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Equilibrium Equations
Six scalar equations are required to express the
conditions for the equilibrium of a rigid body in the
general three dimensional case.


0 0 0
0 0 0
z y x
z y x
M M M
F F F
These equations can be solved for no more than 6
unknowns which generally represent reactions at supports
or connections.
The scalar equations are conveniently obtained by applying the
vector forms of the conditions for equilibrium,
0 0 F r M F
O

Engineers Mechanics- 3D equilibrium
Reactions at Supports and Connections for a Three-
Dimensional Structure
Engineers Mechanics- 3D equilibrium
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Reactions at Supports and Connections for a Three-
Dimensional Structure
Engineers Mechanics- 3D equilibrium
Engineers Mechanics- 3D-equilibrium
Problem 1 :
SOLUTION KEY:
AandB arehinged.
Staticallyindeterminate
Take moment about AB to
solvefor F
CD
The compressive force F
CD
consideredasactingatC
A window is temporarily held open in the 50
o
position shown by a wooden
prop CD until a crank-type opening mechanismcan be installed. If a=0.8m
and b=1.2 mand the mass of the window is 50 kg with mass center at its
geometriccenter, determinethecompressiveforceF
CD
intheprop
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Engineers Mechanics- 3D-equilibrium
Problem 1 :
SOLUTION:
The co-ordinates of point D:
(0.8*sin (50), -0.8*cos(50),0)
= (0.613,-0.514,0)
F
CD
= F
CD
[ 0.828 i + 0.386 j + 0.406 k ]
Engineers Mechanics- 3D-equilibrium
Problem 1:
1 - 6
Summation of moments about Z axis passing through line AB:
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Engineers Mechanics- 3D-equilibrium
Problem 2:
SOLUTION KEY:
A rectangular sign over astorehas amass of 100kg, with thecenter of massin
the center of the rectangle. The support against the wall at point C may be
treated as a ball-and-socket joint. At corner D support is provided in the y-
directiononly. CalculatethetensionsT
1
andT
2
inthesupportingwires, thetotal
forcesupportedat C, andthelateral forceR
6 unknowns
Statically determinate
No force contribute to the
moment about x axis except
Cy
Engineers Mechanics- 3D-equilibrium
Problem 2:
1 - 8
SOLUTION:
M
X
= 0;
M
AB
= 0 ;
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Engineers Mechanics- 3D-equilibrium
Problem 2:
1 - 9
On solving, we get-
Engineers Mechanics- 3D-equilibrium
Problem 2:
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Engineers Mechanics- 3D-equilibrium
Problem 3:
The two bars AB and OD, pinned together at C, formthe diagonals of a
horizontal squareAOBD. Theends A andO areattachedtoavertical wall by
ball andsocket joint, point B issupportedbyacableBE, andavertical loadP
isappliedatD. Findthecomponentsof thereactionsat A andO.
SOLUTION KEY:
total unknown reactions =12
total equations =12 (from 2 rigid
bodies)
Therefore, the problem is statically
determinate.
The components of reactions can
be solved by taking force and
moment equilibrium.
Engineers Mechanics- 3D-equilibrium
Problem 3:
M
OX
= -A
Y
.a + Pa = 0
=> A
Y
= P
M
OY
= 0
=>A
X
.a =0
=> A
X
= 0
SOLUTION:
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Engineers Mechanics- 3D-equilibrium
Problem 3:
F
X
= 0
=> A
Z
+ O
Z
= 0
=> A
Z
= -O
Z
= -P
A
X
= 0
A
Y
= PA
Z
=-PO
X
=PO
Y
=-PO
Z
= P
A
X
= 0
A
Y
= P
A
Z
= -P
O
X
= P
O
Y
= -P
O
Z
= P
Engineers Mechanics- 3D-equilibrium
Problem 4:
Three identical steel balls, each of mass m, are placed in the cylindrical
ring which rests on a horitontal surface and whose height is slightly
greater than the radius of the balls. The diameter of the ring is such that
the balls are virtually touching one another. A fourth identical ball is then
placed on top of the three balls. Determine the force P exerted by the ring
on each of the three lower balls.
SOLUTION KEY:
Consider the equilibrium of the top
ball. Three equal contact reactions
balances the weight
Take the equilibrium of one of the
lower balls to find the force
exerted by the ring
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Engineers Mechanics- 3D-equilibrium
Problem 4:
r_2 (
3
) =2r2
Equilibrium of top ball
XF
Z
=3R cos0 mg =0
3R
2r2 3
2r
=mg =>R =mg 6
Lower ball
XF
X
=0;P Rsin 0 =0
P =
mg
6
2r 3
2r
=
mg
32

AO =
AO =
r
cos30
o
=
2r
3
OC =r_2
2
(
2
3
)
2
=2r2 3