Forces and Equilibrium

Prof. Dr. Noridah Mohamad

Sem 1 2020/2021
Forces and Equilibrium

∙ Scalars and vectors

∙ Types of forces

∙ Resultant of forces

∙ Equilibrium of particles
 Scalar and Vectors
∙ Scalar - a physical quantity that is completely described
by a real number
e.g. time, length, mass, temperature

∙ Vector- is described by both magnitude

(nonnegative real number) and direction
e.g. position of a point in space relative to another
point, forces
- represented by bold-faced letters: u, a, W
- magnitude of vector u = |u|
- graphical representation of vectors: arrows
- direction of arrow shows the direction of
vector
- length of arrow ∝ magnitude of vector
Vectors
Example:

rAB - position of point B relative to point A

- direction from point A to point B
- distance between A and B = |rAB|
 Types of forces

External force

Internal force
Resultant of force in 2Dimension

• Scalar
• Added 4 m2 and 3 m2 = 7 m2

• Vector
• Added 4 km and 3 km = sum and direction

❖ Resultant = single vector giving the result of the

addition of the original two or more vectors.
Resultant of forces: Graphical
Q ∙ Triangle rule
- sum of vector from tail of P
to head of Q
P R=P+Q
∙ Parallelogram rule
- the sum is independent of the
order in which the vectors
R
are placed head to tail
P
- vector addition is commutative
Q P+Q=Q+P=R

− Q - vector subtraction
R=P−Q
P−Q
P Q

∙ R - resultant of two forces, P and Q

Resultant of forces: Analytical

• Trigonometric:
Q C
B Law of cosine,

P R=P+Q
Law of sine,

A
Pythagorean theorem
• Resolution of vectors:
‘Resolve’ vectors into components
using the x and y axes system.

We use the “unit vectors” i and j to

designate the x and y axes
θ
Example 1:

Figure shows an initial design sketch of part of the roof of a sports

stadium to be supported by the cables AB and AC. The forces the
cables exert on the pylon to which they are attached are
represented by the vectors FAB and FAC. The magnitude of the
forces are |FAB| = 100 kN and |FAC| = 60 kN. Determine the
magnitude and direction of the sum of the forces exerted on the
pylon by the cables (a) graphically and (b) using trigonometry.
 Solution:

(a) Graphically construct the parallelogram rule with FAB and FAC
proportional to their magnitudes:

By measuring the figure, we estimate the magnitude of the

vector FAB + FAC to be 160 kN and its direction to be 19° above
the horizontal.
Solution:

(b) Consider the parallelogram rule:

Since α = 180° − 30 ° = 150°

Applying law of cosine to the triangle:

Magnitude |FAB + FAC| = 154.9 kN

To determine the angle β between FAB + FAC and the horizontal,
apply law of sines to shaded triangle:

Find the solution by using LAW of SINE (Ans. 18.80):

Example 2:

Determine the horizontal and

vertical components of P

Solution:
Example 3
The ring shown in figure is subjected to two forces, Fl and F2.
If it is required that the resultant force have a magnitude of 1
kN and be directed vertically downward, determine the
magnitudes of Fl and F2,
provided θ = 30°.
Solution:
Vector addition sketch according to the parallelogram law:
Using the law of sines:

F1 = 635 N
= 0.652 kN

F2 = 446 N
= 0.446 kN
Example 4:

Determine the resultant of

forces that acts on bolt A.

Solution:

• Trigonometric solution - law of cosines,

Law of sines,
There are four concurrent
cable forces acting on the
bracket.
How do you determine the
resultant force acting on the
bracket ?
 Resultant of forces (component method)

• A single force can be broken up into two separated

forces
Fy
F

Fx

• To add vectors analytically using the method

components , one should be proceed according to
the step.
• Resolve each vector into a horizontal and vertical
component
• Add the vertical components, Ry=∑Fy.
• Add the horizontal components, Rx = ∑Fx
• Combine the horizontal and vertical components to
obtain a single resultant vector.
Exercise 1
Three concurrent forces are acting on a bracket. Find the
magnitude and angle of the resultant force by resolving
the forces.
Solution:

F1 = { 15 sin 40° i + 15 cos 40° j } kN

= { 9.642 i + 11.49 j } kN

F2 = { -(12/13)26 i + (5/13)26 j } kN
= { -24 i + 10 j } kN

F3 = { 36 cos 30° i – 36 sin 30° j } kN

= { 31.18 i – 18 j } kN

I = x axis, j = y axis
Summing up all the i and j components respectively, we get,
FR = { (9.642 – 24 + 31.18) i + (11.49 + 10 – 18) j } kN
= { 16.82 i + 3.49 j } kN

FR = ((16.82)2 + (3.49)2)1/2 = 17.2 kN

φ = tan-1(3.49/16.82) = 11.7°

y
FR

φ
x
Resultant force in 3 Dimension

+y

-Z

-X +X

+Z
-y
 y
6N
R

x
4N
3N R1
z

R=7.81 N, coordinates (4,6,3)

Vector equation
• Or known as Cartesian vector
• Used right hand coordinate system
Example
• Express the force F shown in figure as a Cartesian
vector
• Since only two coordinate direction angles are specified, the third
angle α must be determined using equation

• Hence, two possibilities exist, namely,

α = cos-1(0.5) = 60o or α = cos-1(0.5) = 120o

• By inspection, it is necessary that α = 60o, since Fx must be in the +x
direction, with F = 200 N, we have

F = F cos αi + F cos βj + F cos γk

F = (200 cos 60oN)i + ( 200 cos 60o N)j + ( 200 cos 45o)k

F = {100.0i + 100.0j + 141.4k} N

• Show that indeed the magnitude of F = 200N

 Equilibrium of a particle
• The term “particle” used in statics to describe a body when;
• the size and shape of the body will not signifi­cantly affect the solution
of the problem being considered.
• the mass of the body can be assumed to be concentrated at a point.

• A particle can be subjected only to a system of concurrent forces and that

the necessary and sufficient conditions for equilibrium can be expressed
mathematically as

R = ΣF = 0

where ΣF is the vector sum of all forces acting on the particle.

• To apply the equation of equilibrium --- account for all the known and
unknown forces (ΣF) which act on the particle.
APPLICATIONS

For a spool of given weight,

what are the forces in cables
AB and AC ?
APPLICATIONS (continued)

For a given cable

strength, what is the
maximum weight that
can be lifted ?
• Procedure for Drawing a Free-Body Diagram
• Draw Outlined Shape: Imagine the particle to be isolated or cut
"free" from its surroundings by drawing its outlined shape.
• Show all Forces: Indicate on this sketch all the forces that act on the
particle. These forces can be active forces, which tend to set the
particle in motion, or they can be reactive forces which are the result
of the constraints or supports that tend to prevent motion. To
account for all these forces, it may help to trace around the particle's
boundary, carefully noting each force acting on it.
• Identify Each Force: The forces that are known should be labeled
with their proper magnitudes and directions. Letters are used to
represent the magnitudes and directions of forces that are unknown.
EQUILIBRIUM OF PARTICLE IN 2-D
This is an example of a 2-D or
coplanar force system. If the
whole assembly is in equilibrium,
then particle A is also in
equilibrium.

To determine the tensions in the

cables for a given weight of the
engine, we need to learn how to
draw a free body diagram and
apply equations of equilibrium.
THE WHAT, WHY AND HOW OF A FREE BODY
DIAGRAM (FBD)
Free Body Diagrams are one of the most important things for you to
know how to draw and use.

What ? - It is a drawing that shows all

external forces acting on the particle.

Why ? - It helps you write the

equations of equilibrium used to solve
for the unknowns (usually forces or
angles).
How ?
1. Imagine the particle to be isolated or cut free from its surroundings.

2. Show all the forces that act on the particle.

Active forces: They want to move the particle. Reactive
forces: They tend to resist the motion.

3. Identify each force and show all known magnitudes and

directions. Show all unknown magnitudes and / or
directions as variables .

Note : Engine mass = 250 Kg FBD at A

EQUATIONS OF 2-D EQUILIBRIUM

Since particle A is in equilibrium, the net force

at A is zero.
So FAB + FAD + FAC = 0
A or Σ F = 0

FBD at
A
In general, for a particle in equilibrium, Σ F = 0 or
ΣFx i + ΣFy j = 0 = 0 i + 0 j (A vector equation)

Or, written in a scalar form,

ΣFx = 0 and Σ Fy = 0
These are two scalar equations of equilibrium (EofE). They can be
used to solve for up to two unknowns.
 EXAMPLE

Note : Engine mass = 250 Kg FBD at A

Write the scalar EofE:

+ → Σ Fx = TB cos 30º – TD = 0
+ ↑ ΣFy = TB sin 30º – 2.452 kN = 0

Solving the second equation gives: TB = 4.90 kN

From the first equation, we get: TD = 4.25 kN
• Two-Dimensional Problems

R = Rx + Ry = Rn + Rt = 0

= Rxi + Ryj = Rnen + Rtet = 0

= ΣFxi + ΣFyj = ΣFnen + ΣFtet = 0

Satisfy only if

Rx = Rxi = ΣFxi = 0

Ry = Ryj = ΣFyj = 0

Rn = Rnen = ΣFnen = 0

Rt = Rtet = ΣFtet = 0
Example
A free-body diagram of a particle subjected to the action of four
forces is shown in Figure. Determine the magnitudes of forces Fl and
F2 so that the particle is in equilibrium
Solution
+→ ΣFx = F1x + F2x + F3x + F4x = 0

= F1 cos 60° + F2 cos 30° - 40 cos 56° - 10 cos 15° = 0

= 0.5 F1 + 0.866 F2 – 22.37 – 9.659 = 0

From which

F1 + 1.732 F2 = 64.06 (a)

+↑ ΣFy = F1y + F2y + F3y + F4y = 0

= F1 sin 60° + F2 sin 30° - 40 sin 56° + 10 sin 15° = 0

= 0.8660 F1 + 0.5 F2 – 33.16 + 2.588 = 0

From which

F1 + 0.5774 F2 = 35.30 (b)

Solving Eqs (a) and (b) simultaneously yields

F1 = 20.9 kip

F2 = 24.9 kip
GROUP PROBLEM SOLVING

Given: The car is towed at constant

speed by the 600 N force and
the angle θ is 25°.
Find: The forces in the ropes AB and
AC.

Plan:

1. Draw a FBD for point A.

2. Apply the EofE to solve for the forces in
ropes AB and AC.
 GROUP PROBLEM SOLVING (continued)

600 N

FBD at point A
A
25° 30°

FAB FAC

Applying the scalar EofE at A, we get;

+ → ∑Fx = FAC cos 30° – FAB cos 25° = 0
+ → ∑Fy = -FAC sin 30° – FAB sin 25° + 600 = 0
Solving the above equations, we get;
FAB = 634 N
FAC = 664 N
 EQUILIBRIUM OF PARTICLE IN 3-D
Three-Dimensional Problems

R = ΣF = 0

= Rx + Ry + Rz = 0

= Rxi + Ryj + Rzk = 0

= ΣFxi + ΣFyj + ΣFzk = 0

satisfied only if

Rx = Rxi = ΣFxi = 0

Ry = Ryj = ΣFyj = 0

Rz = Rzk = ΣFzk = 0
Example
• A 90-lb load is suspended from the
hook shown in Figure 2.28(a). The load
is supported by two cables and a
spring having a stiffness k = 500 lb/ft.
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.
• Free-Body Diagram.
• Equation of equilibrium

ΣFx = 0 FD sin 30° - (4/5)FC = 0 (a)

ΣFy = 0 -FD cos 30° + FB = 0 (b)

ΣFz = 0 (3/5) FC – 90 lb = 0 (c)

• Solving Eq. (c) for FC, then Eq (a) for FD, and finally Eq. (b) for FB,
yields,

• FC = 150 lb Ans

• FD = 240 lb Ans

• FB = 208 lb Ans
• The strech of spring is therefore:

FB = ksAB
208 lb = 500 lb/ft (sAB)

sAB = 0.416 ft Ans

Assignment No. 1:
1. Find the components of force Q
for the axis system of A and B.

Tips:
Construct a vector parallelogram by drawing
lines parallel to axes A and B, from the tip of
Q. Then, apply the sine law.
2. Three concurrent forces are acting on a bracket. Find the
magnitude and angle of the resultant force by resolving the
forces.
Assignment No. 1:

3.The members of a truss are pin-connected at joint O.

Determine the magnitudes of F1 and F2 for equilibrium. Set θ =
60o