Lecture 5 summary: 3D equilibrium of particles

FUNDAMENTAL EQUATION If a particle is y

in equilibrium, the resultant force on the g

particle is zero. In 3D, we have: B

D

A O

∑ Fx = 0
∑ Fy = 0 C
x

∑ Fz = 0
z

light
fixture

REPRESENTING FORCES In 3D, we should

formally write forces in terms of the unit D

y
vector defining the force’s direction. Recall A
B
O
FCB
FCD

that we have three ways to write these unit FCA θz θy

ψ
vectors: θx

! C x
using components ! rCB φ
FCB = FCBûCB = FCB ! z
of 2 points on line rCB mg

of force

( )
!
using direction FCD = FCDûCD = FCD cosθ x î + cosθ y ˆj + cosθ z k̂
angles

!
using spherical
angles (
FCA = FCAûCA = FCA −cosψ sinφ î + sinψ ˆj + cosψ cosφ k̂ ) me 270 - cmk