Lecture
33:
Solving
rigid-body
equilibrium
problems
Lecture
Objective:
Apply
conditions
of
equilibrium
to
rigid
bodies
1st
condition
for
equilibrium:
Balanced
Forces
2nd
condition
for
equilibrium:
Balanced
Torques
Equilibrium
of
a
rigid
body
1.) The rigid body must not be rotating and accelerating.
2.) Draw the free body diagram. Rigid bodies cannot be represented as a point.
3.) Choose the coordinate axis and a positive sense of rotation.
4.) Convert the forces into its component forms.
5.) Note that for forces acting at one point, the torque at that point is zero.
6.) Write equations expressing equilibrium position.
7.) Count the number of unknowns and equations.
8.) Do the math.
4
Example
12.1
(Tipler)
Given:
length, 3 m
board mass, 2 kg
box mass, 6 kg
x1, 2.5 m
x2, 0.5 m
target variable, F1 and F2
Apply the two conditions of equilibrium
F1 + F2 - mboardg - mboxg = 0
-F1L + mboardgL/2 + mboxgx2 + F2 x(0) = 0
First condition
Second condition
Apply the two conditions of equilibrium
F1 + F2 - mboardg - mboxg = 0
-F1L + mboardgL/2 + mboxgx2 + F2 x(0) = 0
First condition
Second condition
can also be written as:
F1 = 1/2mboardg + x2mbox/L
Apply the two conditions of equilibrium
F1 + F2 - mboardg - mboxg = 0
-F1L + mboardgL/2 + mboxgx2 + F2 x(0) = 0
First condition
Second condition
can also be written as:
F1 = 1/2mboardg + x2mbox/L
Two equations with two unknowns so just substitute F1 to get
F2 = mboard + mboxg - F1 = 1/2mboardg + mboxg -x2mboxg/L
Apply the two conditions of equilibrium
F1 + F2 - mboardg - mboxg = 0
-F1L + mboardgL/2 + mboxgx2 + F2 x(0) = 0
First condition
Second condition
can also be written as:
F1 = 1/2mboardg + x2mbox/L
Two equations with two unknowns so just substitute F1 to get
F2 = mboard + mboxg - F1 = 1/2mboardg + mboxg -x2mboxg/L
The scale readings will be:
F1 = 19.6 N
F2 = 58.9 N
9
Sample
Problem
Sir
Lancelot
is
trying
to
rescue
Lady
Elayne
from
Castle
Von
Doom
by
climbing
a
uniform
ladder
that
is
5.0m
long,
weighing
180N.
Lancelot
weighs
800N,
stops
a
third
of
the
way
up
the
ladder.
The
bottom
of
the
ladder
rests
on
a
horizontal
stone
ledge
and
leans
across
the
moat
in
equilibrium
against
a
vertical
wall
that
is
frictionless
because
of
a
thick
layer
of
moss.
The
ladder
make
an
angle
of
53.1o
with
horizontal,
conveniently
forming
a
3-4-5
right
triangle.
(a) Find
the
normal
force
and
frictional
force
on
the
ladder
at
its
base.
(b) Find
the
minimum
s
needed
to
prevent
slipping
at
the
base.
(c) Find
the
magnitude
and
direction
of
the
contact
force
on
the
ladder
at
the
base.
FBD
of
Sir
Lancelot
and
ladder
(a)
Use
the
1st
condition
for
equilibrium:
Use
the
2nd
condition
for
equilibrium:
FBD
of
Lancelot
and
ladder
The
contact
force
at
B
is
the
superposition
of
the
normal
force
and
the
static
friction
force
Seatwork
14
SW
1:
Cleas
weight
SW2:
x
(cg)
Seatwork
3,
4
and
5:
Weight,
w
SW
3:
Draw
the
FBD
of
the
situation
SW
4:
Calculate
the
maximum
weight
you
can
place
without
breaking
the
cable.
(use
1st
condition)
SW
5:
Where
should
you
put
the
weight?
(use
2nd
condition,
calculate
for
CG)
Seatwork
answers
17
Seatwork
1
and
2
Apply
the
first
and
second
conditions
of
equilibrium
to
Clea
The
normal
force
at
her
feet
is
greater
than
at
her
rear
feet,
so
her
center
of
gravity
is
closer
to
her
front
feet
Weight,
w
SW
3:
Draw
the
FBD
TB
=
400N
TA
=
500N
w
=
???
wbar
=
350N
SW
3:
Draw
the
FBD
TB
=
400N
TA
=
500N
w
=
???
wbar
=
350N
SW4:
What
is
the
heaviest
weight
the
you
can
put
in
the
bar
without
breaking
the
cable?
(add
another
weight)
Fy
=0
-w
-wbar
+
TA
+
TB=
0
-w
350N
+
500N
+
400N
=
0
w
=
550N
SW
3:
Draw
the
FBD
TB
=
400N
TA
=
500N
w
=
???
wbar
=
350N
SW5:
where
should
you
put
it?
We
must
put
it
at
cg,
solve
for
cg
using
the
2nd
condition:
=
0
-TALcg
+
TB(1.5m-Lcg)wbar(0.75m-Lcg)
=
0
(-500N-400N+350N)Lcg
=
(0.75m)(350N)-(1.5m)(400N)
Lcg
=
0.614m
