Chapter 5 Equilibrium of a Rigid Body
5.1 Conditions for Rigid-Body Equilibrium
FR = ∑ F = 0
∑ M =∑ M =∑ M
o A B = =0
Example
The body as shown below is in equilibrium. Determine F1, F2, and F3.
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5.2 Free-Body Diagrams
A free-body diagram is a sketch of the outlined shape of the body free from its surroundings. It is
necessary to show all the forces and couple moments that the surroundings exert on the body so that
these effects can be accounted for.
Support Reactions
A support prevents the translation of a body in a direction by exerting a force on the body in its
opposite direction.
A support prevents the rotation of a body in a direction by exerting a couple moment on the body
in its opposite direction.
Various Types of Supports
Roller Pin Fixed support
Refer to Table 5-1 in the textbook for many other types of supports in 2D.
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Example:
Draw the free-body diagrams for the beams.
(a) (b)
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5.3 Equations of Equilibrium
∑F x =0
∑F y =0
∑M A =0
Procedures for Analysis
Drawing a Free-Body Diagram
1. Draw outlined shape.
2. Show all forces.
3. Identify each force.
Equations of Equilibrium
Example:
Determine the reactions at the supports.
(a) (b)
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5.4 Two- and Three-Force Members
Two-Force Member
A two-force member has forces applied at only two points on the
member.
For any two-force member to be in equilibrium, the two forces
acting on the member must have the same magnitude, act in
opposite directions, and have the same line of action, directed
along the line joining the two points where these forces act.
Three-Force Member
A member subjected to only three forces is called a three-force member.
F2
F2
F3
F1 F1 F3
Example:
The lever ABC is pin supported at A and connected to a short link
BD. If the weight of the members is negligible, determine the
force of the pin on the lever at A.
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Example:
The rigid beam of negligible weight is supported horizontally by two springs and a pin. If the springs
are uncompressed when the load is removed, determine the force in each spring when the load P is
applied. Also, compute the vertical deflection of end C. Assume the spring stiffness k is large enough
so that only small deflections occur. Hint: The beam rotates about A so the deflection in the springs
can be related.
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Equilibrium in Three Dimensions
5.5 Free-Body Diagrams
Support Reactions
A force is developed by a support that restricts the translation
A moment is developed when rotation is prevented
Various Types of Supports
Refer to Table 5-2 in the textbook for many other types of supports in 3D.
Example:
Draw the free-body diagram of the structure.
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5.6 Equations of Equilibrium
Scalar Equations of Equilibrium
∑F x =0, ∑F y = 0, ∑F z =0
∑M x = 0, ∑M y =0, ∑M z =0
Vector Equations of Equilibrium
∑F = 0
∑M A =0
Example:
The homogeneous plate has a mass of 100 kg and is
subjected to a force and couple moment along its edges. If
it is supported in the horizontal plane by a roller at A, a
ball-and-socket joint at B, and a cord at C,
determine the components of reaction at these supports.
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Example:
Determine the reactions at the fixed wall A of the structure.
Ans: R A = −200 j + 150 k , M A = −100 i − 500 k .
Example 5.9
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5.7 Constraints and Statical Determinacy
A body which is supported by the minimum # of constraints necessary to ensure an equilibrium
configuration is called statically determinate.
Number of equilibrium equations (# of EQM eqns)
= # of unknowns (reactions)
Redundant Constraints
Statically indeterminate: # of EQM eqns < # of unknowns (reactions)
Improper Constraints
∑M A ≠0
Degree of Indeterminancy
Degree of indeterminancy = # of unknowns – # of EQM eqns
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