MEC111 STATICS

CHAPTER 3: STATICS OF RIGID BODY

Edited by L.R. on January 2019
LEARNING OUTCOME
Upon completion of this chapter, the student should be able to understand and apply the
following concepts:
3.1 Moment
3.1.1 Moment of a Force About a Point – Scalar Form
3.1.2 Vector Products & Moment of a Force about a point – Vector form
3.1.3 Principle of Moments
3.1.4 Moment of a Couple
3.1.5 Resultants of a Force and Couple System
3.2 Reactions at Supports and Connections
3.2.1 Equilibrium of Rigid Body in Two Dimensions
3.3 Equilibrium of a Two-Force and Three-Force Body

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Particle vs Rigid Body
Particle Rigid Body

Distance between particles are fixed (constant

length between particles)

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Particle vs Rigid Body
Particle Rigid Body

FBD – non-concurrent
force
FBD – concurrent force

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3.1 Moment - Introduction
Moment / Torque
A tendency for the body to rotate about a point when a force is applied to a body

The magnitude of the moment is directly

proportional to the magnitude of F and the
perpendicular distance or moment arm d, as
shown in Fig. (a)

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3.1 Moment - Introduction

if the force F is applied at an angle θ ≠ 90 , Fig. (b) , then it

will be more difficult to turn the bolt since the moment arm
d = d sin u will be smaller than d .

If F is applied along the wrench, Fig. (c) , its moment arm

will be zero since the line of action of F will intersect point
O (the z axis). As a result, the moment of F about O is also
zero and no turning can occur.

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3.1.1 Moment of a Force About a Point – Scalar Form
➢ The moment, MO about point O , or about an axis
Right passing through O and perpendicular to the plane, is a
Hand Rule
vector quantity since it has a specified magnitude and
direction.
➢ Magnitude of moment about O, MO is

𝑀𝑜 = 𝐹𝑑 F = force applied
d = perpendicular distance from axis of point, O (or
at any point) to the line of action of force

➢ Direction:
+ve -ve

Counter-clockwise Clockwise
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3.1.1 Moment of a Force About a Point – Scalar Form
Resultant Moment.
For two-dimensional problems, where all the forces lie
within the x–y plane, the resultant moment (MR)O
about point O (the z axis) can be determined by
finding the algebraic sum of the moments caused by
all the forces in the system
consider positive moments as counter- clockwise

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3.1.1 Moment of a Force About a Point – Scalar Form
EXAMPLE 1 a)
↺ +𝑣𝑒 𝑀𝑜 = − 100 2 = −200 𝑁𝑚 = 200𝑁𝑚 ↻

b)

↺ +𝑣𝑒 𝑀𝑜 = 7𝑘𝑁 3 = 21𝑘𝑁𝑚

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3.1.2 Vector Product / Cross Product
Vector Products / Cross Products

Concept of the moment of a force about a point is more easily

understood through applications of the vector product or cross product.

Vector product of two vectors P and Q is defined as the vector V which

satisfies the following conditions:

1. Line of action of V is perpendicular to plane

containing P and Q.
2. Magnitude of V is: V = PQ sin 
3. Direction of V is obtained from the right-hand rule.

Vector products:
• are not commutative,
• are distributive, (a) Cross product of vector P and Q.
(b) Right-hand rule.
• are not associative,
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3.1.2 Vector Product / Cross Product
Vector Products
Vector products of Cartesian unit vectors.
       
i i = 0 j  i = −k k  i = j
       
i j =k j j =0 k  j = −i
       
i k = − j j k = i k k = 0

Vector products in terms of rectangular coordinates:

 
( ) ( )
    
V = Px i + Py j + Pz k  Qx i + Q y j + Qz k

( 
) 
= Py Qz − Pz Q y i + ( Pz Qx − Px Qz ) j +ve

(
+ Px Q y − Py Qx k )
  
i j k
= Px Py Pz Vector products Cartesian unit vectors
Qx Qy Qz
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3.1.2 Vector Product / Cross Product
Find vector products using determinant:
  
V = PQ

(   
) (
  
= Px i + Py j + Pz k  Qx i + Q y j + Qz k

)
    Positive sign
i j k i j
= Px Py Pz Px Py
Qx Qy Qz Qx Qy
Negative sign
= (Py Q z − Pz Q y )i + ( Pz Q x − Px Q z ) j
 

+ (Px Q y − Py Q x )k

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3.1.2 Vector Product / Cross Product
Vector product for coplanar vector:
 
If vector P and Q are co-planar vectors (vectors in the

same plane), the component k for both vectors can be
assumed to be zero. Thus, the vector product is:


(   
)(
  
V = Px i + Py j + 0k  Qx i + Qy j + 0k )
  
i j k
= Px Py 0
Qx Qy 0 Vector products of two co-planar vectors


= (Px Qy − Py Qx )k

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3.1.2 Vector Product / Cross Product
EXAMPLE 2

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3.1.2 Vector Product & Moment of a Force about a point
– Vector form
The moment of a force F about point O can be
expressed using the vector cross product,

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3.1.2 Vector Product & Moment of a Force about a point
– Vector form
EXAMPLE 3

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3.1.2 Vector Product & Moment of a Force about a point
– Vector form
EXAMPLE 4

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3.1.3 Principle of Moments
A concept often used in mechanics is the principle of
moments , which is sometimes referred to as Varignon’s
theorem since it was originally developed by the French
mathematician Varignon (1654–1722). It states that the
moment of a force about a point is equal to the sum of the
moments of the components of the force about the point.
Vector form:

Scalar form in rectangular components:

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3.1.3 Principle of Moments
EXAMPLE 5
Force F acts at the end of the angle bracket. Determine the moment of the force
about point O .

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3.1.3 Principle of Moments
EXAMPLE 5
Solution 1: Scalar method
1st step: Resolve force into x, y-component
↺ +𝑣𝑒 𝑀𝑜 = − 400𝑐𝑜𝑠30 0.4 + 400𝑠𝑖𝑛30 0.2
= −98.6𝑁𝑚 = 98 𝑁𝑚 ↻

Solution 2: Vector method

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3.1.3 Principle of Moments
EXAMPLE 6
A force of 800 N acts on a bracket as shown. Determine the moment of the
force about B.
Solution:

↺ +𝑣𝑒 ෍ 𝑀0

= − 800𝑐𝑜𝑠60 0.16 + (− 800𝑠𝑖𝑛60 0.2 ) = −203 𝑁𝑚

= 203𝑁𝑚 ↻

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3.1.3 Principle of Moments
EXERCISE 1 EXERCISE 2
Determine the moment of the Determine the moment of the
force about point O . force about point A.

Answer: Mo = 36.7 Nm Answer: MA = -34.8 kNm = 34.8kNm (CW)

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3.1.3 Principle of Moments
EXERCISE 3 EXERCISE 4
Determine the moment of the Determine the moment of the
force about point A. force about point A.

Answer: MA = -470 Nm = 470Nm (CW)

Answer: MA = -9.77 kNm = 9.77 kNm (CW)

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3.1.4 Moment of a Couple
A couple is defined as two parallel forces that have the same
magnitude, but opposite directions, and are separated by a
perpendicular distance d.

Couple moment occur when:

2 forces
- have same magnitude
- parallel line of action
- opposite direction with respect to each
other

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3.1.4 Moment of a Couple
Magnitude of the moment of a couple equals the force times the perpendicular
distance between the line of action of the two forces.

The moment of a couple can be

M=Fd represented as follow:

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3.1.4 Moment of a Couple

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3.1.4 Moment of a Couple
Example:

Couple moment; Couple moment; Couple moment;

M = F.d = 90N x 4m = 360Nm M = F.d = 120N x 3m = 360Nm M = F.d = 72N x 5m = 360Nm

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3.1.4 Moment of a Couple
Exercise:
Determine the resultant couple moment acting on the beam.

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3.1.5 Resultants of a Force and Couple System
Sometimes it is convenient to reduce a system of forces and couple moments
acting on a body to a simpler form by replacing it with an equivalent system ,
consisting of a single resultant force acting at a specific point and a
resultant couple moment.

equivalent

5 forces system One single resultant force and a moment

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3.1.5 Resultants of a Force and Couple System
Equivalent system means…………
the external effects from resultant of force and moment system are the same
as those caused by the original force and couple moment system.

equivalent

5 forces system One single resultant force and a moment

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3.1.5 Resultants of a Force and Couple System
The next question is how to transfer all the forces to a point?

equivalent

5 forces system One single resultant force and a moment

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3.1.5 Resultants of a Force and Couple System
1st: Apply Principle of Transmissibility
This principle is applied when the force and the distance are on the
same line of action.

Moving a force from A to B, when both points are on the vector’s line of action, does not
change the external effect.

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3.1.5 Resultants of a Force and Couple System
2nd: Apply concept couple moment

This principle is applied when the distance and the force are
perpendicular to each other.

Moving a force from point A to B (as shown above) requires creating an additional
couple moment. So moving a force means you have to “add” a new couple

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3.1.5 Resultants of a Force and Couple System
Steps to find equivalent resultant force couple system:

1.Find magnitude and direction of resultant force using rectangular

component method
σ 𝐹𝑅𝑥 ; σ 𝐹𝑅𝑦
2 2 −1
𝐹𝑅𝑦
𝑚𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒, 𝑅 = 𝐹𝑅𝑥 + 𝐹𝑅𝑦 ; 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛, 𝜃 = 𝑡𝑎𝑛
𝐹𝑅𝑥
2. Find resultant moment about a point; σ 𝑀𝑅 .

3. Specify the point to locate the resultant force using equation of

moment; M = F.d

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3.1.5 Resultants of a Force and Couple System
EXAMPLE 7
Replace the loading system acting on the post by an equivalent resultant
force and couple moment at point O.

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3.1.5 Resultants of a Force and Couple System
EXAMPLE 7
Solution: 1st step: Find equivalent resultant force

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3.1.5 Resultants of a Force and Couple System
EXAMPLE 7
Solution:
3rd step: Draw the resultant
2nd step: Find resultant moment at point O force and moment at point O:

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3.1.5 Resultants of a Force and Couple System
EXAMPLE 8
Replace the force system acting
on the post by a resultant force,
and specify where its line of
action intersects the post AB
measured from point A.

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3.1.5 Resultants of a Force and Couple System
Solution:

1st step: Find equivalent resultant force

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3.1.5 Resultants of a Force and Couple System
Solution:
2nd step: Find location of resultant force along line AB measured from point A

𝐹𝑅𝑥 𝑑 = ෍ 𝑀𝐴

𝐹𝑅𝑦
𝐹𝑅

d = 0.8724m = 872.4mm
𝐹𝑅𝑥

𝑑 =0.8724m

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3.2 Reactions at Supports and Connections
Successful application of the equations of equilibrium requires a complete
specification of all the known and unknown external forces that act on the body.
Including reactions that occur at supports and points of contact between bodies
3.2 Reactions at Supports and Connections
• The best way to account for these forces is to draw a
free-body diagram.
• This diagram is a sketch of the outlined shape of the
body, which represents it as being isolated or “free”
from its surroundings, i.e., a “free body.”
• On this sketch it is necessary to show all the forces
and couple moments that the surroundings exert on
the body so that these effects can be accounted for
when the equations of equilibrium are applied.
• A thorough understanding of how to draw a free-
body diagram is of primary importance for solving
problems in mechanics .
3.2 Reactions at Supports and Connections
General rule:

Rule 1: If a support prevents the translation Rule 2: If rotation is prevented, a couple

of a body in a given direction, then a force is moment is exerted on the body.
developed on the body in that direction.
M
Cannot rotate: FBD
Cannot move in x-direction: FBD
Fx

Cannot move in y-direction: FBD

Fy

Fx
Cannot move in x- and y-direction: FBD
Fy
3.2 Reactions at Supports and Connections
Types of support with it reaction forces (number of unknown force)
Group 1: One Unknown Force

No. Types pf Connection Reaction force Description

1 Cable
The reaction is a tension
force which acts
away from the member in
the direction of the cable.
3.2 Reactions at Supports and Connections
No. Types pf Connection Reaction force Description
2 weightless link
The reaction is a force
which acts along
the axis of the link.

3 Rocker / Roller The reaction is a force

which acts
perpendicular to the
surface at the point of
contact.
3.2 Reactions at Supports and Connections
No. Types pf Connection Reaction force Description
4 smooth contacting The reaction is a force
surface which acts
perpendicular to the
surface at the point of
contact.

5 roller or pin in The reaction is a force

confined smooth slot which acts
perpendicular to the slot.
3.2 Reactions at Supports and Connections
No. Types pf Connection Reaction force Description
6 member pin connected The reaction is a force
to collar on smooth rod which acts
perpendicular to the rod.
3.2 Reactions at Supports and Connections
Group 2: Two Unknown Force

No. Types pf Connection Reaction force Description

7 smooth pin or hinge The reactions are two
components of
force

8 member fixed connected The reactions are the

to collar on smooth rod couple moment
and the force which acts
perpendicular to the rod.
3.2 Reactions at Supports and Connections
Group 3: Three Unknown Force

No. Types pf Connection Reaction force Description

9 fixed support (welded/glue) The reactions are the
couple moment
and the two force
components
3.2 Reactions at Supports and Connections
3.2 Reactions at Supports and Connections
EXAMPLE 9
FBD:

Pin/hinge Rocker
3.2 Reactions at Supports and Connections
EXAMPLE 10
FBD:
3.2.1 Equilibrium of Rigid Body in Two Dimensions
To find unknown forces in rigid body analysis, apply equation of equilibrium;

෍ Fx = 0 ; ෍ Fy = 0 ; ෍MA = 0 (where A is at any point) or;

෍ Fx = 0 ; ෍ MA = 0 ; ෍MB = 0 (where A and B are at any point) or;

෍ Fy = 0 ; ෍ MA = 0 ; ෍MB = 0 (where A and B are at any point) or;

෍ MA = 0 ; ෍ MB = 0 ; ෍MC = 0 (where A, B and C are at any point)

# choose one set of equations to solve each member

3.2.1 Equilibrium of Rigid Body in Two Dimensions
EXAMPLE 9
Determine the horizontal and vertical components of reaction on the beam caused by the
pin at B and the rocker at A.
3.2.1 Equilibrium of Rigid Body in Two Dimensions
Solution:
1st step: Draw FBD (show all reaction force at support and resolve all force to x, y-component)
3.2.1 Equilibrium of Rigid Body in Two Dimensions
2nd step: Apply equation of equilibrium to find unknown forces
3.2.1 Equilibrium of Rigid Body in Two Dimensions
EXAMPLE 10
Determine the horizontal and vertical components of reaction at the pin A and the
reaction of the rocker B on the beam.
3.2.1 Equilibrium of Rigid Body in Two Dimensions
Solution:
1st step: Draw FBD (show all reaction 2nd step: Apply equation of equilibrium
force at support and resolve all force to x, to find unknown forces
y-component)
3.3 Equilibrium of a Two-Force and Three-Force Body
Two-force Member
• A member/rigid body with only two forces acting on it. Normally, this apply on a
member/rigid body that has two points.
• For a two-force member, the two forces must have the SAME MAGNITUDE, SAME LINE
OF ACTION, and OPPOSITE SENSE.
3.3 Equilibrium of a Two-Force and Three-Force Body
Three-force Member

• If a member is subjected to only three forces , it is called a three-force member.

• Moment equilibrium can be satisfied only if the three forces form a concurrent or
parallel force system.
Example:
If the lines of action of F1 and F2 intersect at point O , then the line of action of F3 must also pass through
point O so that the forces satisfy MO = 0 .
Acknowledgement
The contents and figures used this chapter are duplicated and edited from the following references.

References
1. Ferdinand P. Beer & Russell Johnston Jr., Vector Mechanics for Engineers: Statics, 8th ed. in SI
units, McGraw-Hill, 2007.
2. J. L. Meriam & L.G. Kraige, Engineering Mechanics, Statics, 6th ed. SI ver., J. Wiley & Sons,
2007.
3. R. C. Hibbeler, Engineering Mechanics, Statics, 12th ed. in SI units, Prentice Hall, 2010.
4. Zair Asrar Ahmad, Abd. Rahman Musa, Statics Made Simple, 2nd Edition, 2015