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Equilibrium
M. Berke Gr
Statics
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10/5/2015
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Lecture Objectives
In this lecture, we will learn about drawing freebody-diagrams (FBD)
FBDs are the most important step in both static and
dynamic analysis
Using FBDs, we will investigate the condition in
which the resultant of a system of forces acting on a
body is zero (i.e., static equilibrium condition)
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Representing Forces as Vectors
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Planar Supports & Connections
Cable in tension
Rocker support
Pin support
Weld connection
Freely sliding surface
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Pin support
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Representing Forces as Vectors
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3-D Supports & Connections
Ball-&-socket
Journal bearing
Thrust bearing
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Engineering Mechanics Analysis Methodology
In performing a static or dynamic analysis of a
system, we must
1. Define the mechanical system we are analyzing
Clearly identify all known and unknown quantities of the system
The system should include all unknown quantities we are seeking
2. Isolate the system from its surroundings using a freebody-diagram (FBD)
Draw an external boundary around the system being analyzed and
remove all other bodies that are not a part of the system
The FBD is the most important single step in the solution
of mechanics problems
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Engineering Mechanics Analysis Methodology
3. Identify all external forces (contact & body) acting on the
system by marking them on the FBD
Make sure to add a force to the FBD for every contacting or
attracting body that was removed
Mark all information (magnitude, line of action, sense) readily
available on these external forces
If the sense of the force vector is not known, make an arbitrary
assignment
4. Define & mark a coordinate system suitable for the
problem
Make a clever choice for the moment centers to simplify
calculations (e.g., choose moment centers with as many unknown
forces passing through as possible)
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Engineering Mechanics Analysis Methodology
5. Also indicate pertinent dimensions
6. But, avoid cluttering the FBD with unnecessary and
unrelevant information
7. Identify and state the appropiate force and moment
equations governing the problem
8. Match the number of unknown quantities to the number
of independent equations
9. Carry out the solution and check your results
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Examples of FBDs
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Exercise: Completing FBDs
MCH2008 Eng. Mechanics
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Exercise: Constructing FBDs
MCH2008 Eng. Mechanics
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Equilibrium
A body is said to be in complete equilibrium when
the resultant forces (R) and couples (MO, any point
O) acting on the body is zero (necessary & sufficient
conditions)
R
Fk
Fx ,k
0,
Fy ,k
0,
Fz ,k
Ml
M x ,l
l
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0,
M y ,l
l
0,
M z ,l
l
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Equilibrium
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Two-Force & Three-Force Members
For a two-force member, the forces
acting on the member are only along
the line joining the two ends of the
member
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Two-Force & Three-Force Members
Link AB is a two-force member
Link ABC is a three-force member
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Alternative Formulations for Equilibrium
Alternative 1:
Force balance in one direction and moment balances
about two points A and B
Fx
0,
MA
0,
MB
MB = 0 suggests equilibrium
if AB is not to x axis
MA = 0 suggests that R
must pass through A
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Alternative Formulations for Equilibrium
Alternative 2:
Moment balances about three points A, B, and C
MA
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M. Berke Gr
0,
MB
0,
MC
When equilibrium is expressed using
a set of dependent equations (more
equations than necessary), you may
end up with a trivial force or moment
balance equation of the form 0 = 0
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Equilibrium
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Example: Equilibrium in 2-D
Determine the forces C and T acting on the bridgetruss
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Example: Equilibrium in 2-D
Ignoring the weights of the pulleys, determine the
tension T in the cable
Find the the total force on the bearing of the pulley
C
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Example: Equilibrium in 2-D
Determine the tension P in the cable for lifting the
100 kg beams point B 3 m above A
Determine the reaction at support A
What is the angle made with the horizontal
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Example: Equilibrium in 2-D
Determine the magnitude T of the force in the cable
supporting the I-beam with a mass of 95 kg/m
What is the reaction force at support A
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Example: Equilibrium in 3-D
Determine the forces exerted at the ball supports at
points A and B on the 200 kg beam
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Example: Equilibrium in 3-D
Determine the mass m that can be supported by the
200 N force applied at the handle
Compute the radial force exerted on the shaft by
each bearing
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Example: Equilibrium in 3-D
Ignoring the weight of the frame shown below,
determine the tension in the cable CD
Determine the reaction forces at loose-fitted ring B
Calculate the reaction forces at the ball-and-socket
joint at point A
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Constraints
A constraint is a restriction of motion
Example: A roller is free to move horizontally
(no horizontal constraint)
A pin cannot move vertical or horizontal
(horizontally constrained)
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Statical Determinacy
The force and moment balance equations are
necessary and sufficient for equilibrium but may not
be adequate to determine all the unknown forces
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Statical Determinacy
A mechanical system that has more constraints than
necessary to maintain an equilibrium is termed
statically indeterminate
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Statical Determinacy
Constraints that can be removed without disturbing
equilibrium are termed redundant constraints
The number of redundant constraints is termed
degree of statical determinacy
Degree of Statical Unknown External
Determinacy
Forces
Number of Independent
Equilibrium Equations
We will mostly deal with statically determinant
problems
Unknown External
Forces
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Number of Independent
Equilibrium Equations
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Adequacy of Constraints
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Adequacy of Constraints
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Next Lecture
Lecture topics
Structures
Reading assignment: Ch.5 in textbook
Questions?
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