Statics of Rigidbodies

STATICS OF RIGID BODIES
ENGG-0317
Outline
1. Principles of Statics
1.1 Introduction
1.2 Fundamental Concepts
1.3 Units of Measure
1.1 Introduction
Basic Quantities
• Length
– locate the position of a point in space
• Mass
– measure of a quantity of matter
• Time
– succession of events
• Force
– a “push” or “pull” exerted by one body on another
Idealizations
• Particles
– has a mass and size can be neglected
• Rigid Body
– a combination of a large number of particles
• Concentrated Force
– the effect of a loading
Newton’s Three Laws of Motion

• First Law
– “A particle originally at rest, or moving in a straight line with constant
velocity, will remain in this state provided that the particle is not subjected
to an unbalanced force”
• Second Law
– “A particle acted upon by an unbalanced force F experiences an
acceleration a that has the same direction as the force and a magnitude
that is directly proportional to the force”
– F = ma
Newton’s Three Laws of Motion

• Third Law
– “The mutual forces of action and reaction between two particles are equal
and, opposite and collinear
1.3 System of Units
1.3 System of Units
1.3 System of Units
Common British and American Customary units and their SI equivalents
Outline
2. Resultants of Force Systems

2.1 Introduction
2.2 Forces and Components
2.3 Resultants of Three or More Concurrent Forces
2.4 Moment of a Force
2.5 Couple
2.1 Introduction
The effect of a system of forces on a body is usually expressed in

terms of a resultant. The value of this resultant determines the
motion of the body. If the resultant is zero, the body will be in
equilibrium and will not change its original state of motion. This
is the providence of statics. If the resultant of a force system is
not zero, the body will have a varying state of motion, thereby
creating a problem in dynamics.
Forces acting at some angle from the coordinate axes can be

resolved into mutually perpendicular forces called components.
The component of a force parallel to the x-axis is called the x-
component, parallel to y-axis the y-component, and so on.
Example 1.
A force of 200lb is directed as shown. Determine the X and Y
components of the force.
Example 2.
Determine the components of the 300-lb force directed down to
the right at a slope of 2 to 3.
The determination of the resultant of three or more concurrent

forces that are not collinear requires determining the sum of
three or more vectors.
Example 1.
Determine the resultant of the concurrent forces shown.
Example 2.
Example 3.
Moment is the measure of the capacity or ability of the force to

produce twisting or turning effect about an axis. This axis is
perpendicular to the plane containing the line of action of the
force. The magnitude of moment is equal to the product of the
force and the perpendicular distance from the axis to the line of
action of the force. The intersection of the plane and the axis is
commonly called the moment center, and the perpendicular
distance from the moment center to the line of action of the
force is called moment arm.
From the figure, O is the moment

center and d is the moment arm.
The moment M of force F about
point O is equal to the product of F
and d.
𝑀 = 𝐹𝑑
Example 1.
Assuming counter clockwise
moments as positive, compute
the moment of force F = 200 kg
and force P = 165 kg about
points A, B, C, and D.
Example 2.
Two forces P and Q pass through a point A which is 4 m to the
right of and 3 m above a moment center O. Force P is 890 N
directed up to the right at 30° with the horizontal and force Q
is 445 N directed up to the left at 60° with the horizontal.
Determine the moment of the resultant of these two forces
with respect to O.
2.5 Couples
Couple is a system of forces whose

magnitude of the resultant is zero and yet
has a moment sum. Geometrically, couple
is composed of two equal forces that are
parallel to each other and acting in
opposite direction. The magnitude of the
couple is given by
𝐶 = 𝐹𝑑
Where F are the two forces and d is the
moment arm, or the perpendicular
distance between the forces.
2.5 Couples
Couple is independent of the moment center, thus, the effect

is unchanged in the following conditions.
• The couple is rotated through any angle in its plane.
• The couple is shifted to any other position in its plane.
• The couple is shifted to a parallel plane.
In a case where a system is composed entirely of couples in
the same plane or parallel planes, the resultant is a couple
whose magnitude is the algebraic sum of the original couples.
2.5 Couples
Example 1.
A couple consists of two vertical forces
of 60 lb each. One force acts up
through A and the other acts down
through D. Transform the couple into
an equivalent couple having horizontal
forces acting through E and F.
Outline
3. Equilibrium of Force Systems

3.1 Equilibrium
3.2 Free-Body Diagrams
3.3 Equilibrium of Concurrent Force Systems
3.1 Equilibrium
Equilibrium is the term used to designate the condition

where the resultant of a system of forces is zero. A body is
said to be equilibrium when the force system acting upon it
has a zero resultant. The physical meaning of equilibrium, as
applied to a body, is that the body either is at rest or is
moving in a straight line with constant velocity.
Problems in mechanics always involve the interaction of

bodies upon one another. Successful solution of these
problems generally requires that the bodies be isolated
from one another so that the forces involved may be
analyzed and unknown forces determined. An isolated view
of a body which shows only the external forces exerted on
the body is called free-body diagram (FBD). These external
forces are caused either by direct bodily contact or by
gravitational or magnetic attraction.
The steps involved in drawing a free-body diagram includes:

1. Draw a diagram of the body completely isolated from all
other bodies. The free body may consist of an entire
assembled structure or any combination or part of it.
2. Represent the action of each body or support that is
removed by a force or its components.
3. Label each force by its magnitude, if known, or by a
symbol, if unknown.
Example 1.
A 200 lb cylinder is supported
by a horizontal rod AB and
rests against the uniform bar
CD which weighs 100 lb. Draw
the free-body diagrams (a) of
rod AB, (b) of the cylinder, (c)
of bar CD, and (d) of the
assembled cylinder and bar.
The rod AB is assumed to be
weightless.
The conditions of equilibrium for concurrent force systems are obtained by determining the
equations that produce a zero resultant. The magnitude of the resultant of a concurrent force
system is found by means of the equation
2 2
𝑅= 𝑋 + 𝑌
Obviously, the resultant will be zero and equilibrium will exist when the following equations are
satisfied:
𝑋=0
𝑌=0
These equations are known as the conditions of equilibrium. It is important to note that with
two conditions of equilibrium, only two unknown quantities can be determined to create
equilibrium of a concurrent force system.
Example 1.
Determine the magnitude of P and F
necessary to keep the concurrent force
system in equilibrium.
Example 2.
The 300-lb force and the 400-lb force
shown are to be held in equilibrium by
a third force F acting at an unknown
angle θ with the horizontal. Determine
the values of F and θ.
Example 3.
A system of cords knotted
together at A and B
support the weights
shown. Compute the
tensions P, Q, F, and T
acting in the various
cords.
Outline
4. Friction
4. Friction
Friction is the contact resistance exerted by one body when the

second body moves or tends to move past the first body.
Friction is a retarding force that always acts opposite to the
motion or to the tendency to move.
Types of Friction
a. Dry Friction
Dry friction, also called Coulomb friction, occurs when
unlubricated surfaces of two solids are in contact and slide or
tend to slide from each other. If lubricant separates these two
surfaces, the friction created is called lubricated friction.
4. Friction
b. Fluid Friction
Fluid friction occurs when layers of two viscous fluids moves at different
velocities. The relative velocity between layers causes frictional forces
between fluid elements, thus, no fluid friction occurs when there is no
relative velocity.
c. Skin friction
Skin friction also called friction drag is a component of the force,
resisting the motion of a solid body through a fluid.
d. Internal Friction
Internal friction is associated with shear deformation of the solid
materials subjected to cyclical loading. As deformation undergo during
loading, internal friction may accompany this deformation.
4. Friction
Elements of Dry Friction

N = Total reaction perpendicular
to the contact surface
f = Friction force
𝜇 = Coefficient of friction
R = Resultant of f and N
∅ = angle of friction
4. Friction
Formulas for dry friction

f = μN
f
tan∅ =
N
𝑡𝑎𝑛∅ = 𝜇
Consider the block shown that weighs W. It
is placed upon a plane that inclined at an
angle θ with the horizontal.
• If ∅ < θ the maximum available friction
force f is less than Wx thus, the block
will slide down the plane.
4. Friction
• If ∅ = θ the friction force f will just equate to Wx

thus, the block is in impending motion down the plane.
• If ∅ > 𝜃 the maximum available frictional resistance f is
greater than Wx thus, the block is stationary.
We can therefore conclude that the maximum angle θ that a
plane may be inclined without causing the body to slide
down is equal to the angle of friction ∅.
4. Friction
Example 1.
A 400 lb block is resting on a rough horizontal surface for
which the coefficient of friction is 0.40. Determine the force
P required to cause motion to impend if applied to the block
(a) horizontally or (b) downward at 30° with the horizontal.
(c) What minimum force is required to start motion?
4. Friction
Example 2.
The 2225-N block shown is in contact
with 45° incline. The coefficient of
static friction is 0.25. Compute the
value of the horizontal force P
necessary to (a) just start the block
up the incline or (b) just prevent
motion down the incline. (c) If P =
1780 N, what is the amount and
direction of the friction force?
4. Friction
Example 3.
The blocks shown are connected
by flexible, inextensible cords
passing over frictionless pulleys. At
A the coefficients of friction are 𝜇𝑠
= 0.30 and 𝜇𝑘 = 0.20 while at B
they are 𝜇𝑠 = 0.40 and 𝜇𝑘 = 0.30.
Compute the magnitude and
direction of the friction force
acting on each block.
Outline
5. Analysis of Structures
5.1 Method of Joints
5.2 Method of Sections
5.3 Method of Members: Frames Containing Three-Force Members
The analysis of a structure is the process by which we determine how

the loads applied to a structure are distributed throughout the
structure. Our purpose is to determine the forces acting in the bars and
upon the pins or hinges of the structures.
Construction of Simple Trusses
In engineering, a truss is a structure that "consists of two-force
members only, where the members are organized so that the
assemblage as a whole behaves as a single object". A "two-force
member" is a structural component where force is applied to only two
points. Although this rigorous definition allows the members to have
any shape connected in any stable configuration, trusses typically
comprise five or more triangular units constructed with straight
members whose ends are connected at joints referred to as nodes.
Figure 1. Truss bridge for a single-track railway, converted to

pedestrian use and pipeline support
A truss is a structure composed of members fastened

together in such a way as to resist change in shape; it is a
rigid structure. The purpose of a truss is to support a larger
load or span a greater distance than any individual member
from which the truss may be built. To make a structure rigid,
its members must be fastened together in such a way as to
prevent any movement between them.
A pin-connected structure
meeting this condition is shown
in Figure 2. This structure is
composed of three bars. A pin-
Figure 2. Rigid Frame
connected structure composed
of four bars arranged as shown
in Figure 3 is not inherently
rigid. It will collapse as indicated
under the action of the applied
forces. Figure 3. Non-rigid Frame
In the construction of trusses, the basic design is three bars

arranged to form a triangle. To this base triangle, ABC in
Figure 3, two more bars may be added to locate a joint D
which is rigid relative to the other joints. Since A and D are
now fixed relative to each other, two more bars may be
added at these joints to fasten together at E, after which
two additional bars determine F. Thus by continuing to add
bars at joints rigid to one another, additional joints can be
determined and a truss consisting of many members may be
constructed. Trusses built up in this manner are known as
simple trusses.
Trusses are usually supported by

anchoring one joint to the
foundation by means of a fixed
hinge as at F in Figure 4. Since the
truss could rotate about this hinge,
additional support is necessary. This
is supplied by mounting another
joint, say A, on rollers in such a way Figure 4. Formation of a simple truss
as to prevent that rotation. Then
the truss is completely constrained
against any movement.
Assumptions in Simple Trusses

The members of a truss are joined together by means of
pins at their ends (actually large bolts known as pins which
acts as pivots) or by riveting or welding them to a common
plate known as a gusset plate. If due care is taken to
assemble the bars so that the centerlines of the members
intersect in a common point at each joint, the forces in the
members may be calculated as if they were pin-connected,
even though their ends are actually riveted or welded to a
gusset plate.
Members which are stretched are said to be in tension, while

those that are shortened are said to be in compression. In a
typical truss, Figure 5a, if the member CE were in tension,
isolating it from the truss would give the free-body diagram
shown in part b, and its effect on the joints of the truss would
appear as forces T which pull away from these joints. Another
member, BD, assumed to be in compression would be isolated
as shown in the free-body diagram of part c while its effect on
the joints of the truss would be represented by forces C while
push towards the joints. From these diagrams, we deduce the
following rule: A member in tension causes forces which pull
away from its end joints whereas a member in compression
causes forces which push toward its end joints.
(b) Tension
(a) Original truss
(c) Compression
Figure 5. A tensile member exerts pulls away from its end joints while a compression member
pushes toward them.
The free-body diagram of any joint is a concurrent force system in

which the summation of moment will be of no help. Recall that only
two equilibrium equations can be written as,
This means that to solve completely for the forces acting on a joint, we
must select a joint with no more than two unknown forces involved.
This can be started by selecting a joint acted on by only two members.
We can assume any unknown member to be either tension or
compression. If negative value is obtained, this means that the force is
opposite in action to that of the assumed direction. Once the forces in
one joint are determined, their effects on adjacent joints are known.
We then continue solving on successive joints until all members have
been found.
Example 1.
A Fink truss is loaded as
shown. Determine the
force in each member of
the truss assuming them
to be pin-connected.
Example 2.
Compute the force in each member of the Warren truss
shown.
Example 3.
Find the force acting in all members of the truss shown.
Example 4.
Determine the force in members AB, BD, BE, and DE of the
Howe roof truss shown.
Method of Sections
In this method, we will cut the truss into two sections by passing
a cutting plane through the members whose internal forces we
wish to determine. This method permits us to solve directly any
member by analyzing the left or the right section of the cutting
plane.
To remain each section in equilibrium, the cut members will be
replaced by forces equivalent to the internal load transmitted to
the members. Each section may constitute of non-concurrent
force system from which three equilibrium equations can be
written.
Example 1.
From the truss shown, determine the force in members BC,
CE, and EF.
Example 2.
Determine the force in members DF, DG, and EG of the
Howe truss shown.
Example 3.
Use the method of sections to determine the force in
members BD, CD, and CE of the Warren truss shown.
Example 4.
The roof truss shown is pinned at point A, and supported by
a roller at point H. Determine the force in member DG.
A three-force member is in general a non-axial member that is

not simply in tension or compression. A member of this kind has
shear forces perpendicular to the member and subjected to
bending loads. If forces are applied to more than two positions
on the member, it is three-force member. Any beam is a three-
force member according to the above definition.
Frames are pin-connected structures with some or all members
are three-force members. To analyze a frame, we can disconnect
the three-force member from the structure and draw the free-
body diagram of the member. This approach is called the
method of members.
In this method, three equilibrium equations can be written

Below is a figure that shows the difference between axial

and non-axial (three-force) members.
Example 1.
In the structure shown, all
members are assumed to be
solid rigid members. The
system is pinned to the wall
at point A and supported by a
roller at point E. Calculate the
force on member BD and the
reactions at A and E.
Example 2.
For the structure shown, determine the reactions at A and D
and the internal force in member CF.
Example 3.
The frame shown is supported
by a hinge at A and a roller at E.
Compute the horizontal and
vertical components of the
hinge forces at B and C as they
act upon member AC.
Example 4.
The frame shown is hinged to
rigid supports at A and E. Find
the components of the hinge
forces A and E and the forces in
members BC and BD.
Outline
6. Force Systems in Space

6.1 The Three Mutually Perpendicular Components of a Force
6.2 Resultant of Concurrent Force Systems in Space
6.3 Equilibrium of Concurrent Space Forces
6.4 Equilibrium of Non-Concurrent Space Forces
Assume three concurrent forces 𝐹𝑥 , 𝐹𝑦 ,

and 𝐹𝑧 to act along the reference axes
shown. They are mutually
perpendicular components of a force F
whose value is determined by a tip-to-
tail addition of their free vectors. To the
tip of 𝐹𝑧 we place the tail of 𝐹𝑥 , then
add 𝐹𝑦 to the tip of 𝐹𝑥 as shown.
Observe carefully that the order of
vector addition has no effect on the
resultant; this is true for either space
forces or coplanar forces.
The resultant F extends from the tail of the first vector at O to

the tip of the last vector at C. A glance in the figure shows that
the tip-to-tail addition of the vectors determines the sides of a
box of which F is the body diagonal. Observe that OB is the
resultant of 𝐹𝑥 and 𝐹𝑧 and may be defined by the relation
𝑂𝐵 2 = 𝐹𝑧 2 + 𝐹𝑥 2
Observe also that OB and BC (which has the value 𝐹𝑦 ) form a
right triangle of which F is the hypotenuse, so that we have
2
𝐹2 = 𝑂𝐵2 + 𝐵𝐶 2 = 𝐹𝑧 2 + 𝐹𝑥 2 + 𝐹𝑦
From which we finally obtain the magnitude of the force F
The components of a force in space

The direction of cosines
The proportion of components

Moment of a force about an axis

The X, Y, and Z components of the resultant are equal to the

algebraic summations of the X, Y, and Z components of the
forces composing the system.
The components of the resultant
The magnitude of the resultant

Example 1.
Determine the magnitude of the resultant, its pointing and
its direction cosines for the following system of non-
coplanar, concurrent forces. 300 lb (+3, -4, +6); 400 lb (-2,
+4, -5); 200 lb (-4, +5, -3).
Example 2.
Determine the magnitude of the resultant, its pointing, and
coplanar concurrent forces. 100 lb (2, 3, 4); 300 lb (–3, –4,
5); 200 lb, (0, 0, 4).
Example 3.
Determine the magnitude of the resultant, its pointing, and
coplanar concurrent forces. 200 lb (4, 5, –3); 400 lb (–6, 4, –
5); 300 lb, (4, –2, –3).
Equilibrium is defined as that condition when the resultant of a system

of forces is zero. Therefore the conditions of equilibrium of concurrent
space forces are expressed by those equations which insure that the
resultant will be zero. The resultant of concurrent space forces was
determined in magnitude by the equation
𝑅= 𝑋 2+ 𝑌 2+ 𝑍 2
Obviously R will be zero, and hence equilibrium will exist, only under
the following conditions:
𝑋=0
𝑌=0
𝑍=0
These three independent conditions of equilibrium may be used to

determine a maximum of three unknown quantities to maintain equilibrium
of a concurrent space system of forces.
It is also possible to express the conditions of equilibrium in terms of
moment equations. If moments are taken about some axis which does not
intersect the line of action of the resultant force, it is evident that 𝑀 = 𝑅 ∙ 𝑑
will be equal to zero only when 𝑅 = 0. The moment 𝑀 of the resultant has
three components, consisting of the moment summations 𝑀𝑥 , 𝑀𝑦 , and
𝑀𝑧 , for the forces composing the system with respect to coordinate 𝑋, 𝑌,
and 𝑍 axes. Therefore, 𝑅 will also be zero when
𝑀𝑥 = 0
𝑀𝑦 = 0
𝑀𝑧 = 0
Example 1.
A 200-kg cylinder is hung by means of
two cables AB and AC, which are
attached to the top of a vertical wall. A
horizontal force P perpendicular to the
wall holds the cylinder in the position
shown. Determine the magnitude of P
and the tension in each cable.
Example 2.
If 𝑃 = 1200𝑙𝑏 and the
coordinates of 𝐷 are 𝑥𝐷 = 5𝑓𝑡
and 𝑧𝐷 = 2𝑓𝑡, compute the force
in each leg of the tripod.
Example 3.
Calculate the tension in each of the
three cables that support the 1500-
kN weight.
Outline
1. Centroids and Center of Gravity

The Centroid is the average position of all the points of an

object.
When we cut a plane shape from a piece of card it balances

perfectly on its centroid.
The Center of Gravity is the same as the centroid when the

density is the same throughout.
Center of gravity, center of mass and centroid are all the
same for simple solids.
Table 1. Centroids for Common Geometric Shapes




Example 1.
The dimensions of the T-section of a
cast-iron beam are shown. How far
is the centroid of the area above the
base?
Example 2.
Determine the coordinates of the
centroid of the area shown with
respect to the given axes.
Example 3.
Locate the centroid of the shaded
area shown.
Example 4.
Locate the centroid of the shaded
area.
Assignment
1. Find the coordinates of the centroid of the shaded area.
Assignment
2. Determine the coordinates of the centroid of the shaded
area.
Outline
8. Moment of Inertia
Moment of inertia, also called the second moment of area,

is the product of area and the square of its moment arm
about a reference axis.
Moment of inertia about the x-axis:
Moment of inertia about the y-axis:

Polar Moment of Inertia:

Polar moment of inertia is the moment of inertia about
about the z-axis.
Radius of Gyration
Transfer Formula for Moment of Inertia

In the same manner, the transfer formula for polar moment

of inertia and the radii of gyration are respectively
Product of Inertia
Moment of Inertia of Common Shapes

Moment of Inertia of Common Shapes

Example 1.
Determine the moment of inertia of the shaded area with
respect to x-axis.
Example 2.
For the area shown,
a. Calculate the moment of inertia
b. Calculate the radius of gyration

Statics of Rigidbodies

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STATICS OF RIGID BODIES

Newton’s Three Laws of Motion

Newton’s Three Laws of Motion

2. Resultants of Force Systems

The effect of a system of forces on a body is usually expressed in

Forces acting at some angle from the coordinate axes can be

The determination of the resultant of three or more concurrent

Moment is the measure of the capacity or ability of the force to

From the figure, O is the moment

Couple is a system of forces whose

Couple is independent of the moment center, thus, the effect

3. Equilibrium of Force Systems

Equilibrium is the term used to designate the condition

Problems in mechanics always involve the interaction of

The steps involved in drawing a free-body diagram includes:

Friction is the contact resistance exerted by one body when the

Elements of Dry Friction

Formulas for dry friction

• If ∅ = θ the friction force f will just equate to Wx

The analysis of a structure is the process by which we determine how

Figure 1. Truss bridge for a single-track railway, converted to

A truss is a structure composed of members fastened

In the construction of trusses, the basic design is three bars

Trusses are usually supported by

Assumptions in Simple Trusses

Members which are stretched are said to be in tension, while

(a) Original truss

The free-body diagram of any joint is a concurrent force system in

A three-force member is in general a non-axial member that is

In this method, three equilibrium equations can be written

Below is a figure that shows the difference between axial

6. Force Systems in Space

Assume three concurrent forces 𝐹𝑥 , 𝐹𝑦 ,

The resultant F extends from the tail of the first vector at O to

From which we finally obtain the magnitude of the force F

The components of a force in space

The direction of cosines

The proportion of components

Moment of a force about an axis

The X, Y, and Z components of the resultant are equal to the

The magnitude of the resultant

Equilibrium is defined as that condition when the resultant of a system

These three independent conditions of equilibrium may be used to

1. Centroids and Center of Gravity

The Centroid is the average position of all the points of an

When we cut a plane shape from a piece of card it balances

The Center of Gravity is the same as the centroid when the

Table 1. Centroids for Common Geometric Shapes

Table 1. Centroids for Common Geometric Shapes

Table 1. Centroids for Common Geometric Shapes

Table 1. Centroids for Common Geometric Shapes

Moment of inertia, also called the second moment of area,

Moment of inertia about the y-axis:

Polar Moment of Inertia:

Transfer Formula for Moment of Inertia

In the same manner, the transfer formula for polar moment

Moment of Inertia of Common Shapes

Moment of Inertia of Common Shapes

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