Engineering Mechanics

Equilibrium of Rigid Bodies: Frames and Machines

Main Text
Major chunk of lectures based on: Vector Mechanics for Engineers, Beer, Johnston et al., 10th ed., McGraw-Hill. Referred to as BJ10. Indian Edition available. Also, some problems from Beer and Johnston 3rd and 8th editions, BJ3 and BJ8. Dynamics will be exclusively taught from BJ10. Many wonderful new resources available in BJ10. Become more clear as we proceed. Many slide contents in our lectures from BJ10 Instructor resources. Attractive online features available for Instructors
http://highered.mcgrawhill.com/sites/1259062910/information_center_view0/

For purchase/other details kindly contact:

sagar.divekar@mheducation.com Sagar Divekar santosh.joshi@mheducation.com Santosh Joshi

Secondary Text
Many really interesting and challenging problems from:
Engineering Mechanics: Statics/Dynamics, Meriam and Kraige, Eds. 2, 5, 7. (MK3, MK5, MK7).

Online resources
Nice demonstrations from Wolfram (look under the mechanics section). Will show some of them.
http://demonstrations.wolfram.com/

Beautiful lectures notes by Prof. Allan Bower at Brown University

http://www.brown.edu/Departments/Engineering/Courses/En4/Notes/notes.html

Nice general lectures on Dynamics on youtube:

http://www.youtube.com/user/mellenstei

Nice animations to textbook problems:

http://wps.prenhall.com/wps/media/objects/3076/3149958/studypak/index_st.h tml

Equilibrium
System is in equilibrium if and only if the sum of all the forces and moment (about any point) equals zero.

Supports and Equilibrium

Any structure is made of many components. The components are the be connected by linkages. Other wise the structure will lose its integrity. Different component of structure talk to each other via linkages. The structure should be globally supported to prevent it from falling over.

Constraints and Reactions

There is an intricate relationship between kinematics (motion) and reactions (forces). Always note that in the case of supports displacement (rotation) and force (torque) in any given direction are complementary. If a support rigidly constrains a given degree of freedom (DOF) for a rigid body then it gives rise to a reaction corresponding to that DOF. Similarly if a support freely allows motion of particular DOF then there is no reaction from the support in that direction.

Free Body Diagram (FBD)

Single most important concept in engineering mechanics. Zoom in on a given component of a structure. Means replace supports (connections) with the corresponding reactions. Replace kinematic constraints with corresponding reactions. Concepts will get more clear as we proceed further.

Simple examples
FBD

FBD

Copyright, Dr. Romberg

Simple examples
FBD

FBD

Copyright, Dr. Romberg

Link: Two-Force Member

Member with negligible weight and arbitrary shape connected to other members by pins

Two Force member

http://oli.cmu.edu

Hydraulic Cylinder

Show Mathematica demo

Equilibrium of a Three-Force Body

Consider a rigid body subjected to forces acting at only 3 points. Assuming that their lines of action intersect, the moment of F1 and F2 about the point of intersection represented by D is zero. Since the rigid body is in equilibrium, the sum of the moments of F1, F2, and F3 about any axis must be zero. It follows that the moment of F3 about D must be zero as well and that the line of action of F3 must pass through D. The lines of action of the three forces must be concurrent or parallel.
Slide from BJ10

Sample Problem 4.6 BJ-10

SOLUTION:

Create a free-body diagram of the joist. Note that the joist is a 3 force body acted upon by the rope, its weight, and the reaction at A.
The three forces must be concurrent for static equilibrium. Therefore, the reaction R must pass through the intersection of the lines of action of the weight and rope forces. Determine the direction of the reaction R. Utilize a force triangle to determine the magnitude of the reaction R.

A man raises a 10-kg joist, of length 4 m, by pulling on a rope.

Find the tension T in the rope and the reaction at A.

4 15 BJ10

Sample Problem 4.6

Create a free-body diagram of the joist. Determine the direction of the reaction R.

BF AB cos 45o 4 m cos 45o 2.828 m CD AE 1 2 AF 1.414 m BD CD cot (45o 25o ) 1.414 m tan 20o 0.515 m

CE BF BD 2.828 0.515 m 2.313 m CE 2.313 tan 1.636 AE 1.414

58.6

4 16 BJ10

Sample Problem 4.6

Determine the magnitude of the reaction R. T R 98.1 N sin 31.4 sin110 sin 38.6

T 81.9 N R 147.8 N

4 17 BJ10

Hydraulic Cylinder

show Mathematica demo on this

Multiple Rigid Bodies Connected To Each Other

Pin Connections

All figures from http://oli.web.cmu.edu

Modeling 3D Problem as 2D

Point Connections

All figures from http://oli.web.cmu.edu

Contd..

All figures from http://oli.web.cmu.edu

Contd..

Free Body Diagram at PinConnection

All figures from http://oli.web.cmu.edu

Summary
Pin connection

Pin support
All figures from http://oli.web.cmu.edu

Roller

Slot Connection

Non-Symmetrical but bodies connected by pin are very close to each other

All figures from http://oli.web.cmu.edu

Introduction to Structures (BJ10) For the equilibrium of structures made of several

connected parts, the internal forces as well the external forces are considered.

In the interaction between connected parts, Newtons 3rd Law states that the forces of action and reaction between bodies in contact have the same magnitude, same line of action, and opposite sense.
Three categories of engineering structures are considered: a) Trusses: formed from two-force members, i.e., straight members with end point connections and forces that act only at these end points. b) Frames: contain at least one multi-force member, i.e., member acted upon by 3 or more forces. c) Machines: structures containing moving parts designed to transmit and modify forces.

6 - 30

Analysis of a Frame
Frames and machines are structures with at least one multiforce (>2 forces) member. Frames are designed to support loads and are usually stationary. Machines contain moving parts and transmit and modify forces.

A free body diagram of the complete frame is used to determine the external forces acting on the frame.
Internal forces are determined by dismembering the frame and creating free-body diagrams for each component. Forces on two force members have known lines of action but unknown magnitude and sense. Forces on multiforce members have unknown magnitude and line of action. They must be represented with two unknown components. Forces between connected components are equal, have the same line of action, and opposite sense.

6 - 31

Frames Which Cease To Be Rigid When Detached From Their Supports

Some frames may collapse if removed from their supports. Such frames cannot be treated as rigid bodies. A free-body diagram of the complete frame indicates four unknown force components which cannot be determined from the three equilibrium conditions (statically indeterminate). The frame must be considered as two distinct, but related, rigid bodies.

With equal and opposite reactions at the contact point between members, the two free-body diagrams show 6 unknown force components.
Equilibrium requirements for the two rigid bodies yield 6 independent equations. Thus, taking the frame apart made the problem solvable.

6 - 32

(BJ10)

More examples

MK5

BJ8

Sample Problem 6.4 (BJ10)

SOLUTION: 1. Create a free body diagram for the complete frame and solve for the support reactions.

Members ACE and BCD are connected by a pin at C and by the link DE. For the loading shown, determine the force in link DE and the components of the force exerted at C on member BCD. BJ10
6 - 34

Sample Problem 6.4

SOLUTION: 1. Create a free-body diagram for the complete frame and solve for the support reactions.

Fy 0 Ay 480 N

Ay 480 N

M A 0 480 N 100 mm B160 mm

B 300 N

Fx 0 B Ax
Ax 300 N
Ax 300 N

6 - 35

Sample Problem 6.4

SOLUTION (cont.): 2. Create a free body diagram for member BCD (since the problem asked for forces on this body). Choose the best FBD, then discuss your choice with a neighbor. Justify your choice.

FDE,x FDE,y

FDE

FDE,x

6 - 36

FDE

FDE,y

Sample Problem 6.4

SOLUTION (cont.): 3. Using the best FBD for member BCD, what is the one equilibrium equation that can directly find FDE? Please discuss.
80 28.07 tan 1 150

M C 0 FDE sin 250 mm 300 N 60 mm 480 N 100 mm

FDE 561 N
FDE 561 N C
Sum of forces in the x and y directions may be used to find the force components at C.

Fx 0 C x FDE cos 300 N 0 C x 561 N cos 300 N

Fy 0 C y FDE sin 480 N 0 C y 561 N sin 480 N

C x 795 N

6 - 37

C y 216 N

Sample Problem 6.4

With member ACE as a free body with no additional unknown forces, check the solution by summing moments about A.

M A FDE cos 300 mm FDE sin 100 mm C x 220 mm 561cos 300 mm 561sin 100 mm 795220 mm 0
(checks)

6 - 38

Machines
Machines are structures designed to transmit and modify forces. Typically they transform input forces (P) into output forces (Q).
Given the magnitude of P, determine the magnitude of Q.

Create a free-body diagram of the complete machine, including the reaction that the wire exerts. The machine is a nonrigid structure. Use one of the components as a free-body. Discuss why the forces at A are such.
Sum moments about A,

M A 0 aP bQ
6 - 39

a P b

Problem MK5
The car hoist allows the car to be driven on to the platform, after which the rear wheel is raised. If the loading from the rear wheel is 3300kg, determine the force in the hydraulic cylinder AB. Neglect the weight of the platform itself. Member BCD is a right angle bell crank pinned to the ramp at C

Problem MK5
For the paper punch shown in the figure find the punching force Q corresponding to a hand grip P.

Problem BJ8
Knowing that P = 411 lb and Q = 0, determine for the frame and loading shown (a) the reaction at D, (b) the force in member BF.

Questions?

Tutorial on 2D equilibrium

Problem 1
Knowing that each pulley has a radius of 250mm, determine the components of reactions at D and E.

Problem 2 (BJ10)
The shear shown is used to cut and trim electronic-circuit board laminates. For the position shown, determine (a) the vertical component of force exerted on the shearing blade at D, and (b) the reaction at C. It is given that P = 400 N.

Problem 3 (MK5)
An adjustable tow bar connecting the tractor unit H with the landing gear J of a large aircraft is shown in the figure. Adjusting the height of the hook F at the end of the tow bar is accomplished by the hydraulic cylinder CD is activated by a small hand-pump (not shown). For the nominal position shown of the triangular linkage ABC, calculate the force P supplied by the cylinder to the pin C to position the tow bar. The rig has a total weight of 220kg and is supported by the tractor hitch E.

Problem 4 (MK2)

The figure shows a special rig for erecting vertical sections of a construction tower. The assembly A has a mass of 1.5Mg and is elevated by the platform B which itself has a mass of 2Mg. The platform is guided up the fixed vertical columns by rollers and is activated by the hydraulic cylinder CD and links EDF and FH. For the particular position shown calculate the force R exerted by the hydraulic cylinder at D. Neglect mass of cylinder and links.

Problem 5 (BJ10)

A hydraulic-lift table is used to raise a 1000 kg crate. It consists of two identical linkages on which hydraulic cylinders exert equal forces. Members EDB and CG are each of length 2a, and member AD is pinned to the midpoint of EDB. If the crate is placed on the table, so that half of its weight is supported by the system shown, determine the force exerted by each cylinder in raising the crate for = 60 deg, a = 0.70m, and L = 3.20m. Show that the result obtained is independent of distance d.

Problem 6 (BJ3)

The elevation of a platform is controlled by two identical mechanisms only one of which is shown. A load of 5 kN is applied to the mechanism shown. Knowing that the pin at C can transmit only a horizontal force, determine (a) the force in link BE, (b) the components of the force exerted by the hydraulic cylinder on pin H.

Problem 7 (Shames)

A hydraulic lift platform for loading trucks supports a weight 2W. Only one side of the system has been shown; the other side is identical. What force F should the hydraulic cylinder provide to support the weight W. Assume that the hydraulic device is inclined at a clockwise of with respect to the horizontal. Neglect friction everywhere.

Problem 8, MK2

Obtain the clamping force Q developed for the pliers when the handle force is P.

Problem 9 BJ8

A 500-kg concrete slab is supported by a chain and sling attached to the bucket of the front-end loader shown. The action of the bucket is controlled by two identical mechanisms, only one of which is shown. Knowing that the mechanism supports half of the 500-kg slab, determine the force (a) in the cylinder CD, (b) in cylinder FH.

Problem 10
In the toy folding chair shown, members ABEH and CFK are parallel. Determine the components of all forces acting on member ABEH when a 160 N weight is placed on the chair. Draw completely all free body diagrams required. It may be assumed that the floor is frictionless and that half the weight is carried by each side of the chair and is applied at point M as shown.