ENS161: Statics of Rigid Bodies

Lecture 5: Equilibrium of a Rigid Body

Prepared by: Engr. Jared Jan A. Abayan, MSEE

Conditions of a Rigid-Body Equilibrium

The resultant force and couple moment should both be equal

to zero in order to achieve equilibrium.

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Support Reactions

Supports prevent the translation of a body in a given

direction by exerting a force on the body in the opposite
direction.

Supports also prevents the rotation of a body in a given

direction by exerting a couple-moment on the body in the
opposite direction.

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Support Reactions

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Support Reactions

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Support Reactions

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Support Reactions

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Example # 1 – Equilibrium of a Rigid Body
Determine the horizontal and vertical components of the reactions on the
beam caused by the pin at B and the rocker at A as shown in the figure.
Neglect the weight of the beam.

Answer: 𝑩𝑿 = 𝟒𝟐𝟒 𝑵, 𝑩𝒚 = 𝟒𝟎𝟓 𝑵, 𝑨𝒚 = 𝟑𝟏𝟗 𝑵

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Example # 2 – Equilibrium of a Rigid Body
The cord shown in the figure 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.

Answer: 𝑨𝑿 = 𝟓𝟎 𝒍𝒃, 𝑨𝒚 = 𝟏𝟖𝟕 𝒍𝒃, 𝑻 = 𝟏𝟎𝟎 𝒍𝒃

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Example # 3 – Equilibrium of a Rigid Body
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.

Answer: 𝑨𝑿 = 𝟓𝑵, 𝑨𝒚 = 𝟕𝟒𝑵, 𝑴𝑨 = 𝟑𝟐. 𝟔 𝑵 − 𝒎, 𝑭𝑨 = 𝟕𝟒. 𝟏 𝑵

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Example # 4 – Equilibrium of a Rigid Body
Determine the support reactions on the member in the figure shown. The
collar at A is fixed to the member and can slide vertically along the
vertical shaft.

Answer: 𝑨𝑿 = 𝟎𝑵, 𝑵𝑩 = 𝟗𝟎𝟎𝑵, 𝑴𝑨 = 𝟏. 𝟒𝟗 𝒌𝑵 − 𝒎

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Two-Force Members
Forces are applied at only two points on the member. These
forces acting on a member must have the same magnitude,
act in opposite directions, and have the same line of action,
directed along the line joining the two points where these
forces act.

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Three-Force Members
A member is subjected to only three forces; thus it is called
a three-force member. Moment equilibrium can be satisfied
only if the three forces form a concurrent or parallel force
system.

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Equilibrium in Three Dimensions

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Equilibrium in Three Dimensions

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Equilibrium in Three Dimensions

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Equilibrium in Three Dimensions

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Equilibrium in Three Dimensions

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Statically Indeterminate Members
When a body has redundant supports, that is, more supports
than those which are necessary to hold it in equilibrium, it
becomes statically indeterminate.

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Example # 5 – Equilibrium of a Rigid Body

The boom is used to support the 75-

lb flowerpot in the figure. Determine
the tension developed in wires AB
and AC.

Answer: 𝑭𝑨𝑩 = 𝑭𝑨𝑪 = 𝟖𝟕. 𝟓 𝒍𝒃

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Example # 6 – Equilibrium of a Rigid Body

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. Using only one
equilibrium equation, obtain a direct solution for
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. In other words, no couple moments are
required at this support.

Answer: 𝑭𝑩 = 𝟒𝟗𝟎. 𝟓𝟎 𝑵

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ENS161: Statics of Rigid Bodies
Lecture 6: Structural Analysis

Prepared by: Engr. Jared Jan A. Abayan, MSEE

Simple Trusses

A truss is a structure composed of slender members joined

together at their end points. The members commonly used in
construction consist of wooden struts or metal bars.

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Assumptions for Design

All loadings are applied at the joints and all members are
joined together by smooth pins.

Each truss member will act as a two-force member, and

therefore, the force acting at each end of the member will be
directed along the axis of the member.

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Assumptions for Design

If the force tends to elongate the

member, it is a Tensile Force (T);
whereas if it tends to shorten the
member, it is a compressive force (C).

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Simple Truss
If three members are pin-connected at their ends, they form
a triangular truss that will be rigid.

If a truss can be constructed by expanding the basic

triangular truss, it is called a simple truss.

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Method of Joints

Since the members of a plane truss are straight two-force

members lying in a single plane, each joint is subjected to a
force system that is coplanar and concurrent.

The method of joints always start at a joint having at least

one known force and at most two unknown forces.

Always assume the unknown member forces acting on the

joint’s free-body diagram to be in tension.

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Example # 1 – Method of Joints
Determine the force in each member of the truss shown in the figure.
Indicate whether the members are in tension or compression.

Answer: 𝑭𝑨𝑩 = 𝟕𝟓𝟎𝑵 𝑪 , 𝑭𝑨𝑫 = 𝟒𝟓𝟎𝑵 𝑻 , 𝑭𝑫𝑩 = 𝟐𝟓𝟎 𝑵 𝑻 ,

𝑭𝑫𝑪 = 𝟐𝟎𝟎 𝑵 𝑪 , 𝑭𝑪𝑩 = 𝟔𝟎𝟎 𝑵 (𝑪)
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Zero-Force Members
If only two non-collinear members form a truss joint and no
external load or support reaction is applied to the joint, the
two members must be zero-force members.

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Zero-Force Members
If three members form a truss joint for which two of the
members are collinear, the third member is a zero-force
member provided no external force or support reaction has
a component that acts along this member.

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Example # 2 – Zero-Force Members
Using the method of joints, determine all the zero-force members of the
Fink roof truss shown in the figure. Assume all joints are pin connected.

Answer: 𝑭𝑮𝑪 = 𝑭𝑫𝑭 = 𝑭𝑭𝑪 = 𝟎𝒌𝑵, 𝑭𝑩𝑯 = 𝟐𝒌𝑵,

𝑭𝑪𝑯 𝒊𝒔 𝒏𝒐𝒕 𝒂 𝒛𝒆𝒓𝒐 𝒇𝒐𝒓𝒄𝒆 𝒎𝒆𝒎𝒃𝒆𝒓
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Method of Sections
The method of sections is based on the principle that if the
truss is in equilibrium, then any segment of the truss is also
in equilibrium.

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Method of Sections

Step 1: Make a decision on how to “cut” or section the truss

through the members where forces are to be determined.

Step 2: Before isolating the appropriate section, it may be

necessary to determine the truss’s support reactions. If this
is done then the three equilibrium equations will be
available to solve for member forces at the section.

Step 3: Draw the FBD of the diagram of that segment of the

sectioned truss which has the least number of forces acting
on it.

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Example # 3 – Method of Sections
Determine the force in members GE, GC, and BC of the truss shown in the
figure. Indicate whether the members are in tension or compression.

Answer: 𝑭𝑩𝑪 = 𝟖𝟎𝟎 𝑵 𝑻 , 𝑭𝑮𝑬 = 𝟖𝟎𝟎 𝑵 𝑪 , 𝑭𝑮𝑪 = 𝟓𝟎𝟎 𝑵 (𝑻)

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Example # 4 – Method of Sections
Determine the force in member CF of the truss shown in the figure.
Indicate whether the member is in tension or compression. Assume each
member is pin connected.

Answer: 𝑭𝑪𝑭 = 𝟎. 𝟓𝟖𝟗 𝒌𝑵, 𝑪𝒐𝒎𝒑𝒓𝒆𝒔𝒔𝒊𝒐𝒏

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Example # 5 – Structural Analysis
Determine the force in member EB of the roof truss shown in the figure.
Indicate whether the member is in tension or compression.

Answer: 𝑭𝑬𝑩 = 𝟐𝟎𝟎𝟎 𝑵, 𝑻𝒆𝒏𝒔𝒊𝒐𝒏

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Space Trusses
A space truss consists of members joined together at their
ends to form a stable three-dimensional structure. The
simplest form of a space truss is a tetrahedron.

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Example # 6 – Space Truss
Determine the forces acting in the members of the space truss shown in
the figure. Indicate whether the members are in tension or compression.

Answer: 𝑭𝑨𝑪 = 𝑭𝑨𝑬 = 𝟎, 𝑭𝑨𝑩 = 𝟒𝒌𝑵 𝑻 , 𝑭𝑪𝑩 = 𝟓. 𝟔𝟓 𝒌𝑵 𝑪 , 𝑭𝑩𝑫 = 𝟐 𝒌𝑵 𝑻

𝑭𝑩𝑬 = 𝑭𝑫𝑬 = 𝑭𝑫𝑪 = 𝑭𝑪𝑬 = 𝟎
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ENS161: Statics of Rigid Bodies
Lecture 7: Internal Forces

Prepared by: Engr. Jared Jan A. Abayan, MSEE

Internal Loadings Developed in Structural Members
There are four types of resultant internal loads in a member.
These are the normal and shear forces and the bending and
torsional moments. These loadings generally vary from point
to point. They can be determined using the method of
sections.

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Internal Loadings Developed in Structural Members
The force that acts perpendicular to the cross-section is
termed the normal force.

The force that is tangent to the cross-section is called the

shear force.

The couple moment is referred to as the bending moment.

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Analysis of Internal Forces
Step 1: Determine all support reactions.

Step 2: Keep all distributed loadings, couple moments, and

forces acting on the member in their exact locations, then
pass an imaginary section through the member,
perpendicular to its axis at the point where the internal
loadings are to be determined.

Step 3: Draw the FBD of the segment that has the least
number of loads on it, and indicate the components of the
internal force and couple moment resultants at the cross-
section acting in their positive directions.

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Example # 1 – Internal Forces
Determine the normal force, shear force, and bending moment acting just
to the left, point B, and just to the right, point C, of the 6-kN force on the
beam as shown in the figure.

Answer: 𝑵𝑩 = 𝑵𝑪 = 𝟎, 𝑽𝑩 = 𝟓 𝒌𝑵, 𝑴𝑩 = 𝟏𝟓 𝒌𝑵 − 𝒎, 𝑽𝑪 = −𝟏 𝒌𝑵, 𝑴𝑪 = 𝟏𝟓 𝒌𝑵 − 𝒎

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Example # 2 – Internal Forces
Determine the normal force, shear force, and bending moment at C of the
beam shown in the figure.

Answer: 𝑵𝑪 = 𝟎, 𝑽𝑪 = 𝟒𝟓𝟎 𝑵, 𝑴𝑪 = −𝟐𝟐𝟓 𝑵 − 𝒎

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Example # 3 – Internal Forces
The uniform sign shown in the figure has a
mass of 650 kg and is supported on the
fixed column. Design codes indicate that
the expected maximum uniform wind
loading that will occur in the area where it
is located is 900 Pa. Determine the internal
loadings at A.
Answer: 𝑭𝑨 = 𝟏𝟑. 𝟓𝒊 + 𝟔. 𝟑𝟖𝒌 𝒌𝑵,
𝑴𝑨 = 𝟏𝟗. 𝟏𝒊 + 𝟕𝟎. 𝟗𝒋 − 𝟒𝟎. 𝟓 𝒌 𝒌𝑵 − 𝒎

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Beams
Beams are structural members designed to support loadings
applied perpendicular to their axes. They are often classified
as to how they are supported.

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Shear and Moment Diagrams
Shear and Moment diagrams for a beam provide graphical
descriptions of how the internal shear and moment vary
throughout the beam’s length.

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Procedure for Shear and Moment Diagrams
Step 1: Determine all the reactive forces and couple
moments acting on the beam and resolve all the forces in to
components acting perpendicular and parallel to the beam’s
axis.

Step 2: Specify separate coordinates x having an origin at

the beam’s left end and extending to regions of the beam
between concentrated forces and/or couple moments, or
where the distributed loading is continuous.

Step 3: Obtain the values for the Shear and Moment and plot
their respective diagrams.

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Example # 4 – Shear and Moment Diagram
Draw the shear and moment diagrams for the shaft shown in the figure.
The support at A is a thrust bearing and the support at C is a journal
bearing.

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Example # 4 – Shear and Moment Diagram

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Example # 5 – Shear and Moment Diagram
Draw the shear and moment diagrams for the beam shown in the figure.

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Example # 5 – Shear and Moment Diagram

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Relationship Between Distributed Load and Shear
The slope of the shear diagram at a certain point is equal to
the intensity of the distributed loading, where positive
distributed loading is upward.

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Relationship Between Distributed Load and Shear

The change in the shear between two points is equal to the

area under the distributed-loading curve between the points.

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Relationship Between Distributed Load and Shear

The slope of the moment diagram at a point is equal to the

shear.

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Relationship Between Distributed Load and Shear

The change in the moment between two points is equal to

the area under the shear diagram between the two points.

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Example # 6 – Shear and Moment Diagram
Draw the shear and moment diagrams for the cantilever beam shown in
the figure.

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Example # 6 – Shear and Moment Diagram

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Example # 7 – Shear and Moment Diagram
The shaft in the figure is supported by a thrust bearing at A and a journal
bearing at B. Draw the shear and moment diagrams.

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Example # 7 – Shear and Moment Diagram

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