Engineering Mechanics

EQUILIBRIUM
 Equilibrium of a Particle
• When the resultant of all forces acting on a particle is zero, the particle
is in equilibrium.

• Particle acted upon by • Particle acted upon by three or more

two forces: forces:
- equal magnitude - graphical solution yields a closed
polygon
 
- same line of action R  F  0
- algebraic solution
- opposite sense  Fx  0  Fy  0
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 EQUILIBRIUM OF A PARTICLE

A particle is said to be at equilibrium when the resultant of all the forces acting on it is
zero. It two forces are involved on a body in equilibrium, then the forces are equal and
opposite.

.. 150 N 150 N

If there are three forces, when resolving, the triangle of forces will close, if they are in
equilibrium.
F2 F1 F2
F3
F1

F3
 EQUILIBRIUM OF A PARTICLE
CONTD.

If there are more than three forces, the polygon of forces will be closed if the particle is
in equilibrium.
F3
F2 F2
F3 F1 F4

F1

F4

The closed polygon provides a graphical expression of the equilibrium of forces.

Mathematically: For equilibrium:
R = F = 0
i.e.  ( Fx i + Fy j) = 0 or  (Fx) i +  (Fy) j
EQUILIBRIUM OF A PARTICLE
CONCLUDED
 For equilibrium:
  Fx = 0 and
  F y = 0.
 Note: Considering Newton’s first law of
motion, equilibrium can mean that the
particle is either at rest or moving in a
straight line at constant speed.
Static Equilibrium Problems
 In 2D, have 2 equations, so can solve
for 2 unknowns
 Find magnitudes of two forces with known
directions
 Find magnitude and direction of one force,
knowing magnitude and direction of other
force(s)
 In 3D have 3 equations, so can solve
for 3 unknowns
Do simple 2D

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 2D Static Equilibrium:
 Using Components:

F  0
 F  0;  F
x y  0; Fz 0

F1 F2
 Graphically:

F  0  F  F
1 2  F3
F3 7
Equilibrium of a Rigid Body in Two
Dimensions
• For all forces and moments acting
on a two-dimensional structure,
Fz  0 M x  M y  0 M z  M O

• Equations of equilibrium become

 Fx  0  Fy  0  M A  0
where A is any point in the plane
of the structure.

• The 3 equations can be solved for

no more than 3 unknowns.

• The 3 equations can not be

augmented with additional
equations, but
 Fx  0  M A they
0 can
M B be
 0 replaced
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Equilibrium of a Two-Force
Body • Consider a plate subjected to two forces
F1 and F2

• For static equilibrium, the sum of

moments about A must be zero. The
moment of F2 must be zero. It follows
that the line of action of F2 must pass
through A.

• Similarly, the line of action of F1 must

pass through B for the sum of moments
about B to be zero.

• Requiring that the sum of forces in any

direction be zero leads to the conclusion
that F1 and F2 must have equal
magnitude but opposite sense.
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3D Particle Static Equilibrium
 Because the resultant force is
balanced, the following situation
occurs
 ΣFx = 0
 ΣFy = 0
 ΣFz = 0

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Equilibrium of a Three-Force
Body • Consider a rigid body subjected to forces
acting at only 3 points.

• Assuming that their lines of action

intersect, the moment of F1 and F2 about
the point of intersection represented by D
is zero.
• Since the rigid body is in equilibrium, the
sum of the moments of F1, F2, and F3
about any axis must be zero. It follows
that the moment of F3 about D must be
zero as well and that the line of action of
F3 must pass through D.
• The lines of action of the three forces
must be concurrent or parallel.

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Equilibrium of a Rigid Body in Three
Dimensions
• Six scalar equations are required to
express the conditions for the equilibrium
of a rigid body in the general three
dimensional
 Fx  0  case.
Fy  0  Fz  0
Mx  0 My  0 Mz  0

• 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
   
 F  0  M   r  F   0
equilibrium,
O

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Lami`s theorem
 If a particle acted upon by three forces remains
in equilibrium then, each force acting on the
particle bears the same proportionality with the
since of the angle between the other two
forces”. Lami’s theorem is also known as law
of sines.
Free Body Diagram
It is a diagram of the body in which the bodies
under consideration are freed from all contact
surfaces and all the forces acting on it are
clearly indicated.

W Q

NR
 Free-Body Diagrams

Space Diagram: A sketch Free-Body Diagram: A sketch

showing the physical showing only the forces on the
conditions of the problem. selected particle.

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Free-Body Diagram
First step in the static equilibrium
analysis of a rigid body is identification
of all forces acting on the body with a
free-body diagram.
• Select the extent of the free-body
and detach it from the ground and
all other bodies.
• Indicate point of application,
magnitude, and direction of external
forces, including the rigid body
weight.
• Indicate point of application and
assumed direction of unknown
applied forces. These usually consist
of reactions through which the
ground and other bodies oppose the
possible motion of the rigid body.
• Include the dimensions necessary to
compute the moments of the forces.
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 FREE BODY DIAGRAMS:

 Space diagram represents the sketch of

the physical problem. The free body
diagram selects the significant particle or
points and draws the force system on that
particle or point.
 Steps:
 1. Imagine the particle to be isolated or
cut free from its surroundings. Draw or
sketch its outlined shape.
 Free Body Diagrams Contd.

 2. Indicate on this sketch all the forces that

act on the particle.
 These include active forces - tend to set
the particle in motion e.g. from cables and
weights and reactive forces caused by
constraints or supports that prevent motion.
 Free Body Diagrams Contd.

 3. Label known forces with their

magnitudes and directions. use letters to
represent magnitudes and directions of
unknown forces.
 Assume direction of force which may be
corrected later.
Types of supports
 Simple Support
If one end of the beam rests on a fixed support,
the support is known as simple support
 Roller Support
Here one end of the beam is supported on a
roller
 Hinged Support
The beam does not move either along or normal
to the axis but can rotate.
Types of supports
 Fixed support
The beam is not free to rotate or slide along the
length of the beam or in the direction normal to
the beam. Therefore three reaction components
can be observed. Also known as bulit-in
support
Types of supports
Reactions at Supports and Connections for a
Two-Dimensional Structure
• Reactions equivalent
to a force with
known line of action.

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Reactions at Supports and Connections for a
Two-Dimensional Structure

• Reactions equivalent
to a force of unknown
direction and
magnitude.

• Reactions equivalent
to a force of
unknown direction
and magnitude and
a couple.of unknown
magnitude

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Reactions at Supports and Connections for
a Three-Dimensional Structure

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Reactions at Supports and Connections for
a Three-Dimensional Structure

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The End