Engineering Mechanics l

TEGT 3592

Equilibrium in three dimensions

Lecturer
Dr. M. F. ERINOSHO
(Department of Mechanical and Industrial Engineering,
University of Namibia) 1
 Course Outlines
 Equilibrium in three dimensions.
 Reactions at Supports and Connections.
 Important Information about Three Dimensions

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 Equilibrium in three dimensions.

When a particle is in equilibrium, the vector sum of

all the forces acting on it must be zero ( Σ F = 0 ) .

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This equation can be written in terms of its x, y and
z components. This form is written as follows.

( Σ Fx) i + ( Σ Fy) j + ( Σ Fz) k = 0

This vector equation will be satisfied only when

Σ Fx = 0
Σ Fy = 0
Σ Fz = 0
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These equations are the three scalar equations of
equilibrium. They are valid at any point in
equilibrium and allow you to solve for up to three
unknowns.

Thus, introducing the moment, six scalar

equations are required to express the conditions
for the equilibrium of a rigid body in the general
three dimensional case.

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These equations can be solved for no more than 6
unknowns which generally represent reactions at
supports or connections.

The scalar equations are conveniently obtained by

applying the vector forms of the conditions for
equilibrium,

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The moment generated about point (a) by the force F is
given by the expression

Note:

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Reactions at Supports and Connections for a
Three- Dimensional Structure

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Example
The boom is used to support the 75-lb flowerpot in
the Figure below. Determine the tension developed in
wires AB and AC.

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Free Body Diagram

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 Example

Determine the forces in cables AC and BC, and in the

strut CD due to the weight, 50 kg hanging off point C

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For Tension TAC
dx = -5 m
dy = -2.5 m d = (-5)2 + (-2.5)2 + 12 = 5.68 m
dz = 1 m

TAC = (-5/5.68) TAC i + (-2.5/5.68) TAC j + (1/5.68) TAC k

TAC = - 0.88 TAC i - 0.44 TAC j + 0.18 TAC k

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For Tension TBC
dx = -5 m
dy = -2.5 m d = (-5)2 +(-2. 5)2 + (-5)2 = 7.5 m
dz = -5 m

TBC = (-5/7.5) TBC i + (-2.5/7.5) TBC j + (-5/7.5) TBC k

TBC = -0.67 TBC i - 0.33 TBC j - 0.67 TBC k

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For Tension FCD
dx = 5 m
dy = 5 m d = 52 + 52 + 22 = 7.35 m
dz = 2 m

FCD = 5/7.35 FCD i + 5/7.35 FCD j + 2/7.35 FCD k

FCD = 0.68 FCD i + 0.68 FCD j + 0.27 FCD j

For 50kg
50 kg = – 50g j

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Applying equation of equilibrium: Σ Fx = 0 , Σ Fy = 0, Σ Fz = 0
i component
-0.88TAC – 0.67TBC + 0.68 FCD = 0 (1)

j component
-0.44TAC - 0.33TBC + 0.68FCD – 50g = 0 (2)

k component
0.18TAC - 0.67TBC + 0.27 FCD= 0 (3)

Thus, solve simultaneous equations for (1), (2) and (3)

TAC = 56.49 N, TBC = 74.07 N, TCD = 145.97 N

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 Example
The cable of the tower crane is subjected to 840 N force.
A fixed base at A supports the crane. Find the reactions
at the fixed base A.

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r BC = {12 i + 8 j − 24 k} m

F = F [uBC] N

= 840 [12 i + 8 j − 24 k] / (122 + 82 + (– 242 ))½

= {360 i + 240 j − 720 k} N

FA = {AX i + AY j + AZk } N

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 Total force is F + FA = 0

{(360 + AX) i + (240 + AY) j + (-720 + AZ) k} = 0

Solving each component equation yields the

reactions

AX = − 360 N, AY = − 240 N , and AZ = 720 N.

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Sum the moments acting at point A.

MAX = 7200 N · m, MAY = -10800 N · m, and MAZ = 0

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 Example
Determine the components of reaction that the ball-
and-socket joint at A, the smooth journal bearing at B,
and the roller support at C exert on the rod assembly

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Free Body Diagram

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 Important Information about Three Dimensions

 Clockwise and counter-clockwise really don’t

have any meaning in 3D problems.
 Vectors make life much easier in 3D.
 We construct a moment arm from the center
of rotation to the line of action of the force
causing the rotation.
 The moment arm is a position vector from the
moment center to the line of action of the
force.
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Thank you

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