Chapter 04

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.
Copyright © 2011 Pearson Education South Asia Pte Ltd

In-Class Activities
1. Reading Quiz 9. Characteristics of

2. Applications Dry Friction
3. Conditions for Rigid 10. Problems Involving
Equilibrium Dry Friction
4. Free-Body Diagrams 11. Frictional Forces on
Flat Belts
5. Equations of Equilibrium
12. Frictional Forces on
6. Two and Three-Force
Screws
Members
13. Concept Quiz
7. Free-Body Diagrams
8. Equations of Equilibrium

READING QUIZ
1) If a support prevents translation of a body,

then the support exerts a ___________ on the
body.
a) Couple moment
b) Force
c) Both A and B.
d) None of the above

READING QUIZ (cont)
2) Internal forces are _________ shown on the free

body diagram of a whole body.
a) Always
b) Often
c) Rarely
d) Never

READING QUIZ (cont)
3) Internal forces are not shown on a free-body

diagram because the internal forces are _____.
a) Equal to zero
b) Equal and opposite and they do not affect the

calculations
c) Negligibly small
d) Not important

READING QUIZ (cont)
4) If a support prevents rotation of a body about

an axis, then the support exerts a ________ on
the body about that axis.
a) Couple moment
b) Force
c) Both A and B.
d) None of the above.

READING QUIZ (cont)
5) When doing a 3-D problem analysis, you have

________ scalar equations of equilibrium.
a) 3
b) 4
c) 5
d) 6

APPLICATIONS

CONDITIONS FOR RIGID-BODY
EQUILIBRIUM
• The equilibrium of a body

is expressed as
FR   F  0
 M R O   MO  0
• Consider summing moments

about some other point, such
as point A, we require
M A  r  FR   M R  O  0

FREE-BODY
DIAGRAMS
Support Reactions
• If a 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.

FREE-BODY DIAGRAMS (cont)



Internal Forces
• External and internal forces can act on a rigid body
• For FBD, internal forces that act between particles contained
within the boundary of the FBD are not represented
• Particles outside this boundary exert external forces on the
system

Weight and Center of Gravity

• Each particle has a specified weight
• 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

Procedure for Drawing a FBD:
1. Draw Outlined Shape

• Imagine body to be isolated or cut free from its constraints
• Draw outlined shape
2. Show All Forces and Couple Moments

• Identify all external forces and couple moments that act on the
body
3. Identify Each Loading and Give Dimensions

• Indicate dimensions for calculation of forces
• Known forces and couple moments should be properly labeled
with their magnitudes and directions

EXAMPLE 1
Draw the free-body diagram of the uniform beam. The

beam has a mass of 100 kg.

EXAMPLE 1 (cont)
Solution
Free-Body Diagram:

EXAMPLE 1 (cont)
Solution
Free-Body Diagram:
• Support at A is a fixed wall
• Three forces acting on the beam at A denoted as Ax,
Ay, Az, drawn in an arbitrary direction
• Unknown magnitudes of these vectors
• Assume sense of these vectors
• For a uniform beam,
Weight, W = 100(9.81) = 981 N
acting through beam’s center of gravity, 3 m from A

Please
refer to
EQUATIONS OF EQUILIBRIUM the website for
the animation:
Equilibrium of
a Free Body
• For equilibrium of a rigid body in 2D,

∑Fx = 0; ∑Fy = 0; ∑MO = 0
• ∑Fx and ∑Fy represent sums of x and y components of

all the forces
• ∑MO represents the sum of the couple moments and

moments of the force components

Please
refer to
EQUATIONS OF EQUILIBRIUM (cont) the website for
the animation:
Equilibrium of
a Free Body
Alternative Sets of Equilibrium Equations

• For coplanar equilibrium problems,
∑Fx = 0; ∑Fy = 0; ∑MO = 0
• 2 alternative sets of 3 independent equilibrium

equations,
∑Fa = 0; ∑MA = 0; ∑MB = 0

Please
refer to
the animation:
Equilibrium of
a Free Body
Procedure for Analysis

Free-Body Diagram
• Force or couple moment having an unknown magnitude
but known line of action can be assumed
• Indicate the dimensions of the body necessary for
computing the moments of forces

Please
refer to

the animation:
Equilibrium of
a Free Body
Procedure for Analysis

Equations of Equilibrium
• Apply ∑MO = 0 about a point O
• Unknowns moments of force are zero about O and a
direct solution the third unknown can be obtained
• Orient the x and y axes along the lines that will
provide the simplest resolution of the forces into their
x and y components
• Negative result scalar is opposite to that was
assumed on the FBD

EXAMPLE 2
Determine the horizontal and vertical components of

reaction for the beam loaded. Neglect the weight of the
beam in the calculations.

EXAMPLE 2 (cont)
Solution
Free Body Diagram

– 600 N represented by x and y components
– 200 N force acts on the beam at B

EXAMPLE 2 (cont)
Solution
   M B  0; 600 cos 45 N  Bx  0  Bx  424 N
 M B  0;
100N (2m)  (600 sin 45 N )(5m)  (600 cos 45 N )(0.2m)  Ay (7m)  0
Ay  319N
   Fy  0;
319N  600 sin 45 N  100N  200N  B y  0
B y  405N

TWO- AND THREE-FORCE MEMBERS
Two-Force Members
• When forces are applied at only two points on a
member, the member is called a two-force member
• Only force magnitude must be determined

TWO- AND THREE-FORCE MEMBERS (cont)
Three-Force Members
• When subjected to three forces, the forces are
concurrent or parallel

EXAMPLE 3
The lever ABC is pin-supported

at A and connected to a short
link BD. If the weight of the
members is negligible,
determine the force of the pin
on the lever at A.

EXAMPLE 3 (cont)
Solution
Free Body Diagrams

• BD is a two-force member
• Lever ABC is a three-force member
 0.7 
  tan 1    60.3

 0. 4 
   Fx  0; FA cos 60.3  F cos 45  400 N  0
   Fy  0; FA sin 60.3  F sin 45  0
FA  1.07kN
Solving,
F  1.32kN
FREE-BODY DIAGRAMS
Support Reactions
As in the two-dimensional case:
• A force is developed by a support
• A couple moment is developed when rotation of the
attached member is prevented
• The force’s orientation is defined by the coordinate
angles α, β and γ




EXAMPLE 4
Several examples of objects along with their associated

free-body diagrams are shown. In all cases, the x, y and z
axes are established and the unknown reaction
components are indicated in the positive sense. The
weight of the objects is neglected.

EXAMPLE 4 (cont)
Solution

EQUATIONS OF EQUILIBRIUM
Vector Equations of Equilibrium

• For two conditions for equilibrium of a rigid body in
vector form,
∑F = 0 ∑MO = 0
Scalar Equations of Equilibrium

• If all external forces and couple moments are
expressed in Cartesian vector form
∑F = ∑Fxi + ∑Fyj + ∑Fzk = 0
∑MO = ∑Mxi + ∑Myj + ∑Mzk = 0

CHARACTERISTICS OF DRY FRICTION
Friction
• Force that resists the movement of two contacting
surfaces that slide relative to one another
• Acts tangent to the surfaces at points of contact with
other body
• Opposing possible or existing motion of the body
relative to points of contact
• Two types of friction – Fluid and Coulomb Friction

CHARACTERISTICS OF
DRY FRICTION (cont)
• Fluid friction exist when the contacting surface are
separated by a film of fluid (gas or liquid)
• Depends on velocity of the
fluid and its ability to resist
shear force
• Coulomb friction occurs
between contacting
surfaces of bodies in the
absence of a lubricating
fluid

CHARACTERISTICS OF
DRY FRICTION (cont)
Theory of Dry Friction
• Consider the effects caused by pulling horizontally on
a block of uniform weight W which is resting on a
rough horizontal surface
• Consider the surfaces of

contact to be nonrigid or
deformable and other
parts of the block to be rigid

CHARACTERISTICS OF
DRY FRICTION (cont)

• Normal force ∆Nn
and frictional force
∆Fn act along the
contact surface
• For equilibrium, normal forces act upward to balance

the block’s weight W, frictional forces act to the left to
prevent force P from moving the block to the right

CHARACTERISTICS OF
DRY FRICTION (cont)
• Many microscopic irregularities exist between the two
surfaces of the floor and the block
• Reactive forces ∆Rn develop at each protuberance
• Each reactive force consists of both a frictional
component ∆Fn and normal component ∆Nn

CHARACTERISTICS OF
DRY FRICTION (cont)
Equilibrium
• Effect of normal and frictional
loadings are indicated by
their resultant N and F
• Distribution of ∆Fn indicates
that F is tangent to the
contacting surface, opposite
to the direction of P
• Normal force N is determined
from the distribution of ∆Nn

CHARACTERISTICS OF
DRY FRICTION (cont)

Equilibrium
• N is directed upward
to balance W
• N acts a distance x to the
right of the line of action of W
This location coincides with the centroid or the geometric
center of the loading diagram in order to balance the
“tipping effect” caused by P

CHARACTERISTICS OF
DRY FRICTION (cont)
Impending Motion
• As P is slowly increased, F correspondingly increase
until it attains a certain maximum value F, called the
limiting static frictional force
• Limiting static frictional force
Fs is directly proportional to
the resultant normal force N
Fs = μsN

CHARACTERISTICS OF
DRY FRICTION (cont)

Impending Motion
• Constant of proportionality μs is known as the
coefficient of static friction
• Angle Φs that Rs makes with N is called the angle of
static friction
 Fs  1   s N 
s  tan    tan 
1
  tan 1
s
N  N 

CHARACTERISTICS OF
DRY FRICTION (cont)
Typical Values of μs
Contact Materials Coefficient of Static Friction μs
Metal on ice 0.03 – 0.05
Wood on wood 0.30 – 0.70
Leather on wood 0.20 – 0.50
Leather on metal 0.30 – 0.60
Aluminum on aluminum 1.10 – 1.70

CHARACTERISTICS OF
DRY FRICTION (cont)
Motion
• When P is greater than Fs, the frictional force is
slightly smaller value than Fs, called kinetic frictional
force
• The block will not be held in
equilibrium (P > Fs) but
slide with increasing speed

CHARACTERISTICS OF
DRY FRICTION (cont)
Theory of Dry Friction: Motion
• The drop from Fs (static) to Fk (kinetic) can by
explained by examining the contacting surfaces
• When P > Fs, P has the capacity to shear off the
peaks at the contact surfaces

CHARACTERISTICS OF
DRY FRICTION (cont)
• Resultant frictional force Fk is directly proportional to
the magnitude of the resultant normal force N
Fk = μkN
• Constant of proportionality μk is coefficient of kinetic
friction
• μk are typically 25% smaller than μs
• Resultant Rk has a line of action defined by Φk, angle
of kinetic friction
1  Fk  1   k N 
k  tan    tan    tan  k
1
N  N 

CHARACTERISTICS OF
DRY FRICTION (cont)
• F is a static frictional force if equilibrium is maintained
• F is a limiting static frictional force when it reaches a
maximum value needed to maintain equilibrium
• F is termed a kinetic frictional force when sliding
occurs at the contacting surface

CHARACTERISTICS OF
DRY FRICTION (cont)
Characteristics of Dry Friction

• The frictional force acts tangent to the contacting
surfaces
• The max static frictional force Fs is independent of the
area of contact
• The max static frictional force is greater than kinetic
frictional force
• When slipping, the max static frictional force is
proportional to the normal force and kinetic frictional
force is proportional to the normal force

PROBLEMS INVOLVING DRY FRICTION
Types of Friction Problems

• In all cases, geometry and dimensions are assumed
to be known
• 3 types of mechanics problem involving dry friction
- Equilibrium
- Impending motion at all points
- Impending motion at some points

(cont)
Types of Friction Problems
Equilibrium
• Total number of unknowns = Total number of available
equilibrium equations
• Frictional forces must satisfy F ≤ μsN; otherwise,
slipping will occur and the body will not remain in
equilibrium
• We must determine the frictional
forces at A and C to check
for equilibrium

(cont)
Equilibrium Versus Frictional Equations

• Frictional force always acts so as to oppose the
relative motion or impede the motion of the body over
its contacting surface
• Assume the sense of the frictional force that require F
to be an “equilibrium” force
• Correct sense is made after solving the equilibrium
equations
• If F is a negative scalar, the sense of F is the reverse
of that assumed

EXAMPLE 5
The uniform crate has a mass of 20 kg. If a force P = 80 N

is applied on to the crate, determine if it remains in
equilibrium. The coefficient of static friction is μ = 0.3.

EXAMPLE 5 (cont)
Solution
Resultant normal force NC act a distance x from the

crate’s center line in order to counteract the tipping effect
caused by P.
3 unknowns to be
determined by 3
equations of equilibrium.

EXAMPLE 5 (cont)
Solution
   Fx  0;
80 cos 30 N  F  0
   Fy  0;
 80 sin 30 N  N C  196.2 N  0
 M O  0;
80 sin 30 N (0.4m)  80 cos 30 N (0.2m)  N C ( x )  0
Solving
F  69.3 N , N C  236 N x  0.00908m  9.08mm

EXAMPLE 5 (cont)
Solution
Since x is negative, the resultant force acts (slightly) to

the left of the crate’s center line.
No tipping will occur since x ≤ 0.4 m
Max frictional force which can be developed at the

surface of contact
Fmax = μsNC = 0.3(236N) = 70.8 N
Since F = 69.3 N < 70.8 N, the crate will not slip thou it is
close to doing so.

FRICTIONAL FORCES ON FLAT BELTS
• It is necessary to determine the frictional forces

developed between the contacting surfaces
• Consider the flat belt which passes over a fixed curved
surface
• Obviously T2 > T1
• Consider FBD of the belt
segment in contact with the surface
• N and F vary both in
magnitude and direction

(cont)
• Consider FBD of an element having a length ds

• Assuming either impending motion or motion of the
belt, the magnitude of the frictional force
dF = μ dN
• Applying equilibrium equations
 Fx  0;
 d   d 
T cos   dN  (T  dT ) cos 0
 2   2 
 Fy  0;
 d   d 
dN  (T  dT ) sin   T sin  0
 2   2 
(cont)
We have
dN  dT
dN  Td
dT
 d
T
T  T1 ,  0, T  T2 ,  
T2 dT 
T1 T   0 d
T
In 2  
T1
T2  T1e 

EXAMPLE 6
The maximum tension that can be developed In the cord

is 500N. If the pulley at A is free to rotate and the
coefficient of static friction at fixed drums B and C is μs =
0.25, determine the largest mass of cylinder that can be
lifted by the cord. Assume that the force F applied at the
end of the cord is directed vertically downward.

EXAMPLE 6 (cont)
Solution
Weight of W = mg causes the cord to move CCW over
the drums at B and C.
Max tension T2 in the cord occur at D where T2 = 500 N
For section of the cord passing over the drum at B
180° = π rad, angle of contact between drum and cord
β = (135°/180°)π = 3/4π rad
T2  T1e  s  ;
500 N  T1e 0.25  3 / 4   
500 N 500 N
T1    277.4 N
e 0.25  3 / 4    1.80

EXAMPLE 6 (cont)
Solution
For section of the cord passing over the drum at C

W < 277.4 N
T2  T1e  s  ;
277.4  We 0.25  3 / 4   
W  153.9 N
W 153.9 N
m  2
 15.7 kg
g 9.81m / s

FRICTIONAL FORCES ON SCREWS
• Screws used as fasteners

• Sometimes used to transmit power or motion from one
part of the machine to another
• A square-ended screw is commonly used for the latter
purpose, especially when large forces are applied
along its axis
• A screw is thought as an inclined plane or wedge
wrapped around a cylinder

FRICTIONAL FORCES ON SCREWS (cont)
• A nut initially at A on the screw will move up to B when

rotated 360°around the screw
• This rotation is equivalent to translating the nut up an
inclined plane of height l and length 2πr, where r is the
mean radius of the head
• Applying the force equations of equilibrium, we have
M  rW tan  s   

FRICTIONAL FORCES ON SCREWS
(cont)
Downward Screw Motion
• If the surface of the screw is very slippery, the screw
may rotate downward if the magnitude of the moment
is reduced to say M’ < M
• This causes the effect of

M’ to become S’
M’ = Wr tan(θ – Φ)

EXAMPLE 7
The turnbuckle has a square thread with a mean radius of

5 mm and a lead of 2 mm. If the coefficient of static
friction between the screw and the turnbuckle is μs =
0.25, determine the moment M that must be applied to
draw the end screws closer together. Is the turnbuckle
self-locking?

EXAMPLE 7 (cont)
Solution
Since friction at two screws must be overcome, this
requires
M  2Wr tan    
W  2000 N , r  5mm, s  tan 1  s  tan 1  0.25  14.04
  tan 1   / 2r   tan 1  2mm / 2  5mm    3.64
Solving
 
M  2  2000 N  5mm  tan 14.04  3.64 
 6374.7 N .mm  6.37 N .m
When the moment is removed, the turnbuckle will be self-
locking

CONCEPT QUIZ
1) The beam and the cable (with a

frictionless pulley at D) support an 80 kg
load at C. In a FBD of only the beam,
there are how many unknowns?
a) 2 forces and 1 couple moment
b) 3 forces and 1 couple moment
c) 3 forces
d) 4 forces

CONCEPT QUIZ (cont)
2) The three scalar equations  FX =  FY =

 MO = 0, are ____ equations of
equilibrium in two dimensions.
a) Incorrect
b) The only correct
c) The most commonly used
d) Not sufficient

CONCEPT QUIZ (cont)
3) A rigid body is subjected to forces. This

body can be considered as a ____________
member.
a) Single-force
b) Two-force
c) Three-force
d) Six-force

CONCEPT QUIZ (cont)
4) For this beam, how many support

reactions are there and is the problem
statically determinate?
a) (2, Yes)
F F F
b) (2, No) F
c) (3, Yes)
d) (3, No)

CONCEPT QUIZ (cont)
5) The beam AB is loaded as shown: a) how

many support reactions are there on the
beam, b) is this problem statically
determinate, and c) is the structure
stable?
Fixed support
F
a) (4, Yes, No)
A B
b) (4, No, Yes)
c) (5, Yes, No)
d) (5, No, Yes)

CONCEPT QUIZ (cont)
6) Which equation of equilibrium allows you

to determine FB right away?
a)  FX = 0 100 lb
AX A B
b)  FY = 0
c)  MA = 0
AY FB
d) Any one of the above.

CONCEPT QUIZ (cont)
7) A beam is supported by a pin joint and a

roller. How many support reactions are
there and is the structure stable for all
types of loadings?
a) (3, Yes)
b) (3, No)
c) (4, Yes)
d) (4, No)

CONCEPT QUIZ (cont)
8) The rod AB is supported using two cables

at B and a ball-and-socket joint at A. How
many unknown support reactions exist in
this problem?
a) 5 force and 1 moment reaction
b) 5 force reactions
c) 3 force and 3 moment reactions
d) 4 force and 2 moment reactions

CONCEPT QUIZ (cont)
9) If an additional couple moment in the
vertical direction is applied to rod AB at
point C, then what will happen to the rod?
a) The rod remains in equilibrium

as the cables provide the necessary
support reactions.
b) The rod remains in equilibrium as
the ball-and-socket joint will provide
the necessary resistive reactions.
c) The rod becomes unstable as the
cables cannot support compressive
forces.
d) The rod becomes unstable since a moment about AB cannot be
restricted.
CONCEPT QUIZ (cont)
10) A plate is supported by a ball-and-socket

joint at A, a roller joint at B, and a cable at
C. How many unknown support reactions
are there in this problem?
a) 4 forces and 2 moments
b) 6 forces
c) 5 forces
d) 4 forces and 1 moment

CONCEPT QUIZ (cont)
11) What will be the easiest way to determine

the force reaction BZ ?
a) Scalar equation  FZ = 0
b) Vector equation  MA = 0
c) Scalar equation  MZ = 0
d) Scalar equation  MY = 0

CONCEPT QUIZ (cont)
12) A frictional force always acts _____ to the

contact surface.
a) Normalb) At 45°
c) Parallel d) At the angle of static friction
13) If a block is stationary, then the friction

force acting on it is ________ .
a)  s N b) = s N
c)  s N d) = k N

CONCEPT QUIZ (cont)
14) A 100 lb box with a wide base is pulled by

a force P and s = 0.4. Which force
orientation requires the least force to
begin sliding?
a) P(A) P(A)
P(B)
b) P(B) 100 lb
P(C)
c) P(C)
d) Not determined

CONCEPT QUIZ (cont)
15) A ladder is positioned as shown. Please

indicate the direction of the frictional
force on the ladder at B.
a) 
B
b) 
c)
A
d)

CONCEPT QUIZ (cont)
16) Considering friction forces and the

indicated motion of the belt, how are belt
tensions T1 and T2 related?
a) T1 > T2
b) T1 = T2
c) T1 < T2
d) T1 = T2 e

CONCEPT QUIZ (cont)
17) In the analysis of frictional forces on a

flat belt, T2 = T1 e  . In this equation,
 equals ______ .
a) Angle of contact in deg
b) Angle of contact in rad
c) Coefficient of static friction
d) Coefficient of kinetic friction

Chapter 04

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Chapter Objectives

 To develop the equations of equilibrium for a rigid

Copyright © 2011 Pearson Education South Asia Pte Ltd

1. Reading Quiz 9. Characteristics of

Copyright © 2011 Pearson Education South Asia Pte Ltd

1) If a support prevents translation of a body,

d) None of the above

Copyright © 2011 Pearson Education South Asia Pte Ltd

2) Internal forces are _________ shown on the free

Copyright © 2011 Pearson Education South Asia Pte Ltd

3) Internal forces are not shown on a free-body

b) Equal and opposite and they do not affect the

Copyright © 2011 Pearson Education South Asia Pte Ltd

4) If a support prevents rotation of a body about

d) None of the above.

Copyright © 2011 Pearson Education South Asia Pte Ltd

5) When doing a 3-D problem analysis, you have

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

• The equilibrium of a body

• Consider summing moments

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Weight and Center of Gravity

Copyright © 2011 Pearson Education South Asia Pte Ltd

1. Draw Outlined Shape

2. Show All Forces and Couple Moments

3. Identify Each Loading and Give Dimensions

Copyright © 2011 Pearson Education South Asia Pte Ltd

Draw the free-body diagram of the uniform beam. The

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

• For equilibrium of a rigid body in 2D,

• ∑Fx and ∑Fy represent sums of x and y components of

• ∑MO represents the sum of the couple moments and

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Alternative Sets of Equilibrium Equations

• 2 alternative sets of 3 independent equilibrium

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Procedure for Analysis

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EQUATIONS OF EQUILIBRIUM (cont) the website for

Procedure for Analysis

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Determine the horizontal and vertical components of

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Free Body Diagram

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

The lever ABC is pin-supported

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Free Body Diagrams

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Several examples of objects along with their associated