3 Equilibrium

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College of Engineering

Department of Civil Engineering

Engineering Mechanics I Statics (CEng2103)

3. Equilibrium

By Mubarek Zeyne (MSc)

November, 2023
AASTU, Addis Ababa, Ethiopia

1
Course Learning Outcomes

After completion of this chapter, students


will be able to:
❑ Be able to isolate the loading system and draw
the free-body diagram of the system isolated
❑ Identify the support types and associated
reactions expected
❑ Compute support reactions (reactive force and
moments if any)

2
3. EQUILIBRIUM 3

Introduction
✓ Equilibrium is a condition in which all influences acting cancel each other,
so that a static or balanced situation results.
✓ When a body is in equilibrium, the resultant of all forces acting on it is
zero. Thus, the resultant force R and the resultant couple M are both zero,
and we have the equilibrium equations
♠ These requirements are both necessary and sufficient conditions for
equilibrium.
3. EQUILIBRIUM… 4

Section A Equilibrium in 2Ds


Equilibrium Conditions
We defined equilibrium
as the condition in
which the resultant of
all forces and moments
acting on a body is
zero. Stated in another
way, a body is in
equilibrium if all forces
and moments applied
to it are in balance.
3. EQUILIBRIUM… 5
SECTION A EQUILIBRIUM IN TWO DIMENSIONS
System Isolation and the Free-Body Diagram
✓ Before we apply the above equilibrium equations we must define
unambiguously the particular body or mechanical system to be analyzed
and represent clearly and completely all forces acting on the body.
Omission of a force which acts on the body in question, or inclusion of a
force which does not act on the body, will give erroneous results.
✓ Once we decide which body or combination of bodies to analyze, we then
treat this body or combination as a single body isolated from all
surrounding bodies. This isolation is accomplished by means of the free-
body diagram, which is a diagrammatic representation of the isolated
system treated as a single body. The diagram shows all forces applied to
the system by mechanical contact with other bodies, which are imagined
to be removed.
3. EQUILIBRIUM… 6

SECTION A EQUILIBRIUM IN TWO DIMENSIONS


Modeling the Action of Forces
♠ The Figure below shows the common types of force application on mechanical
systems for analysis in 2D. Each example shows the force exerted on the body to be
isolated, by the body to be removed. Newton’s third law, which notes the existence
of an equal and opposite reaction to every action, must be carefully observed.
3. EQUILIBRIUM… 7

SECTION A EQUILIBRIUM IN TWO DIMENSIONS


3. EQUILIBRIUM… 8
3. EQUILIBRIUM… 9

Section A Equilibrium in 2Ds


Constraints and Statical Determinacy
✓ The equilibrium equations developed in this chapter are both necessary and
sufficient conditions to establish the equilibrium of a body. However, they do not
necessarily provide all the information required to calculate all the unknown forces
which may act on a body in equilibrium. Whether the equations are adequate to
determine all the unknowns depends on the characteristics of the constraints
against possible movement of the body provided by its supports.
✓ By constraint we mean the restriction of movement. Example:- the roller, ball, and
rocker provide constraint normal to the surface of contact, but none tangent to the
surface.
✓ A rigid body, or rigid combination of elements treated as a single body, which
possesses more external supports or constraints than are necessary to maintain an
equilibrium position is called statically indeterminate.
✓ Supports which can be removed without destroying the equilibrium condition of the
body are said to be redundant.
✓ The number of redundant supporting elements present corresponds to the degree
of statical indeterminacy and equals the total number of unknown external forces,
minus the number of available independent equations of equilibrium. On the other
hand, bodies which are supported by the minimum number of constraints necessary
to ensure an equilibrium configuration are called statically determinate, and for
such bodies the equilibrium equations are sufficient to determine the unknown
external forces.
3. EQUILIBRIUM… 10
Section A Equilibrium in 2Ds
Adequacy of Constraints
✓ We must be aware of the nature of the constraints before we attempt to solve an
equilibrium problem. The existence of three constraints for a two-dimensional
problem does not always guarantee a stable equilibrium configuration.
✓ In Figure (a), at point A of the rigid body is fixed by the two links and cannot move,
and the third link prevents any rotation about A. Thus, this body is completely fixed
with three adequate (proper) constraints.
✓ In Figure (b), there is no resistance to rotation at A where as in Figure (c) the three
parallel links could offer no initial resistance to a small vertical movement of the body
as a result of external loads applied to it in this direction. The constraints in these two
examples are often termed improper. In both cases, this body is incompletely fixed
under partial constraints.
✓ In Figure (d), we have a condition of complete fixity, with link 4 acting as a fourth
constraint which is unnecessary to maintain a fixed position. Link 4, then, is a
redundant constraint, and the body is statically indeterminate.
3. EQUILIBRIUM… 11

Construction of Free-Body Diagrams


Step 1. Decide which system to isolate.
Step 2. Next isolate the chosen system
by drawing a diagram which represents
its complete external boundary.
Step 3. Identify all forces which act on
the isolated system as applied by the
removed contacting and attracting
bodies, and represent them in their
proper positions on the diagram of the
isolated system. Make a systematic
traverse of the entire boundary to
identify all contact forces. Include body
forces such as weights, where
appreciable. Represent all known forces
by vector arrows, each with its proper
magnitude, direction, and sense
indicated.
Step 4. Show the choice of coordinate
axes directly on the diagram. Pertinent
dimensions may also be represented for
convenience.
3. EQUILIBRIUM… 12
SECTION A EQUILIBRIUM IN TWO DIMENSIONS
Example:
1) Calculate the tension T in the cable which supports the 1000-lb load with
the pulley arrangement shown. Each pulley is free to rotate about its bearing, and
the weights of all parts are small compared with the load. Find the magnitude of
the total force on the bearing of pulley C.
3. EQUILIBRIUM… 13
SECTION A EQUILIBRIUM IN TWO DIMENSIONS
Solution. The free-body diagram of each pulley is drawn in its relative position to
the others. We begin with pulley A, which includes the only known force.
With the unspecified pulley radius designated by r, the equilibrium of moments
about its center O and the equilibrium of forces in the vertical direction require

Just like pulley A we may write the equilibrium of forces on


pulley B . Simply by inspection

For pulley C the angle Ɵ= 30 in no way affects the


moment of T about the center of the pulley, so that
moment equilibrium requires

Equilibrium of the pulley in the x- and y-directions


requires

(Ans)
3. EQUILIBRIUM… 14
SECTION A EQUILIBRIUM IN TWO DIMENSIONS
Example:
2) Determine the magnitudes of the forces C and T, which, along with the
other three forces shown, act on the bridge-truss joint.

Solution. The given sketch constitutes


the free-body diagram of the isolated
section of the joint in question and
shows the five forces which are in
equilibrium.
For the x-y axes as shown we have
3. EQUILIBRIUM… 15

SECTION A EQUILIBRIUM IN 2DS


Example:
3) Determine the magnitude T of the tension in
the supporting cable and the magnitude of the
force on the pin at A for the jib crane shown. The
beam AB is a standard 0.5-m I-beam with a mass
of 95 kg per meter of length.
Solution:
The weight of the beam is 95(10-3)*5*9.81 =
4.66 kN and acts through its center.
The free body diagram(FBD) is

Let`s take moment about A, the counterclockwise


sense as positive we write

Equating the sums of forces in the x- and y-directions to zero gives


3. EQUILIBRIUM… 16
SECTION A EQUILIBRIUM IN TWO 2DS…
EXERCISE
1) Three cables are joined at the junction
ring C. Determine the tensions in cables
AC and BC caused by the weight of the
30-kg cylinder.

2)The 500-kg uniform beam is


subjected to the three external
loads shown. Compute the
reactions at the support point O.
The x-y plane is vertical.
3. EQUILIBRIUM… 17
SECTION B EQUILIBRIUM IN THREE DIMENSIONS
Equilibrium Conditions
✓ The general conditions for the equilibrium of a body require that the resultant
force and resultant couple on a body in equilibrium be zero. These two vector
equations of equilibrium and their scalar components may be written as

These six equations are both necessary and


sufficient conditions for complete equilibrium.
The reference axes may be chosen arbitrarily as
a matter of convenience, the only restriction
being that a right-handed coordinate system
should be chosen when vector notation is used.
3. EQUILIBRIUM… 18

SECTION B EQUILIBRIUM IN 3DS


3. EQUILIBRIUM… 19

SECTION B EQUILIBRIUM IN 3DS…


3. EQUILIBRIUM… 20
SECTION B EQUILIBRIUM IN 3Ds…
3. EQUILIBRIUM… 21
SECTION B EQUILIBRIUM IN 3Ds…
Example
The uniform 7-m steel shaft has a mass of 200 kg and
is supported by a ball and-socket joint at A in the
horizontal floor. The ball end B rests against the
smooth vertical walls as shown. Compute the forces
exerted by the walls and the floor on the ends of the
shaft.

Solution:
W =mg =200(9.81) =1962 N
The free body diagram is as shown below

The vertical position of B is found from

h=3m
3. EQUILIBRIUM… 22

SECTION B EQUILIBRIUM IN 3Ds…


Solution: continued …
Scalar solution: Evaluating the scalar moment
equations about axes through A parallel,
respectively, to the x- and y-axes, gives
3. EQUILIBRIUM… 23
SECTION B EQUILIBRIUM IN 3Ds…
Solution: continued …
Vector solution: We will use A as a moment center to
eliminate reference to the forces at A.
• The position vectors needed to compute the
moments about A are

Equating the coefficients of i, j, and k to zero and solving give


✓ The forces at A are easily determined by
3. EQUILIBRIUM… 24
SECTION B EQUILIBRIUM IN 3Ds…
Exercise:
1) The light right-angle boom which supports the 400-kg cylinder is
supported by three cables and a ball and-socket joint at O attached to the
vertical x-y surface. Determine the reactions at O and the cable tensions
3. EQUILIBRIUM… 25
SECTION B EQUILIBRIUM IN 3Ds…
Exercise:
3) The square steel plate has a mass of 1800 kg with mass center at its
center G. Calculate the tension in each of the three cables with which
the plate is lifted while remaining horizontal.

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