325 - Statica Solutions PDF

tics se
2 , Sta japak
D. Gross • W. Hauger
J. Schröder • W.A. Wall
N. Rajapakse
r 2 ics 1 ll, Ra
Engineering Mechanics 1
rin han Wa
Statics
Solutions to
Sp ec er,
01
g M hröd
Supplementary
ge
ee , Sc
Problems
gin er
rin
En aug
The numbers of the problems and the figures correspond

to the numbers in the textbook Gross et al., Engineering
Mechanics 1, Statics, 2nd Edition, Springer 2012
H
s,
os
Gr
Gr
os
s,
H
En aug
gin er
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
Gr
os
s,
H
En aug Chapter 2
gin er
Application
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
r 2 ics 1 ll, Ra
01
Forces with a Common Point of
2 , Sta japak
tics se
2
2 2 Forces with a Common Point of Application
11111111
00000000
tics se
E2.10 Example 2.10 A hook is subjec-
ted to three forces (F1 = 180 N,
α1 = 45◦ , F2 = 50 N, α2 =
2 , Sta japak
60◦ , F3 = 30 N) as shown in
Fig. 2.21.
Determine the magnitude F3
and direction of the resultant. α1
r 2 ics 1 ll, Ra
α2
F2 F1
Fig. 2.21
rin han Wa
Solution First we choose an x, y-coordinate system; the x-axis
coincides with the horizontal. Then we determine the coordinates
of the resultant:
y
Sp ec er,
αR
01
F3 x
g M hröd
α2 α1
F1
F2 R
ge
ee , Sc
Rx = F1x + F2x + F3x = F1 cos α1 − F2 cos α2 − F3

= 180 cos 45◦ − 50 cos 60◦ − 30 = 72.3 N
gin er
and
rin
En aug
Ry = F1y + F2y + F3y = −F1 sin α1 −F2 sin α2

= −180 sin 45◦ − 50 sin 60◦ = −170.6 N .
H
The magnitude and the direction of the resultant follow from

R = Rx2 + Ry2 = 72.32 + 170.62 = 185.3 N ,
s,
|Ry |
os
170.6
tan αR = = = 2.35 → αR = 67◦ .
Rx 72.3
Gr
2 Forces with a Common Point of Application 3
tics se
Example 2.11 Determine the magni- E2.11
F
tudes F1 and F2 of the components
of force F with magnitude F =
2 , Sta japak
45◦
5 kN in the directions f1 and f2 30◦
(Fig. 2.22).
f2 f1
r 2 ics 1 ll, Ra
Fig. 2.22
Solution We choose the coordinate system such that the y-axis

coincides with the direction of F .
rin han Wa
y
F
F1
Sp ec er,
45◦
30◦ F2
01
g M hröd
f2 f1
The force F is the resultant of the force components F1 and F2 .

ge
ee , Sc
Hence, we can write
Fx = F1x + F2x = 0 → −F1 sin 30◦ + F2 sin 45◦ = 0 ,

gin er
F1 cos 30◦ + F2 cos 45◦ = F .

rin
Fy = F1y + F2y = F →
En aug
Thus,
√ √ √
1 2 3 2
−F1 + F2 = 0, F1 + F2 =F.
H
2 2 2 2
Solving these two equations for F1 and F2 yields
s,
√
2F 2F
F1 = √ = 3.7 kN , F2 = √ = 2.6 kN .
os
1+ 3 1+ 3
Gr
1
0
tics se
E2.12 Example 2.12 A smooth sphere
0
1
0
1
(weight W = 20 N, radius r = 20 cm) 0
1
0
1
2 , Sta japak
is suspended by a wire (length a = 0
1
0
1
60 cm) as shown in Fig. 2.23. 0
1
0
1
a
Determine the magnitude of force 0
1
0
1
S in the wire. 0
1
0
1 r
0
1
0
1 W
0
1
r 2 ics 1 ll, Ra
0
1
0
1
0
1
0
1
0
1 Fig. 2.23
Solution The forces acting at the sphere must satisfy the equili-
brium conditions. We can make these forces visible if we cut the
rin han Wa
wire and separate the sphere from the wall. In the free-body dia-
gram we show the force S in the wire (acting in the direction of
the wire), the contact force N (acting perpendicularly to the wall)
Sp ec er,
and the weight W . The three forces are concurrent forces.
01
S
g M hröd
N α
a
ge
ee , Sc
α
W r
gin er
The equilibrium conditions are given by

rin
→: N − S cos α = 0 , ↑: S sin α − W = 0 ,
En aug
where the angle α follows from the geometry of the problem:

2
H
r 20 1 1 1√
cos α = = = and sin α = 1 − = 8.
a 60 3 3 3
s,
The second equilibrium condition yields the force S:

os
W 3
S= = √ W = 21.2 N .
sin α 8
Gr
Note that the normal force N can be calculated from the first
equilibrium condition.
tics se
Example 2.13 Fig. 2.24 shows E2.13
Winch K
a freight elevator. The ca-
2 , Sta japak
ble of the winch passes over
1111111
0000000
0000000
1111111
a smooth pin K. A crate 1
(weight W ) is suspended at
0000000
1111111α 2
the end of the cable.
0000000
1111111
Determine the magnitude 0000000
1111111
0000000
1111111
r 2 ics 1 ll, Ra
W
0000000
1111111
of forces S1 and S2 in bars 1
0000000
1111111
and 2. β
0000000
1111111
Fig. 2.24
rin han Wa
Solution We isolate pin K by passing ima-
ginary sections through the bars and the ca-
ble. The internal forces are made visible in
Sp ec er,
the free-body diagram; they are assumed to S K
01
be tensile forces. The equilibrium condition
g M hröd
β
at the crate is given by α
S1
↑: S−W =0 → S=W S2
S
ge
and the equilibrium conditions at the pin

ee , Sc
S
are
←: S + S1 sin α + S2 sin β = 0 ,
gin er
↓: S + S1 cos α + S2 cos β = 0 .
rin
En aug
Solving for S1 and S2 yields W
sin β − cos β cos α − sin α

S1 = W, S2 = W.
sin(α − β) sin(α − β)
H
If one of the bars forms the angle 45◦ with the vertical, then the
s,
other bar has a vanishing internal force (zero-force member).

os
Gr
tics se
E2.14 Example 2.14 A smooth circular cy-
linder (weight W , radius r) touches W
111
000
2 , Sta japak
an obstacle (height h) as shown in F
000
111100
r
Fig. 2.25.
Find the magnitude of force F ne- 000
111
α 1
00000000
11111111
00000000
11111111
cessary to roll the cylinder over the
obstacle.
00000000
11111111
h
00000000
11111111
11111111
00000000
00000000
11111111
10
r 2 ics 1 ll, Ra
Fig. 2.25
Solution We isolate the cylinder from the base and the obstacle.
The free-body diagram shows the forces acting at the cylinder.
The four forces F , W , N1 and N2 are concurrent forces. Thus, the
rin han Wa
equilibrium conditions are
→: N2 sin α − F = 0 ,
F
Sp ec er,
↑: N1 + N2 cos α − W = 0 .
01
N2 α W
g M hröd
We obtain the angle α from the geometry

of the problem: N1
r−h
cos α = .
ge
r
ee , Sc
r
The two equilibrium conditions contain r−h
α
three unknowns: h
gin er
N1 , N2 and F .
rin
En aug
The force that causes the cylinder to roll over the obstacle also
causes the cylinder to lift off the base. Then the contact force N1
vanishes. This leads to
H
W
N1 = 0 → N2 =
cos α
s,
and
os
F = N2 sin α = W tan α .
Gr
tics se
Example 2.15 A large cylinder E2.15
(weight 4W , radius 2r) lies on top
2 , Sta japak
of two small cylinders (each having 4W 2r
weight W and radius r) as shown
in Fig. 2.26. The small cylinders are
r
connected by a wire S (length 3r).
S W W
111111111
000000000
111111111
000000000
All surfaces are smooth.
000000000
111111111
r 2 ics 1 ll, Ra
Determine all contact forces and 000000000
111111111
3r
the magnitude of force S in the wire.
Fig. 2.26
Solution We isolate the three cylinders and introduce the contact
rin han Wa
forces in the free-body diagram.
The forces acting at each cylin- 4W
der are concurrent forces. Due to ①
the symmetry of the problem we
Sp ec er,
have only one equilibrium conditi-
01
on at the large cylinder and two N1 α N1
g M hröd
equilibrium conditions for one of ②

W N1 N1 W
the small cylinders. These are three
equations for the three unknown
S S
ge
forces N1 , N2 and S:
ee , Sc
① ↑: 2N1 cos α − 4W = 0 , N2 N2
② →: S − N1 sin α = 0 ,
gin er
rin
3r 3r
↑: N2 − N1 cos α − W = 0 .
En aug
α
The angle α follows from the geo-
metry of the problem: 3r
√ √
H
3r/2 1 ◦ 3 3
sin α = = → α = 30 , cos α = , tan α = .
3r 2 2 3
s,
This yields
os
√ √
4 3 2 3
N1 = W, N2 = 3W , S= W.
Gr
3 3
Note that we could have determined the contact force N2 from an
equilibrium condition for the complete system:
↑: 2N2 − 2W − 4W = 0 → N2 = 3W .
11
00
1
0 00
11
tics se
E2.16 Example 2.16 A cable (length l,
weight negligible) is attached to
0
1 00
11
00
11
0
1
B
2 , Sta japak
two walls at A and B (Fig. 2.27).
A cube (weight W ) on a frictionless
b
0
1 A
00
11
00
11
pulley (radius negligible) is suspen- 0
1
0
1 00
11
ded by the cable.
0
1 00
11
00
11
0
1
W
Find the distance d of the cube
r 2 ics 1 ll, Ra
from the left side in the equilibrium d
position and calculate the force S a
in the cable. Fig. 2.27
rin han Wa
Solution First we introduce the auxiliary quantities α, β, l1 and
l2 where l1 + l2 = l. Then we isolate the pulley by cutting the
cable and write down the equilibrium conditions:
B
Sp ec er,
S S b A
01
α β
g M hröd
l1 α α l2
W d
a
ge
ee , Sc
→: −S sin α + S sin β = 0 → α =β,

W
↑: S cos α + S cos β − W = 0 → S= .
2 cos α
gin er
rin
The angle α follows from the geometry of the problem:

En aug
a 2
a
sin α = , cos α = 1 − .
l l
H
The distance d can be calculated from the following geometrical

relations:
s,
d = l1 sin α, a = l1 sin α + l2 sin α, b = −l1 cos α + l2 cos α.

os
Solving for d yields

Gr
a b
d= 1− √ .
2 l 2 − a2
Note: the angle α and thus the force S in the cable are independent
of b.
tics se
Example 2.17 A smooth circular cy- E2.17
linder (weight W = 500 N) rests F
2 , Sta japak
on two fixed supports as shown in
30◦
Fig. 2.28. It is subjected to a force
F = 200 N.
01W
a) Calculate the contact forces.
0060
11
◦
b) Determine the allowable mag- 45◦
r 2 ics 1 ll, Ra
nitude of F in order to avoid the cy-
linder from lifting off. Fig. 2.28
Solution a) We isolate the cylinder and introduce the contact
rin han Wa
forces Nl and Nr in the free-body diagram.
F
11
00
Sp ec er,
30◦
01
g M hröd
Nl 45◦ W11
00
00 N
11
60◦ r
ge
ee , Sc
These forces are perpendicular to the smooth surface of the cy-

linder. Thus, Nl , Nr , W and F are a system of concurrent forces.
They satisfy the equilibrium conditions
gin er
→: Nl cos 45◦ − Nr cos 60◦ + F cos 30◦ = 0 ,

rin
En aug
↑: Nl sin 45◦ + Nr sin 60◦ − F sin 30◦ − W = 0 .

Solving for√Nl , Nr yields with sin 30◦ =√cos 60◦ = 1/2, sin 45◦ =
cos 45◦ = 2/2 and sin 60◦ = cos 30◦ = 3/2 the contact forces
H
√
2 2
√ (W − F ) = 155 N, Nr = F + √ W = 566 N.
s,
Nl =
1+ 3 1+ 3
os
b) Lift-off takes place at the left support when Nl = 0, i.e. for

F ≥ W . Therefore, the allowable F to avoid lift-off is given by
Gr
Fallow ≤ 500 N .
tics se
E2.18 Example 2.18 Two cylinders (weights W1 and W2 ) are pin-con-
nected by a bar (weight negligi-
W1
2 , Sta japak
ble). They rest on two smooth in-
clined planes as shown in Fig. 2.29. S
W2
Given: W1 = 200 N, W2 = 300 N,
α = 60◦ . ϕ
Calculate the angle ϕ in the α
r 2 ics 1 ll, Ra
equilibrium position and the cor-
responding force S in the bar. Fig. 2.29
Solution We isolate the cylinders and introduce the contact forces
rin han Wa
N1 , N2 as well as the force S in the bar in the free-body diagram.
The forces at each cylinder form a system of concurrent forces.
①
Sp ec er,
S
S ②
α
01
N1
g M hröd
W1 N2 ϕ
α W2
ge
The equilibrium conditions are given by

ee , Sc
① →: S cos ϕ − N1 sin α = 0 ,
↑: −S sin ϕ + N1 cos α − W1 = 0 ,
gin er
rin
② →: −S cos ϕ + N2 cos α = 0 ,
En aug
↑: S sin ϕ + N2 sin α − W2 = 0 .
√
Eliminating N1 and N2 yields with sin α = 3/2 and cos α = 1/2
the following two equations
H
cos ϕ √
S − sin ϕ + √ = W1 , S sin ϕ + 3 cos ϕ = W2
s,
3
os
which have the solution
ϕ = −19◦ , S = 229 N .
Gr
Note that the angle ϕ is negative, i.e., as opposed to Fig. 2.29, in

equilibrium cylinder ① is below cylinder ②.
tics se
Example 2.19 A spatial system of concurrent forces consists of the E2.19
three forces⎛ ⎞ ⎛ ⎞ ⎛ ⎞
−9
2 , Sta japak
1 8
⎜ ⎟ ⎜ ⎟ ⎜ ⎟
F 1 = a1 ⎝2⎠ , F 2 = a2 ⎝ 6 ⎠ , F 3 = a3 ⎝−7⎠ .
0 9 1
⎛ ⎞
30
⎜ ⎟
r 2 ics 1 ll, Ra
Their resultant is given by R = ⎝−28⎠ kN .
44
Determine the unknown constants a1 , a2 , a3 , the magnitudes
of the forces F 1 , F 2 , F 3 and the angle α between F 2 and F 3 .
rin han Wa
Solution The coordinates of the resultant are given by
Rx = F1x + F2x + F3x → 30 kN = a1 − 9a2 + 8a3 ,

Sp ec er,
Ry = F1y + F2y + F3y → −28 kN = 2a1 + 6a2 − 7a3 ,
01
Rz = F1z + F2z + F3z → 44 kN = 9a2 + a3 .
g M hröd
From this system of three equations the unknown constants are

calculated as
ge
ee , Sc
a1 = 2 kN , a2 = 4 kN , a3 = 8 kN .
With the constants ai , the magnitudes of the forces can be deter-

mined:
gin er
√
rin
F1 = F1x 2 + F2 + F2 = a
1y 1z 1 1 + 4 = 4.5 kN ,
En aug
√
F2 = F2x 2 + F2 + F2 = a
2y 2z 2 81 + 36 + 81 = 56.3 kN ,
√
F3 = F3x 2 + F2 + F2 = a
3y 3z 3 64 + 49 + 1 = 85.4 kN .
H
The angle α between F 2 and F 3 is calculated using the definition

s,
of the dot product:

os
F2 · F3
F 2 · F 3 = F2 F3 cos α → cos α = →
F2 F3
Gr
a2 a3 (−72 − 42 + 9)
cos α = = −0.699 → α = 134◦ .
F2 F3
tics se
E2.20 Example 2.20 A smooth sphere
(weight W , radius R) rests on three R z
x F
2 , Sta japak
points A, B and C. These three W
points form an equilateral triangle 11111111
00000000
00000000
11111111
C A R/2
00000000
11111111
in a horizontal plane. The√ height 00000000
11111111
00000000
11111111
of the triangle is 3a = 34 3 R (see 11111111
00000000
Fig. 2.30). The action line of the 2a a
r 2 ics 1 ll, Ra
applied force F passes through the Fig. 2.30
center of the sphere.
Determine the contact forces at A, B and C. Find the force F
required to lift the sphere off at C.
rin han Wa
Solution The contact forces A, B and C are perpendicular to the
smooth surface of the sphere. Thus, these forces and W and F are
Sp ec er,
a spatial system of concurrent forces. They satisfy the equilibrium
condition
01
g M hröd
A + B + C + W + F = 0.
We now use the coordinate system y B

shown in Fig. 2.30 with its origin at
ge
ee , Sc
the center of the sphere. In order to ob-

x
tain the force vectors we first write down C
their direction vectors with the aid of b
gin er
the coordinates of the points of contact.

rin
To this end we introduce the length b A

En aug
which follows from the geometry: 2a a

√
(2b)2 = b2 + (3a)2 → b = 3 a .
H
Then, for example, the unit vector in the direction from A to the
s,
origin of the coordinate system is obtained as

⎛ ⎞ ⎛ √ ⎞
os
−a − 3
1 ⎜ √ ⎟ 1⎜ ⎟
eA = ⎜ 3a ⎠ = ⎝ 3 ⎟
⎟ ⎜
⎝ √ 4 ⎠.
Gr
a 1 + 3 + 4/3
2a/ 3 2
Hence, the force vector A (oriented towards the interior of the
tics se
sphere) is given by
⎛ √ ⎞
2 , Sta japak
− 3
A⎜ ⎟
A= ⎜ ⎝ 3 ⎟⎠.
4
2
r 2 ics 1 ll, Ra
Similarly, the other force vectors are found to be
⎛ √ ⎞ ⎛ √ ⎞ ⎛ ⎞ ⎛ ⎞
− 3 2 3 F 0
B⎜ ⎜
⎟ C⎜ ⎟ ⎜ ⎟ ⎜ ⎟
B= −3 ⎠, C = ⎝ 0 ⎠, F = ⎝ 0 ⎟
⎟ ⎜ ⎟ ⎜
⎠, W =⎜ ⎟
⎝ 0 ⎠.
4 ⎝ 4
2 2 0 −W
rin han Wa
Introduction into the vector equilibrium condition leads to the
three equations
√ √ √
Sp ec er,
− 3A − 3B + 2 3C = −4F ,
01
3A − 3B = 0 ,
g M hröd
2A + 2B + 2C = 4W
from which we can calculate the contact forces:

2 1 2 2
ge
ee , Sc
A=B= W+√ F , C= W−√ F .

3 3 3 3
When the sphere lifts off at point C, the corresponding contact

gin er
force vanishes: C = 0. This yields the force which is necessary for

rin
the lift-off:
En aug
√
2 3
W −√ F =0 → F = W.
3 2
H
Note that this force may also be determined from the moment
equilibrium condition about the axis passing through the points
s,
A and B:

os
R
M (AB) = 0 : aW − F = 0 .
2
Gr
Thus, we obtain again

√
2a 3
F = W = W.
R 2
tics se
E2.21 Example 2.21 The construction shown in Fig. 2.31 consists of three
bars that are pin-
a
2 , Sta japak
connected at K. A 6a
2a
rope attached to a 2a
wall is guided without
friction through an 2
eye at K. The free 1 K
r 2 ics 1 ll, Ra
end of the rope is 3 4a
loaded with a crate 3a
(weight W ).
Calculate the
rin han Wa
forces in the bars. W
Fig. 2.31
Sp ec er,
Solution We isolate
01
pin K by passing
z
g M hröd
imaginary sections
through the bars
and the rope. The y
S2
internal forces are
ge
x K
ee , Sc
made visible in the S1

W
free-body diagram; S3
they are assumed to
gin er
be tensile forces. The W

rin
equilibrium condition
En aug
is given by
S1 + S2 + S3 + F = 0 ,
H
where
⎛ ⎞ ⎛ ⎞ ⎛ ⎞
s,
1 −1 0
S1 ⎜ ⎟ S2 ⎜ ⎟ S3 ⎜ ⎟
S1 = √ ⎜ −3⎟, S 2 = √ ⎝−3⎟
⎜ S3 = √ ⎜ −2⎟
os
10 ⎝ ⎠ 10 ⎠, 5⎝ ⎠
0 0 −1
Gr
tics se
and
⎛ ⎞
⎛ ⎞
0 −3
⎜ ⎟ W ⎜ ⎟
2 , Sta japak
⎜ ⎟
F =W ⎝ 0 ⎠+ ⎜ 0 ⎟.
5 ⎝ ⎠
−1 −4
In coordinates, equilibrium thus requires
r 2 ics 1 ll, Ra
1 1 3
√ S1 − √ S2 − W = 0 ,
10 10 5
3 3 2
− √ S1 − √ S2 − √ S3 = 0 ,
10 10 5
1 9
rin han Wa
− √ S3 − W = 0 .
5 5
Solving yields
Sp ec er,
9 3 9
S1 = √ W , S2 = √ W , S3 = − √ W .
01
10 10 5
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
Gr
os
s,
H
En aug
gin er
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
Gr
os
s,
H
En aug Chapter 3
gin er
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
General Systems of Forces,
Equilibrium of a Rigid Body
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
3
18 3 General Systems of Forces, Equilibrium of a Rigid Body
tics se
E3.11 Example 3.11 A uniform pole
(length l, weight W ) leans against
2 , Sta japak
11111111
00000000
a corner as shown in Fig. 3.28. A W
rope S prevents the pole from sli-
ding. All surfaces are smooth. 00000000
11111111
l
00000000
11111111
Determine the force S in the
rope.
00000000
11111111
00000000
11111111
α
h
00000000
11111111
r 2 ics 1 ll, Ra
S
00000000
11111111 Fig. 3.28
Solution We isolate the pole by cutting
rin han Wa
the rope and removing the wall and the
ground. The contact forces N1 and N2 in N2
the free-body diagram are perpendicular
Sp ec er,
to the respective planes of contact. h/ sin α
01
The forces acting at the pole must satis-
W
g M hröd
fy the equilibrium conditions. The force

S in the rope can be determined from α
A S
the two equations l cos α/2
N1
ge
ee , Sc
Wl h
A: − cos α + N2 = 0
2 sin α
Wl
→ N2 = sin α cos α ,
gin er
2h
rin
Wl
→: S − N2 sin α = 0 → sin2 α cos α .
En aug
S=
2h
Note that this solution is valid only if the contact force N1 is posi-
tive. This condition can be checked with the aid of the equilibrium
H
condition of the forces in the vertical direction.

s,
os
Gr
3 General Systems of Forces, Equilibrium of a Rigid Body 19
tics se
Example 3.12 A uniform E3.12
beam (length l, weight W ) 11111
00000
00000
11111
00000
11111
2 , Sta japak
is inserted into an opening
00000
11111
00000
11111
(Fig. 3.29). The surfaces are 30◦
00000
11111
smooth. 00000
11111
00000
11111 a
00000
11111
Calculate the magnitude of 00000
11111
00000
11111
the force F required to hold 00000 l, W
11111
r 2 ics 1 ll, Ra
the beam in equilibrium. Is F
the result valid for an arbitra- Fig. 3.29
ry ratio a/l?
rin han Wa
Solution We isolate the beam N1
and sketch the free-body dia-
l−a
gram. The contact forces N1 A
Sp ec er,
and N2 are perpendicular to
l sin 30◦
01
the respective planes of con-
N2
g M hröd
tact.
The equilibrium conditions W 30◦
F
are l cos 30◦ /2
ge
ee , Sc
→: N2 sin 30◦ − F = 0 ,
↓: N1 − N2 cos 30◦ + W = 0 ,
l ◦ ◦
A : N2 (l − a) − W cos 30 − F l sin 30 = 0 .
gin er
2
rin
En aug
Solving for the unknown forces yields

√
3 8a/l − 3
F = W, N1 = W, N2 = 2 F .
6 − 8a/l 6 − 8a/l
H
The solution is valid only if N1 > 0 and N2 > 0. This leads to the
s,
condition 3/8 < a/l < 3/4.

os
Gr
tics se
E3.13 Example 3.13 Two smooth rollers (each
having weight W and radius r) are
2 , Sta japak
connected by a rope (length a) as shown l
in Fig. 3.30. A lever (length l) subjected
to a vertical force F exerts contact forces F
on the rollers.
Determine the contact forces between
11111111
00000000
W W
r 2 ics 1 ll, Ra
the rollers and the horizontal plane. 00000000
11111111
00000000
11111111
a
Fig. 3.30
Solution We separate the rollers and the lever and draw the free-
rin han Wa
body diagrams.
① D2 ② ③
Sp ec er, F
S S
W W x D1
01
D1 D2
111
000
α
g M hröd
N1 N2 H
O
a cos α
N3
The equilibrium conditions for the three bodies are represented

ge
ee , Sc
by 2 × 2 + 1 × 3 = 7 equations for the 7 unknown forces (D1 , D2 ,

N1 , N2 , N3 , H and S):
①→: S − D1 sin α = 0 , ↑: N1 − W + D1 cos α = 0 ,

gin er
rin
②→: D2 sin α − S = 0 , ↑: N2 − W − D2 cos α = 0 ,

En aug
③→: H + D1 sin α − D2 sin α = 0 ,
↑ : N3 − D1 cos α + D2 cos α − F = 0 ,
H

O : l cos α F − (a cos α + x)D2 + xD1 = 0 .
s,
The angle α follows from the geometry of the problem:

os
r
0000
1111
a/2
sin α = , r
a/2 α
Gr

cos α = 1 − 4(r/a)2 .
1111
0000
r a/2
Addition of the 1st and the 3rd equation yields D = D . Thus, 1 2

H = 0 and N3 = F . Then the unknown distance x cancels in the
7th equation and we finally obtain

l r 2 l r
N1 = W − F 1 − 4( ) , N2 = W + F 1 − 4( )2 .
a a a a
tics se
Example 3.14 Two smooth spheres (each R E3.14
having weight W and radius r) rest in
Q
2 , Sta japak
a thin-walled circular cylinder (weight Q, W
radius R = 4r/3) as shown in Fig. 3.31.
Find the magnitude of Q required to
α W
prevent the cylinder from falling over. r
1111111
0000000
0000000
1111111
r 2 ics 1 ll, Ra
Fig. 3.31
Solution We separate the spheres and the cylinder and we draw

the free-body diagrams at the moment when the right-hand side
of the cylinder lifts off from the ground. Then the cylinder touches
rin han Wa
the ground only at point C. The corresponding contact force is
denoted by N5 . (Note that the contact force between the cylinder
and the ground is distributed over the whole circumference of the
Sp ec er,
cylinder before the lift-off).
01
① ③
g M hröd
N1 N1
N2
W ②
Q 2 r sin α
N4
N2
ge
ee , Sc
W N4
C
N3 N5
gin er
rin
The equilibrium conditions at the sphere and the cylinder are

En aug
① ↑: N2 sin α − W = 0 , ② ↑: N3 − N2 sin α − W = 0 ,
→: N1 − N2 cos α = 0 , →: N2 cos α − N4 = 0 ,
H
③→: N4 − N1 = 0 , ↑: N5 − Q = 0 ,

s,
C : (r + 2r sin α)N1 − rN4 − R Q = 0 .

os
They lead to
W W 3
Gr
N1 = N4 = , N2 = , N3 = 2W, Q = N5 = W cos α.
tan α sin α 2
With the geometrical relation
cos α = (R − r)/r = 1/3
we obtain the force that causes the cylinder to fall over:
Q = W/2 .
Thus, falling over is prevented if
Q > W/2 .
A rigid body is subjected to three forces: F 1 =
tics se
E3.15 Example 3.15
F (−2, 3, 1) , F 2 = F (7, 1, −4)T , F 3 = F (3, −1, −3)T . Their points
T
of application are given by the position vectors r 1 = a(4, 3, 2)T ,
2 , Sta japak
r 2 = a(3, 2, 4)T , r3 = a(3, 5, 0)T .
Determine the resultant force R and the resultant moment
(A)
M R with respect to point A given by r A = a(3, 2, 1)T .
r 2 ics 1 ll, Ra
Solution The components of the resultant force vector are obtai-
ned as the sum of the given force components:

rin han Wa
Rx = Fix = (−2 + 7 + 3)F = 8F ,

Ry = Fiy = (3 + 1 − 1)F = 3F ,

Rz = Fiz = (1 − 4 − 3)F = −6F .
Sp ec er,
01
Hence, the resultant can be written as the row vector
g M hröd
R = (Rx , Ry , Rz )T = F (8, 3, −6)T .
To determine the resultant moment about point A, we first

ge
write down the vectors r i − rA (i = 1, 2, 3) from point A to the

ee , Sc
points of application of the forces Fi . For example,
r 1 − r A = a(1, 1, 1)T .
gin er
rin
The moment of force F1 about point A is obtained from

En aug
(A) (A)
M1 = (r 1 − r A ) × F 1 → M1 = aF (−2, −3, 5)T .
Similarly, we find
H
(A) (A)
M2 = aF (−3, 21, 0)T M3 = aF (−10, −3, −9)T .
s,
(A) (A)
The moment vector M R is the sum of the vectors M i :
os
(A)
(A) (A)
MR = Mi → M R = aF (−15, 15, −4)T .
Gr
tics se
Example 3.16 A plate in E3.16
a
the form of a rectangular Q
a
2 , Sta japak
triangle (weight negligible)
F
is supported by six bars. It 5
4
is subjected to the forces F 6
and Q (Fig. 3.32).
a 1
Calculate the forces in 2 3
r 2 ics 1 ll, Ra
the bars.
a
Fig. 3.32
rin han Wa
Solution First we sketch the free-body diagram and choose a coor-
dinate system. y
Q
F
S5
Sp ec er,
z S4
S6 α
01
0
g M hröd
S1 S2
x
45◦ S3
ge
ee , Sc
Then we write down the equilibrium conditions (since the geome-

try of the problem is very simple, we do not resort to the vector
formalism):
gin er
√ √
rin
2 2
Fx = 0 : S2 + S5 + F = 0,
En aug
2 2
Fy = 0 : S6 cos α = 0,
√ √
2 2
Fz = 0 : −S1 − S2 − S3 − S6 sin α − S4 − S5 − Q = 0,
√2
H
2
(0) 2
Mx = 0 : −2aS4 − 2a S5 − a Q = 0,
2
s,
(0) a
My = 0 : a S3 + Q = 0,
√ 2
os
(0) 2
Mz = 0 : −2a S5 − aF = 0.
2
Gr
Solving this system of equations for the forces in the bars yields
√
F 2 Q
S1 = , S2 = − F, S3 = − ,
2 2 2
√
1 2
S4 = (F − Q) , S5 = − F, S6 = 0 .
2 2
tics se
E3.17 Example 3.17 A homoge-
3a 2a2a 2a
neous rectangular plate 3a 2a
3a F
2 , Sta japak
(weight W ) is supported 3a
by six bars. The plate W
is subjected to a vertical 6
load F (Fig. 3.33). 3 5 4 6a
B
Calculate the forces in 1
C
r 2 ics 1 ll, Ra
2
the bars.
A
Fig. 3.33
Solution We draw the free-body diagram and choose a coordinate
rin han Wa
system. 0
F D x
Sp ec er,
y S5 S6
S3 S4
01
S1 W B
g M hröd
C
S2 z
A
ge
From the geometry of the problem we obtain the relations

ee , Sc
S1x S1z S1 S3y S3 S1x 4a

= = , = , = .
S2x S2z S2 S4y S4 S1z 6a
gin er
The forces in the bars follow from the equilibrium conditions:

rin

En aug
Fx = 0 : S1x − S2x = 0 → S1 = S 2 ,

Fy = 0 : S3y + S4y = 0 → S3 = −S4 ,
(B)
Mx =0:
H
√
12aS1z + 12aS2z + 6aW + 9aF = 0 → S2 = − 13(2W + 3F )/24,
(0)
s,
Mz = 0 :
−12aS1x + 12aS2x − 8aS4y = 0 → S4 = 0,
os
(0)
My = 0 :
Gr
−8aS2z − 8aS6 − 4aW − 6aF = 0 → S6 = −(2W + 3F )/8,

(D)
My = 0 :
8aS1z + 8aS5 + 4aW + 2aF = 0 → S5 = −(2W − F )/8.
Bar 5 is under compression for F < 2W and it is under tension

for F > 2W .
tics se
Example 3.18 A rectangular plate of negligible weight is suspended E3.18
by three vertical wires as shown in Fig. 3.34.
2 , Sta japak
a) Assume that the pla-
te is subjected to a con-
centrated vertical force Q. 1
Determine the location of a 3 y
2a
the point of application of
r 2 ics 1 ll, Ra
Q so that the forces in the 2
wires are equal. 4a
b) Calculate the forces a
in the wires if the plate 4a
x
rin han Wa
is subjected to a vertical
constant area load p. Fig. 3.34
Sp ec er,
Solution a) We introduce a coordinate system. The unknown
01
coordinates of the point of application of the force Q are denoted
g M hröd
by xQ and yQ .
a) z b) z p
S 0 S S2 0
y y
ge
Q
ee , Sc
xQ F
3a S3
S yQ S1
2a
gin er
rin
x x
En aug
If the forces in the wires are equal (Si = S, i = 1, 2, 3), the

equilibrium conditions (parallel forces) are

H
Fz = 0 : 3S − Q = 0 ,
(0)
Mx =0 : 2 aS − yQ Q = 0 ,
s,
(0)
My = 0 : −5 aS − a S − 2aS + xQ Q = 0 .
os
This yields
Gr
Q 4 8
S= , yQ = a, xQ = a.
3 3 3
tics se
b) Now the plate is subjected to a constant area load p which
can be replaced by the resultant force F = 4 · 6a2 p = 24pa2 . The
2 , Sta japak
forces in the wires are denoted by S1 , S2 and S3 . The equilibrium
conditions

Fz = 0 : S1 + S2 + S3 − 24 pa2 = 0 ,
(0)
Mx = 0 : 2 a 24 pa2 − 4 aS3 = 0 ,
r 2 ics 1 ll, Ra
(0)
My = 0 : 3 a 24 pa2 − 5 aS2 − aS1 − 2 aS3 = 0
now lead to
S3 = 12 pa2 , S1 = 3 pa2 , S2 = 9 pa2 .
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
Example 3.19 The circular E3.19
arch in Fig. 3.35 is subjec-
2 , Sta japak
ted to a uniform tangential
A
line load q0 .
◦
Determine the resultant 60
force R and the resul- 60◦
(A)
tant moment M R with r y
r 2 ics 1 ll, Ra
respect to the center A of q0
the circle. If the load is re-
Fig. 3.35
x
duced to a single force alo-
ne, find the corresponding
rin han Wa
line of action.
Solution First we introduce the angle ϕ. Then we consider an

element of the line load that is located at ϕ. The x-component
Sp ec er,
of the infinitesimal force dR satisfies the relation dRx (−ϕ) =
01
−dRx (ϕ); the y-component is given by dRy = q0 cos ϕ rdϕ.
g M hröd
A A
R
x (A)
MR
ge
ee , Sc
ϕ y
y r
rdϕ
b = 1.21 r
x dR B
gin er
R
rin
En aug
Integration yields the components of the resultant force:

◦ ◦ ◦
60 60 60 √
H
Rx = dRx = 0 , Ry = dRy = 2q0 r cos ϕdϕ = 3 q0 r .

−60◦ −60◦ 0
s,
The moment of the line load with respect to point A is obtained

os
as
(A) 2π 2π
Gr
A : MR = q0 r·r = q0 r2 .
3 3
tics se
Thus, the given line load is statically equivalent to

2 , Sta japak
0 (A) 2π
R= √ , MR = q0 r2 .
3 q0 r 3
This system is equivalent to the force R alone, if we choose a point

B of its line of action according to the condition (see figure)
r 2 ics 1 ll, Ra
(A)
(A) MR 2π r
B: M (B) = MR −Ry b = 0 → b= = √ = 1.21 r .
Ry 3 3
Thus,
rin han Wa

0
R= √ , xB = 1.21 r , yB arbitrary .
3 q0 r
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
1
0
tics se
Example 3.20 A sphere E3.20
0
1 B
(weight WS ) is held between 0
1
0
1
0
1 000
111
2 , Sta japak
a beam (weight WB ) and a 0
1
0
1 WB 000
111
wall as shown in Fig. 3.36. 0
1 00000000
11111111 000
111
0
1 00000000
11111111
00000000
11111111
The surface of the sphere is 0
1
0
1WS 11111111
00000000
smooth. The beam is sup- 0
1 00000000
11111111
00000000
11111111
0
1
0 11111111
1 00000000
ported by a hinge at A and 0
1 00000000
11111111
0
1
00000000
11111111
l
0
1
r 2 ics 1 ll, Ra
a rope at B. 0
1 000
111 0
1
00000000
11111111
0
1 00000000
11111111
α111
000
00000000
11111111
Calculate the force S in A1
0 000
111
b
00000000
11111111
000
111
0
1
011
100 00000000
11111111
000
111
the rope. 00
11 00000000
11111111
000
111
00000000
11111111
00
11
Fig. 3.36
rin han Wa
Solution We isolate the sphere and the bar and sketch the free-
body diagram. Since the surface of the sphere is smooth, the con-
Sp ec er,
tact forces N1 and N2 are perpendicular to the beam and the wall,
respectively.
01
① S
1
0
11
00
g M hröd
N2 00
11
00
11 00
11
00
11
00
11
00
11 ② 00
11
α
00
11 00
11
N1 00
11
00
11
l11
00
WS
00
11
ge
sin α
ee , Sc
N1 00
11
00
11
00
11 W 00
11
00
11
111
00000 B
11 00
11
A 000
111
000
111 00
11
AH
0
1 000
111b 00
11
gin er
0
1 000
111
0
1
rin
AV 1111
0000
0000
1111 00
11
00
11
En aug
l cos α/2
The equilibrium conditions at the sphere and the bar are
H
①→: N2 − N1 sin α = 0 , ↑: N1 cos α − WS = 0 ,

s,
②→: AH + N1 sin α − S = 0 ,
↑: AV − N1 cos α − WB = 0 ,
os

A: b N1 + l cos α/2 WB − l sin α S = 0 .
Gr
These are 5 equations for the 5 unknowns N1 , N2 , AV , AH and

S. Solving for S yields
WB b WS
S= cot α + .
2 l sin α cos α
Gr
os
s,
H
En aug
gin er
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
Gr
os
s,
H
En aug Chapter 4
gin er
Centroids
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
r 2 ics 1 ll, Ra
01
2 , Sta japak
Center of Gravity, Center of Mass,
tics se
4
32 4 Center of Gravity, Center of Mass, Centroids
tics se
E4.9 Example 4.9 Locate the centroids of the profiles as shown in
Fig. 4.16. The measurements are given in mm.
2 , Sta japak
15 15
8 8
5 5
32
20 y
r 2 ics 1 ll, Ra
y
4 4
x x
45 45
a b
Fig. 4.16
rin han Wa
Solution a) The y-axis coincides with the axis of symmetry. The-
refore, xc = 0. In order to calculate yc , we consider the area to be
Sp ec er,
a) y b)
y
01
g M hröd
ge
ee , Sc
x x
composed of three rectangles with known centroids. Then we ob-
tain

gin er
yi Ai 2 (4 · 45) + 14(5 · 20) + 28 (8 · 15) 5120

rin
yc = = =
Ai 4 · 45 + 5 · 20 + 8 · 15 400
En aug
= 12.8 mm .
b) We again consider the area to be composed of three rectangles:

H
22.5 (4 · 45) + 2.5 (5 · 20) + 7.5 (8 · 15) 5200

xc = = = 13 mm ,
s,
4 · 45 + 5 · 20 + 8 · 15 400
os
2 (4 · 45) + 14 (5 · 20) + 28 (8 · 15)

yc = = 12.8 mm .
400
Gr
Note that a displacement of the areas in the x-direction does not

change the y-coordinate of the centroid.
4 Center of Gravity, Center of Mass, Centroids 33
tics se
Example 4.10 Locate the centroids of the thin-walled profiles E4.10
(t a) as shown in Fig. 4.17.
y
2 , Sta japak
t
y
t
a
a
r 2 ics 1 ll, Ra
x a
a a
x
a b a a
Fig. 4.17
Solution Since t a and constant along the profile, we can apply
rin han Wa
the equations for the centroid of a line. We consider the profile to
be composed of three parts with known centroids.
y
Sp ec er,
y ③
01
C3
g M hröd
①
C ③
C1 C3 C
x ① C1 ①
② C2
ge
ee , Sc
② C2 x
a b
a) Individual profile parts:

gin er
①: x1 = 0 , y1 = a/2 , l1 = a ,
rin
②: x2 = a/2 , y2 = 0 ,
l2 = a ,
En aug
√
③: x3 = 3a/2 , y3 = a/2 , l3 = 2 a .
Centroid of the profile:
H

xi li √ yi li √
xc = = (5 2/4 − 1)a , yc = = 2 a/4 .
li li
s,
b) Individual profile parts:

os
①: x1 = 0 , y1 = a/2 , l1 = 2a ,
Gr
②: x2 = 0 , y2 = 0 , l2 = 2a ,
③: x3 = 0 , y3 = a + 2a/π , l3 = π a .
Centroid of the profile:

yi li 3+π
xc = 0 (symmetry!) , yc = = a.
li 4+π
tics se
E4.11 Example 4.11 Determine the y
coordinates of the centroid a 3a
2 , Sta japak
C of the number shown in
a
Fig. 4.18.
4a
r 2 ics 1 ll, Ra
3a
2a
Fig. 4.18
x
rin han Wa
Solution We consider the area as a y
composite area which consists of fi- ①
C1
ve parts. Since the region ④ (se- ②
Sp ec er,
micircle) is void of material, this
C2
01
part has to be considered to be a
C
g M hröd
“ negative ” area. It is practical to

④ C3
perform the calculation in a table:
C4
③
⑤
ge
ee , Sc
C5 x
i xi /a yi /a Ai /a2 xi Ai /a3 yi Ai /a3

gin er
rin
1 2.5 8.5 3 7.5 25.5

En aug
2 0.5 7 4 2 28
4 9 9 27
3 +1 3 π 18 + π π
H
π 2 2 2
8 16
4 +1 3 −2π − − 2π −6π
3π 3
s,
5 0.5 0.5 1 0.5 0.5

os
5 68 5 15
8+ π + π 54 + π
Gr
2 3 2 2
This leads to the results

xi Ai yi Ai
xc = = 1.93 a , yc = = = 4.89 a .
Ai Ai
tics se
Example 4.12 A circular area is removed from a circle and an E4.12
ellipse, respectively (Fig. 4.19).
2 , Sta japak
Locate the centroids of the remaining areas.
y
y
r1
r2 a b
r 2 ics 1 ll, Ra
x x
b
r1
a b 3
Fig. 4.19 2
rin han Wa
Solution We consider each of the remaining areas to be composed
of the two parts ① and ②. Since the regions of the small circles are
void of material, the corresponding areas have to be subtracted
Sp ec er,
from the large circle and the ellipse, respectively.
01
y
g M hröd
y
①
①
C1 CC
1
ge
ee , Sc
C x x
C2 ② ②
a b C2
gin er
a) Individual areas:
rin
En aug
①: x1 = 0 , y1 = 0 , A1 = π r12 ,
②: x2 = r1 /2 , y2 = 0 , A2 = −π r22 .
H
Centroid of the remaining area:

xi Ai r1 r2
=− 2 2 2 ,
s,
xc = yc = 0 (symmetry!) .
Ai 2(r1 − r2 )
os
b) Individual areas:
Gr
①: x1 = 0 , y1 = 0 , A1 = π ab ,
②: x2 = b/3 , y2 = −b/3 , A2 = −π b2 /9 .
Centroid of the remaining area:

xi Ai b2
xc = =− , yc = −xc .
Ai 3(9a − b)
Note that the centroid of each of the remaining areas lies on the
straight line which connects the individual centroids.
tics se
E4.13 Example 4.13 A thin metal
z 2
sheet of even thickness is
2 , Sta japak
bent into the shape shown
II 3
in Fig. 4.20. It consists of a
square and two triangles. The 3 III y
measurements are given in I
4
cm.
r 2 ics 1 ll, Ra
x 4
Determine the centroid. Fig. 4.20
Solution The metal sheet consists of three parts the centroids of

which are known. The unknown position of the centroid (center
rin han Wa
of mass) follows from

ρi xi Vi ρi yi Vi ρi zi Vi
xc = , yc = , zc = .
ρi Vi ρi Vi ρi Vi
Sp ec er,
Since the thickness of the metal sheet and the density of the ma-
01
g M hröd
terial are constant these quantities cancel and we can apply the
equations

xi Ai yi Ai zi Vi
xc = , yc = , zc = .
ge
Ai Ai Ai
ee , Sc
The total area is given by

1 1
A= Ai = 4 · 4 + · 4 · 3 + · 4 · 3 = 28 cm2 .
gin er
2 2
rin
With the coordinates zI = 0, xII = 0, yIII = 0 of the individual

En aug
centroids we obtain
2
xI AI + xIII AIII 2 · 16 + ( · 4) 6
xc = = 3 = 1.71 cm ,
H
A 28
2 · 16 + 2 · 6
s,
yI AI + yII AII
yc = = = 1.57 cm ,
A 28
os
1 1
zII AII + zIII AIII ( · 3) 6 + ( · 3) 6
Gr
zc = = 3 3 = 0.43 cm .
A 28
tics se
Example 4.14 The area shown in Fig. y E4.14
4.21 is bounded by the coordinate 3a/2
2 , Sta japak
axes and the quadratic parabola with
its apex at x = 0.
Determine the coordinates of the a/2
centroid.
b x
r 2 ics 1 ll, Ra
Fig. 4.21
Solution First we write down the equation of the parabola: y =

α x2 + β. The constants α and β are determined with the aid of
the points x0 = 0, y0 = a/2 and x1 = b, y1 = 3a/2 which yields
rin han Wa
β = a/2, α = a/b2 . Thus, the parabola is obtained as
x 2 a
y=a + .
b 2
Sp ec er,
01
y y dA = (b − x)dy
g M hröd
dx
dy
dA = ydx
y/2
ge
ee , Sc
x x
x x b
Now we choose the infinitesimal area dA = y dx. Then the x-
coordinate of the centroid can be calculated:
gin er

rin
b x 2 a 1 2
x a + dx
En aug
x dA x y dx b 2 ab 3
0 2
xc = = = b = = b.
dA y dx x 2 a 5 5
a + dx ab
0 b 2 6
H
If we choose the infinitesimal area dA = (b − x)dy in order to

s,
determine the y-coordinate, we are led to complicated integrals.

For this reason we again use the element dA = y dx. Then we have
os
to take into account that its centroid is located at the height y/2.
Hence, we obtain
Gr
y
y dx b 4
2 6 2 x a2 2 a2 47
yc = = a 4 + 2x + dx = a.
5 10 ab b b 4 100
ab 0
6
Locate the 1 0 2a 2a a a 2a1

0
tics se
E4.15 Example 4.15
centroid of the area shown
0
1 0 0
1 110 1 0
1
0
2 , Sta japak
in Fig. 4.22. 2a
00
11
a
a01
000000
111111
000000
111111
0000
1111
0000
1111
000000
1111110000
1111
0000
1111
000000
111111
2a 111111
0000000000
1111
11
00 000000
1111110000
1111
r 2 ics 1 ll, Ra
000000
1111110000
1111
0000
1111
y
000000
111111
2a 111111
000000
11
00 000000
111111
000000
111111 Fig. 4.22
000000
111111
x
Solution The centroid is located on the x-axis due to the symmetry
rin han Wa
of the area: yc = 0. We consider the area to be composed of three
parts: a square ① and two triangles ②, ③. Since the triangles are
void of material, the corresponding areas have to be subtracted
Sp ec er,
from the square.
①
1111111111
0000000000
01
0000000000
1111111111
0000000000
1111111111
g M hröd
0000000000
1111111111
②
0000000000
1111111111
0000000000
1111111111
0000000000
1111111111 C2
③ 1111
0000
0000000000
1111111111
0000000000
1111111111
C 1 0000
1111
C 3
0000000000
11111111110000
1111
ge
0000000000
11111111110000
1111
ee , Sc
C 1111
0000000000
11111111110000
0000000000
11111111110000
1111
0000
1111
0000000000
1111111111
0000000000
11111111110000
1111
y
0000000000
1111111111
0000000000
1111111111
0000000000
1111111111
gin er
0000000000
1111111111
x
rin
The areas and their centroids are given by

En aug
√
① : A1 = 64 a2 , x1 = 2 a ,
√
② : A2 = −18 a2 , x2 = − 2 a ,
√
H
③ : A3 = −2 a2 , x3 = 2 a/3 .
s,
The centroid of the given area follows from

os
xi Ai
xc =
Ai
√ √ √
Gr
2 a 64 a2 + (− 2 a)(−18 a2 ) + 2 a/3(−2 a2 )
= = 2.61 a .
(64 − 18 − 2)a2
tics se
Example 4.16 A thin wire has the E4.16
y
shape of the function y = a cosh x/a
C
2 , Sta japak
(Fig. 4.23).
Find the centroid. a y = a cosh x
a
a a x
Fig. 4.23
r 2 ics 1 ll, Ra
Solution The centroid is located on the y-axis due to the symmetry
of the problem: xc = 0. In order to find yc , we first calculate the
derivative of the given function: y = sinh xa . A line element is
thus given by
rin han Wa

2 2 2 x
ds = (dx) + (dy) = 1 + (y ) dx = 1 + sinh2 dx

a
x
Sp ec er,
= cosh dx .
a
01
Integration yields the length of the line:
g M hröd
+a
x
s = ds = cosh dx = 2 a sinh 1 .
−a a
ge
The first moment of the line with respect to the x-axis is obtained
ee , Sc
as
+a
2 x 1 + cosh 2 x
a dx = a2 (1 + 1 sinh 2) .
y ds = a cosh dx = a
gin er
a 2 2
rin
−a
En aug
Hence, the centroid is located at

y ds a 1 + 12 sinh 2
yc = = = 1.197 a .
ds 2 sinh 2
H
s,
os
Gr
tics se
E4.17 Example 4.17 Locate
the centroid of a thin-
2 , Sta japak
walled spherical shell
(radius R, Height H,
thickness t R) as
shown in Fig. 4.24.
z
r 2 ics 1 ll, Ra
R
rin han Wa
t
Fig. 4.24
Solution The centroid is located on the z-axis due to the symmetry

Sp ec er,
of the shell. Its position can be calculated from

01
z dV
zc = .
g M hröd
dV
ϕ0 R cos ϕ
ϕ
ge
ee , Sc
H
Rdϕ
z
gin er
R sin ϕ
rin
In order to evaluate the integrals we choose a ring-shaped volume

En aug
element:
dV = t Rdϕ(2πR sin ϕ) .
H
Then we get with cos ϕ0 = (R − H)/R and z = R cos ϕ

s,
ϕ0
2
dV = 2π tR sin ϕ dϕ = −2π tR2 (cos ϕ0 − 1) = 2π tRH ,
os
0
ϕ0
Gr
3
zdV = 2π tR sin ϕ cos ϕ dϕ = π tR3 sin2 ϕ0
0
= π tR3 (1 − cos2 ϕ0 ) = π tRH(2R − H) .
Thus, the z-coordinate of the centroid is obtained as
zc = R − H/2 .
In the special case of H = R (half-spherical shell, ϕ0 = π/2) we

find zc = R/2.
Gr
os
s,
H
En aug Chapter 5
gin er
ee , Sc
rin
g M hröd
Support Reactions
Sp ec er,
rin han Wa
ge
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
5
42 5 Support Reactions
tics se
E5.10 Example 5.10 The beam
in Fig. 5.26 is supported q0
2 , Sta japak
by three struts and sub-
jected to a triangular line 3a
1 2 3
load. 4
Determine the forces
in the struts.
r 2 ics 1 ll, Ra
a a a
Fig. 5.26
Solution We isolate the beam by passing cuts through the
rin han Wa
struts. The free-body dia-
gram shows the forces acting 2a/3
on the beam; the forces in the
R
Sp ec er,
struts are assumed to be ten-
sile. The line load is repla- A
01
ced by its resultant R = q0 a. α α
g M hröd
S1
In addition, we introduce the S3
angle α. It follows from the S2
geometry: a
ge
sin α = 3/5 .
ee , Sc
The equilibrium conditions lead to the unknown forces:

A: aS3 sin α + 2aR/3 = 0 → S3 = −10 q0a/9 ,
gin er
rin
←: → S1 = 10 q0 a/9 ,
En aug
S1 cos α + S3 cos α = 0
↓ : S1 sin α + S2 + S3 sin α + R = 0 → S2 = −q0 a .

H
The negative signs of the forces S2 and S3 indicate that their

directions in reality are opposite to those assumed in the free-
s,
body diagram. Hence, these forces are compressive forces.

os
Gr
5 Support Reactions 43
tics se
Example 5.11 The struc- l E5.11
11
00
ture shown in Fig. 5.27
00
11
F
2 , Sta japak
consists of a beam and A
three bars. It carries a
concentrated force F . h
00
11
00
11 2 3
Determine the sup-
00
11 1
00
11
α
port reaction at A and K
00
11
r 2 ics 1 ll, Ra
the forces in the bars.
Fig. 5.27 a
Solution We remove the l
rin han Wa
support at A and we F
pass a cut through bar 1. AH A
The free-body diagram
shows the corresponding h AV
Sp ec er,
forces AH , AV (their sen-
S1 K
01
ses of direction have be-
g M hröd
en chosen arbitrarily), S1 S2 S3
(which is assumed to be a
α
tensile force) and the gi- S1
K
ge
ven load F .
ee , Sc
The equilibrium conditions yield
↑ : AV − F = 0 → AV = F ,
gin er
l
rin
A: l F + h S1 = 0 → S1 = − F ,
h
En aug
l
→: AH − S1 = 0 → AH = − F .
h
H
Now we pass cuts through the bars 2 and 3 and write down the
equilibrium conditions at joint K:
s,
l
→ : −S1 + S3 sin α = 0 → S3 = − F,
os
h sin α
l
↑: S2 + S3 cos α = 0 → S2 = F.
Gr
h tan α
Note that the support reaction at A and the forces in the bars are
independent of a.
tics se
E5.12 Example 5.12 The simply supported beam (length a = 1 m) shown
in Fig. 5.28 is subjected to the three concentrated forces F1 =
2 , Sta japak
4 kN, F2 = 2 kN, F3 = 3 kN, the line load q0 = 5 kN/m and the
moment M0 = 4 kNm.
F1 F2 q◦ F3
Calculate the support M◦
◦
reactions. 45
A
10
010
00
111a B
10
010
00
111
r 2 ics 1 ll, Ra
a a
Fig. 5.28
Solution We free the beam from the supports and make the re-
rin han Wa
actions A, BH and BV visible in the free-body diagram. The line
load is replaced by its resultant q◦ a.
Sp ec er,
3a/2 q◦ a
01
g M hröd
F1 F2 F3
◦
45 B
A BH
M◦
ge
A BV
ee , Sc
Then we write down the equilibrium conditions:

3
A: 3a BV − M0 − 2a F3 − a (q◦ a) − a F2 sin α = 0 ,
gin er
2

rin
3
B : −3a A + 3a F1 + 2a F2 sin α + a (q◦ a) + a F3 − M◦ = 0 ,
En aug
2
→ : F2 cos α − BH = 0 .
They lead to
H
3
√
4+6+ · 5 + 2 · 12 2
2
BV = = 6.30 kN ,
s,
3
√
12 + 2 · 2 · 12 2 + 32 · 5 + 3 − 4
os
A = = 7.11 kN ,
3
1√
Gr
BH = 2 · 2 = 1.41 kN .
2
As a check we use the force equilibrium in the vertical direction:
↑: A + BV − F1 − F2 sin α − q◦ a − F3 = 0 ,
→ 6.30 + 7.11 − 4 − 2 · 0.71 − 5 − 3 = 0 .
Note that the support reactions are given with an accuracy of only
two digits after the decimal point. Therefore, this equation is not
satisfied exactly.
q◦
tics se
Example 5.13 Find the support E5.13
reactions for the hinged beam C
A B
2 , Sta japak
shown in Fig. 5.29.
P
3a
00
11
0D
1
11
00
00
11
0
1
r 2 ics 1 ll, Ra
Fig. 5.29 3a a
Solution The hinged beam is statically determinate supported.
rin han Wa
The fixed support A transmits three reactions: two force com-
ponents AH , AV and the moment MA . They are made visible in
the free-body diagram where their senses of direction have been
Sp ec er,
chosen arbitrarily. The force D in the bar DC is assumed here to
be a compressive force.
01
g M hröd
2a 4q◦ a a/2
q◦ a
② BV
MA ②
A
ge
ee , Sc
AH α BH B
①
AV D P D P
The equilibrium conditions for the complete system (the hinge is

gin er
regarded as being frozen) are

rin
En aug
↓: −D sin α − AV + P + q◦ 4a = 0 ,
→ : AH + D cos α = 0 ,
H

A: −MA + 4a D sin α − 2a 4q◦ a − 4aP = 0 .
s,
In addition, we write down a moment equilibrium condition for

the right-hand part ②:
os
1
B : a D sin α − P a − aq◦ a = 0 .
Gr
2
With sin α = 3/5 and cos α = 4/5 these four equations yield the
four unknown reactions:
5 5 7 4 2
D= P + q◦ a, AV = q◦ a, AH = − P − q◦ a, MA = −3q◦ a2 .
3 6 2 3 3
tics se
E5.14 Example 5.14 The hinged beam in Fig. 5.30 carries a concentrated
force and a triangular line load.
q0
2 , Sta japak
Determine the support F
α G
reactions and the force in
the hinge. A B C
a a a a 3a
r 2 ics 1 ll, Ra
Fig. 5.30
Solution The hinged beam is statically determinate supported.

We draw the free-body dia- a
gram for the complete sys-
rin han Wa
R
tem, for the left part ① and
F
for the right part ②, respec- G
AH
tively. The triangular line
Sp ec er,
① ②
load is replaced by its resul- AV B C
01
tant force R = 3q0 a/2.
a
g M hröd
R
F GV
A G GH GH B
ge
ee , Sc
C
AH ① G ②
AV GV B C
It is advantageous to use the following 6 equilibrium conditions to

gin er
determine the 6 unknowns AH , AV , B, C, GH and GV . The force

rin
equilibrium in the horizontal direction for the complete system

En aug
requires
→: −AH + F cos α = 0 → AH = F cos α .

H
The equilibrium conditions for the left part ① are

s,

A: −aF sin α + 2aGV = 0 → GV = F/2 sin α ,
os

G: −2aAV + aF sin α = 0 → AV = F/2 sin α ,
Gr
→: −AH + F cos α − GH = 0 → GH = 0
and moment equilibrium for the right part ② requires

B : aGV − 3aR + 4aC = 0 → C = (9q0 a − F sin α)/8 ,

C : 5aGV − 4aB + aR = 0 → B = (3q0 a + 5F sin α)/8 .
tics se
Example 5.15 Determine the
01
E5.15
B
100
support reactions for the R
11
00
C
1
R
2 , Sta japak
structure shown in Fig. 5.31.
D
The pulley is frictionless.
10A
2R F
11
0010
r 2 ics 1 ll, Ra
Fig. 5.31 2R 3R
Solution First we verify that the structure is statically determina-

te. It consists of n = 3 bodies; there exist r = 4 support reactions
(2 force components at A and 2 components at B). The number
rin han Wa
v of the transferred joint reactions is 5, i.e. 2 reactions at C, 2
reactions at D and the force in the rope). Thus, the condition
f = 3n − (r + v) = 3 · 3 − (4 + 5) = 0
Sp ec er,
01
is satisfied. (Note that the two beams can be regarded as a three-
g M hröd
hinged arch.) S
Cx Bx Cx ② Dx
ge
Cy
ee , Sc
By Cy Dy
①
Ax
S
y
gin er
Ay
rin
x Dx
En aug
Dy
③
F
We isolate the three bodies and write down the equilibrium con-
H
ditions for the disk ③

s,
D : RS − RF = 0 → S = F ,
os
↑ : −Dy − F = 0 → Dy = −F ,
→ : −Dx − S = 0 → Dx = −S = −F ,
Gr
tics se
for the angled member ①

2 , Sta japak
A: 2R Cx − 2R Cy − 3R S = 0 ,
↑: Ay − Cy = 0 ,
→: Ax − Cx + S = 0
r 2 ics 1 ll, Ra
and for the beam ② (using the results for the disk):

D: −5R By − 3R Cy = 0 ,
↑: By + Cy − F = 0 ,
rin han Wa
→: Bx + Cx − F = 0 .
The four support reactions and the two joint reactions at C can
be calculated from the last six equations:
Sp ec er,
By = −3 F/2 ,
01
Cy = Ay = 5 F/2 ,
g M hröd
Cx = 4 F , Bx = −3 F , Ax = 3 F .
Note that the support reactions in the horizontal direction can al-
ge
so be determined from the equilibrium condition for the complete

ee , Sc
system:
Bx
gin er
rin
En aug
By F
Ax
Ay
H

A: 6R F + 2R Bx = 0 → Bx = −3F ,
s,
→ : Ax + Bx = 0 → Ax = 3F ,
os
In order to find Ay and By we have to pass a cut through the

Gr
structure.
tics se
Example 5.16 A homogeneous beam (weight W ) hangs on a crane E5.16
(Fig. 5.32).
2 , Sta japak
Determine the support reactions at A and B and the force at
hinge C.
4a 4a
C
3a
r 2 ics 1 ll, Ra
A B a
111111111111111
000000000000000
000000000000000
111111111111111
000000000000000
111111111111111
rin han Wa
000000000000000
111111111111111
W
5a 3a 3a a
Fig. 5.32 2 2
Sp ec er,
01
Solution The structure is a three-hinged arch. In order to determi-
g M hröd
ne the unknown forces we isolate the beam, remove the supports

A and B and we pass a cut through hinge C.
C
ge
ee , Sc
S1 S2
AH A B BH
gin er
rin
E D
AV BV
W
En aug
2a 4a W
H
CV CV
CH
s,
CH
os
AH A B BH
Gr
S1 S2
AV BV
Equilibrium at the beam yields

D: 4a W − 6a S1 = 0 → S1 = 2W/3 ,

E : 2a W − 6a S2 = 0 → S2 = W/3 .
tics se
Now we apply moment equilibrium conditions to the complete
crane:
2 , Sta japak

B : 14a AV − 8a W = 0 → AV = 4W/7 ,

A : 14a BV − 6a W = 0 → BV = 3W/7 .
Subsequently, we write down the equilibrium conditions for the
r 2 ics 1 ll, Ra
left-hand part:
↑: AV − S1 + CV = 0 → CV = 2W/21 ,

7a AV − 4a AH − 3a S1 = 0 →
rin han Wa
C : AH = W/2 ,
→: AH + CH = 0
Sp ec er, → CH = −W/2 .
Finally, force equilibrium in the horizontal direction for the com-

plete system leads to
01
g M hröd
→: AH + BH = 0 → BH = −W/2 .
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
Example 5.17 A mast (weight W1 ) has a hinged support (ball-and- E5.17
socket connection) at A.
2 , Sta japak
In addition it is suppor-
ted by two struts. Its up- 2a W1
per end carries a weight W2
z
W2 (Fig. 5.33).
2
Determine the reaction 2a 1
r 2 ics 1 ll, Ra
force at A and the forces A y a
in the struts.
x a
a a
Fig. 5.33
rin han Wa
Solution First we isolate the mast by removing support A and
cutting the struts.
Sp ec er,
Then we use the geometrical relations
W1
01
W2
g M hröd
S1x : S1y : S1z = S2x : S2y : S2z = 1 : 1 : 2 . z

S2
Due to the symmetry we obtain Az S1
A
ge
S1 = S2
ee , Sc
Ax Ay B y
and the equilibrium conditions yield x

Fix = 0 : Ax + S1x − S2x = 0 → Ax = 0 ,
gin er
rin
(B)
Mix = 0 : a W1 − 2a Az = 0 → Az = W1 /2 ,
En aug
(A)
Mix = 0 : −aS1z − aS2z − 2aS1y − 2aS2y − aW1 − 2aW2 = 0
√
→ S1 = − 6 (W1 + 2W2 )/8 ,
H

→
s,
Fiy = 0 : Ay + S1y + S2y = 0 Ay = (W1 + 2W2 )/4 .

os
Gr
11
00
000
11101A
tics se
E5.18 Example 5.18 Determine the
F
support reactions for the l/2
2 , Sta japak
frame shown in Fig. 5.34.
11
00
00
11
001
110
00
11010
11
00 1 00
11
00
11
00
110
1
B C
r 2 ics 1 ll, Ra
l
l/2 l/2
Fig. 5.34
Solution The free-body diagram shows the 5 unknown support
rin han Wa
reactions: 2 force components
in A and in C, respectively, ①
AH A
and the force B in the bar
Sp ec er, F
(here assumed to be a com- AV D
pressive force).
01
② E ③
B
g M hröd
First we write down the equi-

librium conditions for the CH
complete system (the hinges
are assumed to be frozen): CV
ge
ee , Sc
1√ l 1√ 3 3
A: lB2+ B 2 − l F − l CH + 2l CV = 0 ,
2 2 2 2 2
1√
↑: B 2 + CV + AV − F = 0 ,
gin er
rin
2
1√
→ : AH + B 2 − CH = 0 .
En aug
2
Then we use moment equilibrium conditions for the part ① to the
left of hinge D and the part ③ to the right of hinge E, respectively:
H
l
D: −l AV − AH = 0 ,
s,
2
l
CV − l CH = 0 .
os
E :
2
Solving these 5 equations for the 5 unknowns yields
Gr
√
F F 2 F
AH = , AV = − , B = F , CH = , CV = F .
3 6 6 2
Note that the support reactions could be determined without cal-
culating the forces in the hinges.
tics se
Example 5.19 Calculate q◦ E5.19
the support reactions for y C
x
2 , Sta japak
the spatial structure in A z
Fig. 5.35. q◦
D
a B 2a
Fig. 5.35
r 2 ics 1 ll, Ra
Solution We isolate the structure in the free-body diagram. The
directions of the forces in the struts B, C and D are known. Sup-
port A transfers three force components.
rin han Wa
q◦
Cy
Ax A
Sp ec er,
q◦
01
Ay Dz
Az
g M hröd
Bz

Fx = 0 : Ax − 2q◦ a = 0 → Ax = 2q◦ a ,
ge
ee , Sc
(A)
Mx = 0 : −Dz 2a − q◦ a 2a = 0 → Dz = −q◦ a ,

gin er
(A) a q◦ a
My = 0 : −Bz a − q◦ a =0 → Bz = − ,
rin
2 2
En aug
(A)
Mz = 0 : Cy a − 2q◦ a a = 0 → Cy = 2q◦ a ,

H
Fy = 0 : Ay + Cy = 0 → Ay = −2q◦ a ,

s,
a
Fz = 0 : Az + Bz + Dz + q◦ a = 0 → Az = q◦ .
2
os
Note that an appropriate choice of the reference points for the

Gr
moment equations simplifies the calculation.

Gr
os
s,
H
En aug
gin er
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
Gr
os
s,
H
En aug
Trusses
Chapter 6
gin er
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
6
56 6 Trusses
tics se
E6.4 Example 6.4 The truss F1 F2
shown in Fig. 6.13 carries 1
2 , Sta japak
the two forces F1 = F a
A 2 B
and F2 = 3F .
Calculate the forces in a
3
the members 1, 2 and 3.
a a a a a a
r 2 ics 1 ll, Ra
Fig. 6.13
Solution First we determine the force (directed vertically) at the

support A. Applying the moment equilibrium condition about
rin han Wa
F1 F2 F1
S1
C
Sp ec er,
B S2
01
S3
g M hröd
A B A D
point B of the free-body diagram for the whole truss yields

ge
4
ee , Sc
B : 6a A − 5a F1 − a F2 = 0 → A= F.
3
Then we pass an imaginary section through the members 1, 2, 3.
We assume the forces in the bars to be tensile and write down the
gin er
rin
equilibrium conditions for the left-hand part of the truss:

En aug

C : 3a A − 2a F1 − 2a S3 = 0 → S3 = F ,
2
D: a A + 2a S1 = 0 → S1 = − F ,
H
3
√ √
2 2
↑ : A − F1 + S2 = 0 → S2 = − F.
s,
2 3
os
Gr
6 Trusses 57
tics se
Example 6.5 Determine F E6.5
F
the forces in the mem- 1
2 , Sta japak
bers 1, 2 and 3 of the 2 a
truss shown in Fig. 6.14. 3
B
2F a
A
r 2 ics 1 ll, Ra
Fig. 6.14 a a a a
Solution First we draw the free-body diagram for the complete
rin han Wa
F
F F
S1
S2
I
Sp ec er,
S3
01
AH 2F B 2F B
g M hröd
A
AV
truss and determine the support reactions:
ge
ee , Sc
→: F − AH = 0 → AH = F ,
5
A: 2a F + 6a F + 2a F − 4a B = 0 → B = F,
gin er
2
rin
1
↑: AV + B − F − 2F = 0 → AV = F .
En aug
2
In order to obtain the forces in the members 1, 2, 3 we pass an
imaginary cut through these members. The forces are assumed to
H
be tensile forces. Equilibrium for the right-hand part of the truss

leads to
s,
√ √
2 2
↑: S2 + B − 2F = 0 → S2 = −
os
F,
2 2
3
I : a F − a S1 − a B = 0 → S1 = − F ,
Gr
2
√
2
← : S3 + S 1 + S2 − F = 0 → S3 = 3F .
2
58 6 Trusses
tics se
As a check we apply the force equilibrium condition to the left-
hand part:
2 , Sta japak
√
2 1 1
↑ : AV − F − S2 = F − F + F = 0 .
2 2 2
r 2 ics 1 ll, Ra
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
6 Trusses 59
tics se
Example 6.6 The structure q0 E6.6
in Fig. 6.15 consists of a
A B
2 , Sta japak
hinged beam AB and five G
2 3 3a
bars. It is subjected to a li- 1 4
5
ne load q0 .
Determine the forces in 4a 2a 2a 4a
the bars. Fig. 6.15
r 2 ics 1 ll, Ra
Solution The support reactions follow from the equilibrium
3a
R = 6q0 a
rin han Wa
GV
B GH
A
G G
Sp ec er,
2 3 S3 α
1 4
A 5 B B S4
01
I II S5 S5 II
g M hröd
conditions for the complete truss:

B : 12a A − 9a R = 0 → A = 9q0 a/2 ,
ge

ee , Sc
A: 12a B − 3a R = 0 → B = 3q0 a/2 .

Now we pass an imaginary section through hinge G and bar 5. The
senses of direction of the forces GH and GV are chosen arbitrarily;
gin er
rin
the force in bar 5 is assumed to be tensile. Moment equilibrium

En aug
for the right-hand part yields

G: 6a B − 3a S5 = 0 → S5 = 3q0 a .
H
Then we isolate joint II, introduce the angle α and write down the
equilibrium conditions (sin α = 4/5, cos α = 3/5):
s,
→: −S5 + S4 sin α = 0 → S4 = 15q0 a/4 ,

os
↑: S3 + S4 cos α = 0 → S3 = −9q0 a/4 .

Gr
Finally, from symmetry:
S1 = S4 , S2 = S3 .
60 6 Trusses
tics se
E6.7 Example 6.7 Determine 1 4
the forces in the mem- a 7
5
2
2 , Sta japak
bers 1-7 of the truss
A 3D 6 B 30◦
shown in Fig. 6.16. 2F F
a a a a a
Fig. 6.16
r 2 ics 1 ll, Ra
Solution The support reactions follow from the equilibrium
C S1
S2 S2 S5
AH AH
rin han Wa
S3 S3 D S6
2F F
AV B AV 2F
conditions for the complete truss:
Sp ec er,
1 3
A: 2a 2F − 4a B − 5a F = 0 → B=
F,
01
2 8
g M hröd
1 9
↑ : AV + B − 2F + F = 0 → AV = F ,
2 8
√ √
3 3
→ : AH − F =0 → AH = F.
2 2
ge
ee , Sc
In order to determine the forces in the members 1, 2, 3 we pass

an imaginary section through these members. The equilibrium
conditions for the left-hand part of the truss yield
gin er
√
rin
9 3
− − → −
En aug
C : a A V a A H a S 3 = 0 S 3 = F,
8 2
√
2 9√
↑ : AV − S2 = 0 → S2 = 2F ,
2 8
√
H
2 9
→ : AH + S1 + S3 + S 2 = 0 → S1 = − F .
2 4
s,
By inspection we see that bar 7 is a zero-force member and that

os
S4 = S1 . Finally, equilibrium at joint D leads to

√ √
Gr
2 2 7√
↑: S2 + S5 − 2F = 0 → S5 = 2F ,
2 2 8
√ √ 11 √3
2 2
→: S5 − S 2 + S 6 − S 3 = 0 → S6 = − F.
2 2 8 2
6 Trusses 61
1
0
0
1
tics se
Example 6.8 The truss shown in E6.8
0
1
Fig. 6.17 carries the forces F1 = II 4 IV 8
0
1
2 , Sta japak
10 kN and F2 = 20 kN. 3 7
0
1
1 5
Calculate the forces in all the 60◦ 60◦
V 1
0
I
0
1
members. 2 III 6
F1 F2 0
1
r 2 ics 1 ll, Ra
Fig. 6.17
Solution In this example the method of joints can be applied wi-

thout having to determine the support reactions. We draw the
free-body diagrams for each joint, assuming that all the forces in
rin han Wa
the members are tensile forces.
Beginning with the loaded joint I we write down the equilibrium
conditions:
Sp ec er,
S1
I ↑ : S1 sin 60◦ − F1 = 0 ,
01
60◦
I S2
g M hröd
◦
→: S2 + S1 cos 60 = 0 , F1
2 1
→ S1 = − √ F1 = 11.6 kN , S2 = − S1 = −5.8 kN .
ge
ee , Sc
3 2
II
II ↓: S1 sin 60◦ + S3 sin 60◦ = 0 , S4
gin er
rin
→ : S4 − S1 cos 60◦ + S3 cos 60◦ = 0 ,

En aug
S1 S3
→ S3 = −S1 = −11.6 kN , S4 = S1 = 11.6 kN .

H
s,
S3 S5
III ↑ : (S3 + S5 ) sin 60◦ − F2 = 0 ,
os
S2 S6
→ : −S2 + (S5 − S3 ) cos 60◦ + S6 = 0 , III
Gr
F2
2
→ S5 = √ (F1 + F2 ) = 34.6 kN , S6 = −28.9 kN .
3
62 6 Trusses
tics se
IV ↓ : S5 sin 60◦ + S7 sin 60◦ = 0 , IV
S4 S8
2 , Sta japak
→ : −S4 + (S7 − S5 ) cos 60◦ + S8 = 0 ,
S5 S7
→ S7 = −S5 = −34.6 kN , S8 = 46.2 kN .
r 2 ics 1 ll, Ra
It is useful to present the results in dimensionless form in a
table, including the negative signs:
i 1 2 3 4 5 6 7 8
rin han Wa
Si /kN 11.6 -5.8 -11.6 11.6 34.6 -28.9 -34.6 46.2
As a check we determine the forces in the members 6, 7, 8 with

Sp ec er,
the method of sections:
01
IV S8
g M hröd
S7 a sin 60◦
S6 V
ge
ee , Sc
F1 F2
a a/2 a/2
gin er

rin
3 a
IV : aF1 + F2 + a sin 60◦ S6 = 0 → S6 = −28.9 kN ,
2 2
En aug

V: 2a F1 + a F2 − a sin 60◦ S8 = 0 → S8 = 46.2 kN ,
H
↓: F1 + F2 + S7 cos 30◦ = 0 → S7 = −34.6 kN .

s,
os
Gr
6 Trusses 63
tics se
Example 6.9 A rope is E6.9
4a 2a a a
guided around the
2 , Sta japak
smooth pin C of
the truss shown in 2a
Fig. 6.18. One end of
the rope is connected 11
a
to a rigid wall; the 45◦ a
r 2 ics 1 ll, Ra
other end carries a box C
of weight W . W
Calculate the force Fig. 6.18
S11 in member 11.
rin han Wa
Solution By inspection we see that bar 8 is a zero-force member.
This is why, applying the method of sections, we may divide the
truss by a cut through the four members 13, 11, 8 and 9 into
Sp ec er,
01
g M hröd
9 cut
10 S9
12 8
4
W S11
W 11 5
3
ge
7 1 BH
ee , Sc
13 6 2 S13 B
A B W BV
W
gin er
two parts. We also cut the rope; the force in the rope is equal
rin
to the weight W of the box (smooth pin C!). Now we consider

En aug
the right-hand part of the system where the zero-force member is

omitted. Moment equilibrium about point B immediately yields
the force in member 11:
H
√ √
B : 4a(S11 + 2/2 W −W ) = 0 → S11 = (1 − 2/2) W .
s,
os
Gr
64 6 Trusses
tics se
E6.10 Example 6.10 The truss F1 F2
shown in Fig. 6.19 car-
2 4 5
2 , Sta japak
ries the forces F1 = 10
kN and F2 = 20 kN (gi- G
7 8
ven: a = 3 m). 1 6 9 a
3
Calculate the forces 10
in the members 6 and 8.
r 2 ics 1 ll, Ra
A 12 a
11
B
a a a
rin han Wa
Fig. 6.19
Solution The truss represents a three-hinged arch. In a first step

Sp ec er,
we calculate the support reactions at B. We isolate the two parts
01
g M hröd
F1 F2 F2
4 I 5 II S4 I 5 II
G
ge
7 7
ee , Sc
8 9 8
6 9
S6
A
AH
gin er
AV
rin
En aug
F1 F2 BH BH
GH 4 I 5 II BV BV
G
H
7 8
GV 9 F2
6
I S5 S5 II
s,
S4
os
S7 S9
S8
Gr
BH
BV
6 Trusses 65
tics se
of the truss and write down the moment equilibrium conditions
about point A of the complete (frozen) system and point G of the
2 , Sta japak
right-hand part:

A: aF1 + 2aF2 − 3aBV + aBH = 0 ,

G: aF2 − 2aBV + 2aBH = 0 → BH = BV − F2 /2 .
r 2 ics 1 ll, Ra
Solving these two equations yields
BH = 10 kN , BV = 20 kN .
Now we pass a cut through the members 4 and 6 and apply the
rin han Wa
equilibrium conditions in the vertical and horizontal directions to
the free-body diagram:
√
Sp ec er,
↑: 2/2 S6 − F2 + BV = 0 → S6 = 0 ,
01
←: S 4 + BH = 0 → S4 = −10 kN .
g M hröd
Equilibrium in the horizontal direction at the isolated joint I leads

to
ge
→: S5 = S4 = −10 kN .
ee , Sc
Finally, we isolate joint II and write down the equilibrium condi-

tion in the horizontal direction:
gin er
√ √
rin
← : S5 + 2/2 S8 = 0 → S8 = − 2 S5 = 14.1 kN .
En aug
Note that the forces in the members are independent of the value
of a.
H
s,
os
Gr
66 6 Trusses
tics se
E6.11 Example 6.11 Determine the z
F 3 a
support reactions and the
C
2 , Sta japak
forces in the members of 2
6
the space truss shown in 1
B a
Fig. 6.20. 4
5 y
a a
A
r 2 ics 1 ll, Ra
x Fig. 6.20
Solution The truss consists of

F I
rin han Wa
j = 4 joints, m = 6 mem- 3 IV
bers and there are r = 6 sup- 2
6
port reactions. Therefore, the 1
Cz III By
necessary condition for statical 4
Sp ec er,
determinacy is satisfied: II 5
Bz
01
Ax Ay
g M hröd
f = 3j − (m + r) Az
= 12 − (6 + 6) = 0 .
The equilibrium conditions for the complete truss

ge
ee , Sc

Fx = 0 : Ax = 0 ,

Fy = 0 : Ay + By + F = 0 ,
gin er

rin
Fz = 0 : Az + Bz + Cz = 0 ,
En aug

Mx = 0 : −a F + a Bz = 0 ,

My = 0 : a Cz − a Az = 0 ,
H

Mz = 0 : a Ay = 0
s,
yield the support reactions:

os
1
Ax = 0 , Ay = 0 , Az = − F ,
2
Gr
1
By = −F , Bz = F , Cz = − F .
2
6 Trusses 67
tics se
In order to determine the forces in the members we apply the
method of joints. Note that (with the exception of bar 4) all the
members have the angle 45◦ with respect to the corresponding
2 , Sta japak
coordinate axes. Thus, equilibrium at the joints I and II leads to
1 1
I Fx = 0 : √ S1 − √ S3 = 0 ,
2 2
r 2 ics 1 ll, Ra
1
Fy = 0 : √ S2 + F = 0 ,
2
1 1 1
Fz = 0 : − √ S1 − √ S2 − √ S3 = 0 ,
2 2 2
rin han Wa
√
2 √
→ S1 = S3 = F , S2 = − 2 F .
Sp ec er, 2
1 1
01
II Fx = 0 : Ax − √ S1 − S4 − √ S5 = 0 ,
g M hröd
2 2
1
Fy = 0 : Ay + √ S5 = 0 ,
2
ge
ee , Sc
1
→ S4 = − F , S5 = 0 .
2
From symmetry we find
gin er
rin
S6 = S5 = 0 .
En aug
As a check we write down the equilibrium conditions for joint IV:

1 1 F F
Fx = 0 : √ S 6 + S4 + √ S 3 = 0 → 0− + = 0,
H
2 2 2 2
1
√ S6 = 0 ,
s,
Fy = 0 :
2
os
1 F F
Fz = 0 : Cz + √ S3 = 0 → − + = 0.
2 2 2
Gr
68 6 Trusses
tics se
E6.12 Example 6.12 Calculate the forces in all the members of the space
truss in Fig. 6.21.
2 , Sta japak
C
11 G
10 5
E
B 9 2 a
4 3 a
6 D
x
r 2 ics 1 ll, Ra
A 12 8 a
7
1 y z
F
3a a P
Fig. 6.21
rin han Wa
Solution The truss has j = 7 joints, m = 12 members and r = 9
reaction forces. It is statically determinate:
f = 3j − (r + m) → f = 21 − (9 + 12) = 0 .
Sp ec er,
01
We calculate the forces in the members with the aid of the method
g M hröd
of joints and write down the corresponding equilibrium conditions.

S3 S5
S2
45◦
ge
45◦ 45◦
ee , Sc
D S9 E
45◦
S1 P S4 S2
gin er
Joint D
rin

Fx = 0 : −S1 cos 45◦ − S2 cos 45◦ − S3 cos 45◦ = 0 ,
En aug

Fy = 0 : S1 sin 45◦ − S2 sin 45◦ = 0 ,

Fz = 0 : P − S3 sin 45◦ = 0
√ √
H
→ S3 = 2 P , S1 = S2 = − 2/2 P .
Joint E
s,

Fx = 0 : −S9 + S2 sin 45◦ = 0 ,
os

Fy = 0 : S4 + S5 cos 45◦ + S2 cos 45◦ = 0 ,

Gr
Fz = 0 : S5 sin 45◦ = 0
→ S9 = −P/2 , S5 = 0 , S4 = P/2 .
6 Trusses 69
S11
tics se
S6 G
S8 S4 S10 α S3
2 , Sta japak
γ S1 S12
S7 F
β
Joint F

Fz = 0 : S6 sin 45◦ = 0

r 2 ics 1 ll, Ra
Fx = 0 : S1 sin 45◦ − S7 − S8 cos γ = 0 ,

Fy = 0 : −S1 cos 45◦ − S6 cos 45◦ − S8 sin γ − S4 = 0
→ S6 = 0 , S7 = −P/2 , S8 = 0 .
rin han Wa
Note that these results also follow from the symmetry of the loa-
ding: S6 = S5 , S7 = S9 , S8 = 0.
Joint G
Sp ec er,
We now introduce the auxiliary angles α (between member 12 and
01
the vertical line passing through G) and β (between the projection
g M hröd
of 12 onto the x, y-plane and the x-axis). Thus, from geometry

√ √ √ √
cos α = 1/ 11 , sin α = 10/ 11 , cos β = 3/ 10 .

ge
ee , Sc
Using S5 = S6 = 0, the equilibrium condition Fy = 0 yields

S10 = S12 . The other equilibrium conditions lead to

Fz = 0 : S3 cos 45◦ + 2 S12 cos α = 0 ,
gin er

rin
Fx = 0 : −S11 − 2 S12 sin α cos β + S3 sin 45◦ = 0

√
En aug
→ S10 = S12 = − 11/2 P , S11 = 4 P .
As a check we determine S11 from the equilibrium of the com-

H
plete truss. Moment equilibrium about the axis passing through

A and B yields
s,

My = 0 : 4a P − a S11 = 0 → S11 = 4 P .
os
Gr
Gr
os
s,
H
En aug
gin er
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
Gr
os
s,
H
En aug Chapter 7
gin er
ee , Sc
rin
g M hröd
Sp ec er,
Beams, Frames, Arches
rin han Wa
ge
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
7
72 7 Beams, Frames, Arches
tics se
E7.13 Example 7.13 A crab on two
ξ W
wheels can move on a beam
2 , Sta japak
(weight negligible). Its weight
A a B
W is linearly distributed as
indicated in Fig. 7.27. l
Determine the value Fig. 7.27
ξ = ξ ∗ for which the bending
r 2 ics 1 ll, Ra
moment attains its maximum value Mmax . Calculate Mmax .
Solution First we assume the crab to be at an arbitrary position.

The beam is subjected to the con-
rin han Wa
centrated forces 2W/3 at x = ξ and W
W/3 at x = ξ + a. Equilibrium for
the beam as a whole yields the sup-
2W/3 W/3
port reactions:
Sp ec er,
2W/3 W/3
01
W W
A= (3l−3ξ−a), B = (3ξ+a).
g M hröd
3l 3l
x
The bending moment is a piecewi- A
se linear function of the coordinate z B
ge
x. The slope discontinuities and thus

ee , Sc
the maximum values of the bending M M1 M2

moment are found at the positions of
the wheels. Therefore we now imagi-
gin er
ne the beam cut at x = ξ. The stress

rin
resultants M1 and V1 are shown with

En aug
their positive directions in the free-

C M1
body diagram (Note that N = 0).
The bending moment at x = ξ fol- A V1
H
lows from the equilibrium of mo-

ments of the left-hand part: ξ
s,
W M2 C
[(3l − a)ξ − 3ξ 2 ].
os
M1 (ξ) = Aξ =
3l
V2
Similarly, the bending moment M2 B
Gr
at x = ξ + a is obtained as ξ+a l−ξ−a

7 Beams, Frames, Arches 73
tics se
W
M2 (ξ) = B (l − ξ − a) = [(3l − 4a)ξ − 3ξ 2 + al − a2 ].
3l
2 , Sta japak
In order to find the maximum values of M1 and M2 as functions
of ξ, we determine the derivatives:
dM1 1 1 a 2
= 0 → ξ1 = (3l − a) → M1max = 3− W l,
dξ 6 36 l
1 a 2
r 2 ics 1 ll, Ra
dM2 1
= 0 → ξ2 = (3l − 4a) → M2max = 3−2 W l.
dξ 6 36 l
By inspection we see
M1max > M2max → Mmax = M1max , ξ ∗ = ξ1 ,
rin han Wa
The solution is valid only for ξ1 + a < l, that is for a < 3l/5.
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
E7.14 Example 7.14 Determine the x
q0
bending moment for a canti-
2 , Sta japak
lever subjected to a sinusoi-
dal line load (Fig. 7.28).
l
Fig. 7.28
Solution Since the shear force and the bending moment are zero
r 2 ics 1 ll, Ra
at the free end, it is convenient to use a coordinate system where
the x-axis points to the left. The load is given by
πx q(x)
q(x) = q0 sin .
l
rin han Wa
Integration leads to x
z
πx l πx
V (x) = − q0 sin dx = q0 cos + C1 ,
l π l
Sp ec er,
l 2 πx
M (x) = q0 sin + C1 x + C2 .
01
π l
g M hröd
The constants of integration follow from the boundary conditions:

q0 l
V (0) = 0 → C1 = − , M (0) = 0 → C2 = 0 .
π
ge
ee , Sc
Thus, the stress resultants are obtained as

q0 l πx q0 l 2 x πx
V (x) = cos −1 , M (x) = − − sin .
π l π l l
gin er
rin
V M
En aug
l l2
−2q0 −q0
π π
H
Their maximum values are found at the clamping (x = l):

s,
2 1
q0 l 2 .
os
V (l) = − q0 l , M (l) = −
π π
M
Note that the shear force is negative since the
Gr
x-axis points to the left (positive face!).

x
V z
tics se
Example 7.15 The struc- E7.15
ture in Fig. 7.29 consists F 2F
2 , Sta japak
of a hinged beam and five
bars. It is subjected to two
2 4 a
concentrated forces. 1 5
3
Determine the forces in
a a a a
the bars and the bending
r 2 ics 1 ll, Ra
Fig. 7.29
moment in the beam.
Solution First we determine the support reactions from the equi-

librium conditions for the complete structure:
rin han Wa
5 F GV 2F
AV = F, AH A G GH B
4
E GH H
7 2 G 4
B= F, AV 1 GV
5 B
4
Sp ec er,
S3 S3
AH = 0 . C D
01
g M hröd
Then we pass an imaginary section through hinge G and bar 3.

Equilibrium at the right-hand part yields the forces GH , GV and
S3 :
↑ : GV + B − 2F = 0 → GV = F/4 ,
ge
ee , Sc

G : a S3 + 2a F − 2a B = 0 → S3 = 3F/2 ,
→: −GH − S3 = 0 → GH = −3F/2 .
gin er
rin
Now we free joint C (or joint D) and write down the corresponding
En aug
equilibrium conditions:
√
2 3√
→: − S 1 + S 3 = 0 → S1 = 2F ,
2 2 45◦ S
√ 2
H
2 3 S 1 S3
↑ : S2 + S1 = 0 → S2 = − F .
2 2 C
s,
Note that we can see by inspection that S5 = S1 and S4 = S2 .

os
Since the beam is loaded by concentrated forces, the bending

Gr
moment is piecewise linear along the axis. In order to calculate the

bending moment at the point E of application of the force F , we
tics se
section the beam at this point and at the hinge G. The moment
equilibrium condition for the portion
VE
2 , Sta japak
EG of the beam yields G GH
aF ME
ME = −a GV = − . E
GV
4
Similarly we obtain the moment at the point H of application of
r 2 ics 1 ll, Ra
the force 2F :
aF
MH = .
4
This determines the following bending-moment diagram.
rin han Wa
M aF/4
Sp ec er,
−aF/4
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
Example 7.16 A simply supported beam carries a linearly varying E7.16
line load as shown in x
2 , Sta japak
Fig. 7.30.
Calculate the location q1
and the magnitude of the q0
maximum bending mo-
ment for q1 = 2q0 .
r 2 ics 1 ll, Ra
l
Fig. 7.30
Solution The linearly varying load is described by
q(x) = a + b x .
rin han Wa
The constants a and b follow from the values of q(x) at the boun-
daries:
Sp ec er,
q(0) = q0 → a = q0 ,
01
q1 − q0
q(l) = q1 → q1 = a + b l → b= .
g M hröd
l
Thus,
q1 − q0
q(x) = q0 + x.
ge
l
ee , Sc
Integration yields
q1 − q0 x2
V (x) = −q0 x − + C1 ,
gin er
l 2
rin
x2 q1 − q0 x3
M (x) = −q0 − + C1 x + C2 .
En aug
2 l 6
The constants of integration are obtained from the boundary con-
ditions:
H
M (0) = 0 → C2 = 0 ,
q0 l q1 − q0 l2
s,
M (l) = 0 → C1 = + .
2 l 6
os
Hence, with q1 = 2q0 , the stress resultants are

q0 x2 q0 l q0 l
Gr
x2 2
V (x) = −q0 x − + + = −q0 − q0 x + q0 l ,
l 2 2 6 2l 3
x3 x2 2
M (x) = −q0 − q0 + q0 lx .
6l 2 3
tics se
The maximum bending moment follows from the condition of a
vanishing shear force (M = V ):
2 , Sta japak
7
4
V = 0 → x∗ = −l ± l2 + l2 = l − 1 = 0.53 l .
3 3
Introduction into M (x) finally yields
r 2 ics 1 ll, Ra
Mmax = M (x∗ ) = 0.19 q0 l2 .
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
Example 7.17 Draw the shear- E7.17
1
0
q0
force and bending-moment
0
1
2 , Sta japak
diagrams for the hinged beam G1 G2
shown in Fig. 7.31. A B C
x
2a a a a
Fig. 7.31
r 2 ics 1 ll, Ra
Solution First we calculate the support reactions. To this end we
isolate the three parts ①, ② and ③ of the beam. The equilibrium
q0 MC
② ③
rin han Wa
R = q0 x1
x1 ① x2
A B
C
z1 z2 M
D
Sp ec er,
A V
01
V
3 x1
g M hröd
q0 a qa
2 0 V MC
M
E
−2q0 a C
M x2
ge
3
q a2
ee , Sc
2 0
quadratic
parabola 2a
1
q a2
gin er
2 0
rin
− 32 q0 a2
En aug
conditions for the portions lead to

7 3 3
A = q0 a , B= q0 a , C = − q0 a , MC = q0 a2 .
H
2 2 2
Then we divide the structure into the two regions AB and BC and
s,
use the coordinates x1 and x2 , respectively. An imaginary section

os
at an arbitrary position x1 and the equilibrium conditions for the

free-body diagram yield
Gr
↓ : V (x1 ) − A + R = 0 → V (x1 ) = q0 (a − x1 ) ,
x1 1 x x2
1
D: M (x1 ) − Ax1 + R =0 → M (x1 ) = q0 a2 2 − 21 .
2 2 a a
tics se
Similarly, a cut at x2 leads to
3
2 , Sta japak
↑ : V (x2 ) + C = 0 → V (x2 ) = q0 a ,
2

E : M (x2 ) − MC − C(2a − x2 ) = 0
3 x2
→ M (x2 ) = q0 a2 −1 + .
2 a
r 2 ics 1 ll, Ra
The shear force and the bending moment are displayed in dia-
grams.
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
Example 7.18 The beam E7.18
shown in Fig. 7.32 carries M0 q0
2 , Sta japak
a uniformly distributed line A
load q0 and a couple M0 =
4q0 a2 . x 11
00
S
004a
11
α
Draw the shear-force and 2a 2a
bending-moment diagrams.
r 2 ics 1 ll, Ra
Fig. 7.32
Solution First we calculate the support reaction AV and the ver-

tical component SV of the force S in the bar (the horizontal com-
ponents AH and SH need not be known in order to determine the
rin han Wa
shear force and the ben-
ding moment). The equilibri- M0 q0
AH
um conditions for the comple-
Sp ec er,
x
te beam yield AV S
01
z
AV = −q0 a , SV = −5q0 a .
g M hröd
4q0 a
Then we introduce a coordi- V
nate system. The shear for-
ge
ce is constant in the region

ee , Sc
−q0 a
0 < x < 4a; it is equal to
M
AV : V = −q0 a. In the region
4a < x < 8a, the shear force
gin er
−2q0 a2
rin
is a linear function of x. The quadratic

parabola
jump at x = 4a is equal to SV , −6q0 a2
En aug
and V = 0 at the free end. −8q0 a2

The bending moment is linear with equal slopes for 0 < x <
2a and for 2a < x < 4a; the jump at x = 2a is equal to M0 .
H
In the region 4a < x < 8a, the bending moment is represented

by a quadratic parabola. The value M (4a) = −8q0 a2 can easily
s,
be calculated from equilibrium of the corresponding right-hand

os
portion of the beam. Finally, M (8a) = 0 and M (8a) = 0.

Gr
tics se
E7.19 Example 7.19 Determine the distance a of hinge G from the sup-
port B (Fig. 7.33) so that the q0
2 , Sta japak
magnitude of the maximum
bending moment becomes
A B a G C
minimal.
l l
Fig. 7.33
r 2 ics 1 ll, Ra
Solution First we calculate the support reactions and the force
in hinge G. Separating the two beams at G and employing the
q0 q0
rin han Wa
① ②
A
Sp ec er, B G G C
equilibrium conditions leads to
01
① ↑: A + B − G − q0 (l + a) = 0 ,
g M hröd
q0 (l + a)2
G: (l + a) A + a B − = 0,
2
② ↑ : G + C − q0 (l − a) = 0 ,
ge
q0 (l − a)2
ee , Sc
G: − (l − a) C = 0
2
q0 (l − a)
→ A=G=C= , B = q0 (l + a) .
gin er
2
rin
Then we determine the bending q0

En aug
MB
moment at B. Equilibrium at the
free-body diagram yields
A VB
q0 l2 1
H
MB = l A − = − q0 l a . l
2 2
s,
This enables us to draw the diagrams of the stress resultants.

The shear-force diagram is antisymmetrical, the bending moment
os
is symmetrical with respect to B. The relative maxima of the

bending moment are located at the distance b = (l − a)/2 from
Gr
the supports A and C, respectively (shear force equal to zero!).

tics se
V
1
1 q (l
2 0
+ a)
q (l − a)
2 , Sta japak
2 0
− 12 q0 (l − a)
b − 12 q0 (l + a) b
r 2 ics 1 ll, Ra
M 1
q (l
8 0
− a)2
− 12 q0 la
rin han Wa
They have the values
q0 M∗
q0 b2 q0
M∗ = b A − = (l − a)2 .
Sp ec er,
2 8
A
01
The magnitude of the maximum b
g M hröd
bending moment becomes minimal

if the condition
|MB | = |M ∗ |
ge
ee , Sc
is satisfied. This yields the result

1 1 √
q0 l a = q0 (l − a)2 → a = (3 − 8)l = 0.172 l .
2 8
gin er
rin
En aug
H
s,
os
Gr
tics se
E7.20 Example 7.20 Determine the
stress resultants for the
q0
2 , Sta japak
clamped angled member A
C
shown in Fig. 7.34.
y1
x1
z1 x2 b
a B
r 2 ics 1 ll, Ra
y2
z2 Fig. 7.34
Solution First we separate the two parts of the angled mem-

ber by a cut at B. In order to define the algebraic signs of the
rin han Wa
stress resultants we introduce
two coordinate systems. Then q0
we pass imaginary cuts at the
MB
Sp ec er,
arbitrary positions x1 and x2 , y Mx
1 x1
respectively. In region ① we
01
z1 ①
g M hröd
use the relationships between My

VB
the loading and the stress re-
sultants. With the bounda- VB Vz
②
ry conditions Vz (0) = 0 and
ge
x2
ee , Sc
My (0) = 0 the integration of MB y2

q = q0 yields z2
1
Vz = −q0 x1 , My = − q0 x21 .
gin er
2
rin
En aug
Thus, at the corner B we obtain the values

1
VB = Vz (a) = −q0 a , MB = My (a) = − q0 a2 .
2
H
In region ② we apply the equilibrium conditions to the free-body

diagram:
s,

Fz = 0 : Vz = VB = −q0 a ,
os
1
Mx = 0 : Mx = −MB = q0 a2 ,
Gr
2

My = 0 : My = x2 VB = −q0 ax2 .
The other stress resultants are zero.

tics se
It shall be noted that the support reactions can be obtained
from these results: they are equal to the values of the stress resul-
2 , Sta japak
tants at x2 = b in region ②:
q0 a2
A = −Vz (b) = q0 a , MxA = Mx (b) = ,
2
MyA = My (b) = −q0 ab .
r 2 ics 1 ll, Ra
Note that the bending moment My in region ① is transferred at
the corner B to the torque Mx in region ②.
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
E7.21 Example 7.21 Determine the l
distance a of the hinge G q0
a
2 , Sta japak
(Fig. 7.35) so that the magni-
G
tude of the maximum ben-
ding moment becomes mini-
mal. l
r 2 ics 1 ll, Ra
Fig. 7.35
rin han Wa
Solution The structure is a three-hinged arch. In order to cal-
culate the support reactions we separate the two bodies. The
equilibrium conditions for
q0 C ② GH GV D
Sp ec er,
the structure as a who-
le and for the right-hand GH ②
01
portion GV
g M hröd
↑ : AV + BV = 0 , ① ③
→ : q0 l − AH − BH = 0 , x
ge
ee , Sc
AH BH
A : 12 q0 l2 − l BV = 0 , AV BV

G : l BH − (l − a)BV = 0
gin er
rin
lead to
En aug
1 1 1
BV = −AV = 2 q0 l , BH = 2 q0 (l − a) , AH = 2 q0 (l + a) .
The bending moment is linear in the regions ② and ③. At the

H
points C and D it has the values

1 1
MC = l AH − q0 l2 = MD = − 12 q0 l(l − a) .
s,
2 2 q0 la ,
os
In region ① the bending moment is given by

1 1
M (x) = x AH − q0 x2 = q0 [(l + a)x − x2 ] .
Gr
2 2
Its maximum value follows through differentiation:

dM l+a
=0 : l + a − 2x = 0 → x∗ =
dx 2
tics se
1
→ M ∗ = M (x∗ ) = 8 q0 (l + a)2 .
The largest bending moments are found at C, D and x∗ . If, in
2 , Sta japak
turn, we equate the magnitudes of two moments, we obtain
|MC | = |MD | : a = l/2

→ |MC | = |MD | = q0 l2 /4 = 0.25 q0 l2 ,
r 2 ics 1 ll, Ra
M ∗ = 9q0 l2 /32 = 0.28 q0l2 ,
|MC | = |M ∗ | : 4la = (l + a)2 → a=l
∗ 2
→ |MC | = |M | = 0.5 q0 l ,
rin han Wa
MD = 0 ,
∗
√
|M | = |MD | : (l + a)2 = 4l(l − a) → a = l( 12 − 3)
√
Sp ec er,
→ |M ∗ | = |MD | = (4 − 12)q0 l2 /2 = 0.268 q0l2 ,
√
01
MC = (−3 + 12)q0 l2 /2 = 0.232 q0l2 .
g M hröd
We see that the magnitude of the largest moment is a minimum

if
√
a = l ( 12 − 3) = 0.464 l .
ge
ee , Sc
Then the support reactions BH and AH are

√ √
4 − 12 12 − 2
gin er
BH = q0 l = 0.268 q0 l , AH = q0 l = 0.732 q0 l
rin
2 2
En aug
and the corresponding M -line can be drawn:
0.232 q0l2
−0.268 q0 l2
H
0.268 q0l2
s,
os
x∗
M - line
Gr
tics se
E7.22 Example 7.22 Draw the shear- q0
force and bending-moment
2 , Sta japak
diagrams for the frame shown
in Fig. 7.36. 2a
A B
a 2a a
r 2 ics 1 ll, Ra
Fig. 7.36
Solution Due to the symmetry of the problem the support reac-

tions are
rin han Wa
A = B = q0 a .
To obtain the stress resultants in the parts ① and ② we pass

imaginary √sections at arbitrary
√ positions of these parts. Using
Sp ec er,
cos α = 1/ 5 and sin α = 2/ 5, the equilibrium conditions for
01
the free-body diagrams yield
g M hröd
①: N1 = −A sin α = − √25 q0 a , M1 N1
C
: V1 = A cos α = √15 q0 a ,
ge
① V1
ee , Sc

C : M1 = x1 A = x1 q0 a , x1
A q0
M2
②→: N2 = 0 ,
gin er
C N2
rin
↑ : V2 = A − q0 x2 = q0 (a − x2 ) , V2
②
En aug

C : M2 = (a + x2 )A − 12 q0 x22
a x2
A
= q0 (a2 + ax2 − 12 x22 ) .
H
The stress resultants are displayed in the following diagrams.

s,
3q0 a2 /2
√ q0 a
2
os
q0 a/ 5 q0 a
Gr
V - line M - line
tics se
Example 7.23 The arch shown in q0 E7.23
Fig. 7.37 carries a constant line
2 , Sta japak
load q0 .
Calculate the maximum va- r
lues of the normal force and the
bending moment. Fig. 7.37
r 2 ics 1 ll, Ra
Solution First we calculate the support reactions from the equili-
brium conditions for the complete arch:
q0 B
1
AV = q0 r , AH = B = 2 q0 r .
rin han Wa
Then we introduce the dashed line and AH
cut the arch at an arbitrary position α.
The equilibrium conditions for the left- AV
Sp ec er,
hand part yield the stress resultants:
01
: N (α) = −[AV − q0 r(1 − cos α)] cos α − AH sin α
g M hröd
N
= − 12 q0 r(2 cos2 α + sin α) , M
q0
C
: V (α) = [AV − q0 r(1 − cos α)] sin α − AH cos α
ge
V
ee , Sc
α
= 12 q0 r(2 cos α sin α − cos α) , AH
AV

C : M (α) = AV r(1 − cos α) − AH r sin α − 12 q0 r2 (1 − cos α)2
gin er
rin
= 12 q0 r2 (1 − sin α − cos2 α) .
En aug
The maximum values of the normal force and the bending mo-
ment, respectively, follow from
H
dM
= 0 : (−1 + 2 sin α) cos α = 0 ,
dα
s,
cos α1 = 0 → α1 = π/2 → M (α1 ) = 0 ,

os
1
sin α2 = 2 → α2 = π/6 → M (α2 ) = − 18 q0 r2 ,
dN
Gr
= 0 : (−4 sin α + 1) cos α = 0 ,

dα
cos α3 = 0 → α3 = π/2 → N (α3 ) = − 12 q0 r ,
1 15 17
sin α4 = 4 → cos2 α4 = 16 → N (α4 ) = 16 q0 r .
tics se
E7.24 Example 7.24 A clamped arch
in the form of a quarter-circle
111
000
2 , Sta japak
r
000
111
(weight negligible) supports a
q0
000
111
line load q0 (Fig. 7.38).
000
111
A B
Determine the stress resul-
tants as functions of the coor-
dinate ϕ.
000
111 ϕ
Fig. 7.38
r 2 ics 1 ll, Ra
Solution We section the arch at an arbitrary position ϕ and con-
sider the cut-off portion of the arch. To define the algebraic signs
of the stress resultants, a local x, y, z-coordinate system is used.
rin han Wa
The shear force Vz , the torque MT , the bending moment My and
the resultant R = q0 rϕ of
the line load are drawn in-
Sp ec er,
to the free-body diagram with
r
their positive directions. The
01
ϕ/2
other stress resultants are ze- ϕ
g M hröd
a
ro; they are omitted in the
free-body diagram. The posi- y M R = q0 rϕ
y
tion of the action line of the
ge
ee , Sc
resultant of the line load ac-

Vz
ting on the cut-off portion is a sin(ϕ/2)
MT
given by x
r − a cos(ϕ/2)
gin er
2 ϕ
rin
a = r sin .
ϕ 2
En aug

Fz = 0 : Vz + q0 rϕ = 0 → Vz = −q0 rϕ,
H
(0)
Mx = 0 :
ϕ
s,
MT + q0 rϕ r − a cos =0 → MT = −q0 r2 (ϕ − sin ϕ),

2
os
(0) ϕ
My = 0 : My + q0 rϕa sin = 0 → My = −q0 r2 (1 − cos ϕ).
2
Gr
tics se
Example 7.25 Draw the E7.25
q0
shear-force and bending-
2 , Sta japak
moment diagrams for the A B
G
hinged beam shown in 2 3 3a
1 5 4
Fig. 7.39.
4a 2a 2a 4a
r 2 ics 1 ll, Ra
Fig. 7.39
Solution The support reactions follow from the equilibrium for

the structure as a whole:
q0
9 3
rin han Wa
A= 2 q0 a , B= 2 q0 a .
The forces in the bars connec- S2 S3 B
A S1 S4
ted with the beam can be taken
Sp ec er,
from Example 6.6:
01
15 V
S 1 = S4 = q0 a ,
g M hröd
4
2
S2 = S3 = − 94 q0 a . 9
qa
4 0
qa
4 0
3
qa
4 0
The shear force is linear with
ge
9
equal slopes for 0 < x < 4a a
ee , Sc
4 − 64 q0 a
and 4a < x < 6a, respec- − 74 q0 a 3
a
2
81
tively. The value at x = 0 M q a2
32 0
9
is given by the difference q a2
8 0
gin er
rin
of the support reaction A

En aug
and the vertical component q0 a2

S1V = 9 q0 a/4 of the force S1 :
V (0) = A − S1V = 9 q0 a/4.
The jump at x = 4a is
H
−3q0 a2
equal to the force S2 . In
s,
the regions 6a < x < 8a and 8a < x < 12a, respectively, the shear
force is constant. The jump at x = 8a is equal to S3 .
os
The bending moment is described by quadratic parabolas for

0 < x < 4a and 4a < x < 6a, respectively. The value M (4a) =
Gr
q0 a2 can be calculated from equilibrium at a cut-off portion. The

maximum values of M are located at the points of vanishing shear
force. In the regions 6a < x < 8a and 8a < x < 12a the bending
moment is represented by two straight lines. The value M (8a) =
−3 q0 a2 again follows from equilibrium of a cut-off portion.
Gr
os
s,
H
En aug
gin er
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
Gr
os
s,
H
En aug Chapter 8
gin er
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
Work and Potential Energy
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
8
94 8 Work and Potential Energy
tics se
E8.11 Example 8.11 The mechanism
shown in Fig. 8.19 is subjected M0
2 , Sta japak
to a force F and a moment
M0 . The weights of the three
links may be neglected.
Apply the principle of vir- l
ϕ ϕ
tual work to find the equilibri-
r 2 ics 1 ll, Ra
F
um position ϕ = ϕ∗ . l
Fig. 8.19
rin han Wa
Solution The system has one degree of freedom. If the arbitrary
position ϕ is changed by a virtual displacement δϕ, the point of
application of the force F is dis-
M0
Sp ec er,
placed. In order to determine
the virtual work of F we have to
01
δϕ
consider only the vertical com-
g M hröd
ponent δv of the displacement.

With δv = lδϕ sin ϕ and the fact ϕ
that F acts in the opposite di- δϕ
ge
ee , Sc
rection of the displacement, the δv

lδϕ
principle of virtual work δU = 0 ϕ F
yields
gin er
M0 δϕ − F lδϕ sin ϕ = 0 → (M0 − F l sin ϕ)δϕ = 0 .

rin
En aug
Since δϕ = 0, the equilibrium position follows from

M0
M0 − F l sin ϕ = 0 → ϕ∗ = arcsin .
Fl
H
Equilibrium is possible only for |M0 /F l| ≤ 1.

s,
os
Gr
8 Work and Potential Energy 95
tics se
Example 8.12 A hinged beam E8.12
is subjected to a line load q0
q0 F
2 , Sta japak
and a concentrated force F α
(Fig. 8.20).
A G B C
Determine the support reac-
tion B with the aid of the prin- a a a a
ciple of virtual work.
r 2 ics 1 ll, Ra
Fig. 8.20
Solution We remove the support B and replace it by the support

reaction. Then the point of application of the support reaction is
able to move in the vertical direction and the support reaction
rin han Wa
has to be treated as an external load. The line load is replaced
by the resultant forces R1 = q0 a and R2 = q0 a, respectively,
R2 = q0 a
Sp ec er,
R1 = q0 a F
B
01
δϕ δψ
g M hröd
δwF
δw1
δw2δwB
δwG
ge
to the left and to the right of the hinge G. We now impose a

ee , Sc
virtual displacement δwG on the system. Since only the component

F sin α of the force F in the direction of the displacement has to
be taken into account, the principle of virtual work reads
gin er
rin
δU = 0 : R1 δw1 + R2 δw2 − BδwB + F sin αδwF = 0 .

En aug
The following geometrical relations between the various virtual

displacements can be taken from the figure:
H
δwG = aδϕ = 3aδψ → δϕ = 3δψ ,

δw1 = 12 aδϕ , δw2 = 52 aδψ , δwB = 2aδψ , δwF = aδψ .
s,
os
Introduction into the principle of virtual work yields

3 5
q0 a + q0 a − 2B + F sin α aδψ = 0
Gr
2 2
1
→ B = 2q0 a + F sin α .
2
tics se
E8.13 Example 8.13 The system in Fig. 8.21 is held by a spring
(stiffness k) and a torsion
2 , Sta japak
spring (stiffness kT ). The for-
F
ce in the spring and the mo-
ment in the torsion spring are
k
zero in the equilibrium posi-
tion shown in the figure. This l
r 2 ics 1 ll, Ra
equilibrium position is unsta-
kT
ble if the applied force F ex-
ceeds a critical value Fcrit .
l l
Find Fcrit .
Fig. 8.21
rin han Wa
Solution We introduce the angle ϕ and consider an arbitrary
position of the system. The total potential energy V is the sum
Sp ec er,
of the potential energy VF of the force F , the potential energy
01
y
F
g M hröd
h
ge
ee , Sc
x
ϕ ϕ
xF
gin er
rin
Vk of the force in the spring and the potential energy VkT of the
En aug
moment in the torsion spring:

1 1
V = VF + Vk + VkT = F h + 2 k x2F + 2 kT (2ϕ)2
H
1 2 2
= F l cos ϕ + 2 k (l sin ϕ) + 12 kT (2 ϕ)
1
k l2 sin2 ϕ + 2 kT ϕ2 .
s,
= F l cos ϕ + 2
os
The equilibrium positions follow from

dV
= −F l sin ϕ + k l sin ϕ cos ϕ + 4 kT ϕ = 0 .
Gr
dϕ
tics se
In addition to the trivial position ϕ = 0 there exist further equili-
brium positions which can be determined from this transcendental
2 , Sta japak
equation.
Since we are interested only in the stability of the position
ϕ = 0, we now insert this value into the second derivative of the
total potential:
d2 V
r 2 ics 1 ll, Ra
= −F l cos ϕ + k l2 cos 2ϕ + 4 kT
dϕ2

d2 V
→ = −F l + k l2 + 4 kT .
dϕ2 ϕ=0
rin han Wa
The position is unstable if the second derivative is negative. Thus,
the critical load follows from V = 0:
kT
Fcrit = k l + 4 .
Sp ec er,
l
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
E8.14 Example 8.14 A hydraulic ramp is schematically depicted in
Fig. 8.22. The two beams
2 , Sta japak
(each length l) are pin-
W
connected at their centers
M . A car (weight W )
B
stands on the ramp. 30◦
Determine the force F M
r 2 ics 1 ll, Ra
◦
l
which has to be genera- a 30
ted in the hydraulic piston F 30◦
and applied to the lever of A
length a in order to keep the
2a
rin han Wa
system in equilibrium.
Fig. 8.22
Solution We impose a virtual displacement δα on the beam AB.

Sp ec er,
Due to the symmetry of the system, the ramp stays horizontal
01
during the displacement.
g M hröd
Thus, the vertical displace- W

ments δwW of the point of
application of the force W δwW lδα δwB
and of the point B are equal:
ge
◦
30 B
ee , Sc
δwW = δwB . According to

the principle of virtual work
δf
we have (the weight acts in
δα δα
gin er
the opposite direction of the F

rin
displacement) A
En aug
δU = 0 : F δf − W δwW = 0 .
The virtual displacements δwW and δf can be expressed by δα:

H
√
◦ 3
s,
δwW = δwB = l δα cos 30 = l δα , δf = a δα .

2
os
Introduction into δU = 0 yields

√ √
3 3l
Gr
Fa − W l δα = 0 → F = W.
2 2a
tics se
Example 8.15 A wheel (weight W , radius r) rolls on a circular E8.15
cylinder (radius R) without sli-
2 , Sta japak
ding. It is connected to a wall by ϕ
a spring (stiffness k). The spring k r
11111111
00000000
is kept in a horizontal position by W
00000000
11111111
the support; the force in the spring
is zero in the position shown in
r 2 ics 1 ll, Ra
Fig. 8.23. R
Determine the equilibrium posi-
Fig. 8.23
tions and investigate their stability.
rin han Wa
Solution The system has one (R + r) sin ϕ
degree of freedom: the positi-
on of the wheel can be descri- Fk
Sp ec er,
bed by the angle ϕ. The po-
111111111
000000000
000000000
111111111
01
tential energy is the sum of the W
g M hröd
potential energies VW of the ϕ (R + r) cos ϕ

weight and Vk of the spring
force:
ge
ee , Sc
V = W (R + r) cos ϕ + 12 k(R + r)2 sin2 ϕ .
We now determine the first and the second derivative of the po-
tential energy:
gin er
rin
V = −W (R + r) sin ϕ + k(R + r)2 sin ϕ cos ϕ ,

En aug
V = −W (R + r) cos ϕ + k(R + r)2 (2 cos2 ϕ − 1) .

H
V =0 → sin ϕ[−W + k(R + r) cos ϕ] = 0

s,
W
→ ϕ1 = 0 , ϕ2,3 = ± arccos .
k(R + r)
os
Note that the positions ϕ = ϕ2,3 = 0 exist only for W < k(R + r).
Gr
tics se
In order to investigate the type of stability of these positions,
we discuss several cases:
2 , Sta japak
a) W < k(R + r):
V (ϕ1 ) = (R + r)[−W + k(R + r)] > 0 → stable ,
V (ϕ2,3 ) = (R + r)[−W cos ϕ2,3 + k(R + r)(2 cos2 ϕ2,3 − 1)]
r 2 ics 1 ll, Ra
1
= [W 2 − k 2 (R + r)2 ] < 0 → unstable .
k
b) W > k(R + r):
V (ϕ1 ) < 0 → unstable .
rin han Wa
c) W = k(R + r):
V (ϕ1 ) = 0 , V (ϕ1 ) = 0 ,

Sp ec er,
V IV (ϕ1 ) = −3k(R + r)2 < 0 → unstable .
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
1
0
tics se
Example 8.16 The slider crank mecha- F E8.16
nism shown in Fig. 8.24 consists of the
0
1
01
1 010
0
1
2 , Sta japak
crank AC and the connecting rod BC.
Their weights can be neglected in com- 0
1
0
1B
0
1
parison with the force F acting at B. l
Determine the moment M (α) which
is necessary to keep the system in equi- C 0
1
0M
1
r 2 ics 1 ll, Ra
α 1
0
librium at an arbitrary angle α.
Fig. 8.24
r
0A
1
rin han Wa
Solution We introduce the x, y-coordinate
1 00
0
system and the position xB (yB = 0) of the F
piston. Then we impose a virtual displa-
B1
0 11
0
1
cement δα on the crank AC which causes 01
1 0 0
1
0
1
Sp ec er,
β 1
0
a virtual displacement δxB of the piston.
01 0
1
The moment M acts in the opposite di- l
g M hröd
0x
1
x B
rection of δα and the force F is directed
against the positive δxB . Thus, the princi-
0
1
11110
α 1
y 0000
ple of virtual work reads
000
1
M
r
11
ge
ee , Sc
δU = −M δα − F δxB = 0 .
To express xB in terms of α we introduce the auxiliary angle β

gin er
and use the geometric relations

rin
En aug
xB = r cos α + l cos β ,
r
yB = 0 = r sin α − l sin β → sin β = sin α ,
l
cos β = 1 − sin β = 1 − (r/l)2 sin2 α .
2
H
The virtual displacements are obtained through differentiation:

s,
δxB = −r sin α δα − l sin β δβ ,

os
r cos α
δyB = 0 = r cos α δα − l cos β δβ → δβ = δα .
l cos β
Gr
The negative signs at δxB show that it is directed downwards for

positive δα and δβ.
tics se
Introducing δxB into δU = 0 and eliminating the auxiliary
angle β and δβ yields

2 , Sta japak
r r cos α
−M δα + F r sin α δα + l sin α δα = 0
l l 1 − (r/l)2 sin2 α
or
r cos α
r 2 ics 1 ll, Ra
M = F r sin α 1 + .
l2 − r2 sin2 α
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
Example 8.17 Calcu- q0 E8.17
late the force S1
1
0
2 , Sta japak
in member 1 of 2q0
0
1
1 2
the structure in
Fig. 8.25.
0
1
0
1
a a a a
r 2 ics 1 ll, Ra
Fig. 8.25
Solution First we replace the line loads by three concentrated

forces as shown in
rin han Wa
the figure. Then we 2q0 a δϕ
cut member 1 and
subject the struc- S1
2q0 a 2q0 a
1
0
0
1
ture to a virtual
Sp ec er,
S1
0
1
displacement. The
01 0
1
principle of virtual δψ
g M hröd
work reads
a
δU = −2 q0 a · a δϕ − S1 · a δϕ + S1 · 2 a δψ − 2 q0 a · δψ = 0
2
ge
ee , Sc
Now we insert the geometrical relation
2a δϕ = a δψ → δψ = 2 δϕ
gin er
and obtain
rin
En aug
−2 q0 a2 δϕ − S1 a δϕ + 2 a S1 2 δϕ − q0 a2 2 δϕ = 0 .
This yields
H
4
S1 = q0 a .
3
s,
Note that the line load acting at the lower beam may not be
os
replaced by the resultant force of the complete line load which

acts at the hinge since this force does no work under a virtual
Gr
displacement.
tics se
E8.18 Example 8.18 A concentrated mass
m is attached to a circular disk m ϕ
r
2 , Sta japak
(radius R, mass M ) as shown in M
Fig. 8.26. The disk can roll on an R
inclined plane (no sliding!).
Determine the positions of equi- α
librium and investigate their stabi-
r 2 ics 1 ll, Ra
lity. Fig. 8.26
Solution We choose the angle ϕ such that it is zero in the po-

sition of the system where the concentrated mass is located at
rin han Wa
the same height as the center of
the disk. Since the disk rolls wi- x sin α α
thout slipping, a displacement x R cos α
r sin ϕ α
along the inclined plane and the
Sp ec er,
ϕ C
angle ϕ are not independent:
01
x
g M hröd
x = Rϕ. α
The zero-level of the potential energy is chosen to be the horizontal

plane passing through the point C of contact in the position ϕ = 0.
ge
ee , Sc
Then the potential energy in an arbitrary position is given by
V = M g(R cos α − x sin α) + mg(R cos α − x sin α + r sin ϕ)

= (M + m)gR(cos α − ϕ sin α) + mgr sin ϕ .
gin er
rin
En aug
The first two derivatives of the potential energy are
V = −(M + m)gR sin α + mgr cos ϕ ,

V = −mgr sin ϕ .
H

s,
M +m R
V =0 → cos ϕ = sin α =: k → ϕ = ± arccos k .
os
m r
Note that equilibrium exists only for k ≤ 1.
Gr
tics se
In order to investigate the type of stability of the equilibrium
positions, we discuss several cases:
2 , Sta japak
a) k < 1:
ϕ1,2 = ± arccos k ,

V (ϕ1 ) = −mgr 1 − k 2 < 0 → unstable ,
r 2 ics 1 ll, Ra

V (ϕ2 ) = mgr 1 − k 2 > 0 → stable .
b) k = 1:
rin han Wa
ϕ1 = 0 ,
V (ϕ1 ) = 0 , V (ϕ1 ) = −mgr = 0 → point of inflection

with a horizontal tangent: unstable .
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
E8.19 Example 8.19 Figure 8.27 shows
schematically the door CD (weight
β
2 , Sta japak
W , height 2r) of a garage. It is sup- D
r
ported by a lever BC and a spring
r
AB (stiffness k). The spring is un- B
stretched for α = π. The distance a W
between the points B and M is de- M
r 2 ics 1 ll, Ra
r r
noted by a.
Investigate the stability of the α
r
equilibrium configurations for the
case a r and W r/ka2 = 3. C
rin han Wa
A
Fig. 8.27
Sp ec er,
Solution We first determine the elongation f of the spring during
a displacement from the position α = π. With the length r − a of
01
the unstretched spring and the aid of the law
g M hröd
of cosines we can write down the relation B

a
(r − a + f )2 = r2 + a2 + 2ar cos α . M
π−α
ge
ee , Sc
Since a r and thus also f r this re- r−a+f

lation is approximated by r
f = a (1 + cos α) .
gin er
A
rin
We now choose the zero-level of the potential energy

En aug
of the force W at the level of point M . Then the total potential

energy is given by
1
H
V = W (r sin β − r cos α) + 2 k f2 .
s,
Using the geometrical relation
sin β = 12 (1 + cos α)
os
2r sin β − r cos α = r →
the potential energy can be written as

Gr
V = 12 W r(1 − cos α) + 12 ka2 (1 + cos α)2 = V (α) .

Equilibrium positions follow from (note: W r/ka2 = 3)
tics se
V = 12 W r sin α − ka2 (1 + cos α) sin α = ka2 sin α ( 12 − cos α) = 0 .
2 , Sta japak
Hence,
sin α = 0 → α1 = 0 , α2 = π ,
1
r 2 ics 1 ll, Ra
cos α = 2 → α3 = π/3 .
To apply the stability criterion, we consider the second deriva-

tive of the potential:
1
V = W r cos α − k a2 (cos α + cos 2α) .
rin han Wa
2
This yields
V (α1 ) < 0
Sp ec er,
→ unstable ,
01
V (α2 ) < 0 → unstable ,
g M hröd
V (α3 ) > 0 → stable .

ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
Gr
os
s,
H
En aug
gin er
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
Gr
os
s,
H
En aug Chapter 9
gin er
ee , Sc
rin
g M hröd
Sp ec er,
rin han Wa
ge
Static and Kinetic Friction
r 2 ics 1 ll, Ra
01
2 , Sta japak
tics se
9
110 9 Static and Kinetic Friction
tics se
E9.6 Example 9.6 A sphere (weight W1 ) and a wedge (weight W2 ) are
jammed between two vertical walls with
1
0
0
1 1
0
2 , Sta japak
rough surfaces (Fig. 9.11). The coefficient 0
1 0
1
0
1 O 0
1
0
1
of static friction between the sphere and 0
1 0
1
0
1
0
1 0
1
the left wall and between the wedge and 0
1
0
1
0
1
W1
0
1α
the right wall, respectively, is μ0 . The in- 0
1 0
1
0
1 W2 0
1
0
1
clined surface O of the wedge is smooth. 0
1
0μ
1 0
1
r 2 ics 1 ll, Ra
Determine the required value of μ0 in 0 μ0
order to keep the system in equilibrium. Fig. 9.11
Solution First we draw the free-body diagrams of the isolated
rin han Wa
Hr
Nl C Nl
α Nr
Sp ec er,
Hl N Hl
01
W1 W1 W2
g M hröd
sphere and of the complete system. The force Hr of static friction

is directed such that it opposes the direction of motion that would
occur in the absence of friction. The force Hl is zero as can be seen
ge
from the equilibrium conditions at the sphere:

ee , Sc

C: Hl = 0 ,
↑ : N sin α − W1 = 0 ,
gin er
rin
→: Nl − N cos α = 0 → Nl = W1 cot α .
En aug
The normal force Nr and the friction force Hr follow from equili-
brium of the complete system:
H
→ : Nl − Nr = 0 → Nr = Nl = W1 cot α ,
↑: Hr − W1 − W2 = 0 → Hr = W1 + W2 .
s,
They have to satisfy the condition of static friction (the corre-

os
sponding condition at the left-hand side is automatically satisfied

since Hl = 0):
Gr
Hr ≤ μ0 Nr → μ0 ≥ (1 + W2 /W1 ) tan α .
9 Static and Kinetic Friction 111
tics se
Example 9.7 The excentric device in Fig. 9.12 is used to exert a E9.7
large normal force onto the ba-
F
2 , Sta japak
se. The applied force F , desi-
red normal force N , coefficient l
of static friction μ0 , length l, α
radius r and angle α are given. 1
0
r
Calculate the required ec-
r 2 ics 1 ll, Ra
e
centricity e. 111111111
000000000
μ0
000000000
111111111
000000000
111111111
Fig. 9.12
Solution First we isolate the device and draw the free-body dia-
rin han Wa
gram. The static friction force H is directed such that it prevents
Sp ec er, F
AV
01
AH C
g M hröd
C e
A α e sin α
B A e cos α
H
N
ge
ee , Sc
a motion. Then we write down the equilibrium conditions:
→: AH + H + F sin α = 0 ,
gin er
↑: −AV + N − F cos α = 0 ,
rin

En aug
C: F (l − e) − AH e sin α − AV e cos α − H r = 0 .
If we eliminate the support reactions AH and AV we obtain the

friction force:
H
F l − N e cos α
H= .
r − e sin α
s,
Introduction into the condition of static friction (the normal force

os
N is given)
Gr
|H| < μ0 N
tics se
yields
F l − N e cos α < μ0 N (r − e sin α) .
2 , Sta japak
This can be solved for the required eccentricity:
F
− μ0 r
l
e> N .
cos α − μ0 sin α
r 2 ics 1 ll, Ra
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
Example 9.8 A horizontal force F E9.8
F
is exerted on a vertical lever to
2 , Sta japak
prevent a load (weight W ) from
μ0
falling downwards (Fig. 9.13). The a
drum can rotate without friction
about point B; the coefficient of B
static friction between the drum
r 2 ics 1 ll, Ra
b
and the block is μ0 .
A
Determine the magnitude of the
force F needed to prevent the
c r W
drum from rotating. Fig. 9.13
rin han Wa
Solution We separate the lever and the drum. The static fric-
tion force H opposes the di-
F
Sp ec er,
rection of the motion that
would occur in the absence
01
of friction (here: a clockwise
g M hröd
② ①
rotation of the drum). The H
friction force and the nor- N B
N
mal force N can be calcula-
ge
H
ee , Sc
ted from moment equations W

A
at the drum ① and at the
lever ②, respectively:

gin er
①B : rH −rW = 0 →
rin
H =W,
En aug
1
② A: b N + c H − (a + b)F = 0 → N= [(a + b)F − c W ] .
b
A rotation of the drum is prevented as long as the condition of
H
static friction is fulfilled:

b + μ0 c
s,
H ≤ μ0 N → F ≥ W.
μ0 (a + b)
os
Gr
tics se
E9.9 Example 9.9 A wall and a beam (weight W2 = W ) keep a roller
(weight W1 = 3W ) in the position
11111111
00000000
00000000
11111111
2 , Sta japak
as shown in Fig. 9.14. The beam
00000000
11111111
adheres to the rough base; all the 5a
00000000
11111111
other areas of contact are smooth. 4 30◦
00000000
11111111
Determine the minimum value W1 W2
of the coefficient of static friction
00000000
11111111
00000000
11111111
r 2 ics 1 ll, Ra
μ0 between the base and the beam
00000000
11111111
μ0
in order to prevent slipping.
a Fig. 9.14
rin han Wa
Solution We isolate the
B
roller and the beam. Since B
the surface of the roller is
Sp ec er,
smooth, the forces acting C 60◦ D
01
at the roller are a system
W2
g M hröd
of concurrent forces. Equi- W1 D

librium yields H
N
↑: D cos 60◦ − W1 = 0 → D = 6W .
ge
ee , Sc
The normal force N at the base of the beam and the friction force
H follow from the equilibrium conditions at the beam:
gin er
↑: N − D cos 60◦ − W2 = 0 → N = 4W ,
rin
√ 4√
En aug
5 a
B : aN + 3 a H − a D − W2 = 0 → H= 3W .
4 2 3
They are inserted into the condition of static friction in order to
H
determine the required coefficient of static friction:

√
3
s,
H ≤ μ0 N → μ0 ≥ .
3
os
Gr
tics se
Example 9.10 A block (weight W2 ) is clamped between two E9.10
cylinders (each weight W1 ) as
2 , Sta japak
shown in Fig. 9.15. All the sur- μ0
μ0
faces are rough (coefficient of
W1
static friction μ0 ).
Find the maximum value of α α
W2
W2 in order to prevent slipping. Fig. 9.15
r 2 ics 1 ll, Ra
Solution We draw the free-body diagram of the block and of one
of the cylinders. The directions
of the forces H1 and H2 are cho-
rin han Wa
sen such that they oppose the N2 N2
direction of motion that would
occur in the absence of friction. H2 H2
Sp ec er,
The equilibrium conditions for W2
the block
01
g M hröd
W1
↑: 2H2 − W2 = 0 H2
H1
and for the cylinder α A r
N2
ge
ee , Sc
↑: N1 cos α − H2 − H1 sin α − W1 = 0 , N1
→ : N1 sin α + H1 cos α − N2 = 0 ,

A : H2 r − H1 r = 0
gin er
rin
yield the normal forces and the friction forces:

En aug
W2
H 1 = H2 = ,
2
H
W2 (1 + sin α) + 2W1
N1 = ,
2 cos α
s,
W2 (1 + sin α) + 2W1 sin α

N2 = .
2 cos α
os
Introduction into the conditions of static friction

Gr
H 1 < μ0 N 1 , H2 < μ 0 N 2
tics se
leads to
2μ0 2μ0 sin α
W2 < W1 , W2 < W1 .
2 , Sta japak
cos α − μ0 (1 + sin α) cos α − μ0 (1 + sin α)
Since sin α ≤ 1 we obtain
2μ0 sin α
W2 < W1 .
cos α − μ0 (1 + sin α)
r 2 ics 1 ll, Ra
Note that the right-hand side of this equation approaches infinity
for μ0 = cos α/(1 + sin α). If μ0 exceeds this value, the system is
self-locking.
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
Example 9.11 A peg A that can ro- E9.11
tate without friction and a fixed peg
2 , Sta japak
B are attached to a curved member β
(weight W ) as depicted in Fig. 9.16. l l
The rope supports a load (weight l 2 4
A
WK = W/5). 2
Determine the number of coils of
r 2 ics 1 ll, Ra
the rope around peg B that are nee- B
ded to prevent slipping. Calculate μ0 W
the angle β in the equilibrium posi-
tion.
rin han Wa
Fig. 9.16 WK
Sp ec er,
Solution We draw the free-body dia- SA
a l/4
gram of the complete system. The
01
A
g M hröd
force equilibrium condition in the ho- β

rizontal direction shows that the for-
B
ce S in the rope above peg A has to
be vertical (SH = 0). The force equi- W
ge
ee , Sc
librium condition in the vertical di- WK

b
rection and the moment equilibrium
condition about B yield S 2 = SA
gin er
rin
↑: SA − WK − W = 0 → SA = 6 W/5 , β
B
En aug

B : a SA − b W = 0 → 6a = 5b .
S1 = WK
We obtain the angle β if we insert the geometrical
H
relations
l l
s,
a = l sin β , b= sin β + cos β

2 4
os
into the moment equilibrium condition:
β = 19.7◦ .
Gr
tan β = 5/14 →
tics se
Now we apply Euler’s formula for belt friction
S2 ≤ S1 eμ0 α
2 , Sta japak
where S1 = WK = W/5 and S2 = SA = 6W/5. Solving yields the
angle of wrap:
ln 6
α≥ → α ≥ 17.9 = 2.85 (2π) .
r 2 ics 1 ll, Ra
μ0
Since 360◦ − β =
0.95 (2π) > 0.85 (2π), three coils of the rope
around peg B are needed to prevent slipping.
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
Example 9.12 A block with weight W can move vertically between E9.12
two smooth walls. It is held by a
a
2 , Sta japak
rope which passes around three fi-
11
00 1
0
xed rough pegs (coefficient of static 00
11
00
11 0
1
0
1
friction μ0 ) as shown in Fig. 9.17. 00
11
00
11 ◦
0
1
0
1
00 45
11 0
1
Calculate the force F which will 00
11
00
11 0
1
0
1
ensure that the block remains sus- 00
11
00 μ0
11 0
1
W 1
0b
r 2 ics 1 ll, Ra
pended. Find the forces N1 , N2 00
11
00
11 0
1
0
1
which are exerted from the block 00
11
00
11 45◦ 0
1
0
1
00
11 0
1
onto the walls. 00
11
00
11 0
1
0
1
00
11 0
1
c F
rin han Wa
Fig. 9.17
Solution Equilibrium at the complete S3 N2

Sp ec er,
system
01
↑: S3 − W − F = 0 , S2
g M hröd
→ : N1 − N2 = 0 , S1

A : W 12 a + F c − S3 c − N2 b = 0 N1 A
ge
ee , Sc
F W
and the conditions of static friction
S1 < F e μ0 π/4 , S2 < S1 e μ0 π/2 , S3 < S2 e μ0 π/4

gin er
rin
yield
En aug
W a − 2c
F > , N1 = N2 = W .
e μ0 π
−1 2b
H
s,
os
Gr
tics se
E9.13 Example 9.13 Three cylinders (each
radius r, weight W ) are arranged as
W
2 , Sta japak
shown in Fig. 9.18. The surfaces of
A B
all contact planes are rough (coeffi-
cient of static friction μ0 ). r
W
Determine the minimum value of W μ0
μ0 in order to prevent slipping.
r 2 ics 1 ll, Ra
C D
Fig. 9.18
Solution First we separate the

cylinders and draw the free- W
rin han Wa
body diagram (note the sym- HA 30◦ 30◦ HB
metry of the system; the nor-
mal force between the two NA NB
Sp ec er,
lower cylinders is zero). Mo-
HA HB
01
ment equilibrium shows that W W
g M hröd
all the forces of static friction

are equal:
HC HD
NC ND
HA = HB = HC = HD = H .
ge
ee , Sc
They are thus simply denoted by H. Then we write down the force
equilibrium at the upper cylinder
gin er
→ : NA sin 30◦ − NB sin 30◦ = 0 → NA = NB = N ,

rin
En aug
↑ : 2N cos 30◦ + 2H sin 30◦ = W

and at the lower cylinder
H
→ : −N sin 30◦ + H cos 30◦ + H = 0 ,
↑ : NC − W − N cos 30◦ − H sin 30◦ = 0 .

s,
os
Solving these equations yields

W 3 sin 30◦ W
√ .
Gr
N= , NC = W, H= ◦
W =
2 2 2(1 + cos 30 ) 2(2 + 3)
tics se
The conditions of static friction between the cylinders
H 1
μ0 > = √ = 0.268
2 , Sta japak
NA 2+ 3
and between the lower cylinders and the base
H 1
μ0 > = √ = 0.089
NC 3(2 + 3)
r 2 ics 1 ll, Ra
have to be satisfied in order to avoid slipping. Thus, the minimum
value of μ0 is obtained as
μ0 = 0.268 .
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
E9.14 Example 9.14 A rotating drum (weight W1 ) exerts a normal force
and a kinetic friction force on a
2 , Sta japak
wedge (Fig. 9.19). The wedge lies on W1
a rough base (coefficient of static
friction μ0 ).
Find the value of the coefficient W
of kinetic friction μ between the μ
r 2 ics 1 ll, Ra
α μ0
drum and the wedge that is requi-
red to move the wedge to the right.
Fig. 9.19
rin han Wa
Solution The center of gravity of the
drum is not moving: it is in equili-
brium. Therefore we can apply the A
equilibrium conditions
Sp ec er,
W1
→: N1 sin α − R1 cos α − A = 0 ,
01
R1
g M hröd
α
N1
↑: N1 cos α + R1 sin α − W1 = 0
to the drum. The normal force N1 N1

W
ge
and the friction force R1 follow with R1

ee , Sc
the law of friction

H2
R1 = μN1 N2
gin er
rin
as
En aug
W1 W1
N1 = , R1 = μ .
cos α + μ sin α cos α + μ sin α
Introduction into the equilibrium conditions for the wedge
H
→ : R1 cos α − N1 sin α − H2 = 0 ,
s,
↑: N2 − N1 cos α − R1 sin α − W = 0
os
yields
Gr
μ cos α − sin α
H2 = W1 , N2 = W1 + W .
cos α + μ sin α
tics se
The wedge is on the verge of moving if the condition
H 2 = μ0 N 2
2 , Sta japak
is satisfied. Solving for μ yields
μ0 (1 + W/W1 ) + tan α
μ= .
1 − μ0 (1 + W/W1 ) tan α
r 2 ics 1 ll, Ra
Note that the system is self-locking for μ0 > cot α/(1 + W/W1 ) .
In this case the wedge will not move. If α = 0, the result simplifies
to μ = μ0 (1 + W/W1 ).
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
E9.15 Example 9.15 A beam (length 2a, weight W ) rests on support
A. The triangle attached to its
2 , Sta japak
right end touches a rotating drum
1
0 2a0
1
0
1 0
1
1
0 1
0
(Fig. 9.20). The coefficient of static 0
1 0
1
0
1
x a 0
1
friction μ0 at A and the coefficient 0
1 0
1 0
1
0
1
W
of kinetic friction μ at B are given. 0
1
0
1 0
1
a) Calculate the maximum allow-
μ0 00
11 0 B1
1 0μ
r 2 ics 1 ll, Ra
able value of x in order to prevent A b
slipping at A.
11
00
b) Determine the necessary value 00
11
of μ0 so that the beam does not slip
rin han Wa
for arbitrary values of x (0 ≤ x ≤ Fig. 9.20
a).
Solution a) First we draw the free-body diagram of the isolated

Sp ec er,
beam. Due to the rotating drum we have a kinetic friction force
01
RB at point B, whereas a static friction force HA acts at point A.
g M hröd
The three equilibrium conditions 0

1
1
0
0
1
0
1
W
0
1
↑: NA + N B − W = 0 ,
0
1
000
111
ge
0
1 111
000
ee , Sc
A
RB 1
0
B
→ : −HA + RB = 0 ,
HA0
1 0
1
0
1
N
0A
1 0
1
0
1
N
0B
1

A : −(a + x)NB − b RB + x W = 0
gin er
rin
and the law of friction

En aug
RB = μNB
yield the four unknowns NA , NB , HA and RB for a given value

H
of x:
a + μb x
s,
NA = W, NB = W, RB = HA = μ NB .
a + x + μb a + x + μb
os
In order to prevent slipping at point A the condition of static

friction
Gr
H A ≤ μ0 N A
tics se
has to be satisfied. This leads to the maximum allowable value of
x:
a
2 , Sta japak
μ x ≤ μ0 (a + μ b) → xmax = μ0 +b .
μ
b) The beam does not slip if the inequality above is satisfied for
r 2 ics 1 ll, Ra
any x ≤ a. The left-hand side becomes a maximum for x = a.
Hence, the minimum necessary value of μ0 is given by
μa
μ a ≤ μ0 (a + μ b) → μ0min = .
a+ μb
rin han Wa
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr
tics se
E9.16 Example 9.16 The rotating drum in Fig. 9.21 is encircled by a
break band that is tightened by
2 , Sta japak
the applied force F . The coeffi- μ
cient of kinetic friction between
the drum and the band is μ. r
Calculate the magnitude of
F
F that is necessary to induce
r 2 ics 1 ll, Ra
a given breaking moment MB
if the rotation of the drum is A
clockwise (c) and if it is coun- l
terclockwise (cc). Fig. 9.21
Solution
rin han Wa
First we draw the free-body diagram. Then we write
down the moment equilibrium
Sp ec er,
condition for the lever:
01

g M hröd
A: −S2 2 r + F l = 0 .
This yields S1 S2
l
ge
F
ee , Sc
S2 = F . S1 S2
2r
If the rotation of the drum is A
clockwise, S1 > S2 is valid and A
gin er
rin
the formula for belt friction is gi-

ven by
En aug
S1 = S2 e μπ .
H
Thus, the breaking moment becomes
MB = S1 r − S2 r = S2 r (e μπ − 1) .
s,
os
Introduction of S2 leads to the necessary breaking force:

2MB
Gr
Fc = .
l (e μπ − 1)
tics se
If the rotation of the drum is counterclockwise we have S2 > S1
and
2 , Sta japak
S2 = S1 e μπ .
Then the breaking moment is
MB = S2 r − S1 r = S2 r (1 − e−μπ )
r 2 ics 1 ll, Ra
and the necessary breaking force becomes
2MB e μπ
Fcc = .
l (e μπ − 1)
rin han Wa
Note that e μπ > 1. Therefore, in order to generate the same brea-
king moment, Fcc > Fc .
Sp ec er,
01
g M hröd
ge
ee , Sc
gin er
rin
En aug
H
s,
os
Gr

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tics se

The numbers of the problems and the figures correspond

Rx = F1x + F2x + F3x = F1 cos α1 − F2 cos α2 − F3

Ry = F1y + F2y + F3y = −F1 sin α1 −F2 sin α2

The magnitude and the direction of the resultant follow from

Solution We choose the coordinate system such that the y-axis

The force F is the resultant of the force components F1 and F2 .

Hence, we can write

Fx = F1x + F2x = 0 → −F1 sin 30◦ + F2 sin 45◦ = 0 ,

F1 cos 30◦ + F2 cos 45◦ = F .

The equilibrium conditions are given by

where the angle α follows from the geometry of the problem:

The second equilibrium condition yields the force S:

and the equilibrium conditions at the pin

Solving for S1 and S2 yields W

sin β − cos β cos α − sin α

other bar has a vanishing internal force (zero-force member).

We obtain the angle α from the geometry

Solution We isolate the three cylinders and introduce the contact

equilibrium conditions for one of ②

→: −S sin α + S sin β = 0 → α =β,

The angle α follows from the geometry of the problem:

The distance d can be calculated from the following geometrical

d = l1 sin α, a = l1 sin α + l2 sin α, b = −l1 cos α + l2 cos α.

Solving for d yields

Solution a) We isolate the cylinder and introduce the contact

These forces are perpendicular to the smooth surface of the cy-

→: Nl cos 45◦ − Nr cos 60◦ + F cos 30◦ = 0 ,

↑: Nl sin 45◦ + Nr sin 60◦ − F sin 30◦ − W = 0 .

b) Lift-oﬀ takes place at the left support when Nl = 0, i.e. for

Solution We isolate the cylinders and introduce the contact forces

The equilibrium conditions are given by

which have the solution

Note that the angle ϕ is negative, i.e., as opposed to Fig. 2.29, in

Rx = F1x + F2x + F3x → 30 kN = a1 − 9a2 + 8a3 ,

From this system of three equations the unknown constants are

With the constants ai , the magnitudes of the forces can be deter-

The angle α between F 2 and F 3 is calculated using the deﬁnition

of the dot product:

We now use the coordinate system y B

the center of the sphere. In order to ob-

the coordinates of the points of contact.

To this end we introduce the length b A

which follows from the geometry: 2a a

origin of the coordinate system is obtained as

Hence, the force vector A (oriented towards the interior of the

from which we can calculate the contact forces:

A=B= W+√ F , C= W−√ F .

When the sphere lifts oﬀ at point C, the corresponding contact

force vanishes: C = 0. This yields the force which is necessary for

Thus, we obtain again

made visible in the S1

be tensile forces. The W

Solution We isolate the pole by cutting

fy the equilibrium conditions. The force

condition of the forces in the vertical direction.

Solving for the unknown forces yields

condition 3/8 < a/l < 3/4.

The equilibrium conditions for the three bodies are represented

by 2 × 2 + 1 × 3 = 7 equations for the 7 unknown forces (D1 , D2 ,

①→: S − D1 sin α = 0 , ↑: N1 − W + D1 cos α = 0 ,

②→: D2 sin α − S = 0 , ↑: N2 − W − D2 cos α = 0 ,