Ch.05 Equilibrium of A Rigid Body

2/13/2013
Engineering Mechanics Statics
5.01
Equilibrium of a Rigid Body
5.02
Chapter Objectives To develop the equations of equilibrium for a rigid body To introduce the concept of the free-body diagram for a rigid body To show how to solve rigid-body equilibrium problems using the equations of equilibrium
05. Equilibrium of a Rigid Body
HCM City Univ. of Technology, Faculty of Mechanical Engineering
Nguyen Tan Tien
Nguyen Tan Tien
5.03
5.04
1. Conditions for Rigid-Body Equilibrium - The force and couple system acting on a body can be reduced to an equivalent resultant force and resultant couple moment at an arbitrary point
1. Conditions for Rigid-Body Equilibrium - The two equations of equilibrium for a rigid body = = 0 = = 0 where is an arbitrary point - Equilibrium in two dimensions = 0 = 0 = 0 - Note , known value unknown value ?
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
- A rigid body is in equilibrium = = 0, = = 0 The sum of the forces acting on the body is equal to zero The sum of the moments of all forces in the system about point , added to all the couple moments, is equal to zero
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2. Free-Body Diagram - A Free-Body Diagram: a sketch of the isolated or free body which shows all the pertinent weight forces, the externally applied loads, and the reaction from its supports and connections acting upon it by the removed elements - General rules for support reactions 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
2. Free-Body Diagram - Support Reactions Roller: prevents the beam from translating in the vertical direction, the roller will only exert a force on the beam in this direction
Nguyen Tan Tien
Nguyen Tan Tien
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2. Free-Body Diagram - Support Reactions Roller: prevents the beam from translating in the vertical direction, the roller will only exert a force on the beam in this direction
2. Free-Body Diagram Pin: prevents translation of the beam in any direction
?
Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
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2. Free-Body Diagram Pin: prevents translation of the beam in any direction
2. Free-Body Diagram Fixed Support: prevents both translation and rotation of the beam
? ? = + ? ? ?
? = + ? ? ?
Nguyen Tan Tien
Nguyen Tan Tien
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2. Free-Body Diagram - Supports for Rigid Bodies Subjected to 2D Force Systems Cable: the reaction is a tension force which acts away from the member in the direction of the cable
? Weightless link: the reaction is a force which acts along the axis of the link ?
2. Free-Body Diagram
Roller: the reaction is a force which acts perpendicular to the surface at the point of contact ? Roller or pin in confined smooth slot: the reaction is a force which acts perpendicular to the slot ?
Nguyen Tan Tien
Nguyen Tan Tien
2/13/2013
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Rocker: the reaction is a force which acts perpendicular to the surface at the point of contact
? Smooth contacting surface: the reaction is a force which acts perpendicular to the surface at the point of contact ?
Member pin connected to collar on smooth rod: the reaction is a force which acts perpendicular to the rod
? Smooth pin or hinge: the reactions are two components of force, or the magnitude and direction of the resultant force ? ?
Nguyen Tan Tien
Nguyen Tan Tien
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2. Free-Body Diagram Member fixed connected to collar on smooth rod: the reactions are the couple moment and the force which acts perpendicular to the rod ? , ? Fixed support: the reactions are the couple moment and the two force components, or the couple moment and the magnitude and direction of the resultant force
2. Free-Body Diagram - Some typical examples of actual supports
? , ? ?
Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
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2. Free-Body Diagram - Internal Forces
2. Free-Body Diagram - Weight and the Center of Gravity
= : mass, : gravity acceleration, / 2

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
2/13/2013
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2. Free-Body Diagram - Idealized Models
2. Free-Body Diagram - Example 5.1 Draw the free-body diagram of the uniform beam. The beam has a mass of 100
Solution
Nguyen Tan Tien
Nguyen Tan Tien
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2. Free-Body Diagram - Example 5.2 Draw the free-body diagram of the foot lever. The operator applies a vertical force to the pedal so that the spring is stretched 36. and the force in the short link at is 90
2. Free-Body Diagram - Example 5.3 Two smooth pipes, each having a mass of 300, are supported by the forked tines of the tractor. Draw the free-body diagrams for each pipe and both pipes together
Solution Solution Spring force = 36 3.5 = 126
Nguyen Tan Tien
Nguyen Tan Tien
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2. Free-Body Diagram - Example 5.4 Draw the free-body diagram of the unloaded platform that is suspended off the edge of the oil rig. The platform has a mass of 200 Solution
Problems - Prob.5.1 Draw the free-body diagram of the 50 paper roll which has a center of mass at and rests on the smooth blade of the paper hauler. Explain the significance of each force acting on the diagram
Nguyen Tan Tien
Nguyen Tan Tien
2/13/2013
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Problem - Prob.5.2 Draw the free-body diagram of member , which is supported by a roller at and a pin at . Explain the significance of each force on the diagram
Problem - Prob.5.3 Draw the free-body diagram of the dumpster of the truck, which has a weight of 5000 and a center of gravity at . It is supported by a pin at and a pin-connected hydraulic cylinder (short link). Explain the significance of each force on the diagram
Nguyen Tan Tien
Nguyen Tan Tien
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Problem - Prob.5.4 Draw the free-body diagram of the beam which supports the 80 load and is supported by the pin at and a cable which wraps around the pulley at . Explain the significance of each force on the diagram
Problem - Prob.5.5 Draw the free-body diagram of the truss that is supported by the cable and pin . Explain the significance of each force acting on the diagram
Nguyen Tan Tien
Nguyen Tan Tien
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Problem - Prob.5.6 Draw the free-body diagram of the bar, which has a negligible thickness and smooth points of contact at , , and . Explain the significance of each force on the diagram
3. Equations of Equilibrium - The conditions for equilibrium in two dimensions = 0 = 0 = 0 = 0 = 0 - Alternative sets of equilibrium equations The first alternative set = 0 = 0 = 0 The second alternative set = 0 = 0 = 0
Nguyen Tan Tien
2/13/2013
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3. Equations of Equilibrium - Example 5.5 Determine the horizontal and vertical components of reaction on the beam caused by the pin at and the rocker. Neglect the weight of the beam Solution Free-body Diagram Equations of Equilibrium + : 600450 = 0 + : 600450 100 + = 0 + : 7 + 600450 5 600450 0.2 +100 2 = 0 = 319, = 424, = 405
3. Equations of Equilibrium - Example 5.6 The cord supports a force of 100 and wraps over the frictionless pulley. Determine the tension in the cord at and the horizontal and vertical components of reaction at pin Solution Free-body Diagram Equations of Equilibrium + : + 300 = 0 + : 450 100 = 0 + : 100 0.5 0.5 = 0 = 100, = 50, = 187 Note: The tension remains constant as the cord passes over the pulley
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3. Equations of Equilibrium - Example 5.7 The member is pin-connected at and rests against a smooth support at . Determine the horizontal and vertical components of reaction at the pin Solution Free-body Diagram Equations of Equilibrium + : 300 = 0 + : 300 60 = 0 + : 0.75 60 1 90 = 0 = 200 = 100 = 233
3. Equations of Equilibrium - Example 5.8 The box wrench is used to tighten the bolt at . 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 Solution Free-body Diagram Equations of Equilibrium + : 52 13 + 30300 = 0 + : 52 13 30600 = 0 + : 52 13 0.3
12 12 5
30600 0.7 = 0 = 32.6, = 5, = 74

Nguyen Tan Tien
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3. Equations of Equilibrium - Example 5.9 Determine the horizontal and vertical components of reaction on the member at the pin , and the normal reaction at the roller Solution Free-body Diagram Equations of Equilibrium + : 300 = 0 + : 500 + 300 = 0 + : 500 3 + 300 6 300 2 = 0 = 536 = 268 = 286
3. Equations of Equilibrium - Example 5.10 The uniform smooth rod is subjected to a force and couple moment. If the rod is supported at by a smooth wall and at and either at the top or bottom by rollers, determine the reactions at these supports. Neglect the weight of the rod Solution Free-body Diagram Equations of Equilibrium + : 300 + 300 = 0 + : 300 + 300 + 300 = 0 + : 2 + 4000 6 +300300 8 = 0 = 1000.0, = 1346.4 = 173
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3. Equations of Equilibrium - Example 5.11 The uniform truck ramp has a weight of 400 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
3. Equations of Equilibrium - Example 5.12 Determine the support reactions on the member in the figure. The collar at is fixed to the member and can slide vertically along the vertical shaft Solution Free-body Diagram Equations of Equilibrium + : = 0 + : 900 = 0 + : 500 900 1.5 + (1450 + 3) = 0 = 0 = 900 = 1.49 = 1.49
Solution Free-body Diagram Equations of Equilibrium 0 0 = 10 0.165 + 400 0.12530 = 0 = /2 = 755.6

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4. Two- and Three-Force Members - The solutions to some equilibrium problems can be simplified by recognizing members that are subjected to only two or three forces - Two-Force Members Forces applied at only two points on the member
4. Two- and Three-Force Members - Three-Force Members A member is subjected to only three forces Moment equilibrium can be satisfied only if the three forces form a concurrent or parallel force systems If the lines of action of 1 and 2 intersect at point , then the line of action of 3 must also pass through point so that the forces satisfy: = 0
Force equilibrium:
Moment equilibrium: = 0 or = 0 | | = | |
If the three forces are all parallel, the location of the point of intersection will approach infinity
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4. Two- and Three-Force Members - Example 5.13 The lever is pin supported at and connected to a short link . If the weight of the members is negligible, determine the force of the pin on the lever at Solution Free-body Diagram Equations of Equilibrium = 1 (0.7/0.4) = 60.30 0 + : 45 + 400 = 0 0 + : 45 = 0 = 1.07 = 1.32
Fundamental Problems - F5.1 Determine the horizontal and vertical components of reaction at the supports. Neglect the thickness of the beam
Nguyen Tan Tien
Nguyen Tan Tien
2/13/2013
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Fundamental Problems - F5.2 Determine the horizontal and vertical components of reaction at the pin and the reaction on the beam at
Fundamental Problems - F5.3 The truss is supported by a pin at and a roller at . Determine the support reactions
Nguyen Tan Tien
Nguyen Tan Tien
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Fundamental Problems - F5.4 Determine the components of reaction at the fixed support . Neglect the thickness of the beam
Fundamental Problems - F5.5 The 25 bar has a center of mass at . If it is supported by a smooth peg at , a roller at , and cord , determine the reactions at these supports
Nguyen Tan Tien
Nguyen Tan Tien
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Fundamental Problems - F5.6 Determine the reactions at the smooth contact points , , and on the bar
5. Free-Body Diagrams (3D) - Supports for Rigid Bodies Subjected to 3D Force Systems Cable: the reaction is a force which acts away from the member in the known direction of the cable ? Smooth surface support: the reaction is a force which acts perpendicular to the surface at the point of contact ?
Nguyen Tan Tien
Nguyen Tan Tien
2/13/2013
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5. Free-Body Diagrams (3D) Roller: the reaction is a force which acts perpendicular to the surface at the point of contact ? Ball and socket: the reactions are three rectangular force components = ? + ? + ?
5. Free-Body Diagrams (3D) Single journal bearing: the reactions are two force and two couple-moment components which act perpendicular to the shaft = ? + ? = ? + ? Single journal bearing with square shaft: the reactions are two force and three couple-moment components = ? + ? = ? + ? + ?
Nguyen Tan Tien
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5. Free-Body Diagrams (3D) Single thrust bearing: the reactions are three force and two couple-moment components = ? + ? + ? = ? + ? Single smooth pin: the reactions are three force and two couple-moment components = ? + ? + ? = ? + ?
5. Free-Body Diagrams (3D) Single hinge: The reactions are three force and two couplemoment components = ? + ? + ? = ? + ? Fixed support: the reactions are three force and three couple-moment components = ? + ? + ? = ? + ?
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5. Free-Body Diagrams (3D) - Some typical examples of actual supports
5. Free-Body Diagrams (3D) - Example 5.14 Consider the two rods and plate, along with their associated free-body diagrams. The , , axes are established on the diagram and the unknown reaction components are indicated in the positive sense. The weight is neglected Solution
pin
ball-and-socket joint
journal bearing
thrust bearing
Free-body Diagrams
Properly aligned journal bearings at , ,
The force reactions developed by the bearings are sufficient for equilibrium since they prevent the shaft from rotating about each of the coordinate axes
Nguyen Tan Tien
Nguyen Tan Tien
2/13/2013
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5. Free-Body Diagrams (3D)
6. Equations of Equilibrium (3D) - Vector Equations of Equilibrium = 0 = 0 - Scalar Equations of Equilibrium = + + = 0 = + + = 0 or = 0, = 0, = 0 = 0, = 0, = 0
Pin at and cable
Moment components are developed by the pin on the rod to prevent rotation about the and axes
Properly aligned journal bearing at Only force reactions are developed by the bearing and hinge on the plate to prevent rotation about each and hinge at . Roller at coordinate axis. No moments at the hinge are developed
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7. Constrains and Statical Determinacy - To ensure the equilibrium of a rigid body, it is not only necessary to satisfy the equations of equilibrium, but the body must also be properly held or constrained by its supports - Redundant constraints: when a body has redundant supports, that is, more supports than are necessary to hold it in equilibrium, it becomes statically indeterminate - Statically indeterminate: there will be more unknown loadings on the body than equations of equilibrium available for their solutions
7. Constrains and Statical Determinacy - Example: the beam is shown together with its free-body diagram The beam is statically indeterminate because of additional (or redundant) supports reactions
There are five unknown , , , , for which only three equilibrium equations can be written = 0, = 0, = 0
Nguyen Tan Tien
Nguyen Tan Tien
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7. Constrains and Statical Determinacy - Example: the pipe is also statically indeterminate because of additional (or redundant) supports reactions
7. Constrains and Statical Determinacy Statically indeterminate the number of unknown reactive forces > the number of the derived static equilibrium equations How to solve ? - The additional equations needed to solve statically indeterminate problems are generally obtained from the deformation conditions at the points of supports - This is done in courses dealing with Mechanics of Materials
The pipe assembly has eight unknowns, for which only six equilibrium equations can be written
Nguyen Tan Tien
Nguyen Tan Tien
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7. Constrains and Statical Determinacy - Improper constraints: having the same number of unknown reactive forces as available equations of equilibrium does not always guarantee that a body will be stable when subjected to a particular loading - For example, the pin support at and the roller support at for the beam are placed in such away that the lines of action the reactive forces are concurrent at point
7. Constrains and Statical Determinacy - In three dimensions, a body will be improperly constrained if the lines of action of all the reactive forces intersect a common axis - For example, the reactive forces at the ball-and-socket supports at and all intersect the axis passing through and
- Consequently, the applied loading will cause the beam to rotates lightly about , and so the beam is improperly constrained
- Note: Since the moments of these forces about and are all zero, then the loading will rotate the member about the axis
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7. Constrains and Statical Determinacy - Another way in which improper constraining leads to instability occurs when the reactive forces are all parallel
7. Constrains and Statical Determinacy - Example 5.15 The homogeneous plate has a mass of 100 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 ball-and-socket joint at , and a cord at , determine the components of reaction at these supports Solution Free-body Diagram
- Note: the summation of forces along the axis will not be equal zero
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7. Constrains and Statical Determinacy Equations of Equilibrium = 0: = 0 = 0: = 0 = 0: + + 300 981 = 0 = 0: 2 + 981 1 + 2 = 0 = 0: 300 1.5 + 981 1.5 3 3 200 = 0 = 790 = 0 = 0 = 217 = 707
7. Constrains and Statical Determinacy - Example 5.16 Determine the components of reaction that the ball-and-socket joint at , the smooth journal bearing at , and the roller support at exert on the rod assembly Solution Free-body Diagram Equations of Equilibrium = 0: + = 0 = 0: = 0 = 0: 900 + + = 0 = 0: 9000.4 + 0.8 + 1.2 = 0 = 0: 900 0.4 + 0.6 = 0 = 0: 0.8 = 0 = 0, = 0, = 750, = 0, = 450, = 600
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7. Constrains and Statical Determinacy - Example 5.17 The boom is used to support the 75 flowerpot. Determine the tension developed in wires and Solution Free-body Diagram Equations of Equilibrium 2 6 + 3 = = 22 + (6)2 +32 2 6 3 = + 7 7 7 2 6 + 3 = = (2)2 +(6)2 +32 2 6 3 = + 7 7 7
7. Constrains and Statical Determinacy 2 6 3 = + 7 7 7 2 6 3 = + 7 7 7 = 75 = 0: + + = 0 2 6 3 6 + + 7 7 7 2 6 3 + 75 = 0 7 7 7 18 18 + 450 7 7 12 12 + + = 0 7 7

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7. Constrains and Statical Determinacy 18 18 + 450 7 7 12 12 + + = 0 7 7 = 0:

18 7
18 7
450 = 0 =0
= 0: 0 = 0 = 0:
12 7
7. Constrains and Statical Determinacy - Example 5.18 Rod is subjected to the 200 force. Determine the reactions at the ball-and-socket joint and the tension in the cables and Solution Free-body Diagram Equations of Equilibrium = + + = = = 200
12 7
= 87.5 = 87.5
Nguyen Tan Tien
Nguyen Tan Tien
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7. Constrains and Statical Determinacy Applying the force equation of equilibrium
= 0:
+ + + = 0
= 0: + + = 0 + + + + 200 = 0 0.5 + 200 + + 2 2 + = 0 + + + + 200 = 0 2 200 + 2 + 100 + 2 = 0 = 100, = 50, = 50, = 100, = 200
7. Constrains and Statical Determinacy - Example 5.19 The bent rod is supported at by a journal bearing, at by a ball-and-socket joint, and at by means of cable . Using only one equilibrium equation, obtain a direct solution for the tension in cable . The bearing at is capable of exerting force components only in the and directions since it is properly aligned on the shaft Solution Free-body Diagram
Nguyen Tan Tien
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7. Constrains and Statical Determinacy Equations of Equilibrium The cable tension may be obtained directly by summing moments about an axis that passes through points and 1 1 = = = 0.7071( + ) 2 2 The sum of the moments about this axis is zero = = 0 + = 0 0.7071( + ) 0.5 981 0.7071( + ) + 490.5 = 0 0.7071 + 490.5 + 0 + 0 = 0 = 490.5
Fundamental Problems - F5.7 The uniform plate has a weight of 500. Determine the tension in each of the supporting cables
=0
Nguyen Tan Tien
Nguyen Tan Tien
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Fundamental Problems - F5.8 Determine the reactions at the roller support , the balland-socket joint , and the tension in cable for the plate
Fundamental Problems - F5.9 The rod is supported by smooth journal bearings at , and and is subjected to the two forces. Determine the reactions at these supports
Nguyen Tan Tien
Nguyen Tan Tien
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Fundamental Problems - F5.10 Determine the support reactions at the smooth journal bearings , , and of the pipe assembly
Fundamental Problems - F5.11 Determine the force developed in cords , , and and the reactions of the ball-and-socket joint on the block
Nguyen Tan Tien
Nguyen Tan Tien
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Fundamental Problems - F5.12 Determine the components of reaction that the thrust bearing and cable exert on the bar
Nguyen Tan Tien
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Ch.05 Equilibrium of A Rigid Body

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Ch.05 Equilibrium of A Rigid Body

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2/13/2013

Engineering Mechanics Statics

Equilibrium of a Rigid Body

Engineering Mechanics Statics

Equilibrium of a Rigid Body

05. Equilibrium of a Rigid Body

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

Equilibrium of a Rigid Body

Engineering Mechanics Statics

Equilibrium of a Rigid Body

Engineering Mechanics Statics

Equilibrium of a Rigid Body

Engineering Mechanics Statics

Equilibrium of a Rigid Body

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

Equilibrium of a Rigid Body

Engineering Mechanics Statics

Equilibrium of a Rigid Body

2. Free-Body Diagram Pin: prevents translation of the beam in any direction

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Engineering Mechanics Statics

Equilibrium of a Rigid Body

Engineering Mechanics Statics

Equilibrium of a Rigid Body

2. Free-Body Diagram Pin: prevents translation of the beam in any direction

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

Equilibrium of a Rigid Body

Engineering Mechanics Statics

Equilibrium of a Rigid Body

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

Equilibrium of a Rigid Body

Engineering Mechanics Statics

Equilibrium of a Rigid Body

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

Equilibrium of a Rigid Body

Engineering Mechanics Statics

Equilibrium of a Rigid Body

2. Free-Body Diagram - Some typical examples of actual supports

Engineering Mechanics Statics

Equilibrium of a Rigid Body

Engineering Mechanics Statics

Equilibrium of a Rigid Body

2. Free-Body Diagram - Internal Forces