CHAP 5

Equilibrium of a Rigid body

5.1 Conditions for Rigid body

equilibrium
Consider a rigid body which is at rest or moving with x y z
reference at constant velocity

F1

F2

j
i

F3

rigid body

F4

Free body diagram of ith particle of the body

Fi

z
j

ri

f ij
i

Fi

External force
( )
: gravitational, electrical, magnetic or
contact force
Internal

fi

force f i (
n

j 1

f ij

Force equilibrium equation for particle i

Fi

fi 0

(Newton first law)

ji

Force equilibrium equation for the whole body

Fi

f i 0

fi

Fi

(Newtons 3rd law )

F 0

Moment of the forces action on the ith particle about pt. O

M jo

ri

Fi

fi

ri
Fi
ri f i 0

 Moment equilibrium equation for the body

M jo

rj

Fj

fj 0

rj

rj f j 0
Fj

rj

fj 0

Mo

rj
Fj 0

Equations of equilibrium for a rigid body are

Mo

5.2 Equilibrium in Two Dimensions

1. Free-body Diagram
(1) F.B.D
A sketch of the outlined shape of the body represents it as being
isolated or free from its surrounding , i.e ., a free body.
(2) Support Reactions
A .Type of support : see Table 5-1
B . General rules for support reaction:
If a support prevents the translation of a body in a given
direction, then a force is developed on the body in that direction .
Likewise, if rotation is prevented, a couple moment is exerted on
the body.

Examples:

(a) roller or cylinder support

(b) pin support

FAy

Fx

(c) Fixed support

Fy

Fy

FAx
M

FAy

FBy

Fx

(3) External and Internal forces

A. Internal force
Not represented on the F.B.D. became their net effect on the
body is zero.
B. External force
Must be shown on the F.B.D.
(a) Applied loadings
(b) Reaction forces
(c) Body weights
(4) Weight and the center of gravity
The force
resultant from the gravitational field is referred as the
weight w of the body, and the location of its point of application
is the center of gravity G.

w
body

(ch4)

P=G( )

2. Equations of Equilibrium for 2D rigid body

(1) Conditions of equilibrium

F 0

M0 0

Fx 0

F 0
M 0
y

Here:

F1
y

M2

F2

M1

F3
x

Couple moment

Fx algebraic sum of x components of all force on the body.

Fy algebraic sum of y components of all force on the body.

algebraic sum of couple moments and moments of all

the force components about an axis xy plane and
passing 0.

(2) Alternative equilibrium equation

(A)

F 0
M 0
M 0
a

When the moment points A and B do not

lie on a line that is perpendicular to the
axis a.

FR F

M RA M A

M 0 M 0
F 0 F aa
A

RA

rA / B FR o FR 0

(B)

M
M
M

Points A, B and C do not lie on the same line

a

MA
C

FA

A
B
FR F

M RA M A

a
A

0 M RA 0

FR collinearA B M B 0

rA / C FR o FR 0

(3) Example
600N

200N
A

B Bx
2m
Ay

3m

2m
By
100N

3 unknown Ax, Bx, By

Equations of equilibrium

Fx 0 600 cos 45 Bx 0

Fy 0

Ay 600 sin 45 100 200 By 0

M B 0 100 2 Ay 7 600 sin 45 5 600 sin 45 02. 0

3 equations for 3 unknowns

5.3 Two-and Three-Force Members

1. Two-Force member
A member subject to no couple moments and forces applied at
only two points on the member.
FA
A
B

Equations of Equilibrium FB

0 FA FB

Mo 0

A
B

2. Three-Force
memberto only three forces, which are either
A member subject
concurrent or parallel if the member is in equilibrium.
(1)Concurrent (3 O )(2)parallel
F2

F1

F1

(3 )

F2

F3

F 0

F3

Mo 0

F 0 Mo 0

5.4 Equilibrium in Three Dimensional

1. Free
Body Diagrams
Rigid
Body
(1)F.B.D
Same as 2D equilibrium problems
(2)Support Reactions
A. Types of support:see Table 5-2
B. General rules for reaction
Same as two-dimensional case
Examples:

Fz

(a) Ball and Socket joint

No translation along any direction
Rotate freely about any axis
Fx

3 reaction forces

Fy

(b) single journal bearing

Rotate freely about its longitudinal axis

Mz

Translate along its longitudinal direction

Mx

(c) single pin

Only allow to rotate about a specific axis.

Fz

Fx

two unkown forces

and couple moments

z
Mz
Fz

Fx
x

My
Fy

y
Three unkown forces
and two couple moments

2. Equations of Equilibrium
A. Vector equations of equilibrium

F 0

Mo 0

B. Scalar equations of equilibrium

Fy 0
My 0

Fx 0

Mx 0

Fz 0

Mz 0

5.6 Constraints for a rigid body

1. Redundant constraints
(1) Redundant constraints
Redundant supports are more than necessarily to hold a
body in equilibrium.
Ex:
2KN-m

500N

Equation of motion=3
5 unknown reactions >3 equation of motion
there are two support reactions which are redundant
supports and more than necessarily.

(2) Statically indeterminate

There are more unknown loadings on the body than
equations of equilibrium available for the solution.
F.B.D of above example
500N
A

Ax
y
x

MA

2KN-m
Ay

By

Cy

unknown loadings AX,AY,MA,BY,CY;5

Equations of equilibrium FX=0,FY=0,MA =0;3
5>3
Statically indeterminate structure

(3)Solutions for statically indeterminate structure

Additional equations are needed ,which are obtained
from the deformation condition at the points of redundant support
based on the mechanics of deformation, such as mechanics of
materials.
Equations of Equilibrium for above example are
+

FX=0

AX=0

+FY=0

500-AY-BY-CY=0

+MA=0

MA-2-DYBY-DCCY=0

Need two more equations to solve the five unknown

forces.

2.Improper Constraints
(1) Reaction force = equations of equilibrium
If this kind of improper constraint occurs then system is
instable
A. The lines of action of the reactive forces intersect points on
a common axis (concurrent).
F.B.D
100N

100N
0.2
m
A

FC
C

F F
M 0

B
FB

FA
x

0
body will rotate about Z-axis or point O

B. The reactive forces are all parallel

B

A
F.B.D

100N
FB

FC
B C

100N

FA
F

0 Body will translate along x direction.

(2) Reaction forces < equations of equilibrium

If the body is partially constrained then it is in instable condition
100N

Stable
?
100N

F.B.D
FA

F 0
F 0
M 0

FB

Not in equilibrium