CHAPTER 3
EQUILIBRIUM OF A RIGID BODY
3.1 Basic Concept
Equilibrium is the state of balance of a body. A body is said to be in
equilibrium if the resultant of all the forces and couples acting on the body is zero. The
following equations must be satisfied in order that the body is said to be in equilibrium:
Fx = 0 ----- ( 1 ) Fy = 0 ----- ( 2 ) M = 0 ----- ( 3 )
Equations ( 1 ), ( 2 ), and ( 3 ) are called the equilibrium equations and are
used to solve problems involving equilibrium of rigid bodies.
A free body diagram ( FBD ) of a body is a sketch of a body showing all the
forces that act on it. This plays a great role in the analysis of a rigid body. The term free
implies that all supports have been removed and replaced by the reactions that they
exert on the body.
3.2 Supports of a Rigid Body
The following are the supports of a rigid body with their corresponding symbols
and reactions as reflected in the free body diagram.
1. Flexible Cable
T
A flexible cable exerts a pull (tensile force) in the direction of the cable.
2. Frictionless surface
N
A frictionless surface with single point of contact exerts a force that is perpendicular
( normal ) to the surface.
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3. Surface with friction
F
N
A surface with friction with a single point of contact exerts 2 reactions that are
perpendicular to the surface ( normal ) and parallel to the surface ( friction force ),
respectively.
4. Roller
or N
N
A roller support is equivalent to a frictionless surface. It can only exerts a force
that is perpendicular ( normal ) to the supporting surface.
5. Hinge or Pin
Rx
Ry
A hinge or pin exerts horizontal and vertical reactions.
6. Built in or Fixed support
Rx
M
Ry
A fixed support exerts a horizontal reaction, a vertical reaction, and a moment.
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3.3 Equilibrium of a Single Body
This involves problems in which equilibrium conditions are applied to the free
body diagram ( FBD ) of a single body in order to solve the problem. The following
problems illustrate the situation.
Example 1: An iron rod with a uniform diameter of 6 mm has a length of 20 cm. It is
bent at 8 cm from one end to form a right – angled L – shaped piece 8 cm by 12 cm.
The rod is then hung vertically on a peg at the point of bend as shown in Figure 3.3 – 1.
Compute the angle that the 12 cm segment makes with the vertical.
8 cm
12 cm
Figure 3.3 – 1
Solution:
The FBD of the rod is shown below. Let be the weight of the rod per cm length.
8 T
A 12
Note:
90o –
y x = 6sin
y = 4sin( 90o - )
x
y = 4cos
MA = 0: 12( x ) = 8( y )
12( 6sin ) = 8( 4cos )
84
tan =
12 6
= 23.96o
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Example 2: A 200 N block is hung at the lowest point B of a rope AB. A horizontal force
P is applied at the middle C of the rope AB so that the part AC makes an angle of 30o
with the vertical.
1. Compute the tension of rope AC.
2. Compute the required horizontal pull P.
Solution:
The FBD of the rope is shown below in Figure 3.3 – 2. The tension T in AC is resolved
into its horizontal and vertical components, respectively.
T Tcos30o
A 30o
30o
C P Tsin30o P
B
B 200 N 200 N
200 N
Figure 3.3 – 2
1. Fy = 0: Tcos30o = 200
T = 230.94 N
2. Fx = 0: P = Tsin30o
P = 230.94sin30o
P = 115.47 N
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Example 3: A homogeneous bar AB as shown in Figure 3.3 – 3 has a uniform cross –
section and weighs 300 N/m. It carries a 2 – kN weight at point A. The bar is held in
horizontal position by a pin at B and a cable CD.
3m
B C
A
2.5 m 2.5 m
Figure 3.3 – 3 2 kN
1. Compute the tension in cable CD.
2. Compute the reaction of the pin at B.
3. Compute the angle that the reaction at B makes with the horizontal.
Solution:
The FBD of AB is shown below.
Note:
T Tsin W = 300( 5 )
W = 1,500 N
B Tcos C W = 1.5 kN
Bx A
2.5 m 2.5 m
3
tan =
RB 2 .5
By
W = 50.19o
2 kN
1. MB = 0: W( 2.5 ) + 2( 5 ) = Tsin( 2.5 )
1.5( 2.5 ) + 10 = 2.5Tsin50.19o
T = 7.16 kN
2. Fx = 0: Bx = Tcos Fy = 0: By + Tsin = W + 2
Bx = 7.16cos50.19 o
By + 7.16sin50.19o = 1.5 + 2
Bx = 4.58 kN By = – 2 kN
By = 2 kN ( )
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RB = B x 2 B y 2
RB = 4.58 2 2 2
RB = 5 kN
By
3. tan =
Bx
2
tan =
4.58
= 23.59o
3.3 – 1: Two – Force Body Principle
If a body is held in equilibrium by two forces, the two forces must be equal in
magnitude, oppositely directed and collinear.
To prove this principle, consider a body in Figure 3.3 – 5 which is held in
equilibrium by 2 forces P and F. In order for the body to be in equilibrium, Fx = 0,
Fy = 0, and M = 0 must be satisfied. That is, Px = Fx, Py = Fy, and that they must be
with the same line of action in order not to produce a couple. Thus Figure A is
equivalent to Figure B.
Py P
Q
Px
Fx
Q
F Figure A Figure B
Fy
Figure 3.3 – 5
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3.3 – 2: Three – Force Body Principle
If a body is held in equilibrium by three non – parallel forces, the three forces
must be concurrent.
To prove this principle, consider a body shown in Figure 3.3 – 6 which is held
by three forces F, P, and R. Two of the forces, say F and P must intersect at a point,
say point O. In order to be in equilibrium Mo = 0. Thus the third point R must also pass
through point O.
The three forces form a triangle called the force triangle.
R
P
P R
F
Force triangle
O Figure 3.3 – 6
Example 5: Two chords AB and BC are joined at B and support a load W as shown in
Figure 3.3 – 8. The maximum tension that AB can carry is 150 N and the maximum
tension that BC can carry is 120 N. Compute the maximum value of the load W that the
cables can carry.
A C
30o 45o
B
Figure 3.3 – 8
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Solution:
The FBD of the 3 forces is shown below. Since they are concurrent they form a triangle.
T1 T2 T1
60o
30o 45o 75o
W
45o T2
W
Force triangle
Evaluate which of the 2 chords is weaker compared to the other.
Set T1 = 150 N, the maximum tension that AB can carry. From the force triangle,
T1 W
sin 45 o sin 75 o
150 W
o
sin 45 sin 75 o
W = 204.90 N
Set T2 = 120 N, the maximum tension that BC can carry. From the force triangle,
T2 W
sin 60 o sin 75 o
120 W
sin 60 o sin 75 o
W = 133.84 N
Thus chord BC is weaker than AB. The maximum value of W that the chords
can carry is 133.84 N as governed by chord BC.
3.4 Equilibrium of Composite Bodies
This involves the equilibrium of a system with 2 or more bodies
connected together by supports and subjected to a system of forces. The
following principles are employed in solving such type of problems:
1. If a system is in equilibrium, then each body or parts composing the system is also
in equilibrium and the equilibrium equations can be applied to the system and to
each body or part of it.
2. The action – reaction principle which says that in every action there is always an
equal and opposite reaction.
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Consider the fixed ended bar with a block of weight W hang by a cable at the free
end as shown in Figure 3.4 – 1. The block is in equilibrium by itself and so with the bar.
W T
Figure 3.4 – 1
Also by action and reaction, the tension in the cable is directed upward in considering
the equilibrium of the block and reflected directed downward in considering the
equilibrium of the bar. If when the sign of the magnitude of the reaction is negative, this
means that the assumed or reflected direction in the FBD is wrong.
Example 6: A pulley of radius 300 mm supports a 2 kN load and is mounted at B on a
horizontal uniform bar ABC as shown in Figure 3.4 – 2. The bar weighs 900 N and the
pulley weighs 250 N.
1. Compute the pin reaction at B.
2. Compute the reaction of the roller at C.
3. Compute the pin reaction at A.
5
3
4
A C
B
0. 30 0. 30 1. 20
2 kN
Figure 3.4 – 2
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Solution:
Note:
1. Consider the pulley. T = 2 kN
0.25 kN T Fx = 0: Bx = T( 4/5 )
Bx = 2( 4/5 )
Bx = 1.6 kN
Bx
Fy = 0: By = 2 + 0.25 – 2( 3/5 )
RB
By = 1.05 kN
By
2 kN
RB = 1.6 2 1.05 2
RB = 1.91 kN
2. Consider bar ABC.
1.05 kN 0.90 kN
MA = 0:
A 1.6 kN
C 1.05( 0.60 ) + 0.90( 0.90 ) = 1.8Cy
Ax
Cy = 0.80 kN
RA
Ay 0.60 0.30 0.90
Cy
3.
Fy = 0: Fx = 0:
RA = 1.15 2 1.6 2
Ay + 0.80 = 1.05 + 0.90 Ax = 1.6 kN
RA = 1.97 kN
Ay = 1.15 kN
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Example 7: The 100 – kg iron ball C rests on a horizontal uniform 30 – kg bar AB. The
cable connecting C to B passes over a frictionless pulley at D as shown in
Figure 3.4 - 3. Neglect the weight of the pulley.
C 30o
B
A 1m 3m
Figure 3.4 – 3
1. Compute the tension in the cable.
2. Compute the force acting between the ball and the bar.
3. Compute the pin reaction at A.
Solution:
1. Consider the FBD of the ball. Let T be the tension in the cable, and F be the
force between the ball and the bar.
T
100 kg Fy = 0:
T + F = 100
F = 100 – T -------- ( 1 )
F
Consider the FBD of the bar.
F 30 kg Tsin30o
1m T
30o MA = 0:
Ax
Tcos30 o
4Tsin30o = F( 1 ) + 30( 2 )
2m 2m
RA 2T = F + 60 -------- ( 2 )
Ay
Substitute ( 2 ) to ( 1 ):
2T = ( 100 – T ) + 60
3T = 160
T = 53.33 kg
T = 53.33( 9.81 )
T = 523.17 N
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2. Substitute to ( 1 ): F = 100 – T
F = 100 – 53.33
F = 46.67( 9.81 )
F = 457.83 N
3. Fy = 0: Fx = 0:
Ay + Tsin30 = F + 30( 9.81 ) Ax = Tcos30o
Ay + ( 523.17 )( 0.5 ) = 457.83 + 294.30 Ax = 523.17cos30o
Ay = 490. 55 N Ax = 453.08 N
RA = 490.55 2 453.08 2
RA = 667.77 kN
Example 8: Two cylinders having weights of 250 kN and 150 kN have radii 200 mm
and 100 mm respectively. They are placed in an open – topped container having width
of 500 mm with the heavier cylinder below the lighter cylinder as shown in
Figure 3.4 – 4 . Assume the container and the cylinders have the same lengths.
150 kN
100 250 kN
100
200
500 mm
Figure 3.4 – 4
1. Compute the reaction at the walls of the container.
2. Compute the reaction at the base of the container.
3. If the container is open at the bottom and composed only of the walls, compute the
minimum weight of the container to prevent tipping over.
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Solution:
150 kN
200
250 kN cos =
100 300
R1
= 48.19o
200
200 R1
R2
Fy = 0:
Consider the 150 kN cylinder: R3sin = 150
R3sin( 48.19o ) = 150
150 kN R3 = 201. 25 kN
Fx = 0:
R1 R3cos R1 = R3cos
R1 = 201.25cos( 48.19o )
R3 R1 = 134.17 kN
R3sin
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2.
150 kN
250 kN
100 Fy = 0:
R1
R2 = 150 + 250
R2 = 400 kN
200
R1
R2
3.
150 kN
250 kN
100
R1
y
z 200
200 R1
R2
y2 = ( 300 )2 – ( 200 )2
y = 223.61 mm
z = 200 + y
z = 423.61 mm
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R1
423.61 R1
200
P
250 250
MP = 0
250W + 200R1 = 423.61R1
250W + 200( 134.17 ) = 423.61( 134.17 )
W = 120 kN
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