ENGINEERING MECHANICS I:

EQUILIBRIUM
Compiled by: Solomon Getachew

2013 E.C./ 2021 G.C.

DEBRE MARKOS INSTITUTE OF TECHNOLOGY
DEBRE MARKOS, ETHIOPIA
Engineering Mechanics I: Equilibrium

Chapter 3

Equilibrium

3.1.Introduction

In the previous chapter, we have seen systems of forces. In this chapter stability of force systems,
named as equilibrium of a body. Thus, a body is said to be in equilibrium when the resultant of all
the forces acting on it is zero. That is, the resultant force R and the resultant couple vector M are both
zero. Expressed mathematically:

𝑹 = ∑ 𝑭 = 𝟎 𝑴 = ∑ 𝑴 =0

Note that these are both necessary and sufficient conditions for equilibrium.

3.2.Equilibrium in Two Dimensions

3.2.1. System Isolation and Free Body Diagram

A mechanical system is defined as a body or group of bodies which can be conceptually isolated from
all other bodies. A system may be a single body or a combination of connected bodies. The bodies
may be rigid or non-rigid. In statics we study primarily forces which act on rigid bodies at rest.
Once we decide which body or combination of bodies to analyze, we then treat this body or
combination as a single body isolated from all surrounding bodies. This isolation is accomplished by
means of the free-body diagram, which is a diagrammatic representation of the isolated system
treated as a single body. This diagram is a sketch of the outlined shape of the body, which represents
is as being isolated or "free" from its surroundings, i.e., a "free body" on this sketch it is necessary to
show all the forces and couple moments that the surroundings exert on the body so that these effects
can be accounted for when the equations of equilibrium are applied. A thorough understanding of
how to draw a free-body diagram is of primary importance for solving problems in mechanics.

Modeling the Action of Forces in Two – Dimensional Analysis

The most important step in drawing the free body diagram will be to show the external forces exerted
on the rigid body. One of the external forces will be forces exerted by contacts with supports and
reactions. The different support and contact forces are shown in the figure below. A diagram showing
a body/group of bodies considered in the analysis with all forces and relevant dimensions is called
free body diagram (FBD). It is after such diagram is clearly drawn that the equilibrium equations be
used to determine some of the unknown forces. Therefore, free body diagram is the most important
single step in the solution of problems in mechanics.

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Steps for the construction of free body diagram:

i. Imagine the particle to be isolated or cut free from its surroundings. Draw or sketch its
outlined shape.
ii. Indicate on this sketch all the forces that act on the particle. These include active forces tend
to set the particle in motion e.g. From cables and weights and reactive forces caused by
constraints or supports that prevent motion.
iii. Label known forces with their magnitudes and directions. Use letters to represent magnitudes
and directions of unknown forces. Assume direction of force which may be corrected later.

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For more explanation

• Decide which body or combination of bodies to be considered.
• The body or combination chosen is isolated by a diagram that represents its complete external
boundary.
All forces that act on the isolated body by the removed contacting and attracting bodies and known
forces represented in their proper positions on the diagram of the isolated body.

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• Each unknown force should be represented by a vector arrow with the unknown magnitude
and direction.
• The fore exerted on the body to be isolated by the body to be removed is indicated and its
sense shall be opposite to the movement of the body which would occur if the contacting or
supporting member were removed.
• The choice of coordinate axes should be indicated directly on the diagram and relevant
dimensions should be represented.
3.2.2. Equilibrium conditions
It was stated that a body is in equilibrium if the resultant force vector and the resultant couple vector
are both zero. These requirements can be stated in the form of vector equation of equilibrium, which
in two dimensions can be written as:

∑ 𝑭𝒙 = 𝟎 ∑ 𝑭𝒚 = 𝟎 ∑ 𝑴𝒐 = 𝟎

Here Fx and Fy represent, respectively, the algebraic sums of the x and y components of all the forces
acting on the body, and Mo represents the algebraic sum of the couple moments and moments of all
the force components about the z axis, which is perpendicular to the x-y plan and passes through the
arbitrary point O.

Categories of Equilibrium in two dimensions

The following categories of equilibrium conditions can be identified due to the nature of forces
considered.
Category 1. Equilibrium of collinear forces, clearly requires only the one force equation in the
direction of the forces (x-direction), since all other equations are automatically
satisfied.
Category 2. Equilibrium of forces which lie in a plane (x-y plane) and are concurrent at a point O,
requires the two force equations only, since the moment sum about O, that is, about a
z-axis through O, is necessarily zero. Included in this category is the case of the
equilibrium of a particle.
Category 3. Equilibrium of parallel forces in a plane, requires the one force equation in the
direction of the forces (x-direction) and one moment equation about an axis (z-axis)
normal to the plane of the forces.
Category 4. Equilibrium of a general system of forces in a plane (x-y), requires the two force
equations in the plane and one moment equation about an axis (z-axis) normal to the
plane.

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Two- and Three-Force Members

The first situation is the equilibrium of a body under the action of

two forces only. Two examples are shown in figure below, and
we see that for such a two-force member to be in equilibrium, the
forces must be equal, opposite, and collinear. The shape of the
member does not affect this simple requirement. In the
illustrations cited, we consider the weights of the members to be
negligible compared with the applied forces.

The second situation is a three-force member, which is a body under

the action of three forces, shown in figure below. We see that
equilibrium requires the lines of action of the three forces to be
concurrent. If they were not concurrent, then one of the forces would
exert a resultant moment about the point of intersection of the other
two, which would violate the requirement of zero moment about every
point. The only exception occurs when the three forces are parallel. In
this case we may consider the point of concurrency to be at infinity.

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The principle of the concurrency of three forces in equilibrium is of

considerable use in carrying out a graphical solution of the force
equations. In this case the polygon of forces is drawn and made to
close, as shown in figure. Frequently, a body in equilibrium under the
action of more than three forces may be reduced to a three- force
member by a combination of two or more of the known forces.

Alternative Equilibrium Equations

In two-dimensional body, the maximum number of unknown variables is three. And the three
equilibrium equations are sufficient to solve the unknown variables. Thus, whatever the combination,
three total equations are maximally needed. What we have seen is two forces and one moment
equations. But we could have the following combinations.

a. For this body, if ΣMA = 0, then the resultant, if it still exists,

cannot be a couple, but must be a force R passing through A.

b. If now the equation ΣFx = 0 holds, where the x-direction is arbitrary, it follows from the
above figure, that the resultant force R, if it still exists, not only must pass through A, but also
must be perpendicular to the x-direction as shown. Now, if
ΣMB = 0, where B is any point such that the line AB is not
perpendicular to the x-direction, we see that R must be zero,
and thus the body is in equilibrium. Therefore, an alternative
set of equilibrium equations is
ΣFx = 0 ΣMA = 0 ΣMB = 0
where the two points A and B must not lie on a line
perpendicular to the x-direction.

c. If ΣMB _ 0, the resultant, if one still exists, must pass

through B as shown in above Figure. Such a force cannot
exist, however, If ΣMC = 0, where C is not collinear with A
and B. Thus, we may write the equations of equilibrium as
ΣMA =0 ΣMB = 0 ΣMC = 0
where A, B, and C are any three points not on the
same straight line.

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Example 3.1.
Determine the magnitude T of the tension in the supporting
cable and the magnitude of the force on the pin at A for the
jib crane shown. The beam AB is a standard 0.5-m I-beam
with a mass of 95 kg per meter of length.

Solution
The system is symmetrical about the vertical x-y plane
through the center of the beam, so the problem may be
analyzed as the equilibrium of a coplanar force system.
The free-body diagram of the beam is shown in the figure
below with the pin reaction at A represented in terms of
its two rectangular components. The weight of the beam
is 95(10-3) (5) 9.81 = 4.66 kN and acts through its center.
Note that there are three unknowns Ax, Ay, and T, which may be found from the three equations of
equilibrium.
We begin with a moment equation about A, which eliminates two of the three unknowns from the
equation. In applying the moment equation about A, it is simpler to consider the moments of the x-
and y-components of T than it is to compute the perpendicular distance from T to A. Hence, with the
counterclockwise sense as positive we write
ΣMA = 0
(T cos 250)0.25 + [(T sin 250) (5 - 0.12)] – [10(5 -1.5 - 0.12)] – [4.66(2.5 - 0.12)] = 0
T = 19.61 kN
Equating the sums of forces in the x- and y-directions to zero gives
ΣFx = 0 ΣFy = 0
Ax - 19.61 cos 250= 0 Ay + 19.61 sin 250 - 4.66 - 10 = 0
Ax = 17.77 kN Ay = 6.37 kN
A =√Ax2 + Ay2
A =√17. 772 + 6. 372
A= 18.88 kN

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Example 3.2.
Determine the horizontal and vertical components of reaction on the beam caused by the pin at B and
the roller at A as shown in Figure below. Neglect the weight of the beam.

Solution
Drawing Free Body Diagram

Equations of Equilibrium:
Summing forces in the x direction yields
ΣFx = 0
600 cos 450- Bx= 0
Bx= 424 N
A direct solution for Ay can be obtained by applying the moment equation ΣMB = 0 about
point B.
ΣMB = 0
100 N(2m) + (600sin450N)(5m)- (600cos450N)(0.2m) – Ay(7m) = 0
Ay=319 N
Summing forces in the y direction, using this result, gives
ΣFy = 0
319 N - 600sin450N-100N - 200N + By=0
By = 405 N
NOTE: We can check this result by summing moments about point A.

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Example 3.3.
The box wrench in figure is used to tighten the
both at A If the wrench does not turn when the
load is applied to the handle. Determine the
torque or moment applied to the bolt and the force
of the wrench on the bolt.

Solution
Drawing Free Body Diagram
Equilibrium Equations
Summing forces in the x direction yields
ΣFx = 0
𝟓
𝑨𝒙 − 𝟓𝟐 ( ) + 𝟑𝟎 𝒄𝒐𝒔 𝟔𝟎𝟎 = 𝟎
𝟏𝟑

Ax= 5 N
A direct solution for Ay can be obtained by applying the moment equation ΣMA = 0 about
point B.
ΣMA = 0
𝟏𝟐
𝑴𝑨 − [𝟓𝟐 ( )] (𝟎. 𝟑) − (𝟑𝟎 𝒔𝒊𝒏 𝟔𝟎𝟎 )(𝟎. 𝟕) = 𝟎
𝟏𝟑

MA = 32.6 Nm
Summing forces in the y direction, using this result, gives
ΣFy = 0
𝟏𝟐
𝑨𝒚 − 𝟓𝟐 ( ) + 𝟑𝟎 𝒔𝒊𝒏 𝟔𝟎𝟎 = 𝟎
𝟏𝟑

By = 405 N

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Exercise 3.1.
The 500-kg uniform beam is subjected to
the three external loads shown. Compute
the reactions at the support point O. The x-
y plane is vertical.

Exercise 3.2.
Determine the horizontal and vertical
components of reaction at the supports.
Neglect the thickness of the beam.

Exercise 3.3.
Determine the components of
reaction at the fixed support A.
Neglect the thickness of the beam.

3.3.Equilibrium in Three Dimensions

3.3.1. System Isolation and Free Body Diagram
In three dimensions the free-body diagram serves the same essential purpose as it does in two
dimensions and should always be drawn. We have our choice either of drawing a pictorial view of the
isolated body with all external forces represented or of drawing the orthogonal projections of the free-
body diagram.

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Equilibrium conditions
The necessary and sufficient conditions for complete equilibrium in three dimensions are;
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Categories of Equilibrium in Three Dimensions

Category 1. Equilibrium of forces all concurrent at point O, requires all three force equations, but
no moment equations because the moment of the forces about any axis through O is
zero.
Category 2. Equilibrium of forces which are concurrent with a line, requires all equations except the
moment equation about that line, which is automatically satisfied.
Category 3. Equilibrium of parallel forces, requires only one force equation, the one in the direction
of the forces (x- direction as shown), and two moment equations about the axes (y and
z) which are normal to the direction of the forces.
Category 4. Equilibrium of a general system of forces requires all three force equations and all three
moment equations.

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Example 3.4.
The uniform 7-m steel shaft has a mass of 200 kg and
is supported by a ball-and-socket joint at A in the
horizontal floor. The ball end B rests against the smooth
vertical walls as shown. Compute the forces exerted by
the walls and the floor on the ends of the shaft.
Solution
The free-body diagram of the shaft is first drawn
where the contact forces acting on the shaft at B are
shown normal to the wall surfaces. In addition to the
weight W = mg = 200(9.81) = 1962 N, the force
exerted by the floor on the ball joint at A is
represented by its x-, y-, and z-components. These
components are shown in their correct physical sense,
as should be evident from the requirement that A be
held in place. The vertical position of B is found
from7 = √22 + 62 + ℎ2 , h = 3 m. Right-handed coordinate axes are assigned as shown.
Vector Solution: We will use A as a moment center to eliminate reference to the forces at A. The
position vectors needed to compute the moments about A are

rAG = -1i - 3j + 1.5k m and rAB = -2i - 6j + 3k m

where the mass center G is located halfway between A and B. The vector moment equation
gives

Equating the coefficients of i, j, and k to zero and solving give

Bx = 654 N and By = 1962 N
The forces at A are easily determined by

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Scalar Solution: Evaluating the scalar moment equations about axes through A parallel, respectively,
to the x- and y-axes, gives

Example 3.5.
The boom is used to support the 75 lb flowerpot in figure.
Determine the tension developed in wires AB and AC.
Solution:
The free-body diagram of the boom is

Equations of Equilibrium: Here the cable forces are directed at angles with the coordinate axes, so
we will use a vector analysis.

We can eliminate the force reaction at O by writing the moment equation of equilibrium
about point O.

MO = 0; rA * (FAB + FAC + W) = 0

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Solving the above equations simultaneously:

FAB = FAC = 87.5 lb
Exercise 3.4.
The uniform I-beam has a mass of 60 kg per
meter of its length. Determine the tension in
the two supporting cables and the reaction at
D.

Exercise 3.5.
The light right-angle boom which supports the
400 kg cylinder is supported by three cables and
a ball and-socket joint at O attached to the
vertical x-y surface. Determine the reactions at
O and the cable tensions.

References

1. J. L. Meriam and L.G. Kraige., Engineering mechanics: Statics (SI version), 7th
Edition, John Wiley & Sons Ltd., 2006
2. R. C. Hibbeler, Engineering Mechanics: Statics, 14th Edition, Prentice Hall; 2016

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