Lecture

33: Solving rigid-body

equilibrium problems

Lecture Objective:
Apply conditions of equilibrium to rigid bodies

1st condition for equilibrium: Balanced

Forces

2nd condition for equilibrium: Balanced

Torques

Equilibrium of a rigid body

1.) The rigid body must not be rotating and accelerating.
2.) Draw the free body diagram. Rigid bodies cannot be represented as a point.
3.) Choose the coordinate axis and a positive sense of rotation.
4.) Convert the forces into its component forms.
5.) Note that for forces acting at one point, the torque at that point is zero.
6.) Write equations expressing equilibrium position.

7.) Count the number of unknowns and equations.

8.) Do the math.
4

Example 12.1 (Tipler)

Given:
length, 3 m
board mass, 2 kg
box mass, 6 kg
x1, 2.5 m
x2, 0.5 m
target variable, F1 and F2

Apply the two conditions of equilibrium

F1 + F2 - mboardg - mboxg = 0
-F1L + mboardgL/2 + mboxgx2 + F2 x(0) = 0

First condition
Second condition

Apply the two conditions of equilibrium

F1 + F2 - mboardg - mboxg = 0
-F1L + mboardgL/2 + mboxgx2 + F2 x(0) = 0

First condition
Second condition

can also be written as:

F1 = 1/2mboardg + x2mbox/L

Apply the two conditions of equilibrium

F1 + F2 - mboardg - mboxg = 0
-F1L + mboardgL/2 + mboxgx2 + F2 x(0) = 0

First condition
Second condition

can also be written as:

F1 = 1/2mboardg + x2mbox/L

Two equations with two unknowns so just substitute F1 to get

F2 = mboard + mboxg - F1 = 1/2mboardg + mboxg -x2mboxg/L

Apply the two conditions of equilibrium

F1 + F2 - mboardg - mboxg = 0
-F1L + mboardgL/2 + mboxgx2 + F2 x(0) = 0

First condition
Second condition

can also be written as:

F1 = 1/2mboardg + x2mbox/L

Two equations with two unknowns so just substitute F1 to get

F2 = mboard + mboxg - F1 = 1/2mboardg + mboxg -x2mboxg/L
The scale readings will be:
F1 = 19.6 N
F2 = 58.9 N
9

Sample Problem
Sir Lancelot is trying to rescue Lady Elayne
from Castle Von Doom by climbing a uniform
ladder that is 5.0m long, weighing 180N.
Lancelot weighs 800N, stops a third of the way
up the ladder. The bottom of the ladder rests
on a horizontal stone ledge and leans across
the moat in equilibrium against a vertical wall
that is frictionless because of a thick layer of
moss. The ladder make an angle of 53.1o with
horizontal, conveniently forming a 3-4-5 right
triangle.

(a) Find the normal force and frictional force on the ladder at its base.
(b) Find the minimum s needed to prevent slipping at the base.
(c) Find the magnitude and direction of the contact force on the ladder at the
base.

FBD of Sir Lancelot and ladder

(a) Use the 1st condition for equilibrium:

Use the 2nd condition for equilibrium:

FBD of Lancelot and ladder

The contact force at B is the

superposition of the normal force
and the static friction force

Seatwork

14

SW 1: Cleas weight
SW2: x (cg)

Seatwork 3, 4 and 5:

Weight, w

SW 3: Draw the FBD of the situation

SW 4: Calculate the maximum weight you can place
without breaking the cable. (use 1st condition)
SW 5: Where should you put the weight? (use 2nd
condition, calculate for CG)

Seatwork answers

17

Seatwork 1 and 2

Apply the first and second conditions of equilibrium to Clea

The normal force at her feet is greater than at her rear feet, so her
center of gravity is closer to her front feet

Weight, w

SW 3: Draw the FBD

TB = 400N

TA = 500N
w = ???

wbar = 350N

SW 3: Draw the FBD

TB = 400N

TA = 500N
w = ???

wbar = 350N

SW4: What is the heaviest weight the you can put in the bar
without breaking the cable? (add another weight)

Fy =0
-w -wbar + TA + TB= 0
-w 350N + 500N + 400N = 0
w = 550N

SW 3: Draw the FBD

TB = 400N

TA = 500N
w = ???

wbar = 350N

SW5: where should you put it? We must put it at cg,

solve for cg using the 2nd condition:

= 0
-TALcg + TB(1.5m-Lcg)wbar(0.75m-Lcg) = 0
(-500N-400N+350N)Lcg = (0.75m)(350N)-(1.5m)(400N)
Lcg = 0.614m