Eighth Edition

CHAPTER

VECTOR MECHANICS FOR

ENGINEERS: STATICS
Ferdinand P. Beer
E. Russell Johnston, Jr.

Equilibrium of Rigid Bodies

Lecture Notes:
J. Walt Oler
Texas Tech University

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Eighth

Vector Mechanics for Engineers: Statics

Contents
Introduction
Free-Body Diagram

Equilibrium of a Rigid Body in Three

Dimensions

Reactions at Supports and Connections

for a Two-Dimensional Structure

Reactions at Supports and Connections for a

Three-Dimensional Structure

Equilibrium of a Rigid Body in Two

Dimensions

Sample Problem 4.8

Statically Indeterminate Reactions

Sample Problem 4.1
Sample Problem 4.3
Sample Problem 4.4
Equilibrium of a Two-Force Body
Equilibrium of a Three-Force Body
Sample Problem 4.6

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Vector Mechanics for Engineers: Statics

Introduction
Equilibrium of body
When numbers of forces and moments acting on body, if the resultant of
such forces and moments is equal to zero the body is said to be in equilibrium.
Than according to Newton first law of motion the body will sustain its initial state
of rest or motion.
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

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Vector Mechanics for Engineers: Statics

FR = 0---------------------------- 1
It means the components of FR is also zero, we get
Fx = 0
FY = 0 ------------------------------------- A
Fz = 0
Similarly the moment produce by each force and given moments are also
equal to zero to maintain the equilibrium.
MR = 0---------------------------- 1
It means the components of MR is also zero, we get
Mx = 0
MY = 0 ------------------------------------- B
Mz = 0
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Vector Mechanics for Engineers: Statics

SUPPORTS OR CONNECTIONS:
The supports or connections are provided in structure (frame, truss,
machine etc) to prevents the motion of body in particular direction. The motion
may be Translational or rotational and even both in particular direction.
The supports or connections provide the necessary reactions needed to
maintain the structure in the same position (in static equilibrium).
These supports and connections are classified according to the reaction
provided by supports as shown in figure and discussed as under.
1.Reactions Equivalent to a Force with Known Line of Action
2.Reactions Equivalent to a Force of Unknown Direction and Magnitude.
3.Reactions Equivalent to a Force and a Couple (moment).

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Vector Mechanics for Engineers: Statics

Classification of reactions
Reactions Equivalent to a Force with Known Line of Action
The supports and connections which prevent motion in one direction
only have one reaction. The magnitude of reaction is unknown but the line
of action of reaction is known.
Supports and connections causing reactions of this type include
1.
Rollers
2.
Rockers
3.
Frictionless surfaces
4.
Short links
5.
Cables
6.
Collars on frictionless rods
7.
Frictionless pins in slots.
These supports are shown in table 1 and table 2, together with the
reactions they produce. Each of these reactions involves one unknown. The
line of action of the reaction is known and should be indicated clearly in
the free-body diagram.

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Vector Mechanics for Engineers: Statics

Classification of reactions

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Vector Mechanics for Engineers: Statics

Classification of reactions
2. Reactions Equivalent to a Force of Unknown Direction and Magnitude.
These Supports and connections prevent translation of the body in all directions,
but they cannot prevent the body from rotating about the connection.
Causing reactions of this type include
1. Frictionless pins in fitted holes
2. Hinges
3. Rough surfaces
All these supports are shown table 3 and table 4.
Reactions induced by this group involve two unknowns and are usually
represented by their x and y components. In the case of a rough surface, the
component normal to the surface must be directed away from the surface.

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Vector Mechanics for Engineers: Statics

Classification of reactions
3.

Reactions Equivalent to a Force and a Couple (moment).

These supports and connections prevents the motion in all the direction as
well as the rotation.
For example fixed supports, which oppose any motion of the free body
and thus constrain it completely.
Reactions of this group involve three unknowns, consisting usually of the
two components of the force and the moment of the couple..

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Vector Mechanics for Engineers: Statics

Equilibrium of body in two dimensions
Equilibrium of body in two dimensions
Consider a truss shown in fig (a) is subjected to the given forces P, Q, and S.
The truss is held in place (statics Equilibrium) by providing a pin support
at A and a roller support at B.
The pin support prevents point A from moving by exerting on the truss a
force which can be resolved into the components Ax and Ay.
The roller keeps the truss from rotating about A by exerting the vertical
force B. The free-body diagram of the truss is shown in Fig. (b)

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Vector Mechanics for Engineers: Statics

Equilibrium of body in two dimensions
In FBD all the unknown reactions Ax, Ay and B as well as the applied
known forces P, Q, S (the rectangular components of each force) and the weight W
of the truss shown.
The possible equations of equilibrium, for all forces and moments acting on
structure is given by
Fx = 0
FY = 0
Fz = 0

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Mx = 0
MY = 0
Mz = 0

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Vector Mechanics for Engineers: Statics

Equilibrium of body in two dimensions
For all forces and moments acting on a two-dimensional structure,

Fz 0 M x M y 0 M z M O
Equations of equilibrium become
Fx 0 Fy 0 M A 0
The 3 equations can be solved for no more than 3 unknowns
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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Vector Mechanics for Engineers: Statics

Statically Indeterminate Reactions

More unknowns than

equations

Fewer unknowns than Equal number unknowns

and equations but
equations, partially
improperly constrained
constrained

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Vector Mechanics for Engineers: Statics

Sample Problem 4.1
SOLUTION:
Create a free-body diagram for the crane.
Determine B by solving the equation
for the sum of the moments of all forces
about A. Note there will be no
contribution from the unknown
reactions at A.
A fixed crane has a mass of 1000 kg
and is used to lift a 2400 kg crate. It
is held in place by a pin at A and a
rocker at B. The center of gravity of
the crane is located at G.
Determine the components of the
reactions at A and B.

Determine the reactions at A by

solving the equations for the sum of
all horizontal force components and
all vertical force components.
Check the values obtained for the
reactions by verifying that the sum of
the moments about B of all forces is
zero.

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Eighth

Vector Mechanics for Engineers: Statics

Sample Problem 4.1
Determine B by solving the equation for the
sum of the moments of all forces about A.
M A 0 : B1.5m 9.81 kN 2m
23.5 kN 6m 0
B 107.1 kN

Create the free-body diagram.

Determine the reactions at A by solving the

equations for the sum of all horizontal forces
and all vertical forces.
Fx 0 : Ax B 0
Ax 107.1 kN
F y 0 : Ay 9.81 kN 23.5 kN 0
Ay 33.3 kN
Check the values obtained.

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Vector Mechanics for Engineers: Statics

Sample Problem 4.2
SOLUTION:

R1

WY

=5

50

in
0S

Create a free-body diagram for the car

with the coordinate system aligned
with the track.

25

Wx = 5500 Cos 25

R2

Determine the reactions at the wheels

by solving equations for the sum of
moments about points above each axle.

W = 5500 lb

Determine the cable tension by

A loading car is at rest on an inclined
solving the equation for the sum of
track. The gross weight of the car and
force components parallel to the track.
its load is 5500 lb, and it is applied at
at G. The cart is held in position by
Check the values obtained by verifying
the cable.
that the sum of force components
perpendicular to the track are zero.
Determine the tension in the cable and
the reaction at each pair of wheels.
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Eighth

Vector Mechanics for Engineers: Statics

Sample Problem 4.2
Determine the reactions at the wheels.
M A 0 : 2320 lb 25in. 4980 lb 6in.
R2 50in. 0
R2 1758 lb
M B 0 : 2320 lb 25in. 4980 lb 6in.
R1 50in. 0
R1 562 lb
Create a free-body diagram
W x 5500 lb cos 25
4980 lb
W y 5500 lb sin 25

Determine the cable tension.

Fx 0 : 4980 lb T 0
T 4980 lb

2320 lb
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Eighth

Vector Mechanics for Engineers: Statics

Sample Problem 4.3
SOLUTION:
Create a free-body diagram for the
frame and cable.
Solve 3 equilibrium equations for the
reaction force components and
couple at E.

The frame supports part of the roof of

a small building. The tension in the
cable is 150 kN.
Determine the reaction at the fixed
end E.

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Eighth

Vector Mechanics for Engineers: Statics

Sample Problem 4.3
Solve 3 equilibrium equations for the
reaction force components and couple.
4.5
150 kN 0
F

0
:
E

x
x
7.5
E x 90.0 kN
Fy 0 : E y 4 20 kN

6
150 kN 0
7.5

E y 200 kN
Create a free-body diagram for
the frame and cable.

M E 0 : 20 kN 7.2 m 20 kN 5.4 m
20 kN 3.6 m 20 kN1.8 m

6
150 kN 4.5 m M E 0
7.5

M E 180.0 kN m
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Eighth

Vector Mechanics for Engineers: Statics

Sample problem 4.5
The 480-kg bent bar ABC of
uniform cross section is supported
by a pin at A and a vertical cable at
C. The weight of bar AB is 160 kg
and weight of BC is 360 kg.
Determine the pin reactions and the
force in the cable.

Solution
Draw free body diagram

Ry
Rx
W2

W1

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Eighth

Vector Mechanics for Engineers: Statics

Sapmle problem 4.6
The bent beam ABC is attached to a pin at
C and rests against a roller support at B.
Neglecting the weight of the beam, find
the reactions at B and C caused by the
150-kg load

Solution
Draw free body diagram

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Eighth

Vector Mechanics for Engineers: Statics

Sample problem 4.7
Compute all reactions at the base A of the
traffic light standard, given that the
tension in the cable BC is (a) T = 544 lb;
and (b) T =0. The weight of the standard
is negligible compared with the 320-lb
weight of the traffic light.

Solution
Draw free body diagram

T
W

Ax
AY
MA
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Vector Mechanics for Engineers: Statics

Sample problem 4.7
A 2100-lb tractor is used to lift 900 lb of
gravel. Determine the reaction at each of the
two (a) rear wheels A, (b) font wheels B.

Solution
Draw free body diagram

W
2RA
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2RB
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Vector Mechanics for Engineers: Statics

Sample Problem 4.9
Three point (concentrated) loads are
applied to a over hanging beam as
shown. The beam is supported by a
roller at A and by a pin at B.
Neglecting the weight of the beam,
determine the reactions at A and B
when P = 15 kips.

Solution
Draw free body diagram

RX
RA

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RB

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Vector Mechanics for Engineers: Statics

Sample Problem 4.9
Neglecting the weight of the beam,
determine the reactions at A and B

Solution
Beam = simply supported
Load = Uniformly distributed load (UDL)
Support at A = Roller
Support at B = Hinge or pined
Draw free body diagram
Convert UDL into
point load or single load or resultant load =
UDL * span of UDL
= 300 * 15 = 4500 lbs
And it acts at a distance = 15/2 = 7.5 ft from the
support.

RX

RB

RA

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Eighth

Vector Mechanics for Engineers: Statics

Sample Problem 4.9
Neglecting the weight of the beam,
determine the reactions at A and B

Solution
Beam = simply supported
Load = varying load
Support at A = Roller
Support at B = Hinge or pined
Draw free body diagram

RX
RA

RB

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Eighth

Vector Mechanics for Engineers: Statics

Sample Problem 4.9
Neglecting the weight of the truss,
determine the reactions at A and H

Solution
Truss = simply supported
Load = concentrated load
Support at A = Roller
Support at B = Hinge or pined
Draw free body diagram

RX
RA
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RH
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Vector Mechanics for Engineers: Statics

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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Vector Mechanics for Engineers: Statics

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 or parallel.

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Eighth

Vector Mechanics for Engineers: Statics

Sample Problem 4.6
SOLUTION:
Create a free-body diagram of the joist.
Note that the joist is a 3 force body acted
upon by the rope, its weight, and the
reaction at A.

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.

The three forces must be concurrent for

static equilibrium. Therefore, the reaction
R must pass through the intersection of the
lines of action of the weight and rope
forces. Determine the direction of the
reaction force R.
Utilize a force triangle to determine the
magnitude of the reaction force R.

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Vector Mechanics for Engineers: Statics

Sample Problem 4.6
Create a free-body diagram of the joist.
Determine the direction of the reaction
force R.
AF AB cos 45 4 m cos 45 2.828 m
CD AE 12 AF 1.414 m
BD CD cot(45 20) 1.414 m tan 20 0.515 m
CE BF BD 2.828 0.515 m 2.313 m
tan

CE 2.313

1.636
AE 1.414

58.6

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Vector Mechanics for Engineers: Statics

Sample Problem 4.6
Determine the magnitude of the reaction
force R.
T
sin 31.4

R
sin 110

98.1 N
sin 38.6

T 81.9 N
R 147.8 N

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Vector Mechanics for Engineers: Statics

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,

F 0 MO r F 0

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Vector Mechanics for Engineers: Statics

Reactions at Supports and Connections for a ThreeDimensional Structure

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Eighth

Vector Mechanics for Engineers: Statics

Reactions at Supports and Connections for a ThreeDimensional Structure

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Eighth

Vector Mechanics for Engineers: Statics

Sample Problem 4.8
SOLUTION:
Create a free-body diagram for the sign.
Apply the conditions for static
equilibrium to develop equations for
the unknown reactions.

A sign of uniform density weighs 270

lb and is supported by a ball-andsocket joint at A and by two cables.
Determine the tension in each cable
and the reaction at A.

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Vector Mechanics for Engineers: Statics

Sample Problem 4.8

Create a free-body diagram for the

sign.
Since there are only 5 unknowns,
the sign is partially constrain. It is
free to rotate about the x axis. It is,
however, in equilibrium for the
given loading.

rD rB
TBD TBD
rD rB

8i 4 j 8k
TBD
12
1 2
2
TBD 3 i 3 j 3 k

rC rE
TEC TEC
rC rE

6i 3 j 2k
TEC
7
3 2
6
TEC 7 i 7 j 7 k

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Vector Mechanics for Engineers: Statics

Sample Problem 4.8

Apply the conditions for

static equilibrium to
develop equations for the
unknown reactions.

i:

j:

k:

MA

j:

k:

A TBD TEC 270 lb j 0

Ax 23 TBD 76 TEC 0
Ay 13 TBD 73 TEC 270 lb 0
Az 23 TBD 72 TEC 0

rB TBD rE TEC 4 ft i 270 lb j 0
5.333TBD 1.714 TEC 0
2.667 TBD 2.571TEC 1080 lb 0

Solve the 5 equations for the 5 unknowns,

TBD 101.3 lb TEC 315 lb

A 338 lb i 101.2 lb j 22.5 lb k

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