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F1
F2
j
i
F3
rigid body
F4
Fi
z
j
ri
f ij
i
Fi
External force
( )
: gravitational, electrical, magnetic or
contact force
Internal
fi
force f i (
n
j 1
f ij
Fi
fi 0
ji
Fi
f i 0
fi
Fi
F 0
M jo
ri
Fi
fi
ri
Fi
ri f i 0
M jo
rj
Fj
fj 0
rj
rj f j 0
Fj
rj
fj 0
Mo
rj
Fj 0
Mo
Examples:
FAy
Fx
Fy
Fy
FAx
M
FAy
FBy
Fx
w
body
(ch4)
P=G( )
F 0
M0 0
Fx 0
F 0
M 0
y
Here:
F1
y
M2
F2
M1
F3
x
Couple moment
F 0
M 0
M 0
a
FR F
M RA M A
M 0 M 0
F 0 F aa
A
RA
rA / B FR o FR 0
(B)
M
M
M
MA
C
FA
A
B
FR F
M RA M A
a
A
0 M RA 0
FR collinearA B M B 0
rA / C FR o FR 0
(3) Example
600N
200N
A
B Bx
2m
Ay
3m
2m
By
100N
Equations of equilibrium
Fx 0 600 cos 45 Bx 0
Fy 0
Equations of Equilibrium FB
0 FA FB
Mo 0
A
B
2. Three-Force
memberto only three forces, which are either
A member subject
concurrent or parallel if the member is in equilibrium.
(1)Concurrent (3 O )(2)parallel
F2
F1
F1
(3 )
F2
F3
F 0
F3
Mo 0
F 0 Mo 0
Fz
3 reaction forces
Fy
Mz
Fz
Fx
z
Mz
Fz
Fx
x
My
Fy
y
Three unkown forces
and two couple moments
2. Equations of Equilibrium
A. Vector equations of equilibrium
F 0
Mo 0
Fx 0
Mx 0
Fz 0
Mz 0
500N
Equation of motion=3
5 unknown reactions >3 equation of motion
there are two support reactions which are redundant
supports and more than necessarily.
Ax
y
x
MA
2KN-m
Ay
By
Cy
FX=0
AX=0
+FY=0
500-AY-BY-CY=0
+MA=0
MA-2-DYBY-DCCY=0
2.Improper Constraints
(1) Reaction force = equations of equilibrium
If this kind of improper constraint occurs then system is
instable
A. The lines of action of the reactive forces intersect points on
a common axis (concurrent).
F.B.D
100N
100N
0.2
m
A
FC
C
F F
M 0
B
FB
FA
x
0
body will rotate about Z-axis or point O
A
F.B.D
100N
FB
FC
B C
100N
FA
F
Stable
?
100N
F.B.D
FA
F 0
F 0
M 0
FB
Not in equilibrium