Equilibrium of a Rigid Body

5
Engineering Mechanics:
Statics in SI Units, 12e
Copyright 2010 Pearson Education South Asia Pte Ltd
Copyright 2010 Pearson Education South
Asia Pte Ltd
5.6 Equations of Equilibrium
Vector Equations of Equilibrium
For two conditions for equilibrium of a rigid body in
vector form,
F = 0 M
O
= 0

Scalar Equations of Equilibrium
If all external forces and couple moments are
expressed in Cartesian vector form
F = F
x
i + F
y
j + F
z
k = 0
M
O
= M
x
i + M
y
j + M
z
k = 0
Copyright 2010 Pearson Education South
Asia Pte Ltd
5.7 Constraints for a Rigid Body
Redundant Constraints
More support than needed for equilibrium
Statically indeterminate: more unknown
loadings than equations of equilibrium
5.7 Constraints for a Rigid Body
Improper Constraints
Instability caused by the improper constraining by
the supports
When all reactive forces are concurrent at this point,
the body is improperly constrained
5.7 Constraints for a Rigid Body
Procedure for Analysis
Free Body Diagram
Draw an outlined shape of the body
Show all the forces and couple moments acting on
the body
Show all the unknown components having a positive
sense
Indicate the dimensions of the body necessary for
computing the moments of forces
5.7 Constraints for a Rigid Body
Procedure for Analysis
Equations of Equilibrium
Apply the six scalar equations of equilibrium or vector
equations
Any set of non-orthogonal axes may be chosen for this
purpose

Equations of Equilibrium
Choose the direction of an axis for moment summation such
that it insects the lines of action of as many unknown forces
as possible
Copyright 2010 Pearson Education South
Asia Pte Ltd
Example 5.15
The homogenous plate has a mass of 100kg and is subjected to a force and
couple moment along its edges. If it is supported in the horizontal plane by
means of a roller at A, a ball and socket joint at N, and a cord at C,
determine the components of reactions at the supports.
Copyright 2010 Pearson Education South
Asia Pte Ltd
Solution
Free Body Diagrams
Five unknown reactions acting on the plate
Each reaction assumed to act in a positive coordinate
direction
Equations of Equilibrium
Copyright 2010 Pearson Education South
Asia Pte Ltd
Solution
Equations of Equilibrium



Components of force at B can be eliminated
if x, y and z axes are used
Copyright 2010 Pearson Education South
Asia Pte Ltd
Solution
Solving,
A
z
= 790N B
z
= -217N T
C
= 707N
The negative sign indicates B
z
acts downward
The plate is partially constrained as the
supports cannot prevent it from turning
about the z axis if a force is applied in the x-y
plane
C
x
C
y
50
75
F
BA
2500N
100
150
518. Determine the horizontal and vertical
components of reaction at pin C and the force
in the pawl of the winch .
90.138
+
+
+

C
523. The airstroke actuator at D is used to
apply a force of F = 200 N on the member at B.
Determine the horizontal and vertical
components of reaction at the pin A and the
force of the smooth shaft at C on the member.
A
x
A
y
F
c
15
o
0.6m
0.2m 0.6m
A B
C
200N
60
o
+
+
+

563. The cart supports the uniform crate
having a mass of 85 kg. Determine the vertical
reactions on the three casters at A, B, and C.
The caster at B is not shown. Neglect the mass
of the cart.
0.35
0.2
0.5
0.6
0.35
0.4
0.45
B
A
C
A
z
B
z
C
z
85x9.81
=833.85N
x
y
z
+

+

+
A
x
A
y
A
z
F
CD
1.25 KN
E
x
E
z
571. The rod assembly is used to support the 1.25-kN (= 125
kg) cylinder. Determine the components of reaction at the
ball-and-socket joint A, the smooth journal bearing E, and the
force developed along rod CD. The connections at C and D
are ball-and-socket joints.
Equations of Equilibrium:
Force in Cartesian Vector,
A
x
A
y
A
z
F
CD
1.25 KN
E
x
E
z
r
AE
r
AC
r
AF