FACULTAD DE INGENIERIA

MECANICA DEL
CUERPO RIGIDO

Prof. Jack Cutipa

Docente de Ing. Mecatrónica e Ing. Electrónica
vidis.cutipa@upn.pe
Docente: Jack Cutipa
SUMILLA
El curso es de naturaleza teórico-práctico y tiene como
propósito que el estudiante conozca los principios básicos de
esta asignatura, los comprenda y los aplique al análisis de la
partícula ya que aporta al perfil del ingeniero mecatrónico los
conocimientos básicos referidos a fenómenos concernientes
al curso; enfrenta al estudiante a problemas de la vida real
pertenecientes al ámbito del curso y le enseña los principios
básicos de cinemática y dinámica a través de su uso en la
modelación matemática y solución de estos problemas. Los
temas principales son : Conceptos Fundamentales , Sistemas
de Fuerzas , Estática de la Partícula , Fuerzas, Distribuidas ,
Equilibrio; Fuerzas Internas , Armaduras , Momentos y
Productos de Inercia.

Docente: Jack Cutipa

SUMILLA

Al finalizar el curso el estudiante realiza cálculos de

momentos de flexión, fuerza cortante y fuerza normal en
vigas , los centros de gravedad y centroides de los cuerpos y
figuras geométricas , momentos de inercia , movimientos de
traslación, rotación y las fuerza y momentos actuantes,
vibraciones simples amortiguadas y no amortiguadas ,de sus
implicancias y limitaciones en sistemas mecatronicos
empleando los principios fundamentales de la Mecánica del
Cuerpo Rígido en donde requieran de establecer los máximos
esfuerzos que puede tener una viga o parte de un proceso de
manufactura.

Docente: Jack Cutipa

CONTENIDOS

1. Centro de gravedad de un cuerpo

bidimensional
2. Teoremas de Pappus-Guldinus
3. Centro de gravedad de un cuerpo
tridimensional.

Docente: Jack Cutipa

MOTIVACIÓN

https://www.youtube.com/watch?v=7Ffm05A1W0k

Docente: Jack Cutipa

 Tenth Edition

VECTOR MECHANICS FOR ENGINEERS:

4
CHAPTER

STATICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
David F. Mazurek Equilibrium of Rigid
Lecture Notes:
Bodies
John Chen
California Polytechnic State University

© 2013 The McGraw-Hill Companies, Inc. All rights reserved

Edition
Tenth
Vector Mechanics for Engineers: Statics
Contents
Introduction Equilibrium of a Rigid Body in Three
Free-Body Diagram Dimensions

Reactions at Supports and Reactions at Supports and Connections

Connections for a Two- for a Three-Dimensional Structure
Dimensional Structure Sample Problem 4.8
Equilibrium of a Rigid Body in Two
Dimensions
Sample Problem 4.1
Sample Problem 4.4
Practice
Statically Indeterminate Reactions

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Objectives
By the end of this lesson you should be able to:
1) Analyze the static equilibrium of rigid bodies in two and
three dimensions.
2) Draw complete and correct free-body diagrams.
3) Find reactions at supports and connections.
4) Examine rigid bodies supported by statically indeterminate
reactions and partial constrains.

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Tenth
Vector Mechanics for Engineers: Statics
Application

Engineers
designing this
crane will need
to determine the
forces that act
on this body
under various
conditions.

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Introduction
• For a rigid body, the condition of static equilibrium means that the
body under study does not translate or rotate under the given loads
that act on the body

• The necessary and sufficient conditions for the static equilibrium of a

body are that the forces sum to zero, and the moment about any point
sum to zero:
   
 F = 0  M O =  (r  F ) = 0

• Equilibrium analysis can be applied to two-dimensional or three-

dimensional bodies, but the first step in any analysis is the creation of
the free body diagram

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Free-Body Diagram
The first step in the static equilibrium analysis of a
rigid body is identification of all forces acting on
the body with a free body diagram.

• Select the body to be analyzed and detach it

from the ground and all other bodies and/or
supports.
• Indicate point of application, magnitude, and
direction of external forces, including the rigid
body weight.

• Indicate point of application and assumed

direction of unknown forces from reactions of
the ground and/or other bodies, such as the
supports.

• Include the dimensions, which will be needed

to compute the moments of the forces.

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Reactions at supports

Why there must be a

support (or supports)?

Why there must be a

reaction (reactions)?

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Types of reactions at supports

https://www.youtube.com/watch?v=qwFmXol5IXA

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Reactions at Supports and Connections for a Two-Dimensional Structure

• Reactions equivalent to a
force with known line of
action.

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Reactions at Supports and Connections for a Two-Dimensional Structure

• Reactions equivalent to a
force of unknown direction
and magnitude.

• Reactions equivalent to a
force of unknown
direction and magnitude
and a couple.of unknown
magnitude

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Practice
The frame shown supports part of
the roof of a small building. Your
goal is to draw the free body
diagram (FBD) for the frame.

On the following page, you will

choose the most correct FBD for
this problem.

First, you should draw your own

FBD.

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Practice

A B
150 kN

B is the most correct, though C is also

Choose the most correct. A & D are incorrect; why?
correct FBD for the C 150 kN
D
150 kN
150 kN
original problem.
Discuss with a
neighbor why each
choice is correct or
incorrect.
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Edition
Tenth
Vector Mechanics for Engineers: Statics
Equilibrium of a Rigid Body in Two Dimensions
• For known forces and moments that act on a
two-dimensional structure, the following are
true:
Fz = 0 M x = M y = 0 M z = M O

• Equations of equilibrium become

 Fx = 0  Fy = 0  M A = 0
where A can be any point in the plane of
the body.
• The 3 equations can be solved for no more
than 3 unknowns.

• The 3 equations cannot be augmented with

additional equations, but they can be replaced
 Fx = 0  M A = 0  M B = 0

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Sample Problem 4.1
A fixed crane has a mass of 1000 kg
and is used to lift a 2400 kg crate. It
is held in place by a pin at A and a
rocker at B. The center of gravity of
the crane is located at G.
Determine the components of the
reactions at A and B.
© 2013The McGraw-Hill Companies, Inc. All rights reserved.
SOLUTION:
• Create a free-body diagram for the crane.
• Determine B by solving the equation for
the sum of the moments of all forces
about A. Note there will be no
contribution from the unknown
reactions at A.
• Determine the reactions at A by
solving the equations for the sum of
all horizontal force components and
all vertical force components.
• Check the values obtained for the
reactions by verifying that the sum of
the moments about B of all forces is
zero.
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Tenth
Vector Mechanics for Engineers: Statics
Sample Problem 4.1
• Determine B by solving the equation for the
sum of the moments of all forces about A.
 M A = 0 : + B(1.5m ) − 9.81 kN(2m )
− 23.5 kN(6m ) = 0
B = +107.1 kN

• Determine the reactions at A by solving the

equations for the sum of all horizontal forces
• Create the free-body diagram.
and all vertical forces.
 Fx = 0 : Ax + B = 0
Ax = −107.1kN
 Fy = 0 : Ay − 9.81 kN − 23.5 kN = 0
Ay = +33.3 kN

• Check the values obtained.

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Sample Problem 4.4
SOLUTION:
- Discuss with a neighbor the steps for
solving this problem

• Create a free-body diagram for the

frame and cable.

• Apply the equilibrium equations

for the reaction force components
The frame supports part of the roof of and couple at E.
a small building. The tension in the
cable is 150 kN.
Determine the reaction at the fixed
end E.

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Sample Problem 4.4
• Which equation is correct?
4.5
A.  xF = 0 : E x + (150 kN ) = 0
7.5
E x = −90.0 kN
B.  Fx = 0 : Ex + cos 36.9o (150kN)= 0

C.  Fx = 0 : Ex + sin 36.9o (150 kN )= 0

 E x = −90.0 kN
• The free-body diagram was
6
created in an earlier exercise.

D.  Fx = 0 : Ex +
7.5
(
150 kN )= 0
• Apply one of the three
equilibrium equations. Try
using the condition that the E.  Fx = 0 : Ex − sin 36.9o (150 kN )= 0
sum of forces in the x- 
• What does the negative sign signify?
direction must sum to zero.
• Discuss why the others are incorrect.

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Sample Problem 4.4
• Which equation is correct?
A.  Fy = 0 : Ey − 4(20kN)− sin 36.9o (150 kN)= 0

6
B.  Fy = 0 : Ey − 4(20kN )+ (
150 kN )= 0
 7.5

C.  Fy = 0 : Ey − 4(20kN)− cos 36.9 (150 kN)= 0

o

 Ey = +200 kN
• Now apply the condition 6
D. ( )
 Fy = 0 : E y − 4 20 kN − (150 kN ) = 0
that the sum of forces in  7.5
the y-direction must sum Ey = +200 kN

to zero. 6
E.  Fy = 0 : Ey + 4(20kN )− (150 kN )= 0
7.5
 • What does the positive sign signify?
• Discuss why the others are incorrect.
© 2013The McGraw-Hill Companies, Inc.All rights reserved. 4 - 25
Edition
Tenth
Vector Mechanics for Engineers: Statics
Sample Problem 4.4
• Three good points are D, E, and F.
Discuss what advantage each point has
over the others, or perhaps why each is
equally good.
• Assume that you choose point E to
apply the sum-of-moments condition.
Write the equation and compare your
answer with a neighbor.
 M E = 0 : + 20 kN(7.2 m ) + 20 kN(5.4 m )

• Finally, apply the condition + 20 kN(3.6 m ) + 20 kN(1.8 m )

that the sum of moments about 6
any point must equal zero. − (150 kN )4.5 m + M E = 0
7.5
• Discuss with a neighbor which M E = 180.0 kN  m
point is the best for applying
• Discuss with a neighbor the origin of
this equilibrium condition, and
each term in the above equation and
why.
what the positive value of ME means.
© 2013The McGraw-Hill Companies, Inc. All rights reserved. 4 - 26
Edition
Tenth
Vector Mechanics for Engineers: Statics
Practice

A 2100-lb tractor is used to

lift 900 lb of gravel.
Determine the reaction at
each of the two rear wheels
and two front wheels

• First, create a free body diagram.

• Second, apply the equilibrium
Discuss with a neighbor conditions to generate the three
what steps to take to solve equations, and use these to solve
this problem. for the desired quantities.
© 2013The McGraw-Hill Companies, Inc. All rights reserved. 4 - 27
Edition
Tenth
Vector Mechanics for Engineers: Statics
Practice
• Draw the free body diagram of the tractor (on your own first).
• From among the choices, choose the best FBD, and discuss the
problem(s) with the other FBDs.

A. B.

FA 2100 lb FB FA 2100 lb FB

C. D.

FA 2100 lb FB FA 2100 lb FB

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Practice
Now let’s apply the equilibrium
conditions to this FBD.
• Start with the moment equation:

 M pt = 0
FA FB
2100 lb
Discuss with a neighbor:
• What’s the advantage to
Points A or B are equally  starting with this instead of the
good because each results in other conditions?
an equation with only one • About what point should we
unknown. sum moments, and why?

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Practice
Assume we chose to use point B.
Choose the correct equation for
 MB = 0.

FA 2100 lb FB A. + FA (60 in.) - 2100lb (40 in.) - 900 lb (50 in.) = 0


B. + FA (20 in.) - 2100lb (40 in.) - 900 lb (50 in.) = 0

C. - FA (60 in.) - 2100lb (40 in.) + 900 lb (50 in.) = 0

D. - FA (60 in.) + 2100lb (40 in.) - 900 lb (50 in.) = 0

FA=650 lb, so the reaction at each wheel is 325 lb
© 2013The McGraw-Hill Companies, Inc. All rights reserved. 4 - 30
Edition
Tenth
Vector Mechanics for Engineers: Statics
Practice

Now apply the final equilibrium

condition, SFy = 0.

FA FB
2100 lb
FA − 2100 lb + FB − 900 lb = 0
or + 650 lb − 2100 lb + FB − 900 lb = 0
 FB = 2350 lb, or 1175 lb at each front wheel

Why was the third equilibrium

 condition, SFx = 0 not used?

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Statically Indeterminate Reactions

• More unknowns than • Fewer unknowns than • Equal number unknowns

equations equations, partially and equations but
constrained improperly constrained
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Edition
Tenth
Vector Mechanics for Engineers: Statics
Equilibrium of a Rigid Body in Three Dimensions
• Six scalar equations are required to express the
conditions for the equilibrium of a rigid body in the
general three dimensional case.
 Fx = 0  Fy = 0  Fz = 0
Mx = 0 M y = 0 Mz = 0

• These equations can be solved for no more than 6

unknowns which generally represent reactions at supports
or connections or unknown applied forces.

• The scalar equations are conveniently obtained by applying the

vector forms of the conditions for equilibrium,
   
 F = 0  M O =  (r  F ) = 0

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Edition
Tenth
Vector Mechanics for Engineers: Statics
Reactions at Supports and Connections for a Three-Dimensional Structure

© 2013The McGraw-Hill Companies, Inc. All rights reserved. 4 - 34

Edition
Tenth
Vector Mechanics for Engineers: Statics
Reactions at Supports and Connections for a Three-Dimensional Structure

© 2013The McGraw-Hill Companies, Inc. All rights reserved. 4 - 35

Edition
Tenth
Vector Mechanics for Engineers: Statics
Sample Problem 4.8
SOLUTION:
• Create a free-body diagram for the sign.

• Apply the conditions for static

equilibrium to develop equations for
the unknown reactions.

A sign of uniform density weighs 270

lb and is supported by a ball-and-
socket joint at A and by two cables.
Determine the tension in each cable
and the reaction at A.

© 2013The McGraw-Hill Companies, Inc. All rights reserved. 4 - 36

Edition
Tenth
Vector Mechanics for Engineers: Statics
Sample Problem 4.8
r r
r rD − rB
TBD = TBD r r
rD − rB
r r r
−8i + 4 j − 8 k
= TBD
12
r 1r 2r
(
= TBD − 3 i + 3 j − 3 k
2
)
r r
r rC − rE
TEC = TEC r r
rC − rE
• Create a free-body diagram for the r r r
sign. −6i + 3 j + 2 k
= TEC
Since there are only 5 unknowns, 7
r 3r 2r
the sign is partially constrained.
All forces intersect with the x-axis,
(
= TEC − 7 i + 7 j + 7 k
6
)
so SMX=0, so this equation is not
useful to the solution.
© 2013The McGraw-Hill Companies, Inc. All rights reserved. 4 - 37
Edition
Tenth
Vector Mechanics for Engineers: Statics
Sample Problem 4.8
    
F = A + TBD + TEC − (270 lb) j = 0

i: Ax − 23 TBD − 76 TEC = 0

j: Ay + 13 TBD + 73 TEC − 270 lb = 0

k: Az − 23 TBD + 72 TEC = 0
      
MA = rB  TBD + rE  TEC + (4 ft )i  (− 270 lb) j = 0

j: 5.333TBD − 1.714TEC = 0

k: 2.667TBD + 2.571TEC − 1080 lb = 0
• Apply the conditions for
static equilibrium to Solve the 5 equations for the 5 unknowns,
develop equations for the
unknown reactions. TBD = 101.3 lb TEC = 315 lb
   
A = (338 lb)i + (101.2 lb) j − (22.5 lb)k

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Edition
Tenth
Vector Mechanics for Engineers: Statics
What if…?

Could this sign be in static equilibrium

if cable BD were removed?
Discuss with your neighbor, and be
sure to provide the reason(s) for your
answer.

The sign could not be in static equilibrium because TEC causes

a moment about the y-axis (due to the existence of TEC,Z) which
must be countered by an equal and opposite moment. This can
only be provided by a cable tension that has a z-component in
the negative-z direction, such as what TBD has.
© 2013The McGraw-Hill Companies, Inc. All rights reserved. 4 - 39
 BIBLIOGRAFÍA

• Beer, F. P., Johnston, E. R., Eisenberg, E. R., & Clausen,

W. E. (1990). Mecánica vectorial para ingenieros
(No. 968-422-565-2. 04-A1 LU. CG-12.). McGraw-hill.

• Hibbeler, R. C. (2004). Mecánica vectorial para

ingenieros: dinámica. Pearson Educación.

Docente: Jack Cutipa