62

Chapter 4 – RESULTANTS OF FORCE SYSTEMS

Objectives:
At the end of the chapter, the students should be able to:
1. define moment of a force.
2. find the moment of a force by applying the principle of moments.
3. use the cross product to find the moment of a force about a point or about a line.
4. know the properties of a couple.
5. find the resultant of force systems in two and three dimensions.
6. determine the resultant of distributed loads.

4.a. Moment of a Force About a Point

Moment of a force – it is the tendency of a force to rotate the body on which it acts about a given point or axis
Moment arm or lever arm – it is the perpendicular distance from the point or axis to the line of action of the
force
Moment center – it is the point where the body rotates or tends to rotate
O
M
M = Fd
d where: M = moment of the force
F = magnitude of the force
d = lever arm
F O

Since the moment M has a direction, it is a vector quantity that is perpendicular to the plane of the body.
The sense of M depends on the direction in which F tends to rotate the body. The right-hand rule is used to
identify this sense, and the moment of F about O-O may be represented as a vector pointing in the direction of
the thumb with the fingers curled in the direction of the tendency to rotate.

4.b. Varignon’s Theorem or Principle of Moments

The principle of moments states that “The moment of a force about a point is equal to the sum of the
moments of its components about the same point”.
y
M R  Rd  R (h cos γ)
O M A  Aa  A(h cos α) Eq. 1

y M B  Bb  B(h cos β)
 a
 also R cos  = A cos  + B cos  Eq. 2
 d
Multiplying both sides of Eq. 2 by h and substituting Eq.1 yields
h b
M R = MA + M B
R
A
B

 
x

B cos  A cos 
R cos 
 63

4.c. Principle of Transmissibility

The principle of transmissibility states that “the conditions of equilibrium or
F'
motion of a rigid body will remain unchanged if a force F acting at a given
point of the rigid body is replaced by a force F' of the same magnitude and
same direction, but acting at a different point, provided that the two forces have
F the same line of action”.

SAMPLE PROBLEMS

1. Determine the moment of the force F = 40i + 80j N about point O. (Pytel, 1996)
y

360 mm
A

150 mm

O x

Solution (using the horizontal and vertical components):

y
a. From the given force F, the x and y components are Fx = 40
Fy
N and Fy = 80 N
b. Applying the principle of moments, find the moment of F
about O, assuming that counterclockwise moments are
360 mm A positive
Fx
MO =  Fx (0.15) + Fy (0.36) = 22.8 N-m
150 mm

x
The positive sign in the answer indicates that the moment
O
is counterclockwise.

Solution (using the normal and tangential components):

y a. Solve for 
 = Arc tan 2 – Arc tan 5 = 40.8
Fn 2 12
1 b. Compute for the magnitude of F

360 mm
 2F
t F  40 2  80 2 = 89.443 N
A c. Find the components of F that are parallel and perpendicular
5
12
150 mm to OA
O x Ft = 89.443 cos 40.8 = 67.708 N
Fn = 89.443 sin 40.8 = 58.444 N
b. Find the length of line OA

OA  0.15 2  0.36 2 = 0.39 m

c. Compute for MO
MO = Fn (0.39) = 22.793 N-m (counterclockwise)
 64

2. Determine the moment of the 650-lb force about points O and B. (Riley, 1993)
y
4 in 6 in

B

10 in

O x
4 in

A
28 y
4 in 6 in
F = 650 lb
4 in
B
Solution:
a. Resolve F into x and y components 10 in

Fx = 650 cos 28 = 573.916

O x
Fy = 650 sin 28 = 305.157 4 in
b. Applying the principle of moments, find MO and MB A
Fx
MO = Fx (4) + Fy (10) = 5347.234 in-lb
Fy
MB = Fx (14) + Fy (6) = 9865.766 in-lb

3. A 90-N force is applied to the control rod AB as shown. Knowing that the length of the rod is 225 mm,
determine the moment of the force about point B.
A
25
90 N

65
B

Solution:
a. Find the perpendicular component of the force
θ = 65 – 25 = 40 57.851 N
A
Fx = 90 sin 40 25
= 57.851 N 65 90 N
θ

225 mm
b. Find the moment about B
65
MB = 57.851 (0.225) B
= 13.016 N-m
 65

4. A force P acts in the x-y plane. The moments of P about points O, A, and B are 80 N-m, 200 N-m, and 0,
respectively. Determine P. (Pytel, 1996)
y

A

500 mm

B
 x
O
400 mm
Solution:
a. Since the moment of P about B is zero, its line of action must pass through B.
y
Apply the principle of moments at points O and A
 MO = Py (0.4)
A
80 = 0.4 Py
Py = 200 N
500 mm
Py
MA = Px (0.5) + Py (0.4)
Px 200 = 0.5 Px + 0.4 Py
 x
O
400 mm B Px = 560 N

b. Determine the magnitude and direction angle of P

P  560 2  200 2 = 594.643 N 

200 ;  = 19.65
θ  Arc tan
560

5. Determine the direction  of the 40-lb force F so that F produces the maximum moment about point A.
Compute the maximum moment. (Hibbeler, 1986)
F = 40 lb


2 ft
A
8 ft

Solution:
a. Resolve F into x and y components Fy

Fx = 40 cos  Fy = 40 sin 
Fx

2 ft

A
8 ft
b. Applying the moment principle, express the moment of F about A with respect to , assuming that
clockwise moment is positive
M = Fx (2) + Fy (8)
M = 40 cos  (2) + 40 sin  (8)
M = 80 cos  + 320 sin 
 66

c. Find the derivative of M with respect to  and equate to zero to solve for 
dM = 80 (sin ) + 320 (cos )
dθ
0 =  80 sin  + 320 cos 
tan  = 320
;  = 75.96
80

d. Solve for the maximum moment

M = 80 cos 75.96 + 320 sin 75.96
M = 329.848 ft-lb

6. Determine the total moment of all the forces about point A. (Das, 1994)
180 N
250 mm
A

250 mm
160 N
180 N 30

350 mm
200 mm

3
4
150 N 200 mm
300 mm
Solution:
a. Resolve F3 and F4 into x and y components
F3x = 160 sin 30 = 80
F3y = 160 cos 30 = 138.564
F4x = 4 (150) = 120
5
3
F4y = (150) = 90
5 F2

A

F1 F3y

F3x

F4x
F4y

b. Apply the moment principle to find MO assuming that clockwise moments are positive
MA = F1 (0.25) + F2 (0.25) + F3x (0.4) + F3y (0.5) + F4x (0.6) + F4y (0.3)
=  180 (0.25) + 180 (0.25) + 80 (0.4) + 138.564 (0.5) + 120 (0.6) + 90 (0.3)
MA = 200.282 N-m (clockwise)
 67

EXERCISES

1. Determine the moment of the force about point O. Ans. 3557.132 lb-ft
750 lb
0.5 ft
20°

5 ft
45°
O

2. Determine the moment of the force about point O. Neglect the thickness of the member. (Hibbeler, 2010)
Ans. 11.2 N-m

3. Find the resultant moment produced by the two forces shown about point O. (Hibbeler, 2010)
Ans. 268 N-m

4. The 5-kN force produces a moment of 10 kN-m clockwise about point A. Determine the angle θ.
Ans. 49.78º
3m

A
0.45 m

5 kN
 68

4.d. Cross or Vector Product of Two Vectors

Cross or vector product of two intersecting vectors – is defined as the product of their magnitudes by the sine of
their included angle. The result is a new vector acting perpendicular to the plane of the vectors in the
direction of the right-hand rule.
n̂

B
AB
A  B = AB sin  n̂


Some properties of the cross product

1. Not commutative: AB= AB
2. Associative when multiplied by a scalar: m (A  B) = mA  B = A  mB
3. Distributive over vector addition: C  (A + B) = C  B + C  B
Cross products of the orthogonal unit vectors
ii = jj =kk =0 ij =k jk =i ki =j
ji =k kj =i ik =j
Expansion of the cross product A  B (it is equal to the determinant)
A  B = (Ax i + Ay j + Azk)  (Bx i + By j + Bzk)
= Ax i  Bx i + Ax î  By j + Ax î  Bz k + Ay j  Bx i + Ay j  By j + Ay j  Bz k
+ Az k  Bx i + Az k  By j + Az k  Bz k
Ax Ay Az
AB= Bx By Bz
i j k

4.d-1. Scalar Triple Product

The triple scalar product involves the dot product of a vector, say A, and the cross product of two
vectors, say B and C. It is written as A · B  C or B  C · A .
Expressing vectors A, B, and C in Cartesian vector form and expanding yields
A · B  C = (Ax i + Ay j + Az k) · (Bx i + By j + Bz k)  (Cx i + Cy j + Cz k)
= Ax (By Cz Bz Cy ) + Ay (Bz Cx Bx Cz ) + Az (Bx Cy By Cx)
which is the expanded form of the determinant
Ax Ay Az
A·BC = Bx By Bz
Cx Cy Cz

4.d-2. Moment of a Force About a Point

MO
F MO = r  F

where: r is a position vector drawn from O to any point
r

lying on the line of action of F
O
d
 69

4.d-3. Moment of a Force About a Line or Axis

z

MOx = (r  F)· n̂ Ox
F
MOy = (r  F)· n̂ Oy
MO
r y MOz = (r  F)· n̂ Oz
O
x
x

4.d-4. Vector Representation of Moment

MO = Mx i + My j + Mz k
and the magnitude of the moment is
MO  Mx  My  Mz
2 2 2

SAMPLE PROBLEMS
1. Determine the moment of the force F = 40î + 80ĵ N about point O. (Pytel, 1996)
Solution:
y
a. Express OA in Cartesian vector form
F OA = 0.36î + 0.15ĵ m
b. Find the moment of F about O using cross product
360 mm
A 40 80 0
150 mm MO = OA  F = 0.36 0.15 0
x
î ĵ k̂
O
MO = 6 k̂  28.8 k̂ =  22.8 k̂
c. Hence, MO = 22.8 N-m counterclockwise

2. A bar is bent and loaded as shown in the figure. Determine the moment of force F about point O. (Riley,
1993)

Solution:
a. Express OA and F in Cartesian vector form

OA = {0.2î + 0.25ĵ + 0.15 k̂ }m

0.075 î  0.15 ĵ  0.14k̂

F  875 = 300.398î + 600.795ĵ + 560.742 k̂
0.075 2  0.15 2  0.14 2
 70

b. Find the cross product of OA and F, which is the required moment MO

0.2 0.25 0.15
MO = 300.398 600.795 560.742
i j k
MO = 120.159k + 140.186i + 45.060j – 90.119i – 112.148j – 75.100k
MO = 50.067i  67.088j + 45.059k

3. A 534-N force is applied to a lever shaft assembly as shown in the figure. Determine the scalar component
of the moment at point O about line OB. (Riley, 1993)

Solution:
a. Express vectors OB , F and n̂ OB in Cartesian vector form

OA = {0.275i + 0.35j} m
 0.05i  0.35 j  0.4k
F  534
0.05 2  0.35 2  0.4 2
= 50.014i + 350.096j  400.109k
0.275i  0.15k
nˆ OB 
0.275 2  0.15 2
= 0.878i + 0.479k

b. Find the moment about line OB

MOB = MO · n̂ OB = ( OA  F) · n̂ OB

0.275 0.350 0
MOB =  50.014 350.096  400.109
0.878 0 0.479

MOB =  68.452 N-m

 71

4. Determine the moment of the 950-N force about point C. (Riley, 1993)
z
A

F = 760 N
380 mm
270 mm

240 mm
B 180 mm C
O
180 mm 120 mm
y
x 400 mm 240 mm

Solution:
a. Express vectors CA and F in Cartesian vector form
CA = {0.3i – 0.09j + 0.38k} m
0.120 i  0.220 j  0.140 k
F  950
0.120 2  0.220 2  0.140 2
= 397.138i + 728.086j  463.327k
b. Find the moment about C
0.3 0.09 0.38
MO = 397.138 728.086  463.327
i j k
MO = 120.159k + 140.186i + 45.060j – 90.119i – 112.148j – 75.100k
MO = 50.067i  67.088j + 45.059k

5. If F1 = {100i – 120j + 75 k} lb and F2 = {–200i + 250j + 100 k} lb, determine the resultant moment
produced by these forces about point O and express the result in Cartesian vector form. (Hibbeler, 2010)

Solution:
a. Express vector OA in Cartesian vector form
OA = {4i + 5j + 3k} m
MO = OA  F1 + OA  F2
4 5 3 4 5 3
MO = 100  120 75 +  200 250 100
i j k i j k
MO = – 480k + 375i + 300j + 360i – 300j – 500k + 1000k + 500i – 600 j – 750i – 400j + 1000k
MO = {485i –1000j + 1020k} ft-lb
 72

EXERCISES
1. Determine the moment of force F about point O and express the result in Cartesian vector form. (Hibbeler,
2010) Ans. MO = {200j – 400k} lb-ft

2. Determine the magnitude of the moment of the force F = {300i – 200j + 150k} N about the OA axis and
express the result in Cartesian vector form. (Hibbeler, 2010) Ans. –36 N-m

3. Determine the moment produced by force F about segment AB of the pipe assembly. Express the result in
Cartesian vector form. Ans. (Hibbeler, 2010) Ans. MAB = (– 52.8i – 70.4j) N-m

4. A bent rod supports two forces as shown. Determine a) the moment of the two forces about point O; b) the
moment of the two forces about line OA. (Riley, 1993) Ans. a) MO = 585.368 b) MOA = – 376.846 N-m
 73

4.e. Moment of a Couple

Couple – consists of two forces that are equal in magnitude, opposite in direction, and have parallel (non-
collinear) lines of action. It produces a purely rotational effect.
The moment produced by a couple is equal to the product of one of the forces F composing the couple
multiplied by the perpendicular distance d (lever arm) between their action lines; i. e.,
M = Fd
F
Referring to the figure,
D
d b
MA = F(a + d) – Fa = Fa + Fd  Fa
C = Fd
a
B
MB = Fd
MC = Fd
A F MD = F(d + b) – Fb = Fd + Fb – Fb
= Fd
From the above result, moment of a couple is the same about any point in the plane of the couple, i. e., the
moment sum of its forces is constant and independent of any moment center.

SAMPLE PROBLEMS

1. Determine the moment of the couple shown and the perpendicular distance between their lines of action.
y 400 N
A

200 mm
400 N
B 35
x
O
100 mm

Solution: Fy
a. Resolve the forces into x and y components y
Fx = 400 cos 35 = 327.661 A
Fx
Fy = 400 sin 35 = 229.431
200 mm
b. Find the moment of the couple, assuming that Fy
counterclockwise moments are positive
B Fx
M = Fx (200) + Fy (100) x
O
= 327.661 (200) + 229.431 (100) 100 mm

= 88,475.3 N-mm
= 88.475 N-m y
400 N
A
c. Find the perpendicular distance between the forces
M = Fd d
200 mm
88475.3 = 400 d
400 N
d = 221. 188 mm B 35
x
O
100 mm
 74

2. Two parallel 75-N forces are applied to a lever as shown. Determine the moment of the couple formed by
the two forces. (Beer, 1998)
B
20º
75 N
75 N
360 mm

55º
A 520 mm

Solution: x
a. First method (using the horizontal and vertical B
components) Fx
Find the horizontal and vertical components Fy y
of the given force 55º

Fx = 75 cos 20 = 70.477 N 360 mm

Fy = 75 sin 20 = 25.652 N
From the figure, 55º
A 520 mm
x = 360 cos 55 = 206.488
y = 360 sin 55 = 294.895
M = 25.652(206.488)  70.477(294.895)
=  15486.485 N-mm = – 15.486 N-m

B
b. Second method (using the perpendicular distance
20º
between the forces) 55º
θ 75 N
θ = 55 – 20 = 35
d
d = 360 sin 35 360 mm
= 206.488 mm
M =  75 (206.488) 55º
=  15486.6 N-mm A 520 mm

= – 15.487 N-m

c. Third method (using the components of the Fn B

forces that are normal to the lever)
Fn = 75 sin 35 θ
= 43.018 N 75 N
360 mm
M = – 43.018(360)
Fn
=  15486.5 N-mm
= – 15.486 N-m 55º
A 520 mm
 75

3. A steel plate is acted upon by two couples as shown. Determine the value of  if the resultant of the two
couples is 10 N-m counterclockwise.
600 mm
24 N E
F α D C
40 N

800 mm
B
40 N 24 N
α
A
Solution:
The perpendicular distance between the 24-N forces is d = 800 cos α
600 mm
24 N
α
40 N
α d
800 mm

40 N 24 N

M = 40 (0.600)  24 (0.800 cos)

10 = 24  19.2 cos
cos = 0.72917
 = 43.18°

4. Two parallel forces of opposite sense F1 = (125i + 200j + 250k) N and F2 = (125i  200i  250k) N act at
points A and O of a body as shown in the figure. Determine the moment of the couple and the perpendicular
distance between the two forces. (Riley, 1993)
z

F1
B

A 90 mm

150 mm F2
100 mm 100 mm
100 mm
O y
70 mm
x

Solution:
a. Write the coordinates of points A and B
A(100, 70, 150) and B(–100, 100, 90)
b. Express BA in Cartesian vector form

BA = 200î 30ĵ + 60 k̂
 76

c. Find the moment of the couple using the cross product

M = BA  F1
0.2  0.03 0.06
= 125 200 250
i j k

= 40k  7.5i +7.5 j 12i 50j + 3.75k

M = 19.5i  42.5j + 43.75k N-m
d. Find the magnitude of M and F
M = 19.5 2  42.5 2  43.75 2

= 64.036 N-m
F = 125 2  200 2  250 2

= 343.693 N
e. Determine the perpendicular distance between the two forces
M = Fd
64.036 = 343.693d
d = 186 mm

5. Three couples are applied to a bent bar as shown in the figure. Determine the magnitude of the resultant
couple and the direction angles associated with the unit vector used to describe the normal to the plane of
the resultant couple. (Riley, 1993)
z

x 100 lb
y
100 lb 8 ft
75 lb
80 lb
3 ft
4 ft 80 lb
75 lb

Solution:
a. Find the moment of the system of forces about the reference axes
The 80-lb forces produce moment about the x-axis
Mx =  80 (3) = 240 lb-ft
The 75-lb forces cause rotation about the y-axis
My =  75 (4) = 300 lb-ft
The 100-lb forces produce moment about the z-axis
Mz =  100 (8) = 800 lb-ft
b. Compute for the magnitude of the couple

M = 240  300  800 = 887.468 lb-ft

2 2 2
 77

c. Determine the direction angles of the resultant couple

 240
θ x  Arc cos = 105.7
887.468
 300
θ y  Arc cos = 109.8
887.468
 800
θ z  Arc cos = 154.3
887.468

EXERCISES
1. Four pegs of the same diameter are attached to a board as shown. Two strings are passed around the pegs
and pulled with the forces indicated. Determine the diameter of the pegs knowing that the resultant couple
applied to the board is 4.85 N-m counterclockwise. (Beer, 1998) Ans. 12.5 mm
25 N

35 N
A B

60 mm

35 N
D C
80 mm

25 N

2. A plate in the shape of a parallelogram is acted upon by two couples as shown. Determine a) the moment of
the couple formed by the two 21- N forces, b) the perpendicular distance between the 12-N forces if the
resultant of the two couples is zero, c) the value of  if the resultant couple is 1.8 N-m clockwise and d is
1.05 m. (Beer, 1998) Ans. a) 8.4 N-m; b) 0.7 m; c) 54º
21 N C
D
12 N
0.4 m
 12 N
A
21 N B
d

3. The ends of the triangular plate are subjected to three couples as shown. Determine the plate dimension d so
that the resultant couple is 350 N-m clockwise. (Hibbeler, 1986) Ans. 1.543 m
100 N
600 N

d
100 N

30
600 N

200 N 200 N
 78

4. Determine the moment of the couple shown. Express the result as a Cartesian vector. (Hibbeler, 1986)
Ans. M = (557.143i – 7.143j + 857.142k) N-m
z

A

50 N
4m

6m
B
 y
O
12 m 10 m 5m

8m 50 N
3m 
x C

5. Determine the resultant couple of the two couples that act on the assembly shown. Member OB lies in the x-
z plane. (Hibbeler, 1986) Ans. 319.934 N-m
z
y

A
400 N
500 mm
O
x
150 N 45


600 mm

B 400 N

C 400 mm
150 N
 79

Worksheet No. 7 – Moment of a Force

NAME: _______________________________ DATE: ___________________

I. Are the following statements true or false?

1. The moment of a force about an axis is either clockwise or counterclockwise.

2. The effect of a couple is unchanged if the couple is shifted to any other position in its plane.
3. The moment arm is the distance from the force to the moment center.
4. The action of a force may be transmitted along its line of action.
5. The moment of a couple is constant and independent of any moment center.

II. Solve the following problems.

1. A force of 40 N is applied to the wrench as shown. Determine the moment of this force about point O.

2. The gear is subjected to the two forces shown. Find their moment sum at point O.
 80

3. A device called a rolamite is used in various ways to replace slipping motion with rolling motion. If the belt,
which wraps between the rollers, is subjected to a tension of 15 N, determine the reactive forces N of the top
and bottom plates on the rollers so that the resultant couple acting on the rollers is equal to zero.

4. Determine the moment of the force F = {4i + 12j  3k} lb about an axis extending between A and C.
Express the result as a Cartesian vector.
 81

4-f. Resultants of Force Systems

Any system of forces, however complex, can be reduced to an equivalent force-couple system at a given
point consisting of a force which is equal to the sum of the forces of the system and a couple vector of moment
equal to the moment resultant of the system. This equivalent force-couple system characterizes completely the
effect of the given force system on the rigid body.

4.f-1. Coplanar Force Systems

The resultant of a coplanar force system can be expressed as
R = Rx î + Ry ĵ
where: Rx = Fx and Ry = Fy
and the magnitude R and direction angle θ, measured from the x-component, can be computed respectively, from
the equations
Ry
R  Rx  R y
2 2
and  = tan1
Rx
The location of the line of action of the resultant with respect to an arbitrary reference point, say O, can be
determined by applying the principle of moments. Hence,

M OR   M O

SAMPLE PROBLEMS

1. Three forces are applied to a beam as shown in the figure. Replace the three forces by an equivalent force-
couple system at point C. (Riley, 1993)
80 lb 75 lb 90 lb

A B C D
E

14 in 16 in 10 in 20 in

Solution:
a. Solve for the resultant force by summing up the forces
R = Fy
R = 80 + 90 – 75 = 95
b. Apply the moment principle to find the resultant couple with C as moment center

R
80 lb 75 lb 90 lb
M
C A B C D
= E

30 in 30 in 14 in 16 in 10 in 20 in

M CR   M C
M = 90(10) – 80(16) =  380 in-lb
 82

2. A couple of magnitude M = 540 mN-m and three forces shown are applied to an angle bracket. Find the
resultant of this system of forces and locate the points where the line of action of the resultant intersects the
line AB and line BC. (Beer, 1998)
10 N 30 N
y
120 mm
60
M  B x
A
80 mm
C
45 N
Solution: y
a. Find the resultant force
B
Rx = Fx = 30 cos 60 – 45 =  30 N A
 θ
x

Ry = Fy = 30 sin 60 – 10 = 15.981 R

C
R= (30) 2  (15.981) 2 = 33.991 N

 = Arc tan 15.981 = 28.04 y

30 Ry
x
b. Apply the moment principle at B to solve for x 
B
 x
A Rx
M  MB
R
B

Ry x = 540 + 10 (120) – 45 (80) C

x = 116.388 mm y
c. Apply the moment principle at B to solve for y
M BR   M B A B y
x
Ry
Rx y = 540 + 10 (120) – 45 (80) Rx
y = 62 mm C

3. Determine the magnitudes of F1 and F2 and the direction of F1 so that the loading creates a zero resultant
force and couple on the wheel. (Hibbeler, 1986)
y
θ
D F2

0.75 ft
80 lb-ft
60 lb y
F1 O x θ
30º C D
45º F2
θ

A
B 0.75 ft
80 lb-ft
30 lb F1 60 lb
x
Solution: 30º C
a. Find the components of the 30-lb force and 0.375 ft 45º
θ 0.53 ft
find the lever arms of the forces from point A. 21.213 lb
A
B
Fx = Fy = 30 cos 45º = 21.213 lb
21.213 lb
0.75 cos 30º = 0.65
0.65 ft 0.53 ft
0.75 sin 30º = 0.375
0.75 cos 45º = 0.53
0.75 sin 45º = 0.53
 83

b. Apply the moment principle at point A to find the magnitude of F2

M AR   M A
0 = 80 – 60(0.375) – 21.213(0.53 – 0.375) – 21.213(0.65 + 0.53) – 1.125F2
F2 = 25.938
c. Find the components of F1
Rx = Fx
0 = F2 + 60 – 21.213 – F1x; F1x = 64.725
Ry = Fy
0 = F1y – 21.213; F1y = 21.213
d. Find the magnitude and direction angle of F1
F1 = (64.725) 2  (21.213) 2 = 68.113 lb

 = Arc tan 21.213 = 18.15

64.725

4. Determine the magnitude and direction  of force F and the couple moment M such that the loading system
is equivalent to a resultant force of 600 N, acting vertically downward at O, and a clockwise couple moment
of 4000 N-m. (Hibbeler, 1986)
800 N
F

M 60
O 

2m 1m 0.5 m 0.5 m

300 N
Solution:
a. Components of the 800-N force
Fx = 800 cos 60°
Fy = 800 sin 60°
b. Magnitude and direction of F
Fy 692.82 N 600 N
F
M
Fx  4000 N-m
O 400 N =
 O

2m 1m 0.5 m 0.5 m

300 N
Rx = Fx
0 = Fx – 400 ; Fx = 400
Ry = Fy
 600 =  Fy + 300 – 692.82 ; Fy = 207.18
F= (400) 2  (207.18) 2 = 450.47 N  = Arc tan 207.18 = 27.38
400
c. Magnitude of M
M OR   M O
4000 = 207.18(2) – 300(3) + M + 692.82(4)
M = 1714. 359 N-m
 84

EXERCISES
1. Replace the loading system by an equivalent resultant force and specify where the resultant’s line of action
intersects the beam measured from O. (Hibbeler, 2010) Ans. FR = 1250 lb; x = 6 ft

2. Replace the loading system acting on the post by a single resultant force and specify its point of application
on the post measured from point O. (Hibbeler, 1986) Ans. 69.255 lb ; θ θ= 18.96º; 3.22 ft

3. Replace the two forces by an equivalent resultant force and couple moment at point O if F = 20 lb.
(Hibbeler, 2010) Ans. FR = 29.9 lb at θ = 78.4º from the positive x-axis, MR = 155.6 lb-in

4. The system of four forces acts on the roof. Determine the resultant force and specify its location along AB,
measured from point A. (Hibbeler, 1986) Ans. R = 1028 lb ; θθ = 65.6º; 5.941 ft
 85

4.f-2. Non-coplanar Force Systems

R = Rx î + Ry ĵ + Rz k̂ where: Rx = Fx , Ry =Fy , Rz =Fz

Rx Ry Rz
cos θ x  cos θ y  cos θ z 
R R R
R  Rx  R y  Rz
2 2 2

M = Mx î + My ĵ + Mz k̂ where: Mx = Mx , My =My , Mz =Mz

M  Mx  My  Mz
2 2 2

The first equation states that the resultant force of the system is equivalent to the sum of all the forces
and the second equation states that the resultant couple moment of the system is equivalent to the sum of all
couple moments plus the moment of all the forces about a reference point.

SAMPLE PROBLEMS
1. The resultant of the parallel force system shown in the figure is a couple that can be expressed in Cartesian
vector form as C = 1160ĵ + 2250 k̂ in-lb. Determine the magnitudes of forces F1, F2, and F3. (Riley, 1986)
z

125 lb
F3

F1 8 in

8 in 90 lb
F2
8 in

10 in
10 in 10 in y
x
75 lb
Solution:
a. The magnitude of the resultant force is equal to the sum of the forces
R = Fx
140 = F1 + F2  F3 (1)
b. Apply the moment principle about the y and z axes
M yR   M y
1160 = 24 F1+ 16 F2 – 24 F3 – 125 (24) – 90 (8)
320 = 3 F1 + 2 F2 – 3 F3 (2)

M zR   M z
2250 = 30 F3 – 20 F2 + 125 (10) + 90 (30) – 75 (20)
20 = 2 F2 – 3 F3 (3)
c. Solve the three equations simultaneously, to get
F1 = 100; F2 = 100; F3 = 60
 86

2. Find the x and y coordinates of the point where the resultant of the three forces crosses the plate.
(Pytel, 1996)
35 kN z
40 kN
25 kN
A

30
O C
B
40
4m

x y

Solution:
a. The magnitude of the resultant force is equal to the sum of the forces
R = 25 + 35 + 40 = 100 kN
b. Apply the moment principle about x and y to locate the line of action of R
M xR   M x

 R y = 25 (4 sin 40) + 35 (4) – 40 (4 sin 30)

y =  1.243 m
M yR   M y

R x = 25 (4 cos 40) – 40 (4 cos 30)

x =  0.62 m

3. Forces are applied at points A, B, and C of the bar shown. Replace this system of forces with a force R
through point O and a couple C. (Riley, 1993)
z
80 lb

18 in
 
O
x  9 in
40 lb y

75 lb 9 in 30 lb

Solution:
a. Find the resultant force b. Find the resultant couple
Rx = Fx = 75 lb Cx = Mx = 80 (18) – 30 (18) = 900 in-lb
Ry = Fy = 40 lb Cy = My = 80 (9) = 720
Rz = Fz = 80 – 30 = 50 lb Cz = Mz = 75 (18) = 1350

R = 75î + 40ĵ + 50 k̂ C = 900î + 720ĵ 1350 k̂

 87

EXERCISES

1. Replace the loading shown by an equivalent single resultant force and specify the x and y coordinates of its
line of action. (Hibbeler, 2010) Ans. FR = 800 N, x = 2.125 m, y = 4.50 m
z

2. Replace the force system acting on the pipe assembly by a resultant force and couple moment at point O.
Express the results in Cartesian vector form. (Hibbeler, 2010)
Ans. R = (–30i + 15j + 45k) lb; M = (80i – 87.5j + 102.5k) lb-ft

3. Replace the two forces acting on the post by a resultant force and couple moment at point O. Express the
results in Cartesian vector form. (Hibbeler, 2010) Ans. R = (2i – 10k) kN; M = (–6i + 12j) kN-m
 88

4.g. Distributed Normal Loads

The resultant force of a normal loading distributed over a plane area (surface load) can be determined as
follows:
1. The magnitude of the resultant force is equal to the volume of the region between the load area and the load
surface.
2. The line of action of the resultant force passes through the centroid of the volume bounded by the load area
and the load surface.
If the width of the loading area is negligible compared to its length, a distributed load can be represented
as a line load. Line loads are characterized by the load intensity w, a function of the distance measured along the
line of distribution. The resultant force of a straight-line load can be determined as follows:
1. The magnitude of the resultant force is equal to the area under the load diagram.
2. The line of action of the resultant force passes through the centroid of the area under the load diagram.

SAMPLE PROBLEMS
1. A beam is subjected to a system of loads that can be represented by the load diagram shown in the figure.
Determine the resultant R of this system of distributed loads and locate its line of action with respect to the
left support of the beam. (Riley, 1993)

500 lb/ft

250 lb/ft

A B

4 ft 3.5 ft

Solution:
a. Find the resultant of the distributed loads

7.5/2 ft
F2
4/3 ft R F1
250 lb/ft F1 = 250 ( 7.5) = 1875
250 lb/ft
x F2 = ½ (250)(4) = 500
A B
R = F1 + F2
4 ft 3.5 ft R = 1875 + 500 = 2375 lb

b. Apply the moment principle about point A to locate R

M AR   M A
4 7.5
R x = F2 ( ) + F1 ( )
3 2
4 7.5
2375 x = 500 ( ) + 1875 ( )
3 2
x = 3.241 ft
 89

2. Determine the resultant force and specify where it acts on the beam measured from A. (Hibbeler, 2010)

Solution:
a. Magnitude of resultant load
R F1= ½ (6)(3) = 9 kN
F1
F2
F2 = ½ (6)(6) = 18 kN
R = F1 + F2
R = 9 + 18
1m x = 27 kN
2m

b. Apply the moment principle about point A to locate R

M AR   M A
R x = F2 (2) – F1 (1)
27 x = 18 (2) + 9 (1)
x=1m

3. Replace the loading by a single resultant force and specify its location on the beam measured from point O.
(Hibbeler, 1986)

Solution:
a. Magnitude of resultant load
F1= ½ (6)(5) = 15 kN
x
F1 F2 = ½ (6)(2) = 6 kN
F4
F2 R F3 F3 = ½ (3)(2) = 3 kN
F4 = ½ (3)(4) = 6 kN
R = F1 + F2 + F3 + F4
1m
2m 2m
R = 15 + 6 + 3 + 6 = 30 kN
4m
 90

b. Apply the moment principle about point A to locate R

M OR   M O
R x = F1 (2) + F2 (4) + F3 (7) + F4 (8)
30 x = 15 (2) + 6 (4) + 3 (7) + 6 (8)
x = 4.1 m

4. Replace the loading by an equivalent resultant force and couple moment at point A. (Hibbeler, 2010)

Solution:
a. Resultant force
F3
F1= ½ (6)(100) = 300 lb
F2 = ½ (6)(50) = 150 lb
F3 = (4)(50) = 200 lb
F2
RH = Fx = F1 sin 60º + F2 sin 60º
4m
= 300 sin 60º + 150 sin 60º
F1
= 389.711 lb
2m
RV = Fy = F1 cos 60º + F2 cos 60º + F3
= 300 cos 60º + 150 cos 60º + 200

RH = 425 lb

MR 5m R= 389.7112  425 2 = 576.628 lb θ

RV
425
  Arc tan = 47.48º
389.711
b. Resultant couple
MA = MA
= F1 (2) + F2 (4) + F3 (5)
= 300 (2) + 150 (4) + 200 (5)
= 2200 lb-ft
 91

Worksheet No. 8 – Resultant of Force Systems

NAME: _______________________________ DATE: ___________________

Solve the following problems.

1. Replace the force system acting on the frame by a single resultant force and specify where the resultant’s
line of action intersects member AB measured from point A.

2. Determine the resultant force and specify where it acts on the beam measured from A.
 92

3. A force and a couple act on the pipe assembly. Replace the system by an equivalent single resultant force.
Specify the location of the resultant force along the y-axis, measured from point A. The pipe lies in the x-y
plane.
 93

Chapter 5 – EQUILIBRIUM OF RIGID BODIES

Objectives:
At the end of the chapter, the students should be able to:
1. draw free-body diagrams of rigid bodies.
2. know the equations of equilibrium for a rigid body.
3. apply the equations of equilibrium to solve rigid-body problems.

5.a. Introduction
The most general force system is expressed in terms of a resultant force R and a resultant couple C;
therefore, for a rigid body to be in equilibrium, both the resultant force and the resultant couple must be equal to
zero. In scalar form,
Fx = 0; Fy = 0; Fz = 0; Mx = 0; My = 0; Mz = 0

5.b. Equilibrium in Two Dimensions

The three equations that are necessary and sufficient conditions for equilibrium of a two-dimensional
body are
Fx = 0; Fy = 0; M = 0

5.b-1. Idealization of Two-dimensional Supports and Connections

Supports and connections are the devices used to restrict movement of one rigid body with respect to
another in order for the bodies to be in equilibrium. Common types of supports and connections used with rigid
bodies subjected to two-dimensional force systems are the following:

Type of Connection Reaction Number of Unknowns

1. Cable
One unknown. The reaction is a
θ tension force which acts away
θ
from the member in the
R direction of the cable.

2. Weightless link

θ
θ R One unknown. The reaction is a
or
force which acts along the axis
of the link.
θ
R

3. Roller

One unknown. The reaction is a

force which acts perpendicular
90º to the surface at the point of
R contact.
 94

Type of Connection Reaction Number of Unknowns

4. Roller or pin in confined

smooth slot
One unknown. The reaction is a
or force which acts perpendicular
to the slot.
90º 90º
R R

5. Rocker
One unknown. The reaction is a
force which acts perpendicular
90º to the surface at the point of
R contact.

6. Smooth contacting surface

One unknown. The reaction is a
force which acts perpendicular
to the surface at the point of
θ θ
contact.
R

7. Member pin connected to

collar on smooth rod

One unknown. The reaction is a

R R force which acts perpendicular
or
to the rod.
A A θ A
θ θ

8. Smooth pin or hinge

Two unknowns. The reactions
RH are two components of force, or
the magnitude and direction 
RV of the resultant force.

9. Member fixed connected to

collar on smooth rod
Two unknowns. The reactions
are the couple moment and the
force which acts perpendicular
to the rod.

10. Fixed support Three unknowns. The reactions

are the couple moment and the
RH
two force components, or the
couple moment and the
M magnitude and direction  of
RV the resultant force.
 95

5.b-2. Equilibrium of a two-force body

A rigid body subjected to two forces acting at only two F1
points is commonly called a two-force body. If a two-force body A
is in equilibrium, the two forces must have the same magnitude, F2
the same line of action, and opposite sense. B

5.b-3. Equilibrium of a three-force body

If a rigid body in equilibrium is subjected to forces F1 C
A O F3
acting at only three points, the lines of action of the three forces
must be either concurrent or parallel.
B
F2
SAMPLE PROBLEMS

1. Bar AB has a uniform cross-section, a mass of 25 kg, and a length of 1 m. Determine the angle  for
equilibrium. (Riley, 1993)
B
L

A 

45
30

Solution: W
B
a. Draw the free-body diagram of bar AB.
L
The ends are roller-supported, hence,
45
reactions are perpendicular to the surface. A  RB
b. Find the weight of the bar
W = 25 (9.81) = 245.25 N
30
c. Apply the equations of equilibrium to RA
find one reaction
FH = 0] RA sin 30º – RB sin 45º = 0
0.5RA – 0.707RB = 0
FV = 0] RA cos 30º – RB cos 45º – W = 0

2. Determine the force P required to pull the 250-lb roller over the step shown in the figure. (Riley, 1993)

12 in 30º
x

3 in
 96

Solution:
a. Draw the free-body diagram of the roller
250 lb
P 9
P sin 30º cos  
12
30º
x   41.41
P cos 30º
9 in θ 12 in

A
R
b. Find the required load P
MA = 0] 250 (12 sin 41.41)  P cos 30 (9) – P sin 30 (12 sin 41.41) = 0
P = 168.694 lb

3. Determine the horizontal and vertical components of reaction at the pin A and the reaction on the beam at C.
(Hibbeler, 2010)

Solution:
RC 1.5  43  0
1
MA = 0]
2
AH RC = 11.3137 kN
1 1
1 FH = 0] RC  AH  0
AV RC 2
AH = 8 kN
1
FV = 0] RC  AV  4  0
2
AV = 4 kN

4. The truss is supported by a pin at A and a roller at B. Determine the support reactions. (Hibbeler, 2010)

AH BV

4.2426 m
AV
 97

Solution:
MA = 0] BV (10.2426) – 10 (6.2426) – 5 (4) = 0
BV = 8.047 kN
FH = 0] 5 cos 45º – AH = 0
AH = 3.536 kN
FV = 0] AV + BV – 5 sin 45º – 10 = 0
AV = 5.489 kN

5. An 8-kg slender rod of length L is attached to collars which may slide freely along the guides shown.
Knowing that the rod is in equilibrium and that  = 30, determine a) the angle  that the rod forms with the
vertical, b) the reactions at A and B. (Beer, 1998)

AV
L

Solution:
c. Draw the free-body diagram of rod AB
RB
0.5L sin
θ 30º
78.48 N

L cos θ

RA

d. Reactions at A and B
FV = 0] RB cos 30º – 78.48 = 0; RB = 90.621 N
FH = 0] RB sin 30º  RA = 0; RA = 45.31 N

e. Find angle 
MB = 0] 78.48 (0.5L sin  )  RA (L cos  ) = 0
78.48 (0.5 sin ) – 45.31 cos =0

tan  = 45.31 ;  = 49.11

39.24
 98

6. The wall footing is used to support the load of 12,000 lb. Determine the intensities w1 and w2 of the
distributed loading acting on the base of the footing for equilibrium. (Hibbeler, 1986)

Solution:
a. Divide the distributed load into two triangular loads

1
R1  (35) w1  17.5w1
A
2
1
R2  (35) w2  17.5w2
2

R2
R1

b. From the equations of equilibrium,

 35 
 + R2   12000 (14) = 0
70
MA = 0] R1 
3  3 
204.167w1 + 408.333w2 = 168000 Eq. 1
FV = 0] R1 + R2 – 12000 = 0

17.5w1 + 17.5w2 = 12000 Eq.2

Solving Eq. 1 and Eq. 2 simultaneously, we get

w1 = 548.571 lb/in and w2 = 137.143 lb/in

 99

7. A cylinder is supported by a bar and a cable as shown in the figure. The weight of the cylinder is 150 lb and
the weight of the bar is 20 lb. If all surfaces are smooth, determine the reaction at support C of the bar and
the tension in the cable. (Riley, 1993)
A

36 in 3
4

C
17 in

32 in
Solution:
a. Draw the free-body diagrams of the cylinder and the bar
150 lb T
3 B
R2 8
4
R1 3 3
4 24 in
17
in
4 CH
3 C
R2
CV
32 in
b. From the free-body diagram of the cylinder,
4
FV = 0] R2  150 = 0; R2 = 187.5 lb
5
c. From the free-body diagram of the bar
8 3
MC = 0] T (24) + T (32) – 20(16) – R2(17) = 0
73 73
288
T = 3507.5; T = 104.056 lb
73
8
FH = 0] CH + 3 R2  T = 0; CH = 15.069 lb
5 73
4 3
FV = 0] CV  R2 + T  20 = 0; CV = 133.463 lb
5 73
d. Total reaction at C

RC  15.069 2  133.463 2 = 134.311 lb up to the left

133.463
  Arc tan = 83.56 from the horizontal
15.069
 100

8. A mass of 200 kg is supported by a bar, pulley, and cable as shown in the figure. Determine a) the force
exerted on the bar by the pin at D; b) the reaction at support A of the bar and the force exerted by link BC.
(Riley, 1993)

Solution:
a. Draw the free-body diagrams of the pulley and the bar
DH 1
D
1
T
DV

BC 1962 N
DV

AH A
DH
D
AV

b. From the FBD of the pulley

MD = 0] 75(1962) – 75 T = 0; T = 1962 N
FH = 0] 1
T  DH = 0; DH = 1387.344 N
2
FV = 0] DV  1
T  1962 = 0; DV = 3349.344 N
2

RD  1387.3442  3349.3442 = 3625.304 lb down to the right

3349 .344
  Arc tan = 67.5 from the horizontal
1387 .344

c. From the FBD of the bar

MA = 0] 300BC – 600DV = 0; BC = 6698.687 N
MD = 0] 600AV – 300BC = 0; AV = 3349.344 N
FH = 0] DH  AH = 0; AH = 1387.344 N

RA  1387.3442  3349.3442 = 3625.304 lb down to the left

3349 .344
  Arc tan = 67.5 from the horizontal
1387 .344
 101

9. A beam is loaded and supported as shown in the figure. Determine the reactions at supports A and B when
m1 = 75 kg and m2 = 225 kg. (Riley, 1993)

W1

W2

Solution:
a. Draw the free-body diagrams of mass m2 and beam AB
W1 = 75(9.81) = 735.75 N R T
R
W2 = 225(9.81) = 2207.25 N
2
b. From the FBD of mass m2 AH A
1

FV = 0] R  W2 + W1 = 0; R = 1471.5 N B

AV 520 mm 480 mm
c. From the FBD of the beam
2
MA = 0] T (1000)  R(520) = 0; T = 855.497 N
5

FV = 0] AV  R + 2 T = 0; AV = 706.32 N
5

1
FH = 0] AH + T = 0; AH = 382.59 N
5

10. A rope and pulley system is used to support a body W as shown in the figure. Each pulley is free to rotate
and the rope is continuous over the pulleys. Determine the tension T in the rope required to hold body W in
equilibrium if the weight of the body W is 400 lb. Assume that all rope segments are vertical and that the
pulleys are frictionless. (Riley, 1993)

Solution:
FV = 0] 4T – W = 0
T 4T – 400 = 0
T
T T T = 100 lb
 102

EXERCISES

1. Determine the horizontal and vertical components of force at the pin A and the reaction at the rocket B of the
curved beam. (Hibbeler 2010) Ans. Ax = 35.06 N, Ay = 342.795 N, By = 342.795 N

2. A pipe strut BC is loaded and supported as shown. The strut has a uniform cross-section and a mass of
50 kg. Determine the reactions at supports B and C. (Riley, 1993) Ans. TB = 992.4 N, Cx = 992.4 N,
Cy = 1240.5 N
800 mm 800 mm

B
A

1000 mm

C 750 N

3. A cylinder is supported by a bar as shown in Fig. 4. The weight of the cylinder is 100 lb and the weight of
the bar is 20 lb. If all surfaces are smooth, determine the reactions at supports A and B of the bar.
(Riley, 1993) Ans. Ax = 57.735 lbN, Ay = 56.667 lb, By = 63.333 lb

20 in

30º B
30 in

4. Determine the normal reactions at the roller A and the horizontal and vertical components at pin B for
equilibrium of the member. (Hibbeler, 1986) Ans. Ay = 8 kN, Bx = 5.20 kN, By = 5 kN
 103

5. A rope and pulley system is used to support a body W as shown in the figure. Each pulley is free to rotate.
One rope is continuous over pulleys A and B; the other continuous over pulley C. Determine the tension T in
the rope over pulleys A and B required tohold body W in equilibrium if the mass of body W is 175 kg.
(Riley, 1993) Ans. T = 429.188 N

6. The crane supports a load of 1500 lb which is suspended from cable BD. Determine the horizontal and
vertical components of the force acting on the pin A of the crane and the tension in the supporting cable BC.
Note that BC and BD are separate cables. (Hibbeler, 1986) Ans. TBC = 2898.24 lb, Ax = 2049.06 lb,
Ay = 3549.06 lb

7. Find the reactions at the supports of the beam loaded as shown. Ans. AV = 84 kN, DV = 86 kN
 104

Worksheet No. 9 – Equilibrium of Rigid Bodies in Two Dimensions

NAME: _______________________________ DATE: ___________________

I. Draw the free-body diagram of the specified member. Neglect the weight of the members unless otherwise
stated.

1. Member AB which is supported by a roller at A and a pin at B.

2. Member ABC which is supported by a smooth collar at A, roller at B, and short link CD.

3. The 300-lb electrical transformer with center of gravity at G is supported by a pin at A and a smooth pad
at B. Determine the horizontal and vertical components of reaction at the pin A and the reaction of the
pad B on the transformer.
 105

4. The cylinder with mass 50 kg that is supported on an inclined surface by a pin-connected two-bar frame.
All surfaces are smooth.

5. The bar AB in problem no. 4.

II. Problem Solving. All problem solutions must include a complete free-body diagram.

1. Determine the horizontal and vertical components of reaction at the pin A and the tension developed in
cable BC used to support the steel frame.
 106

2. If the roller at B can sustain a maximum load of 3 kN, determine the largest magnitude of each of the
three forces F that can be supported by the truss.

3. Determine the reactions at the supports of the beam loaded as shown.

4. Determine the force P needed to suspend the 100-lb weight. Each pulley has a weight of 10 lb. Also,
what are the cord reactions at A and B?
 107

5.c. Equilibrium of Rigid Bodies in Three Dimensions

There are the six independent scalar equations of equilibrium for a rigid body subjected to a general
three-dimensional system of forces. These equations are both necessary and sufficient conditions for equilibrium
of the body. These equations are
Fx = 0 Fy = 0 Fz = 0
Mx = 0My = 0Mz = 0

5.c-1. Supports and Connections

Common types of supports and connections used with rigid bodies subjected to three-dimensional force
systems, together with the forces and moments used to represent the actions of these supports and connections
on the free-body diagram are shown in the following table.

Type of Connection Reaction Number of Unknowns

1. Cable

One unknown. The reaction is a force

which acts away from the member in
the known direction of the cable.

2. Smooth surface support

One unknown. The reaction is a force

which acts perpendicular to the
surface at the point of contact.

3. Roller

One unknown. The reaction is a force

which acts perpendicular to the
surface at the point of contact.

4. Ball and Socket

Three unknowns. The reactions are

three rectangular force components.

5. Single journal bearing Four unknowns. The reactions are two

force and two couple-moment
components which act perpendicular
to the shaft. Note: The couple
moments are generally not applied if
the body is supported elsewhere.
 108

Type of Connection Reaction Number of Unknowns

6. Single journal bearing with

square shaft
Five unknowns. The reactions are two
force and three couple-moment
components. Note: The couple
moments are generally not applied if
the body is supported elsewhere.

7. Single thrust bearing

Five unknowns. The reactions are
three force and two couple-moment
components. Note: The couple
moments are generally not applied if
the body is supported elsewhere.

8. Single smooth pin

Five unknowns. The reactions are
three force and two couple-moment
components. Note: The couple
moments are generally not applied if
the body is supported elsewhere.

9. Single hinge

Five unknowns. The reactions are

three force and two couple-moment
components. Note: The couple
moments are generally not applied if
the body is supported elsewhere.

10. `Fixed support

Six unknowns. The reactions are three

force and three couple-moment
components.
 109

SAMPLE PROBLEMS

1. Two steel pipes AB and BC, each having a mass per unit length of 8 kg/m, are welded together at B and
supported by three wires. Knowing that a = 0.4 m, determine the tension in each wire. (Beer, 2010)
y
TD
TA TC
B a
D
A C

0.6 m x
z 1.2 m

Solution:
Mx = 0] 47.088(0.3) – 0.6TA = 0; TA = 23.544 N
Mzc = 0] 47.088(1.2) + 94.176(0.6) – 1.2TA  0.8TD = 0; TD = 105.948 N
Fy = 0] TA + TC + TD  47.088  94.176= 0; TC = 11.772 N

2. The rectangular plate of uniform thickness shown has a mass of 500 kg. Determine the tensions in the three
cables supporting the plate. (Riley, 1993)
z

1.5 m
A
•
x B•
1.6 m
2.5 m
C•
1.0 m
0.75 m
y

Solution:
a. Draw the FBD of the plate b. Apply the equations of equilibrium
z Mx = 0] 0.9TB + 2.5TC – 4905(1.25) = 0
TA 0.9TB + 2.5TC = 6131.25 (1)
TB
My = 0] 4905(0.875) – TC – 1.5TA = 0
1.5 m
1.5TA + TC = 4291.875 (2)
A
•
x
TC
B• Fz = 0] TA + TB + TC  4905 = 0
1.6 m
2.5 m
TA + TB + TC = 4905 (3)
C• Solving the three equations simultaneously, we get
1.0 m
0.75 m
TA = 1560.327 N, TB = 1394.264 N, and TC = 1950.409 N
y
 110

3. The bent rod of negligible mass is supported by a ball-and-socket joint at A and a slider bearing at B; the rod
leans against a smooth surface at D. Find all forces acting on the rod when the force P = 960 N is applied.
(Pytel, 1996)

Solution:
a. Draw the FBD of the bent rod
Dx

Py
Px
By
Bx Pz

Ay

Ax
Az

b. Express P in rectangular form

 0.6 î  0.4 ĵ  1.4k̂
P = 960
0.6 2  0.4 2  1.4 2
= 365.76î + 243.84ĵ  853.441 k̂

c. Apply the equilibrium equations

 M z A = 0] Px (1.2) – Dx (1.2) = 0
365.76(1.2) – Dx (1.2) = 0; Dx = 365.76 N
 M x = 0] By (1)  Py (1.4) – Pz(1.2) = 0
By (1)  243.84(1.4) – 853.441(1.2) = 0; By = 1365.505 N
 M y A = 0] Bx (1) + Dx(1.4)  Px (1.4) = 0
Bx + 365.76(1.4)  365.76(1.4) = 0; Bx = 0
Fx = 0] Ax + Bx + Dx  Px = 0
Ax + 0 + 365.76  365.76 = 0; Ax = 0
Fy = 0] Ay + By + 243.84 = 0
Ay 1365.505 + 243.84 = 0; Ay = 1121.665 N
Fz = 0] Az  Pz = 0; Az = 853.441 N
 111

4. A bar is supported by a ball-and-socket joint and two cables as shown in the figure. Determine the reaction
at the ball-and-socket joint and the tensions in the two cables. (Riley, 1993)

Solution:
a. Draw the FBD of the bar

Az

T2 Ax

T1
Ay y

b. Write the tensions in rectangular form

T1 = T1  0.55î  0.6 ĵ  0.4k̂

0.552  0.62  0.42

= 0.606 T1 î + 0.662T1 ĵ + 0.441T1 k̂

T2 = T2 1.4î  0.35 ĵ  0.6k̂

1.42  0.352  0.62

= 0.896 T2 î  0.224T2 ĵ + 0.384T2 k̂

c. Apply the equilibrium equations to solve for the unknown reaction components
My = 0] 1600(950)  400T1x – 600T2x = 0
7600 – 2T1x – 3T2x = 0 Eq. 1
Mz = 0] 600T1x – 350T2x = 0
12T1x – 7T2x = 0 Eq. 2
 112

Solving the two equations simultaneously, we get T1x = 1064.127 N and T2x = 1823.914 N.
Hence, T1 = 1755.986 N and T2 = 2035.618 N.
Fx = 0] Ax  T1x  T2x = 0; Ax = 2888.041 N
Fy = 0] Ay  0.662T1  0.224T2 = 0; Ay = 706.484 N
Fz = 0] Az + 0.441T1 + 0.384T2  1600 = 0; Az = 43.933 N

5. The bent bar shown is supported with three brackets that exert only force reactions on the bar. Determine the
reactions at supports A, B, and C. (Riley, 1993)

Solution:
a. Draw the FBD of the bent bar
Cz

Cx

Bz Cy
Bx

By
Az

Ax Ay

b. Apply the equations of equilibrium

Fx = 0] Bx + Cx + 50 = 0; Bx + Cx = 50 Eq. 1
Fy = 0] Ay + By + 75 = 0; Ay + By = 75 Eq. 2
Fz = 0] Az + Cz  100 = 0; Az + Cz = 100 Eq. 3
Mx = 0] 9Cz – 6By = 0; 3Cz – 2By = 0 Eq. 4
My = 0] 6Bx + 14Cx  8Az + 50(14) = 0
3Bx + 7Cx – 4Az = 350 Eq. 5
Mz = 0] 8Ay – 9Cx = 0 Eq. 6
Solving the six equations simultaneously, we get
Ay = 450 lb, Az = 450 lb, Bx = 450 lb, By = 525 lb, Cx = 400 lb, and Cz = 350 lb.
 113

EXERCISES

1. The uniform plate has a weight of 500 lb. Determine the tension in each of the supporting cables.
(Hibbeler, 2010) Ans. TA = 350 lb, TB = 250 lb, TC = 100 lb

2. Determine the support reactions at the smooth journal bearings A, B, and C of the pipe assembly.
(Hibbeler, 2010) Ans. Ay = 0, Az = 900 N, Bx = 0, Bz = –1800 N, Cy = 0, Cz = 1350 N

3. The shaft is supported by three smooth journal bearings at A, B, and C. Determine the components of
reaction at these bearings. (Hibbeler, 2010) Ans. Ax = 475 N, Az = 125 N, Bx = 25 N, Bz = 1125 N,
Cy = 450 N, Cz = 250 N

4. Two rectangular plates are welded together to form the assembly shown. The assembly is supported by ball-
and-socket joints at B and D and by a ball on a horizontal surface at C. For the loading shown, determine the
reaction at C. (Beer, 2010) Ans. (45.0j) lb
 114

Worksheet No. 10 – Equilibrium of Rigid Bodies in Three Dimensions

NAME: _______________________________ DATE: ___________________

I. Draw the complete free-body diagrams of the bodies specified in the following problems. Include the weight
of the member on the diagram except where the problem statement indicates that the weight of the member
is to be neglected. Assume that all surfaces are smooth unless indicated otherwise.

1. The triangular plate of uniform thickness shown weighs 750 lb. Determine tensions in the two cables
supporting the plate and the reaction at the ball support.

2. The block shown in the figure. The support at A is a ball and socket. The support at B is a pin and
bracket.

3. The bent bar shown. The support at A is a journal bearing and the supports at B and C are ball bearings.
Neglect the weight of the bar.
 115

II. Solve the following problems. Solutions must include a complete free-body diagram.

1. Determine the location x and y of the point of application of force P so that the tension developed in
cables AB, CD, and EF is the same. Neglect the weight of the plate.

2. Determine the components of reaction at the fixed wall A. The 150-N force is parallel to the z-axis and
the 200-N force is parallel to the y-axis.
62