4 - Determinacy.
Determinacy deals with whether or not the reactions and forces in a structure can be analyzed based solely on static equilibrium or whether principles from strength of materials must be introduced. Put differently, it deals with whether the forces in a structure can be determined knowing only the geometry of the structure or whether the stiffness attributes of the individual components must be known. A statically determinate structure is analyzable based only on its geometry. A statically indeterminate structure is analyzable based on geometry and component stiffness. In this course, we will only analyze statically determinate structures, however we do need to be able to distinguish between determinate and indeterminate structures. Determinacy is not entirely divorced from stability. In all of the discussions that follow, we will assume that the structure has been determined to be stable using the techniques in Section 3 or that the structure has been broken up into rigid bodies each of which has been determined to be stable. Determinacy consists of internal and external issues. If a structure is externally determinate, it means that we can solve for the reactions based on static equilibrium. If it is internally determinate, it means that we can solve for the forces in the individual components based on static equilibrium. 4.1 - External determinacy of single rigid body structures. Fig. 4.1.1 shows examples of rigid bodies structures.
(a)
(b)
(c) Fig. 4.1.1 - Single rigid body beam (a), single rigid body truss (b), and two rigid body frame (c).
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Assessing determinacy of single rigid body structures is relatively simple. There are three equations of static equilibrium, therefore we can solve for three external reaction forces and/or moments. That is to say, the structure can have at most three restraints, R. If the structure has more than three restraints, it is indeterminate. This, of course assumes that the rigid body is internally stable (no collapse mechanisms), and that the reactions do not form concurrence force systems or parallel reactions. Put mathematically, provided that there are no collapse mechanisms: (1) If R = 3, the structure is statically determinate. (2) If R > 3, the structure is statically indeterminate provided no concurrent force systems or parallel reactions exist. (eq. 4.1.1) (eq. 4.1.2)
If the number of restraints is greater than three, the degree of indeterminacy can be expressed mathematically as: degree of indeterminacy = R - 3 (eq. 4.1.3)
4.1.1 Sign conventions for external reactions. It is important that we use a consistent approach to sign conventions. The conventions chosen here, while not the only option, will have advantages in later units of this course. The conventions for horizontal and vertical forces and for moments are shown in Fig. 4.1.2. + positive horizontal forces are to the right
positive vertical forces are upward
positive moments are counter-clockwise
Fig. 4.1.2 Sign convention for external forces. When working problems, assume that all reactions act in their positive directions (even though it might be obvious that they act in a negative direction). If your answer comes out positive, it means (1) you assumed the positive direction correctly, and (2) the plus sign in your answer implies that the reaction acts in the positive direction. If your answer comes out negative, it means (1) you assumed the positive direction incorrectly, and (2) the negative sign in your answer implies that the reaction acts in the negative direction. Also, show an arrow next to your answer indicating the actual direction that the force acts. Fig. 4.1.3 shows example answers.
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F = + 10 kips F = - 20 kips Fig. 4.1.3 Example answers showing correct sign conventions. 4.1.2 - Example computations for reactions of single body structures based on static equilibrium.
+ +
+ +
4.1.3 Equivalent loads. More complex problems can be solved using two important principles from mechanics. The first is the concept of an equivalent load. If a structure is 17
subjected to a distributed load, the effect of this load on the external reactions is not changed if the distributed load is replaced by an equivalent concentrated load acting at the centroid of the distributed load. The following example illustrates this principle.
+ -
+ +
4.1.4 Dividing loads into components. The second useful principle is to resolve applied forces into horizontal and vertical components. Resolving forces into horizontal and vertical components is convenient because many loads resulting from weights are already vertical. The following example illustrates this principle.
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4.2 - External determinacy of multiple rigid body structures. If a compound structure is stable, the connection between the rigid bodies can be viewed as imposing conditions at the connection. For example, for the structure in Fig. 4.1.1(c) the pin at C can be viewed as imposing a condition of zero moment at C. Then one additional static equilibrium equation becomes available. Mathematically, the effect of conditions can be stated: (1) If R = 3 + C, the structure is statically determinate. (2) If R > 3 + C, the structure is statically indeterminate. provided no concurrent force systems or parallel reactions exist. where C = number of internally imposed conditions then, degree of indeterminacy = R (3 + C) (eq. 4.1.4) (eq. 4.1.5)
(eq. 4.1.6)
Following are three examples of determining determinacy of compound stable structures.
Fig. 4.2.1 Determinate compound structure. In Fig. 4.2.1, R = 2 + 2 = 4 and C = 1, therefore R = 3 + C [4 = 4] and the structure is determinate.
Fig. 4.2.2 Indeterminate compound structure. In Fig. 4.2.2, R = 3 + 3 = 6 and C = 2, therefore R > 3 + C [6 > 5] and the structure is indeterminate. The degree of indeterminacy is R - (3 + C) = 6 - (3 + 2) = 1
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Fig. 4.2.3 In Fig. 4.2.3, R = 2 + 1 + 2 = 5 and C = 2, therefore R = 3 + C [5 = 5] and the structure is determinate. 4.2.1 Analyzing compound structures. The condition imposed by the pin(s) of compound structures is that the moment at the pin is zero. This means that horizontal and vertical forces, and only horizontal and vertical forces, can be transmitted between the two rigid bodies that are connected by the pin. These horizontal and vertical forces must obey Newtons third law; that is, for every action there is an equal and opposite reaction. Thus the two horizontal forces must be equal and opposite, and the two vertical forces must be equal and opposite. Consider the compound structure shown in Fig. 4.2.4(a).
Fig. 4.2.4 Determinate compound structure. The condition imposed by the hinge at C is that the moment at C must be zero. The freebody in Fig. 4.2.4(b) allows us to write the following equation imposing zero moment at C: -24(5) + Ey(10) = 0 or Ey = 12 kips We could then write another equation imposing zero moment at C by considering a freebody of the rigid structure to the left of C: -Ay(15) By(5) = 0 (eq. 4.1.7)
Summing verticals on the structure as a whole gives: Ay + By + Ey 24 = 0 (eq. 4.1.8)
Knowing Ey = 12, we can solve eqs. 4.1.7 and 4.1.8 simultaneously to get Ay = - 6 kips and By = 18 kips
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We can now analyze the forces across the pin at C. From the freebody of Fig. 4.2.4(b) we can sum vertical forces to get: Cy 24 + 12 = 0 or Cy = 12 kips
Summing horizontals on the whole structure gives: Ex = 0 Summing horizontals on the freebody of Fig. 4.2.4(b) gives: - Cx + Ex = 0 or Cx = 0
Note that if a freebody were drawn of rigid body ABC, Cy would be 12 kips acting downward in accord with Newtons third law. Technically, Newtons third law also applies to the horizontal forces, however Cx = 0. 4.3 - Exercises. Determine whether the structures shown below are stable or unstable. If they are unstable, draw a picture showing design changes that would make them stable. If they are stable, determine whether they are determinate or indeterminate with respect to restraints. If they are indeterminate, specify the degree of indeterminacy. If they are determinate with respect to restraints, and if numbers are given for the problems, calculate the reactions.
(a)
(b)
(c)
(d)
(e)
(f) [ignore moment at A]
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8 ft
(g)
(h)
20 ft B
(i)
(j)
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