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Rigid Body
A rigid body is an ideal object that has dimensions
and mass but does not deform under loading;

Equilibrium of a Rigid Body

The size and shape does significantly affect the

response (reaction at supports) to applied force/s;
A force applied to a rigid body may be translated
along its line of action without altering its effects
(principle of transmissibility).

Necessary and Sufficient Conditions

of Equilibrium of a Rigid Body
The necessary AND sufficient condition for a rigid
body to be in equilibrium is that the resultant force
and couple acting on the rigid body must be zero.

Fi 0

i1

3 independent equations in 2 D
n

xi

0 R

i 1

yi

0 Mz

zi

i 1

i 1

xi

0 R

i 1

Rigid body equilibrium

Mx

M
i 1

n
yi

i 1

Those are vector equations.

6 independent equations in 3D

i 1

Particle equilibrium

My

M
i 1

zi

zi

i 1

n
xi

F
n

yi

Mz

M
i 1

Isolation of bodies: Free Body Diagram

-In a system of interacting bodies, to be able to apply Newtons
laws properly, a systematic technique is to:
isolate each of the bodies or a collection of bodies
identify the forces acting on each of the bodies, and then
apply the equilibrium equations to each.
-The sketch of the isolated body or system of bodies considered as
a single body, with all the external forces acting on it
by mechanical contact with other bodies
by gravitational attraction (weight)
when the rest of the bodies are imagined to be replaced by
their actions, it is known as a free body diagram.

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Free-Body Diagram

Isolation of bodies: Free Body Diagram

The free body diagram is the most important
single step in the solution of problems in
mechanics.
Remember:
1. The forces on the isolated body (or system of
bodies) are to be considered.
2. Apply Newtons Third Law (every action has
an equal, opposite and collinear reaction)
carefully

Steps of Drawing a FBD

1. Clearly identify the body (or system of bodies) to be isolated (the
FREE body).
2. Draw a diagram of this free body completely isolated from the
rest of the bodies.
3. Traverse the boundary of this free body and indicate ALL forces
acting ON the free body (contact forces with other bodies forces)
Known forces: Show vector arrows with proper magnitude
(UNITS!!), direction and sense.
Unknown magnitude but known direction of force: Show vector
arrows with magnitude assumed as positive (if calculations show
that the magnitude is negative, the minus sign indicates that the
sense is opposite to the one assumed)
Unknown magnitude and direction of force: Show x- and ycomponents of the vector with unknown magnitudes.
4. Show coordinate directions on the diagram

Reactions at Supports and Connections for a

Two-Dimensional Structure

Reactions at Supports and Connections

for a Two-Dimensional Structure

Reactions equivalent to a force of unknown direction and

magnitude.

Reactions equivalent to a force with known line of action.

4 - 12

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Reactions at Supports and Connections

for a Two-Dimensional Structure

Example

Draw complete free-body diagram of the beam shown, which

has a mass m.

Reactions equivalent to a force of unknown direction

and magnitude and a couple of unknown magnitude.
4 - 13

Solution

Equilibrium of a rigid body

Non-concurrent forces
is defined as the forces whose lines of action do not pass
through a single common point.
The forces cause the rotational motion on the body.
The combination of concurrent and non-concurrent forces cause
rolling motion on the body. (translational
translational and rotational
motion)
Figure below shows an example of non-concurrent forces.

Known forces
Unknown forces

Ay

Ax

F4

mg

Torque (moment of a force),

The magnitude of the torque is defined as the product of a

force and its perpendicular distance from the line of action
of the force to the point (rotation axis).
axis)
OR

Fd

where

: magnitude of the torque

F : magnitude of the force
d : perpendicu lar distance (moment arm)

Because of d r sin
where r : distance between the pivot point (rotation
axis) and the point of application of force.
Thus

rF

: angle between F and r

Fr sin
where

F2

F1

F3

It is a vector quantity.
quantity
The dimension of torque is

F d ML2T 2
The unit of torque is N m (newton metre), a vector product
unlike the joule (unit of work),
work) also equal to a newton metre,
which is scalar product.
product
Torque is occurred because of turning (twisting) effects of the
forces on a body.
Sign convention of torque:
Positive - turning tendency of the force is anticlockwise
anticlockwise.
Negative - turning tendency of the force is clockwise
clockwise.
The value of torque depends on the rotation axis and the
magnitude of applied force.
force

OR

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Case 1 :
Consider a force is applied to a metre rule which is pivoted at
one end as shown in the figures below.

F Fd

Case 2 :
Consider three forces are applied to the metre rule which is
pivoted at one end (point O) as shown below:

F3 d1 r1 sin 1

F1

(anticlockwise)

r2

d
Line of action of a force
Pivot point
(rotation axis)

Point of action of a force

d r sin

Equilibrium of a rigid body

F F

nett

OR

0,

0,

Problem solving strategies for equilibrium of a rigid body

The following procedure is recommended when dealing with
problems involving the equilibrium of a rigid body:
Sketch a simple diagram of the system to help
conceptualize the problem.
Sketch a separate free body diagram for each body.
Choose a convenient coordinate axes for each body and
construct a table to resolve the forces into their
components and to determine the torque by each force.
Apply the condition for equilibrium of a rigid body :
Solve the equations for the unknowns.

0 ;

0 and

F2

Therefore the resultant (nett)

torque is

r1

1 2 3

O F1d 1 F2 d 2
Caution :
If the line of action of a force is through the rotation axis
then

Fr sin
0

(anticlockwise)

Rigid body is defined as a body with definite shape that

doesnt change, so that the particles that compose it stay in
fixed position relative to one another even though a force is
exerted on it.
it
If the rigid body is in equilibrium,
equilibrium means the body is
translational and rotational equilibrium.
equilibrium
There are two conditions for the equilibrium of forces acting on
a rigid body.
The vector sum of all forces acting on a rigid body must
be zero.

d 2 r2 sin 2

Fd Fr sin

1 F1 d1 F1 r1 sin 1
2 F2 d 2 F2 r2 sin 2
3 F3 d 3 F3 r3 sin 3 0

and

The vector sum of all external torques acting on a rigid

body must be zero about any rotation axis.
axis

nett

This ensures rotational equilibrium.

equilibrium
This is equivalent to the three independent scalar
equations along the direction of the coordinate axes,

0,

0,

Centre of gravity, CG
is defined as the point at which the whole weight of a body
may be considered to act.
act
A force that exerts on the centre of gravity of an object will
cause a translational motion.
motion

Problem 1

A fixed crane has a mass of 1000 kg

and is used to lift a 2400 kg crate. It
is held in place by a pin at A and a
rocker at B. The center of gravity of
the crane is located at G.
Determine the components of the
reactions at A and B.

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Problem 2

Problem 2

Draw the free-body diagram of the uniform beam

shown below. The beam has a mass of 100 kg.

Problem 3

Problem 3
SOLUTION:

Determine the reactions at the wheels.

M A 0 : 2320 lb 25in. 4980 lb 6in.

Create a free-body diagram for the car

with the coordinate system aligned
with the track.

R2 50in. 0
R2 1758 lb

Determine the reactions at the wheels

by solving equations for the sum of
moments about points above each axle.
Determine the cable tension by
A loading car is at rest on an inclined
solving the equation for the sum of
track. The gross weight of the car and
force components parallel to the track.
its load is 5500 lb, and it is applied at
at G. The cart is held in position by
Check the values obtained by verifying
the cable.
that the sum of force components
perpendicular to the track are zero.
Determine the tension in the cable and
the reaction at each pair of wheels.

Problem 4

M B 0 : 2320 lb 25in. 4980 lb 6in.

R1 50in. 0
R1 562 lb

Create a free-body diagram

Wx 5500 lb cos 25

W y 5500 lb sin 25

Determine the cable tension.

Fx 0 : 4980 lb T 0

4980 lb

T 4980 lb

2320 lb

Equilibrium of a Two-Force Body

Consider a plate subjected to two forces F1 and F2
For static equilibrium, the sum of moments about A
must be zero. The moment of F2 must be zero. It
follows that the line of action of F2 must pass
through A.

The frame supports part of the roof of

a small building. The tension in the
cable is 150 kN.
Determine the reaction at the fixed
end E.

Similarly, the line of action of F1 must pass through

B for the sum of moments about B to be zero.

Requiring that the sum of forces in any direction be

zero leads to the conclusion that F1 and F2 must
have equal magnitude but opposite sense.

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Equilibrium of a Three-Force Body

Problem 5

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.

A man raises a 10 kg joist, of

length 4 m, by pulling on a rope.
Find the tension in the rope and
the reaction at A.

The lines of action of the three forces must be

concurrent or parallel.

Problem 5

Determine the horizontal and vertical components of reaction

for the beam loaded as shown above. Neglect the weight of the
beam in the calculation.