Static Forces Analysis

Equilibrium• Consider
of aa plate
Two-Force Body
subjected to two forces F and F 1 2

• For static equilibrium, the sum of moments about A must

be zero. The moment of F2 must be zero. It follows that
the line of action of F2 must pass through A.

• Similarly, the line of action of F1 must pass through B for

the sum of moments about B to be zero.

• Requiring that the sum of forces in any direction be zero

leads to the conclusion that F1 and F2 must have equal
magnitude but opposite sense.
Equilibrium of a Three-Force Body
• Consider a rigid body subjected to forces acting at only 3
points.

• Assuming that their lines of action intersect, the moment

of F1 and F2 about the point of intersection represented by
D is zero.

• Since the rigid body is in equilibrium, the sum of the

moments of F1, F2, and F3 about any axis must be zero. It
follows that the moment of F3 about D must be zero as well
and that the line of action of F3 must pass through D.

• The lines of action of the three forces must be concurrent

or parallel.
 Sample Problem 4.6
SOLUTION:
• Create a free-body diagram of the joist. Note
that the joist is a 3 force body acted upon by
the rope, its weight, and the reaction at A.

• The three forces must be concurrent for static

A man raises a 10 kg joist, of length
4 m, by pulling on a rope.
Find the tension in the rope and
the reaction at A.
equilibrium. Therefore, the reaction R must
pass through the intersection of the lines of
action of the weight and rope forces.
Determine the direction of the reaction force
R.

• Utilize a force triangle to determine the

magnitude of the reaction force R.
Sample Problem 4.6
• Create a free-body diagram of the joist.

• Determine the direction of the reaction force

R.

AF  AB cos 45   4 m  cos 45  2.828 m

CD  AE  12 AF  1.414 m
BD  CD cot( 45  25)  1.414 m  tan 20  0.515 m
CE  BF  BD   2.828  0.515 m  2.313 m
CE 2.313
tan    1.636
AE 1.414

  58.6
Sample• Determine
Problem 4.6
the magnitude of the reaction force R.

T R 98.1 N
 
sin 31.4 sin110  sin 38.6

T  81.9 N
R  147.8 N
 Equilibrium of a Rigid Body 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.

 Fx  0  Fy  0  Fz  0
Mx  0 M y  0 Mz  0
• These equations can be solved for no more than 6 unknowns
which generally represent reactions at supports or connections.

• The scalar equations are conveniently obtained by applying the vector

forms of the conditions for equilibrium,

 F  0  M O   r  F   0
   
Reactions at Supports and Connections for a Three-Dimensional
Structure
Reactions at Supports and Connections for a Three-Dimensional
Structure
Center of Mass
M1
M2

d1 d2

(We still) need:

M1 d1 = M2 d2
What happens if there are many things trying to
balance on the see-saw?

Where do we place the fulcrum?

Mathematical Setting
First we fix an origin and a coordinate system. . .

-2 -1 0 1 2
 Mathematical Setting
And place the objects in the coordinate system. . .

M4
M1
M2 M3

d1 d2 0 d3 d4

Except that now d1, d2, d3, d4, . . . denote the placement of the objects in the
coordinate system, rather than relative to the fulcrum.

(Because we don’t, as yet, know where the fulcrum will be!)

 Mathematical Setting
And place the objects in the coordinate system. . .

M4
M1
M2 M3

d1 d2 x 0 d3 d4

Place the fulcrum at some coordinate . x

x is called the center of mass of the system.
 Mathematical Setting
And place the objects in the coordinate system. . .

M4
M1
M2 M3

d1 d2 x 0 d3 d4

In order to balance 2 objects, we needed:

M1 d1 = M2 d2 OR M1 d1 - M2 d2 =0

For a system with n objects we need:

M 1 (d1  x )  M 2 ( d 2  x )  M 3 (d 3  x )    M n (d n  x )  0
 Finding the Center of Mass of the System
Now we solve for x.

M 1 (d1  x )  M 2 (d 2  x )  M 3 (d 3  x )    M n (d n  x )  0
leads to the following set of calculations

M 1d1  M 1 x  M 2 d 2  M 2 x  M 3 d3  M 3 x    M n d n  M n x  0

M 1d1  M 2 d 2  M 3 d3    M n d n  M1 x  M 2 x  M 3 x    M n x

M 1d1  M 2 d 2  M 3d 3    M n d n   M 1  M 2  M 3    M n  x

And finally . . .
M 1d1  M 2 d 2  M 3d 3    M n d n
x
M1  M 2  M 3    M n
 The Center of Mass of the System
In the expression

The numerator is called the first

moment of the system

M 1d1  M 2 d 2  M 3d3    M n d n
x
M1  M 2  M 3    M n

The denominator is the

total mass of the system
 Theory of Machine I
Level 2

Dynamics Force Analysis

• m = total mass of body concentrated at the
centroid, C.G, of body.
• AG = absolute acceleration of the centre of
mass of the body.
• IG = mass moment of inertia.
• α = angular acceleration of the body.

Mech. Eng., Sana'a University, Yemen.

27
 Theory of Machine I
Level 2

Dynamics Force Analysis

1. The coordinate should be plotted.
2. The (+ve and –Ve) direction should be
assumed.
3. All the effected forces and moments should be
indicted and its direction must be assigned.
4. Newton’s law of motion should be applied as
follow:

Mech. Eng., Sana'a University, Yemen.

28
 Theory of Machine I
Level 2

Dynamics Force Analysis

1. ΣF x= mAGx Mass Moment of Inertia:
y
2. ΣF y= mAGy
3. ΣF z= mAGz G
a
x
4. ΣF t= mAt
z
5. ΣM o= Iα
L
6. ΣM g= Ig α
Ix =1/2 ma2
7. ΣF n= mAn Iy = Iz =1/12m(3a2 + L2 )

Mech. Eng., Sana'a University, Yemen.

29
 Theory of Machine I
Level 2

Inertia Forces and D’Alembert’s Principle

• ΣF = F1+F2+F3 , the resultant force will not be through the mass
centre, and results the unbalanced force system.
• The effect of this unbalanced system is to produce an
acceleration, AG, of the centre of mass of the body.
ΣF = mAG (1)
• Taking moment about centre of mass of the body results the
unbalanced moment system. It causes angular acceleration, α,
of the body.
ΣM = IG α (2)

Mech. Eng., Sana'a University, Yemen.

30
 Theory of Machine I
Level 2

• (a) An unbalanced set of forces on a rigid body.

• (b) The acceleration which result from the
unbalanced forces.
y y
F1

∑MG=Iα
∑F
h
∑F=mAG
G G
F2 m

F3

O x O x
(a) (b)
Mech. Eng., Sana'a University, Yemen.
31
 Theory of Machine I
Level 2

• From (1) and (2),

• ΣF +(- mAG) = 0 and ΣM +(- IG α) = 0
• (- mAG) is called inertia force which has the same line of
action as the absolute acceleration AG but is opposite in
sense.
• (- IG α) is called inertia torque which is opposite in sense
to the angular acceleration α.
• The equations above are known as D’Alembert’s
principle.

Mech. Eng., Sana'a University, Yemen.

32
 Theory of Machine I
Level 2

where the vector F is the resultant of

the external forces on the particle and
a is the acceleration vector of the
particle.
In the case of a rigid body, RB, with
constant mass m, Newton's second
law is:

Mech. Eng., Sana'a University, Yemen.

33
 Theory of Machine I
Level 2

Where:
F : is the resultant of external force on the rigid body
aC : is the acceleration of the center of mass, C, of the rigid
body
MC :is the resultant external moment on the rigid body about
the
center of mass C
IC :is the mass moment of inertia of the rigid body with respect
to an axis passing through the center of mass C and
perpendicular to the plane of rotation of the rigid body
α : a is the angular acceleration of the rigid body

Mech. Eng., Sana'a University, Yemen.

34
 Area moment of inertia
mass moment of inertia
• E:\university\static\mriam statics\Engineering
Mechanics. Statics. Theory -
Meriam, Kraige - Wiley.pdf
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