Engineers Mechanics- Equilibrium of Rigid Bodies

Introduction
For a rigid body in static equilibrium, the external forces and
moments are balanced and will impart no translational or rotational
motion to the body.

The necessary and sufficient condition for the static equilibrium of a

body are that the resultant force and couple from all external forces
form a system equivalent to zero,

F)= 0
(
r r r r
R=0; MO = r Newtons First Law

Resolving each force and moment into its rectangular components

leads to 6 scalar equations which also express the conditions for static
equilibrium,
Fx = 0 Fy = 0 Fz = 0
Mx = 0 My = 0 Mz = 0

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Engineers Mechanics- Equilibrium of Rigid Bodies
Free-Body Diagram (Most Important Step)
First step in the static equilibrium analysis of a rigid
body is identification of all forces acting on the
body with a free-body diagram.

Select the extent of the free-body and isolate it

from the ground and all other bodies.

Indicate point of application, magnitude, and

direction of external forces, including the rigid
body weight.

Indicate point of application and assumed

direction of unknown applied forces. These
usually consist of reactions through which the
ground and other bodies oppose the possible
motion of the rigid body.

Include the dimensions necessary to compute

the moments of the forces.

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Engineers Mechanics- Equilibrium of Rigid Bodies
Reactions from supports and connections
Supports and connections help to hold the body in position (equilibrium)
under the action of externally applied forces

The body imparts force to the support (or connection), and as per
Newtons third law the support (or connection) exert equal and opposite
reaction force to the body

The force exerted on the body in question by a support or connection

member is always in the sense to oppose the movement of the isolated
body which would occur in absence of the support or connection

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Engineers Mechanics- Equilibrium of Rigid Bodies
Reactions at Supports and Connections for a Two-
Dimensional Structure
Reactions equivalent to a
force with known line of
action.

The direction of the

reaction force in case
of a roller support
oppose the
movement of the
isolated body in the
vertical direction

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Engineers Mechanics- Equilibrium of Rigid Bodies
Reactions at Supports and Connections for a Two-
Dimensional Structure
Hinge support oppose movement in both the vertical and horizontal
direction

Reactions equivalent to a
force of unknown direction
and magnitude.

Fixed support oppose movement in both the vertical and horizontal

direction as well as rotation
Reactions equivalent to a
force of unknown
direction and magnitude
and a couple.of unknown
magnitude

For pin or fixed support the direction of the reaction force may not be
judged a priori since it depends on the loading conditions, therefore it can
be assumed arbitrarily.
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Engineers Mechanics- Equilibrium of Rigid Bodies
Equilibrium of a Rigid Body in Two Dimensions
For all forces and moments acting on a two-
dimensional structure,
Fz = 0 M x = M y = 0

Equations of equilibrium become

Fx = 0 Fy = 0 (M z ) A = 0
where A is any point in the plane of the
structure.

The 3 equations can be solved for no more

than 3 unknowns, i.e the problem is
statically determinate.
The 3 equations can not be augmented with
additional equations, but they can be replaced
Fx = 0 M A = 0 M B = 0
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Engineers Mechanics- Equilibrium of Rigid Bodies
Statically Indeterminate Reactions

More unknowns Fewer unknowns than Equal number unknowns

than equations equations, partially and equations but
constrained improperly constrained
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Engineers Mechanics- Equilibrium of Rigid Bodies
Equilibrium of a Two-Force Body
Consider a plate subjected to two forces F1 and F2

For static equilibrium, the sum of moments about A

must be zero. The moment of F2 must be zero. It
follows that the line of action of F2 must pass
through A.

Similarly, the line of action of F1 must pass

through B for the sum of moments about B to be
zero.

Requiring that the sum of forces in any direction be

zero leads to the conclusion that F1 and F2 must
have equal magnitude but opposite sense.

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Engineers Mechanics- Equilibrium of Rigid Bodies
Equilibrium of a Three-Force Body
Consider a rigid body subjected to forces acting at
only 3 points.

Assuming that their lines of action intersect, the

moment of F1 and F2 about the point of intersection
represented by D is zero.

Since the rigid body is in equilibrium, the sum of the

moments of F1, F2, and F3 about any axis must be
zero. It follows that the moment of F3 about D must
be zero as well and that the line of action of F3 must
pass through D.

The lines of action of the three forces must be

concurrent.

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Engineers Mechanics- Equilibrium of Rigid Bodies
Example of a Three-Force Body

A man raises a 10 kg joist, of

length 4 m, by pulling on a rope.
Find the tension in the rope and
the reaction at A.

Apply triangle
rule to solve
the problem

Free body diagram

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Engineers Mechanics- Equilibrium of Rigid Bodies
Analysis of Frames/Machines Interconnected Bodies
Frames and machines are structures that can have multiple
number of members (or links) connected to each other.
At least one member multiforce member.
Frames are designed to support loads and are usually
stationary.
Machines contain moving parts and are designed to
transmit and modify forces.

A free body diagram of the complete frame is used to

determine the unknown external forces (from supports or
connecting bodies) acting on the frame.

The complete frame itself is a rigid body and its

internal members may not collapse if the supports
are removed

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Engineers Mechanics- Equilibrium of Rigid Bodies
Analysis of Frames/Machines Internal Forces

Forces on two force members have

known lines of action but unknown
magnitude and sense.

Forces on multiforce members have

unknown magnitude and line of action.
They must be represented with two
unknown components.

Forces between connected components

are equal, have the same line of action,
and opposite sense (Newtons third
law)

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Engineers Mechanics- Equilibrium of Rigid Bodies

Non-rigid frames with interconnected rigid bodies

Some frames may collapse if removed from
their supports. Such frames can not be treated
as rigid bodies.
A free-body diagram of the complete frame
indicates four unknown force components which
can not be determined from the three equilibrium
conditions.
The frame must be considered as two distinct, but
related, rigid bodies.
With equal and opposite reactions at the contact
point between members, the two free-body
diagrams indicate 6 unknown force components.
Equilibrium requirements for the two rigid
bodies yield 6 independent equations.
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Engineers Mechanics- Equilibrium of Rigid Bodies
Equilibrium of a Rigid Body in Three Dimensions
Six scalar equations are required to express the
conditions for the equilibrium of a rigid body in the
general three dimensional case.
Fx = 0 Fy = 0 Fz = 0
Mx = 0 My = 0 Mz = 0

These equations can be solved for no more than 6

unknowns which generally represent reactions at supports
or connections.

The scalar equations are conveniently obtained by applying the

vector forms of the conditions for equilibrium,
r r r r
F = 0 M O = (r F ) = 0

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Engineers Mechanics- Equilibrium of Rigid Bodies
Reactions at Supports and Connections for a Three-
Dimensional Structure

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Engineers Mechanics- Equilibrium of Rigid Bodies
Reactions at Supports and Connections for a Three-
Dimensional Structure

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