Topic 3.

Equilibrium in Three Dimensions – Part 1 Theory

by
Dr. Sushanta Chakraborty

Department of Civil Engineering

Indian Institute of Technology Kharagpur

Reference: Engineering Mechanics: Statics

J. L. Meriam and L. G. Kraige

December 2020
‐‐‐‐

Introduction

Statics deals primarily with the description of the force conditions necessary and sufficient to
maintain the equilibrium of engineering structures

When a body is in equilibrium, the resultant of all forces acting on it is zero. Thus the resultant force
𝑅⃗ and resultant couple 𝑀⃗ both are null vectors

Mathematically, this means

𝑅⃗ Σ𝐹⃗ 0

𝑀⃗ ΣM⃗ 0
The above vector equations can be written in terms of scalar components in 3D as

Σ𝐹 0
Σ𝐹 0

Σ𝐹 0
And

Σ𝑀 0
Σ𝑀 0

Σ𝑀 0
The above set of force equilibrium equations depict that there is no resultant force acting on the
system along any of the coordinate axis, hence no translation is possible along any of the coordinate
direction

And the above set of moment equilibrium equations depict that there is no resultant moment acting
on the system about any of the coordinate axis, hence no rotation is possible about any of the
coordinate axis

The above requirements are both necessary and sufficient conditions for equilibrium. They also are
independent as one can occur irrespective of the others

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All physical bodies are 3 Dimensional (3D) but some of the engineering situations allow them to be
analysed in 2 Dimensional (2D) configuration where the effects in the 3rd direction may not have any
significant effect on the overall accuracy of the solution.

Basic approach to solve a 3D equilibrium problem

The basic steps of the treatment of equilibrium of bodies in 3D are (similar to 2D)‐

(1) Identify the ‘body’ or the ‘mechanical system’ which is of interest. This may even be a
combination of bodies (at present solid only) which altogether can be conceptually isolated
from the ‘surrounding’ or supports. We will deal with rigid bodies at the moment
(2) Represent clearly and completely all significant forces acting on the body
(3) Draw the ‘Free Body Diagram’ (FBD) of the 3D system of bodies, including all significant
forces. Forces can act through direct mechanical contacts and/or remote actions such as
appreciable body forces, like gravitational or magnetic forces. The FBD can be a pictorial
view or orthographic projections on reference planes. It is advisable to keep the point and
line of application of the forces intact, however, due to the ‘Rigid Body’ assumption, the
“Principle of Transmissibility” will be of great use during solution, in 3D as well
(4) Write down the equilibrium equations involving all forces and moments
(5) Solve for the unknown forces (active and/or reactive forces and moments). It is to be noted
in general that a right handed system of coordinates is assumed for vector operation, so a
negative answer will only imply that the sense of the force or moment is just opposite to the
positive direction assigned in FBD

Characteristics of support reactions

Before attempting the FBD, the characteristics of the force exerted on the ‘body to be isolated’
(mechanical system under consideration), by the ‘body to be removed’ (support) are to be clearly
understood which is slightly different in 3D as compared to their 2D counterpart

It may be noted that the force exerted on the body by the support is always opposing the impending
motion due to the applied force system.

Modelling the Action of Contact Forces in 3D is explained through Figure 3/8 (Reference Meriam and
Kraige). Please note carefully the reactive force and moment components

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Figure Reference: Engineering Mechanics: Statics J. L. Meriam and L. G. Kraige

Categories of equilibrium

There are four basic categories of equilibrium, depending upon the number and type of independent
equilibrium equations required to solve the equilibrium problem Figure 3/9 (Reference Meriam and
Kraige).

(1) Category 1 forces concurrent at a point

(2) Category 2 forces concurrent with a line
(3) Category 3 parallel forces
(4) Category 4 general alignment of forces and moment axes

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Figure Reference: Engineering Mechanics: Statics J. L. Meriam and L. G. Kraige

Please note that categorisation of a given problem to a simpler one will certainly drastically reduce
the computational efforts for solution, hence desirable.