Rigid Body Equilibrium

ES 11 LECTURE 6
Equilibrium 2

 a state of rest or balance due to the equal a

ction of opposing forces.
Particle Rigid body Equilibrium
Equilibrium
𝐹=0
No translation

𝑀=0
No rotation
𝐹=0
No translation
Support Reactions 3

 Forces or moments that develop in order to

resist motion (i.e. translation and rotation)
Support Reactions 4

 Forces or moments that develop in order to

resist motion (i.e. translation and rotation)

Ax

Ay
B
Support Reactions in 2D 5

1. Force with
known LOA
Support Reactions in 2D 6

2. Force with
unknown LOA
 Resolve into
components

3. Forces and
moment
Rigid body Equilibrium in 2D 7

*if B is not along the y-axis

passing through A

*if A, B, and C are NOT collinear

Ex # 6.1 8

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.
Ex # 6.1 +↺ 𝑀𝐴 = 0 9

+→ 𝐹𝑥 = 0

+↑ 𝐹𝑦 = 0
 A curved beam is supported
Ex # 6.2 by a pin at C and a roller at B. 10
If θ = 30°, determine the
support reactions in terms of P.
+↺ 𝑀𝑂 = 0
O 𝐶𝑥 𝑅 − 𝑃 𝑅 = 0
𝐶𝑥 = 𝑃 →
30° +↺ 𝑀𝐶 = 0
𝐵 cos 60 (𝑅) − 𝑃 𝑅 = 0
Cy
𝐵 = 2𝑃 ↖ 60°
+↑ 𝐹𝑦 = 0
Cx
B 𝐶𝑦 + 𝐵 sin 60 − 𝑃 = 0
𝐶𝑦 = 0.73𝑃 ↓
Support Configurations 11

Statically Determinate Statically Indeterminate

 Unknowns = Eq. Equations  Unknowns > Eq. Equations
Completely Constrained Completely Constrained
 No motion  No motion
Support Configurations 12

Statically Indeterminate
Statically Determinate  Unknowns > Eq. Equations
 Unknowns < Eq. Equations Improperly Constrained
Partially Constrained  Motion will occur
 Motion will occur  Concurrent or parallel
depending on the load reactions
Two-force Bodies 13

 Bodies acted upon by forces at two points only

 Forces must have same line of action, same

magnitude, and opposite direction for it to be in
equilibrium
Three-force Bodies 14

 Bodies acted upon by forces at three points only

 Forces must be concurrent or have parallel lines

of action
Ex # 6.3 T 15

B 5 T-75
3
T 4
B +→ 𝐹𝑥 = 0
Bx 4
𝐵 =𝑇
T By 5
+↑ 𝐹𝑦 = 0
3
𝐵 = 𝑇 − 75
5
𝐵 = 375 𝑁 ↘ 36.87°
Determine the reaction at pin B.
Support Reactions in 3D 16

1. Reaction
forces only
Support Reactions in 3D 17

2. Reaction
forces and
moments
Rigid body Equilibrium in 3D 18

*choose equations that

“eliminate” the most unknowns
 The rod shown is supported
Ex # 6.4 by 2 ball and socket joints 19
at A and E, and a rope at
D. If a 640 N force is applied
at B, determine the Tension
in rope DF.
< −48, 33, −24 >
𝑇=𝑇
63
T
Ay Ey < 48, 16, −24 >
Ex 𝜆𝐴𝐸 =
Az 56
Ax Ez 𝑟𝐴𝐵 =< 200, 0, 0 >
𝑟𝐸𝐹 =< 0, 0, 240 >
Quiz # 6 20

A 15 kg homogenous rod
is supported by a ball
and socket joint at A, a
rope at MIDPOINT G, and
a frictionless wall at B. If
the rod is in equilibrium,
determine the tension
along the rope.
Rigid Body Equilibrium
ES 11 LECTURE 6