Equilibrium

Outline

2D- and 3D-Equilibrium

Introduction
System isolation and Free-body diagram
Equilibrium conditions
Introduction
Introduction
When a body is in equilibrium, the resultant
of all forces acting on it is zero.
A force
Thus, theisresultant
a vector force
quantity,
R and the resultant
thus, forces
couple M aremay bezero,
both
combined according to the
parallelogram law of vector
R = ΣF = 0 M = ΣM = 0
addition.
tion to every action, must be carefully observed. The force exerted on
the body in question by a contacting or supporting member is always in

2D Equilibrium
the sense to oppose the movement of the isolated body which would
occur if the contacting or supporting body were removed.

MODELING THE ACTION OF FORCES IN TWO-DIMENSIONAL ANALYSIS

Type of Contact and Force Origin Action on Body to Be Isolated
1. Flexible cable, belt,
chain, or rope θ
Force exerted by
Weight of cable θ a flexible cable is
negligible T always a tension away
from the body in the
Weight of cable θ θ direction of the cable.
not negligible
T
2. Smooth surfaces
Contact force is
compressive and is
v
N normal to the surface.

3. Rough surfaces Rough surfaces are

capable of supporting
 N normal to the surface.

3. Rough surfaces Rough surfaces are

F capable of supporting
a tangential
compo-nent F
R (frictional force) as
well as a normal
N component
N of the resultant

4. Roller support

Roller, rocker, or ball

N support transmits a
compressive force
normal to the
supporting surface.
N

5. Freely sliding guide

Collar or slider free to
move along smooth
guides; can support
force normal to guide
only.
N N

Figure 3/1
MODELING THE ACTION OF FORCES IN TWO-DIMENSIONAL ANALYSIS (cont.)
Type of Contact and Force Origin Action on Body to Be Isolated
6. Pin connection Pin free to turn A freely hinged pin
connection is capable
θ of supporting a force
in any direction in the
Rx
plane normal to the
R
Ry pin axis. We may
either show two
Pin not free to turn components Rx and
Ry or a magnitude R
and direction θ. A pin
Rx not free to turn also
M
supports a couple M.
Ry

7. Built-in or fixed support A A built-in or fixed

M support is capable of
A A supporting an axial
or F force F, a transverse
force V (shear force),
Weld and a couple M
(bending moment) to
V
prevent rotation.

8. Gravitational attraction The resultant of

 (bending moment) to
V
prevent rotation.

8. Gravitational attraction The resultant of

gravitational
attraction on all
m G elements of a body of
mass m is the weight
W = mg and acts
W = mg toward the center of
the earth through the
center mass G.

9. Spring action Spring force is tensile

Linear Nonlinear if spring is stretched
Neutral F F and compressive if
position Hardening compressed. For a
F = kx F linearly elastic spring
x
F the stiffness k is the
Softening force required to
x x deform the spring a
unit distance.

Figure 3/1, continued

In Fig. 3/1, Example 1 depicts the action of a flexible cable, belt, rope,
or chain on the body to which it is attached. Because of its flexibility, a
rope or cable is unable to offer any resistance to bending, shear, or com-
Free-Body Diagram
Free-Body Diagram
Construction of Free-Body Diagram
1.1. Decide
Decide which systemtotoisolate
which system isolate
2. Isolate the chosen system by drawing a diagram
which represents its complete external
boundary.
2. Isolate the chosen system by drawing a diagram
which represents its complete external boundary.
3. Identify all forces which acts on the isolated
3. Identify all forces which acts on the isolated.
system.
4. Show the choice of coordinate axes directly on the
4. Show the choice of coordinate axes directly on
diagram.
the diagram.
 Figure 3/2 gives four examples of mechanisms and structures to-
gether with their correct free-body diagrams. Dimensions and magni-

Examples of FBD
tudes are omitted for clarity. In each case we treat the entire system as

SAMPLE FREE-BODY DIAGRAMS

Mechanical System Free-Body Diagram of Isolated Body
1. Plane truss

Weight of truss P
assumed negligible
P y
compared with P

A B Ax x
Ay By
2. Cantilever beam V
F3 F2 F1 F3 F2 F1

F y
A Mass m
M
W = mg
x
3. Beam
 y
A Mass m
M
W = mg
x
3. Beam
Smooth surface M M
contact at A.
Mass m N y
A
P P
B Bx W = mg
x
By
4. Rigid system of interconnected bodies
analyzed as a single unit y

P Weight of mechanism P
neglected
x

m W = mg
A B Bx
Ay By

Figure 3/2
 Body Incomplete FBD

1. Bell crank mg
m T
supporting mass Flexible
m with pin support cable A
at A. A

Pull P P
2. Control lever
applying torque O
to shaft at O.

FO
A
3. Boom OA, of
negligible mass B
compared with
mass m. Boom m mg
T
hinged at O and
supported by O
hoisting cable at B. O
 hoisting cable at B. O

4. Uniform crate of
mass m leaning A
A
against smooth
vertical wall and mg
supported on a
rough horizontal
surface.
B
B

5. Loaded bracket
supported by pin B
connection at A and B
fixed pin in smooth
slot at B. Load L L
A A

Figure 3/A
 Body Wrong or Incomplete FBD

P
1. Lawn roller of P
mass m being mg
pushed up
incline θ . θ
N
2. Prybar lifting P P
R
body A having
smooth horizontal A
surface. Bar rests
on horizontal
-

rough surface. N

3. Uniform pole of
mass m being
hoisted into posi- T
tion by winch.
Horizontal sup-
mg
porting surface
notched to prevent
slipping of pole. Notch R

F
 notched to prevent
slipping of pole. Notch R

F
B
4. Supporting angle
B
bracket for frame;
pin joints.
A
A

F F
5. Bent rod welded to A
support at A and Ay
y
subjected to two
forces and couple. M M
P
x P

Figure 3/B
es designated in the statements. The weights (Note: The sense of some reaction com
es are significant only if the mass is stated. always be determined without numeric
Draw a complete and correct FBD of each of the bodies

1. Uniform horizontal bar of mass m 5. Uniform grooved wheel of mass m

suspended by vertical cable at A and supported by a rough surface and by
supported by rough inclined surface action of horizontal cable.
at B.

m
A m B

2. Wheel of mass m on verge of being 6. Bar, initially horizontal but deflected

rolled over curb by pull P. under load L. Pinned to rigid support
at each end.

A B
P

3. Loaded truss supported by pin joint at 7. Uniform heavy plate of mass m

A and by cable at B. supported in vertical plane by cable
C and hinge A.
 L

3. Loaded truss supported by pin joint at 7. Uniform heavy plate of mass m

A and by cable at B. supported in vertical plane by cable
C and hinge A.

B C

A m
A

4. Uniform bar of mass m and roller of 8. Entire frame, pulleys, and contacting
mass m0 taken together. Subjected to cable to be isolated as a single unit.
couple M and supported as shown.
B
Roller is free to turn.
m0 M

A A
L

Figure 3/C
Equilibrium Conditions
2D Equilibrium
A‣ body
A bodyisisininequilibrium
equilibrium if if
allall forces
forces and applied
and moments
moments
to it are inapplied
balance. to it are in balance.
ΣFx = 0 ΣFy = 0 ΣMo = 0
 CATEGORIES OF EQUILIBRIUM IN TWO DIMENSIONS
Force System Free-Body Diagram Independent Equations
1. Collinear F3 x
Σ Fx = 0
F2

F1

y
2. Concurrent Σ Fx = 0
F1
at a point F2
Σ Fy = 0
x
O
F4
F3
y
3. Parallel Σ Fx = 0 Σ Mz = 0
F1
F2
x
F3
F4

4. General F2 Σ Fx = 0 Σ Mz = 0
F1
F3
M Σ Fy = 0
y

x
F4
Two-Force Members

‣ A two-force member to be in equilibrium, the forces must

be equal, opposite and collinear.
P
P

–P –P
olution of the force equa-
wn and made to close, as
ilibrium under the action
Three-Force
three-force member by a Members O
F2
s.

‣
e 3/3
Equilibrium of a three-force member
Equilibrium Conditions 123
F requires the line of
3
action of the three forces to be concurrent . member
(a) Three-force
r ways to express the gen-
two dimensions. The firstF1 F3
). For the body shown in
t still exists, cannot be a F1
h A. If now the equation O
rary, it follows from Fig. F2 F2
ists, not only must pass
the x-direction as shown. (b) Closed polygon
hat the line FAB3 is not per- satisfies Σ F = 0
ust be zero,(a)and thus themember
Three-force
Figure 3/5
 compressive and is
N normal to the surfa
3 Equilibrium

Constraint
3. Rough surfaces Rough surfaces are
F capable of supporti
MODELING THE ACTION OF FORCES IN TWO-DIMENSIONAL ANALYSIS (con
a tangential
Type of Contact and Force Origin Action on Bodycompo-nent F
to Be Isolated
R (frictional force) as
6. Pin connection Pin free to turn A freely
well as ahinged
normalpin
‣Constraint means the restriction of movement. N connection
component is capab
Constraint means the restriction of movement. θ of
N supporting a forc
of the resultant
in any direction in
Rx
4. Roller support plane normal to the
R
Ry pin axis. We may
either
Roller,show two
rocker, or ba
Pin notNfree to turn components Rx anda
support transmits
R y or a magnitude
compressive force
and
normal to the θ. A p
direction
Rx not free to turn
supporting also
surface.
M
N supports a couple M
Ry
5. Freely sliding guide
7. Built-in or fixed support A A built-in
Collar or fixed
or slider free
M support
move along smootho
is capable
A A supporting
guides; can an axial
support
or F force
force F, a transvers
normal to gui
force
only. V (shear force
Weld N N and a couple M
(bending moment) t
V
prevent rotation.
Figure 3/1
quations of equilib-
d by the minimum
rium‣ configuration
Bodies which are supported by the minimum number of
es the equilibrium
constraints necessary to ensure an equilibrium
ternalconfiguration
forces. are called statically determinate.
throughout Vol. 1
nate‣ bodies where
The equilibrium equations are sufficient to determine
quilibrium configu-
the unknown forces.
be completely de-
quilibrium.
before we attempt A
gnized as statically
nal reactions than
s for the force sys- (a) Complete fixity
unknown variables Adequate constraints
ber of independent
 l reactions than
or the force sys- (a) Complete fixity (b) Incomplete fixity
pknown
between constraints and equilibrium,
variables Adequate constraints Partial constraints
uestion ‣ A ofrigid body which
the adequacy
r of independent possesses more external support
of constraints.
ts forin
sted aortwo-dimensional
constraints thanproblem
attempt- does
are necessary to maintain an
mequilibrium
equations only. configuration. Figure 3/7
straints. equilibrium
In part a of position
s, or angles. the figure,ispoint A statically indeterminate.
called
A A
wo links and cannot move, and the third
A. Thus, this body
‣ Supports is completely
which can be fixed
removed without destroying
straints.
(a) the equilibrium
Complete fixity condition of the
(b) Incomplete body(c)are
fixity said to fixity
Incomplete be
hird
and link is positioned
equilibrium,
Adequate so that Partial
constraints the force
constraints Partial constraints
point
redundant .
A where the other two constraint
y of constraints.
on of
nal constraints
problem does can offer no initial re-
hich 4
tion. would
Figureoccur3/7 when external loads
nclude, point A that this body is in-
e figure,therefore,
A A
straints.
ve, and the third
f completely
the figure gives
fixed us a similar condition
hree parallel links could offer no initial
(b) Incomplete fixity (c) Incomplete fixity (d) Excessive fixity
vement of the
so that Partial
the forcebody as
constraintsa result of exter-
Partial constraints Redundant constraint
erction. The constraints in these two ex-
two constraint
 Sample Problem (1)
e 3/3 Equilibrium Conditions 127
Determine the magnitudes of the forces C and T, which, along with
the other three forces shown, act on the bridge-truss joint.
y

3 kN
x′
20°
y′
T

40°
16 kN 8 kN
x

Helpful Hints
" section of the joint
" section of theinjoint
question and shows
in question the fivethe
and shows forces
five which
forces are in equilibrium.
which are in equilibrium.

Solution I (scalar
Solution algebra).
I (scalar algebra). x-ythe
For theFor axes
x-yasaxes
shown we have
as shown we have 16 k

0] x " 0]
[ΣFx "[ΣF 8 # T cos
8 #40! #C
T cos sin#20!
40! ! 16
C sin 20!"!016 " 0
0.766T0.766T
# 0.342C "8 "8
# 0.342C (a) (a)
Help
0] y " 0]
[ΣFy "[ΣF T sin 40! !C
T sin cos!20!
40! ! 320!
C cos "! 0 3"0
"S
0.643T0.643T
! 0.940C "3 "3
! 0.940C (b) (b)re
Simultaneous solution
Simultaneous of Eqs.of(a)
solution and(a)
Eqs. (b)and
produces
(b) produces n

T " 9.09
T" kN C " 3.03
9.09 kN C" kN
3.03 kN Ans. Ans.
#T
ci
Solution II (scalar algebra). To avoid po
Solution II (scalar algebra). Toaavoid
simultaneous solution,
a simultaneous we maywe
solution, use axes
may use axes
# x!-y!
#with in the y!-direction to T. Thus, in
x!-y!the first
with summation
the first summation to eliminate
in the y!-direction reference
to eliminate reference to T. Thus,
of
0] y! " 0]!C cos!C
[ΣFy! "[ΣF 20!cos
! 320!
cos!40! ! 840!
sin!40! # 16 re
3 cos 8 sin 40!sin
# 40! " 040! " 0
16 sin
m
C " 3.03 C" kN
3.03 kN Ans. Ans.
0] x! " 0]T # 8 cos
[ΣFx! "[ΣF T #40! ! 16
8 cos 40!cos 40!cos
! 16 ! 340!
sin!40! ! 3.03
3 sin sin
40! ! 20!sin
3.03 " 020! " 0
T " 9.09
T" kN
9.09 kN Ans. Ans.

Solution III (vector

Solution algebra).
III (vector With unit
algebra). Withvectors i and jiin
unit vectors thej x-
and in and y-direc-
the x- and y-direc-
 Ans.
SolutionIII
Solution III(vector
(vectoralgebra).
algebra). WithWithunit
unitvectors i and
vectorsi and j in
j in x- x-
the
the andand y-direc-
y-direc-
tions,the
tions, thezero
zerosummation
summationofofforces
forcesfor
forequilibrium
equilibriumyields
yields
thethe vector
vector equation
equation
he x- and y-direc-
[ΣF 0]
[ΣF""0] 8i8i##(T
(Tcos
cos40!)i
40!)i##(T(Tsin
sin40!)j
40!)j!!3j3j##(C(C sin
sin 20!)i
20!)i
ector equation
(C(C
!! cos
cos 20!)j
20!)j !! 16i
16i ""00

!)i Equatingthe
Equating thecoefficients thei-i-and
coefficientsofofthe j-termstotozero
andj-terms zerogives
gives

!)j ! 16i " 0

88##TTcos 40!##CCsin
cos40! sin20!
20!!!1616""
00
TTsin 40!!!3 3!!CCcos
sin40! cos20!
20!""
00
whichare
which arethe
thesame,
same,ofofcourse,
course,asasEqs.
Eqs.(a)
(a)and
and(b),
(b),which
whichwewe solved
solved above.
above.

Solution IV
Solution IV (geometric).
(geometric). The Thepolygon
polygonrepresenting
representingthe thezero
zerovector
vector sumsumof of T T
thefive
the fiveforces
forcesisisshown.
shown.Equations
Equations(a) (a)and
and(b)(b)are
areseen
seenimmediately
immediately toto give
give thethe
projectionsofofthe
projections thevectors
vectorsonto thex-x-and
ontothe y-directions.Similarly,
andy-directions. Similarly, projections
projections onto
onto 40°40°
ved above. the x!-and
thex!- y!-directionsgive
andy!-directions givethe P
thealternative
alternative equations
equations inin Solution
Solution II.II.
AAgraphical
graphicalsolution
solutionisiseasily
easilyobtained.
obtained.The Theknown
knownvectors
vectorsareare laid
laid offoff head-
head-
! to-tail
to-tailto
tosome
someconvenient
convenientscale,
scale,and 20° directionsofofT T CC
! Candthethedirections andand are
are then
then drawn
drawn to to
ro vector sum of
close the
close thepolygon.
polygon.The Tresulting
The resultingintersection 8 kNpointP Pcompletes
intersectionatatpoint completes thethe solution, !!
solution, The
The kn
know
thusenabling
thus enablingus ustotomeasure
measurethe magnitudesofofTTand
themagnitudes andCCdirectly
directly from
from the
the draw-
draw- any
any ord
order
iately to give the 3 kN
ingto
ing towhatever
whateverdegree
degreeofofaccuracy
accuracywe weincorporate
incorporateininthe the construction.
construction. added
added b
befo
, projections onto 40°
on II. 16 kN
are laid off head-
 Sample Problem (2)
u m Calculate the tension T in the cable which supports the 500-kg mass
with the pulley arrangement shown. Find the magnitude of the total
force on the bearing of pulley C.
T
θ = 30°
the cable which supports the 500-kg mass with C
Each pulley is free to rotate about its bearing,
small compared with the load. Find the magni-
ring of pulley C.
B

am of each pulley is drawn in its relative posi- A

h pulley A, which includes the only known force.
us designated by r, the equilibrium of moments 500 kg
brium of forces in the vertical direction require
r!0 T1 ! T2 T
30°
 500 kg B
m ofSolution.
forces in the
Solution. The
The verticalfree-body
free-body direction
diagramdiagram
require
of each of pulley
each pulley
is drawn is drawn in itsposi-
relative posi-
Sample Problem
Solution. 3/2 The free-body diagram of each pulley in its relative
is drawn in its relative posi-T
The
tion
tion toTthe
to
Tfree-body
! thetion others.
others.
diagram
to the We
Weothers.of
begin
begin each
We with
withbegin
pulley
pulley
pulley
withA,is whichA, which
drawn
pulley includes
A,in its
which includes
the only
relative
includes T the
known
posi-
the only
only knownforce.
force.
known force.
θ = 30°
achWith pulley
1
the is
2 drawn
unspecified in its relative
pulley posi-
radius designated by r, known
the A 30°
With
thers.
Calculate
We
the unspecified
the
With
begin
tension
the
with
T pulley
in the
unspecified
pulley
radius
cable
A, pulley
which
designated
which supports
radius
includes
the r, the
by 500-kg
designated
the onlyby r,
C theequilibrium
equilibrium
mass with of moments
equilibrium
force. ofCmoments
of moments
A, 2T
which
Pulley
the pulley
about !
1 its A 500(9.81)
includes
arrangement
center the only
O shown.
and T
the known
!
Each T
pulley
1 equilibrium
2 ! 2450
force.
is free Nto rotate
of forces in about
the its bearing,
vertical direction require
about
specified
and the
its
pulley
weights
center
about
of
its
radius
all
O
parts
and
center
are
Otheand
designated
small
equilibrium
the
compared
equilibrium
by r,
with the
the
of forces
of
equilibrium
load. Find
in
forcesthe
the
in the
ofvertical
magni-
vertical direction
moments direction
F x require
require
nated by r, the equilibrium of moments 500 kg 50
! tude
nter
! [ΣMof
O and O!
the ! 0]
total
the force on the
equilibrium T r
bearing # T
of r !
pulley
of1rforces
2 TT 0
C.in!Tthe T ! T
r1!vertical T direction require
[ΣM
write
forces the
in
O!
[ΣM
0] O ! 0] direction
equilibrium
the vertical 1 T
of forces on
require
# 1r2r#
pulley 20
B 0 T2 ! !T
1 1 T2 2 T3
F! B
[ΣFy ! 0] [ΣFT1!"0]T2 #T500(9.81) TT ! 0
500(9.81) ! 0 2T ! 500(9.81) T y T T ! 2450 N
4T1 ! T2 ! 2450 N
T1r y# T1T" 2r T !2 01#"500(9.81)
2# 1 ! T2 ! 0 2T12T ! 500(9.81)
1 1 2
T1 [ΣF! Ty2! 0] !1 500(9.81) T T ! T2 ! 2450 N
30° y1
TT12From
2T 1
/2
!Solution.
"!
!T 1226
theThe
500(9.81)
2 # From
N
500(9.81)
free-bodyof
example 0 of
Tdiagram
pulley
1 ! T2 of
!
the example A!2Teach
we 1may
2450!
pulley 500(9.81)
pulley
N is drawn
Awrite
we in itsT
the equilibrium
may write 1!
the Tof
Cequilibrium
relative posi-
2! 2450
forces BN
onof pulley
forces onB pulley A
B
C T
tionFrom
byto inspection
the others. We
thebyexampleas begin with pulley A,
ofaspulley Awhich
we may includes the only
write theknown force.
equilibrium Fofx forces on pulley B
Withaffects
the unspecified inspection
pulley radius r, the equilibrium of moments
way by inspection the moment as of Tdesignated
about the by cen-
T2 500 kg
ample
ite
aboutthe of pulley
itsequilibrium
center O and theA we may
ofequilibrium
forces onwrite
T3of! the
pulley
T4 !T
forces equilibrium
BTthe
in /2 1226
vertical
! of
N forces
T
directionT13 N on
require pulley B T3
ilibrium requires 3 2! T4 ! T2/2 ! 1226 F F
n[ΣMasO ! 0] y T4 x
T1r # T2r ! 0 T13 ! 2T4 ! T2/2 ! 1226 NO
T ! T
A
T
30°
or For Tpulley
! 1226
T1ForC N
the
" T2pulley angle !
C the ! 30!
angle in no way
! 30!
Ans.inaffects the moment of T about the cen-
y of T about
/2
[ΣF! y!
Pulley1226
0] BN !T
T#3 500(9.81) 4 !!T 0 /2 2T
2 !! 1!
1226 N no wayT1affects
500(9.81) ! T2 ! the2450moment
N
B
C the cen- T
Fx 1
ter of the ter pulley,
of the so pulley,
that momentso thatequilibrium
moment equilibrium requires requires
For pulley Cof the angle ! ! 30! in no way affects the moment of T about the cen- O
y-directions
dFrom the examplerequires pulley A we may write the equilibrium of forces on
T ! Taffects orthe T! 1226ofT NT
pulley
500(9.81) B N T3
Ans.
affects
theter angle
of the
by inspection as the !moment 30!
pulley,
! inof
so T
no about
way
that the
moment
3 Tcen-
! T moment
equilibrium
3 or requires
! 1226
about T N the cen- Fy T Ans.
T1 2 4
T
rium
lley, requires
so that moment Tequilibrium T T /2 requires
1226 N x y
1
Fx ! 0 Equilibrium
0! #Equilibrium of Pulley
the pulley F
3 !
x!
of
!
T
4 1062
in
the the 2 N
pulley
!
!x-Tand in the orand
y-directions
x- Helpful
y-directionsHintrequires
Trequires
! 1226 N B Ans.
500(
C 3 O A O
T ! 1226 N Ans.
theT !T or way N T ! 1226 N !ofClearly radiusAns.
thecen- r does
sin ! 0! 3! 30!Fyin!no613 T1not influence
For 30! #C1226
pulley angle affects the moment T about the T2
[ΣF
of the
x! 0] [ΣF
ter Equilibrium
pulley, of
soxthat
! the
moment
0] pulley 1226in
equilibriumcos
the 30!
x- and
requires
1226# Fx y-directions
cos ! 0 #the
30! F ! 0 Fx Once
! 1062
requires FN ! 1062 N Helpful Hin Hex
(613)
"directions2
! 1226 NtheT x- Ans.
x results. we x have analyzed a
of the pulleyrequires
in !Tand y-directions
or" 1226 T !sin
1226requires
N # 1226 500(9.81) N
Ans. O A
[ΣF y ! 0] [ΣFy ! 0] 3 F y 30!
Fy " 1226 sin simple 0
30! # 1226
! F
pulley,
! 613 N
y! 0 the Fresults
y ! 613 should
N 500(9.81
! Clearly
be !th
[ΣF
[F !x !F 0]
! of 2
F 2
FF!
] x2in"the !(1062)
2 and 1226 2 cos 30!
(613) 22 # F perfectly
1226 !N 20 clear by inspection.
Fx !500(9.81)
1062
Ans. NN Ans. the resultH
Equilibrium
# Fx ! 0 [F"!
the !F
pulley x- ] F "!(1062)
y-directions
! !
Helpful
requires
" (613)
x Hint
! 1226 N
1226Fcos 1062 #NFx ! 0
x y
x ! 30!
y
Fx ! 1062 N Helpful simpleHint pu
30!
[ΣF
[ΣFx# y ! 0]
1226
! 0] ! 0F "F1226 1226
! 613
cos N
30! #
FyF "! 1226
0
sin
! 30!
Clearly
F !
#10621226
the
N radius Fy !
! 0 r Helpful
does 613
not N
influence
Hint perfectly ! c
y 2
y sin 30! # 1226 ! 0
x x
Fy ! 613 N ! Clearly the ra
2
0] !F " Fy ] Fy " 1226 2
30! # 1226 ! 0 the 2
F !results.
613 N Once we !have analyzed
the radius a
[ΣF2[F F !sin!(1062) Ans.
3/3 2 Ans. " (613)y ! 1226 N
!!
13) Sample
2 1226 xN Problem
y!
2
Clearly
the rresults.
does not infl
O
 ! The justification for this step is
Varignon’s theorem, explained in

Sample Problem (3)

Art. 2/4. Be prepared to take full ad-
vantage of this principle frequently.
" The calculation of moments in two-
dimensional problems is generally
Ans. handled more simply by scalar alge-
bra than by the vector cross product
r ! F. In three dimensions, as we will
Determine the magnitude T of the tension in the supporting cable
see later, the reverse is often the case.
must be
and the magnitude of the force on the pin at A for the jib crane
n verti- # The direction of the force at A could
be easily calculated if desired. How-
shown.
on the The
ever, in
beamthe
designing
AB pin
isA aor standard
in A r t i c l e 3 /
0.5-m
3 E q u
I-beam
i l i b r i u m C
with
o n d i t
ai o nmass
s
of 95
129
of this
kg perchecking
e inter- meter its of length.
strength, it is only the
nsion T magnitude of the force that matters.
/4
st pass. O
e forces T
tisfying
ude T of the tension
Ax 25°
in the supporting cable and the
venient
pin at A for
he A the jib crane shown. The beam AB is a
ven di- Ay
a mass of 95 kg per meter of length.
4.66 kN
r. Like- 10 kN
om the 0.25 m
A 25° B
e tail of 14.66 kN
and A
0.5 m
8 kN
system
of the is symmetrical . about the vertical x-y plane
8
= 18
eam, so the problem
x- and A may be analyzed
14.66 kN
as the equilib- 1.5 m
0.12 m
tem. The free-body diagram of the beam is shown in
T=
tion at A represented
19.in
6
terms of its two rectangular
10 kN
1 kN
the beam is 95(10!3)(5)9.81 " 4.66 kN and acts
Graphical
t there are three unknowns Ax,solution
Ay, and T, which may 5m
quations of equilibrium. We begin with a moment
 (10!3)(5)9.81 " 4.66 kN and acts
Algebraic solution. The system is symmetrical about 5mthe vertical x-y plane
unknowns Ax, Ay, and T, which may
through the center of the beam, so the problem may be analyzed as the equilib-
ibrium. We riumbegin with a force
of a coplanar moment
system. The free-body diagram of the beam is shown in
he three
e and the unknowns from the equa- y T
the figure with the pin reaction at A represented in terms of its two rectangular
m AB is a
A, it is simpler to consider
components. the mo-
The weight of the beam is 95(10!3)(5)9.81 " 4.6625°kN and acts
it is to compute the A
through its mperpendicular
center.
0.25 x
Note that there are three unknowns
x Ax, Ay, and T, which may
A 25° B
nterclockwise sense
be found fromas the
positive
three we
equations of equilibrium. We begin with a moment
0.5 m
Ay three unknowns from the equa-
x-y plane equation about A, which eliminates two of the
! tion. In applying
e equilib- the moment 4.66 kN
equation about A, it is simpler to consider the mo-
0.12 m 1.5 m
shown in ments of the x- and y-components of T than it is to compute the 10 kN
perpendicular A
25!)(5
ctangular
! 0.12)
distance from T to A.10Hence,
kN Free-body diagram
with the counterclockwise sense as positive we
! 1.5 ! 0.12) ! 4.66(2.5 ! 0.12) " 0
and acts
which may write 5m
moment
Helpful Hints
1 kN y T
Ans.
the equa-
" [ΣMA " 0]
r the mo-
(T cos 25!)0.25 The
! # (T sin 25!)(5 ! 0.12)
justification for this step is
rections to zero gives 25°
! 10(5 ! 1.5 theorem,
! 0.12) ! 4.66(2.5 ! 0.12)
endicular Ax
x Varignon’s explained in " 0
sitive we Art. 2/4. Be prepared to take full ad- Helpf
from
A " which
Ay
17.77 kN T " 19.61 kN Ans.
x 4.66 kN vantage of this principle frequently. ! Th
10 kN in the x- and y-directions to zero gives
Equating the sums of forces
"0 Ay " 6.37 kN
Free-body diagram " The calculation of moments in two- Va
0.12) " 0
dimensional problems is generally Ar
" 18.88
Ans. kN
[ΣF x " 0]
Helpful Hints Ax !Ans.
19.61 cos 25! " 0 Ax " 17.77 kN van
handled more simply by scalar alge-
! The justification for this step is
[ΣFyVarignon’s
" 0] Ay # 19.61
theorem, bra !
sin 25!in! 4.66
explained than
10 "by0 the vector cross
Ay " 6.37 kN product " Th
Art. 2/4. Be prepared to take full ad- r ! F. In three dimensions, as we will dim
!Ax2 of#this
# [A "vantage Ay2principle !(17.77)2 # (6.37)2 " 18.88 kN
] A "frequently. Ans. ha
see later, the reverse is often the case.
hree forces" in
Theequilibrium must be
calculation of moments in two- bra
by combining dimensional
the two problems
known is generally# The direction of the force at A could
verti-
 Sample Problem (4)
A

A D B
75° 30°
355 mm

The 450-kg uniform

Problem 3/5I-beam supports the load shown. Determine Problem 3/8 the

reactions at the supports.

3/6 The 450-kg uniform I-beam supports the load shown. 3/9 A 54-kg crate resets on the 27-kg pickup ta
Determine the reactions at the supports. culate the tension T in each of the two rest
bles, one of which is shown. The centers of
5.6 m 2.4 m at G1 and G2. The crate is located midwa
the two cables.
A B
Ans.

350 mm B

220 kg
300
G2 mm

Problem 3/6 A O
G1
3/7 Calculate the force and moment reactions at the bolted
base O of the overhead traffic-signal assembly. Each
traffic signal has a mass of 36 kg, while the masses of
240
members OC and AC are 50 kg and 55 kg, respectively. mm
 Problem 3/5

3/6 The 450-kg uniform I-beam supports the load shown.

Determine the reactions at the supports.

5.6 m 2.4 m

A B

220 kg

Problem 3/6

3/7 Calculate the force and moment reactions at the bolted

base O of the overhead traffic-signal assembly. Each
traffic signal has a mass of 36 kg, while the masses of
members OC and AC are 50 kg and 55 kg, respectively.
Ans. Ox ! 0, Oy ! 1736 N, MO ! 7460 N! m CW
 Sample Problem (4)
Chapter 3 Equilibrium

Sample
VIEW PROBLEMS
Problem (5) 3/100 The tool shown is used for straightening
members as wooden framing is complete
Calculate the magnitude of the force supported by the
Calculate the magnitude of the force supported by force P ! 150 N is applied to the handle a

pin at B for the bell crank loaded and supported as

the pin at B for the the
Calculate bell crank loaded and of
magnitude supported determine the normal forces applied to
the force supported
stalled
byatthe
stud
pin
points A
at B.BIgnore
and
for frict
as shown.
the bell crank loaded Ans.
shown. andB supported as shown.

⟲
-

! 240 N
20 Nm 85
mm
20 N.m 120 N 360 mm
A
120 N

50 mm B → Bx B
B
AP By
50 mm
A Problem 3/100
Ay
3/101 The device shown in the figure is useful f
125 mm
drywall panels into position prior to fast
Problem 3/97 the stud wall. Estimate the magnitude
force required to lift the 25-kg panel. S
A 50-kg acrobat pedals her unicycle across the taut assumptions.
but slightly elastic cable. If the deflection at the cen- Ans. P
ter of the 18-m span is 75 mm, determine the ten-
sion in the cable. Neglect the effects of the weights 25 kg P
 Sample Problem (5)
Problem 3/98 A

Sample Problem (6)

B

he uniform 5-m bar with a mass of 100 kg is hinged 90 mm 6

The uniform 5-m bar with a mass
O and prevented from rotating in the vertical
of 100 kg is hinged at O
aneand prevented from
withrotating
a mass ofin100
beyond the 30! position by the fixed roller atthe
A. vertical plane beyond Problem 3/101
The uniform 5-m bar kg is hinged at O and prevented
alculate the magnitude of the total force supported
thethe 30°O. position by the fixed roller at A.
from rotating
pin at
in the vertical plane beyond the 30°Calculate
position bythe
the fixed roller
3/102 The designers of an aircraft la
at A. Calculate
magnitude ofthe
themagnitude
totalAns. of!the
force
O total
N force supported
supported
1769 by the
wish pin
by at
theO.
to cause
pin at O.
the forces in both
to act along Atheir
y respective len
0.5 m should they specify for strut A
y
x all Wmembers
O are small compar
1m which act on the system sho
5m Ox Oy
dimensional.
A
O
30°

Problem 3/99
 Sample Problem (7)
Calculate the force and moment reactions at the bolted base O of
the overhead traffic-signal assembly. Each traffic signal has a mass
of 36 kg, while the mass of members OC and AC are 50 kg and 55
Article 3/3 Problems 131
kg, respectively.
pport portions of long A B
on a table saw. If the G 55 kg C
force on the roller C, 36 kg 36 kg
s at A and D. Note that
d that the feet A and D
5m 1 4m
tubes with a nonslip m

8.45 N, ND ! 16.55 N 7m

50 kg

Problem 3/7
 Article 3/3 Problems 131
WA WB W1
3/5 The roller stand is used to support portions of long A B
boards as they are being cut on a table saw. If the G 55 kg C
board exerts a 25-N downward force on the roller C,
A B G
determine the vertical reactions at A and D. Note that
36 kg 36 kg

the connection at B is rigid, and that the feet A and D

W
are fairly lengthy horizontal tubes with a2 nonslip
5m 1
m
4m

coating.
Ans. NA ! 8.45 N, ND ! 16.55 N 7m

235 mm

C
⤾
MO Ox
50 kg

O
O
Oy Problem 3/7
B

3/8 The 20-kg homogeneous smooth sphere rests on the

two inclines as shown. Determine the contact forces
at A and B.

A D B
75° 30°
355 mm

Problem 3/5 Problem 3/8

3/6 The 450-kg uniform I-beam supports the load shown. 3/9 A 54-kg crate resets on the 27-kg pickup tailgate. Cal-
Determine the reactions at the supports. culate the tension T in each of the two restraining ca-
bles, one of which is shown. The centers of gravity are
5.6 m 2.4 m at G1 and G2. The crate is located midway between
the two cables.
A B
Ans. T ! 577 N
 O

Sample Problem (8)

Problem 3/7

e 20-kg homogeneous smooth sphere rests on the

The as
inclines 20-kg homogeneous
shown. smooth
Determine the contact sphere rests on the
forces two inclines
A andasB. shown. Determine the contact forces at A and B.

B
75° 30°

Problem 3/8

4-kg crate resets on the 27-kg pickup tailgate. Cal-

ate the tension T in each of the two restraining ca-
, one of which is shown. The centers of gravity are
G1 and G2. The crate is located midway between
two cables.
 A

Sample Problem (9)

B
75° 30°

Problem 3/8

A 54-kg crate resets on the 27-kg pickup tailgate. Calculate the

A 54-kg crate resets on the 27-kg pickup tailgate. Cal-
culate the tension T in each of the two restraining ca-
tension T in each of the two restraining cables, one of which is shown.
bles, one of which is shown. The centers of gravity are
The centre of gravity are at G and G2. The crate is located midway
at G1 and G2. The crate is located midway between 1
the two cables.
between the two cables. B
Ans. T ! 577 N W2
2T

350 mm B G2 Oy
𝛼
300 G1 Ox
G2 mm O
W1
A O
G1

240
70 mm mm

Problem 3/9
 300 kg F F

Sample Problem (10)

A D
5°
Problem 3/14

ee cables are joined at the junction ring C. Deter-

ne the tensions in cables AC and BC caused by the Problem 3/16
ght of the 30-kg cylinder.
The uniform Ans. Tbeam has a mass
AC ! 215 N, TBC ! 264 N
of 3/17
50-kgTheper meter
uniform of alength.
beam has mass of 50Compute
kg per meter of
length. Compute the reactions at the support O. The
the reactions at the support O. force loads shown lie in a vertical plane.
A
Ans. Ox ! "0.7 kN, Oy ! 5.98 kN, MO ! 9.12 kN ! m

45° D 1.4 kN
C
15°
3 kN 4 kN·m C
B

30 kg O A 0.6 m
30°
1.8 m 0.6 m
0.6 m 30°
B
Problem 3/17
Problem 3/15
Ans. Ox ! "0.7 kN, Oy ! 5.98 kN, MO ! 9.12 kN ! m

1.4 kN

3 kN 4 kN·m C
B

O A 0.6 m

1.8 m 0.6 m
0.6 m 30°

Problem 3/17
Sample Problem (11)
3/30 The device shown is designed to apply pres
The device shown is designed to apply pressure when bonding
when bonding laminate to each side of a counte
laminate to each side of a countertop near an nearedge.
an edge. IfIfa a 120-N
120-N force isforce
applied to the
dle, determine the force which each roller exer
is applied to the handle, determine the forceitswhich each
corresponding roller exerts
surface.
on its corresponding surface. 120 N
120 N

m
A

m
5
16
RB C C 30
45°
mm
45 mm
RC
B B
30 mm

Problem 3/30

3/31 The two light pulleys are fastened together and

an integral unit. They are prevented from tur
about their bearing at O by a cable wound secu
around the smaller pulley and fastened to poin
 Problem 3/30

Sample Problem (12) 3/31 The two light pulleys are fastened together and form
an integral unit. They are prevented from turning
about their bearing at O by a cable wound securely
around the smaller pulley and fastened to point A.
Calculate the magnitude R of the force supported by
Calculate the magnitude R of the force supported
the bearing by the
O for the applied bearing
2-kN load. O
for the applied 2-kN load. Ans. R ! 4.38 kN

200 mm
125 mm
O A

325 mm

2 kN

Problem 3/31

3/32 In a procedure to evaluate the strength of the triceps

muscle, a person pushes down on a load cell with the
Sample Problem (13)
3/54 The member OBC and sheave at C together have a
mass of 500 kg, with a combined center of mass at G
The member OBC and sheave at Cthe
Calculate together haveofathe
magnitude mass ofsupported
force 500 kg, by
with a combined centre of mass
the pinatconnection
G. Calculate
at O the magnitude
when of is ap-
the 3-kN load
the force supported by the plied.
pin connection AO
The collar atat canwhen
provide
thesupport in the hor-
3-kN load
izontal
is applied. The collar at A can direction
provide only. in the horizontal
support
direction only.
4.5 m
C 1.5 m
•
B
0.5 m
G 1m
0.5 m
A
30°
1m

3 kN 1m
O

Problem 3/54
 Equilibrium Conditions

3D Equilibrium
A body is in equilibrium if all forces and
3D Equilibrium
moments applied to it are in balance.

‣ ΣFisx =
A body in 0 ΣFifyall=
equilibrium
Equilibrium 0 and moments
forces ΣFz = 0applied
Conditions
ΣMinx =
to it are 0 .ΣMy = 0
balance ΣMz = 0
A body is in equilibrium if all forces and
moments appliedΣF to= 0it are in
ΣM =0
balance.

ΣFx = 0 ΣFy = 0 ΣFz = 0

ΣMx = 0 ΣMy = 0 ΣMz = 0

ΣF = 0 ΣM = 0
 CATEGORIES OF EQUILIBRIUM IN THREE DIMENSIONS
Force System Free-Body Diagram Independent Equations
1. Concurrent y
F1 F2
at a point
x ΣFx = 0
O
ΣFy = 0
z
F3 ΣFz = 0
F5
F4
2. Concurrent F2 y
with a line x
F1 ΣFx = 0 ΣMy = 0
z ΣFy = 0 ΣMz = 0
F3
ΣFz = 0
F4
F5

3. Parallel F1 y

F2 x ΣFx = 0 ΣMy = 0
ΣMz = 0
F3 z
F5

F4
4. General F2 y
F1 M
x ΣFx = 0 ΣMx = 0
ΣFy = 0 ΣMy = 0
z
ΣFz = 0 ΣMz = 0
F4
F3
 Article 3/4 Equilibrium Conditions 1

MODELING THE ACTION OF FORCES IN THREE-DIMENSIONAL ANALYSIS

Type of Contact and Force Origin Action on Body to Be Isolated

1. Member in contact with smooth

z
surface, or ball-supported member
z z Force must be normal to the
surface and directed toward
the member.

x N y
x y x y

2. Member in contact z z
with rough
surface The possibility exists for a
force F tangent to the surface
(friction force) to act on the
F
member, as well as a normal
y y force N.
x x N
3. Roller or wheel support z z
with lateral
constraint A lateral force P exerted by the
guide on the wheel can exist, in
addition to the normal force N.
P
x y x N y

4. Ball-and-socket joint z
z A ball-and-socket joint free to
pivot about the center of the
 addition to the normal force N.
P
x y x N y

4. Ball-and-socket joint z
z A ball-and-socket joint free to
pivot about the center of the
Rx Ry ball can support a force R with
all three components.
x Rz y

x y

5. Fixed connection (embedded or welded) z

In addition to three components
z
of force, a fixed connection
can support a couple M
Ry represented by its three
Rx components.
My
Rz
x y
x y Mx
Mz

6. Thrust-bearing support z
z Thrust bearing is capable of
supporting axial force Ry as
well as radial forces Rx and Rz.
Ry Couples Mx and Mz must, in
Rx some cases, be assumed zero
in order to provide statical
Rz determinacy.
x y
Mx Mz
y
x

Figure 3/8
 traint conditions to alert the reader to the 4
h the equilibrium
6 prevent rotations position, and link
5 7 would be redun-
1 A 6
wsy would
at the body
a rigid then
body be statically
is com-
whose indeterminate
corner point A is com- with such a B
2 3
place. bWith only a few (b) Incomplete fixity
and exceptions,
te. Part of the fig- (a) Completethe supporting con-
fixity
2, and 3. Links 4, 5, 6 prevent rotations
Adequate constraints
5
Partial constraints
eidand
bodies in equilibrium in this book are adequate, and
Statically Determinacy
that they provide
3, respectively, so that the body is com-
bouttatically
ints are determinate.
AE.to
axissaid Here
be adequate. Part b of the fig- (a) Complete fixity
icle 3/4 Equilibrium Conditions 149 Adequate constraints
rrained.
of constraints, but we see that they provide y
no resistance
which might be to an
applied about axis AE. Here
case
d andofonly
yti- incomplete
partially constrained.
venth
ble, constraining
the constraints provide no resistance to an
D A
placed
we properly
irection, so herefor also is aCcase of incomplete E
anthewould
nts. In Fig. be 3/10d,
neces- if a seventh
4 constraining
A
7stem
would six redun-
of be
1 6 properly for A
constraintsB
placed E
om-inatewould
orts with be such a
2 provided than would be neces-
3
he supporting (b) Incomplete fixity
ons
brium position,con- 5
and link 7 would redun-
beconstraints
Partial (c) Incomplete fixity
are adequate, and
om-be statically indeterminate with such a
en Partial constraints
hfig- only a few(a) Complete fixity
exceptions, the supporting con-
Adequate constraints
(b) Incomplete fixity
y Partial constraints
ide
equilibrium in this book are adequate, and
ere
erminate.
y
an
ete
ing 7
for A E
ces-
un- (c) Incomplete fixity (d) Excessive fixity
Partial constraints Redundant constraints
hofa structural components such as these shell-like panels
during and after
on- construction.
(b) Incomplete fixity This structure will be used
0 Sample Problem (14)
-

The uniform 7-m steel shaft has a mass of 200 kg and is supported
by a ball-and-socket joint at A in the horizontal floor. The ball end B
m rests against the smooth vertical walls as shown. Compute the
forces exerted by the walls and the floor on the ends of the shaft.

B
as a mass of 200 kg and is supported by a ball-
ontal floor. The ball end B rests against the
mpute the forces exerted by the walls and the 7m

A
6m 2m
of the shaft is first drawn where the contact
hown normal to the wall surfaces. In addition
) ! 1962 N, the force exerted by the floor on z
by its x-, y-, and z-components. These compo- Bx
By
ysical sense, as should be evident from the re-
 rAGr! AG"1i " 3j"#3j1.5k
! "1i # 1.5k m m andand rABr! AB"2i " 6j
! "2i "# 6j 3k
# 3k
m m 6 m6 m A xA
h a p t e r 3 [ΣME q u!i l 0]
ibrium rAB ! (Bx # By) # rAG ! W ! 0 2m
2m
A Glocated A and
wherewhere
the the
mass mass center
center G is located halfway
150 C h a p t e r 3 E q u i l i b r i u m halfway
is between
between A and B. B.
VectorTheSolution:
The vector
("2i
vector "moment equation
6j #equation
moment 3k) gives
xi #
! (Bgives By j) # ("i " 3j # 1.5k) ! ("1962k) ! 0 Ax Ax
A

" "" "

Helpful Hints
e Problem
[ΣM[ΣM 3/5
! 0] r! i (B
!x(B j xB#ky)B#y)r# AG i!
rAGW ! j!
W0! k0 Az Az
A !A0]
Sample ProblemrAB 3/5 AB #
! We could, of course, assign a
"2 "6 3 # "1 "3 1.5 !0
("2i ("2i
" 6j"#6j3k)# 3k)
! (B !xi(B#xiB#y j)B#y j)("i
# ("i " 3j
"# 3j1.5k)
# 1.5k)! ! ("1962k)
("1962k) ! 0! 0 BB unknown components of forc

"" """ ""

uniform 7-m Thesteel shaft
uniform 7-mhas a mass
steel
Bx has
shaft ofBy200 0kg of
a mass and 0 and 0 is"1962
200iskgsupported by a ball-
supported by a ball- Helpful
Helpful Hints
Hints
at A in the
t jointand-socket i the
jointhorizontal
A in
at("3B i jfloor.
j kThefloor.
k
horizontal iballi The
j jball
end k B against
Bk rests
end rests the the
against
positive mathematical sense,
# 5890)i # (3B " 1962)j # ("2B y 0# 6Bx)k ! 0 ! We
! We could, could, of77of course,
course, Ayassign allall of
theth
3 1.5 x and assign of
y x case Amm would turn o
ertical smooth
walls as shown.
vertical "2 "2
Compute
walls "6 the
as shown. "6 3 forces
Compute #
# "1the "1 "3
exerted "3 1.5the !
forces by
exerted 0the and
!
walls
by wallsthe
and the
B
Bxshaft.
xBy B 0 0 0 0 0
0 "1962 "1962 unknown
unknown components
components
negative upon of of force
force
computation. in inthethT
he endsfloor on the
of Equating
the ends
shaft. of the
the coefficients
y
of i, j, and k to zero and solving give positive mathematical sense, in whic
positive mathematical
body diagramsense, describesin which the
("3B("3B # 5890)i # (3B " 1962)j # ("2B # 6B )k ! 0
y # y5890)i # (3Bx "x1962)j # ("2By #y6Bx)kx! 0
" Bx ! 654 N and By ! 1962 N Ans. case
case Ax and A and A
Ay would
situation,
x would
y so itturn turn out to to
out
is generally b
bepr
A
negative
negative upon upon computation.
A forces
computation. The The fre
free-
Equating
Equating
Solution.The the the coefficients
coefficients
The forces
free-body of of
i,
at A diagramj, i,
and
are easily j, and
k tok to
zero
determined
of the zero
and
shaft is first and solving
solving givegive
by drawn where the contact 6m to show the 2m in their
6m
bodybody diagram
diagram describes
describes thethe mphysic
2physical
. The
" free-body diagram
forces acting on the shaftB of the
at B shaft
are shown is first
normal drawnto the where
wall the
surfaces. contact
In addition physical senses wherever poss
" [ΣF ! 0] Bx (654
! x654!"654 NA N #and
)i and "BA !
(1962 B)jy1962
# 1962
! ("1962N N # A )k ! 0 Ans. Ans. situation,
situation, so so
it it generally
is is generally preferab
preferable
y
ing on to
thethe shaft
weight at W B! aremgshown normal
! 200(9.81) x ! 1962to the N,wall ysurfaces.
the force exerted Inbyaddition
thez floor on z show the forces in their corre
the The
ball The
forces
jointforces
at
at A A at
is A are
are easily
easily
represented determined
determined
by its x-, by
y-, by z-components. These compo-
and to to " Note
show the that
forcesthe inthirdtheirequation
correct
ight W ! mg and ! 200(9.81) ! Ax1962
! 654N,N the force Ay ! exerted
1962 N by the Az !floor
1962onN By z physical
Bx
senses wherever possible.
nents are shown in their correct physical sense, as should be evident from the re- physical senses
6B x ! 0 wherever
merely possible.
checks the r
oint!at
[ΣF A
[ΣF
! is0]represented
! 0] (654 by
(654
" its
A " )ix-,
A #
x )iy-,
#
(1962
2 and
(1962" z-components.
2A " A
)j #
y)j
2 #
("1962("1962 #These
A# A
)k z!compo-
)k !
0 0 B
Finallythat A be held
quirement A x!in!A x #The
place. Ay vertical
#y Az position of zB is found from By B Note thatthe first two equations. Th
x
shown7inand
!
their
!2 2 #
correct
6 2 # h 2, h
physical
A
! 3 !m.654 sense,
N
Right-handed
asA should
! 1962
coordinate
beN evident
axes A
are ! from
1962
assigned
the
Nas
re-
shown. " " Note thatcouldthethe
third
be
third equation
equation
anticipated "2B "2B#y
fromy
and Ax ! 654 N A# 1962 2N# (1962) Az ! 1962 NN

3.
x 2 y
!(1962) 2!z
! !(654)
t that A be held in place. The vertical position of B is found fromy 2850 Ans. 6B ! 0 merely checks the results of o

5
B6Bx h! 0 that
x merely an checks
equilibrium the results
system

m
2 2 2
# 62 # h2Finally A !A!A ! !A 2 x A#2A y #2Azaxes are assigned as shown. thethe first two equations. This resu
Finally
, h ! 3 m. Right-handed y # Az
x # coordinate first two equations. This result

3.
could be concurrent
G
anticipated with a
fromline requi
thethefact fa

5
Vector solution.! We !(654) 2A (1962) 2 # (1962) 2!to 2850 Ans. could
h betwo anticipated from
! will 2use #as a 2moment center N N reference to Ans.
eliminate

m
!(654) # (1962) # (1962) 2 ! 2850 moment equations (Cat
the forces at A. The position vectors needed to compute the moments about A are thatthatan=an equilibrium
equilibrium system
system of of force
forces

3.
Scalar solution. Evaluating the scalar moment equations about axes through concurrent W under
mg Categories
Gwith a line of Equilibr
requires on

5
Scalar Solution: concurrent with a line requires y only

m
olution. AWe rwill ! use
"1i A
" as
3j #a moment
1.5k m center
and tor eliminate
! "2i " reference
6j # 3k m to x
parallel, respectively, to the x- and y-axes, gives 6 m
twotwo moment equations (Category
AG AB A
#moment
We observeequations that
2m (Category
a mome 2
at A. The
where position
Scalar vectors
mass center G
the solution. needed to compute
is located halfway the
between moments
A and B. about A are under Categories of Equilibrium).

3.
Evaluating the scalar moment equations about axes through W = mg
under Categories
Scalar[ΣM solution.! 0]moment Evaluating1962(3) the scalar " 3B moment
y ! 0 equations By ! 1962 about N axes through about anofaxis Equilibrium).

5
The A vector equation gives through
Ay Ay pa

m
rAG !A"1i A parallel,
" 3j
x
# respectively,
1.5k m to
and the x- and
r y-axes,
! "2i gives
" 6j # 3k m x A
parallel, respectively, to the x- and y-axes, gives 6 We
m observethe z-axisx
thatmerely gives sum us
# AA a moment
AB
#
[ΣM [ΣM 0]
A ! 0] r "1962(1)
(B B ) # 3B
r x ! W0 0 B x ! 654 N # We observe that a zmoment sum
mass
[ΣM
[ΣM
center
A !
Ax G!y is0] located halfway !
AB 1962(3) x
1962(3) between
# "y3B A!# AG0 !
andBB.
! By ! 1962 N about2B ! 0,through
any axis which2Am serves
parallelont
Ax ! 0] " 3By !y0 y ! 1962 N about an axis through A parallel to
vector moment The ("2iforce" 6jequations
equation # 3k) ! (Bgive,
gives xi # B simply,
y j) # ("i " 3j # 1.5k) ! ("1962k) ! 0 checkmerely
the z-axis as noted givespreviously.
Ay 6Bx A
us
#

" "" "

[ΣM
# [ΣMAy ! 0] A ! 0] "1962(1) # 3B x ! 0 B x ! 654 N Helpful the
Hints z-axis merely
A gives us 6Bx "
y "1962(1) # 3Bx ! 0 Bx ! 654 N 2B tively
! 0, xwe could
which serves have onlyfirst as o
[ΣFx ! 0] i j k"A # i654 ! j 0 k A ! 654 N y
2By ! 0, which serves A only as a
x x
] The force rABequations
The force equations
! (Bgive,x"2 Bsimply,
#give, y) #
"6 3rAG
simply, #! "1W "3 ! 0 1.5 ! 0 ! We could,check Aas
of course, noted
assign previously.
z from ΣF
all zof!thez
0 and Alterna
then
[ΣFy ! 0] check as noted previously. Alterna-
Bx By "A 0 y # 1962 0 ! 0"1962Ay ! 1962 N
0 unknown tively
components we could
our of force
moment have inequations
the
first obtaine abo
2i " [ΣF [ΣF
6j # 3k)
x !! 0](Bxi # By j) # ("i
"Ax " # 3j654#!1.5k) 0 ! A("1962k)
x ! 654 N ! 0 tively we could have first obtained
! 0] "A # 654 ! 0 A ! 654 N positive mathematical
Az from sense,
ΣFz ! in which
0toand then take
Helpful Hints through ! 0Bout andobtain Ataken
x and
x ("3By # 5890)ix# (3B x
[ΣF ! 0] Azx " " 1962
1962)j! #0("2B yA#z 6B! x1962
)k ! 0N Aand from ΣFz turn then
[ΣFy !zi 0] j k "A # 1962 ! 0 A ! 1962 N case A z A would
our moment equations about axe to be
"Ay i# y1962 j ! 0k x y
[ΣFy ! 0] Ay !y1962 N negativeourupon moment
computation. equations
The about axes
Equating "2 the"6 3 # of
coefficients "1 "3 k to1.5
i, j, and zero and 0
!solving give ! We could, ofthrough course, Bassign
to obtain all free-
Aofx the
and A y.
 Sample Problem (15)
A 200-N force is applied to the handle of the hoist in the direction shown.
The bearing A supports the thrust, while bearing B supports only radial
load. Determine the mass m which can be supported and the total radial
force exerted on the shaft byA reach bearing.
ticle 3 /4 E q uAssume
i l i b r i u m Cneither 151to
o n d i t i obearing
ns
be capable of supporting a moment about a line normal to the shaft axis.
y
100
75 200 N
he handle of the hoist in the direction shown. 150
(force in the direction of the shaft axis), while 100 250
B
60°
ad (load normal to the shaft axis). Determine A
ted and the total radial force exerted on the 100 x 45°
ther bearing to be capable of supporting a mo-
aft axis. Radial
bearing z
Thrust
bearing
m
Dimensions in millimeters
three-dimensional with no lines or planes of
lem must be analyzed as a general space sys- x
 arethe
e arbitrarily weight
arbitrarily
assigned.
cannot beW ! mg
assigned.
The
determined x-ycompletes
The x-y the
projection
until the
projection free-body
ofmagnitudes
the bearing
of the diagrams.
of bearing
forces
the Itshown
isforces
moments should
z is in
are be znoted
shown
obtained, insothat
they
y y y y
70.7 N 70.7 N z y y y xO y x
A + B A + B x
e weight
rms the
thethe
ofterms W
weight
sumsthree
of
are
! mg
the Wsums
of ! mg
completes
views
the
arbitrarily unknowncompletes
the the
ofrepresent free-body
x-
unknown
assigned. the
three
and The free-body
diagrams.
two-dimensional
y-components.
x- diagrams.
ItThe
y-components.
andprojection
x-y should ItThe
be
should
problems
ofaddition
the noted Abez that
of related
addition
bearing noted
and ofby
forces Aisz that
the
andshown B
corre-y in A y ymg
B = 9.81m
A y x A mg
x y +x By A x y 9.81m
= + By
= 9.81mmg = 9.81m mg =A9.81m 70.7= N
ee weight
three the views
Wthree
weight
sponding
! represent
termsmg views represent
Wcompletes mg
components
of!the three
sums two-dimensional
completes
the three
of
of two-dimensional
free-body
thethe
the free-body
forces.
unknown problems
diagrams.
x- and problems
diagrams. related
Ity-components.
should by
It berelated
the
should
noted Thecorre-
by
be Athe
that r t i ccorre-
noted
addition mg
l ethat
3of/ 4Az E q u i l i b r i u m C oBnyd i t iA
and o xn
ys
+mg Bx151 A9.81m
x + Bx A
ple
eonding
Problem
threesponding
the components
views
three
the components
represent
views
weight
3/6
of represent
the W forces.
three!ofmg the forces.
two-dimensional
three
completestwo-dimensional
theproblems
free-body problems
related
diagrams. by
related
the corre-
by thebe
It should corre-mg = 9.81m
noted thatmg = 9.81m mg y = 9.81m mg = 9.81m Ax + Bx
100
onding
200-N
"
" x-y
sponding
From the
projection:
components
force
theFrom
Sample
x-y
From is
components
threeof
the
applied
the x-yforces.
views
Problem
to
the x-ycomponents
projection
ofrepresent
the
the forces.
projection
3/6
handle
projection of the forces.
three two-dimensional problems related by the corre- Helpful
of the hoist in the direction shown.
mg = 9.81m
150 Hints 75 mg 200 = 9.81m
N
100 250
sponding y
HelpfulHelpful Hints 100 Hints
earing A supports the thrust (force in the direction of the shaft axis), while B If the standard 75 three 200 N views of o
"From the [ΣM x-y !
From
O A0]
projectionx-y projection
the200-N 100(9.81m)
force is applied to #the 250(173.2)
handle of ! the0hoist in m! the44.1 kg shown.Helpful
direction Ans.Hints! Hints
Helpful 150 60°
ngMOB!supports0] "O !The
[ΣM only
0] radial
100(9.81m) load
100(9.81m) (load normal 0 toin the
m! shaftm! kgaxis). Determine Ans.while! Ans. If the!standard
If the standard threeA views
250three of views
ortho- of ortho-
From
bearing the x-y250(173.2)
#
A supports projection
the 250(173.2)
# thrust ! (force ! 0 44.1
the direction 44.1
of thekg shaft axis), B graphic
Helpful
100 projection
Hints
are not en
ass
MO ! [ΣMm which
0] From can
0] be
100(9.81m) supported
100(9.81m)
# 250(173.2) and the
# 250(173.2) total
0 (load! radial
m! force
0 44.1tom! kg exerted
the44.1
shaftkg on the
Ans. ! 100
Ans. graphic
If the! graphic
projection
standard
If the projection
standard
three
familiar, are not
views x
three are
ofentirely
viewsnot
ortho-
then review and entirely
of
60° ortho-
45° pra
O !bearing the x-z B supports
projection only radial !
load normal axis). Determine
by each
rom the x-z
Fromx-z projection:
bearing.
the x-z
projection
the
[ΣM Assume
massprojection
O ! 0]
m which neither can be bearing
100(9.81m) supported #to250(173.2)
be
andcapable
the total !of supporting
0radial force 44.1
m! a kg
exertedmo- on the familiar,
graphic
100Ans. familiar,
then
graphic
projection
! them.
A
review
then
projection
are
If the standard and
review
not
x
Visualize practice
are and
entirely
not
three
the 45° practice
entirely
views of
three o
view
about a x-z
lineprojection
normal
shaft to the shaftAssume axis. neither bearing to be capable of supporting a mo- familiar,familiar, them. Radial
Visualize
them. Visualize
then graphic the
review
then three
andthe
review views
three
practice as
andare views
practice as
om the From the x-zbyprojection
each bearing. projection notproj ent
[ΣMmentA !0] 150B 175(70.7)
x "shaft axis. # 250(70.7) ! 0 Bx !the 35.4 N Radial theThrust
bearing images zof the body
MA !0] [ΣMA !0] about a line normal
150B "150B 175(70.7) to the
x " 175(70.7)
# 250(70.7) # 250(70.7)
!0 ! 0 Bx ! 35.4 BxN! 35.4 N them.images the
Visualize
them. images
of Visualize
bearingonto
thethethe
familiar, body
of
three the
z projected
the
then body
views
three
review asprojected
views endassur
and pra
From the x-z xprojection Thrust front,
bearing top, and
onto
the the
imagesonto
front,
the the
images
of top,front,
the
them. and top,
body
of end
the
Visualize and
surfaces
projected
body end surfaces
projected
the placed
three view
MA !0] [ΣMA !0] 150Bx "150B 175(70.7)
x " 175(70.7)
# 250(70.7) # 250(70.7)
!0 ! 0 Bx ! 35.4 BxN! 35.4 N m
m of abearing
clear plastic box ove
[ΣFx ! 0] Ax " 35.4 # 70.7 ! 0 Ax !of a
35.4 clear
N
onto theonto of plastic
a
front, clear
the box
top,
the plastic
front, placed
and
images box
top,
end and over
placed
surfaces
of and over
end body
the surfacesandproje
Fx ! 0] [ΣFx ![ΣM 0] A !0] Ax " 35.4 Ax#"70.7
150B x35.4 !#070.7 !#0 250(70.7) A!x !
" 175(70.7) 0 35.4 AxN! 35.4 Bx ! N 35.4 NDimensionsDimensionsaligned in
in with the body.
millimeters
millimeters
ion. The system Solution. is clearly
The system three-dimensional
is clearly three-dimensionalwith no lines with no orlines
planes of of aligned
or planes of a clear with
aligned
ofplastic theonto
a clear with
body.
box the
plasticplacedbody.
box
the front, over
placed
top, and andover endand sur
Fx ! # 0][ΣFThe x ! 0] y-z view givesAx " 35.4 Ax#"70.7 35.4!#070.7 ! 0 Ax ! 35.4 AxN! 35.4 N
he # y-z view
The y-z
givesview
symmetry, gives and therefore the
etry, and therefore the problem must be analyzed as a general space sys- problem must be analyzed as a general space sys- aligned with
aligned the
x
x We with
body.
of acould the body.
clear plastic box placed over
" havethe started with th
he #y-z view
f forces. y-z
The projection:
A y-z
[ΣF
tem
gives
scalar of!
viewsolution
x 0]
forces. A scalar solution is A
used " 35.4
here
gives is used here to illustrate this approach, although
x to # 70.7
illustrate ! 0
this approach, although A
" x ! We 35.4
could
" N We havecould started
70.7 haveN with
started
70.7 N with the body.
aligned
projection rather
withx-z
than
the x-z
with th
[ΣM aA solution
0]! y-z 0] "150Busing 150B vectory "# 175(173.2)
notation would 250(44.1)(9.81)
# also be satisfactory.!The
B0y !free-body By"
dia- 520 could
!NprojectionN projectionrather than
rather x-y the x-y
M
tion [ΣM
0] #
A !using A! 150B
vector
The 175(173.2)
ynotation
view y "would
gives 175(173.2)250(44.1)(9.81)
also be
# 250(44.1)(9.81)
satisfactory.
! 0 The ! 0free-body BN
520dia-y ! 520 We " Wehave could started 70.7 with
have with
N than
started the
thewith x-z the
with x-z
gram of the shaft, lever, and drum considered a single body could be shown by a projection. projection. projection. 70.7 N
M ! [ΣM
0] 150B
0] view "150B175(173.2)
y " 175(173.2)#is250(44.1)(9.81)
#a 250(44.1)(9.81) be B BN projection projection
rather
" Wethan rather
couldwith than the withx-y the x-yth
ofAthe shaft,
! lever,
A !space y and if drum
desired, considered
but represented single by0its could
herebody
! three! 0orthogonal
y ! 520
shown by y a! 520 N
projections. have started with
[ΣF 0] #"A " 520 173.2 (44.1)(9.81) ! 0 ! 0 and AB projection.A projection.
view
Fy ! 0] if[ΣFdesired,
y ![ΣM A!y but
y0] " The is
520 Arepresented
200-N
A ! 0] y
173.2
520
force
y 150B is #here
173.2
# yresolved
# " #by
(44.1)(9.81) into
175(173.2) #its
its
! three
(44.1)(9.81) orthogonal
0 250(44.1)(9.81)
three
# components, projections.
A!yeach
0
!86.8 of A N
the three
y !86.8 y
N! 520NN z # The
y !86.8 projection
y-z
z couldview rather than
couldfollowedhave with followe th
# The Ay-z
# view
The y-z
could view have followed
have im- im-
Fhe 200-N
y ! 0] ! views
[ΣFy force Ay is
0] " shows
resolved
520A# y"
two of
173.2
520intothese
#its components.
three
173.2
(44.1)(9.81) The
components,
# (44.1)(9.81)
! 0 correct directions
!and0 each of AA
of x and
the
y !86.8AN
Bx may
three be
y !86.8 Nmediately
z projection.
mediately z could after the x-ysince
view
seen by inspection by observing that the line of action of the resultant of the two # The y-z# mediately
Bxview
The after
Axy-z
could the
yview after
have x-yfollowed
ythe
view
have x-ysince
173.2 view
followed
im-
N im-
shows
F z ! 0] [ΣFtwo [ΣFofz0]
Athese
!z ! 0] components.
70.7 A N A70.7 ! 70.7
N The N# correct directions of A! x and Bx may be A !86.8 N 173.2 N A
z ! [ΣF
70.7-N ! 0] ! z A 520 173.2 (44.1)(9.81)
forces passesy between A and B. The correct sense of the forces Ay and By y the
" # 0 determination
theafter the
determination determination
of Ay and of BA may
andof may By
and
Byy since
mediately
Bx Azmediately the y-zx-y
after the
view x-y
yysinceview
y z
y inspection by observing that the line of action of the resultant of the two Ax# yThe view y could have followed
F ! 0][ΣFThe Atotal
0] be A
! 70.7 zN 70.7 N be made myafter ofm Ay173.2
ismayfound. N
! cannot determined
!forces until the bearings
magnitudesbecome of the moments are obtained, so they be m 70.7 N
hezforces
totalThe z total
radial z radial
forces radial
onforces
the bearings
on the on bearings
the
become become themade be
after
determination
the made is
after
determination
173.2 found.
of A
zmediately N isO found.
and afterxB and
y the By may
x-y view
N passes between A and B. The correct
are arbitrarily assigned. The x-y projection of the bearing forces sense of the forces A and
y is shownB y in
he total The radial [ΣF
total forces !
radial 0]
z of on forces
the A
bearings
on ! 70.7
theunknown N
bearings
become be made be
after made m70.7
Az By Ay the determinationis
after
Nfound. m is found.
t be determined terms until the the sums z the
magnitudes
of of the x-become
moments
and are
y-components. obtained,
The addition so they
of Az and Ay + Bof Ay and
y 70.7 N By
Without the assumption of zero
r ! !A
rbitrarily Total
[A 2
xr" [A
! rA radial
!A
!
the
2
assigned.
y !A
2 "x A
]x weight forces
2 "2 A 2]
AW
The
y ]r !
x-y on
y! !(35.4)
mg the A
2
Acompletes
projection
r
The total radial forces on the bearings become bearings:
! !(35.4)
r" ! !(35.4)
(86.8)
the
2
of
2 2 " (86.8)
"!(86.8) 2
93.5 diagrams.
free-body
the bearing
2 ! 93.5 N
N! 93.5 NIt should be noted
forces is shown
Ans. thatAns.
in
$ Without$
Ans. $
Without
the assumption
z be
ment
the
made
assumption
of Ozero x
Ax + Bxm is found.
after
supported
mo-
of zero
byzero each
mo-
!A[A 2" !A 2] 2three 2] ! represent 2!(35.4) 22 93.522N! $ ment
Without
mg = supported
$9.81mment
Without supported
the assumption
70.7 bymg
the
N each ofby
assumption
= 9.81m bearing
zero eachmo-
of bearingmo-be
r 2 !(35.4)
! the ! Athe views
" 2Aunknown
yA Ax-r!
three
" two-dimensional
(86.8) "!(86.8) problems
93.5 N related by the
Ans. corre- Ans.
rof xsums
2r yof2 x 2the
]!B 2 and
2 y-components.
2 2 2 The2 addition of A and B A A + B
B! $!B $[B x " ![BB!B
!
sponding
y x "x B" yB ]B! y ]!(35.4)
components Bof!theB!(35.4)
"! !(35.4)
(520)
forces. "!(520) " (520)
521 N! 521!N521 N z Ans. Ans. about
ment Ans.yasupported
line
about
ment y aabout
normal linebyto
supported a the
line
normal
each normal
shaft
bytobearing
theaxis,
eachy tobearing
shaft theaxis,
y shaft
eight W ! [A
mg !A
completes
! 2 " A 2]
the free-body A ! !(35.4)
diagrams. 2 " (86.8)2 ! 93.5 N
It should be noted that Ans. $ Without theA assumption
+ B of zero
B! $!B[B 2"
! !B
B 2]r 2 " B x2B
] ! y B !2!(35.4)
!(35.4) " (520)
r 22"
! (520)
521 2 ! 521 N
N Ans. Ans. the
about problem
a the
line
about problem
would
the
normal
a line be
to would
problem
normalstatically
the x be
would
shaft
to statically
x
the in-
axis, be
shaft in-
staticall
axis,
x
ree views"represent
y x y
Fromthreethe x-ytwo-dimensional
projection problems related by the corre- = 9.81m
mgdeterminate. ment mg supported
= 9.81m by each bea
2 " B 2] the
Helpful determinate.
problem
the
Hints determinate.
problem
would be would
statically be statically
in- in-
ing components $ [B !of!B thex forces. y B ! !(35.4)2 " (520)2 ! 521 N Ans. about a line normal to the shaft
determinate. determinate.
[ΣMO ! 0] 100(9.81m) # 250(173.2) ! 0 m! 44.1 kg Ans. ! If the standard thethree problem
views ofwould ortho- be staticall
graphic projection are
determinate. not entirely
rom the x-y projectionFrom the x-z projection Helpful Hints familiar, then review and practice
them. Visualize the three views as
! 0] 100(9.81m)
[ΣMA !0] # 250(173.2) 0 m!
!175(70.7)
150Bx " 44.1 kg! 0
# 250(70.7) BAns. ! If the
x ! 35.4 N
the standard
images of three views
the body of ortho-
projected
onto the
graphic front, top, and
projection areend
notsurfaces
entirely
Sample Problem (16) PROBLEMS
Introductory Problems

Determine the tensions in cables AB, AC

3/61and AD.the tensions in cables AB, AC, and AD.
Determine
Ans. TAB ! 569 N, TAC ! 376 N, TAD ! 467 N

1.5 m
2m
C

B 1.25 m
0.5 m
2.5 D
m

120 kg

Problem 3/61

3/62 A uniform steel plate 360 mm square with a mass of

15 kg is suspended in the horizontal plane by the
three vertical wires as shown. Calculate the tension
in each wire.
 Sample Problem (17) Article 3/4 Problems 153

The horizontal steel shaft has a mass of 480 kg and is suspended by a

3/63 The horizontal steel shaft has a mass of 480 kg and
vertical cable from A and by a second cable BC which lies in a vertical
is suspended by a vertical cable from A and by a sec-
ond cable BC which lies in a vertical transverse
transverse plane and loops underneath the shaft. Calculate the
plane and loops underneath the shaft. Calculate the
tensions T1 and T2 in the cables.
tensions T and T in the cables.
1 Ans. T21 ! 1177 N, T2 ! 1974 N
B
1.5 m
C
1.5 m A
B y
T2 T2 x
C
A
y T2 T1
T2 x
T1
z W
3m

3m

z 4m
1
m

Problem 3/63

3/64 Two steel I-beams, each with a mass of 100 kg, are
welded together at right angles and lifted by vertical
Sample Problem (18) c03.qxd 11/6/07 3:27 PM Page 155

A three-legged stool is subjected to the load L as shown. Determine

the vertical force reaction under each leg. Neglect the weight of the
stool.
75 75
100
L

B 325

120°
120°

A 120°
C

Dimensions in millimeters

Problem 3/69

3/70 Determine the compression in each of the three leg

of the tripod subjected to the vertical 2-kN force. Th
weight of the legs is negligible compared with th
applied load. Solve by using the force–equilibrium
equation ΣF ! 0.
Sample Problem (19)
156 Chapter 3 Equilibrium

The mass centre of the 30-kg door is in the centre of the panel. If the
3/73 The smooth homogeneous sphere rests in the 120! 3/75 The mass center of the 30-kg door is in the cen
weightgroove
of the door is supported entirely
and bears against the end plate, which is nor- by thethelower
panel. Ifhinge A,of the door is support
the weight
calculate
mal tothe magnitude
the direction of the
of the groove. total force
Determine the supported
tirely by theby the
lower hinge
hinge at B.
A, calculate the mag
angle !, measured from the horizontal, for which the of the total force supported by the hinge at B.
reaction on each side of the groove equals the force Ans. B ! 1
supported by the end plate.
Ans. ! ! 30!
80 mm 360 mm
1

60° B
60°

30 kg
1500 mm
End view
of V-groove

A
θ
Horizontal
1640 mm

Problem 3/73
Problem 3/75
3/74 The small tripod-like stepladder is useful for sup-
porting one end of a walking board. If F denotes the 3/76 As part of a check on its design, a lower A-arm
 A
θ
Horizontal

Sample Problem (20)

1640 mm

Problem 3/73
Problem 3/75
3/74 The small tripod-like stepladder is useful for sup-
porting one end of a walking board. If F denotes the 3/76 As part of a check on its design, a lower A-arm (part
A lower A-arm is supported by bearings at A and B and subjected to the
magnitude of the downward load from such a board of an automobile suspension) is supported by bear-
(not shown), determine the reaction at each of the ings at A and B and subjected to the pair of 900-N
pair of 900-N forces at C and D. The suspension spring exerts a force F at
three feet A, B, and C. Neglect friction. forces at C and D. The suspension spring, notsshown
E as shown, where E is in plane ABCD. Determine the magnitude F of the
for clarity, exerts a force FS at E as shown,
s where E
is in plane ABCD. Determine the magnitude FS of
spring force and the magnitudes FA and F of the bearing forces at A and B
730 mm B the spring force and the magnitudes FA and FB of
which are perpendicular to the hinge axis AB. the bearing forces at A and B which are perpendicu-
G
365 mm lar to the hinge axis AB.

F Fs 15°
B
425 mm 420 mm 170 mm
D E
B
E
65° 480 mm
A 190 mm
A 65°
C 460 mm
C 120
460 mm
mm
180
D mm
900 N
Problem 3/74
900 N

Problem 3/76
 the spring force and the magnitudes FA and FB of
the bearing forces at A and B which are perpendicu-
lar to the hinge axis AB.

Fs 15°
B
420 mm 170 mm

E
A 190 mm

C 120
mm
180
D mm
900 N
900 N

Problem 3/76
 mm mm

250 mm

Sample Problem (21)

Problem 3/79

A 3/80 During a test, the left engine of the twin-engine air-

x
y plane is revved up and a 2-kN thrust is generated.
The main wheels at B and C are braked in order to
Problem 3/77 prevent motion. Determine the change (compared
with the nominal values with both engines off) in
Determine the magnitudes of the force R and couple M exerted by the
3/78 Determine the magnitudes of the force R and couple the normal reaction forces at A, B, and C.
M exerted by the nut and bolt on the loaded bracket -

nut and bolt on the loaded bracket at O to maintain equilibrium.

at O to maintain equilibrium.

T = 2 kN

150 mm C

B 2m
A
4m 2.4 m
200 mm
2.4 m
1.6 kN 30°
2.4 kN

50° Problem 3/80

200 mm
x
y

Problem 3/78
xd 11/6/07 3:27 PM Page 158

Sample Problem (22)

158 Chapter 3 Equilibrium

The 25-kg rectangular access door is held in the 90° open position by
3/81 The 25-kg rectangular access door is held in the 90! z
the single prop CD. Determine
open position by the single prop CD. Determine the the force F in the prop and the magnitude
100
offorce
theF inforce
the prop normal to the
and the magnitude hinge
of the force axis AB in each of
normal to the hinge axis AB in each of the small
D the small hinges A

and
hinges B.
A and B. 300
Ans. F ! 140.5 N, An ! 80.6 N, Bn ! 95.4 N
300

B 550
B
300 mm C
A
C
350
1000 mm 1200 mm x
550
y
D
Dimensions in millimeters
600 mm
Problem 3/82

3/83 Gear C drives the V-belt pulley D at a constant

Problem 3/81 speed. For the belt tensions shown calculate the
gear-tooth force P and the magnitudes of the total
3/82 One of the three landing pads for a proposed Mars forces supported by the bearings at A and B.
lander is shown in the figure. As part of a design Ans. P ! 70.9 N, A ! 83.3 N, B ! 208 N
check on the distribution of force in the landing
 Sample Problem (23) Article 3/5 Review Problems 16

3/104 If the weight

If the weight of the boom is negligible compared with ofthetheapplied
boom is negligible
30-kNcompare
with the applied 30-kN load, determine the cab
load, determine the cable tensions T1 and Ttensions
2 and T the force acting at the
1 and T2 and the force acting at the ba
ball joint at A. joint at A.
" B

D
A 35°
C x
C
y 3m

560 mm
4m T1
A
4m
2m
3m

T2 B z
320 mm 180
mm
D
Problem 3/102 30 kN

/103 A freeway sign measuring 4 m by 2 m is supported Problem 3/104

by the single mast as shown. The sign, supporting
framework, and mast together have a mass of 300 3/105 Magnetic tape under a tension of 10 N at D pass
 C
350

Sample Problem (24)

1000 mm 1200 mm x
550
y
D
Dimensions in millimeters
600 mm
Problem 3/82

Gear C drives the V-belt pulley D at a constant speed. For the belt
3/83 Gear C drives the V-belt pulley D at a constant
tension shown calculate Problem 3/81 the gear-tooth force P and
speed. For thethebeltmagnitudes of the
tensions shown calculate
gear-tooth force P and the magnitudes of the total
the3/82
total
One forces
of the threesupported
landing pads for aby the Mars
proposed bearings at A supported
forces and B.by the bearings at A and B.
lander is shown in the figure. As part of a design Ans. P ! 70.9 N, A ! 83.3 N, B ! 208 N
check on the distribution of force in the landing
struts, compute the force in each of the struts AC, 100 N
BC, and CD when the lander is resting on a horizon-
tal surface on Mars. The arrangement is symmetri- P 160 200 N
cal with respect to the x-z plane. The mass of the mm
20°
lander is 600 kg. (Assume equal support by the pads
and consult Table D/2 in Appendix D as needed.)

B
D
C

120
mm
100
mm
150 mm
100
mm

Problem 3/83
Sample Problem (25) Article 3/4 Problems 159

The spring of modulus k = 900 N/m is stretched

3/84 The spring of modulus k ! 900 N/m is stretched a
a distance
3/86 The shaft, 60 are
lever, and handle mm when
welded together and
thedistance
mechanism
! ! 60 mm iswhenin the
themechanism
position is inshown.
the Calculate
constitute the force
a single PminTheir
rigid body. required
combined tomass
position shown. Calculate the force Pmin required to is 28 kg with mass center at G. The assembly is
initiate rotation about the hinge axis
initiate rotation about the hinge axis BC, and deter-
BC, and determine
mounted theA corresponding
in bearings and B, and rotation is pre-
magnitudes of the magnitudes
mine the corresponding bearing offorces which are vented
the bearing perpendicular to BC.theWhat
by link CD. Determine is on
forces exerted
which are perpendicular to BC. What is the the shaft by bearings A and B while the 30- N ! m
theforces
normal reaction force at
normal reaction force at D if P ! Pmin/2?
D if P = Pmin/2? couple is applied to the handle as shown. Would
these forces change if the couple were applied to the
90 shaft AB rather than to the handle?
55 mm
mm
C 100 mm
135
mm D
k = 900 N/m
D
165 45 mm 450 mm
mm
55 B 45 mm
mm P x
A 30
A mm0
135 40 mm 30
mm 600 mm0
mm
Problem 3/84 B
C G
y
220
3/85 A force P of 200 N on the handle of the cable reel is mm z
required to wind up the underground cable as it 30 N·m
20
comes from the manhole. The drum diameter is 1000 mm0
Sample Problem (26)
166 Chapter 3 Equilibrium

Determine the tension T required to 3/107

holdDetermine
the rectangular
3/106 The curved arm BC and attached cables AB and AC
solid in the
the tension T required to hold the rec-
position shown. The 125-kg rectangular tangular
solid is solidhomogeneous.
support a power line which lies in the vertical y-z in the position shown. The 125-kg
rectangular solid is homogeneous. Friction at D is
plane. The tangents to the power line at the insula-
Friction at D is negligible.
tor below A make 15! angles with the horizontal
negligible.
y-axis. If the tension in the power line at the insula- Ans. T ! 1053 N
tor is 1.3 kN, calculate the total force supported by
the bolt at D on the pole bracket. The weight of the
0.5 m
arm BC can be neglected compared with the other
forces, and it can be assumed that the bolt at E C
supports horizontal force only.

z 0.3 m
1.2 m 0.4 m
A
1.2 m
0.4 m
D B
D, E y
B
45° 0.125 m
45° C
y T
z x
A

Problem 3/107
x

3/108 A vertical force P on the foot pedal of the bell crank

is required to produce a tension T of 400 N in the
vertical control rod. Determine the corresponding
600 mm bearing reactions at A and B.
 1.2 m 0.4 m
A
1.2 m
0.4 m

Sample Problem (27)

D B
D, E y
B
45° 0.125 m
45° C
y T
z x
A
A vertical force P on the foot pedal of the bell crank is required to produce a
Problem 3/107
x
tension T of 400 N in the vertical control rod. Determine the corresponding
3/108 A vertical force P on the foot pedal of the bell crank
bearing reactions at A and B. is required to produce a tension T of 400 N in the
vertical control rod. Determine the corresponding
600 mm bearing reactions at A and B.

B 60 mm
160 mm 120 mm z
D y
160 mm 100
A mm
E 30°
100
mm
P
Detail of arm attachment B

Problem 3/106

x
200 mm

T = 400 N

Problem 3/108