Eighth Edition

CHAPTER VECTOR MECHANICS FOR

4
ENGINEERS: STATICS
Ferdinand P. Beer
Equilibrium of Rigid Bodies
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Texas Tech University

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 Vector Mechanics for Engineers: Statics
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Introduction
• 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 couple 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
 M x 0  M y 0  M z 0

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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.

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Reactions at Supports and Connections for a Two-

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

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Reactions at Supports and Connections for a Two-

Dimensional Structure

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

• Reactions equivalent to
a force of unknown
direction and magnitude
and a [Link]
unknown magnitude

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Equilibrium of a Rigid Body in Two Dimensions

• For all forces and moments acting on a
two-dimensional structure,

• 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

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Statically Indeterminate Reactions

• Equal number
• More unknowns • Fewer unknowns
unknowns and
than equations than equations, equations but
partially constrained improperly constrained
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 Vector Mechanics for Engineers: Statics
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Sample Problem 4.1

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
A fixed crane has a mass of 1000 solving the equations for the sum
kg and is used to lift a 2400 kg of all horizontal force components
crate. It is held in place by a pin and all vertical force components.
at A and a rocker at B. The
center of gravity of the crane is • Check the values obtained for the
located at G. reactions by verifying that the sum
of the moments about B of all
Determine the components of the forces is zero.
reactions at A and B.
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Sample Problem 4.1

• Determine B by solving the equation for
the sum of the moments of all forces
 M AA.0 :  B1.5m  9.81 kN2m 
about
 23.5 kN6m  0
B 107.1 kN

• Determine the reactions at A by solving

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

 Fy 0 : Ay  9.81 kN  23.5 kN 0
Ay 33.3 kN

• Check the values obtained.

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 Vector Mechanics for Engineers: Statics
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Sample Problem 4.3

SOLUTION:
• Create a free-body diagram for the
car with the coordinate system
aligned with the track.

• Determine the reactions at the

wheels by solving equations for the
sum of moments about points above
each axle.
• Determine the cable tension by
A loading car is at rest on an solving the equation for the sum of
inclined track. The gross weight of force components parallel to the
the car and its load is 5500 lb, and it track.
is applied at at G. The cart is held • Check the values obtained by
in position by the cable. verifying that the sum of force
components perpendicular to the
Determine the tension in the cable
track are zero.
and the reaction at each pair of
wheels.
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 Vector Mechanics for Engineers: Statics
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Sample Problem 4.3

• Determine the reactions at the
wheels.
 M A 0 :  2320 lb 25in.  4980 lb 6in.
 R2 50in. 0
R2 1758 lb

 M B 0 :  2320 lb 25in.  4980 lb 6in.

 R1 50in. 0
R1 562 lb
• Create a free-body diagram
W x 5500 lb cos 25 • Determine the cable
tension.
4980 lb  Fx 0 :  4980 lb  T 0
T 4980 lb
W y  5500 lb sin 25
 2320 lb
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Sample Problem 4.4

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.

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 Vector Mechanics for Engineers: Statics
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Sample Problem 4.4

• Solve 3 equilibrium equations for the
reaction force components and
couple. 4.5
 xF  0 : E x  150 kN  0
7.5
E x  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  M E 0 :  20 kN7.2 m  20 kN5.4 m 

for 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

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