EQUILIBRIUM OF A RIGID BODY

& FREE-BODY DIAGRAMS

Chapter 5 Objectives:

Students will be able to:

a) Identify support reactions (2D and 3D) b) Draw a free-body diagram. c) Identify 2-force and multiforce members d) Apply equations of equilibrium (2D and 3D)

APPLICATIONS

Real world example

Idealized model

FBD

The truck ramp has a weight of 400 lb. The ramp is pinned to the body of the truck and held in the position by the cable. How can we determine the cable tension and support reactions? Key: Properly representing the reactions at the pinned joints and cables, as well as the weight, in a Free Body Diagram (FBD)

APPLICATIONS (continued)

FBD

Two smooth pipes, each having a mass of 300 kg, are supported by the tines of the tractor fork attachment.

How can we determine all the reactive forces ?

Key: Properly representing the reactions from the tines, as well as the weight, in a Free Body Diagram (FBD)

CONDITIONS FOR RIGID-BODY EQUILIBRIUM (Section 5.1) In Chapters 1-3 we only considered forces acting on a particle (concurrent forces). In this case rotation is not a concern, so equilibrium could be satisfied by: F = 0 (no translation) Forces on a particle We will now consider cases where forces are not concurrent so we are also concerned that the rigid body does not rotate. In order for a rigid body to be in equilibrium, the net force as well as the net moment about any arbitrary point O must be equal to zero. F = 0 (no translation)

Forces on a rigid body

and MO = 0 (no rotation)

THE PROCESS OF SOLVING RIGID BODY EQUILIBRIUM PROBLEMS

Procedure: 1) Draw a free-body diagram (FBD) showing all the external (active and reactive) forces. 2) Apply the equations of equilibrium to solve for any unknowns.

FREE-BODY DIAGRAMS (Section 5.2)

Free-body diagram (FBD) Procedure for drawing a Free-Body Diagram (FBD) 1. Draw an outlined shape. Imagine the body to be isolated or cut free from its constraints and draw its outlined shape. 2. Show all of the external forces and couple moments. These typically include: a) applied loads b) support reactions (see table on following pages for reactions) c) weight of the body 3. Label loads and dimensions on the FBD: All known forces and couple moments should be labeled with their magnitudes and directions. For the unknown forces and couple moments, use letters like Ax, Ay, MA, etc.. Indicate any necessary dimensions.

Support Reactions in 2D (Table 5-1)

memorize this table!

The 2D reactions shown below are the ones shown in Table 5-1 in the text. As a general rule: 1) if a support prevents translation of a body in a given direction, then a force is developed on the body in the opposite direction. 2) if rotation is prevented, a couple moment is exerted on the body in the opposite direction

EXAMPLE Drawing a FBD

Given: The operator applies a vertical force to the pedal so that the spring is stretched 1.5 in. and the force in the short link at B is 20 lb. Draw: A an idealized model and freebody diagram of the foot pedal.
Weightless link (see Table 5-1)

Smooth pin

Example

Draw a FBD of member ABC, which is supported by a smooth collar at A, rocker at B, and link CD.

EQUATIONS OF EQUILIBRIUM (Section 5.3) As noted in Section 5.1 If a rigid body is in equilibrium, then: The sum of the forces acting on the body equals zero The sum of the moments (about any point) acting on the body equals zero For 2D equilibrium, these equations are most commonly expressed as:

Fx 0

Fy 0

M O 0 (for any point O)

(Most common equations for 2D equilibrium)

Alternate Equations for 2D Equilibrium

Although we will typically use the most common equations for 2D equilibrium shown below, the alternate equations are sometimes useful (especially in Chapter 6 when we analyze truss, frames, and machines) Most common equations for 2D equilibrium
Fx 0 Fy 0 M O 0 (for any point O)

Alternate equations of 2D equilibrium

Fx 0
Fy 0

MA 0
MA 0

M B 0 (A and B not on a vertical line)

M B 0 (A and B not on a horizontal line)

MA 0

MB 0

M C 0 (A, B, and C not on a line)

Note that with any of these sets of three equations, we will typically have three unknowns on our FBD.

TWO-FORCE MEMBERS & THREE FORCE-MEMBERS (Section 5.4) When a member is subjected to only two forces: - We refer to the member as a 2-force member - The forces must be axial (along the axis of A and B below) - The forces at A and B must be equal and opposite

When a member is subjected three or more forces: - it is sometimes referred to as a multi-force member - represent the reactions as indicated in Table 5-1

TWO-FORCE MEMBERS & THREE FORCE-MEMBERS (Section 5.4)

Sketch a FBD for member AB below in each case. 100 lb

EXAMPLE OF TWO-FORCE MEMBERS

In the cases above, members AB can be considered as two-force members, provided that their weight is neglected.
This fact simplifies the equilibrium analysis of some rigid bodies since the directions of the resultant forces at A and B are thus known (along the line joining points A and B).

THE PROCESS OF SOLVING RIGID BODY EQUILIBRIUM PROBLEMS Procedure for 2D problems: 1) Draw a free-body diagram (FBD) showing all the external (active and reactive) forces. a) refer to Table 5-1 for reactions for common supports b) identify any 2-force members and represent the reactions as axial forces 2) Apply the equations of equilibrium to solve for any unknowns. a) The most common set of equations are:
Fx 0 Fy 0 M O 0 (for any point O)

b) See earlier slide for other possible sets of equations c) We are generally solving for 3 unknowns with these 3 equations

IMPORTANT NOTES
1. If there are more unknowns than the number of independent equations, then we have a statically indeterminate situation. We cannot solve these problems using just statics. 2. The order in which we apply equations may affect the simplicity of the solution. For example, if we have two unknown vertical forces and one unknown horizontal force, then solving FX = 0 first allows us to find the horizontal unknown quickly.

3. If the answer for an unknown comes out as a negative number, then the sense (direction) of the unknown force is opposite to that assumed when starting the problem.

EXAMPLE
Given: The 4kN load at B of the beam is supported by pins at A and C .

Find: The support reactions at A and C.

Plan: 1. Put the x and y axes in the horizontal and vertical directions, respectively. 2. Determine if there are any two-force members. 3. Draw a complete FBD of the boom. 4. Apply the E-of-E to solve for the unknowns.

EXAMPLE (Continued) FBD of the beam:

AY AX A
45

1.5 m

1.5 m

4 kN

C FC

Note: Upon recognizing CD as a two-force member, the number of unknowns at C are reduced from two to one. Now, using the three equations of equilibrium: MA = FC sin 45 1.5 4 3 = 0 Fc = 11.31 kN or 11.3 kN FX = AX + 11.31 cos 45 = 0; FY = AY + 11.31 sin 45 4 = 0; AX = 8.00 kN AY = 4.00 kN

Note that the negative signs means that the reactions have the opposite direction to that shown on FBD.

Example 2D Equilibrium
Given: The jib crane is supported by a pin at C and rod AB. The load has a mass of 2000 kg with its center of mass located at G. Assume x = 5 m. Find: Support reactions at B and C.

Example 2D Equilibrium For the frame and loading shown, determine the reactions at C and D.

Ex: 2D Equilibrium (Fundamental Problem F5-4)

The 25-kg bar has a center of mass at G. If it is supported by a smooth peg at C, a roller at A, and cord AB, determine the reactions at these supports.

3D Equilibrium
Applying the equations of equilibrium in 3D is similar to what we have just covered in 2D except: - We need to become familiar with common 3D reactions (Table 5-2) - We will have 6 equations of equilibrium instead of 3! What sort of reactions do you think that we will have for each of the 3D supports below?

Ball-and-socket joint

Journal bearing

Pinned connection

APPLICATIONS 3D Equilibrium The tie rod from point A is used to support the overhang at the entrance of a building. It is pin connected to the wall at A and to the center of the overhang B.

If A is moved to a lower position D, will the force in the rod change or remain the same? By making such a change without understanding if there is a change in forces, failure might occur.

APPLICATIONS 3D Equilibrium

The floor crane, which weighs 300 lb, is supporting a oil drum.

How do you determine the largest oil drum weight that the crane can support without overturning ?

Support Reactions in 3D (Table 5-2)

memorize this table!

The 3D reactions shown below are the ones shown in Table 5-2 in the text. Recall that in general: 1) if a support prevents translation of a body in a given direction, then a force is developed on the body in the opposite direction. 2) if rotation is prevented, a couple moment is exerted on the body in the opposite direction

IMPORTANT NOTE

A single bearing or hinge can prevent rotation by providing a resistive couple moment. However, it is usually preferred to use two or more properly aligned bearings or hinges. Thus, in these cases, only force reactions are generated and there are no moment reactions created.

EQUATIONS OF EQUILIBRIUM (Section 5.6) As stated earlier, when a body is in equilibrium, the net force and the net moment equal zero, i.e., F = 0 and MO = 0 In 2D the equations above resulted in three scalar equations. However, in 3D the result is six scalar equations. FX = 0 MX = 0 FY = 0 MY = 0 FZ = 0 MZ = 0 6 equations for 3D equilibrium

Note: The moment equations can be determined about any point. Usually, choosing the point where the maximum number of unknown forces are present simplifies the solution. Any forces occurring at the point where moments are taken do not appear in the moment equation since they pass through the point.

CONSTRAINTS AND STATICAL DETERMINACY (Section 5.7)

This FBD has 8 unknowns!

Redundant Constraints: When a body has more supports than necessary to hold it in equilibrium, it becomes statically indeterminate. A problem that is statically indeterminate has more unknowns than equations of equilibrium. Additional techniques will be introduced in Mechanics of Materials for dealing with such problems.

IMPROPER CONSTRAINTS

We have 6 unknowns in the FBD above, but there is nothing restricting rotation about the AB axis. In some cases, there may be as many unknown reactions as there are equations of equilibrium.

However, if the supports are not properly constrained, the body may become unstable for some loading cases.

EXAMPLE 3D Equilibrium

Given: The rod, supported by thrust bearing at A and cable BC, is subjected to an 80 lb force.
Find: Reactions at the thrust bearing A and cable BC. Plan:

a) b) c) d)

Establish the x, y and z axes. Draw a FBD of the rod. Write the forces using scalar equations. Apply scalar equations of equilibrium to solve for the unknown forces.

EXAMPLE (continued)

FBD of the rod:

Applying scalar equations of equilibrium in appropriate order, we get

F X = AX = 0 ;

So AX = 0

F Z = AZ + FBC 80 = 0 ; M Y = 80(1.5) + FBC (3.0) = 0 ; So FBC = 40 lb, AZ = 40 lb

Note: We used the vector equation MA = 0. Since the x, y, and z axes go through point A, we reduced this to three equations summing moments about the x, y, and z axes. If we had picked point B, the axes would be different (x, y, and z). We picked point A since the largest number of forces went though this point.

EXAMPLE (continued) FBD of the rod:

= 40 lb

Continuing to write scalar equations of equilibrium:

M X = MAX + 40(6) 80(6) = 0 ;

MZ = MAZ = 0 ; MAZ= 0

MAX= 240 lb ft

Example 3D Equilibrium

A rod is supported by smooth journal bearings at A, B, and C. Assume the rod is properly aligned. Find the reactions at all the supports for the loading shown.

Example 3D Equilibrium

The 200 x 200-mm square plate shown has a mass of 25 kg and is supported by three vertical wires. Determine the tension in each wire.

Ex: 3D Equilibrium (Problem 5-84) Determine the largest weight of the oil drum that the 300 lb floor crane can support without overturning. Also find the vertical reactions at wheels A, B, and C.

Example 3D Equilibrium
A small door weighing 16 lb is attached by hinges A and B to a wall and is held in the horizontal position shown by rope EFH. The rope passes around a small, frictionless pulley at F and is tied to a fixed cleat at H. Assuming that the hinge at A does not exert any axial thrust, determine the tension in the rope and the reactions at A and B.