45

Chapter 3 – EQUILIBRIUM OF PARTICLES

Objectives:
At the end of the chapter, the students should be able to:
1. know the conditions of equilibrium for a particle, both coplanar and non-coplanar.
2. understand and use the concept of a free body to analyze equilibrium problems.
3. solve problems on equilibrium of particles in two dimensions and three dimensions.

3.a. Conditions for Equilibrium of a Particle

Equilibrium – it is the term used to designate the condition where the resultant of a force system is zero. A
particle is said to be in equilibrium if it remains at rest if originally at rest, or has a constant
velocity if in motion.
To maintain equilibrium, it is necessary to satisfy Newton’s first law of motion, which requires the
resultant force acting on a particle to be equal to zero. This condition, in mathematical form is
R = F = 0
where F is the vector sum of all forces acting on the particle.

3.b. Coplanar Force Systems

If a particle is subjected to a system of coplanar forces that lie in the x-y plane, the forces can be
resolved into i and j components. For equilibrium, these forces must have a sum of zero, i. e.,
F = 0 or Fxi + Fyj = 0
In scalar form, this equation can be written as
Fx = 0 and Fy = 0
These two equations mean that the sum of the rectangular components of the force system in any
direction must be zero. These equations can be used to determine two unknown quantities.

3.c. Free-body Diagram

Free-body diagram (FBD) – a drawing that shows the particle with all the forces, known and unknown, that act
on it.
In drawing a free-body diagram of a body, certain assumptions are made regarding the nature of the
forces (reactions) exerted by other bodies on the body of interest. Three common assumptions are the following:

1. Springs
The magnitude of the force exerted on a linearly elastic spring is
F = ks
ℓo where: k = stiffness or spring constant (a characteristic that defines the elasticity of a
ℓ
spring
s s = deformation (elongation or compression) of the spring, measured from its
unloaded position,
= l – lo, where l is the stretched length and lo is the undeformed length
F

2. Cables and Pulleys

If s is positive, causing an elongation, then F must pull on the spring; if s is
Cables (or the like) can support only a tension or pulling force, and this force
negative, causing
always acts in thea direction
shortening, then
of the F must
cable. It ispush on it.that a cable has a negligible
assumed
weight and it cannot stretch.
The tension force developed in a continuous cable which passes over a
frictionless pulley must have a constant magnitude to keep the cable in equilibrium.
Hence, for any angle θ, the cable is subjected to a constant tension T throughout its
length.
 46
3. Smooth or Frictionless Surfaces

If a surface of contact at which a force is applied by one body to

another body has only a small degree of roughness, it may be assumed to be
smooth (frictionless), therefore the action (or reaction) of the body on the
90 other is directed normal to the surface of contact.

R
When applying each of the two equations of equilibrium, we must account for the sense of direction of
any component by using an algebraic sign which corresponds to the arrowhead direction of the component along
the x or y axis. It is important to note that if a force has an unknown magnitude, then the arrowhead sense of the
force on the free-body diagram can be assumed. Then if the solution yields a negative scalar, this indicates that
the sense of the force is opposite to that which was assumed.

SAMPLE PROBLEMS
1. A force P is supported by two cables that are tied together at C as shown. Knowing that the maximum
allowable tension is 800 N in cable AC and 1500 N in cable BC, determine the magnitude of the largest
force P and the corresponding value of .

35 50
B
A 

C


P
Solution:
y
a. Draw the FBD of joint C.
BC = 1500 N
AC = 800 N
35 50
 x
 C
P
P
b. Apply the equations of equilibrium to find the components of P
Fx = 0] –Px + 1500 cos 50 – 800 cos 35 = 0; Px = 308.86 N
Fy = 0] Py + 1500 sin 50 + 800 sin 35 = 0; Py = 1607.928 N
c. Determine the magnitude and direction angle of P
P= 308.86 2  1607.928 2 = 1637.323 N
1607.928
α  Arc tan = 79.13
308.86
2. Four forces act on the particle shown. Determine the magnitude and direction angle  of force F4 for
equilibrium of the particle.
y

F2 = 600 N F3 = 1000 N

75 60
x
45  
F1 = 750 N F4
 47
Solution:
a. Find the components of the forces

Force x component, N y component, N

F1 = 750 N –750 cos 45º = –530.330 –750 sin 45º = –530.330
F2 = 600 N – 600 cos 75º = –155.291 600 sin 75º = 579.555
F3 = 1000 N 1000 cos 60º = 500 1000 sin 60º = 866.025
F4 F4x –F4y

b. Apply the equations of equilibrium to find the components of the unknown force
Fx = 0] –530.330 –155.291 + 500 + F4x = 0
F4x = 185.621 N
Fy = 0] –530.330 + 579.555 + 866.025 – F4y = 0
F4y = 915.250 N
c. Determine the magnitude and direction of F4
F4 = 185.621  915.250 = 933.883 N
2 2

915.250
θ  Arc tan = 78.54
185.621

3. A body with a mass of 250 kg is supported by the flexible cable system shown in the figure. Determine the
tensions in cables A, B, C, and D. (Riley, 1993)

A B
40 30

C
60
D

Solution:
a. Compute for the weight of the body
W = mg; W = 250 (9.81) = 2452.5 N
b. Draw the FBD of the joints where the cables intersect
y
y TC
x
TD 60 TA 20 30 TB
x 40 30
60
30
2452.5 N TC
Lower joint Upper joint
c. Apply the equation of equilibrium to the FBD of lower joint
Fy = 0] TC sin 60 – 2452.5 = 0; TC = 2831.903 N
Fx = 0] TC cos 60 – TD = 0; TD = 1415.952 N
 48
d. Apply the equation of equilibrium to the FBD of upper joint
Fy = 0] TA cos 20  TC sin 30 = 0; TA = 1506.824 N
Fx = 0] TB  TA sin 20  TC cos 30 = 0; TB = 2967.864 N

4. Find the smallest value of P for which the crate shown will be in equilibrium in the position shown. (Pytel,
1996)
C

A 60 B
30
P

180 kg
Solution:
a. Compute for the weight of the crate
and draw the FBD of the joint B
W = mg; W = 180 (9.81) = 1765.8 N
y
T1

60
x
T2 30
P
1765.8 N
b. Apply the equation of equilibrium
Fy = 0] T1 sin 60  P sin 30  1765.8 = 0
0.866T1 – 0.5P = 1765.8 Eq. 1
Fx = 0] P cos 30  T1 cos 60  T2 = 0
For minimum P, T2 = 0
0.866P  0.5T1 = 0 Eq. 2
Solving the two equations simultaneously, we get P = 1765.342 N

5. Determine the stretch in each spring for equilibrium of the 2-kg block. The springs are shown in their
equilibrium position. (Hibbeler, 1986)
3m 4m

C
kAC = 20 B
3m N/m kAB = 30
A N/m
kAD= 40
N/m
D

Solution:
a. Compute for the stretch of spring AD:
FAD = 2 (9.81)
ks = 19.62
40s = 19.62; s = 0.4905 m
 49
b. Draw the free body diagram of joint A and
apply the equations of equilibrium
Fx = 0] 4 1
y F  FAC  0 Eq. 1
FAC
FAB
5 AB 2
1 3
1
4
3 Fy = 0] FAC  FAB  FAD  0
1 x 2 5
1 3
FAC  FAB  19.62 Eq. 2
2 5
FAD
Solving the two equations simultaneously, we get FAB = 14.014 N and FAC = 15.855 N.
c. Compute for the elongation of the springs
FAB = 14.014 FAC = 15.855
ks = 14.014 ks = 15.855
30s = 14.014; s = 0.467 m 20s = 15.855; s = 0.793 m

6. A homogeneous sphere with a weight of 75 lb rests on two smooth planes as shown in the figure. Determine
the forces exerted on the sphere by the planes at contact points A and B.

60 20
A
B
Solution: 75 lb
a. The forces acting on the sphere are the weight and the
reactions at the smooth planes. Draw the free body
diagram of the sphere.
b. Apply the equations of equilibrium
Fx = 0] RA sin 60º  RB sin 20º = 0 (1)
Fy = 0] RA cos 60º + RB cos 20º  75 = 0 (2) 60 20
RA RB
c. Solving the two equations simultaneously, we get
RA = 26.047 lb and RB = 65.954 lb

Alternative solution (using the force triangle):

Since there are only three forces acting on the sphere, the three forces form a triangle (force polygon
formed by the three forces that are in equilibrium).
a. Draw the force triangle
b. Apply sine law to find the required reactions
RA RB 75
  20
RB
sin 20 sin 60 sin 100
75 lb
75 sin 20 100
RA = = 26.047 lb
sin 100 60
RA
RB = 75 sin 60 = 65.954 lb
sin 100
 50
7. The 200-mm diameter pipes shown each have a mass of 200 kg. Determine the force exerted by the supports
on the pipes at contact surfaces A, B, and C. Assume all surfaces to be smooth. (Riley, 1993)

C
B

45 A
Solution:
a. Find the weight of the cylinders
W = mg
= 200 (9.81)
= 1962 N

b. Draw the FBD of the pipes

R1 y
1962 N x 45
y 1962 N
45
 RB
x

RC R1 RA
45 45 45

Upper pipe Lower pipe

c. Apply the equations of equilibrium to the FBD of the upper pipe

Fx = 0] RC – 1962 cos 45 = 0
RC = 1387.344 N
Fy = 0] R1 – 1962 sin 45 = 0
R1 = 1387.344 N
d. Apply the equations of equilibrium to the FBD of the lower pipe
Fy = 0] RA cos 45  R1 cos 45  1962 = 0
RA = 4162.031 N
Fx = 0] R1 sin 45 + RA sin 45  RB = 0
RB = 3924 N

EXERCISES
1. Determine the magnitude and direction angle  of force F4 so that the particle shown is in equilibrium.
Ans. F = 1404.917 N; θ = 7.05º
y

F1 = 700 N
F4
F2 = 550 N 40
25 
x
60 

F3 = 1200 N
 51
2. Find the force in each supporting cable if the crate has a weight of 850 lb. (Hibbeler, 2010)
Ans. FAB = 478 lb; FAC = 518 lb
C
B

30 45
A
D

3. If the mass of cylinder C is 40 kg, determine the mass of cylinder A in order to hold the assembly in the
position shown. (Hibbeler, 2010) Ans. mA = 20 kg

B
E 25
D
C
50 kg
A

4. If block D weighs 300 lb and block B weighs 275 lb, determine the required weight of block C and the angle
θ for equilibrium. (Hibbeler, 2010) Ans. WC = 240 lb; θ = 40.9°

θ 30
A

C
B D

5. Determine the maximum weight of the bucket that the wire system can support so that no single wire
develops a tension exceeding 100 lb. (Hibbeler, 2010) Ans. W = 57.7 lb
C

B 35
A D
4
3 35
E

D
6. The block has a mass of 5 kg and rests on the smooth plane. Determine the unstretched length of the spring
if the spring constant k = 200 N/m. (Hibbeler, 2010) Ans. lo = 0.283 m

0.3 m

0.4 m

45º
 52
7. The unstretched length of spring AB is 3 m. If the block is held in the equilibrium position shown, determine
the mass of the block at D. (Hibbeler, 2010) Ans. m = 8.56 kg
3m 4m

C B

3m
kAC = 20 kAB = 30
N/m N/m
A

8. Two 10-in diameter pipes and a 6-in diameter pipe are supported in a pipe rack as shown in the figure. The
10-in diameter pipes each weigh 300 lb and the 6-in diameter pipe weighs 175 lb. Determine the forces
exerted on the pipes by the supports at contact surfaces A, B, and C. Assume all surfaces to be smooth.
(Riley, 1993) Ans. RA = 558.486 lb; RB = 403.083 lb; RC = 961.486 lb

14.5 in

9. The mass of cylinder A is 50 kg with a diameter of 200 mm. Cylinder B has a mass of 100 kg and a diameter
of 300 mm. Determine the forces exerted on the cylinders by the inclined surfaces and the magnitude and
direction of the force exerted by cylinder A on cylinder B when the cylinders are in equilibrium. Assume all
surfaces to be smooth. Ans. RA = 439.772 N; RB = 1201.47 N; R = 359.075 N θ ; θ = 30º

A
B

45º
15º
 53
3.d. Three-dimensional Force Systems
For a three-dimensional system of concurrent forces, the conditions of equilibrium are satisfied only if
R = Rx î + Ry ĵ + Rz k̂ =0
In scalar form, this equation means that
Rx = Fx ; Fx = 0
Ry = Fy ; Fy = 0
Rz = Fz ; Fz = 0
These three equations state that the algebraic sum of the components of all the forces acting on the particle
along each of the coordinate axes must be zero. Using them we can solve for at most three unknowns. If the
solution for a force yields a negative result, this indicates that its sense is the reverse of that shown on the free-
body diagram.

SAMPLE PROBLEMS
1. The particle shown is in equilibrium under the action of the four forces on the free-body diagram. Determine
the magnitude and the coordinate direction angles of the unknown force F4.
z
F4
F3 = 300 lb

4 ft 30

F1 = 120 lb
3 ft y
x
F2 =250 lb
Solution:
a. Express the forces in Cartesian vector form
4 3
F1 = (120)î  (120)ĵ = 96î  72ĵ
5 5
F2 = 250 k̂
F3 = 300 cos 30ĵ + 300 sin 30 k̂ = 259.808ĵ + 150 k̂
F4 = F4x î + F4y ĵ + F4z k̂
b. Apply the equilibrium equations to find the components of F4
Fx = 0] 96 + F4x = 0; F4x = 96 lb
Fy = 0] 72 + 259.808 + F4y = 0; F4y = 187.808 lb
Fz = 0] 250 + 150 + F4z = 0; F4z = 100 lb
c. Find the magnitude and direction angles of the unknown force
F4  962  187.8082  1002 = 233.426 lb
 96
x = Arc cos = 114.28
233.426
 187.808
y = Arc cos = 143.57
233.426
100
z = Arc cos = 64.63
233.426
 54
2. A 3000-lb cylinder is supported by a system of cables as shown in the figure. Determine the tensions in
cables A, B, and C. (Riley. 1993)
z
B

A 4 ft

6 ft
6 ft
4 ft
5 ft C
3 ft 4 ft
y
x
Solution:
a. Draw the free body diagram of the cylinder
TB
TC

TA

b. Express the forces in Cartesian vector form

4i  3 j  6k
TA = TA = 0.512 TA i  0.384TA j + 0.768TA k
4 2  32  6 2
 4i  6 j  4k
TB = TB = 0.485 TB i  0.728TB j + 0.485TB k
42  62  42
TC = TC j
W = 3000k
c. Apply the equilibrium equations
Fx = 0] 0.512 TA  0.485 TB = 0 (1)
Fy = 0]  0.384TA  0.728TB + TC = 0 (2)
Fz = 0] 0.768TA + 0.485TB 3000 = 0 (3)
e. Solve the three equations simultaneously to get
TA = 2343.487 lb
TB = 2474.643 lb
TC = 2701.439 lb
 55
3. A container of weight W is suspended from ring A to which cables AC and AE are attached. A force P is
applied to the end F of a third cable which passes over a pulley at B and through ring A and which is
attached to a support at D. Knowing that W = 1000 N, determine the magnitude of P. (Beer, 2010)
y

0.86 m 0.4 m

1.2 m
E
B 1.3 m

O
0.78 m C
D 0.4 m x

F
z 1.6 m A
P

Solution: TAE
a. Draw the free-body diagram of joint A P
TAC P

W = 1800 N
b. Write the forces in Cartesian vector form
 0.78 î  1.6 ĵ
TAB = P = 0.438P î + 0.899P ĵ
0.78 2  1.6 2
1.6ˆj  1.2kˆ
TAC = TAC = 0.8TAC ĵ + 0.6TAC k̂
1.6 2  1.2 2
1.3î  1.6 ĵ  0.4k̂
TAD = P = 0.619P î + 0.762P ĵ + 0.19P k̂
1.32  1.6 2  0.4 2
 0.4ˆi  1.6ˆj  0.86kˆ
TAE = TAE = 0.215TAE î + 0.86TAE ĵ  0.462TAE k̂
0.4 2  1.6 2  0.86 2
W = 1000 ĵ

c. Apply the equilibrium equations

Fx = 0] 0.438P + 0.619P  0.215AE = 0
0.181P  0.215AE = 0 (1)
Fy = 0] 0.899P + 0.8AC + 0.762P + 0.86AE 1000 = 0
1.661P + 0.8AC + 0.86AE = 1000 (2)
Fz = 0] 0.6AC + 0.19P  0.462AE = 0 (3)

d. Solving for P from the three equations, we get P = 377.256 N

 56
4. A tripod supports a load P of unknown magnitude. Find the maximum magnitude of P that can be supported
if the force in any leg is limited to 8 kN. Assume that the legs are two-force bodies. (Pytel, 1996)
z

0.9 m 1.8 m
2.4 m C
y
1.8 m
B
O
1.8 m
D

x
Solution:
a. Draw the free-body diagram of joint A
P

FD FC FB
b. Write the forces in Cartesian vector form
 1.8 ĵ  2.4k̂
FB = FB = 0.6FB ĵ + 0.8FB k̂
1.8 2  2.4 2
1.8 î  0.9 ĵ  2.4k̂
FC = FC = 0.575FC î + 0.287FC ĵ + 0.766FC k̂
1.8 2  0.9 2  2.4 2
 1.8 î  0.9 ĵ  2.4k̂
FD = FD = 0.575FD î + 0.287FD ĵ + 0.766FD k̂
1.4 2  0.9 2  2.4 2
P = P k̂

c. Apply the equilibrium equations

Fx = 0] 0.575FC  0.575FD = 0 ; FC = FD (1)
Fy = 0] 0.6FB + 0.287FC + 0.287FD = 0 (2)
Fz = 0] 0.8FB + 0.766FC + 0.766FD P = 0 (3)
If FD = 8 kN, then, from equation (1), FC = 8 kN and from equation (2), FB = 7.653 kN, hence,
the legs are not overloaded. Solving for P from equation (3), we get P = 18.379 kN.
 57
5. The light boom AB is attached to the vertical wall by a ball-and-socket joint at A and supported by two
cables at B. A force P = {18i  24k} kN is applied at B. Compute the cable tensions and the reaction at A.
z
2m
C D
4m 2m

6m
O 6m B
y

3m
x P

Solution:
a. Draw the free-body diagram of joint B. The total reaction at A is equal to the force along member
AB.
FBD
FBC
B

P
A

RA

b. Write the tensions in Cartesian vector form

2 î  6 ĵ  6k̂
TBC = TBC = 0.229 TBC î  0.688TBC ĵ + 0.688TBC k̂
22  62  62
 4 î  6 ĵ  2k̂
TBD = TBD = 0.535 TBD î  0.802TBD ĵ + 0.267TBD k̂
42  62  22
 2 î  6 ĵ  3k̂
RA = R A = 0.286RA î + 0.857RA ĵ + 0.429RA k̂
2 2  6 2  32
P = 18î 24 k̂

c. Apply the equilibrium equations

Fx = 0] 0.229 TBC  0.535 TBD  0.286RA +18 = 0 (1)
Fy = 0]  0.688TBC  0.802TBD + 0.857RA = 0 (2)
Fz = 0] 0.688TBC + 0.267TBD + 0.429RA  24 = 0 (3)

d. Solving the three equations simultaneously, we get

TBC = 8.731 kN, TBD = 22.419 kN, and RA = 27.989 kN
 58
6. The 500-lb crate is suspended from the cable system shown in the figure. Determine the force in each
segment of the cable; i.e., AB, AC, and CD, and the force in cables CE and CF. (Hibbeler, 1986)

10 ft
z

y
24 ft
B
C x

A 20º
35º

24 ft 500 lb
E
7 ft
7 ft
F
Solution:
a. Write the tensions in Cartesian vector form
TAB = TAB cos 20 î + TAB sin 20 k̂ = 0.94TAB î + 0.342TAB k̂
TAC = TAC cos 35 î + TAC sin 35 k̂ =  0.819TAC î + 0.574TAC k̂
 10 î  24k̂
TCD = TCD =  0.385TCD î + 0.923TCD k̂
10  24
2 2

7 ĵ  24k̂
TCE = TCE = 0.28TCE ĵ  0.96TCE k̂
7 2  24 2
 7 ĵ  24k̂
TCF = TCF =  0.28TCF ĵ  0.96TCF k̂
7 2  24 2

b. FBD of Joint A
z Fx = 0] 0.94TAB  0.819TAC = 0 (1)
TAB
TAC Fz = 0] 0.342TAB + 0.574TAC  500 = 0 (2)
A 20º x
35º Solving the two equations simultaneously, we get
TAB = 499.599 lb and TAC = 573.410 lb.

500 lb
c. FBD of Joint C
z Fx = 0] 0.385TCD + 0.819TAC = 0
TCD = 1219.799 lb
TCD Fy = 0] 0.28TCE  0.28TCF = 0
y
TCE =TCF (3)

C
x Fz = 0] 0.923TCD  0.96TCE  0.96TCF  0.574TAC = 0
35º TCE + TCF = 829.935 (4)
TAC Solving the two equations simultaneously, we get
TCE = TCF = 414.968 lb
TCE TCF
 59
EXERCISES

1. Determine the tension developed in cables AB, AC, and AD. (Hibbeler, 2010) Ans. FAB =506.25 N,
FAC =843.75 N, FAD =1125 N
z
D

4
3
C
3
4 y
A
B
x 900 N

2. Determine the maximum weight of the crate so that the tension developed in any cable does not exceed 450
lb. (Hibbeler, 2010) Ans. W = 375 lb
z
C B
2 ft
1 ft 2 ft 1 ft

2 ft 2 ft
y
A
3 ft

D
x

3. The joint of a space frame is subjected to four member forces. Member OA lies in the plane x–y and member
OB lies in the plane y–z. Determine the forces acting in each of the members required for equilibrium of the
joint. (Hibbeler, 2010) Ans. F1 = 0, F2 = 311 lb, F3 = 238 lb
z
y

4. A container of weight W is suspended from ring A. Cable BAC passes through the ring and is attached to
fixed supports at B and C. Two forces P = Pi and Q = Qk are applied to the ring to maintain the container in
the position shown. Knowing that W = 376 N, determine P and Q. (Beer, 2010) Ans. P = 131.2 N and
Q = 29.6 N
y

150 mm
160 mm
C
B
130 mm
240 mm
z x
400 mm
A
P
Q
A
W
 60
Worksheet No. 6 – Equilibrium of Particles

NAME: _______________________________ DATE: ___________________

Solve the given problems.

1. An irregularly shaped machine component is held in the position shown by three clamps. Knowing that
FA = 940 N, determine the magnitudes of the forces FB and FC exerted by the other two clamps.
FB

FA

FC

2. A homogeneous steel cylinder weighing 500 lb is supported by a flexible cable and a smooth inclined plane
as shown in the figure. Determine the tension T in the cable and the force R exerted by the inclined plane on
the cylinder.

70º

60º
 61
3. Determine the force P needed to hold the cable in the position shown. Also, compute the sag yB and the
maximum tension in the cable.

A E
3m
yB D
B C

6 kN
4 kN P
4m 6m 3m 2m

4. The support assembly shown is bolted in place at B, C, and D and supports a downward force P at A.
Knowing that the forces in members AB, AC, and AD are directed along the respective members and that the
force in member AB is 29.2 N, determine the magnitude of P.