ENS 161

(Statics of Rigid Bodies)

Lecture 5: Equilibrium of a Rigid Body

Static Equilibrium
A body is said to be in equilibrium if its resultant force and resultant
couple moment are both equal to zero.
In mathematical expression: For three-dimensional
force system:

For coplanar force system (two-dimensional):

Notes:
▸ The alternative sets of equilibrium
equations can be used in lieu of the
original set of equilibrium equations.
▸Other sets of equilibrium equations, aside
from the two given, may also be used.

Alternative Sets of Equilibrium Equations (2-D): ▸ These six scalar equilibrium

Alternative Alternative equations for 3-D force system
Set 1 Set 2 may be used to solve for at
most six unknowns shown on
the free-body diagram.
Free-Body Diagram (FBD)
It is an outlined shape of the body, which shows all the forces
and couple moments acting on it listed with their known or
unknown magnitudes and directions.
Angles used to resolve forces, and dimensions used to take
moments of the forces, should also be shown on the free-body
diagram.
A thorough understanding of how to draw a free-body diagram
is of primary importance for solving problems in mechanics.
Idealized Models
When an engineer performs a
force analysis of any object, he or
she considers a corresponding
(Actual Structure)
analytical or idealized model that
gives results that approximate as
closely as possible the actual
situation.
(Idealized Structure)
Internal Forces
Internal forces are never shown on the free-body diagram since
they occur in equal but opposite collinear pairs and therefore
cancel out.

Weight
The weight of a body is an external force, and its effect is
represented by a single resultant force acting through the body’s
center of gravity G.

Support Reactions
General Rule:
 If a support prevents the translation of a body in a given
direction, then a force is developed on the body in that
direction.
 If rotation is prevented, a couple moment is exerted on the
body.
Some Common Types of 2-D Supports:

Some Common Types of 3-D Supports:

Procedure
for
Drawing
an FBD:
Sample Problem
Draw the free-body diagram of
the uniform beam shown. The
beam has a mass of 100 kg.

Solution/Answer:

Notes:
1) Fixed supports (such as in A) exerts three reactions (x-
component force, y-component force, and couple moment).
2) Magnitudes of reactions are normally unknown. Thus, their sense
of direction is usually assumed.
3) The weight of the beam (981 N) is its mass multiplied by the
acceleration due to gravity (9.81 m/s2).
4) For homogenous/uniform body, weight acts at the center.
5) Weight always acts downward.
Sample Problem
Draw the free-body diagram of the foot lever shown. 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.

(actual system) (idealized system)

Solution/Answer: Notes:
1) Support at A is a loose bolt (thus, assumed pin with 2
reactions).
2) The spring is assumed to have a spring constant of
20 lb/in. Thus, the force is 30 lb.
3) The weight is considered negligible (compared to the
applied loads).
4) Forces on links, cables, and springs are always in the
direction of the those objects/supports.
5) Dimensions should always be shown on FBD.
Sample Problem
Two smooth pipes, each having a mass of 300 kg, are supported by the forked
tines of the tractor in the figure. Draw the free-body diagrams for each pipe.
FBD of pipe B

(actual system) (idealized model)

Solution/Answer: Notes:
FBD of pipe A 1) Weight is always equal to mass multiplied
by the acceleration due to gravity (9.81 m/s2).
2) Forces T, F, R, and P are normal forces
(forces that act in a direction normal to the
tangent at their surfaces of contact).
3) No friction is considered since all surfaces
are assumed smooth.
5) Note how the 30o angle is used.
Knowledge on geometry is needed to
describe how the forces are inclined.
Sample Problem
Draw the free-body diagram of the
unloaded platform that is suspended off
the edge of the oil rig shown. The platform
has a mass of 200 kg.
Solution/Answer:

(idealized model) (actual system)

Notes:
1) The idealized model of the platform is considered in two
dimensions because by observation the loading and the
dimensions are all symmetrical about a vertical plane
passing through its center.
2) When center of gravity is not on the center of the object, it
is usually given in the problem.
3) Forces (tensions) on cables are always in the direction of
these cables.
5) Dimensions and angles should always be shown on FBD.
Procedure
for Analysis
of 2-D
Force
Equilibrium
Problems
for a Rigid
Body:
Sample Problem
Determine the horizontal and vertical components of reaction on the beam
caused by the pin at B and the rocker at A as shown. Neglect the weight of
the beam.
(2) Eq’ns of Equilibrium:
(cw moments = ccw moments)
Σ 𝑀𝐵 = 0 implies ↻ = ↺
𝐴𝑦 7 + 600𝑐𝑜𝑠45𝑜 0.2
= 100 2 + 600𝑠𝑖𝑛45𝑜 5
𝐴𝑦 = 𝟑𝟏𝟗 𝑵
(Leftward forces = Rightward forces)
Solution: Σ 𝐹𝑥 = 0 implies ← = →
(1) FBD: 𝐵𝑥 = 600𝑐𝑜𝑠45𝑜
𝐵𝑥 = 𝟒𝟐𝟒 𝑵
(Upward forces = Downward forces)
Σ 𝐹𝑦 = 0 implies ↑ = ↓
𝐵𝑦 + 𝐴𝑦 = 600𝑠𝑖𝑛45𝑜 + 100 + 200
𝐵𝑦 = 𝟒𝟎𝟓 𝑵

Notes:
1) Rocker has 1 reaction. While pin has 2.
2) Inclined force can be resolved to its x-y components.
 Sample Problem
The cord shown supports a force of 100 lb and wraps
over the frictionless pulley. Determine the tension in the
cord at C and the horizontal and vertical components of
reaction at pin A. (2) Eq’ns of Equilibrium:
Solution: (cw moments = ccw moments)
(1) FBD: Σ 𝑀𝐴 = 0 ↻=↺
𝑇 0.5 = 100(0.5)
𝑇 = 𝟏𝟎𝟎 𝒍𝒃
(Leftward forces = Rightward forces)
Σ 𝐹𝑥 = 0 ←=→
𝐴𝑥 = 𝑇 sin 30𝑜 (Upward forces = Downward forces)

𝐴𝑥 = 𝟓𝟎. 𝟎 𝒍𝒃 Σ 𝐹𝑦 = 0 ↑=↓
𝐴𝑦 = 𝑇 𝑐𝑜𝑠30𝑜 + 100
𝐴𝑦 = 𝟏𝟖𝟕 𝒍𝒃

Notes:
1) FBD of cord and pulley is combined for simplicity.
2) The tension of a cord over a frictionless pulley
remains constant, as what will be shown in the
solution.
Sample Problem
The member shown is pin-connected at A and rests against a smooth
support at B. Determine the horizontal and vertical components of reaction
at the pin A.
(2) Eq’ns of Equilibrium:
(ccw moments = cw moments)
Σ 𝑀𝐴 = 0 implies ↺ = ↻
𝑁𝐵 0.75 = 60 1 + 90
𝑁𝐵 = 𝟐𝟎𝟎 𝑵
(Rightward forces = Leftward forces)
Σ 𝐹𝑥 = 0 implies → = ←
Solution: 𝐴𝑥 = 𝑁𝐵 𝑠𝑖𝑛30𝑜
(1) FBD: 𝐴𝑥 = 𝟏𝟎𝟎 𝑵
▸ Smooth support at B (Upward forces = Downward forces)
has only 1 reaction (a Σ 𝐹𝑦 = 0 implies ↑ = ↓
normal force).
𝐴𝑦 = 𝑁𝐵 𝑐𝑜𝑠30𝑜 + 60
𝐴𝑦 = 𝟐𝟑𝟑 𝑵
Sample Problem
The box wrench in the figure is used to tighten the bolt at A. If the wrench
does not turn when the load is applied to the handle, determine the torque
or moment applied to the bolt and the force of the wrench on the bolt.
(2) Eq’ns of Equilibrium:
(ccw moments = cw moments)
Σ 𝑀𝐴 = 0 implies ↺ = ↻
𝑀𝐴 = 52 12 13 0.3 + 30 sin 60𝑜 (0.4)
𝑀𝐴 = 𝟑𝟐. 𝟔 𝑵 ∙ 𝒎
(Rightward forces = Leftward forces)
Σ 𝐹𝑥 = 0 implies → = ←
Solution: 𝐴𝑥 + 30 cos 60𝑜 = 52(5 13)
(1) FBD: 𝐴𝑥 = 𝟓. 𝟎𝟎 𝑵
(Upward forces = Downward forces)
Σ 𝐹𝑦 = 0 implies ↑ = ↓
𝐴𝑦 = 52 12 13 + 30 𝑠𝑖𝑛60𝑜
𝐴𝑦 = 𝟕𝟒. 𝟎 𝑵

▸ Since the bolt prevents translation and ▸ To solve for resultant force on the wrench,
rotation, it functions like a fixed support with 3
reactions. 𝐹𝐴 = 𝐴𝑥 2 + 𝐴𝑦 2 = 𝟕𝟒. 𝟏 𝑵
Sample Problem
Determine the horizontal and vertical components of reaction on the
member at the pin A, and the normal reaction at the roller B in the figure.

(2) Eq’ns of Equilibrium:

(ccw moments = cw moments)
Σ 𝑀𝐴 = 0 implies ↺ = ↻
𝑁𝐵 cos 30𝑜 6 = 𝑁𝐵 sin 30𝑜 2 + 750(3)
𝑁𝐵 = 𝟓𝟑𝟔 𝒍𝒃
(Rightward forces = Leftward forces)
Solution: Σ 𝐹𝑥 = 0 implies → = ←
(1) FBD: 𝐴𝑥 = 𝑁𝐵 sin 30𝑜
𝐴𝑥 = 𝟐𝟔𝟖 𝒍𝒃
(Upward forces = Downward forces)
Σ 𝐹𝑦 = 0 implies ↑ = ↓
𝐴𝑦 + 𝑁𝐵 cos 30𝑜 = 750
𝐴𝑦 = 𝟐𝟖𝟔 𝒍𝒃

▸ The reaction at B has a direction

perpendicular/normal to the surface.
Sample Problem
The uniform smooth rod shown is subjected to a force and couple moment.
If the rod is supported at A by a smooth wall and at B and C either at the
top or bottom by rollers, determine the reactions at these supports. Neglect
the weight of the rod. (2) Eq’ns of Equilibrium:
(Leftward forces = Rightward forces)
Σ 𝐹𝑥 ′ = 0 implies ← = →
𝐴𝑥 cos 30𝑜 = 300 sin 30𝑜
𝐴𝑥 = 𝟏𝟕𝟑 𝑵
(cw moments = ccw moments)
Σ 𝑀𝐵 = 0 implies ↻ = ↺
𝐶𝑦′ 4 + 𝐴𝑥 sin 30𝑜 2 = 300 cos 30𝑜 6 + 4000
𝐶𝑦′ = 𝟏𝟑𝟒𝟔 𝑵 = 𝟏. 𝟑𝟓 𝒌𝑵
(Upward forces = Downward forces)
Solution:
Σ 𝐹𝑦′ = 0 implies ↑ = ↓
(1) FBD:
𝐵𝑦′ + 𝐶𝑦′ = 𝐴𝑥 sin 30𝑜 + 300 cos 30𝑜
(on the direction opposite
𝐵𝑦′ = −𝟏𝟎𝟎𝟎 𝑵 = 𝟏 𝒌𝑵
to the assumed)

▸ It is more convenient to use the rod as the

x’-axis (thus an x’-y’ axes inclined at 30o).
 Sample Problem
The uniform truck ramp shown has a weight
of 400 lb and is pinned to the body of the
truck at each side and held in the position
shown by the two side cables. Determine the
tension in the cables.
(actual system) ▸ In making the idealized model, the system is considered
two dimensional because by observation the loading and
the dimensions are all symmetrical about a vertical plane
passing through its center.
▸ The tensions on the two cables are combined into one
force T. If the tension in each cable is needed, then the
(idealized model) result T is halved.

(2) Eq’ns of Equilibrium:

(cw moments = ccw moments)
Solution: Σ 𝑀𝐴 = 0 implies ↻ = ↺
(1) FBD: 𝑇 sin 10𝑜 7 = 400 5 cos 30𝑜
𝑇 = 𝟏𝟒𝟐𝟓 𝒍𝒃

▸ Thus, the tension in each cable is half of T.

𝑇 ′ = 𝟕𝟏𝟐 𝒍𝒃
Sample Problem
Determine the support reactions on the member in the figure. The collar at
A is fixed to the member and can slide vertically along the vertical shaft.

(2) Eq’ns of Equilibrium:

(Rightward forces = Leftward forces)
Σ 𝐹𝑥 = 0 implies → = ←
𝐴𝑥 = 0
(Upward forces = Downward forces)
Σ 𝐹𝑦 = 0 implies ↑ = ↓
Solution:
(1) FBD: 𝑁𝐵 = 𝟗𝟎𝟎 𝑵
(ccw moments = cw moments)
Σ 𝑀𝐴 = 0 implies ↺ = ↻
𝑀𝐴 + 𝑁𝐵 3 + 1 cos 30𝑜 = 900 1.5 + 500
𝑀𝐴 = −𝟏𝟒𝟖𝟔 𝑵 ∙ 𝒎 = 𝟏. 𝟒𝟗 𝒌𝑵 ∙ 𝒎 ↻ 𝒄𝒘
(The negative result means it
has rotation opposite to what is
▸ Refer to table 5-1 of the textbook for assumed on the FBD)
different supports for rigid bodies subjected to
2-D force systems.
▸ For a collar fixed to a member sliding
smoothly, it has 2 reactions as shown.
Statically Indeterminate Structure/Problem
If a body is subjected to more unknown reactions than available
equations of equilibrium, then the problem is statically
indeterminate.
2-D structures/problems have normally 3 available equations of
equilibrium. While 3-D structures/problems have 6 available
equations of equilibrium (as shown on the 2nd page of this lecture
guide.

▸ The structure is statically indeterminate, since it has 5 unknown

reactions with only 3 equilibrium equations.
Stability
A stable body requires that the lines of action of the reactive
forces do not intersect a common axis (for 3-D, or a common point
for 2-D) and are not parallel to one another.

▸ The structure is unstable, ▸ The structure is unstable,

since the 3 reactions are since the reactions are
concurrent (they intersect at one parallel. At the same time, it
point, point A). has only 2 reactions (fewer
▸ The structure may rotate than the 3 needed).
▸ The system is unstable,
clockwise around A, and no ▸ The structure may move/ since the reactions are
force/reaction will stop it from translate rightward, and no parallel. It may move along
rotation. force or reaction will stop it x-axis direction, and no
from moving. force/reaction will stop it
from moving.
Procedure
for Analysis
of 3-D
Force
Equilibrium
Problems
for a Rigid
Body:
Sample Problem
The homogeneous plate shown in the figure has a mass of 100 kg and is
subjected to a force and couple moment along its edges. If it is supported in
the horizontal plane by a roller at A, a ball-and-socket joint at B, and a cord
at C, determine the components of reaction at these supports.
(2) Eq’ns of Equilibrium:
Σ 𝐹𝑥 = 0 implies 𝐹+𝑥 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 = 𝐹−𝑥 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛
𝐵𝑥 = 0
Σ 𝐹𝑦 = 0 implies 𝐹+𝑦 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 = 𝐹−𝑦 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛
𝐵𝑦 = 0
Σ 𝑀𝑥 ′ = 0 implies ↻ = ↺ (when facing from +x direction)
𝐴𝑧 2 = 300 2 + 981 1
Solution: 𝐴𝑧 = 𝟕𝟗𝟎 𝑵 ↑
(1) FBD: Σ 𝑀𝑦′ = 0 implies ↺ = ↻ (when facing from +y direction)
𝑇𝑐 3 = 300 1.5 + 981 1.5 + 200
𝑇𝑐 = 𝟕𝟎𝟕 𝑵 ↑
Σ 𝑀𝑥 = 0 implies ↺ = ↻ (when facing from +x direction)
𝐵𝑧 2 + 𝑇𝑐 2 = 981 1
𝐵𝑧 = −𝟐𝟏𝟕 𝑵 = 𝟐𝟏𝟕 𝑵 ↓
(Negative result means a direction opposite to what is assumed on FBD)
 Sample Problem
Determine the components of reaction that the ball-and-socket joint at A,
the smooth journal bearing at B, and the roller support at C exert on the rod
assembly in the figure. (2) Eq’ns of Equilibrium:
Σ 𝐹𝑦 = 0 implies 𝐹+𝑦 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 = 𝐹−𝑦 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛
𝐴𝑦 = 𝟎
Σ 𝑀𝑧 = 0 implies ↻ = ↺ (when facing from +z direction)

𝐵𝑥 0.8 = 0 𝐵𝑥 = 𝟎
Σ 𝐹𝑥 = 0 implies 𝐹+𝑥 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 = 𝐹−𝑥 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛
𝐴𝑥 + 𝐵𝑥 = 0 𝐴𝑥 = 0
Solution: Σ 𝑀𝑦 = 0 implies ↺ = ↻ (when facing from +y direction)

(1) FBD: 𝐹𝑐 0.6 = 900 0.4 𝐹𝑐 = 𝟔𝟎𝟎 𝑵 ↑

Σ 𝑀𝑥 = 0 implies ↺ = ↻ (when facing from +x direction)
𝐵𝑧 0.8 + 𝐹𝑐 1.2 = 900 0.4
𝐵𝑧 = −𝟒𝟓𝟎 𝑵 = 𝟒𝟓𝟎 𝑵 ↓
Σ 𝐹𝑧 = 0 implies ↑ 𝐹+𝑧 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 = ↓ 𝐹−𝑧 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛
𝐴𝑧 + 𝐹𝑐 = 900 + 𝐵𝑧
𝐴𝑧 = 𝟕𝟓𝟎 𝑵 ↑
 Sample Problem
The boom is used to support the 75-lb flowerpot in
the figure. Determine the tension developed in
wires AB and AC.
(2) Eq’ns of Equilibrium:
▸It is useful to solve first for the length of the wires, lwire.

𝑙𝑤𝑖𝑟𝑒 = 𝑙𝑥 2 + 𝑙𝑦 2 + 𝑙𝑧 2 = 22 + 62 + 32 = 7 𝑓𝑡
▸ Since the system is symmetrical in terms of loadings and
dimensions with respect to the z-y plane, it is safe to say that the
two wires have the same tension force.
▸ We can prove this by summation of moments about the z-axis.
Solution:
▸ Thus, FAB = FAC = T
(1) FBD:
Σ 𝑀𝑥 = 0 implies ↺ = ↻ (when facing from +x direction)
𝐹𝐴𝐵,𝑧 6 + 𝐹𝐴𝐶,𝑧 6 = 75 (6) (we can cancel the 6ft moment arms)
𝐹𝐴𝐵,𝑧 + 𝐹𝐴𝐶,𝑧 = 75 (we can use FAB = FAC = T)
𝑇𝑧 𝑙𝑧 𝑙𝑧
2𝑇𝑧 = 75 where = 𝑇𝑧 = 𝑇𝑤𝑖𝑟𝑒
𝑇𝑤𝑖𝑟𝑒 𝑙𝑤𝑖𝑟𝑒 𝑙𝑤𝑖𝑟𝑒
𝑙𝑧
2𝑇 = 75
𝑙𝑤𝑖𝑟𝑒
3
2𝑇 = 75 𝑇 = 𝟖𝟕. 𝟓 𝒍𝒃
7
 Sample Problem
Rod AB shown in the figure is subjected to the 200-N force.
Determine the reactions at the ball-and-socket joint A and the
tension in the cables BD and BE.
(2) Eq’ns of Equilibrium:
Σ 𝑀𝑥 = 0 implies ↺ = ↻ (when facing from +x direction)
𝑇𝐷 2 = 200 (1) (1m because it’s halfway between 2m)
𝑇𝐷 = 𝟏𝟎𝟎 𝑵
Σ 𝑀𝑦 = 0 implies ↻ = ↺ (when facing from +y direction)

𝑇𝐸 2 = 200 0.5 (0.5m because it’s halfway between 1m)

Solution:
(1) FBD: 𝑇𝐸 = 𝟓𝟎 𝑵
Σ 𝐹𝑥 = 0 implies 𝐹+𝑥 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 = 𝐹−𝑥 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛
(directed toward the
𝐴𝑥 + 𝑇𝐸 = 0 𝐴𝑥 = −50 𝑁 = 50 𝑁 negative x axis)

Σ 𝐹𝑦 = 0 implies 𝐹+𝑦 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 = 𝐹−𝑦 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛

(directed toward the
𝐴𝑦 + 𝑇𝐷 = 0 𝐴𝑦 = −100 𝑁 = 100 𝑁 negative y axis)

Σ 𝐹𝑧 = 0 implies ↑ 𝐹+𝑧 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 = ↓ 𝐹−𝑧 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛

𝐴𝑧 = 200 𝑁 ↑
Sample Problem
The bent rod in the figure is supported at A by a
journal bearing, at D by a ball-and-socket joint,
and at B by means of cable BC. Determine the
tension in cable BC. The bearing at A is capable
of exerting force components only in the z and y
directions since it is properly aligned on the shaft.
(2) Eq’ns of Equilibrium:
Σ 𝑀𝑦 = 0 implies ↺ = ↻ (when facing from +y direction)

𝐴𝑧 = 𝟎

Solution: Σ 𝑀𝑥 = 0 implies ↻ = ↺ (when facing from +x direction)

(1) FBD: 𝑇𝐵 1 + 𝐴𝑧 1 = 981 0.5

𝑇𝐵 = 𝟒𝟗𝟎. 𝟓 𝑵
 “The most effective way of learning the
principles of engineering mechanics is to
solve problems.”
ASSIGNMENT!
Answer the following problems from the Chapter 5 review
problems of our textbook in page 260-261: Problems 5-88, 5-90,
5-91, 5-94, and 5-95.

Write the solutions neatly and in an organized manner on short

bond papers (Do not encode). Scan them and save them to one
file as PDF.

Due date: November 20, 2021 (for both sections Ff and Uu1)