EQUILIBRIUM

When a system of forces acting on a body has no resultant, the body is in equilibrium.
Equilibrium implies that the body remains in stability for both rest and moving states in
Newton’s first law. However we will only be considering static equilibrium which requires the
resultant force acting on a particle to be equal to zero. The equations of equilibrium for the rigid
body in a plane as shown below are

∑
∑
∑
Where O is any point on the plane
Free Body Diagram (FBD)
FBD is a sketch of a body or a portion of a body completely isolated (or free) from its
surroundings. By using the FBD, the unknown forces and moments acting on a body can be
determined by the three equations of equilibrium. It is however imperative to note the following
three things before we can draw the FBD
1. Support reaction: various types of reactions occurring at supports and point of support
between bodies subjected to forces are highlighted in the figure below
2. External and Internal Forces: since a rigid body is composed of particles both internal and
external loadings may act on it. Only the external loadings are represented on the FBD
because the net effect of internal forces on a body is zero.
3. Weight of a Body: when a body is subjected to a gravitational field, then it has a specified
weight. The weight of the body is represented by a resultant force directed downward and
located at the center of gravity of the body. Note that

Procedure for Drawing the FBD

1. Isolate the body from its constraints and connections and draw its outlined shape.
2. Identify all the external forces and moments that act on the body. These are generally due to
the
 Applied loadings
 Reactions at the supports or at the points of contact with other bodies
 The weight of the body.

Example
1. Draw the FBD for the beam shown below

2. Draw the FBD for the frame shown below

Springs
If a linearly elastic spring (or cord) of undeformed length lo is used to support a particle, the
length of the spring will change in direct proportion to the force F acting on it, as shown in the
figure below.
 A characteristic that defines the “elasticity” of a spring is the spring constant or stiffness k. The
magnitude of force exerted on a linearly elastic spring which has a stiffness k and is deformed
(elongated or compressed) a distance s = l - lo, measured from its unloaded position, is

If s is positive, causing an elongation, then F must pull on the spring; whereas if s is negative,
causing a shortening, then F must push on it.
Coplanar Force Systems
If a particle is subjected to a system of coplanar forces that lie in the x–y plane, as shown below
then each force can be resolved into its i and j components.

For equilibrium, these forces must sum to produce a zero force resultant, i.e.,
∑
∑ ∑
For this vector equation to be satisfied, the resultant force’s x and y components must both be
equal to zero. Hence,
∑
∑
These two equations can be solved for at most two unknowns, generally represented as angles
and magnitudes of forces shown on the particle’s free-body diagram.

Example
1. Determine the tension in the cables BA and BC necessary to support the 60 kg cylinder
shown in the figure below

2. Determine the required length of cord AC in the figure below so that the 8kg lamp can be
suspended in the position shown. The undeformed length of spring AB is lAB = 0.4 m,
and the spring has a stiffness of kAB = 300 N/m.
3. When cars C and D stop on a two-lane bridge, the forces exerted by their tyres on the bridge
are as shown in the figure below. Determine the total reactions at A and B when a = 2.9 m

Practice Problems

1. The crate has a weight of 550 N. Determine the force in each supporting cable

2. 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

3. Two traffic signals are temporarily suspended from a cable as shown. Knowing that the
signal at B weighs 300 N, determine the weight of the signal at C.
4. 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.

5. The lift sling is used to hoist a container having a mass of 500 kg. Determine the force in
each of the cables AB and AC as a function of θ. If the maximum tension allowed in each
cable is 5 kN, determine the shortest length of cables AB and AC that can be used for the lift.
The center of gravity of the container is located at G.

Equilibrium in Three-Dimensional Force Systems

We have stated earlier that the necessary and sufficient condition for particle equilibrium is
∑
In the case of a three-dimensional force system, we can resolve the forces into their respective i,
j, k components, so that
∑ ∑ ∑
To satisfy this equation we require
∑
∑
∑
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 these equations we can solve
for at most three unknowns, generally represented as coordinate direction angles or magnitudes
of forces shown on the particle’s free-body diagram.

Example
1. A 90N load is suspended from the hook shown below. If 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 xy plane and cable AC lies in the x–z
plane.

Practice Problems

1. Determine the magnitude of forces F1, F2, F3, so that the particle is held in equilibrium.

2. The three cables are used to support the 40 kg flowerpot. Determine the force developed in
each cable for equilibrium.

3. If the maximum force in each rod cannot exceed 1500 N, determine the greatest mass of the
crate that can be supported.