Module 4
Analysis of Structure
OVERVIEW
In this module, we will apply the concept of equilibrium of force systems
in structural analysis of rigid structures. Determinacy and stability will also be
discussed. Different types of supports and their corresponding reactions will be
taken up. 2D and 3D framing structures will be given focus.
LEARNING OUTCOMES
After studying this module, you must be able to:
1. Apply the concept of forces, moment of forces and static equilibrium to
analysis of rigid structures.
REVIEW: MOMENT OF FORCE
Moment of Force – Scalar Definition
A force produces a turning effect or moment about a point
O that does not life on its line of action. In scalar form, the
moment magnitude is the product of the force (F) and the moment
arm or perpendicular distance (d) from point O to the line of action
of the force.
Mo = F d
The direction of the moment is define using the right-hand
rule. Mo always acts along an axis perpendicular to the plane
containing F and d, and passes through the point O.
Rather than finding d, it is normally easier to
resolve the force into its x and y components,
determine the moment of each component about the
point, and then sum the results. This is called the
principle of moments.
Mo = Fd = Fx y – Fy x
Example: Determine the resultant moment of the
four forces acting on the rod shown in the figure
about point O.
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Moment of Force – Vector Definition
Since three-dimensional geometry is generally
more difficult to visualize, the vector cross product should
be used to determine the moment. Here Mo = r
x F, where r is a position vector that extends form point O
to any point A, B, or C on the line of action of F.
M o = rA × F = rB × F = rC × F
If the position vector r and force F are expressed
as Cartesian vectors, then the cross product results from
the expansion of a determinant.
𝐢 𝐣 𝐤
Mo = r × F = | 𝑟𝑥 𝑟𝑦 𝑟𝑧 |
𝐹𝑥 𝐹𝑦 𝐹𝑧
𝐢 𝐣 𝐤
For element i: | 𝑟𝑥 𝑟𝑦 𝑟𝑧 | = i (ryFz – rzFy)
𝐹𝑥 𝐹𝑦 𝐹𝑧
Remember the negative sign.
𝐢 𝐣 𝐤
For element j: | 𝑟𝑥 𝑟𝑦 𝑟𝑧 | = – j (rxFz – rzFx)
𝐹𝑥 𝐹𝑦 𝐹𝑧
𝐢 𝐣 𝐤
For element k: | 𝑟𝑥 𝑟𝑦 𝑟𝑧 | = k (rxFy – ryFx)
𝐹𝑥 𝐹𝑦 𝐹𝑧
Therefore, the vector notation of the moment is
Mo = r × F = (ryFz – rzFy) i – (rxFz – rzFx) j + (rxFy – ryFx) k
Example: Two forces act on the rod shown. Determine
the resultant moment they create about the flange at O.
Express the result as a Cartesian vector.
Moment about an Axis
If the moment of a force F is to be determined about
an arbitrary axis a, then the projection of the moment onto
the axis must be obtained. Provided the distance da that is
perpendicular to both the line of action of the force and the
axis can be found, then the moment of the force about the
axis can be determined form a scalar equation.
Ma = F da
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Example:
Note that when the line of action of F intersects the axis then the moment of F
about the axis is zero. Also, when the line of action of F is parallel to the axis, the
moment of F about the axis is zero.
In three dimensions, the scalar triple product should be
used. Here ua is the unit vector that specifies the direction of the
axis, the r is a position vector that is directed form any point on
the axis to any point on the line of action of the force. If Ma is
calculated as a negative scalar, then the sense of direction of Ma
is opposite to ua.
𝑢 𝑎𝑥 𝑢 𝑎𝑦 𝑢 𝑧
Ma = ua ∙ (r × F) = | 𝑟𝑥 𝑟𝑦 𝑟𝑧 |
𝐹𝑥 𝐹𝑦 𝐹𝑧
Example: Determine the moment MAB produced by the force F in the figure, which
tends to rotate the rod about the AB axis.
Couple Moment
A couple consists of two equal but opposite forces that act a perpendicular
distance d apart. Couples tend to produce a rotation without translation.
The magnitude of the couple moment is M = Fd, and its
direction is established using the right-hand rule.
M = Fd
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If the vector cross production is used to determine
the moment of a couple, then r extends from any point on
the line of action of one of the forces to any point on the line
of action of the other force F that is used in the cross
product.
M= r× F
A resultant couple moment is simply the vector sum of all the couple moments
of the system.
Example:
1. Determine the resultant couple 2. Determine the couple moment
moment of the three couples acting on acting on the pipe shown in the figure.
the plate in the figure. Segment AB is directed 30° below the
x-y plane.
Coplanar Distributed Loading
A simple distributed loading can be represented by its resultant force, which is
equivalent to the area under the loading curve. This resultant has a line of action that
passes through the centroid or geometric center of the area or volume under the
loading diagram.
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Examples:
1. A distributed loading of p = (800x) 2. The granular material exerts the
Pa acts over the top surface of the distributed loading on the bema as
beam shown in the figure. Determine shown in the figure. Determine the
the magnitude and location of the magnitude and location of the
equivalent resultant force. equivalent resultant of this load.
LESSON 1: EQUILIBRIUM OF A RIGID BODY
Supports for Rigid Bodies Subjected to Two-Dimensional Force Systems
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Free-Body Diagram
Procedure:
1. Draw outlined shape.
2. Show all forces and couple moments. Those generally encountered are
due to (1) applied loadings, (2) reactions occurring at the supports or at
points of contact with other bodies, and (3) the weight of the body.
3. Identify each loading and give dimensions.
Equations of Equilibrium
1. Apply the moment equation of equilibrium, ΣMo = 0, about a point O that lies
at the intersection of the lines of two unknown forces. In this way, the
moments of these unknows are zero about O, and a direct solution for the
third unknown can be determined.
2. When applying the force equilibrium equations, ΣFx = 0 and ΣFy = 0, orient
the x and y axes along lines that will provide the simplest resolution of the
forces into their x and y components.
3. If the solution of the equilibrium equations yields a negative scalar for a force
or couple moment magnitude, this indicates that the sense is opposite to that
which was assumed on the free-body diagram.
LESSON 2: CONDITIONS FOR EQUILIBRIUM OF PARALLEL FORCES
The sum of all the forces is zero.
ΣF=0
The sum of moment at any point O is zero.
ΣMO=0
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SAMPLE PROBLEMS
1. Determine the reactions for the beam shown.
100 lb/ft
Solution:
Σ𝑀𝑅2 = 0
10R1+4(400) =16(300) +9[14(100)]
R1=1580 lb answer
Σ𝑀𝑅1 = 0
10R2+6(300)=14(400)+1[14(100)]
R2=520 lb answer
2. The roof truss shown is supported by a roller at A and a hinge at B. Find the
values of the reactions.
Replace the 3-20 kN and 2-10 kN forces by a single 80 kN force
ΣMB=0
15RA = 10(60) + 7.5(80) + 5(50)
RA = 96.67 kN answer
ΣMA=0
15RB = 5(60) + 7.5(80) + 10(50)
RB = 93.33 kN answer
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PROBLEM EXERCISES
1. Determine the reactions for the beam shown.
200 lb
350 lb
200 lb
2. Determine the reactions for the beam loaded as shown.
15 kN
20 kN/m
3. The cantilever beam shown in the Figure is built into a wall 2 ft thick so that
it rests against points A and B. The beam is 15 ft long and weighs 100 lb
per ft.
5000 lb
15 ft
4. The upper beam in Figure shown is supported at D and a roller at C which
separates the upper and lower beams. Determine the values of the
reactions at A, B, C, and D. Neglect the weight of the beams.
80 kN 150 kN
300 kN A A
5. For the system of pulleys shown below, determine the ratio of W to P to
maintain equilibrium. Neglect axle friction and the weights of the pulleys.
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LESSON 3: EQUILIBRIUM OF NON-CONCURRENT FORCE SYSTEM
(COPLANAR FORCE SYSTEMS)
There are three equilibrium conditions that can be used for non-
concurrent, non-parallel force system.
The sum of all forces in the x-direction or horizontal is zero.
ΣFx=0 or ΣFH=0
The sum of all forces in the y-direction or vertical is zero.
ΣFy=0 or ΣFV=0
The sum of moment at any point O is zero.
ΣMO=0
The three equilibrium conditions can solved up to three unknowns in the
system.
SAMPLE PROBLEMS
1. The frame shown below is supported in pivots at A and B. Each member
weighs 5 kN/m. Compute the horizontal reaction at A and the horizontal and
vertical components of the reaction at B.
Solution:
Length of DF
LDF = √42 + 32 = 5 m
Weights of members
WAB=6(5)=30 kN WCE=6(5)=30 kN
WDF=5(5)=25 kN
ΣMB=0
6AH=3WCE+2WDF+6(200)
6AH=3(30)+2(25)+6(200)
AH=223.33 kN
ΣFH = 0
BH=AH
BH=223.33 kN answer
ΣFV=0
BV=WAB+WCE+WDF+200
BV=30+30+25+200
BV=285 kN answer
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2.Compute the total reactions at A and B on the truss shown.
3. The beam shown is supported by a hinge at A and a roller on a 1 to 2
slope at B. Determine the resultant reactions at A and B.
PROBLEM EXERCISES
1. A boom AB is supported in a horizontal position by a
hinge A and a cable which runs from C over a small
pulley at D as shown in the figure. Compute the tension
T in the cable and the horizontal and vertical
components of the reaction at A. Neglect the size of
the pulley at D.
2. Repeat problem #1 if the cable pulls the boom AB into
a position at which it is inclines at 30° above the
horizontal. The loads remain vertical.
3. The truss shown in the figure 4. Compute the total reactions at
is supported on roller at A and A and B for the truss shown.
hinge at B. Solve for the
components of the reactions.
6. The forces acting on a 1-m
length of a dam are shown in the
figure below. The upward
ground reaction varies uniformly
from an intensity of p1 kN/m to p2
kN/m at B. Determine p1 and p2
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and also the horizontal shown in Fig. P-358. Determine
resistance to sliding. P, R, and T.
7. The uniform rod in Fig. P-357
weighs 420 lb and has its center
of gravity at G. Determine the
tension in the cable and the
reactions at the smooth 9. A 4-m bar of negligible weight
surfaces at A and B. rests in a horizontal position on
the smooth planes shown.
Compute the distance x at which
load T = 10 kN should be placed
from point B to keep the bar
horizontal.
8. A bar AE is in equilibrium under
the action of the five forces
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