Chapter 3:

Equilibrium of a Particle

Engineering Mechanics: Statics

 Chapter Objectives
 To introduce the concept of the free-body
diagram for a particle.
 To show how to solve particle equilibrium
problems using the equations of equilibrium.
 Chapter Outline
 Condition for the Equilibrium of a
Particle
 The Free-Body Diagram
 Coplanar Systems
 Three-Dimensional Force Systems
 3.1 Condition for the
Equilibrium of a Particle
 Particle at equilibrium if
- At rest
- Moving at constant a constant velocity
 Newton’s first law of motion

∑F = 0
where ∑F is the vector sum of all the
forces acting on the particle
 3.1 Condition for the
Equilibrium of a Particle
 Newton’s 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
 3.2 The Free-Body Diagram
 Best representation of all the unknown
forces (∑F) which acts on a body
 A sketch showing the particle “free” from
the surroundings with all the forces acting
on it
 Consider two common connections in this
subject – Spring
– Cables and Pulleys
 3.2 The Free-Body Diagram
 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
 3.2 The Free-Body Diagram
 Spring
where s is determined from the difference in
spring’s deformed length l and its
undeformed length lo
s = l - lo
- If s is positive, F “pull”
onto the spring
- If s is negative, F “push”
onto the spring
 3.2 The Free-Body Diagram
Example
Given lo = 0.4m and k = 500N/m
To stretch it until l = 0.6m, A force, F = ks
=(500N/m)(0.6m – 0.4m) = 100N is needed
To compress it until l = 0.2m,
A force, F = ks
=(500N/m)(0.2m – 0.4m)
= -100N is needed
 3.2 The Free-Body Diagram
 Cables and Pulley
- Cables (or cords) are assumed to have
negligible weight and they cannot stretch
- A cable only support tension or pulling force
- Tension always acts in the
direction of the cable
- Tension force in a continuous
cable must have a constant
magnitude for equilibrium
 3.2 The Free-Body Diagram

 Cables and Pulley

- For any angle θ, the cable is
subjected to
a constant tension T
throughout its length
 3.2 The Free-Body Diagram

Procedure for Drawing a FBD

1. Draw outlined shape
- Isolate particle from its surroundings
2. Show all the forces
- Indicate all the forces
- Active forces: set the particle in motion
- Reactive forces: result of constraints and
supports that tend to prevent motion
 3.2 The Free-Body Diagram

Procedure for Drawing a FBD

3. Identify each forces
- Known forces should be labeled with
proper magnitude and direction
- Letters are used to represent
magnitude and directions of unknown
forces
3.2 The Free-Body Diagram
 A spool is having a weight
W which is suspended from
the crane bottom
 Consider FBD at A since
these forces act on the ring
 Cables AD exert a resultant
force of W on the ring
 Condition of equilibrium is
used to obtained TB and TC
3.2 The Free-Body Diagram

 The bucket is held in

equilibrium by the cable
 Force in the cable =
weight of the bucket
 Isolate the bucket for
FBD
 Two forces acting on the
bucket, weight W and
force T of the cable
 Resultant of forces = 0
W=T
 3.2 The Free-Body Diagram

Example 3.1
The sphere has a mass of 6kg and is
supported. Draw a free-body diagram of
the
sphere, the cord
CE and the knot at C.
 3.2 The Free-Body Diagram
View Free Body Diagram

Solution
FBD at Sphere
 Two forces acting,
weight and the
force on cord CE.
 Weight of 6kg
(9.81m/s2) = 58.9N
3.2 The Free-Body Diagram
Solution
Cord CE
 Two forces acting, force
of the sphere and force of
the knot
 Newton’s Third Law: FCE is
equal but opposite
 FCE and FEC pull the cord in
tension
 For equilibrium, FCE = FEC
 3.2 The Free-Body Diagram
Solution
FBD at Knot
 Three forces acting, force by 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
 3.3 Coplanar Systems
 A particle is subjected to coplanar forces in
the x-y plane
 Resolve into i and j components for
equilibrium
∑Fx = 0
∑Fy = 0
 Scalar equations of equilibrium
require that the algebraic sum
of the x and y components to
equal o zero
 3.3 Coplanar Systems

 Scalar Notation
- Sense of direction = an algebraic sign
that corresponds to the arrowhead
direction of the component along each axis
- For unknown magnitude, assume
arrowhead sense of the force
- Since magnitude of the force is always
positive, if the scalar is negative, the force
is acting in the opposite direction
 3.3 Coplanar Systems
Example
Consider the free-body diagram of the
particle subjected to two forces

 Assume unknown force F acts to the right for

equilibrium
∑Fx = 0 ; + F + 10N = 0
F = -10N
 Force F acts towards the left for equilibrium
3.3 Coplanar Systems
 The chain exerts three
forces on the ring at A.
 The ring will not move, or
will move with constant
velocity, provided the
summation of the forces
along the y axis is zero
 With any force known, the
magnitude of other two
forces are found by
equations of equilibrium
 3.3 Coplanar Systems
 Procedure for Analysis
1. Free-Body Diagram
- Establish the x, y axes in any suitable
orientation
- Label all the unknown and known
forces magnitudes and directions
- Sense of the unknown force can be
assumed
 3.3 Coplanar Systems
 Procedure for Analysis
2) Equations of Equilibrium
- Given two unknown with a spring, apply
F = ks
to find spring force using deformation of
spring
- If the solution yields a negative result,
the sense of force is the reserve of that
shown in the free-body diagram
 3.3 Coplanar Systems
 Procedure for Analysis
2) Equations of Equilibrium
- Apply the equations of equilibrium
∑Fx = 0 ∑Fy = 0
- Components are positive if they are
directed along the positive negative axis
and negative, if directed along the
negative axis
 3.3 Coplanar Systems

Example 3.2
Determine the tension in
cables AB and AD for
equilibrium of the 250kg
engine.
 3.3 Coplanar Systems
Solution
FBD at Point A
- Initially, two forces acting, forces
of cables AB and AD
- Engine Weight
= (250kg)(9.81m/s2)
= 2.452kN supported by cable CA
- Finally, three forces acting, forces
TB and TD and engine weight
on cable CA
 3.3 Coplanar Systems
Solution
+→ ∑Fx = 0; TBcos30° - TD = 0
+↑ ∑Fy = 0; TBsin30° - 2.452kN = 0
Solving,
TB = 4.90kN
TD = 4.25kN

*Note: Neglect the weights of the cables since they

are small compared to the weight of the engine
 3.3 Coplanar Systems
Example 3.3
If the sack at A has a weight
of 20N (≈ 2kg), determine
the weight of the sack at B
and the force in each cord
needed to hold the system in
the equilibrium position
shown.
 3.3 Coplanar Systems

Solution
FBD at Point E
- Three forces acting,
forces of cables EG
and EC and the
weight of the sack on
cable EA
 3.3 Coplanar Systems
Solution
+→ ∑Fx = 0; TEGsin30° - TECcos45° = 0
+↑ ∑Fy = 0; TEGcos30° - TECsin45° - 20N = 0
Solving,
TEC = 38.6kN
TEG = 54.6kN

*Note: use equilibrium at the ring to determine

tension in CD and weight of B with TEC known
 3.3 Coplanar Systems

Solution
FBD at Point C
- Three forces acting, forces by cable
CD
and EC (known) and
weight of sack B on
cable CB
 3.3 Coplanar Systems
Solution
+→ ∑Fx = 0; 38.6cos30° - (4/5)TCD = 0
+↑ ∑Fy = 0; (3/5)TCD – 38.6sin45°N – WB = 0
Solving,
TCD = 34.1kN
WB = 47.8kN

*Note: components of TCD are proportional to the slope

of the cord by the 3-4-5 triangle
 3.3 Coplanar Systems

Example 3.4
Determine the required length of the
cord AC
so that the 8kg lamp is suspended. The
undeformed length of the
spring AB is l’AB = 0.4m,
and the spring has a
stiffness of kAB = 300N/m.
 3.3 Coplanar Systems
View Free Body Diagram

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
 3.3 Coplanar Systems

Solution
+→ ∑Fx = 0; TAB – TACcos30° = 0
+↑ ∑Fy = 0; TABsin30° – 78.5N = 0
Solving,
TAC = 157.0kN
TAB = 136.0kN
 3.3 Coplanar Systems
Solution
TAB = kABsAB; 136.0N = 300N/m(sAB)
sAB = 0.453N
For stretched length,
lAB = l’AB+ sAB
lAB = 0.4m + 0.453m
= 0.853m

For horizontal distance BC,

2m = lACcos30° + 0.853m
lAC = 1.32m
 3.4 Three-Dimensional
Force Systems
 For particle equilibrium
∑F = 0
 Resolving into i, j, k components
∑Fxi + ∑Fyj + ∑Fzk = 0
 Three scalar equations representing algebraic
sums of the x, y, z forces
∑Fxi = 0
∑Fyj = 0
∑Fzk = 0
 3.4 Three-Dimensional
Force Systems
 Make use of the three scalar equations
to solve for unknowns such as angles
or magnitudes of forces
3.4 Three-Dimensional Force
Systems
 Ring at A subjected to
force from hook and
forces from each of the
three chains
 Hook force = weight of
the electromagnet and
the load, denoted as W
 Three scalars equations
applied to FBD to
determine FB, FC and FD
 3.4 Three-Dimensional
Force Systems
 Procedure for Analysis
Free-body Diagram
- Establish the z, y, z axes in any suitable
orientation
- Label all known and unknown force
magnitudes and directions
- Sense of a force with unknown
magnitude can be assumed
 3.4 Three-Dimensional
Force Systems
 Procedure for Analysis
Equations of Equilibrium
- Apply ∑Fx = 0, ∑Fy = 0 and ∑Fz = 0 when forces
can be easily resolved into x, y, z components
- When geometry appears difficult, express each
force as a Cartesian vector. 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.
 3.4 Three-Dimensional
Force Systems
Example 3.5
A 90N load is suspended from the hook. The
load is supported by two cables and a spring
having a stiffness k = 500N/m.
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.
 3.4 Three-Dimensional
Force Systems
Solution
FBD at Point A
- Point A chosen as the forces are
concurrent at this point
 3.4 Three-Dimensional
Force Systems
Solution
Equations of Equilibrium,
∑Fx = 0; FDsin30° - (4/5)FC = 0
∑Fy = 0; -FDcos30° + FB = 0
∑Fz = 0; (3/5)FC – 90N = 0

Solving,
FC = 150N
FD = 240N
FB = 208N
 3.4 Three-Dimensional
Force Systems
Solution
For the stretch of the spring,
FB = ksAB
208N = 500N/m(sAB)
sAB = 0.416m
 3.4 Three-Dimensional
Force Systems
Example 3.6
Determine the magnitude
and coordinate direction
angles of force F that are
required for equilibrium of
the particle O.
 3.4 Three-Dimensional
Force Systems
Solution
FBD at Point O
- Four forces acting on

particle O
 3.4 Three-Dimensional
Force Systems
Solution
Equations of Equilibrium
Expressing each forces in Cartesian vectors,
F1 = {400j} N
F2 = {-800k} N
F3 = F3(rB / rB)
= {-200i – 300j + 600k } N
F = Fxi + Fyj + Fzk
 3.4 Three-Dimensional
Force Systems
Solution
For equilibrium,
∑F = 0; F1 + F2 + F3 + F = 0
400j - 800k - 200i – 300j + 600k
+ Fxi + Fyj + Fzk = 0
∑Fx = 0; - 200 + Fx = 0 Fx =
200N
∑Fy = 0; 400 – 300 + Fy = 0 Fy = -100N
∑Fz = 0; - 800 + 600 + Fz = 0 Fz = 200N
 3.4 Three-Dimensional Force
Systems
Solution
   
F  {200i  100 j  200k }N

F   200 2    100  2   200  2  300 N

 F 200  100  200 
uF    i j k
F 300 300 300
200 
  cos1   48 . 2
 300 
 100 
  cos1   109

 300 
200 
  cos1   48.2

 300 
 3.4 Three-Dimensional
Force Systems
Example 3.7
Determine the force
developed in each cable
used to support the 40kN
(≈ 4 tonne) crate.
 3.4 Three-Dimensional
Force Systems
Solution
FBD at Point A
- To expose all three
unknown forces in the
cables
 3.4 Three-Dimensional
Force Systems
Solution
Equations of Equilibrium
Expressing each forces in Cartesian vectors,
FB = FB(rB / rB)
= -0.318FBi – 0.424FBj + 0.848FBk
FC = FC (rC / rC)
= -0.318FCi – 0.424FCj + 0.848FCk
FD = FDi
W = -40k
 3.4 Three-Dimensional
Force Systems
Solution
For equilibrium,
∑F = 0; FB + FC + FD + W = 0
-0.318FBi – 0.424FBj + 0.848FBk - 0.318FCi
– 0.424FCj + 0.848FCk + FDi - 40k
=0
∑Fx = 0; -0.318FB - 0.318FC + FD = 0
∑Fy = 0; – 0.424FB – 0.424FC = 0
∑Fz = 0; 0.848FB + 0.848FC - 40 = 0
 3.4 Three-Dimensional
Force Systems
Solution
Solving,
FB = FC = 23.6kN
FD = 15.0kN
 3.4 Three-Dimensional
Force Systems
Example 3.8
The 100kg crate is
supported by three cords,
one of which is connected
to a spring. Determine the
tension in cords AC and
AD and stretch of the
spring.
 3.4 Three-Dimensional
Force Systems
View Free Body Diagram

Solution
FBD at Point A
- Weight of the crate = 100 (9.81) = 981
N
- To expose all three

unknown forces in the

cables
 3.4 Three-Dimensional
Force Systems
Solution
Equations of Equilibrium
Expressing each forces in Cartesian vectors,
FB = FBi
FC = FCcos120°i + FCcos135°j – FCcos60°k
FD = -0.333FDi + 0.667FDj + 0.667FDk
W = -981k
 3.4 Three-Dimensional
Force Systems
Solution
For equilibrium,
∑F = 0; FB + FC + FD + W = 0
FBi + FCcos120°i + FCcos135°j – FCcos60°k
-0.333FDi + 0.667FDj + 0.667FDk - 981k
=0
∑Fx = 0; FB + FCcos120° - 0.333FD = 0
∑Fy = 0; FCcos135° + 0.667FD = 0
∑Fz = 0; FCcos60° + 0.667FD - 981 = 0
 3.4 Three-Dimensional
Force Systems
Solution
Solving,
FB = 693.7N
FC = 813N
FD = 693.7N
For the stretch of the spring,
FB = ks
693.7N = 1500s
s = 0.462m
 Chapter Summary

Equilibrium
 A particle at rest or moving in
constant velocity is in equilibrium
 All forces acting on a particle = 0
 To account for all the forces, draw a
free-body diagram
 FBD shows all the forces, with known
or unknown magnitudes and
directions
 Chapter Summary
Two Dimensional
 Two scalars equations ∑Fx = 0 and ∑Fy =
0 is applied to x, y coordinate system
 If the solution is negative, the sense of
the force is opposite to that shown on the
FBD.
 If problem involves a linear spring, stretch
or compression can be related to force by
F = ks
 Chapter Summary

Three Dimensions
 For 3D problems, equilibrium equation ∑F
= 0 should be applied using a Cartesian
vector analysis
 First, express forces on the FBD as
Cartesian vectors
 Second, sum the forces and equate the i, j
and k components = 0 so that ∑Fx = 0, ∑Fy
= 0 and ∑Fz = 0
Chapter Review
Chapter Review
Chapter Review
Chapter Review