Objectives

1. To introduce the concept of the free-

body diagram for a particle.
2. To show how to solve particle
equilibrium problems using the
equations of equilibrium.
 Definitions

1. A particle is in equilibrium if it is at rest if

originally at rest or has a constant velocity
if originally in motion.
2. Static equilibrium denotes a body at rest.
3. Newton’s first law is that a body at rest is
not subjected to any unbalanced forces.
Static Equilibrium

r
 F 0
 Static Equilibrium

r
 F i s the vector sum of al l

for ces acti ng on the par ti cl e.

 Springs

F =ks
Cables and
Pulleys
 Cables and Pulleys
Cables are assumed to have negligible
weight and they cannot stretch. They
(you
can only support tension or pulling
can’t push on a rope). Pulleys are
assumed to be frictionless. A
continuous cable passing over a
frictionless pulley must have tension
force of a constant magnitude. The
tension force is always directed in the
direction of the cable.
 The Free-Body Diagram
1. To apply equilibrium equations we must
account for all known and unknown forces
acting on the particle.
2. The best way to do this is to draw a free-
body diagram of the particle.
3. The free-body diagram (FBD) of a body is
a sketch of the body showing all forces
that act on it. The term free implies that all
supports have been removed and
replaced by the forces (reactions) that
they exert on the body.
Drawing Free-Body
Diagrams
1. Draw Outlined Shape - Imagine the particle
isolated or cut “free” from its surroundings
2. Show All Forces - Include “active forces”
and “reactive forces”
3. Identify Each Force - Known forces
labeled with proper magnitude and
direction. Letters used for unknown
quantities.
 Force Types

1. Active Forces - tend to set the

particle in motion.
2. Reactive Forces - result from
constraints or supports and tend to
prevent motion.
 Example

The sphere has a

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

There are two forces acting

on the sphere. These are its
weight and the force of cord
CE.
The weight is:
W = 6 kg (9.81 m/s2)=58.9 N.
Sphere
FC
E

Free-Body Diagram
58.9 N
Cord CE
There are two
forces acting on
the cord.
These are the
force of the
sphere, and the
force of the knot.
A cord is a tension
only member.
Newton’s third law
applies.
Cord CE
FE
C

E Free-Body Diagram
FC
E
 Knot at C

There are three forces acting on the knot at C. These

are the force of the cord CBA, and the force of the cord
CE, and the force of the spring CD.
Knot at C
FC
B
A

60o FC

Free-Body Diagram
D

FC
E
Example
Example

Not a
Free
Body
Diagram!
FBD
Example
FBE of
E
FBD of C
Example
FBD of A
 Coplanar Force System

1. A two dimensional system.

2. Assumed to lie in thex-y plane.
3. Use i and j unit vectors.
r
 F 0

  垐
Fx  i   F y j 0
2D Equilibrium Equations
F x 0
F y 0
Scalar equations of equilibrium require that the
algebraic sum of the x and y components of all the
forces acting on a particle be equal to zero.
2D Equilibrium Equations

F x 0
F y 0
Two equations means only two unknowns can be
solved for from a single FBD.
Assume a sense for an unknown force. If the
equations yield a negative value for the
magnitude then the sense is opposite of what
was assumed.

F + 10 N = 0
F = -10 N
F acts to the left (opposite of direction shown).
Procedure for Analysis

Free-Body Diagram
1. Establish the x, y axes in any suitable
orientation.
2. Label all known and unknown force
magnitudes and directions on the FBD.
3. The sense of an unknown force may be
assumed.
Procedure for Analysis

Equations of Equilibrium
1. Apply equations of equilibrium.

F x
0 an d F y
0

2. Components of force are positive if directed along

a positive axis and negative if directed along a
negative axis.
3. If solution yields a negative result the force is in the
opposite sense of that shown on the FBD.
 Example

Determine the tension

in cables AB and AD
for equilibrium of the
250 kg engine block.
To solve this problem apply equilibrium equation at point A.
The weight of the object is W = 250 kg (9.81 m/s2) = 2.452 N.
This weight is supported by cable AC so TAC = 2.452 N.
y
TA
B

A 30o
TA
D x

TA
=
2
C.
4
52
k
N

Free-Body Diagram
 Equilibrium Equations

F x
 0

T A B cos 30
o
 TAD  0

F y
 0

T A B si n 30
o
 2.4 52 k N  0
Sol vi n g:

T A B si n 30
o
 2.452 k N  0
T A B si n 30
o
 2.452 k N
T A B ( 0.5000)  2.452 k N
TAB  4.904 k N
Sol vi n g:

TAD  TAB cos 30

o

TAD  ( 4.904 k N )( 0.8660)

TAD  4.247 k N
Reporting our answers to three
significant figures:

TA
=
4
B
.
9
0k
N
TA
=
4
D
.
2
5k
N
 Example

If the sack has a weight

of 20 lb, determine the
weight of the sack at B
and the force in each
cord needed to hold the
system in the equilibrium
position shown.
Note: there are four unknowns, the
tension in the three cords and the weight
B. We can draw free-body diagrams of
points E and C.

Each FBD yields two equilibrium

equations. Thus, we will have four
equations to solve for out four unknowns.
FBE of
E
F x
0
T E G si n 30
o
 TEC cos 45
o
0
T E G ( 0.5000)  T E C ( 0.7 07 1 )  0
TEG  1 .41 42 TEC
F y
0
T E G cos 30
o
 TEC si n 45
o
 20 l b  0
T E G ( 0.8660)  T E C ( 0.7 07 1 )  20 l b  0
(1 .41 42) ( T E C ) ( 0.8660)  T E C ( 0.7 07 1 )  20 l b  0
0.51 7 6 T E C  20 l b
Solution F x
0
TEG  1 .41 42 TEC

F y
0
0.51 7 6 T E C  20 lb

TEC  38.6 lb

TEG  5 4. 6 lb
FBD of C
F x
0

T C E cos 45
o
 TCD  4   0
5
38.6 ( 0.7 07 1 )  T C D  0.8000   0
TCD  34.2 lb
F y
0

T C E si n 45
o
 TCD  3   W B  0
5
38.6( 0.07 07 1 )  34.2  0.6000   W B  0
WB  47 .8 lb
 Answers

TEC  38.6 lb TCD  34.2 lb

TEG  54.6 lb WB  47 .8 lb
Example

Determine the required length of cord AC so that the 8 kg

lamp is suspended in the position shown. The undeformed
length of spring AB is 0.4 m and the spring has a stiffness
of 300 N/m
FBD of A

 m 
W   9.81 2   8 k g   7 8.5 N
 s 
Equilibrium

F x
 0  TAB  TAC cos 30
o
0

F y
 0  TAC si n 30
o
 7 8.5 N  0

TAC  1 57 .0 N
TAB  1 36.0 N
 Spring
TAB  1 36.0 N
TAB  k AB sA B

N
1 36.0 N  300 sA B
m
sA B  0.453 m
Str etch ed l en gth :
L AB  0.4 m  0.453 m  0.853 m
 CORD CA

H or i zon tal D i stan ce f r om C to A :

2m L AC
cos 30
o
 0.853 m

L AC
 1 .32 m
Rectangular Components

r r r r
A  A x  A y  A z
 Unit Vectors
Unit Vector: a vector having magnitude of 1.

r
A
û A 
A
or
r
A  A û A
 r
A
A

û A
 Cartesian Unit Vectors

Unit Vectors in Coordinate Directions:

ˆi U ni t vector i n the x-di r ecti on

ĵ U ni t vector i n the y-di r ecti on

k̂ U ni t vector i n the z-di r ecti on

 Cartesian Vector
Representation

r
A  Ax i  A y j  Az k
r
A  Ax i  A y j  Az k
 Magnitude

 A 
2 2
A Az

A  
2 2
Ax Ay

A  Ax
2
 Ay
2
 Az
2
, , and  are the
coordinate direction
angles.
These are the angles
between A and the
reference axes.
The cosines of these
angels are called the
direction cosines.
 Direction Cosines

Ax
cos   Ay
A cos  
A Az
cos  
A
 r
A  Ax i  A y j  Az k

r
A Ax A y Az
û A   i  j  k
A A A A

û A   cos   i   cos   j   cos   k

 Important Relationship
r
A  A uˆ A
r
A  A cos  i  A cos  j  A cos  k
r
A  Ax i  Ay j  Az k
 Addition and Subtraction of
Cartesian Vectors
r
A  Ax i  Ay j  Az k
r
B  B x i  B y j  B zk

r r r
R  A  B
r
R   Ax  B x  i   A y  B y  j   Az  B z  k
 Addition and Subtraction of
Cartesian Vectors
r
A  Ax i  Ay j  Az k
r
B  B x i  B y j  B zk

r r r
RA B
r
R    Ax  B x  ˆi   A y  B y  垐
j   Az  B z  k
 Concurrent Force Systems

A concurrent force system is one in which the

lines of action of all forces intersect at a
common point.
r r
FR    F x i   F y j   F z k
F
Example

Determine the
magnitude and
coordinate direction
angles of the resultant
r
 80 0 j  N
force on the ring ˆand
FR
 Example
r
F or F1 :

1  45o 1  60 o 1  1 20 o
r
F1  F1 cos 1 i  F1 cos 1 j  F1 cos 1 k
r
F1   300 N  cos 45o i   300 N  cos 60 o j   3 00 N  cos1 20 o k
r
F1   21 2.2 i  1 50 j  1 50k  N
 Example

r
F1   21 2.2 i  1 50 j  1 50k  N
r
F2  垐
F2x i  F2y j  F2z k
ˆ
r
FR  80 0 j  N
 ˆ
 Example
r r r
FR  F1  F2

800 j  21 2.2 i  1 50 j  1 50k  F 2 x i  F 2 y j  F 2 z1 k

800 垐
j   21 2.2  F 2 x  i   1 50  F 2 y  垐
j   1 50  F 2 z  k

FRx  21 2.2  F 2 x  0  F2x  21 2.2 N

FRy  1 50  F 2 y  800  F2y  650N
FRy  1 50  F 2 z  0  F2z  1 50N
Example
Position Vectors
 Coordinates

1. Right hand coordinate system

2. z - positive upwards
3. Position vector given by:
Cartesian Vector Form

r
r  xi  yj  zk
Relative Position Vectors
Force Along a Line

r
r  
r
F  F uˆ  F r 
 
 Example

The man shown in the

figure pulls on a cord with a
force of 70 lb. Represent
the force acting on support
A as a Cartesian vector and
determine its direction.
 Position Vector
r
rA B  ( xB  x A )垐
i  ( yB  yA ) j  ( zB  zA ) kˆ
L ocate P oi n ts of I n ter est:

A  0 f t , 0 f t , 30 f t  B  1 2 f t , 8 f t , 6 f t 
r
r A B  (1 2  0) 垐 i  ( 8  0) j  ( 6  30) kˆ
r
rA B  1 2 垐
i  8 j  24 kˆ  f t
 Unit Vector
r
rA B  1 2 垐
i  8 j  24 kˆ  f t

2 2 2
rAB   1 2    8    24   28 f t

r
rBA 1 垐 3垐 2 6
û A B    i  8j
1 2  24 k垐  i  j  k
rBA 28 7 7 7
 Force Vector
3垐 2 6 ˆ
û A B  i  j  k
7 7 7
r 3垐 2 6 ˆ
F  F uˆ A B  70 l b  i  j  k 
7 7 7 
r
F   30 垐
i  20 j  60kˆ  lb
Direction Angles
3垐 2 6 ˆ
û A B  i  j  k
7 7 7
3
cos      64.6 o

7
2
cos      1 07 o

7
6
cos      1 49 o

7
uAB
 3D Equilibrium
r
 F 0

wher e F i s the vector

sum of a l l for ces a cti ng

on the pa r ti cl e.
Three-Dimensional Force
System
Use i , j, and k unit vectors.
r
 F 0

F i  F
x y
j  Fz k 0
3D Equilibrium Equations
 Fx  0
Fy  0
 Fz  0
Scalar equations of equilibrium require that the
algebraic sum of the x, y and z components of all the
forces acting on a particle be equal to zero.
3D Equilibrium Equations
 Fx  0
Fy  0
 Fz  0
Three equations means only three unknowns can be
solved for from a single FBD.
 Procedure for Analysis

Free-Body Diagram
1. Establish the x, y, and z axes in any
suitable orientation.
2. Label all known and unknown force
magnitudes and directions on the FBD.
3. The sense of an unknown force may be
assumed.
 Procedure for Analysis
Equations of Equilibrium

1. Resolve force vectors into Cartesian components.

2. Apply equations of equilibrium.
 Fx  0 ,  F x  0 , and Fy  0
3. If solution yields a negative result the force is in the
opposite sense of that shown on the FBD.
Example

A 90 lb load is suspended
from the hook as shown. The
load is supported by two
cables and a spring with
k=500 lb/ft. Determine the
force in the cables and the
stretch of the spring for
equilibrium. Cable AD lies in
the x-y plane and cable AC
lies in the x-z plane.
Free Body Diagram
Equilibrium Equations
4
F x
0 F D si n 30
o

5
FC 0

F y
 0  FD cos 30
o
 FB  0

3
F z
0
5
FC  90 l b  0
 4
o
 0
Solution F D si n 30
5
FC

F D cos 30
o
 FB  0
3
FC  90 l b  0
5

FC  1 50 l b
FD  240 l b
FB  208 l b
Stretch
FB  208 l b
FB k sA B

lb
208 l b  500 sA B
ft
sA B  0.41 6 f t
Example
Determine the
magnitude and
coordinate direction
angles of the force, F,
required for equilibrium
of particle O.
Free Body Diagram
Vector Forces
 
Equilibrium  F 0
   
F1  F2  F3  F  0

400 j  800 k垐 2 00 i  300 j  600 k

Fx 垐
i  F y j  F z kˆ  0

F  0 x
 2 00  F x  0
F  0 y
400  300  F y  0

F  0
z
 800  600  F z  0
Solution

2 00  F x  0  F x  200 N
400  300  F y  0  F y  1 00 N
800  600  F z  0  F z  200 N
Solution
 Example

Determine the force

in each cable used to
support the 40 lb
crate.
Free Body
Diagram
Express each force in Cartesian vector
form.

The locations (in feet) of the three points

are:

A (0, 0, 0) B (-3, -4, 8)

C (-3, 4, 8)
r
FB  F B uˆ A B
r
FC  F C uˆ A C
r
FD  F D uˆ A D
Vector
Forces
Equilibrium

 
 F 0
 
FB  FC  FD  W  0

0.31 8 F B 垐
i  0.424 F B j  0.848 F B kˆ

0.31 8 F C i  0.424 F C j  0.848 F C k垐 F D i  40 k  0

F  0
x
 0.31 8 F B  0.31 8 F C  F D  0
F  0 y
 0.424 F B  0.424 F C  0

F  0 z
0.848 F B  0.848 F C  40  0
Solution
0.31 8 F B  0.31 8 F C  F D  0
0.424 F B  0.424 F C  0
0.848 F B  0.848 F C  40  0

FB  F C  23.6 l b
FD  1 5.0 l b