ME2560 Statics Fall 2014

ME 2560 STATICS
Chapter VI. Equilibrium of a
Rigid Body

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Chapter VI. Equilibrium of a Rigid Body
ME2560 Statics Fall 2014

1. Conditions for Rigid Body Equilibrium

A rigid body (RB) is form by an infinite number of particles.
Individual particles of the RB are subjected to internal and external
forces.
Internal forces (fi) are caused by the interaction of the particle with the
particles adjacent to it.
External forces (Fi) are those caused by external effects such as
gravitational, electrical, magnetic, or contact forces.
The condition required for the particle to be in equilibrium is that

r r
Fi + f i = 0

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Chapter VI. Equilibrium of a Rigid Body
ME2560 Statics Fall 2014

If the equilibrium equation is applied to each of the other particles in the

body: r r
F + f
i i =0

The summation of the internal forces will equal zero since the internal
forces between particles within the body will occur in equal but opposite
collinear pairs (Newtons third law).
Thus, only the summation of external forces remains in the equation
for equilibrium: r
F i =0
For summation of moments acting on the ith particle about an arbitrary
point, the equilibrium equation for a specific particle results as
r r r
ri ( Fi + f i ) = 0
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Chapter VI. Equilibrium of a Rigid Body
ME2560 Statics Fall 2014

Writing similar equations for all the particles forming the body, the
summation of moments for all the particles is
r r r r
ri Fi + ri f i = 0
The second term is zero since the internal forces occur in equal but
opposite collinear pairs, therefore the resultant moment of each pair of
forces about point O is zero. Thus,
r
Mo = 0
Therefore, the equilibrium equations for a rigid body are
r r
F =0 Mo = 0
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Chapter VI. Equilibrium of a Rigid Body
ME2560 Statics Fall 2014

2. FreeBody Diagrams (FBD)

A FBD is a sketch of an element of a system where all the remaining
components of the system are removed and all of the forces acting on
the body of interest are shown.

The correct computation of the forces and moments acting on a RB

highly depends on the correct presentation of the FBD.

There are a number of different structural supports, which impose

different sort of forces on a rigid body.

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 a support prevents rotation, then a couple moment is exerted on the

body.
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Chapter VI. Equilibrium of a Rigid Body
ME2560 Statics Fall 2014
Next three of the most common supports are shown:
Roller Support.
Pin Support.
Fixed Support

Three of the most common supports.

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Chapter VI. Equilibrium of a Rigid Body
ME2560 Statics Fall 2014

External and Internal Forces

Since a rigid body is formed by an infinite number of particles, both
external and internal loadings may act on it.
However, when preparing a freebody diagram the internal forces are
not presented in the diagram since these forces always occur in opposite
collinear pairs having a net effect of zero on the body.

Weight and Center of Gravity

When a body is subjected to a gravitational field, each of its particles

has a specified weight. The sum of all the individual weights represents
the weight of the body W and the location where this weight W acts
corresponds to the center of gravity.

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Chapter VI. Equilibrium of a Rigid Body
ME2560 Statics Fall 2014

3. Equations of Equilibrium

The conditions sufficient and necessary to ensure equilibrium in a rigid

body are:
Summation of forces equal to zero
Summation of moments equal to zero.

In a coplanar system, these equations are reduced to:

F x =0 F y =0
M o =0

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Chapter VI. Equilibrium of a Rigid Body
ME2560 Statics Fall 2014

4. Two and Three Force Members

TwoForce Members: When a member is subjected to no couple
moments and forces are applied only at two points on the member, the
element is called twoforce member.

FB= FA

Two force members frequently found.

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Chapter VI. Equilibrium of a Rigid Body
ME2560 Statics Fall 2014

ThreeForce Members. If a member is subjected to only three forces

then it is necessary that the forces be concurrent or parallel for the
member to be in equilibrium.

F
1

Three force member.

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Chapter VI. Equilibrium of a Rigid Body
ME2560 Statics Fall 2014

5. Equilibrium in Three Dimensions

The first step when analyzing a three dimensional problem is to draw a
FBD. This must include:
The proper reactions at the supports.
The reactive forces and couple moments acting on the body analyzed

As in the two dimensional case, a force is developed by a support that

restricts the translation of the attached member, whereas a couple
moment is developed when the rotation of the attached member is
prevented.

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Chapter VI. Equilibrium of a Rigid Body
ME2560 Statics Fall 2014

The conditions for equilibrium if a rigid body subjected to a three

dimensional force system require that both the resultant force and the
resultant couple moment acting on the body be equal to zero.

The two equations for equilibrium in a rigid body can be expressed in

vector form as: r r
F = 0 M o =0
These two equations can also be expressed as
r
F = Fxi + Fy j + Fz k = 0
r
M o = M xi + M y j + M z k = 0
Or
F =0 x F =0 y F = 0
z

M = 0 x M = 0 y M = 0 z
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Chapter VI. Equilibrium of a Rigid Body