Chapter 3

Equilibrium of a Rigid Body

 Equilibrium of a rigid body requires both a balance of
forces, to prevent the body from translating with
accelerated motion, and a balance of moments, to
prevent the body from rotating.
 For equilibrium: F = 0 and
Mo = (r x F) = 0
 In three dimensions: Fx = 0 Fy = 0 Fz = 0
Mx = 0 My = 0 Mz = 0
 Solution of Real Problems in Two Dimensions

• Step 1: Examine the space diagram and select the

significant body - the free body diagram. Detach this
body from the space diagram and sketch its contours
• Step 2: Identify and indicate all external forces acting
on the body. The external forces consist of the
externally applied forces, the weight and reactions of
the body at the point of contact with other external
bodies.
• Step 3: All the important dimensions must be
included in the free body diagram.
 Free Body Diagrams:
 Space diagram represents the sketch of the physical problem. The free body
diagram selects the significant particle or points and draws the force system
on that particle or point.
Steps:
1. Imagine the particle to be isolated or cut free from its surroundings. Draw
or sketch its outlined shape.
2. Indicate on this sketch all the forces that act on the particle. These include
active forces - tend to set the particle in motion e.g. from cables and
weights and reactive forces caused by constraints or supports that prevent
motion
3. Label known forces with their magnitudes and directions. use letters to
represent magnitudes and directions of unknown forces.
Assume direction of force which may be corrected later.
Reactions at Supports and Connections for a Two-Dimensional Structure

• Reactions equivalent to a
force with known line of
action.
Reactions at Supports and Connections for a Two-Dimensional Structure

• Reactions equivalent to a
force of unknown direction
and magnitude.

• Reactions equivalent to a
force of unknown
direction and magnitude
and a couple.of unknown
magnitude
Equilibrium of a Rigid Body in Two Dimensions
• For all forces and moments acting on a two-
dimensional structure,
Fz  0 M x  M y  0 M z  M O
• Equations of equilibrium become
 Fx  0  Fy  0  M A  0
where A is any point in the plane of the
structure.
• The 3 equations can be solved for no more
than 3 unknowns.
• The 3 equations can not be augmented with
additional equations, but they can be replaced
 Fx  0  M A  0  M B  0
 Sample Problem 3.1
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.
SOLUTION:
• Create a free-body diagram for the crane.
• Determine B by solving the equation
for the sum of the moments of all
forces about A. Note there will be no
contribution from the unknown
reactions at A.
• Determine the reactions at A by
solving the equations for the sum of
all horizontal force components and
all vertical force components.
• Check the values obtained for the
reactions by verifying that the sum of
the moments about B of all forces is
zero.
 Sample Problem 3.1 Cont…
• Determine B by solving the equation for the
sum of the moments of all forces about A.
 M A  0 :  B1.5m   9.81 kN2m 
 23.5 kN6m   0
B  107.1 kN

• Determine the reactions at A by solving the

equations for the sum of all horizontal forces
• Create the free-body diagram.
and all vertical forces.
 Fx  0 : Ax  B  0
Ax  107.1 kN

 Fy  0 : Ay  9.81kN  23.5 kN  0
Ay  33.3 kN

• Check the values obtained.

 Sample Problem 3.2
SOLUTION:
• Create a free-body diagram for the car
with the coordinate system aligned
with the track.

• Determine the reactions at the wheels

by solving equations for the sum of
moments about points above each axle.

• Determine the cable tension by

A loading car is at rest on an inclined
track. The gross weight of the car and
its load is 5500 lb, and it is applied at
at G. The cart is held in position by
the cable.
Determine the tension in the cable and
the reaction at each pair of wheels.
solving the equation for the sum of
force components parallel to the track.
• Check the values obtained by verifying
that the sum of force components
perpendicular to the track are zero.
 Sample Problem 3.2 Cont…
• Determine the reactions at the wheels.
M A  0 :  2324 lb 25in.  4985 lb 6in.
 R2 50in.  0

R2  1760.2 lb

M B  0 :  2324 lb 25in.  4985 lb 6in.

 R1 50in.  0
R1  563.8 lb
• Create a free-body diagram
• Determine the cable tension.
Wx  5500 lb cos 25
 4985 lb F x  0 :  4985 lb  T  0

W y  5500 lb sin 25 T  4985 lb

 2324 lb
 Sample Problem 3.3
SOLUTION:
• Create a free-body diagram for the
frame and cable.
• Solve 3 equilibrium equations for the
reaction force components and
couple at E.

The frame supports part of the roof of

a small building. The tension in the
cable is 150 kN.
Determine the reaction at the fixed
end E.
 Sample Problem 3.3 Cont…
• Solve 3 equilibrium equations for the
reaction force components and couple.
4.5
 xF  0 : E x  150 kN  0
7.5
E x  90.0 kN

6
 Fy  0 : E y  420 kN   150 kN  0
7.5
E y  200 kN

• Create a free-body diagram for  M E  0 :  20 kN7.2 m   20 kN5.4 m 

the frame and cable.
 20 kN3.6 m   20 kN1.8 m 
6
 150 kN4.5 m  M E  0
7.5
M E  180.0 kN  m
 Sample Problem 3.4
Determine tension P in the cable required to elevate end B of the beam (weight 100 N)
and reaction Ay.

Free Body diagram:

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 My  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
 Sample Problem 3.5
Determine the force in each cable used to support the 40-lb crate shown in Fig. below.
SOLUTION
Free-Body Diagram. As shown in Fig, the free-body
diagram of point A is considered in order to “expose” the
three unknown forces in the cables.

Equations of Equilibrium. First we will

express each force in Cartesian vector
form. Since the coordinates of points B
and C are B(-3 ft, -4 ft, 8 ft) and C ( -3 ft,
4 ft, 8 ft),
 Sample Problem 3.6
The homogeneous plate shown in Fig. has a
mass of 100 kg and is subjected to a force
and couple moment along its edges. If it is
supported in the horizontal plane by a roller
at A , a ball-and-socket joint at B , and a cord
at C , determine the components of reaction
at these supports.
SOLUTION ( SCALAR ANALYSIS )
Free-Body Diagram. There are five unknown
reactions acting on the plate, as shown in. Each of
these reactions is assumed to act in a positive
coordinate direction.

Equations of Equilibrium:
Summing moments about the positive x and y axes, we have:
 Sample Problem 3.7
A 5 x 8-ft 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. Free-Body Diagram

ANALYSIS: You can express the components of the forces TBD and TEC
in terms of the unknown magnitudes TBD and TEC as follows:
A(0,0,0), B (8,0,0), C(0,3,2), D(0,4,-8), E(6,0,0)
 Sample Problem 3.8
The boom is used to support the 75-lb flowerpot in Fig. Determine the tension
developed in wires AB and AC. The support at point O is ball and socket.
SOLUTION
Free-Body Diagram

Equations of Equilibrium: First we will express each force in Cartesian

vector form. Since the coordinates of points A, B and C are
 A (0 ft, 6 ft, 0 ft),
 B (2 ft, 0 ft, 3 ft) and
 C ( -2 ft, 0 ft, 3 ft),
THANK YOU !!!