Permatang Pauh Campus

Penang Malaysia

MEC 412 : Engineering Statics

Semester 1
Chapter 3: Static of rigid bodies

By
Rosley Bin Jaafar
Faculty of Mechanical Engineering
rosley110@uitm.edu.my/019-5668192

Book; Ferdinand P. Beer, E. Russell Johnston Jr. and David F. Mazurek,

Vector Mechanics for Engineers: Statics, 12th Edition, McGraw-Hill, 2018.
 MEC 412
Chapter 3:Static of rigid bodies

Learning Outcome

Upon completion of this chapter, student should be able to;

⚫ describe and calculate a moment of a force, a couple of moment

and an equivalent system of forces.
⚫ draw a free body diagram of rigid body of two and three-dimension.
⚫ solve a rigid body of two and three-dimension problems using a
static equations of equilibrium .

2
 MEC 412
Chapter 3:Static of rigid bodies
Chapter outline
⚫ Introduction
⚫ Principle of Transmissibility
⚫ Moment of a Force about a Point
⚫ Cross Product (Vector Product)
⚫ Principle of moments
⚫ Rectangular Components of the Moment of a Force
⚫ Moment of couple
⚫ Resolution of a Force Into a Force at O and a Couple
⚫ Reducing System of Forces to a Force-Couple System
⚫ Reactions at Supports and Connections
⚫ Free-Body Diagram
⚫ Equilibrium of a Rigid Body in Two Dimensions
⚫ Statically Indeterminate Reactions
⚫ Equilibrium of a Two-Force Body
⚫ Equilibrium of a Three-Force Body
⚫ Equilibrium of a Rigid Body in Three Dimensions
⚫ Reactions at Supports and Connections for a Three-Dimensional Structure 3
 MEC 412
Chapter 3:Static of rigid bodies
Applications

A 200 kg platform is suspended off an oil rig. How do we

determine the force reactions at the joints and the forces in the
cables?
How are the idealized model and the free body diagram used to
do this? Which diagram above is the idealized model?
 MEC 412
Chapter 3:Static of rigid bodies

Ball-and-socket joints and journal bearings are often used in

mechanical systems.
How can we determine the support reactions at these joints for a
given loading?
5
 MEC 412
Chapter 3:Static of rigid bodies
3.0 Introduction
⚫ Most bodies in elementary mechanics are assumed to be rigid,
i.e., the actual deformations are small and do not affect the
conditions of equilibrium or motion of the body.
⚫ A force is a push or pull that causes an object to change its
movement or shape.
⚫ Forces acting on rigid bodies are divided into two groups:
⚫ External forces
⚫ Internal forces
⚫ External forces generally cause translation i.e. linear motion
and/or rotation (motion about a pivot) of the rigid body

6
 MEC 412
Chapter 3:Static of rigid bodies
…..Introduction
⚫ An external force is a force that is applied on a structure by
something outside of the structure.
⚫ External forces include the applied force, tension/compression
force, normal force, friction force, weight, and air resistance force.
⚫ An internal force is when one part of a structure puts force on
another part of the same structure
⚫ Internal forces include the gravity forces, magnetic force, electrical
force, and spring force. Push the palms of your hands together and
you can feel the internal forces within your muscles

7
 MEC 412
Chapter 3:Static of rigid bodies

8
 MEC 412
Chapter 3:Static of rigid bodies
3.1 Principle of Transmissibility
⚫ Principle of transmissibility states that the condition of rest or
motion of a rigid body is unaffected if a force, F acting on a point
A is moved to act at a new point, B provided that the point B lies
on the same line of action of that force.

NOTE: F and F’ are equivalent forces. A

• Moving the point of application of

the force F to the rear bumper
does not affect the motion or the
other forces acting on the truck.
9
 MEC 412
Chapter 3:Static of rigid bodies
3.2 Moment of a Force about a Point
• The turning effect of a force (torque) is known as the moment.
• It is the product of the force multiplied by the perpendicular
distance from the line of action of the force to the pivot or
point where the object will turn.

3 - 10
 MEC 412
Chapter 3:Static of rigid bodies

SMALL MOMENT LARGE MOMENT

The distance from the fulcrum The distance from the
to the line of action of force is fulcrum to the line of action of
3 - 11
very small force is large
 MEC 412
Chapter 3:Static of rigid bodies
Application of Moment (turning effect)
Causes of motion Measure the moment
arm(length) to produce
rotary power

How does wheel

size affect
performance?

Measure the
forces/effort to
make sure good
swing
 MEC 412
Chapter 3:Static of rigid bodies
3.2 …Moment of a Force about a Point
The magnitude of the moment:
is the product of the force and the length of the lever. Thus, if
the force is measured in Newtons and the length of the lever in
metres, the moment found will be expressed in Newton-
metres (Nm).

Resultant moment:
When two or more forces are acting about a point their
combined effect can be represented by one imaginary moment
called the ‘Resultant Moment’.

The process of finding the resultant moment is referred to as

the ‘Resolution of the Component Moments’.
3 - 13
 MEC 412
Chapter 3:Static of rigid bodies
Moments are taken about O, the middle of the plank.
Clockwise moment = 30 X 0.5 = 15 kg m
Anti-clockwise moment = 10 X 1.0 = 10 kg m
Resultant moment 5 kg m clockwise
3m

0.5 1m 0.5 1m

10 kg 30 kg
 MEC 412
Chapter 3:Static of rigid bodies
Example 1:
• Find the resultant moment about
20N
point A. 30N D C
Solution:
• Forces at point A and B passes
through Point A.
2m
• So perpendicular distances from A on
the line of action of these forces will
be zero.
• Hence their moments about point A
A 2m B 10N
will be zero.
• Moment of force at C about point A: 40N
20 x 2 =40N(CCW)
• Moment of force at D about point A :
30 x 2= 60N(CCW)
So resultant moment at point A = 40 + 60 = 100N(CCW)
 MEC 412
Chapter 3:Static of rigid bodies
3.2…. Moment of a Force About a Point
• A force vector is defined by its magnitude and
direction. Its effect on the rigid body also
depends on its point of application. The effect of
a force on a rigid body are the moment of force
(also called torque).
• The moment of F about O is defined as
MO = r  F
• The moment vector MO is perpendicular to the
plane containing O and the force F.
• Magnitude of MO, MO = rF sin = Fd ,
measures the tendency of the force to cause rotation
of the body about an axis along MO. The sense of
the moment may be determined by the right-hand
rule.
3 - 16
 MEC 412
Chapter 3:Static of rigid bodies

• Any force F’ that has the same magnitude and

direction as F, is equivalent if it also has the same line
of action and therefore, produces the same moment.
• Two-dimensional structures have length and breadth but
negligible depth and are subjected to forces contained
only in the plane of the structure.
• The plane of the structure contains the point O and the
force F. MO, the moment of the force about O is
perpendicular to the plane.

• If the force tends to rotate the structure clockwise, the

sense of the moment vector is out of the plane of the
structure and the magnitude of the moment is positive.
• If the force tends to rotate the structure counterclockwise,
the sense of the moment vector is into the plane of the
structure and the magnitude of the moment is negative.
3 - 17
 MEC 412
Chapter 3:Static of rigid bodies
⚫ For magnitude of MO,
MO = Fd
where d = moment arm or perpendicular
distance from the axis at point O to its line
of action of the force
⚫ Units for moment is N.m
⚫ Direction of MO is specified by using “right
hand rule”
- Fingers of the right hand are curled to
follow the sense of rotation when force
rotates about point O
- Thumb points along the moment axis to
give the direction and sense of the
moment vector
- Moment vector is upwards and
perpendicular to the shaded plane
18
 MEC 412
Chapter 3:Static of rigid bodies
⚫ MO is shown by a vector arrow with a
curl to distinguish it from force vector
⚫ Moment of a force does not always
cause rotation
⚫ Force F tends to rotate the beam
clockwise about A with moment
MA = FdA
⚫ Force F tends to rotate the beam
counterclockwise about B with
moment
MB = FdB
⚫ Hence support at A prevents the
rotation
⚫ Resultant moment, MRo = addition of
the moments of all the forces
algebraically since all moment forces
are collinear
MRo = ∑Fd
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 MEC 412
Chapter 3:Static of rigid bodies

⚫ Resultant moment of forces

about point O can be also
determined by vector addition
MRo = ∑(r x F)

20
 MEC 412
Chapter 3:Static of rigid bodies
Example 2
A 100-N vertical force is applied to the end of a lever which is attached
to a shaft at O. Determine:
a)moment about O,
b)horizontal force at A which creates the same moment,
c)smallest force at A which produces the same moment,
d)location for a 240-N vertical force to produce the same moment,
e)whether any of the forces from b, c, and d is equivalent to the original
force.

SOLUTION:

a) Moment about O is equal to the product of the force and the

perpendicular distance between the line of action of the force and O.
Since the force tends to rotate the lever clockwise, the moment vector
is into the plane of the paper

M O = Fd
d = (24 cm)cos 60 = 12 cm
M O = (100 N)(12 cm) MO = 1200 N  cm
 MEC 412
Chapter 3:Static of rigid bodies
b) Horizontal force at A that produces the same moment,
d = (24 cm)sin 60 = 20.8 cm
M O = Fd
1200 N  cm = F (20.8 cm)
1200 N  cm
F= F = 57.7 N
20.8 cm

c) The smallest force A to produce the same moment occurs

when the perpendicular distance is a maximum or when F is
perpendicular to OA.

M O = Fd
1200 N  cm = F (24 cm)
1200 N  cm
F=
24 cm F = 50 N
 MEC 412 Topic 3.1.2: Moment of a Force About a Point Leave blank

Chapter 3:Static of rigid bodies

d)To determine the point of application of a 240 N force to
produce the same moment,
M O = Fd
1200 N  cm = (240 N )d
1200 N  cm
d= = 5 cm
240 N
OB cos60 = 5 cm OB = 10 cm
e) Although each of the forces in parts b), c), and d) produces
the same moment as the 100 N force, none are of the same
magnitude and sense, or on the same line of action. None of
the forces is equivalent to the 100 N force.
 MEC 412
Chapter 3:Static of rigid bodies
3.3 Cross Product (Vector Product)
⚫ Concept of the moment of a force about a
point is more easily understood through
applications of the vector product or cross
product.
⚫ Vector product of two vectors P and Q is
defined as the vector V which satisfies the
following conditions:
⚫ Line of action of V is perpendicular to
plane containing P and Q.
⚫ Magnitude of V is
⚫ Direction of V is obtained from the right-
hand rule.

• Vector products:
- are not commutative, Q  P = −(P  Q)
- are distributive, P  (Q1 + Q2 ) = P  Q1 + P  Q2
- are not associative, (P  Q) S  P  (Q  S ) 24
 MEC 412
Chapter 3:Static of rigid bodies
• Vector products of Cartesian unit vectors,
       
i i = 0 j  i = −k k  i = j
       
i  j =k j  j = 0 k  j = −i
       
i k = − j j k = i k k = 0

• Vector products in terms of rectangular

coordinates
V = (Px i + Py j + Pz k ) (Qx i + Qy j + Qz k )
      

( 
) 
= Py Qz − Pz Q y i + (Pz Qx − Px Qz ) j
( )

+ Px Q y − Py Qx k
  
i j k A shorthand way to represent this calculation is
by the use of the determinants of 2 x 2
= Px Py Pz Determinant = Sum of Products - Sum of
Qx Q y Qz Products 25
 MEC 412
Chapter 3:Static of rigid bodies

= ( Ay Bz − Az By )(iˆ) + ( Az B x − A x Bz )( ˆj ) + ( A x By − Ay B x )(kˆ) 26
 MEC 412
Chapter 3:Static of rigid bodies
3.4 Principle of moments
⚫ Also known as Varignon’s Theorem
“Moment of a force about a point is
equal to the sum of the moments of the
forces’ components about the point”
⚫ For F = F1 + F2,
MO = r X F1 + r X F2
= r X (F1 + F2)
=rXF
(
  
)    
r  F1 + F2 + = r  F1 + r  F2 +
• Varignon’s Theorem makes it possible to
replace the direct determination of the
moment of a force F by the moments of
two or more component forces of F.
27
 MEC 412
Chapter 3:Static of rigid bodies
3.5 Rectangular Components of the Moment of a Force
The moment of F about O,
MO = r  F, r = xi + yj + zk
F = Fxi + Fy j + Fz k

MO = M xi + M y j + M zk
i j k
= x y z
Fx Fy Fz
= (yFz − zFy )i + (zFx − xFz ) j + (xFy − yFx )k

The components of MO , Mx, My, and Mz, represent the

moments about the x-, y- and z-axis, respectively.

28
 MEC 412
Chapter 3:Static of rigid bodies

The moment of F about B,

MB = rA / B  F

rA / B = rA − rB
= ( x A − xB ) i + ( y A − y B ) j + ( z A − z B ) k
F = Fxi + Fy j + Fz k

i j k
MB = xA / B yA / B zA / B
Fx Fy Fz

29
 MEC 412
Chapter 3:Static of rigid bodies
For two-dimensional structures,

MO = (xFy − yFx )k
MO = M Z
= xFy − yFx

 
MB = (xA − xB )Fy − ( y A − yB )Fx k
MB = MZ
= (xA − xB )Fy − ( y A − yB )Fx

30
 MEC 412
Chapter 3:Static of rigid bodies
Example 3
The force F acts at the end of the angle bracket .
Determine the moment of the force about point O.
 MEC 412
Chapter 3:Static of rigid bodies
Solution
Method 1
MO = 400sin30°N(0.2m)-400cos30°N(0.4m)
= -98.6N.m = 98.6N.m (CCW)
As a Cartesian vector,
MO = {-98.6k}N.m
Method 2:
⚫ Express as Cartesian vector

r = {0.4i – 0.2j}N
F = {400sin30°i – 400cos30°j}N
= {200.0i – 346.4j}N   
For moment, i j k
  
M O = r XF = 0.4 − 0.2 0
200.0 − 346.4 0
 

= − 98.6k N .m
 MEC 412
Chapter 3:Static of rigid bodies
Example 4

Solution

The moment MA of the force F exerted

by the wire is obtained by evaluating the
vector product,

MA = rC A  F

The rectangular plate is supported by

the brackets at A and B and by a wire
CD. Knowing that the tension in the
wire is 200 N, determine the moment
about A of the force exerted by the
wire at C.
 MEC 412
Chapter 3:Static of rigid bodies
SOLUTION:

MA = rC A  F

rC A = AC = rC − rA = (0.3 m)i + (0.08 m)k

F = F λ = (200 N )
CD
CD
− (0.3 m)i + (0.24 m)j − (0.32 m)k
= (200 N )
0.5 m
= −(120 N ) i + (96 N )j − (128 N )k

i j k
M A = 0.3 0 0.08
− 120 96 − 128

M A = −(7.68 N  m ) i + (28.8 N  m )j + (28.8 N  m )k

 MEC 412
Chapter 3:Static of rigid bodies
3.6 Moment of couple
F
⚫ Two forces F and –F are said to A
form a couple if they have the same d
magnitude, parallel lines of action
B
but directed in opposite direction -F
and separated by a perpendicular
distance, d.
⚫ The moment produced by a couple
Fnet = (F) + (−F) = 0
is called a couple moment.
⚫ A couple moment is a free vector
that can be applied at any point with
the same effect.
    
M = rA  F + rB  (− F )
  
= (rA − rB )  F
 
= r F
M = rF sin  = Fd 35
 MEC 412
Chapter 3:Static of rigid bodies
Two couples will have equal moments if

• F1d1 = F2 d 2
• the two couples lie in parallel planes, and
• the two couples have the same sense or
the tendency to cause rotation in the
same direction.

3 - 36
 MEC 412
Chapter 3:Static of rigid bodies
• Consider two intersecting planes P1 and
P2 with each containing a couple
M1 = r  F1 in plane P1

M 2 = r  F2 in plane P2
• Resultants of the vectors also form a
couple
(
M = r  R = r  F1 + F2 )
• By Varignon’s theorem
M = r  F1 + r  F2

= M1 + M 2
• Sum of two couples is also a couple that is equal
to the vector sum of the two couples
3 - 37
 MEC 412
Chapter 3:Static of rigid bodies
3.7 Resolution of a Force Into a Force at O and a Couple

• Force vector F can not be simply moved to O without

modifying its action on the body.
• Attaching equal and opposite force vectors at O produces no
net effect on the body.
• The three forces may be replaced by an equivalent force
vector and couple vector, i.e, a force-couple system.
3 - 38
 MEC 412
Chapter 3:Static of rigid bodies

• Moving F from A to a different point O’ requires the

addition of a different couple vector MO’
  
M O' = r   F
• The moments of F about O and O’ are related,
         
M O' = r 'F = (r + s ) F = r  F + s  F
  
= MO + s  F
• Moving the force-couple system from O to O’ requires the
3 - 39 addition of the moment of the force at O about O’.
 MEC 412
Chapter 3:Static of rigid bodies

• A force, F, acting at point B can be replaced by the force, F, and

a moment, MA, acting at point A.

FF F F

B A B A B A

= d F = MA

MA = d F
• The force-couple system at point A has same
effect on the body as the force applied at B.
 MEC 412
Chapter 3:Static of rigid bodies
3.8 Reducing System of Forces to a Force-Couple System

• A system of forces may be replaced by a collection of

force-couple systems acting at a given point O
• The force and couple vectors may be combined into a
resultant force vector and a resultant couple vector,
R=F (
MOR =  r  F )
• The force-couple system at O may be moved to O’
with the addition of the moment of R about O’ ,
MOR ' = M OR + s  R
• Two systems of forces are equivalent if they can be
3reduced
- 41 to the same force-couple system.
 MEC 412
Chapter 3:Static of rigid bodies

F1
R R R

r1
r2 F2 B
A
r3 = MA
=
MA

F3 R R
• A multi-force, F, acting at point A can be replaced
by the resultant force, R, and a moment, MA, at B
point A or a single resultant force, R at point B.
=
MA = ∑ r  F ( )
• Any Force System Acting on a Rigid Body can be Replaced
R = ∑F by a Resultant Force-Couple System at Any Point
 MEC 412
Chapter 3:Static of rigid bodies

R
R
Ry
B B
A
A Rx Rx
MA Ry

R
R
dx

dx R = –MA
 MEC 412
Chapter 3:Static of rigid bodies
3.9 Equivalent systems

• Two force systems that produce the same external effects on a rigid body are
said to be equivalent. An equivalent system for a given system of coplanar
forces, is a combination of a force passing through a given point and a moment
about that point.
• The force is the resultant of all forces acting on the body. The moment is the
sum of all the moments about that point.
• Equivalent system consists of : i) a single force R passing through the given
point P ii) a single moment MR
 MEC 412
Chapter 3:Static of rigid bodies
Example 5

Solution:
The force part of an equivalent
force-couple system is simply the
For the beam, reduce the system of sum of the forces involved. The
forces shown to (a) an equivalent couple part is the sum of the
force-couple system at A, (b) an moments caused by each force
equivalent force couple system at B, relative to the point of interest.
and (c) a single force or resultant. Once you find the equivalent
Note: Since the support reactions are force-couple at one point, you can
not included, the given system will transfer it to any other point by a
not maintain the beam in equilibrium. moment calculation.
3 - 45
 MEC 412
Chapter 3:Static of rigid bodies
a) Compute the resultant force and the
resultant couple at A.

R= F

= ( 150 N ) j − ( 600 N ) j + ( 100 N ) j − ( 250 N ) j

R = − ( 600 N ) j

(
M AR =  r  F )
b) Find an equivalent force-couple = ( 1.6 i )  ( −600 j ) + ( 2.8 i )  ( 100 j )
system at B based on the force-
couple system at A. + ( 4.8 i )  ( −250 j )

The force is unchanged by the M AR = − ( 1880 N  m ) k

movement of the force-couple  
3system
- 46 from A to B. R = −(600 N) j
 MEC 412
Chapter 3:Static of rigid bodies
The couple at B is equal to the moment about
B of the force-couple system found at A.
M BR = M AR + rB A  R

= − ( 1880 N  m ) k + ( −4.8 m ) i  ( −600 N ) j

= − ( 1880 N  m ) k + ( 2880 N  m ) k
M BR = + ( 1000 N  m ) k
c) The resultant of the given system of
forces is equal to R, and its point of
application must be such that the
moment of R about A is equal to .
This equality of moments leads to
Solving for x, you get x = 3.13 m.
rR = M R
A Thus, the single force equivalent to
xi  (−600 N) j = −(1880 N  m)k the given system is defined as
− x(600 N)k = −(1880 N  m)k
3 - 47
R = 600 N , x = 3.13 m
 MEC 412
Chapter 3:Static of rigid bodies
3.10 Reactions at Supports and Connections

• Reactions
equivalent to
a force with
known line of
action.

48
 MEC 412
Chapter 3:Static of rigid bodies

• Reactions equivalent
to a force of unknown
direction and
magnitude.

• Reactions equivalent
to a force of
unknown direction
and magnitude and a
couple of unknown
magnitude
49
 MEC 412
Chapter 3:Static of rigid bodies
3.11 Equilibrium of a Rigid Body
⚫ 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 moment from all external forces form a
system equivalent to zero,
   
 F = 0  M O =  (r  F ) = 0
⚫ 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 M y = 0 Mz = 0
⚫ For two-dimensional problem, the moment about the z-direction must be
zero in order to preserve the static equilibrium condition.
⚫ Equilibrium analysis can be applied to two-dimensional or three-
dimensional bodies, but the first step in any analysis is the creation of the
free body diagram. 50
 MEC 412
Chapter 3:Static of rigid bodies
3.12 Free-Body Diagram
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

detach 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. 51
 MEC 412
Chapter 3:Static of rigid bodies
The frame shown supports part of the
roof of a small building. Your goal is to
draw the free body diagram (FBD) for the
frame.

On the following page, you will choose

the most correct FBD for this problem.

First, you should draw your own FBD.

52
 MEC 412
Chapter 3:Static of rigid bodies

A B
150 kN

B is the most correct, though C is also

Choose the most correct correct. A & D are incorrect; why?
FBD for the original C D
150 kN
problem. 150 kN
150 kN

53
 MEC 412
Chapter 3:Static of rigid bodies

54
 MEC 412
Chapter 3:Static of rigid bodies

55
 MEC 412
Chapter 3:Static of rigid bodies

56
 MEC 412
Chapter 3:Static of rigid bodies

57
 MEC 412
Chapter 3:Static of rigid bodies
Example 6
Two smooth pipes, each having a mass of 300kg, are supported by the
forks of the tractor. Draw the free-body diagrams for each pipe and both
pipes together.

Solution
Free-Body Diagram of pipe A

For weight of pipe A, W = 300(9.81) =

2943N
Assume all contacting surfaces are
smooth, reactive forces T, F, R act in a
direction normal to tangent at their
surfaces of contact
 MEC 412
Chapter 3:Static of rigid bodies
Free-Body Diagram at pipe B
*Note: R represent the force of A on B, is
equal
and opposite to R representing the force of
B on A
Contact force R is considered an internal
force, not shown on FBD
Free-Body Diagram of both pipes
 MEC 412
Chapter 3:Static of rigid bodies
Example 7 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.
•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
A fixed crane has a mass of 1000 kg verifying that the sum of the moments about B of
and is used to lift a 2400 kg crate. It all forces is zero.
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.
 MEC 412
Chapter 3:Static of rigid bodies
• Determine B by solving the equation for the
sum of the moments of all forces about A.
 M A = 0 : + B(1.5m) − 9.81 kN(2m)
− 23.5 kN(6m) = 0

B = +107.1 kN

• Determine the reactions at A by solving the

equations for the sum of all horizontal
forces and all vertical forces.
• Create the free-body diagram
 Fx = 0 : Ax + B = 0
Ax = −107.1kN

 Fy = 0 : Ay − 9.81kN − 23.5 kN = 0

Ay = +33.3 kN
• Check the values obtained
 MEC 412
Chapter 3:Static of rigid bodies
Example 8

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.
 MEC 412
Chapter 3:Static of rigid bodies
• Solve 3 equilibrium equations for the
reaction force components and couple.
4.5
 Fx = 0 : E x + (150 kN) = 0
7.5
Ex = −90.0 kN

6
 Fy = 0 : E y − 4(20 kN) − (150 kN) = 0
7.5
E y = +200 kN

• Create a free-body diagram for  M E = 0 : + 20 kN(7.2 m) + 20 kN(5.4 m)

the frame and cable.
+ 20 kN(3.6 m) + 20 kN(1.8 m)
6
− (150 kN)4.5 m + M E = 0
7.5
M E = 180.0 kN  m
 MEC 412
Chapter 3:Static of rigid bodies
3.13 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 M z = M O
• Equations of equilibrium become
 Fx = 0  Fy = 0  M 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.
• The 3 equations can not be augmented
with additional equations, but they can be
replaced
 Fx = 0  M A = 0  M B = 0
64
 MEC 412
Chapter 3:Static of rigid bodies
3.14 Statically Indeterminate Reactions Partial Constraints

• Equal number unknowns

• Fewer unknowns and equations but
• More unknowns
than equations, 65
improperly constrained
than equations
partially constrained
 MEC 412
Chapter 3:Static of rigid bodies
3.14 Constraints for a Rigid Body
❖ To ensure the equilibrium of a rigid body, it is necessary to
satisfy the equations equilibrium and have the body properly
held or constrained by its supports. There are three types of
cconstraints’
❑ Partially constrained, if it has two or fewer reaction components (There are
not enough reactions to prevent motion under all possible loading
conditions);
❑ Improperly constrained, if it has three or more reaction components and
either a) the reaction forces are all parallel, or b) the lines of action of the
reaction forces intersect at a common point, and no couple moment is
present (There are enough reactions, but they are not properly arranged to
prevent motion under all possible loading conditions); and
❑ Properly constrained, if it is neither partially nor improperly constrained
(There are enough reactions and they are properly arranged to prevent
motion under all possible loading conditions):

66
 MEC 412
Chapter 3:Static of rigid bodies
….Constraints for a Rigid Body
• Show the reactions only

improperly constrained

properly constrained
67
 MEC 412
Chapter 3:Static of rigid bodies
….Constraints for a Rigid Body

partially constrained

68
 MEC 412
Chapter 3:Static of rigid bodies
3.15 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.
69
 MEC 412
Chapter 3:Static of rigid bodies
3.15 Equilibrium of a Two-Force Body

70
 MEC 412
Chapter 3:Static of rigid bodies
3.16 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.

71
 MEC 412
Chapter 3:Static of rigid bodies
Example 9 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.

• 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.

A man raises a 10 kg joist, of • Utilize a force triangle to determine the

length 4 m, by pulling on a rope. magnitude of the reaction force R.
Find the tension in the rope and
the reaction at A.
 MEC 412
Chapter 3:Static
• of rigid bodies
•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
CE 2.313
tan = = = 1.636  = 58.6
AE 1.414

• Determine the magnitude of

the reaction force R.
T R 98.1 N
= =
sin 31.4 sin 110 sin 38.6
T = 81.9 N
R = 147.8 N
 MEC 412
Chapter 3:Static of rigid bodies
3.13 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 M y = 0 Mz = 0
• These equations can be solved for no more than 6 unknowns
which generally represent reactions at supports or connections
or unknown applied forces.

• The scalar equations are conveniently obtained by applying the

vector forms of the conditions for equilibrium,

F = 0  MO = (r  F) = 0

74
 MEC 412
Chapter 3:Static of rigid bodies
3.17 Reactions at Supports and Connections for a Three-
Dimensional Structure

75
 MEC 412
Chapter 3:Static of rigid bodies

76
 MEC 412
Chapter 3:Static of rigid bodies
Example 10 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 1200 N and

is supported by a ball-and-socket joint at A
and by two cables.
Determine the tension in each cable and the
reaction at A.
 MEC 412
Chapter 3:Static of rigid bodies
• Create a free-body diagram for the sign.

Since there are only 5 unknowns, the sign

is partially constrained. It is free to rotate
about the x axis. It is, however, in
equilibrium for the given loading.

BD
TBD = TBD
BD
= TBD (− 23 i + 13 j − 23 k )
EC
TEC = TEC
EC
= TEC (− 67 i + 73 j + 72 k )
 MEC 412
Chapter 3:Static of rigid bodies

 F = A + TBD + TEC − (1200 N )j = 0

i : Ax − 23 TBD − 67 TEC = 0
j : Ay + 13 TBD + 73 TEC − 1200 N = 0
k : Az − 23 TBD + 72 TEC = 0

 M A = rB  TBD + rE  TEC + (1.2 m)i  (− 1200 N )j = 0

j : 1.6TBD − 0.514TEC = 0
k : 0.8TBD + 0.771TEC − 1440 N . m = 0

• Apply the conditions for Solve the 5 equations for the 5 unknowns,
static equilibrium to
develop equations for the
TBD = 450 N TEC = 1400.8 N
unknown reactions.
A = (1500.7 N )i + (449.7 N )j − (100.2 N )k
 MEC 412
Chapter 3:Static of rigid bodies

Thank you

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