Engineering Mechanics:

Statics in SI Units, 12e

5

Equilibrium of a Rigid Body

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Chapter Objectives
Develop the equations of equilibrium for a rigid body
Concept of the free-body diagram for a rigid body
Solve rigid-body equilibrium problems using the
equations of equilibrium

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Chapter Outline
1.
2.
3.
4.
5.

Conditions for Rigid Equilibrium

Free-Body Diagrams
Equations of Equilibrium
Two and Three-Force Members
Constraints and Statical Determinacy

Copyright 2010 Pearson Education South Asia Pte Ltd

5.1 Conditions for Rigid-Body Equilibrium

When a body is in equilibrium EOE is expressed as

FR F 0

M R O MO 0

Consider summing moments about some other point,

such as point A, we require

r FR M R O 0

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5.2 Free Body Diagrams

Support Reactions

If a support prevents the translation of a body in a

given direction, then a force is developed on the rigid
body in the opposite direction.
If rotation is prevented, a couple moment is exerted on
the rigid body.

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5.2 Free Body Diagrams (Table 5.1)

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5.2 Free Body Diagrams

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5.2 Free Body Diagrams

Procedure for Drawing a FBD
1. Draw Outlined Shape of the rigid body
Imagine the rigid body to be isolated or cut free from
its constraints/supports

2. Show All Forces and Couple Moments on rigid body

Identify all external forces and couple moments that
act on the rigid body (both known and unknown)

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5.2 Free Body Diagrams

3. Identify Each Loading and Give Dimensions
Indicate dimensions for calculation of moment
Known forces and couple moments should be properly
labeled with their magnitudes and directions

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Example 5.1
Draw the free-body diagram of the uniform beam. The
beam has a mass of 100kg.

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Solution
Free-Body Diagram

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Solution
Free-Body Diagram
Support at A is a fixed support
Three reactions acting on the beam at A denoted as Ax,
Ay, MA, drawn in an arbitrary direction
Unknown magnitudes of these vectors labeled Ax, Ay,
MA
Assume sense of these vectors
For uniform beam,
Weight, W = 100(9.81) = 981N
acting through beams center of gravity, 3m from A
Copyright 2010 Pearson Education South Asia Pte Ltd

5.3 Equations of Equilibrium

Please refer to
the Companion
CD for the
animation:
Equilibrium of
a Free Body

For equilibrium of a rigid body in 2D,

Fx = 0; Fy = 0; MO = 0
Fx and Fy represent sums of x and y components of
all the forces
MO represents the sum of the couple moments and
moments of the force components

Copyright 2010 Pearson Education South Asia Pte Ltd

5.3 Equations of Equilibrium

Please refer to
the Companion
CD for the
animation:
Equilibrium of
a Free Body

Alternative Sets of Equilibrium Equations

For coplanar equilibrium problems,
Fx = 0; Fy = 0; MO = 0
(most common set of EOE)
2 alternative sets of 3 independent equilibrium
equations,
FA = 0; MA = 0; MB = 0
MA = 0; MB = 0; MC = 0

Copyright 2010 Pearson Education South Asia Pte Ltd

5.3 Equations of Equilibrium

Please refer to
the Companion
CD for the
animation:
Equilibrium of
a Free Body

Procedure for Analysis

Free-Body Diagram
Force or couple moment having an unknown magnitude
but known line of action can be assumed
Indicate the dimensions of the body necessary for
computing the moments of forces

Copyright 2010 Pearson Education South Asia Pte Ltd

5.3 Equations of Equilibrium

Please refer to
the Companion
CD for the
animation:
Equilibrium of
a Free Body

Procedure for Analysis

Equations of Equilibrium
Apply MO = 0 about a point O
Direct solution of unknown can be obtained from EOE if
sequence in solving EOE is correctly applied
Negative result scalar is opposite to that was assumed
on the FBD

Copyright 2010 Pearson Education South Asia Pte Ltd

Example 5.5
Determine the horizontal and vertical components of
reaction at A (rocker) and B (pin) for the beam loaded.
Neglect the weight of the beam in the calculations.

Copyright 2010 Pearson Education South Asia Pte Ltd

Solution
Free Body Diagrams
600N represented by x and y components
200N force acts on the beam at B

Copyright 2010 Pearson Education South Asia Pte Ltd

Solution
Equations of Equilibrium
Fx 0;

600 cos 45 N Bx 0 Bx 424 N

M B 0;
100 N (2m) (600 sin 45 N )(5m) (600 cos 45 N )(0.2m) Ay (7m) 0
Ay 319 N
Fy 0;
319 N 600 sin 45 N 100 N 200 N B y 0
B y 405 N

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5.4 Two- and Three-Force Members

Two-Force Members
When forces are applied at only two points on a
member, the member is called a two-force member
Only force magnitude must be determined

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5.4 Two- and Three-Force Members

Three-Force Members
When subjected to three forces, the forces are
concurrent or parallel

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Example 5.13
The lever ABC is pin-supported at A and connected to a
short link BD. If the weight of the members are negligible,
determine the force of the pin on the lever at A.

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Solution
Free Body Diagrams
BD is a two-force member
Lever ABC is a three-force member
Equations of Equilibrium
0.7

60.3
0.4

tan 1

Fx 0;
Fy 0;

Solving,

FA cos 60.3 F cos 45 400 N 0

FA sin 60.3 F sin 45 0

FA 1.07 kN
F 1.32kN
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5.5 Free-Body Diagrams (3D)

Support Reactions
As in the two-dimensional case:
A force is developed by a support when translation of
the rigid body is prevented
A couple moment is developed when rotation of the
rigid body is prevented
The forces orientation is defined by the coordinate
angles , and

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5.5 Free-Body Diagrams

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5.5 Free-Body Diagrams

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Example 5.14
Several examples of objects along with their associated
free-body diagrams are shown. In all cases, the x, y and z
axes are established and the unknown reaction
components are indicated in the positive sense. The
weight of the objects is neglected.

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Solution

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5.6 Equations of Equilibrium

Vector Equations of Equilibrium
For two conditions for equilibrium of a rigid body in
vector form,
F = 0 MO = 0

Scalar Equations of Equilibrium

If all external forces and couple moments are
expressed in Cartesian vector form
F = Fxi + Fyj + Fzk = 0
MO = Mxi + Myj + Mzk = 0
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5.7 Constraints for a Rigid Body

Redundant Constraints/suppports
More support than needed for equilibrium
Statically indeterminate: more unknown
loadings than equations of equilibrium

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5.7 Constraints for a Rigid Body

Improper Constraints
Instability caused by the improper constraining by the
supports

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5.7 Constraints for a Rigid Body

Procedure for Analysis
Free Body Diagram
Draw an outlined shape of the rigid body
Show all the forces and couple moments acting on the
rigid body
Show all the unknown components (support reactions)
having a positive sense
Indicate the dimensions of the body necessary for
computing the moments of forces

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5.7 Constraints for a Rigid Body

Procedure for Analysis
Equations of Equilibrium
Apply the six scalar equations of equilibrium or vector
equations
Equations of Equilibrium
Choose the direction of an axis for moment summation
such that it intersects the lines of action of as many
unknown forces as possible

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Example Ex 5.75

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Copyright 2010 Pearson Education South Asia Pte Ltd