Chapter 2

Equilibrium of Rigid Bodies

EG1109
Statics and Mechanics of Materials

1
Overview
• Effect of Force on Rigid Body
• Moment of a Force
• What is a Couple?
• Equivalent Force-Couple
• Equilibrium of Rigid Body
• Support Reactions
• 2-Force & 3-Force Members
• Real-World Applications
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EG1109 Statics and Mechanics of Materials
When dealing with a rigid body, effect of force to move the
body along its line of action and to rotate the body about
an arbitrary point must both be considered
A measure of rotational effect is called Moment of a Force
d
F

A MA  F d

EG1109 STATICS AND MECHANICS OF MATERIALS

Moment of a Force
Moment of a force about a point is equal to the sum of the
moments of the force components about the same point.

Fy F
x

Fx

y Based on principle of moments,

+ Mo  Fx y  Fy x
Mo

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EG1109 Statics and Mechanics of Materials
 F sin  F
M A  F sin    d sin  
MA  F  d 
F sin 

F cos
d d cos 

F cos  A
d sin 
d sin 

M A  F cos   d cos   F sin    d sin  

EG1109 STATICS AND MECHANICS OF MATERIALS

Example 2.1
Determine the moment of force F about point O.

30
O

70

F= 5 kN

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EG1109 Statics and Mechanics of Materials
Example 2.1
Solution I
We can adopt the
3 Cos 30◦
conventional x-y axes and find
the x and y component of the O
force F. 30
3 Sin 30◦
y
+ Fx  F cos 70  ...
+ Fy  F sin 70  ... Fx
x
70

Moment about point O,

+ Mo  Fx (3sin30)  Fy (3cos30)  .... Fy F= 5 kN

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EG1109 Statics and Mechanics of Materials
Example 2.1
Solution II
We can also set the x-y axes to
be parallel and perpendicular
to beam axis. O 30

+ F  F cos 40  ....

x
y
+ Fy  F sin 40  ....
30
40
Fx
x
20

Moment about point O, Fy

+ M o  Fy (3)  .... F= 5 kN

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EG1109 Statics and Mechanics of Materials
What is a Couple?
A couple is a pair of equal and opposite, non-collinear parallel forces.
F

d d1 = M =Fd
A d2
F
B
About A, MA = Fd
About B, MB = Fd1 - Fd2 = Fd
The moment of a couple is the same about any point in the plane of the couple.
The moment of a couple is often called a moment, since this is the net effect of a
couple. It may be denoted by M

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EG1109 Statics and Mechanics of Materials
Application of Force Couples

F
d

F
F

en.wikipedia.org
d
F

Before power steering was commonly used for small cars, we have larger
steering wheels. Can you explain why?
10
EG1109 Statics and Mechanics of Materials
Equivalent Force-Couple
A single force F acting eccentrically about a point A may
be considered as a force F acting through the point A plus
a couple of moment M about the point.

F
F M = Fd d
d = F
A
A F

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EG1109 Statics and Mechanics of Materials
Simplification of Force and Couple Systems
F F F

d d

A B = B
(i) (ii)
F
F
M = Fd
= d

B
(iii)
Condition (i) and (iii) are equivalent as far as the external effects are
concerned. (External effects : the system’s rotation/translation and reaction
forces)

They are not equivalent in terms of internal forces.

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EG1109 Statics and Mechanics of Materials
Example 2.2
Below is a figure of a typical traffic light in Singapore. If each traffic
light weighs 20 kg and pole self weight is negligible, replace the
loading with equivalent load and moment at point A.

4m

5m

2.5 m

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EG1109 Statics and Mechanics of Materials
 Example 2.2
Solution
4m 4m

W
5m
= 5m

2.5 m 2.5 m
W

784.8
A 392.4
Force summation Moment summation about point A
+  Fx  0 + M A  W .4  [9.81*20](4)  784.8 Nm
+ F y  W  W  2*[9.81* 20]  392.4 N
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EG1109 Statics and Mechanics of Materials
Example 2.3
We can further simplify force and couple systems into a single resultant
force.

Consider the following canopy beam. If the sling tension is 6 kN, replace
the loadings with a single force and determine where its line of action
crosses the beam, measured from A.

60

5 kN 10 kN

0.3 m
A
www.mapes.com 1m 1m 1m

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EG1109 Statics and Mechanics of Materials
Example 2.3
Hint

Calculate the force resultant (i) 5 kN 10 kN

x and y components from (i), 60
0.3 m
i.e. ∑Fx and ∑Fy A
1m 1m 1m
The idea is that the moment
resultant about A is equal
between (i) and (ii).
∑Fy
(ii)
By equating both systems,
∑Fx
you can obtain x.
A
Finally, you can calculate the x
resultant of Fx and Fy and its
direction.

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EG1109 Statics and Mechanics of Materials
Example 2.3
Solution

(i) 5 kN 10 kN
60
0.3 m
A
1m 1m 1m

Calculate the force resultant’s x and y components,

+
F x  6 cos 60  3 kN
+ F y  5  10  6sin 60  9.8 kN

Calculate the moment resultant about A,

+
M A( i )  5(1)  10(2)  6sin 60(3)  6 cos 60(0.3)
M A( i )  8.51 kNm
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EG1109 Statics and Mechanics of Materials
(ii) 9.8 kN

A 3 kN
x

Calculate the moment resultant about A,

+ M A ( ii )  9.8  x 

Equate moment resultants from (i) and (ii),

M A(i )   M A(ii )

8.51  9.8  x 
8.51
x   0.87 m
9.8

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EG1109 Statics and Mechanics of Materials
 10.3 kN
(ii)
73
A
0.87 m

Calculate the resultant force and its direction,

FR  32  9.82  10.3 kN
 9.8 
1
tan    73
 3 

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EG1109 Statics and Mechanics of Materials
CONDITIONS FOR RIGID-BODY EQUILIBRIUM

In contrast to the forces on a particle,

the forces on a rigid-body are not
usually concurrent and may cause
rotation of the body (due to the
moments created by the forces).
Forces on a particle
For a rigid body to be in equilibrium,
the net force as well as the net
moment about any arbitrary point O
must be equal to zero.
 F = 0 and  MO = 0
Forces on a rigid body
EG1109 STATICS and MECHANICS AND MATERIALS 20
Equilibrium of Rigid Body
Idealized Free Body Equilibrium
Model Diagram Equations

For 2D problems,
4m
 Fx  0
 Fy  0
4m
5m
W
 MO  0
W 2.5 m For 3D problems,
Assume:
A is a fixed MA
Ax  Fx  0 ;  Fy  0 ;  Fz  0
 M x  0 ;  M y  0 ;  Mz  0
5m
support
Ay
2.5 m

21
A EG1109 Statics and Mechanics of Materials
 If a support prevents translation in a particular direction,
then the support exerts a force in that direction. If a
rotation is prevented, then the support exerts a moment.

Rx M
Rx
R
Ry
Ry
Hinged/Pinned R
Fixed/Clamped
EG1109 STATICS and MECHANICS AND MATERIALS
Roller
 The two forces must have the same magnitude, same
line of action, and opposite sense.
B FB = - FA
F3 F2
A FA
F1
A A
A
FA

B
B
F6
B
F5 F4 FB = - FA FB = - FA
FA
A B FB = - FA
EG1109 STATICS and MECHANICS AND MATERIALS
 The three forces must be either concurrent or parallel.
F1 F3
F2

F3
F1 F2

 Fx  0 ;  Fy  0  Fy  0 ;  M0  0
(a) Concurrent Forces (b) Parallel Forces
EG1109 STATICS and MECHANICS AND MATERIALS
Example 2.4
Determine the reaction forces at A (pinned connection) and tension
force at cable CD. Ignore the eccentricity between the cables and
the boom’s center line.

Frictionless
pulley
B

15 60

E C
15

D
15 kN
A

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EG1109 Statics and Mechanics of Materials
Example 2.4
Hint
Always start by creating a free body diagram. For this problem, only crane
boom’s FBD is required.

Since B is a frictionless pulley, the

cable force is perfectly transferred. Frictionless
pulley
B
Therefore, the unknown forces are
TCD, Ax and Ay 15
60

To make the calculation easier, 15 kN

you may want to use a different 15
coordinate system, i.e. x’-y’. C
Ay
D
Start with ∑MA = 0. Ax
A

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EG1109 Statics and Mechanics of Materials
Example 2.4
Solution
+ M A  0;
TCD sin15(4.5)  15sin15(12)  15(12sin 60)  0
TCD  93.84 kN Frictionless
pulley

B
+
F x'  0;
15
Ax '  TCD cos15  15cos15  15cos 60  0 60

Ax '  112.63 kN 15 kN
15
Ay’ C
+
F y'  0;
Ax’
Ay '  TCD sin15  15sin15  15sin 60  0 A
Ay '  15.18 kN

27
EG1109 Statics and Mechanics of Materials
If desired, you can transform the
reactions at A into the
conventional x-y direction.
B

60
y
15 kN
Ay’ 89.95 kN
60 Ax’
C
60
x
69.46 kN
A
+ A  A Cos 60  A Sin60  69.46 kN
x x' y'

+ Ay  Ax ' Sin60  Ay 'Cos60  89.95 kN

28
EG1109 Statics and Mechanics of Materials
Example 2.5
The 50 kg door has its center of gravity at the location shown below. Hinge
B only prevents translation in x and y direction, while hinge A resists
translation in all three directions. Determine the reaction forces at hinge A
and B.

B
Note that this question simplifies the
reaction forces of an actual hinge.
0.8 m

C.G. Can you identify which reaction

forces being omitted in this question?

0.8 m z If those forces are not omitted, can

we still solve the question using
A equilibrium?
0.25 m

x y
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EG1109 Statics and Mechanics of Materials
Hinges

Fz

Example 2.5 ignores the moment

reactions.
If they are included, the problem
becomes statically indeterminate

Fy
Fx My
Mx

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EG1109 Statics and Mechanics of Materials
Example 2.5
Hint
Draw the free body diagram
z
Proceed with equilibrium equation that only
involves 1 unknown, e.g. ∑Mx about A = 0

Continue with other equilibrium equations B

until all unknowns are obtained. 0.8 m By
Bx

0.8 m
Az
0.25 m A W
Ax
Ay

y
x

31
EG1109 Statics and Mechanics of Materials
Example 2.6
The Leaning Tower of Pisa, Italy, is 58.2 m tall and has a circular base of
diameter 19.6 m. From the past several centuries, it’s longitudinal axis
has been inclined by 5.6◦ toward the south from the vertical.

5.6o The weight of the tower is 144 MN.

The diameter of its cross section
changes slightly from bottom to top,
and accordingly its center of gravity is
approximately 27.1 m above the base
E

r
θ S
N

W
32
EG1109 Statics and Mechanics of Materials
Example 2.6 (Cont’d)
The pressure that the sandy, claylike soil exerts on the rigid, circular
base slab of the tower may reasonably be approximated with the relation

p  C1  C2r 0.625 cos N/m2

Where r and θ are polar coordinates and C1,C2 are constants to be

determined. Find the maximum and minimum pressures exerted on the
base of the tower by the soil and give their locations.

r
θ S
N

W
33
EG1109 Statics and Mechanics of Materials
Example 2.6
Solution
The C.G. is eccentric to the base, therefore
creating moments.
5.6o
 2 
  (5.6)   (27.1)  2.65 m
 360 
The moment of weight vector about the
58.2 m east-west axis then has the magnitude
δ
M  (144)(2.65)  381.6 MNm
E
27.1 m 144 MN
r
θ S
N

W 34
EG1109 Statics and Mechanics of Materials
 Polar Coordinates: r,q
The area of the shaded element on the
E base plate is

dA  rdrd
The reaction force over this small
element is therefore p dA.

N S To achieve equilibrium with the tower’s

θ=π θ=0 weight, the following relationship must
be satisfied.

 pdA  144 MN
W

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EG1109 Statics and Mechanics of Materials
Substituting the assumed pressure distribution for p gives us
 R

  C  C r 
cos  rdrd  144
0.625
2 1 2
 0 r 0

R R
 r2   r 2.625 
2C1    0  2C2    0  144
 
sin 
 2 0  2.625  0

144
 C1 
 R2
For moment equilibrium of the soil reaction and weight of the
tower about the east-west axis, we have satisfy

 p(r cos )dA  381.6 MNm

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EG1109 Statics and Mechanics of Materials
Substituting the assumed pressure distribution for p gives us
 R

  C  C r 
cos  (r cos  ) rdrd  381.6
0.625
2 1 2
 0 r 0
p R
æ 22 R 2 cos 2q ö
2.625 æ 1+
ö
2 ò òé rçC ( éq
C11rr ùcos
3.625 cos qq +
p
ù+CC22rr cos
2.625
)
çè q 2 drdq÷ø ÷=drdq = 381.6
381.6
2C êè
q =02r=0 ú ê ú = 381.6 ø
ë 3.625 û0 ë 2 û0

(3.625)(381.6)
 C2 
 R3.625
The complete expression for pressure distribution is thus

144 (3.625)(381.6) 0.625

p  r cos 
R 2
R 3.625

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EG1109 Statics and Mechanics of Materials
 144 (3.625)(381.6) 0.625
p  r cos 
R 2
R 3.625

The maximum pressure will occur at the southern extremity of

the base, i.e. r=R=9.8 m and θ=0

pmax  0.945 MPa

The minimum pressure will occur at the northern extremity of the

base, i.e. r=R=9.8 m and θ=π
pmin  0.009 MPa
E

r
θ S
N

W 38
EG1109 Statics and Mechanics of Materials