LECTURE 3 Complete

Chapter 3
Equilibrium of a Particle
Mechanics for Engineers: Statics, 13th SI Edition

R. C. Hibbeler and Kai Beng Yap
Pearson Education South Asia Pte Ltd

2013. All rights reserved.
EQUILIBRIUM OF A PARTICLE, THE FREE-BODY

DIAGRAM & COPLANAR FORCE SYSTEMS
Todays Objectives:
Students will be able to :
a) Draw a free-body diagram (FBD),
and,
b) Apply equations of equilibrium to

solve a 2-D problem.

In-Class Activities:
Reading Quiz
Applications
What, Why, and How
of a FBD
Equations of
Equilibrium
Analysis of Spring and
Pulleys
Concept Quiz
Group Problem
Solving
Attention Quiz
READING QUIZ
1) When a particle is in equilibrium, the sum of forces acting
on it equals ___ . (Choose the most appropriate answer)
A) A constant
D) A negative number
B) A positive number
E) An integer
2) For a frictionless pulley and cable, tensions in the

cable (T1 and T2) are related as _____ .
A) T1 > T2
B) T1 = T2
C) T1 < T2
D) T1 = T2 sin

T1
T2

C) Zero
APPLICATIONS
The crane is lifting a load. To
decide if the straps holding the
load to the crane hook will fail,
you need to know the force in
the straps. How could you find
the forces?
Straps


APPLICATIONS
(continued)
For a spool of given
weight, how would you
find the forces in cables
AB and AC? If designing
a spreader bar like this
one, you need to know
the forces to make sure
the rigging doesnt fail.


APPLICATIONS
(continued)
For a given force exerted on the boats towing pendant, what are
the forces in the bridle cables? What size of cable must you use?


CONDITION FOR THE QUILIBRIUM OF A PARTICLE

(Section 3.1)
A particle is in equilibrium if
- At rest (if originally at rest)
- Moving at constant velocity (if originally in motion).
Newtons first law of motion

F = 0
where F is the vector sum of all the forces acting on the particle
Newtons second law of motion

F = ma
When the force fulfill Newton's first law of motion,

ma = 0
a=0
therefore, the particle is moving in constant velocity or at rest

THE WHAT, WHY, AND HOW OF A

FREE-BODY DIAGRAM (FBD)
(Section 3.2)
Free-body diagrams are one of the most important things for
you to know how to draw and use for statics and other subjects
What? - It is a drawing that shows all unknown (F)

forces acting on the body.
Why? - It is key to being able to write the equations of

equilibriumwhich are used to solve for the unknowns
(usually forces or angles).


How?
1. Imagine the particle to be isolated or cut free from its
surroundings.
2. Show all the forces that act on the particle.
Active forces: They want to move the particle.
Reactive forces: They tend to resist the motion.
3. Identify each force and show all known magnitudes and
directions. Show all unknown magnitudes and / or
directions as variables.
y
FBD at A
FD A
Note : Cylinder mass = 40 Kg

FB
A
30
FC = 392.4 N (What is this?)

SPRING
Linear elastic spring: change in length is directly proportional to

the force acting on it
Spring constant or stiffness k: defines the elasticity of the spring
Magnitude of force when spring
is elongated or compressed
F = ks
Where distance, s = l - lo
Spring Force = spring constant * deformation of spring

or F = k * s

CABLES AND PULLEYS
Cables (or cords) are assumed negligible weight and cannot

stretch
Tension always acts in the direction of the cable
Tension force must have a constant magnitude for equilibrium
For any angle , the cable

is subjected to a constant tension T
T1
T2
With a frictionless pulley and cable
T1 = T2.

EXAMPLE 3.1
The sphere has a mass of 6kg and is supported as shown. Draw a
free-body diagram of the sphere, the cord CE and the knot at C.


Solution
FBD at Sphere
Two forces acting, weight and the
force on cord CE.
Weight of 6kg (9.81m/s2) = 58.9N
Cord CE
Two forces acting: sphere and knot
Newtons 3rd Law:
FCE is equal but opposite
FCE and FEC pull the cord in tension
For equilibrium, FCE = FEC
FBD at Knot
3 forces acting: cord CBA, cord CE and spring CD
Important to know that the weight of the sphere does not act
directly on the knot but subjected to by the cord CE


EXERCISE
Draw FBD
1)
2)
3)


COPLANAR FORCE SYSTEMS

(Section 3.3)
A particle is subjected to coplanar forces in the x-y plane
Each force can be resolve into i and j components for equilibrium

Fxi + Fyj = 0
Fx = 0
Fy = 0


COPLANAR FORCE SYSTEMS

This is an example of a 2-D or
coplanar force system.
If the whole assembly is in
equilibrium, then particle A is
also in equilibrium.
To determine the tensions in
the cables for a given weight
of cylinder, you need to
learn how to draw a freebody diagram and apply the
equations of equilibrium.


PROCEDURE FOR ANALYSIS

1. Free-Body Diagram
- Establish the x, y axes
- Label all the unknown and known forces and direction on the diagram.
2. Equations of Equilibrium
- Apply the equations of equilibrium
Fx = 0
Fy = 0
- Components are positive if they are along a positive axis, and negative
if directed along a negative axis
- Apply F = ks to find spring force
- When the solution yields a negative result, force is the reverse of FBD


EQUATIONS OF 2-D EQUILIBRIUM

FBD at A
FB
Since particle A is in equilibrium, the

net force at A is zero.
So FB + FC + FD = 0
30
FD A
or
F=0
FC = 392.4 N
FBD at A
In general, for a particle in equilibrium,
F = 0 or
Fx i + Fy j
= 0i + 0j
(a vector equation)
Or, written in a scalar form,

Fx = 0 and Fy = 0
These are two scalar equations of equilibrium (E-of-E).


EQUATIONS OF 2-D EQUILIBRIUM (continued)

y
FBD at A
FB
30
A
FDA
FC = 392.4 N
Note : Cylinder mass = 40 Kg
Write the scalar E-of-E:

+ Fx = FB cos 30 FD =
+ Fy = FB sin 30 392.4 N = 0
Solving the second equation gives: FB = 785 N

From the first equation, we get: FD = 680 N

EXAMPLE 3.2
Given: The box weighs 550 N and
geometry is as shown.
Find:
The forces in the ropes AB

and AC.
Plan:
1. Draw a FBD for point A.
2. Apply the E-of-E to solve for the forces in ropes AB

and AC.


EXAMPLE 3.2 (continued)

y
FB
FC
5
30
FBD at point A
FD = 550 N
Applying the scalar E-of-E at A, we get;

+ F x = FB cos 30 FC (4/5) = 0
+ F y = FB sin 30 + FC (3/5) - 550 N = 0
Solving the above equations, we get;
FB = 478 N
and FC = 518 N


EXAMPLE 3.3
Determine the required length of the cord AC so that the 8kg
lamp is suspended in the position shown. The undeformed
length of the spring AB is lAB = 0.4m, and the spring has a
stiffness of kAB = 300N/m.


Solution
FBD at Point A
Three forces acting, force by cable AC, force in spring AB and weight of the
lamp.
If force on cable AB is known, stretch of the spring is found by F = ks.
+
Fx = 0;
TAB TAC cos30 = 0
Fy = 0;
TACsin30 78.5N = 0
Solving,
TAC = 157.0kN
TAB = 136.0kN
TAB = kABsAB;
136.0N = 300N/m(sAB)
sAB = 0.453N
For stretched length,
lAB = lAB+ sAB

lAB = 0.4m + 0.453m
For horizontal distance BC,

2m = lACcos30 + 0.853m
lAC = 1.32m
= 0.853m

EXERCISE
1. Determine the force in each cord for equilibrium of
the 200 kg crate. Cord BC remains horizontal due
to the roller at C and AB has a length of 1.5m.
Set y = 0.75m
2. The towing pendant AB is subjected to the force of

50 kN exerted by a tugboat. Determine the force in
each of the bridles, BC and BD, if the ship is moving
forward with constant velocity.


GROUP PROBLEM SOLVING

Given: The mass of lamp is 20
kg and geometry is as
shown.
Find:
The force in each cable.
Plan:
1. Draw a FBD for Point D.

2. Apply E-of-E at Point D to solve for the unknowns (FCD & FDE).
3. Knowing FCD, repeat this process at point C.


GROUP PROBLEM SOLVING (continued)

FBD at point D
y
FDE
FCD
30
D
W = 20 (9.81) N
Applying the scalar E-of-E at D, we get;

+ Fy = FDE sin 30 20 (9.81) = 0
+ Fx = FDE cos 30 FCD = 0
Solving the above equations, we get:

FDE = 392 N
and
FCD = 340 N



FBD at point C
y
FAC
5
FCD =340 N
FBC
45
Applying the scalar E-of-E at C, we get;

+ Fx = 340 FBC sin 45 FAC (3/5) = 0
+ Fy = FAC (4/5) FBC cos 45 = 0
Solving the above equations, we get;

FBC = 275 N
and

FAC = 243 N
ATTENTION QUIZ
1. Select the correct FBD of particle A.
30
40
100 N
F1
A)
B)
100 N
F2
30
40
A
C)
30
D)
30
A
100 N

F2
F1
40
A
100 N
ATTENTION QUIZ
2. Using this FBD of Point C, the sum of
F2
forces in the x-direction ( FX) is ___ .

Use a sign convention of + .
A) F2 sin 50 20 = 0
B) F2 cos 50 20 = 0
C) F2 sin 50 F1
20 N
50
C
F1
=0
D) F2 cos 50 + 20 = 0


THREE-DIMENSIONAL FORCE SYSTEMS

(Section 3.4)
Todays Objectives:
Students will be able to solve 3-D particle equilibrium problems by
a) Drawing a 3-D free-body diagram, and
b) Applying the three scalar equations (based on one vector
equation) of equilibrium.
In-class Activities:
Check Homework
Reading Quiz
Applications
Equations of Equilibrium
Concept Questions
Group Problem Solving
Attention Quiz


READING QUIZ
1. Particle P is in equilibrium with five (5) forces acting on it in
3-D space. How many scalar equations of equilibrium can be
written for point P?
A) 2
B) 3
D) 5
E) 6
C) 4
2. In 3-D, when a particle is in equilibrium, which of the

following equations apply?
A) ( Fx) i + ( Fy) j + ( Fz) k = 0
B) F = 0
C) Fx = Fy = Fz = 0
D) All of the above.
E) None of the above.


APPLICATIONS
You know the weight of
the electromagnet and its
load. But, you need to
know the forces in the
chains to see if it is a safe
assembly. How would you
do this?


APPLICATIONS
(continued)
This shear leg derrick
Offset distance is to be designed to
lift a maximum of 200
kg of fish.
How would you find
the effect of different
offset distances on
the forces in the cable
and derrick legs?


THE EQUATIONS OF 3-D EQUILIBRIUM

When a particle is in equilibrium, the vector
sum of all the forces acting on it must be
zero ( F = 0 ) .
This equation can be written in terms of its
x, y, and z components. This form is written
as follows.
( Fx) i + ( Fy) j + ( Fz) k = 0
This vector equation will be satisfied only when
Fx = 0
Fy = 0
Fz = 0
These equations are the three scalar equations of equilibrium.


PROCEDURE FOR ANALYSIS

1. Free-Body Diagram
- Establish the x, y axes
- Label all the unknown and known forces and direction on the diagram.
2. Equations of Equilibrium
- Apply Fx = 0, Fy = 0 and Fz = 0
- Substitute vectors into F = 0 and set i, j, k components = 0
- Negative results indicate that the sense of the force is opposite to that
shown in the FBD.


EXAMPLE 3.4
Given: The four forces and
geometry shown.
Find: The force F5 required to
keep particle O in
equilibrium.
Plan:
1) Draw a FBD of particle O.

2) Write the unknown force as
F5 = {Fx i + Fy j + Fz k} N
3) Write F1, F2 , F3 , F4 , and F5 in Cartesian vector form.
4) Apply the three equilibrium equations to solve for the three
unknowns Fx, Fy, and Fz.


Solution:
F1 = {300(4/5) j + 300 (3/5) k} N

F1 = {240 j + 180 k} N
F2 = { 600 i} N
F3 = { 900 k} N
F4 = F4 (rB/ rB)
=
200 N [(3i 4 j + 6 k)/(32 + 42 + 62)]
= {76.8 i
F5 = { Fx i
102.4 j + 153.6 k} N
Fy j + Fz k} N



Equating the respective i, j, k components to zero, we have
Fx = 76.8 600 + Fx
Fy =
= 0 ; solving gives Fx = 523.2 N
240 102.4 + Fy = 0 ; solving gives Fy = 137.6 N
Fz = 180 900 + 153.6 + Fz = 0 ; solving gives Fz = 566.4 N
Thus, F5 = {523 i 138 j + 566 k} N
Using this force vector, you can determine the forces

magnitude and coordinate direction angles as needed.


EXAMPLE 3.5
Given: A 600-N load is
supported by three cords
with the geometry as
shown.
Find:
The tension in cords AB,

AC and AD.
Plan:
1) Draw a free-body diagram of Point A. Let the unknown
force magnitudes be FB, FC, FD .
2) Represent each force in its Cartesian vector form.
3) Apply equilibrium equations to solve for the three
unknowns.


FBD at A
FD
FC
2m
1m
2m
30
y
FB
x
600 N
FB
= FB (sin 30 i + cos 30 j) N
= {0.5 FB i + 0.866 FB j} N
FC
= FC i N
FD
= FD (rAD /rAD)
= FD { (1 i 2 j + 2 k) / (12 + 22 + 22) } N
= { 0.333 FD i 0.667 FD j + 0.667 FD k } N


FBD at A
Now equate the respective i , j , k

components to zero.
Fx = 0.5 FB FC + 0.333 FD = 0
Fy = 0.866 FB 0.667 FD = 0
Fz = 0.667 FD 600 = 0
z
FC
FD
2m
y
1m
2m
30
FB
x
600 N
Solving the three simultaneous equations yields

FC = 646 N (since it is positive, it is as assumed, e.g., in tension)
FD = 900 N
FB = 693 N


EXERCISE
Determine the tension in the cables in order to support the 100
kg crate in the equilibrium position shown.


GROUP PROBLEM SOLVING

Given: A 17500-N ( 1750-kg)
motor and plate, as
shown, are in equilibrium
and supported by three
cables and
d = 1.2 m
Find:
Magnitude of the tension

in each of the cables.
Plan:
1) Draw a free-body diagram of Point A. Let the unknown force
magnitudes be FB, FC, F D.
2) Represent each force in the Cartesian vector form.

3) Apply equilibrium equations to solve for the three unknowns.


FBD of Point A
z
W
FD
FB
FC
W = load or weight of unit = 17500 k N

FB
= FB (rAB/rAB) = FB {(1.2 i 0.9 j 3 k) / (3.354)} N
FC
= FC (rAC/rAC) = FC { (0.9 j 3 k) / (3.132) } N
FD
= FD (rAD/rAD) = FD { ( 1.2 i + 0.3 j 3 k) / (3.245) } N



The particle A is in equilibrium, hence
FB + FC + FD + W = 0
Now equate the respective i, j, k components to zero
(i.e., apply the three scalar equations of equilibrium).
Fx = (1.2/ 3.354)FB (1.2/ 3.245)FD = 0

Fy = ( 0.9/ 3.354)FB + (0.9/ 3.132)FC + (0.3/ 3.245)FD = 0
Fz = ( 3/ 3.354)FB (3/ 3.132)FC (3/ 3.245)FD + 17500 = 0
Solving the three simultaneous equations gives the tension forces

FB = 7337 N
FC = 4568 N
FD = 7098 N

ATTENTION QUIZ
z
1. Four forces act at point A and

point A is in equilibrium. Select the
correct force vector P.
A) {-20 i + 10 j 10 k} N
B) {-10 i 20 j 10 k} N
P
F1 = 20 N
C) {+ 20 i 10 j 10 k} N
F3 = 10 N
F2 = 10 N
A
D) None of the above.
2. In 3-D, when you dont know the direction or the

magnitude of a force, how many unknowns do you have
corresponding to that force?
A) One
B) Two
C) Three

D) Four




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Chapter 3

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

EQUILIBRIUM OF A PARTICLE, THE FREE-BODY

b) Apply equations of equilibrium to

Mechanics for Engineers: Statics, 13th SI Edition

2) For a frictionless pulley and cable, tensions in the

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

CONDITION FOR THE QUILIBRIUM OF A PARTICLE

Newtons first law of motion

Newtons second law of motion

When the force fulfill Newton's first law of motion,

Pearson Education South Asia Pte Ltd

THE WHAT, WHY, AND HOW OF A

What? - It is a drawing that shows all unknown (F)

Why? - It is key to being able to write the equations of

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

Note : Cylinder mass = 40 Kg

FC = 392.4 N (What is this?)

Linear elastic spring: change in length is directly proportional to

Spring Force = spring constant * deformation of spring

Pearson Education South Asia Pte Ltd

CABLES AND PULLEYS

Cables (or cords) are assumed negligible weight and cannot

Tension always acts in the direction of the cable

Tension force must have a constant magnitude for equilibrium

For any angle , the cable

Pearson Education South Asia Pte Ltd

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

COPLANAR FORCE SYSTEMS

A particle is subjected to coplanar forces in the x-y plane

Each force can be resolve into i and j components for equilibrium

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

COPLANAR FORCE SYSTEMS

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

PROCEDURE FOR ANALYSIS

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

EQUATIONS OF 2-D EQUILIBRIUM

Since particle A is in equilibrium, the

Or, written in a scalar form,

Mechanics for Engineers: Statics, 13th SI Edition

Pearson Education South Asia Pte Ltd

EQUATIONS OF 2-D EQUILIBRIUM (continued)

Write the scalar E-of-E:

Solving the second equation gives: FB = 785 N

Pearson Education South Asia Pte Ltd

The forces in the ropes AB

2. Apply the E-of-E to solve for the forces in ropes AB