CE201 Statics Chap5

2/1/2012
STATICS: CE201
Chapter 5 Equilibrium of a Rigid Body

Notes are prepared based on: Engineering Mechanics, Statics by R. C. Hibbeler, 12E Pearson
Dr M. Touahmia & Dr M. Boukendakdji Civil Engineering Department, University of Hail (Fall 2010)
5.
1. 2. 3.
Equilibrium of a Rigid Body
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Main Goals:
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.
Contents: 5.1
5.2 5.3 5.4 5.5 5.6 5.7 Conditions for Rigid-Body Equilibrium Free-Body Diagrams Equations of Equilibrium Two- and Three-Force Members Free-Body Diagrams Equations of Equilibrium Constraints and Statical Determinacy
Chapter5 - Equilibrium of a Rigid Body 2
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5.1
Conditions for Rigid-Body Equilibrium
The force and couple system acting on a body can be reduced to an equivalent resultant force and resultant couple moment at an arbitrary point O. If the resultant force and couple moment are both equal to zero, then the body is said to be in equilibrium.
FR F 0
M R O MO 0
Chapter5 - Equilibrium of a Rigid Body
5.1
Conditions for Rigid-Body Equilibrium
The two equations of equilibrium for a rigid body are:
F 0 M 0
O
where O is an arbitrary point
When applying the equations of equilibrium, we can assume that the body will remain rigid and not deform under the applied load. Most engineering materials such as steel and concrete are very rigid and so their deformation is usually very small.
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5.2
Free-Body Diagrams
No equilibrium problem should be solved without first drawing the free-body diagram, so as to account for all the forces and couple moments that act on the body.
Support Reactions: We consider the various types of reactions that occur at supports and points of contact between bodies subjected to coplanar force systems. As a general rule:
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.
5.2
Free-Body Diagrams
Support Reactions Let us consider three ways in which a horizontal member, such as a beam, is supported at its end: Roller: This support prevents the beam from translating in the vertical direction, the roller will only exert a force on the beam in this direction.
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5.2
Free-Body Diagrams
Support Reactions: Pin: The pin can prevent translation of the beam in any direction. For purposes of analysis, it is generally easier to represent this resultant force F by its two rectangular components Fx and Fy .
5.2
Free-Body Diagrams
Support Reactions: Fixed Support: This support will prevent both translation and rotation of the beam. A force and couple moment must be developed on the beam at its point of connection. The force is usually represented by its two rectangular components Fx and Fy .
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Example 1
Draw the free-body diagram of the uniform beam. The beam has a mass of 100 kg.
Solution 1
Free-body diagram of the beam:
Since the support at A is fixed, the wall exerts three reactions on the beam, denoted as Ax, Ay, and MA. The magnitudes of theses reactions are unknown, and their sense has been assumed. The weight of the beam, W = 100(9.81) N = 9.81 N, acts through the beams center of gravity G, which is 3 m from A since the beam is uniform.
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5.3
Equations of Equilibrium
The conditions for equilibrium in two dimensions can be written in scalar form as:
F
y
represent, respectively the algebraic sums of the x and y components of all the forces and
x
represents the algebraic sum of the couple moments and moments of all the force components about an axis perpendicular to the x y plane and passing through an arbitrary point O.
O
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5.3
Alternative Sets of Equilibrium Equations:

Two alternative sets of three independent equilibrium equations may be used. The first set of equation is
0
A
M M
0 0
When using these equations, it is required that a line passing through points A and B is not parallel to the y axis.
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5.3
Alternative Sets of Equilibrium Equations: A second alternative set of equilibrium equation is
M M M
0 0 0
Here, the only requirement is that points A, B and C do not lie in the same line.
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Example 3
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.
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Solution 3

Free-Body Diagram: Identify each of the forces shown on the free-body diagram of the beam. For simplicity, the 600-N force is represented by its x and y components
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Solution 3
Equations of Equilibrium: Summing forces in the x

direction yields.
Fx 0
600 cos 45o N Bx 0
Bx 424 N
A direct solution for Ay can be obtained by applying the moment equation about point B:
100 N2m 600 sin 45o N 5m 600 cos 45o N 0.2m Ay 7m 0
Ay 319 N
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Solution 3
Summing forces in the y direction yields:
Fy 0
319 N 600 sin 45o N 100 N 200 By 0
By 405N
Note: We can check this result by summing moments about

point A.
600 sin 45o N 2m 600 cos 45o N 0.2m 100N5m 200N7m By 7m 0
By 405 N
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Example 4
The member 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.
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Solution 4
Free-Body Diagram:
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Solution 4
Equations of Equilibrium: Summing moments about A, we obtain a direct solution for NB.
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Example 5
Determine the support reactions on the member. The collar at A is fixed to the member and can slide vertically along the vertical shaft.
21
Solution 5
Free-Body Diagram: The collar exerts a horizontal forces Ax and a moment MA on the member. The reaction NB of the roller on the member is vertical.
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Solution 5
Equations of Equilibrium:
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Example 6
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Solution 6
Free-Body Diagram: The pin at A exerts two components of reaction on the member, Ax and Ay.
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Solution 6
Equation of Equilibrium:
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Problem
Determine the horizontal and vertical components of reaction on the beam caused by the pin at A and the roller at B. Neglect the weight of the beam.
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5.4
Two- and Three-Force Members
The solutions to some equilibrium problems can be simplified by recognizing members that are subjected to only two or three forces.
Two-Force Members:
A two-force member has forces applied at only two points on the member.
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5.4
Two-Force Members:
To satisfy force equilibrium, FA and FB must be equal in magnitude, FA FB F , but opposite in direction.
F 0
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5.4
Two-Force Members:
Moment equilibrium requires that FA and FB share the same line of action, which can only happen if they are directed along the line joining points A and B.
or
Therefore, for any two-force member to be in equilibrium, the two forces acting on the member must have the same magnitude, act in opposite directions and have the same line of action, directed along the line joining the two points where these forces act.
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5.4
Three-Force Members:
If a member is subjected to only three forces, it is called a three-force member. Moment equilibrium can be satisfied only if the three forces form a concurrent or parallel force system.
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5.4
Three-Force Members:
If the lines of action of F1 and F2 intersect at point O, then the line of action of F3 must also pass through point O so that the forces satisfy: M O 0
If the three forces are all parallel, the location of the point of intersection O will approach infinity.
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5.5

Free-Body Diagrams (Three Dimensions)
The first step in solving three-dimensional equilibrium problems is to draw a free-body diagram. Before we can do this, it is first necessary to discuss the types of reactions that can occur at the supports.
Support Reactions:
As in the two-dimensional case:

A force is developed by a support that restricts the translation of its attached member. A couple moment is developed when rotation of the attached member is prevented.
5.5
Support Reactions:
For example the ball-and-socket joint prevents any translation of the connecting member; therefore, a force must act on the member at the point of connection. This force has three components having unknown magnitudes: Fx, Fy, Fz Then we can obtain the magnitude of force F,
F Fx2 Fy2 Fz2
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5.5
Support for Rigid Bodies Subjected to Three-Dimensional Force Systems:
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5.5
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5.5
37
5.5
38
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Example 5
Consider the two rods and plate, along with their associated free-body diagram. The x, y, z axes are established on the diagram and the unknown reaction components are indicated in the positive sense. Free-body diagram
39
Example 5
Free-body diagram
200N.m
300N
200N.m
300N
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Example 5
Free-body diagram
400N
400N
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5.6
Equations of Equilibrium (Three Dimensions)

The conditions for equilibrium of a rigid body subjected to a three-dimensional force system require that both the resultant force and resultant couple moment acting on the body be equal to zero.
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5.6
Equations of Equilibrium (3 D)
Vector Equations of Equilibrium: The two conditions for equilibrium of a rigid body may be expressed mathematically in vector form as:
F 0
where:
and
F 0
M
is the vector sum of all the external forces acting on the body
O 0 is the sum of the couple moments and the moments of all the forces about any point O (located either on or off the body).
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5.6
Equations of Equilibrium (3-D)

Scalar Equations of Equilibrium: If all the external forces and couple moments are expressed in Cartesian vector form, we have:
F F
O
i Fy j Fz k 0
i M y j Mz k 0
M M
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5.6
Equations of Equilibrium (3 D)
Since the i, j, and k components are independent from one another, the above equations are satisfied provided that:
F
and
These six scalar equilibrium equations may be used to solve for at most six unknowns shown on the free-body diagram.
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5.7
Constraints and Statical Determinacy
To ensure the equilibrium of a rigid body, it is not only necessary to satisfy the equations of equilibrium, but the body must also be properly held or constrained by its supports.
Redundant Constraints: When a body has redundant supports, that is, more supports than are necessary to hold it in equilibrium, it becomes statically indeterminate.
Statically indeterminate: means that there will be more unknown loadings on the body than equations of equilibrium available for their solutions.
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5.7
Example: The beam is shown together with its freebody diagram. The beam is statically indeterminate because of additional (or redundant) supports reactions. There are five unknowns MA, Ax, Ay, By, and Cy, for which only three equilibrium equations can be written:
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5.7
Second example: The pipe is also statically indeterminate

because of additional (or redundant) supports reactions. The Pipe assembly has eight unknowns, for which only six equilibrium equations can be written.
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5.7
The additional equations needed to solve statically indeterminate problems are generally obtained from the deformation conditions at the points of supports This is done in courses dealing with mechanics of Materials
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5.7
Improper Constraints: Having the same number of

unknown reactive forces as available equations of equilibrium does not always guarantee that a body will be stable when subjected to a particular loading.
For example, the pin support at A and the roller support at B for the beam are placed in such a way that the lines of action the reactive forces are concurrent at point A. Consequently, the applied loading P will cause the beam to rotate slightly about A, and so the beam is improperly constrained.
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5.7
In three dimensions, a body will be improperly constrained if the lines of action of all the reactive forces intersect a common axis.
For example, the reactive forces at the ball-and-socket supports at A and B all intersect the axis passing through A and B.
Note: Since the moments of these forces about A and B are all zero, then the loading P will rotate the member about the AB axis.
5.7
Another way in which improper constraining leads to instability occurs when the reactive forces are all parallel.
Note: The summation of forces along the x axis will not be equal zero.
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2/1/2012

Chapter 5 Equilibrium of a Rigid Body

Equilibrium of a Rigid Body

Conditions for Rigid-Body Equilibrium

Chapter5 - Equilibrium of a Rigid Body

Conditions for Rigid-Body Equilibrium

The two equations of equilibrium for a rigid body are:

where O is an arbitrary point

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Free-body diagram of the beam:

Chapter5 - Equilibrium of a Rigid Body

Alternative Sets of Equilibrium Equations:

Alternative Sets of Equilibrium Equations: A second alternative set of equilibrium equation is

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Equations of Equilibrium: Summing forces in the x

600 cos 45o N Bx 0

100 N2m 600 sin 45o N 5m 600 cos 45o N 0.2m Ay 7m 0

Chapter5 - Equilibrium of a Rigid Body

Summing forces in the y direction yields:

319 N 600 sin 45o N 100 N 200 By 0

Note: We can check this result by summing moments about

600 sin 45o N 2m 600 cos 45o N 0.2m 100N5m 200N7m By 7m 0

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Chapter5 - Equilibrium of a Rigid Body

Two- and Three-Force Members

Chapter5 - Equilibrium of a Rigid Body

Two- and Three-Force Members

Chapter5 - Equilibrium of a Rigid Body

Two- and Three-Force Members

Two- and Three-Force Members

Chapter5 - Equilibrium of a Rigid Body

Two- and Three-Force Members

Chapter5 - Equilibrium of a Rigid Body

Free-Body Diagrams (Three Dimensions)

As in the two-dimensional case:

Free-Body Diagrams (Three Dimensions)

F Fx2 Fy2 Fz2

Chapter5 - Equilibrium of a Rigid Body

Free-Body Diagrams (Three Dimensions)

Support for Rigid Bodies Subjected to Three-Dimensional Force Systems:

Chapter5 - Equilibrium of a Rigid Body

Free-Body Diagrams (Three Dimensions)

Support for Rigid Bodies Subjected to Three-Dimensional Force Systems:

Chapter5 - Equilibrium of a Rigid Body

Free-Body Diagrams (Three Dimensions)

Support for Rigid Bodies Subjected to Three-Dimensional Force Systems:

Chapter5 - Equilibrium of a Rigid Body

Free-Body Diagrams (Three Dimensions)