Chapter 5:

Equilibrium of a Rigid Body

Engineering Mechanics: Statics

 Chapter Objectives
 To develop the equations of equilibrium for a
rigid body.
 To introduce the concept of the free-body
diagram for a rigid body.
 To show how to solve rigid-body equilibrium
problems using the
 equations of equilibrium.
 Chapter Outline
 Conditions for Rigid Equilibrium
 Free-Body Diagrams
 Equations of Equilibrium
 Two and Three-Force Members
 Equilibrium in Three Dimensions
 Equations of Equilibrium
 Constraints for a Rigid Body
 5.1 Conditions for Rigid-Body
Equilibrium
 Consider rigid body fixed in the
x, y and z reference and is either
at rest or moves with reference
at constant velocity
 Two types of forces that act on
it, the resultant internal force
and the resultant external force
 Resultant internal force fi is
caused by interactions with
adjacent particles
 5.1 Conditions for Rigid-Body
Equilibrium
 Resultant external force Fi
represents the effects of
gravitational, electrical,
magnetic, or contact forces
between the ith particle and
adjacent bodies or particles not
included within the body
 Particle in equilibrium, apply
Newton’s first law,
Fi + fi = 0
 5.1 Conditions for Rigid-Body
Equilibrium
 When equation of equilibrium is
applied to each of the other particles
of the body, similar equations will
result
 Adding all these equations
vectorially,
∑Fi + ∑fi = 0
 Summation of internal forces = 0
since internal forces between
particles in the body occur in equal
but opposite collinear pairs
(Newton’s third law)
 5.1 Conditions for Rigid-Body
Equilibrium
 Only sum of external forces will
remain
 Let ∑Fi = ∑F, ∑F = 0
 Consider moment of the forces
acting on the ith particle about the
arbitrary point O
 By the equilibrium equation and
distributive law of vector cross
product,
ri X (Fi + fi) = ri X Fi + ri X fi = 0
 5.1 Conditions for Rigid-Body
Equilibrium
 Similar equations can be written for
other particles of the body
 Adding all these equations
vectorially,
∑ri X Fi + ∑ri X fi = 0
 Second term = 0 since internal
forces occur in equal but opposite
collinear pairs
 Resultant moment of each pair of
forces about point O is zero
 Using notation ∑MO = ∑ri X Fi,
∑MO = 0
 5.1 Conditions for Rigid-Body
Equilibrium
 Equations of Equilibrium for Rigid Body
∑F = 0
∑MO = 0
 A rigid body will remain in equilibrium
provided the sum of all the external forces
acting on the body = 0 and sum of moments
of the external forces about a point = 0
 For proof of the equation of equilibrium,
- Assume body in equilibrium
 5.1 Conditions for Rigid-Body
Equilibrium
- Force system acting on the body satisfies the
equations ∑F = 0 and ∑MO = 0
- Suppose additional force F’ is applied to the
body
∑F + F’ = 0
∑MO + MO’= 0
where MO’is the moment of F’ about O
- Since ∑F = 0 and ∑MO = 0, we require F’ = 0
and MO’
- Additional force F’ is not required and equations
∑F = 0 and ∑MO = 0 are sufficient
 5.2 Free-Body Diagrams

 FBD is the best method to represent all the

known and unknown forces in a system
 FBD is a sketch of the outlined shape of the
body, which represents it being isolated from
its surroundings
 Necessary to show all the forces and couple
moments that the surroundings exert on the
body so that these effects can be accounted
for when equations of equilibrium are applied
5.2 Free-Body Diagrams
5.2 Free-Body Diagrams
5.2 Free-Body Diagrams
 5.2 Free-Body Diagrams

Support Reactions
 If the support prevents the translation of a body
in a given direction, then a force is developed on
the body in that direction
 If rotation is prevented, a couple moment is
exerted on the body
 Consider the three ways a horizontal member,
beam is supported at the end
- roller, cylinder
- pin
- fixed support
 5.2 Free-Body Diagrams

Support Reactions
Roller or cylinder
 Prevent the beam from
translating in the vertical
direction
 Roller can only exerts a
force on the beam in the
vertical direction
 5.2 Free-Body Diagrams

Support Reactions
Pin
 The pin passes through a hold in the beam
and two leaves that are fixed to the ground
 Prevents translation of the beam in any
direction Φ
 The pin exerts a force F on the beam in this
direction
 5.2 Free-Body Diagrams

Support Reactions
Fixed Support
 This support prevents both
translation and rotation of the beam
 A couple and moment must be
developed on the beam at its point of
connection
 Force is usually represented in x and
y components
5.2 Free-Body Diagrams
 Cable exerts a force on the
bracket
 Type 1 connections

 Rocker support for this bridge

girder allows horizontal
movements so that the bridge
is free to expand and contract
due to temperature
 Type 5 connections
5.2 Free-Body Diagrams

 Concrete Girder rest on the

ledge that is assumed to act
as a smooth contacting
surface
 Type 6 connections

 Utility building is pin

supported at the top of the
column
 Type 8 connections
5.2 Free-Body Diagrams

 Floor beams of this building

are welded together and
thus form fixed connections
 Type 10 connections
 5.2 Free-Body Diagrams
External and Internal Forces
 A rigid body is a composition of particles, both
external and internal forces may act on it
 For FBD, internal forces act between particles
which are contained within the boundary of the
FBD, are not represented
 Particles outside this boundary exert external
forces on the system and must be shown on FBD
 FBD for a system of connected bodies may be
used for analysis
 5.2 Free-Body Diagrams

Weight and Center of Gravity

 When a body is subjected to gravity, each
particle has a specified weight
 For entire body, consider gravitational forces as
a system of parallel forces acting on all particles
within the boundary
 The system can be represented by a single
resultant force, known as weight W of the body
 Location of the force application is known as the
center of gravity
 5.2 Free-Body Diagrams

Weight and Center of Gravity

 Center of gravity occurs at the geometric
center or centroid for uniform body of
homogenous material
 For non-homogenous bodies and usual
shapes, the center of gravity will be given
 5.2 Free-Body Diagrams

Idealized Models
 Needed to perform a correct force analysis
of any object
 Careful selection of supports, material,
behavior and dimensions for trusty results
 Complex cases may require developing
several different models for analysis
 5.2 Free-Body Diagrams

Idealized Models
 Consider a steel beam used to support the
roof joists of a building
 For force analysis, reasonable to assume
rigid body since small deflections occur when
beam is loaded
 Bolted connection at A will allow for slight
rotation when load is applied => use Pin
 5.2 Free-Body Diagrams
Support at B offers no resistance to horizontal
movement => use Roller
 Building code requirements used to specify the
roof loading (calculations of the joist forces)
 Large roof loading forces account for extreme
loading cases and for dynamic or vibration
effects
 Weight is neglected when it is small compared to
the load the beam supports
 5.2 Free-Body Diagrams

Idealized Models
 Consider lift boom, supported by pin
at A and hydraulic cylinder at BC
(treat as weightless link)
 Assume rigid material with density
known
 For design loading P, idealized model
is used for force analysis
 Average dimensions used to specify
the location of the loads and supports
 5.2 Free-Body Diagrams

Procedure for Drawing a FBD

1. Draw Outlined Shape
 Imagine body to be isolated or cut free from its
constraints
 Draw outline shape

2. Show All Forces and Couple Moments

 Identify all external forces and couple moments
that act on the body
 5.2 Free-Body Diagrams
Procedure for Drawing a FBD
 Usually due to
- applied loadings
- reactions occurring at the supports or at
points of contact with other body
- weight of the body
 To account for all the effects, trace over the
boundary, noting each force and couple
moment acting on it

3. Identify Each Loading and Give Dimensions

 Indicate dimensions for calculation of forces