a  0  XA  0
a
x P
B X 0 X A  XB  0  XB  0
XB
YB C Pb
y
 Y  0  YA  YB  0  YB  YA  2a

Z  0  Z B  P  0  ZB  P
120
II. Equilibrium of a rigid body

2.3 Equilibrium in three dimensions

Parallel force system

Three equations of equilibrium: 800N

 Rz ∑
= Fkz 0
= 0.3m

 0.3m
 M Ox ∑
= mx ( Fk ) 0 0.4m
 ZA
 M Oy ∑
 = m y ( Fk ) 0 z
800N
y
ZB ZC
0.3m
0.3m
121
x 0.4m
II. Equilibrium of a rigid body

Example: Square plate in equilibrium as shown, determine TA, TB, TC

Solution:
Equations of Equilibrium
z a a a
TC y  x
m  0   T A 
2
 T B 
2
 TC 
2
0

a a
C  y
m  0  TA 
2
 TB 
2
0

TA G
TB
a x Z  0 T A  TB  TC  P  0

P P P
A a B  TA  ; TB  ; TC 
4 4 2

122
II. Equilibrium of a rigid body

2.3 Equilibrium in three dimensions

Concurrent Force System

Three equations of equilibrium:

 Rx
=

∑
= F kx 0

 Ry
= ∑
= F ky 0

 Rz
=
 ∑
= F kz 0 TC
TA
P
TB

123
II. Equilibrium of a rigid body

Example. Square plate has a weight P. Determine TA, TB, TC for

equilibrium.
z
D Solution:
y Equations of Equilibrium
TC
X 0T A  cos 45 0
 cos 450
 TB  cos 450
 cos 450
0
600
C
0 2 0 2

TA
 Y  0  T cos 45 
A  TB cos 45   TC  cos 600  0
G
TB x
45
0
P Z  0 T A cos 450  TB cos 450  TC  cos300  P  0

A B
P P 2P
 TA  ; TB  ; TC 
3 2 3 2 3 2

124
II. Equilibrium of a rigid body

Example. Determine the x , y , z components of reaction at the fixed wall

A . The 150N force is parallel to the z axis and the 200N force is parallel
to the y axis.
Free-Body Diagram
z
ZA
My Mx
YA
XA y
Mz
x

Solution:
125
II. Equilibrium of a rigid body

Equations of Equilibrium Free-Body Diagram

z
∑ X =0 ⇔ X =0 A
ZA
Mx
My
∑ Y =0 ⇔ Y + 200 =0
A YA
XA y
∑ Z =0 ⇔ Z A − 150 =0
x
Mz

∑m x = 0 ⇔ M x − 150 ⋅ 2 + 200 ⋅ 2 = 0

∑m y 0
=⇔ My =0

∑m z =0 ⇔ M z + 200 ⋅ 2, 5 =0

X A = 0; YA = −200 N ; Z A = 150 N

M x = −100 N .m; M y = 0; M z = −500 N .m 126

II. Equilibrium of a rigid body

Example. Determine the components of reaction that the ball-and-socket

joint at A, the smooth journal bearing at B, and the roller support at C
exert on the rod assembly.
Free-Body Diagram

XA
YA
XB
ZA
NC
ZB

Solution:
127
II. Equilibrium of a rigid body

Equations of Equilibrium Free-Body Diagram

∑ X =0 ⇔ X + X A B =0
XA
YA
∑ Y =0 ⇔ Y =0 A
XB
ZA
NC
∑ Z =0 ⇔ Z A + Z B + NC =900 =0 ZB

∑m x = 0 ⇔ −900 ⋅ 0, 4 + Z B ⋅ 0,8 + N C ⋅1, 2 = 0

∑m y =0 ⇔ N C ⋅ 0, 6 − 900 ⋅ 0, 4 =0

∑m z =0 ⇔ X B ⋅ 0,8 =0

X A = 0; YA = 0; Z A = 750 N
X B = 0; Z B = −450 N ; N C = 600 N
128
II. Equilibrium of a rigid body

Example. Determine the components of reaction that the ball-and-socket

joint at A, the smooth journal bearing at B, and the roller support at C
exert on the rod assembly.
Free-Body Diagram
ZA

TB YA

YD
XD ZD
129
II. Equilibrium of a rigid body
ZA

Equations of Equilibrium
TB YA
∑ X =⇔
0 X D =0

∑ Y =0 ⇔ Y A + YD =0
YD
∑ Z =0 ⇔ Z A + Z D + TB − 981 =0
XD ZD

∑m x = 0 ⇔ − Z A ⋅1 − TB ⋅1 + 981 ⋅ 0, 5 = 0

∑m y = 0 ⇔ Z A ⋅1 = 0

∑m z = 0 ⇔ − X D ⋅1 + YD ⋅1= 0

YA 0;=
=             X
Z A 0;=
TB 490, 5 N ; =D 0;    
= Y D 0;    
= Z D 49 0, 5 N
130
II. Equilibrium of a rigid body

Example. Rod AB is subjected to the 200N force. Determine the

reactions at the ball-and-socket joint A and the tension in the cables BD
and BE . The collar at C is fixed to the rod.
Free-Body Diagram
z
ZA
YA y
XA
x

YB
XB 131
II. Equilibrium of a rigid body
z
Equations of Equilibrium ZA
YA y
∑ X =0 ⇔ X A + TBE =0 XA
x
∑ Y =0 ⇔ Y A + TBD =0

∑ Z =0 ⇔ Z A − 200 =0

∑m x = 0 ⇔ TBD ⋅ 2 − 200 ⋅1 = 0
TBD
TBE
∑m y = 0 ⇔ −TBE ⋅ 2 + 200 ⋅ 0, 5 = 0

∑m z = 0 ⇔ TBD ⋅1 − TBE ⋅ 2 = 0

−50 N ;             
XA = −100 N ; Z A =
YA = 200 N ; TBD =
100 N ; TBE =
50 132
N;
II. Equilibrium of a rigid body

Example. The square steel plate has a mass of 1800kg with mass center
at its center G. Calculate the tension in each of the three cables with
which the plate is lifted while remaining horizontal.

Free-Body Diagram
z

TC
TA
18kN y
TB

133
II. Equilibrium of a rigid body

Equations of Equilibrium Free-Body Diagram

z
∑ X = 0 ⇔ −TA cos 30 0
⋅ cos 45 0
−
1
−TB cos 300 ⋅ cos 450 + TC 0
=
5 TC
TA
y
∑Y =
0 ⇔ TA cos 300 ⋅ cos 450 − 18kN
TB
−TB cos 300 ⋅ cos 450 =
0
x

2
∑ Z =0 ⇔ T A
0 0
sin 30 + TB sin 30 + TC
5
− 18 =0

=TA 5.2
= kN ;        
TB 5.2
= kN ; TC 14.3kN ; 134
II. Equilibrium of a rigid body

Problem. Determine the support reactions at the smooth journal bearings

A, B, and C of the pipe assembly.

Problem. The rod is supported by smooth journal bearings at A, B, and C

and is subjected to the two forces. Determine the reactions at these
supports.
135
II. Equilibrium of a rigid body

Problem. Determine the components of reaction that the thrust bearing A

and cable BC exert on the bar.

Problem. Determine the force developed in the short link BD, and the
tension in the cords CE and CF, and the reactions of the ball-and-socket
joint A on the block. 136
II. Equilibrium of a rigid body

Problem. The wing of the jet aircraft is subjected to a thrust of T = 8kN

from its engine and the resultant lift force L = 45kN. If the mass of the
wing is 2.1Mg and the mass center is at G, determine the x, y, z
components of reaction where the wing is fixed to the fuselage A .

137
II. Equilibrium of a rigid body

Problem. Due to an unequal distribution of fuel in the wing tanks, the

centers of gravity for the airplane fuselage A and wings B and C are
located as shown. If these components have weights WA = 45000lb, WB =
8000lb, and WC = 6000lb, determine the normal reactions of the wheels
D, E, and F on the ground.

138
II. Equilibrium of a rigid body

Problem. The uniform load has a mass of 600kg and is lifted using a
uniform 30kg strongback beam BAC and four ropes as shown. Determine
the tension in each rope and the force that must be applied at A.

139
II. Equilibrium of a rigid body

Problem. Determine the tensions in the cables and the components of

reaction acting on the smooth collar at A necessary to hold the 50lb sign
in equilibrium. The center of gravity for the sign is at G.

140
II. Equilibrium of a rigid body

Problem. The sign has a mass of 100kg with center of mass at G.

Determine the x , y , z components of reaction at the balland-socket joint
A and the tension in wires BC and BD .

141
II. Equilibrium of a rigid body

Problem. Both pulleys are fixed to the shaft and as the shaft turns with
constant angular velocity, the power of pulley A is transmitted to pulley
B. Determine the horizontal tension T in the belt on pulley B and the x, y,
z components of reaction at the journal bearing C and thrust bearing D if
θ = 450 . The bearings are in proper alignment and exert only force
reactions on the shaft.

142
II. Equilibrium of a rigid body

Problem. Determine the x, y, z components of reaction at the ball

supports B and C and the ball-and-socket A (not shown) for the
uniformly loaded plate.

143
II. Equilibrium of a rigid body

Problem. Determine the reactions at the roller support A, the ball-and-

socket joint D, and the tension in cable BC for the plate.

144
II. Equilibrium of a rigid body

Problem. The 100lb door has its center of gravity at G. Determine the
components of reaction at hinges A and B if hinge B resists only forces in
the x and y directions and A resists forces in the x, y, z directions.

145
II. Equilibrium of a rigid body

Problem. Determine the support reactions at the smooth collar A and the
normal reaction at the roller support B.

146
II. Equilibrium of a rigid body

Problem. If gears are fixed to the shaft, determine the reaction at the
smooth smooth journal bearing A and D.

147
II. Equilibrium of a rigid body

Problem. If gears are fixed to the shaft, determine the reaction at the
smooth smooth journal bearing A and B.

148
II. Equilibrium of a rigid body

Problem. The vertical and horizontal poles at the traffic-light assembly

are erected first. Determine the additional force and moment reactions at
the base O caused by the addition of the three 100-lb traffic signals B, C,
and D. Report your answers as a force magnitude and a moment
magnitude.

149
II. Equilibrium of a rigid body

Problem. Determine the x , y , z components of reaction at the fixed

support O.

150
II. Equilibrium of a rigid body

Problem. Determine the reaction at the fixed support A.

B
C

1.5 m

151
II. Equilibrium of a rigid body

Problem. Determine the x , y , z components of reaction at the fixed

support O.

152
II. Equilibrium of a rigid body

Problem. Determine the x , y , z components of reaction at the fixed

support O.
a

153