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Revision

Chapter (5)
Equilibrium of Rigid Body

107
Mechanics (1)
Revision

Example (5.1)
If P  6 kN , x  0.75 m and y  1 m ,
determine the tension developed in
cables AB, CD, and EF..

Solution
Coordinates: A  0 i  0 j  0 k
G

C 0i 2 j 0k

E  2i 0 j 0 k

G  0.75 i  1 j  0 k

(1) Forces in vector form:


(i) Force P : P  0 i  0 j  P k  0 i  0 j  6 k

(ii) Force FAB : FAB  0 i  0 j  FAB k

(iii) Force FCD : FCD  0 i  0 j  FCD k

(iv) Force FEF : FEF  0 i  0 j  FEF k

(2) Equations of Equilibrium:


(1) F 0

P  FAB  FCD  FEF  0

0 i  0 j  6 k   0 i  0 j  F AB     
k  0 i  0 j  FCD k  0 i  0 j  FEF k  0

0  0  0  0 i  0  0  0  0 j   6  FAB  FCD  FEF  k 0

 Fz  0 :  6  FAB  FCD  FEF  0 -------------------------------------------------- (1)

M A 0

AG  P  AC  FCD  AE  FEF  0

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Mechanics (1)
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i j k i j k i j k
0.75 1 0  0 2 0  2 0 0 0
0 0 -6 0 0 FCD 0 0 FEF

i 1  6  0  0  j 0.75  6  0  0  k 0.75  0  0  1
 i 2  FCD  0  0  j 0  FCD  0  0  k 0  0  0  2
 i 0  FEF  0  0  j 2  FEF  0  0  k 2  0  0  0  0

i  6  0  j  4.5  0  k 0  0  i 2 FCD  0  j 0  0  k 0  0
 i 0  0  j 2 FEF  0  k 0  0  0

 6  2 FCD  0 i  j 4.5  2 FEF   0 k  0

For i:  6  2 FCD  0 FCD  3 kN 

For j: 4.5  2 FEF  0 FEF  2.25 kN 

From equation (1):  6  FAB  FCD  FEF  0


 6  FAB  3  2.25  0 FAB  0.75 kN 

109
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Revision
z
Example (5.2)
F= 60 KN
For the shown Figure, determine the force in a cable B
BC and the reaction of the ball and Socket at A.
Solution
Coordinates : A  0 i  0 j  0 k 12 m
B  0 i  0 j  12 k
C 0i 5 j 0 k
(1) Forces in vector form: 5m
y
(i) Force F : F  0 i  60 j  0 k C A

(ii) Reaction at point A : A  Ax i  Ay j  Az k

(iii) Force FBC : x F=60 kN

(1) Vector BC : BC  C  B
BC  0  0 i   5  0 j  0  12  k
BC  0 i  5 j  12 k
BC 0 i  5 j  12 k
(2) Unit Vector U BC : U BC   FBC
BC 02  52  12 2 AZ
1
U BC 
13
0 i  5 j  12 k   Ay
(3) Force Vector FBC : FBC  FBC U BC Ax
1
FBC  FBC 
13

0 i  5 j  12 k 
5 12
FBC  0 i  FBC j  FBC k
13 13
(2) Equations of Equilibrium:
(1) F 0

F  A  FBC  0

5 12
0 i  60 j  0 k   A x

 13
 13

i  Ay j  Az k   0 i  FBC j  FBC k   0

 5   12 
0  Ax  0 i   60  Ay  FBC  j   0  Az  FBC  k  0
 13   13 
 Fx  0 : 0  Ax  0  0 Ax  0
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Mechanics (1)
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5
F y  0: 60  Ay 
13
FBC  0
5
Ay  FBC  60 ------------------------------------------ (1)
13
12
 Fz  0 : 0  Az  FBC  0
13
12
Az  FBC -------------------------------------------------------- (2)
13
M A 0

AB  F  AB  FBC  0

i j k i j k
0 0 12  0 0 12 0
0 60 0 5 12
0 - FBC - FBC
13 13

i 0  0  60  12  j 0  0  0  12  k 0  60  0  0
  12 5    12    12 
 i 0  FBC  12  FBC   j 0  FBC  0  12  k 0  FBC  0  0  0
 13 13   13   13 

 60 
i 0  720  j 0  0  k 0  0  i 0  FBC   j 0  0  k 0  0  0
 13 

 60 
  720  13 FBC  i  0 j  0 k  0

60
 720  FBC  0
13
60
FBC  720 FBC  156 kN 
13
5
From equation (1): Ay  FBC  60
13
5
Ay   156  60 Ay  0 kN 
13
12 12
From equation (2): Az  FBC   156 Az  144 kN 
13 13

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Revision
z
Example (5.3)
For the shown Figure, determine the force in a cable B
BC and the reaction of the ball and Socket at A.
6m

Solution 8m
Coordinates : A  0 i  0 j  0 k
W= 500N
B  0i 0 j 8k
6m
C 0i 6 j 0k
y
C H
A
H 0i 6 j 0k

(1) Forces in vector form:


(i) Weight W : W  0 i  0 j  500 k x

(ii) Reaction at point A : A  Ax i  Ay j  Az k


FBC
(iii) Force FBC : (1) Vector BC : BC  C  B AZ
W=500 N
BC  0  0 i   6  0 j  0  8 k Ay

BC  0 i  6 j  8 k Ax

BC 0 i 6 j 8 k
(2) Unit Vector U BC : U BC  
BC 02  62  82
1
U BC 
10

0 i 6 j 8 k 
(3) Force Vector FBC : FBC  FBC U BC

1
FBC  FBC 
10

0i 6 j 8 k 
FBC  0 i  0.6 FBC j  0.8FBC k

(2) Equations of Equilibrium:


(1) F 0

W  A  FBC  0

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0 i  0 j  500 k   A x  
i  Ay j  Az k  0 i  0.6 FBC j  0.8 FBC k  0 
0  Ax  0 i  0  Ay  0.6 FBC  j   500  Az  0.8FBC  k 0

 Fx  0 : 0  Ax  0  0 Ax  0

F y  0: 0  Ay  0.6 FBC  0

Ay  0.6 FBC --------------------------------------------------- (1)

 Fz  0 :  500  Az  0.8FBC  0

Az  0.8FBC  500 ------------------------------------------------ (2)

M A 0

AH  W  AB  FBC  0

i j k i j k
0 6 0  0 0 8 0
0 0 - 500 0 -0.6 FBC -0.8FBC

i 6  500  0  0  j 0  500  0  0  k 0  0  0  6
 i 0  0.8FBC  8  0.6 FBC   j 0  0.8 FBC  0  8  k 0  0.6 FBC  0  0  0

i  3000  0  j 0  0  k 0  0  i 0  4.8 FBC   j 0  0  k 0  0  0

 3000  4.8FBC  i 0 j 0k 0

 3000  4.8 FBC  0

4.8FBC  3000 FBC  625 N 


From equation (1): Ay  0.6 FBC  0.6  625 Ay  375 N 
From equation (2): Az  0.8FBC  500
Az  0.8  625  500 Az  1000 N 

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Mechanics (1)
Revision

Example (5.4)
The boom is supported by a ball-and-socket
joint at A and a guy wire at B. If the 5 kN
loads lie in a plane which is parallel to the x–y
plane, determine the x, y, z components of
reaction at A and the tension in the cable at B.
Solution
Coordinates : A  0 i  0 j  0 k

B  0 i  1.5 j  0 k

C 0i 0 j 5k

(1) Forces in vector form:


(i) Reaction at point A : A  Ax i  Ay j  Az k

(ii) Force F1  5 kN 

F1  5 cos 30 i   5 sin 30 j  0 k

F1  4.33 i  2.5 j  0 k

(iii) Force F2  5 kN 

F2   5 cos 30 i   5 sin 30 j  0 k

F2  4.33 i  2.5 j  0 k

(iv) Force FB : FB  0 i  0 j  FB k
(2) Equations of Equilibrium:
(1) F 0

A  F1  F2  FB  0

A x    
i  Ay j  Az k  4.33 i  2.5 j  0 k   4.33 i  2.5 j  0 k  0 i  0 j  FB k  0   
 Ax  4.33  4.33  0 i  Ay  2.5  2.5  0 j   Az  0  0  FB  k 0

 Fx  0 : Ax  4.33  4.33  0  0 Ax  0

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F y  0: Ay  2.5  2.5  0  0 Ay  5 kN 

 Fz  0 : Az  0  0  FB  0

Az  FB ------------------------------------------------ (1)

M A 0

AC  F1  AC  F2  AB  FB  0

i j k i j k i j k
0 0 5  0 0 5  0 1.5 0 0
4.33 - 2.5 0  4.33  2.5 0 0 0  FB

i 0  0  5  2.5  j 0  0  5  4.33  k 0  2.5  0  4.33


 i 0  0  5  2.5  j 0  0  5  4.33  k 0  2.5  0  4.33
 i 1.5   FB  0  0  j 0   FB  0  0  k 0  0  0  1.5  0

i 0  12.5  j 0  21.65  k 0  0  i 0  12.5  j 0  21.65  k 0  0


 i  1.5FB  0  j 0  0  k 0  0  0

12.5  12.5  1.5FB  i  21.65  21.65 j 0k 0

25  1.5FB  i  0 j 0k 0

For j: 25  1.5FB  0

1.5FB  25 FB  16.667 kN 

From equation (1): Az  FB Az  16.667 kN 

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Revision
z
Example (5.5)
A tower AB is held in vertical position by
a ball – and – socket at A and two cables B

CD and BE. An external force of D


2m
magnitude F  6 kN is applied as shown.
Determine the reaction components at A C

and the tension in each cable 2m


F= 6 KN
H
Solution
2m
Coordinates : A  0 i  0 j  0 k
y
B 0i 0 j 6 k
A
3m
C 0i 0 j 4k

H 0i 0 j 2k E
2m
x
E 3i 2 j 0 k

(1) Forces in vector form:


(i) Force F : F  0 i  6 j  0 k

(ii) Reaction at point A : A  Ax i  Ay j  Az k

(iii) Force FCD : FCD   FCD i  0 j  0 k

(iv) Force FBE : (1) Vector BE : BE  E  B

BE  3  0  i   2  0  j  0  6 k

BE  3 i  2 j  6 k

BE 3i 2 j 6 k
(2) Unit Vector U BE : U BE  
BE 32  22  62
1
U BE 
7

3i 2 j 6 k 
(3) Force Vector FBE : FBE  FBE U BE

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1
FBE  FBE 
7

3i 2 j 6k 
3 2 6
FBE  FBE i  FBE j  FBE k
7 7 7
(2) Equations of Equilibrium:
(1) F 0

F  A  FCD  FBE  0

3 2 6
0 i  6 j  0 k   A x   7 7 7
 
i  Ay j  Az k   FCD i  0 j  0 k   FBE i  FBE j  FBE k   0

 3   2   6 
 0  Ax  FCD  FBE  i   6  Ay  0  FBE  j   0  Az  0  FBE  k  0
 7   7   7 
3
 Fx  0 : 0  Ax  FCD  FBE  0
7
3
Ax  FCD  FBE --------------------------------------------------- (1)
7
2
F y  0: 6  Ay  0 
7
FBE  0

2
Ay  FBE  6 ----------------------------------------------------- (2)
7
6
 Fz  0 : 0  Az  0  FBE  0
7
6
Az  FBE ---------------------------------------------------------- (3)
7

M A 0

AH  F  AC  FCD  AB  FBE  0

i j k i j k i j k
0 0 2  0 0 4  0 0 6 0
0 6 0 - FCD 0 0 3 2 6
FBE  FBE  FBE
7 7 7

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i 0  0  2  6  j 0  0  0  2  k 0  6  0  0
 i 0  0  0  4  j 0  0  4   FCD   k 0  0  0   FCD 
 6 2   6 3   2 3 
 i 0  FBE  6  FBE   j 0  FBE  6  FBE   k 0  FBE  0  FBE   0
 7 7   7 7   7 7 

i 0  12  j 0  0  k 0  0  i 0  0  j 0  4 FCD   k 0  0
 12   18 
 i 0  FBE   j 0  FBE   k 0  0  0
 7   7 

 12   18 
  12  FBE  i    4 FCD  FBE  j  0 k  0
7   7 
12
For i:  12  FBE  0
7
12
FBE  12 FBE  7 kN 
7
18
For j:  4 FCD  FBE  0
7
18
4 FCD  FBE
7
18
4 FCD  7 FCD  4.5 kN 
7
3
From equation (1): Ax  FCD  FBE
7
3
Ax  4.5  7 Ax  1.5 kN 
7
2
From equation (2): Ay  FBE  6
7
2
Ay  76 Ay  4 kN 
7
6 6
From equation (3): Az  FBE   7 Az  6 kN 
7 7

118
Mechanics (1)
Revision
z
Example (5.6)
Find the Tension in BC, BD and the F= 80 KN
B
reaction for ball and socket at A

Solution 12m
Coordinates : A  0 i  0 j  0 k
B  0 i  0 j  12 k 4m D
C 3i 4 j 0 k 3m
D  3 i  4 j  0 k y
(1) Forces in vector form: A 3m
(i) Force F : F  0 i  80 j  0 k 4m
C
(ii) Reaction at point A : A  Ax i  Ay j  Az k
x
(iii) Force FBC : (1) Vector BC : BC  C  B
BC  3  0 i  4  0 j  0  12  k
BC  3 i  4 j  12 k
BC 3 i  4 j  12 k
(2) Unit Vector U BC : U BC  
BC 32  4 2  122
1
U BC 
13
3 i  4 j  12 k  
(3) Force Vector FBC : FBC  FBC U BC
1
13
FBC  FBC 
3 i  4 j  12 k  
3 4 12
FBC  FBC i  FBC j  FBC k
13 13 13
(iv) Force FBD : (1) Vector BC : BD  D  B
BD   3  0  i  4  0  j  0  12  k
BD  3 i  4 j  12 k
BD  3 i  4 j  12 k
(2) Unit Vector U BD : U BD  
BD 32  42  12 2
1
U BD 
13

 3 i  4 j  12 k 
(3) Force Vector FBD : FBD  FBD U BD

119
Mechanics (1)
Revision

1
FBD  FBD 
13

 3 i  4 j  12 k 
3 4 12
FBD   FBD i  FBD j  FBD k
13 13 13
(2) Equations of Equilibrium:
(1) F 0

F  A  FBC  FBD  0

3 4 12
0 i  80 j  0 k   A x
 13

13 13

i  Ay j  Az k   FBC i  FBC j  FBC k 

 3 4 12 
   FBD i  FBD j  FBD k   0
 13 13 13 

 3 3   4 4   12 12 
 0  Ax  FBC  FBD  i    80  Ay  FBC  FBD  j   0  Az  FBC  FBD  k  0
 13 13   13 13   13 13 
3 3
 Fx  0 : 0  Ax  FBC  FBD  0
13 13
3 3
Ax  FBD  FBC -------------------------------- (1)
13 13
4 4
F y  0:  80  Ay 
13
FBC  FBD  0
13
4 4
Ay  80  FBC  FBD ------------------------------------------ (2)
13 13
12 12
 Fz  0 : 0  Az  FBC  FBD  0
13 13
12 12
Az  FBC  FBD -------------------------------------------------------- (3)
13 13

M A 0

AB  F  AB  FBC  AB  FBD  0

i j k i j k i j k
0 0 12  0 0 12  0 0 12 0
0 - 80 0 3 4 12 3 4 12
FBC FBC - FBC  FBD FBD - FBD
13 13 13 13 13 13
120
Mechanics (1)
Revision

i 0  0  80  12  j 0  0  0  12  k 0  80  0  0


  12 4    12 3   4 3 
 i 0  FBC  12  FBC   j 0  FBC  12  FBC   k 0  FBC  0  FBC 
 13 13   13 13   13 13 
  12 4    12 3   4 3 
 i 0  FBD  12  FBD   j 0  FBD  12  FBD   k 0  FBD  0  FBD   0
 13 13   13 13   13 13 

 48   36 
i 0  960  j 0  0  k 0  0  i 0  FBC   j 0  FBC   k 0  0
 13   13 
 48   36 
 i 0  FBD   j 0  FBD   k 0  0  0
 13   13 

 48 48   36 36 
960  13 FBC  13 FBD  i  j  13 FBC  13 FBD   0 k  0

36 36
For j:  FBC  FBD  0 FBC  FBD
13 13
48 48
For i: 960  FBC  FBD  0 but FBC  FBD
13 13
48 48
960  FBD  FBD  0
13 13
96
960  FBD FBD  130 kN   FBC
13
3 3
From equation (1): Ax  FBD  FBC
13 13
3 3
Ax   130   130 Ax  0 kN 
13 13
4 4
From equation (2): Ay  80  FBC  FBD
13 13
4 4
Ay  80   130   130 Ay  0 kN 
13 13
12 12
From equation (3): Az  FBC  FBD
13 13
12 12
Az   130   130 Az  240 kN 
13 13

121
Mechanics (1)
Revision
z
Example (5.7)
B
Find the Tension in BC, BD and the
reaction for ball and socket at A 6m
Solution
6m
Coordinates : A  0 i  0 j  0 k W=500N
B 0i 0 j 6k
D
C 3i 2 j 0 k 3m
D  3 i  2 j  0 k y
H 0i 6 j 0k A H
3m
(1) Forces in vector form:
2m
(i) Weight W : W  0 i  0 j  500 k C

(ii) Reaction at point A : A  Ax i  Ay j  Az k x

(iii) Force FBC : (1) Vector BC : BC  C  B


BC  3  0 i   2  0 j  0  6 k
BC  3 i  2 j  6 k
BC 3i 2 j 6 k
(2) Unit Vector U BC : U BC  
BC 32  2 2  62
1
U BC  3 i  2 j  6 k
7
 
(3) Force Vector FBC : FBC  FBC U BC
1
7
FBC  FBC 
3i 2 j 6 k  
3 2 6
FBC  FBC i  FBC j  FBC k
7 7 7
(iv) Force FBD : (1) Vector BC : BD  D  B
BD   3  0 i   2  0 j  0  6 k
BD  3 i  2 j  6 k
BD 3i 2 j 6 k
(2) Unit Vector U BD : U BD  
BD 32  22  62
1
7
U BD 
3i 2 j 6 k  
(3) Force Vector FBD : FBD  FBD U BD

122
Mechanics (1)
Revision

1
FBD  FBD 
7

3i 2 j 6 k 
3 2 6
FBD   FBD i  FBD j  FBD k
7 7 7
(2) Equations of Equilibrium:
(1) F 0

W  A  FBC  FBD  0

3 2 6
0 i  0 j  500 k   A x
7

i  Ay j  Az k   FBC i  FBC j  FBC k 
7 7


 3 2 6 
   FBD i  FBD j  FBD k   0
 7 7 7 

 3 3   2 2   6 6 
 0  Ax  FBC  FBD  i   0  Ay  FBC  FBD  j    500  Az  FBC  FBD  k  0
 7 7   7 7   7 7 
3 3
 Fx  0 : 0  Ax  FBC  FBD  0
7 7
3 3
Ax  FBD  FBC ------------------------------------------ (1)
7 7
2 2
F y  0: 0  Ay 
7
FBC  FBD  0
7
2 2
Ay  FBC  FBD ------------------------------------------- (2)
7 7
6 6
 Fz  0 :  500  Az  FBC  FBD  0
7 7
6 6
Az  500  FBC  FBD ----------------------------------------- (3)
7 7

M A 0

AH  W  AB  FBC  AB  FBD  0

i j k i j k i j k
0 6 0  0 0 6  0 0 6 0
0 0 - 500 3 2 6 3 2 6
FBC  FBC - FBC  FBD  FBD - FBD
7 7 7 7 7 7

123
Mechanics (1)
Revision

i 6  500  0  0  j 0  500  0  0  k 0  0  0  6
 6 2   6 3   2 3 
 i 0  FBC  6   FBC   j 0  FBC  6  FBC   k 0   7 FBC  0  7 FBC 
 7 7   7 7 
 6 2   6 3   2 3 
 i 0  FBD  6   FBD   j 0  FBD  6  FBD   k 0  FBD  0  FBD   0
 7 7   7 7   7 7 

 12   18 
i  3000  0  j 0  0  k 0  0  i 0  FBC   j 0  FBC   k 0  0
 7   7 
 12   18 
 i 0  FBD   j
 7  0  7 FBD   k 0  0  0

 12 12   18 18 
  3000  7 FBC  7 FBD  i  j  7 FBC  7 FBD   0 k  0

18 18
For j:  FBC  FBD  0 FBC  FBD
7 7
12 12
For i:  3000  FBC  FBD  0 but FBC  FBD
7 7
12 12
 3000  FBD  FBD  0
7 7
24
3000  FBD FBD  875 N   FBC
7
3 3
From equation (1): Ax  FBD  FBC
7 7
3 3
Ax   875   875 Ax  0 N 
7 7
2 2
From equation (2): Ay  FBC  FBD
7 7
2 2
Ay   875   875 Ay  500 N 
7 7
6 6
From equation (3): Az  500  FBC  FBD
7 7
6 6
Az  500   875   875 Az  2000 N 
7 7

124
Mechanics (1)
Revision
z
Example (5.8)
D
Find the Tension in BC, BD and the
3m
reaction for ball and socket at A
Solution
3m 6m
Coordinates: A  0 i  0 j  0 k
C
B 0i 6 j 0k

C 3i 0 j 6 k 6m
A
D  3 i  0 j  6 k

(1) Forces in vector form:


6m
(i) Weight W : W  0 i  0 j  500 k B
x
(ii) Reaction at point A : A  Ax i  Ay j  Az k

(iii) Force FBC : (1) Vector BC : BC  C  B y

BC  3  0 i  0  6 j  6  0 k 500 N

BC  3 i  6 j  6 k

BC 3i 6 j 6 k
(2) Unit Vector U BC : U BC  
BC 32  62  62
1
U BC 
9

3i 6 j 6 k 
(3) Force Vector FBC : FBC  FBC U BC

1
FBC  FBC 
9

3i 6 j 6 k 
1 2 2
FBC  FBC i  FBC j  FBC k
3 3 3

(iv) Force FBD : (1) Vector BC : BD  D  B

BD   3  0  i  0  6  j  6  0 k

BD  3 i  6 j  6 k

125
Mechanics (1)
Revision

BD 3i 6 j 6 k
(2) Unit Vector U BD : U BD  
BD 32  62  62
1
U BD 
9

3i 6 j 6 k 
(3) Force Vector FBD : FBD  FBD U BD
1
FBD  FBD 
9

3i 6 j 6 k 
1 2 2
FBD   FBD i  FBD j  FBD k
3 3 3
(2) Equations of Equilibrium:
(1) F 0

W  A  FBC  FBD  0

1 2 2
0 i  0 j  500 k   A x
3 3
 3

i  Ay j  Az k   FBC i  FBC j  FBC k 

 1 2 2 
   FBD i  FBD j  FBD k   0
 3 3 3 

 1 1   2 2   2 2 
 0  Ax  FBC  FBD  i   0  Ay  FBC  FBD  j    500  Az  FBC  FBD  k  0
 3 3   3 3   3 3 
1 1
 Fx  0 : 0  Ax  FBC  FBD  0
3 3
1 1
Ax  FBD  FBC ------------------------------------------ (1)
3 3
2 2
F y  0: 0  Ay 
3
FBC  FBD  0
3
2 2
Ay  FBC  FBD ------------------------------------------- (2)
3 3
2 2
 Fz  0 :  500  Az  FBC  FBD  0
3 3
2 2
Az  500  FBC  FBD ----------------------------------------- (3)
3 3

M A 0

126
Mechanics (1)
Revision

AB  W  AB  FBC  AB  FBD  0

i j k i j k i j k
0 6 0  0 6 0  0 6 0 0
0 0 - 500 1 2 2 1 2 2
FBC FBC FBC FBD FBD FBD
3 3 3 3 3 3

i 6  500  0  0  j 0  500  0  0  k 0  0  0  6
 2 2   2 1   2 1 
 i 6  FBC  0   FBC   j 0  FBC  0  FBC   k 0  3 FBC  6  3 FBC 
 3 3   3 3 
 2 2   2 1   2 1 
 i 6  FBD  0  FBD   j 0  FBD  0  FBD   k 0  FBD  6  FBD   0
 3 3   3 3   3 3 

i  3000  0  j 0  0  k 0  0  i 4 FBC  0  j 0  0  k 0  2 FBC 


 i 4 FBD  0  j 0  0  k 0  2 FBD   0

 3000  4 FBC  4 FBD  i  j  2 FBC  2 FBD   0 k  0

For j:  2 FBC  2 FBD  0 FBC  FBD

For i:  3000  4 FBC  4 FBD  0 but FBC  FBD

 3000  4 FBD  4 FBD  0

3000  8FBD FBD  375 N   FBC

1 1
From equation (1): Ax  FBD  FBC
3 3
1 1
Ax   375   375 Ax  0 N 
3 3
2 2
From equation (2): Ay  FBC  FBD
3 3
2 2
Ay   375   375 Ay  500 N 
3 3
2 2
From equation (3): Az  500  FBC  FBD
3 3
2 2
Az  500   375   375 Az  1000 N 
3 3

127
Mechanics (1)
Revision

Example (5.9)
Determine the components of reaction at the
ball-and-socket joint A and the tension in each
cable necessary for equilibrium of the rod.
Solution
Coordinates: A  0 i  0 j  0 k
B 6i 0 j 0k
E 3i 0 j 0k
C 0i 2 j 3k
D 0i 2 j 3k
(1) Forces in vector form:
(i) Force F : F  0 i  0 j  600 k

(ii) Reaction at point A : A  Ax i  Ay j  Az k

(iii) Force FBC : (1) Vector BC : BC  C  B


BC  0  6 i   2  0 j  3  0  k
BC  6 i  2 j  3 k
BC 6i 2 j 3k
(2) Unit Vector U BC : U BC  
BC 62  2 2  32
1
U BC   6 i  2 j  3 k
7
 
(3) Force Vector FBC : FBC  FBC U BC
1
7
FBC  FBC 
6i 2 j 3k  
6 2 3
FBC   FBC i  FBC j  FBC k
7 7 7
(iv) Force FBD : (1) Vector BD : BD  D  B
BD  0  6 i  2  0 j  3  0  k
BD  6 i  2 j  3 k
BD 6i 2 j 3k
(2) Unit Vector U BD : U BD  
BD 62  22  32
1
U BD 
7

6i 2 j 3k 
128
Mechanics (1)
Revision

(3) Force Vector FBD : FBD  FBD U BD


1
FBD  FBD 
7

6i 2 j 3k 
6 2 3
FBD   FBD i  FBD j  FBD k
7 7 7
(2) Equations of Equilibrium:
(1) F 0

F  A  FBC  FBD  0

 6 2 3
0 i  0 j  600 k   A x
 7

i  Ay j  Az k    FBC i  FBC j  FBC k 
7 7


 6 2 3 
   FBD i  FBD j  FBD k   0
 7 7 7 

 6 6   2 2   3 3 
 0  Ax  FBC  FBD  i   0  Ay  FBC  FBD  j    600  Az  FBC  FBD  k  0
 7 7   7 7   7 7 
6 6
 Fx  0 : 0  Ax  FBC  FBD  0
7 7
6 6
Ax  FBC  FBD ------------------------------------------------- (1)
7 7
2 2
F y  0: 0  Ay 
7
FBC  FBD  0
7
2 2
Ay  FBC  FBD ------------------------------------------------- (2)
7 7
3 3
 Fz  0 :  600  Az  FBC  FBD  0
7 7
3 3
Az  600  FBC  FBD ------------------------------------------------ (3)
7 7

M A 0

AE  F  AB  FBC  AB  FBD  0

129
Mechanics (1)
Revision

i j k i j k i j k
3 0 0  6 0 0  6 0 0 0
0 0 - 600 6 2 3 6 2 3
FBC FBC FBC FBD FBD FBD
7 7 7 7 7 7

i 0  600  0  0  j 3  600  0  0  k 3  0  0  0
 3 2   3 6   2 6 
 i 0  FBC  0  FBC   j 6  FBC  0  FBC   k 6  FBC  0  FBC 
 7 3   7 7   7 7 
 3 2   3 6   2 6 
 i 0  FBD  0  FBD   j 6  7 FBD  0  7 FBD   k 6  7 FBD  0  7 FBD   0
 7 7 

18    12 
i 0  0  j  1800  0  k 0  0  i 0  0  j  FBC  0  k FBC  0
7   7 
18  12 
 i 0  0  j  FBD  0  k  7 FBD  0  0
7 

 18 18   12 12 
 0  0  0 i  j  1800  FBC  FBD   0  FBC  FBD  k  0
 7 7   7 7 
12 12
For k:  FBC  FBD  0 FBC  FBD
7 7
18 18
For j:  1800  FBC  FBD  0 but FBC  FBD
7 7
18 18
 1800  FBD  FBD  0
7 7
36
FBD  1800 FBD  350 N   FBC
7
6 6
From equation (1): Ax  FBC  FBD
7 7
6 6
Ax   350   350 Ax  600 N 
7 7
2 2
From equation (2): Ay  FBC  FBD
7 7
2 2
Ay   350   350 Ay  0 N 
7 7
3 3
From equation (3): Az  600  FBC  FBD
7 7
3 3
Az  600   350   350 Az  300 N 
7 7
130
Mechanics (1)
Revision

Example (5.10)
A pole weight 19.62 kN is supported by a ball-
and-socket joint at O and two cables. Determine
the components of reaction at the ball-and-socket
joint O and the tension in each cable necessary
E
for equilibrium of the pole.

Solution
Coordinates: O  0 i  0 j  0 k

A0i 0 j 3k

B  0i 0 j 8k

C 4i 3 j 0k

D  3 i  1 j  0 k

E 0i 0 j 5k

(1) Forces in vector form:


(i) Weight W : W  0 i  0 j  19.62 k

(ii) Force F : F  0 i  400 j  0 k

(iii) Reaction at point O : O  O x i  O y j  O z k

(iv) Force FAC : (1) Vector AC : AC  C  A

AC  4  0 i  3  0 j  0  3 k

AC  4 i  3 j  3 k

AC 4i 3 j 3k
(2) Unit Vector U AC : U AC  
AC 42  32  32
1
U AC 
5.83

4i 3 j 3k 
(3) Force Vector FAC : FAC  FAC U AC
131
Mechanics (1)
Revision

1
FAC  FAC 
5.83

4i 3 j 3k 
FAC  0.686 FAC i  0.514 FAC j  0.514 FAC k

(v) Force FBD : (1) Vector BD : BD  D  B

BD   3  0 i  1  0  j  0  8 k

BD  3 i  j  8 k

BD 3i  j 8 k
(2) Unit Vector U BD : U BD  
BD 32  12  82
1
U BD 
8.602

3i  j 8 k 
(3) Force Vector FBD : FBD  FBD U BD

1
FBD  FBD 
8.602

3i  j 8 k 
FBD  0.3487 FBD i  0.1162 FBD j  0.93FBD k

(2) Equations of Equilibrium:


(1) F 0

W  F  O  FBC  FBD  0

0 i  0 j  19.62 k   0 i  40 j  0 k   O i  O j  O k   x y z

0.686F i  0.514F j  0.514F k    0.3487F i  0.1162 F


AC AC BC BD BD 
j  0.93FBD k  0

0  0  O x  0.686FAC  0.3487 FBD  i  0  40  O y  0.514 FAC  0.1162 FBD  j


  19.62  0  O z  0.514 FAC  0.93FBD  k 0

F x  0: 0  0  O x  0.686 FAC  0.3487 FBD  0

O x  0.686 FAC  0.3487 FBD ------------------------------------------- (1)

F y  0: 0  40  O y  0.514 FAC  0.1162 FBD  0

O y  40  0.514 FAC  0.1162 FBD ------------------------------------------- (2)

F z  0:  19.62  0  O z  0.514 FAC  0.93FBD  0

132
Mechanics (1)
Revision

O z  19.62  0.514 FAC  0.93FBD --------------------------------------------- (3)

M A 0

OE  F  OA  FAC  OB  FBD  0

i j k i j k i j k
0 0 5  0 0 3  0 0 8 0
0 - 40 0 0.686 FAC 0.514 FAC - 0.514 FAC  0.3487 FBD 0.1162 FBD  0.93FBD

i 0  0  5  40  j 0  0  5  0  k 0  40  0  0
 i 0  0.514 FAC  3  0.514 FAC   j 0  0.514 FAC  3  0.686 FAC   k 0  0
 i 0  8  0.1162 FBD   j 0  8  0.3487 FBD   k 0  0  0

i 0  200  j 0  0  k 0  0  i 0  1.542 FAC   j 0  2.058FAC   k 0  0


 i 0  0.9296FBD   j 0  2.7896 FBD   k 0  0  0

200  1.542 FAC  0.9296FBD  i  j 0  2.058FAC  2.7896FBD   0  0  0 k  0

For j: 0  2.058FAC  2.7896 FBD  0

2.058FAC  2.7896FBD FAC  1.3555FBD

For i: 200  1.542 FAC  0.9296 FBD  0

200  1.542  1.3555FBD  0.9296FBD  0

200  2.09018FBD  0.9296FBD  0

3.09018FBD  200 FBD  66.23 kN 

FAC  1.3555FBD  1.3555  66.23 FAC  89.77 kN 

From equation (1): O x  0.686 FAC  0.3487 FBD

O x  0.686  89.77  0.3487  66.23 O x  38.49 kN 

From equation (2): O y  40  0.514 FAC  0.1162 FBD

O y  40  0.514  89.77  0.1162  66.23 O y  13.84 kN 

From equation (3): O z  19.62  0.514 FAC  0.93FBD

O z  19.62  0.514  89.77  0.93  66.23 O z  127.36 kN 

133
Mechanics (1)
Revision

Problems
5.1 The uniform concrete slab has a
mass of 2400 kg . Determine the
tension in each of the three
parallel supporting cables when
the slab is held in the horizontal
plane as shown.

5.2 The horizontal boom OC , which is


supported by a ball-and-socket joint
and two cables, carries the vertical
force P  8000 N . Calculate TAD and
TCE , the tensions in the cables, and

the components of the force exerted


on the boom by the joint at O.

5.3 The sign has a mass of 100 kg with


center of mass at G. Determine the x, y,
z components of reaction at the ball–
and–socket joint A and the tension in
wires BC and BD.

134
Mechanics (1)