Engg 407: Statics of Rigid Bodies
Module 3: Equilibrium
Beer, F. P., Johnston , E., & Mazurek, D. F. (2016). Vector Mechanics for Engineers: Statics 11th Edition. McGraw-Hill
Education.
Singer, F. L. (n.d.). Engineering Mechanics 2nd Ed. Harper & Row, New York, Evanston & London.
Hibbeler, H. I. (2013). Engineering Mechanics: Statics 13th Edition Pearson Prentice Hall, New Jersey.
Number of
Support or Connection Reaction
Unknowns
Reactions of Supports and Connections In Two Dimensions
Engg 407: Statics of Rigid Bodies
Awareness for Learning
Mechanics speaks of two equilibrium states: static and dynamic. What are the keywords for
each of these equilibrium states? Will it be sufficient to define static equilibrium as the state of
rest of a body (or a system of bodies)?
Query: ∑F = 0 means that the net effect of all the forces acting on a system is zero. Will
equilibrium exist if there is zero force, no force at all?
Sample Problem 1. A fixed crane has a mass of 1000 kg
and is used to lift a 2400-kg crate. It is held in place by a
pin at A and a rocker at B. The center of gravity of the
crane is located at G. Determine the components of the
reactions at A and B.
Solution.
A free-body diagram of the crane is drawn. By multiplying
the masses of the crane and of the crate by g = 9.81 m/s2,
we obtain the corresponding weights, that is, 9810 N or
9.81 kN, and 23,500 N or 23.5 kN. The reaction at pin A is a force of unknown direction; it is
represented by its components Ax and Ay. The reaction at the rocker B is perpendicular to the
rocker surface; thus, it is horizontal. We assume that Ax, Ay, and B act in the directions shown.
Determination of B. We express that the sum of the moments of all external forces about point A
is zero. The equation obtained will contain neither Ax nor Ay, since the moments of Ax and Ay
about A are zero. Multiplying the magnitude of each force by its perpendicular distance from A,
we write
∑MA = 0: B(1.5 m) - (9.81 kN)(2 m) - (23.5 kN)(6 m) = 0
B = 107.1 kN
Since the result is positive, the reaction is directed as
assumed.
Determination of Ax. The magnitude of Ax is determined by
expressing that the sum of the horizontal components of all external forces is zero.
∑Fx = 0: Ax + B = 0 = Ax + 107.1 kN = 0
Ax = -107.1 kN
Since the result is negative, the sense of Ax is opposite to that assumed originally.
Determination of Ay. The sum of the vertical components must also equal zero.
∑Fy = 0: Ay - 9.81 kN - 23.5 kN = 0
Ay = 33.3 kN
Adding vectorially the components Ax and Ay, the reaction at A is 112.2 kN at 17.3° (W of N).
Check. The values obtained for the reactions can be checked by recalling that the sum of the
moments of all of the external forces about any point must be zero. For example, considering
point B, we write
∑MB = -(9.81 kN)(2 m) - (23.5 kN)(6 m) + (107.1 kN)(1.5 m) = 0
Engg 407: Statics of Rigid Bodies
Sample Problem 2. Three loads are applied to a beam as shown. The beam is supported by a
roller at A and by a pin at B. Neglecting the weight of the beam, determine the reactions at A and
B when P = 15 kips.
Solution.
A free-body diagram of the beam is drawn. The reaction
at A is vertical and is denoted by A. The reaction at B is
represented by components Bx and By. Each component
is assumed to act in the direction shown.
Equilibrium Equations. We write the following three
equilibrium equations and solve for the reactions
indicated:
∑Fx = 0: Bx = 0
∑MA = 0: -(15 kips)(3 ft) + By(9 ft) - (6 kips)(11 ft) - (6 kips)(13 ft) = 0
By = 21.0 kips
∑MB = 0: -A(9 ft) + (15 kips)(6 ft) - (6 kips)(2 ft) - (6 kips)(4 ft) = 0
A = 6.00 kips
Check. The results are checked by adding the vertical components of all of the external forces:
∑Fy = 6.00 kips - 15 kips + 21.0 kips - 6 kips - 6 kips = 0
Remark. In this problem the reactions at both A and B are vertical; however, these reactions are
vertical for different reasons. At A, the beam is supported by a roller; hence the reaction cannot
have any horizontal component. At B, the horizontal component of the reaction is zero because it
must satisfy the equilibrium equation ∑Fx = 0 and because none of the other forces acting on the
beam has a horizontal component.
We could have noticed at first glance that the reaction at B was vertical and dispensed with the
horizontal component Bx. This, however, is a bad practice. In following it, we would run the risk
of forgetting the component Bx when the loading conditions require such a component (i.e.,
when a horizontal load is included). Also, the component Bx was found to be zero by using and
solving an equilibrium equation, ∑Fx = 0. By setting Bx equal to zero immediately, we might
not realize that we actually make use of this equation and thus might lose track of the number of
equations available for solving the problem.
Exercise Problems:
1) A load of lumber of weight W = 25 kN is
being raised by a mobile crane. The weight of
boom ABC and the combined weight of the
truck and driver are as shown. Determine the
reaction at each of the two (a) front wheels H,
(b) rear wheels K. (Ans. H = 34.04 kN each,
K = 4.96 kN each)
Engg 407: Statics of Rigid Bodies
2) The frame shown supports part of the roof of a
small building. Knowing that the tension in the
cable is 150 kN, determine the reaction at the fixed
end E.
3) A loading car is at rest on a track forming an angle of 25°
with the vertical. The gross weight of the car and its load is 25
kN, and it acts at a point 750 mm from the track, halfway
between the two axles. The car is held by a cable attached 600
mm from the track. Determine the tension in the cable and the
reaction at each pair of wheels. (Ans. T = 22.66 kN, R1 = 2.56
kN, R2 = 8 kN)
4) A sailor is being rescued using a boatswain’s
chair that is suspended from a pulley that can roll
freely on the support cable ACB and is pulled at a
constant speed by cable CD. Knowing that = 30°
and β = 10° and that the combined weight of the
boatswain’s chair and the sailor is 900 N, determine
the tension (a) in the support cable ACB, (b) in the
traction cable CD. Ans. (a) 1.213 kN, (b) 166.3 N
5) A gardener uses a 60-N wheelbarrow to transport a 250-N
bag of fertilizer. What force must she exert on each handle?
(Ans. F = 42 N each handle)
6) The maximum allowable value of each of the
reactions is 180 N. Neglecting the weight of the
beam, determine the range of the distance d for
which the beam is safe. (Ans. 0.15 m ≤ d ≤ 0.4 m)
Engg 407: Statics of Rigid Bodies
7) Two cables are tied together at C and are loaded
as shown. Determine the tension (a) in cable
AC, (b) in cable BC. (Ans. (a) 352 N, (b) 261 N)
8) For the beam and loading shown, determine
(a) the reaction at A, (b) the tension in cable
BC. (Ans. Ax = 0, Ay = 980 N , BC = 560 N )
9) Collar A is connected as shown to a 200-N
load and can slide on a frictionless horizontal
rod. Determine the magnitude of the force P
required to maintain the equilibrium of the
collar when (a) x = 90 mm, (b) x = 300 mm.
(Hint: The tension in the rope is the same on
each side of a simple pulley) Ans. (a) 43.9 N,
(b) 120 N
10) Two cables are tied together at C and
loaded as shown. Determine the tension (a) in
cable AC, (b) in cable BC. (Ans. (a) 2.50 kN,
(b) 2.72 kN)
11) Two links AB and DE are connected by a
bell crank as shown. Knowing that the tension
in link AB is 720 N, determine (a) the tension
in link DE, (b) the reaction at C. (Ans. DE =
600 N , C = 1252.84 N 69.83° N of E)
Engg 407: Statics of Rigid Bodies
12) A welded connection is in equilibrium under
the action of the four forces shown. Knowing
that FA = 8 kN and FB = 16 kN, determine the
magnitudes of the other two forces.
(Ans. FC = 6.40 kN, FD = 4.80 kN)
Bonus: The lever ABC is pin supported at A and connected to a short link
BD as shown. If the weight of the members is negligible, determine the
force of the pin on the lever at A.
Solution (of Sr Magi):
Using our FBD (from Module 1) of lever ABC, we include first the vertical
components at A and at B because we don’t know for sure if they will be
zero. Taking moments about B to be zero:
∑MB = 0
400N · 0.5m = 0.2m · AX + 0.1m · AY
200 = 0.2AX + 0.1AY
Also, ∑MA = 0
400N · 0.7m = 0.2m · BX + 0.1m · BY
280 = 0.2BX + 0.1BY
And by ∑FY = 0,
AY = BY
From our FBD of the whole system, taking
moments about A to be zero:
∑MA = 0
400N · 0.7m = 0.3m · DY + 0 · DX
DY = 2800/3 N
From FBD of link BD,
BY = DY = 2800/3 N [which is also equal to AY from our 3rd equation]
Substitutin
g this to our second equation, we get
BX = 2800/3 N
Then substituting AY to our first equation, we get AX = 1600/3 N
By vector addition [A2 = AX2 + AY2], we get A = 1074.97 N
We can also compute for forces B and D, to be B = D = 1319.93 N
So, the vertical forces at A, at B and at D which we initially thought to be zero are actually not.
Engg 407: Statics of Rigid Bodies
Solution (of Hibbeler):
From the FBD of the link BD, it can be deduced that it is a two-force
member [one force at B and the other at D], so the resultant forces at
pins D and B must be equal, opposite, and collinear. Although the
magnitude of the force is unknown, the line of action is known since it
passes through B and D.
Lever ABC is a three-force member, and therefore, in order to satisfy
moment equilibrium, the three nonparallel forces acting on it must be
concurrent at O, (lower figure). In particular note that the force F on the
lever at B is equal but opposite to the force F acting at B on the link.
Why? The distance CO must be 0.5 m since the lines of action of F and
the 400-N force are known.
Equations of Equilibrium. By requiring the force system to be
concurrent at O, since ∑MO = 0, the angle θ which defines the line of
action of FA can be determined from trigonometry,
θ = tan-1 (0.7/0.4) = 60.3°
Using the x, y axes and applying the force equilibrium equations,
∑Fx = 0; FA cos 60.3° - F cos 45° + 400 N = 0
∑Fy = 0; FA sin 60.3° - F sin 45° = 0
Solving, we get FA = 1.07 kN, F = 1.32 kN Ans .
