206 Equilibrium of Rigid Bodies

F
Force with known
line of action, Force with known
perpendicular to line of action,
surface Cable along cable
Ball Frictionless surface (one unknown) (one unknown)

Fy

Fz
Two force components,
one perpendicular to
Roller on Wheel on rail surface and one parallel
rough surface to axis of wheel

Fy

Fx
Fz
Three force components,
mutually perpendicular
Rough surface Ball and socket at point of contact

My
Fy

Mx Fy Mx
Fx Mz Fx
Fz Fz
Universal Three force components, Three force components,
joint one couple Fixed support three couples (no translation,
no rotation)

(My)

Fy

(Mz) Fz
Two force components
Hinge and bearing supporting radial load only and up to two couples

(My)

Fy

(Mz) Fx
Fz

Hinge and bearing supporting Three force components

Pin and bracket axial thrust and radial load and up to two couples

Fig. 4.10 Reactions at supports and connections in three dimensions.

bee87302_ch04_169-229.indd 206 11/8/14 10:06 AM

 Problem 1
Problem 1: The frame shown supports part of the roof of a small D
building. Knowing that the tension in the cable is 150 kN, determine
2.25 m
the reaction at the fixed end E. A B
C

Problem 2: A 5 3 8-ft sign of uniform density weighs 270 lb and is 20 kN 20 kN 20 kN 20 kN

3.75 m

supported by a ball-and-socket joint at A and by two cables. Determine

1.8 m 1.8 m 1.8 m 1.8 m E F
the tension in each cable and the reaction at A.
4.5 m
y
D
2 ft 8 ft
4 ft
C Problem 3
A
3 ft
E
B
z 6 ft
x
2 ft
5 ft
Problem 2

Problem 3: A 200-mm lever and a 240-mm-diameter

pulley are welded to the axle BE that is supported by
bearings at C and D. If a 720-N vertical load is applied
at A when the lever is horizontal, determine (a) the
tension in the cord, (b) the reactions at C and D. Problem 4
Assume that the bearing at D does not exert any axial
thrust.

Problem 4: A 2.4-m boom is held by a ball-and-socket joint at C

and by two cables AD and AE. Determine the tension in each
cable and the reaction at C.

Problem 5: Solve Problem 4, assuming that the 3.6-kN load is

applied at Point A.

Problem 6 Problem 6: A 48-in. boom is held by a ball-and-socket

joint at C and by two cables BF and DAE; cable DAE
passes around a frictionless pulley at A. For the loading
shown, determine the tension in each cable and the reaction
at C.

Problem 7

Problem 7:Two tape spools are attached to an axle supported

by bearings at A and D. The radius of spool B is 1.5 in. and
the radius of spool C is 2 in. Knowing that TB = 20 lb and
that the system rotates at a constant rate, determine the
reactions at A and D. Assume that the bearing at A does not
exert any axial thrust and neglect the weights of the spools and
axle.
 The moment about a given point O of the resultant of several y
concurrent forces is equal to the sum of the moments of the various
forces about the same point O. F4
F3

r 3 ( F1 1 F2 1 . . . ) 5 r 3 F1 1 r 3 F2 1 . . . A

F2
y r
F1
Fy j r 5 xi 1 yj 1 zk O
x
F 5 Fxi 1 Fy j 1 Fzk
A (x, y, z)
yj z
Fx i
r
MO 5 r 3 F
xi
O
x
MO 5 Mxi 1 My j 1 Mzk
Fz k
zk where the components Mx, My, and Mz are defined by the relations

z M x 5 yF z 2 z F y
Fig. 3.14 The moment MO about point O M y 5 z F x 2 xF z
of a force F applied at point A is the vector M z 5 xF y 2 yF x
product of the position vector r and the
force F, which can both be expressed in
rectangular components.

y Fy j
(yA – yB)j
MB 5 rA/B 3 F 5 (rA 2 rB ) 3 F

Fx i
rA/B A

B (xA – xB)i

Fz k
(zA – zB)k
O
x where xA/B, yA/B, and zA/B denote the components of the vector rA/B:
xA/B 5 xA 2 xB yA/B 5 yA 2 yB zA/B 5 zA 2 zB
z
Fig. 3.15 The moment MB about the
point B of a force F applied at point A is
In the case of two-dimensional problems, we can assume without
the vector product of the position vector rA/B
and force F. loss of generality that the force F lies in the xy plane (Fig. 3.16). Setting
z 5 0 and Fz 5 0 in Eq. (3.19), we obtain
y Fy j
F
MO 5 (xFy 2 yFx )k MO 5 (xFy 2 yFx )k
A (x, y,0)
yj Fx i y
Fy j
r F

O ( yA – yB)j
xi x
Fx i
A
MO = Mz k rA /B

z
B ( xA – xB)i
Fig. 3.16 In a two-dimensional problem, O
the moment MO of a force F applied at A x
MB = MB k
in the xy plane reduces to the z component
M B 5 (xA 2 xB )Fy 2 (y A 2 y B )Fx
of the vector product of r with F.

z
Fig. 3.17 In a two-dimensional problem,
the moment MB about a point B of a force F
applied at A in the xy plane reduces to the
z component of the vector product of rA/B
with F.
 problem 1

DF 5 2(4.5 m) 2 1 (6 m) 2 5 7.5 m
Then you can write the three equilibrium equations and solve for the A B
reactions at E. C
6m
1 4.5
y oFx 5 0: Ex 1 (150 kN) 5 0 20 kN 20 kN 20 kN 20 kN
7.5
Ex 5 290.0 kN Ex 5 90.0 kN z b 1.8 m 1.8 m 1.8 m 1.8 m E F
Ex
6
1xoFy 5 0: Ey 2 4(20 kN) 2 (150 kN) 5 0 ME
7.5 4.5 m
Ey 5 1200 kN Ey 5 200 kNx b Ey 150 kN

1loME 5 0: (20 kN)(7.2 m) 1 (20 kN)(5.4 m) 1 (20 kN)(3.6 m) Fig. 1 Free-body diagram of frame.
6
1(20 kN)(1.8 m) 2 (150 kN)(4.5 m) 1 ME 5 0
7.5
ME 5 1180.0 kN?m ME 5 180.0 kN?m l b
y
D
problem 2 2 ft 8 ft
4 ft

 C Ayj
BD 5 2(8 ft)i 1 (4 ft)j 2 (8 ft)k BD 5 12 ft A xi
 A
EC 5 2(6 ft)i 1 (3 ft)j 1 (2 ft)k EC 5 7 ft 3 ft TEC TBD
 E
BD B
TBD 5 TBD a b 5 TBD (223i 1 13 j 2 23 k) A zk 6 ft
BD z

EC 2 ft
TEC 5 TEC a b 5 TEC (267 i 1 37 j 2 27 k)
EC

W = – (270 lb) j
Equilibrium Equations. The forces acting on the sign form a system
4 ft
equivalent to zero: 4 ft

oF 5 0: Axi 1 Ay j 1 Azk 1 TBD 1 TEC 2 (270 lb)j 5 0 Fig. 1 Free-body diagram of sign.
(Ax 2 23 TBD 2 67 TEC )i 1 (Ay 1 13 TBD 1 37 TEC 2 270 lb)j
2 2
1 (Az 2 3 TBD 1 7 TEC )k 5 0 (1)
oMA 5 o(r 3 F) 5 0:
(8 ft)i 3 TBD (223 i 1 13 j 2 23 k) 1 (6 ft)i 3 TEC (267 i 1 37 j 1 27 k)
1 (4 ft)i 3 (2270 lb)j 5 0
(2.667TBD 1 2.571TEC 2 1080 lb)k 1 (5.333TBD 2 1.714TEC)j 5 0 (2)

Setting the coefficients of j and k equal to zero in Eq. (2) yields two scalar
equations that can be solved for TBD and TEC:

TBD 5 101.3 lb TEC 5 315 lb b

Setting the coefficients of i, j, and k equal to zero in Eq. (1) produces

three more equations, which yield the components of A.

A 5 1(338 lb)i 1 (101.2 lb)j 2 (22.5 lb)k b

SOLUTION
Dimensions in mm problem 3

We have six unknowns and six equations of equilibrium. —OK

ΣM C = 0: (−120k) × ( Dx i + Dy j) + (120 j −160k ) × T i + (80k − 200i ) × (−720 j) = 0

−120 Dx j + 120 D y i − 120T k − 160Tj + 57.6 × 103 i + 144 × 103 k = 0

Equating to zero the coefficients of the unit vectors:

k: −120T + 144 × 103 = 0 (a) T = 1200 N 

i: 120 Dy + 57.6 × 103 = 0 Dy = −480 N

j: −120 Dx −160(1200 N) = 0 Dx = −1600 N

ΣFx = 0: C x + Dx + T = 0 C x = 1600 −1200 = 400 N

ΣFy = 0: C y + Dy − 720 = 0 C y = 480 + 720 = 1200 N

ΣFz = 0: Cz = 0

(b) C = (400 N )i + (1200 N) j; D = −(1600 N)i − (480 N) j 

 problem 4

SOLUTION
Free-Body Diagram: Five unknowns and six equations of equilibrium, but equilibrium is maintained
(ΣMAC = 0).
rB = 1.2k
rA = 2.4k

AD = −0.8i + 0.6 j − 2.4k AD = 2.6 m

AE = 0.8i + 1.2 j − 2.4k AE = 2.8 m

AD TAD
TAD = = (−0.8i + 0.6 j − 2.4k )
AD 2.6

AE TAE
TAE = = (0.8i + 1.2 j − 2.4k )
AE 2.8
ΣM C = 0: rA × TAD + rA × TAE + rB × (−3 kN)j = 0

i j k i j k
TAD T
0 0 2.4 + 0 0 2.4 AE + 1.2k × (−3.6 kN) j = 0
2.6 2.8
−0.8 0.6 −2.4 0.8 1.2 −2.4

Equate coefficients of unit vectors to zero:

i : − 0.55385TAD − 1.02857TAE + 4.32 = 0 (1)
j : − 0.73846TAD + 0.68671TAE = 0

TAD = 0.92857TAE (2)

From Eq. (1): −0.55385(0.92857)TAE − 1.02857TAE + 4.32 = 0

1.54286TAE = 4.32
TAE = 2.800 kN TAE = 2.80 kN 

PROBLEM 4.105 (Continued)

From Eq. (2): TAD = 0.92857(2.80) = 2.600 kN TAD = 2.60 kN 

0.8 0.8
ΣFx = 0: C x − (2.6 kN) + (2.8 kN) = 0 Cx = 0
2.6 2.8
0.6 1.2
ΣFy = 0: C y + (2.6 kN) + (2.8 kN) − (3.6 kN) = 0 C y = 1.800 kN
2.6 2.8
2.4 2.4
ΣFz = 0: C z − (2.6 kN) − (2.8 kN) = 0 Cz = 4.80 kN
2.6 2.8
C = (1.800 kN) j + (4.80 kN)k 
 problem 5

SOLUTION
Free-Body Diagram: Five unknowns and six equations of equilibrium, but equilibrium is maintained
(ΣMAC = 0).

AD = −0.8i + 0.6 j − 2.4k AD = 2.6 m

AE = 0.8i + 1.2 j − 2.4k AE = 2.8 m

AD TAD
TAD = = (−0.8i + 0.6 j − 2.4k )
AD 2.6

AE TAE
TAE = = (0.8i + 1.2 j − 2.4k )
AE 2.8
ΣM C = 0: rA × TAD + rA × TAE + rA × (−3.6 kN) j

Factor rA : rA × (TAD + TAE − (3.6 kN) j)

or TAD + TAE − (3 kN) j = 0 (Forces concurrent at A)
TAD T
Coefficient of i: − (0.8) + AE (0.8) = 0
2.6 2.8
2.6
TAD = TAE (1)
2.8
TAD T
Coefficient of j: (0.6) + AE (1.2) − 3.6 kN = 0
2.6 2.8
2.6  0.6  1.2
TAE  + TAE − 3.6 kN = 0
2.8  2.6  2.8
 0.6 + 1.2 
TAE   = 3.6 kN
 2.8 
TAE = 5.600 kN TAE = 5.60 kN 

PROBLEM 5 (Continued)

2.6
From Eq. (1): TAD = (5.6) = 5.200 kN TAD = 5.20 kN 
2.8
0.8 0.8
ΣFx = 0: C x − (5.2 kN) + (5.6 kN) = 0 Cx = 0
2.6 2.8
0.6 1.2
ΣFy = 0: C y + (5.2 kN) + (5.6 kN) − 3.6 kN = 0 Cy = 0
2.6 2.8
2.4 2.4
ΣFz = 0: Cz − (5.2 kN) − (5.6 kN) = 0 Cz = 9.60 kN
2.6 2.8
C = (9.60 kN)k 
Note: Since the forces and reaction are concurrent at A, we could have used the methods of Chapter 2.
 PROBLEM 6
A 48-in. boom is held by a ball-and-socket joint at C and
by two cables BF and DAE; cable DAE passes around a
frictionless pulley at A. For the loading shown, determine
the tension in each cable and the reaction at C.

SOLUTION
Free-Body Diagram:
Five unknowns and six equations of equilibrium, but equilibrium is
maintained (ΣMAC = 0).
T = Tension in both parts of cable DAE.
rB = 30k
rA = 48k
JJJG
AD = −20i − 48k AD = 52 in.
JJJG
AE = 20 j − 48k AE = 52 in.
JJJG
BF = 16i − 30k BF = 34 in.
JJJG
AD T T
TAD = T = (−20i − 48k ) = ( −5i − 12k )
AD 52 13
JJJG
AE T T
TAE = T = (20 j − 48k ) = (5 j − 12k )
AE 52 13
JJJG
BF TBF T
TBF = TBF = (16i − 30k ) = BF (8i − 15k )
BF 34 17
ΣM C = 0: rA × TAD + rA × TAE + rB × TBF + rB × (−320 lb) j = 0

i j k i j k i j k
T T T
0 0 48 + 0 0 48 + 0 0 30 BF + (30k ) × (−320 j) = 0
13 13 17
−5 0 −12 0 5 −12 8 0 −15

240
Coefficient of i: − T + 9600 = 0 T = 520 lb
13
 PROBLEM 6 (Continued)

240 240
Coefficient of j: − T+ TBD = 0
13 17
17 17
TBD = T = (520) TBD = 680 lb
13 13
ΣF = 0: TAD + TAE + TBF − 320 j + C = 0

20 8
Coefficient of i: − (520) + (680) + Cx = 0
52 17
−200 + 320 + Cx = 0 Cx = −120 lb

20
Coefficient of j: (520) − 320 + C y = 0
52
200 − 320 + C y = 0 C y = 120 lb

48 48 30
Coefficient of k: − (520) − (520) − (680) + Cz = 0
52 52 34
−480 − 480 − 600 + Cz = 0

Cz = 1560 lb

Answers: TDAE = T TDAE = 520 lb W

TBD = 680 lb W

C = −(120.0 lb)i + (120.0 lb) j + (1560 lb)k W

 PROBLEM 7
Two tape spools are attached to an axle supported by bearings
at A and D. The radius of spool B is 1.5 in. and the radius of
spool C is 2 in. Knowing that TB = 20 lb and that the system
rotates at a constant rate, determine the reactions at A and D.
Assume that the bearing at A does not exert any axial thrust and
neglect the weights of the spools and axle.

SOLUTION

Free-Body Diagram:

We have six unknowns and six equations of equilibrium.

ΣM A = 0: (4.5i + 1.5k ) × (−20 j) + (10.5i + 2 j) × (−TC k ) + (15i) × ( Dx i + Dy j + Dz k ) = 0

−90k + 30i + 10.5TC j − 2TC i + 15D y k − 15Dz j = 0

Equate coefficients of unit vectors to zero:

K
i: 30 − 2TC = 0 TC = 15 lb
K
j: 10.5TC − 15Dz = 0 10.5(15) − 15Dz = 0 Dz = 10.5 lb
K
k: −90 + 15 Dy = 0 Dy = 6 lb

ΣFx = 0: Dx = 0

ΣFy = 0: Ay + D y − 20 lb = 0 Ay = 20 − 6 = 14 lb

ΣFz = 0: Az + Dz − 15 lb = 0 Az = 15 − 10.5 = 4.5 lb

A = (14.00 lb) j + (4.50 lb)k ; D = (6.00 lb) j + (10.50 lb)k W