Chapter 3

Equilibrium of Particles
Prof. Mohammed Al-Odat
Lecture 5
Sunday 11/7/2021
Chapter Objectives

• To introduce the concept of the free-

body diagram (FBD) for a particle

• To show how to solve particle

equilibrium problems using the
equations of equilibrium.
Chapter Outline
1. Condition for the Equilibrium of a Particle
2. The Free-Body Diagram
3. Coplanar Systems
4. Three-Dimensional Force Systems
3.1 Condition for the Equilibrium of a Particle
• A particle: An object with inertia (mass) but
of negligible dimensions.
• Particle at equilibrium if:
- At rest or Moving at a constant velocity
• Newton’s first law of motion
∑F = 0
where ∑F is the vector sum of all the forces
acting on the particle
3.1 Equilibrium Equation
Static and Dynamic Equilibrium
Applications of Equilibrium
Equation
Applications of Equilibrium
Equation
3.1 Condition for the Equilibrium of a Particle

• Newton’s second law of motion

∑F = ma

• When the force fulfill Newton's first law of motion,

ma = 0
a=0
therefore, the particle is moving in constant velocity
or at rest
Equilibrium equations for a particle

• A particle is in equilibrium if the resultant of ALL

forces acting on the particle is equal to zero.
• (Newton’s first law is that a body at rest is not
subjected to any unbalanced forces).

• Sum of all forces acting

on a particle = 0
 Principal of Transmissibility
• The conditions of equilibrium or motion of a body
remain unchanged if a force on the body is replaced
by a force of the same magnitude and direction along
the line of action of the original force.
3.2 The Free-Body Diagram
• Best representation of all the unknown forces (∑F)
which acts on a body
• A sketch showing the particle “free” from the
surroundings with all the forces acting on it
• FBD: A diagram showing the particle under
consideration and all the forces and moments acting
on this particle.
• Consider two common connections in this subject –
• Spring
• Cables and Pulleys
 3.2 The Free-Body Diagram (Continued)
• Spring
• Linear elastic spring: change in length is directly
proportional to the force acting on it
• spring constant or stiffness; k: defines the
elasticity of the spring
• Magnitude of force when spring
is elongated or compressed
F=ks
Positive
(elongation)
s (distance) =l -l0

Negative
(compression)
Linear spring: A mechanical device which exerts a
force along its line of action and proportional to its
extension (F = kX). K is constant of proportionality
which is a measure of stiffness or strength.
 3.2 The Free-Body Diagram (Continued)
• Cables and Pulley
• Pulleys are assumed to be frictionless
• Cables (chain or cords) are assumed negligible weight
and cannot stretch
• Tension always acts in the direction of the cable
• Tension force must have a constant magnitude for
equilibrium
• For any angle θ, the cable
is subjected to a constant tension T

String or cable: A mechanical device that can only

transmit a tensile force along itself.

Cables:
Cables are assumed to have negligible
weight and they cannot stretch.
Force Types
• Force types:
• Active Forces - tend to set the particle in motion.

• Reactive Forces - result from constraints or supports and tend

to prevent motion.

Reactive
force Active force

Active force
Reactive force
3.2 The Free-Body Diagram (Continued)

Procedure for Drawing a FBD

1. Draw outlined shape
2. Show all the forces
- Active forces: particle in motion
- Reactive forces: constraints that prevent motion
3. Identify each forces
- Known forces with proper magnitude and direction
- Letters used to represent magnitude and directions
Free Body Diagram (FBD)
How to draw a Free Body Diagram:
Draw outlined shape - Imagine the particle isolated or
cut “free” from its surroundings
Show all forces and moments - Include “active forces”
and “reactive forces”. Place each force and couple at the
point that it is applied.
Identify each force:
Known forces labeled with proper magnitude and direction.
Letters used for unknown quantities.
Add any relevant dimensions onto your picture.
Steps to Draw FBD
FBD F.B.D of the ring A:
Example 3.1: The sphere in Fig. 3–3a has a mass of 6 kg
and is supported as shown.
• Draw a free-body diagram of the sphere, the cord CE,
and the knot at C.

Once the supports are removed, we can see that there

are four forces acting on the sphere,
• Cord CE. When the cord CE is
isolated from its surroundings,
its free-body diagram shows
only two forces acting on it

• Knot. The knot at C is

subjected to three
forces
Example 3.1 Modified
The sphere has a mass of 6kg and is supported. Draw a free-
body diagram of the sphere, the cord CE and the knot at C.
 FCBA FCBA
FCBA FCD FCD
FCBA

FCE= 58.9 N
FCE

WE = 6kg ×9.81 m/(s2)= 58.86 N 58.9 N

 FCBA Sin 60
FCBA FCD FCD
FCBA Cos 60
FCE= 58.9 N

WE = 6kg ×9.81 m/(s2)= 58.86 N 58.9 N

 Solution
FCBA Sin 60 = FCE= 58.9 N
∑Fy = 0:
(3)/2
Hence, FCBA = 67.96 N

∑Fy = 0: FCD =FCBA Cos 60

1/2

Hence, FCD = 67.96 * 0.5 = 33.98 N

Graphical Solution

FCBA
FCE= 58.9 N

FCD

WE
Solution

FBD at Sphere
Two forces acting, weight and the
force on cord CE.
Weight of 6kg (9.81m/s2) = 58.9N

Cord CE
Two forces acting: sphere and knot
Newton’s 3rd Law:
FCE is equal but opposite
FCE and FEC pull the cord in tension
For equilibrium, FCE = FEC
Solution

FBD at Knot
3 forces acting: cord CBA, cord CE and spring CD
Important to know that the weight of the sphere does
not act directly on the knot but subjected to by the
cord CE
 Example-1E
The cord BCA and CD can each support a maximum hold of 0.5 kN.
Determine the maximum weight of the crate that can be hoisted at
a constant velocity and the angle θ for equilibrium. Neglect the size
of the smooth pulley at C.
Exercise Solution

FBD
Example 2-E
• Draw the FBD diagram of the ring A:

W= 2.452 KN
 FBD of the ring A
Is this the FBD of A?

No! this is not the free

body diagram of A!
FBD of the ring A

TB=2.452/sin30=4.94 kN
TD=TBcos30=4.28 kN
Example 3-E
Example 3-E
• Draw the free body diagrams of C and E and the
cable CE:
FBD of E
FBD of C
FBD of cable EC
Example 4-E
• Draw the FBD of ring A.

W=78.5 N
FBD of A
 Statics :
Chapter 3 Equilibrium
of Particles
Lecture 6
Monday 12/7/2021
3.3 Coplanar Systems
• A particle is subjected to coplanar forces in the x-y
plane
• Resolve into i and j components for equilibrium
∑Fx = 0
∑Fy = 0
• Scalar equations of equilibrium
require that the algebraic sum
of the x and y components to
equal to zero
3.3 Coplanar Systems
• Procedure for Analysis
1. Free-Body Diagram
- Establish the x, y axes
- Label all the unknown and known forces
2. Equations of Equilibrium
- Apply F = ks to find spring force
- When negative result force is the reserve
- Apply the equations of equilibrium
∑Fx = 0 ∑Fy = 0
Steps to Problem Solving
1. Draw a Free Body Diagram (FBD), label known
and unknowns
 Simple sketch of isolated particle
 Sketch all forces that act on the particle
 Active forces
 Reactive forces
 Label known forces with proper magnitude &
direction
 Watch signs – negative means opposite sense from as
drawn in FBD
2. Apply equations of equilibrium
 Any suitable direction
 2 equations, 2 unknowns (n equations, n unknowns)
Applying the Equilibrium Equations
• Draw the free body diagrams:
N

N FBD:

30
W
W

Normal force = The force you have when there is a contact

between surfaces (the ball is in contact with the ground).
Friction force = You have this when the surface in contact is
not frictionless and the friction prevents the motion of the
object.
 Free-Body Diagram y
y
N

x
N
f

x
30

W
W
Example 3.2: Determine the tension in cables
BA and BC necessary to support the 60-kg
cylinder in Fig.

Fx: FBCcos45-FBA(4/5)=0-----(1)
Fy: FBCsin45+FBA(3/5)-588.6=0----(2)
Solution Example 3.2:
• Equations of Equilibrium.
• Applying the equations of equilibrium along the x
and y axes, we have
Example 3.3: The 200-kg crate in Fig. 3–7a is
suspended using the ropes AB and AC. Each rope can
withstand a maximum force of 10 kN before it
breaks. If AB always remains horizontal, determine
the smallest angle u to which the crate can be
suspended before one of the ropes breaks.

Free-Body Diagram.
 • Equations of Equilibrium.

• From Eq. (1), FC is always greater than FB since cos  = 1.

Therefore, rope AC will reach the maximum tensile force of
10 kN before rope AB.
• Substituting FC = 10 kN =10000 Ninto Eq. (2), we get

• The force developed in rope AB can be obtained by

substituting the values for u and FC into Eq. (1).
• Equations of Equilibrium.

Equation (1) can be written as TA = 0.8839TC. Substituting this into Eq. (2) yields
Example 3.4
Determine the required length of the cord AC so that
the 8kg lamp is suspended. The undeformed length of
the spring AB is l’AB = 0.4m, and the spring has a
stiffness of kAB = 300N/m.
Solution

FBD at Point A
Three forces acting, force by cable AC, force in spring
AB and weight of the lamp.
If force on cable AB is known, stretch of the spring is
found by F = ks.
+→ ∑Fx = 0; TAB – TAC cos30º = 0
+↑ ∑Fy = 0; TAC sin30º – 78.5N = 0
Solving,
TAC = 157.0 N
TAB = 135.9 N
 Solution
TAB = kAB sAB ; 135.9 N = 300N/m*(sAB)
Hence, sAB = 0.453N
For stretched length,
AB = ′AB+ sAB
AB = 0.4m + 0.453m
= 0.853m
For horizontal distance BC,
2m = AC cos30°+ 0.853m
AC = 1.32m
Example 6-E (Problem R3–2):
Determine the tension in cables AB and AD for
equilibrium of the 250 kg engine.

FBD of the ring A

Solution of Example 6-E
•According to the free body diagram of the ring A, we have three
forces acting on the ring. The forces TB and TD have unknown
magnitudes but known directions. Cable AC exerts a downward force
on A equal to:
•W = (250kg)(9.81m/s2) = 2452N = 2.245KN

TBsin30

TBcos30
Problem 3–6: The gusset plate is subjected to the
forces of three members. Determine the tension
1

force in member C and its angle for equilibrium. The

forces are concurrent at point O. Take F = 8 kN.
Solution
Problem 3–15.: Determine the stretch in each
spring for equilibrium of the 2-kg block. The springs are
shown in the equilibrium position
Solution
Problem 3–25: Determine the magnitude
of F1 and the distance y if x = 1.5 m and F2 =
1000 N.
Solution Problem 3–25
• Equations of Equilibrium. The tension throughout rope
ABCD is constant, that is F1. Referring to the FBD shown in
Fig.
Example 7-E: Determine the tension developed in
each wire used to support the 50-kg chandelier

Point D; Equation
of Equilibrium
Point B; Equation of
Equilibrium
Solution 3- 7-E.
Problem R3-2: Determine
the maximum weight of the
engine that can be supported
without exceeding a tension of
450 lb in chain AB and 480 lb in
chain AC.

If we set TAB = 450 lb, then the system yields

which is unacceptable because TAC > 480 lb. If we set

TAC = 480 lb, then the system yields
F3-6: Determine the tension in cables AB, BC, and CD,
necessary to support the 10-kg and 15-kg traffic lights at
B and C, respectively. Also, find the angle Θ.
 3.4 Three-Dimensional Force Systems

• For particle equilibrium

∑F = 0
• Resolving into i, j, k components
∑Fx i + ∑Fy j + ∑Fz k = 0
• Three scalar equations representing
algebraic sums of the x, y, z forces
∑Fx i = 0
∑Fy j = 0
∑Fz k = 0
3.4 Three-Dimensional Force Systems

Procedure for Analysis

Free-body Diagram
- Establish the z, y, z axes
- Label all known and unknown force
Equations of Equilibrium
- Apply ∑Fx = 0, ∑Fy = 0 and ∑Fz = 0
- Substitute vectors into ∑F = 0 and set i, j, k
components = 0
- Negative results indicate that the sense of the force is
opposite to that shown in the FBD.
Example 3.7: Determine the force developed
in each cable used to support the 40kN crate.

FBD A
• Equations of Equilibrium. First we will express each
force in Cartesian vector form. Since the
coordinates of points B and C are B(-3 m, -4 m, 8 m)
and C(-3 m, 4 m, 8 m),
For equilibrium,

Equation (2) states that F = F .

B C

kN

kN
Prob. (4.48): Determine the tension in the cables
in order to support the 100-kg crate in the
equilibrium position shown.

FBD at Point A
 Solution Prob. (4.48):
To expose all three unknown forces in the cables.

Equations of Equilibrium
Solution Prob. (4.48):
Prob. (3.57): If each cord can sustain a maximum
tension of 50 N before it fails, determine the greatest
weight of the flowerpot the cords can support.
Solution Prob. (3.57):
Solution Prob. (3.57):
 Example 3.5: A 90-lb load is suspended from the hook
shown. If the load is supported by two cables and a spring
having a stiffness k=500lb/ft, determine the force in the
cables and the stretch of the spring for equilibrium. Cable
AD lies in the x–y plane (No z component). and cable AC
lies in the x–z plane (No y component).
FADx=FAD*sin30, FACx=-FAC*(4/5), FAB is in y-direction
FAcz=FAc* (3/5)
FADy=FAD*cos30
The connection at A is chosen for the equilibrium analysis
since the cable forces are concurrent at this point.

The stretch of the spring is

therefore
Solution
FBD at Point A
To expose all three unknown forces in
the cables.
Equations of Equilibrium
Expressing each forces in Cartesian
vectors,
FC = FC (rC / rC)
FC = FC [Cos  i + Cos  j + Cos  k ]C
= FC [(- 4/5) i + (0) j + (3/5) k] = FC [- 0.8 i + 0.6 k]
= - 0.8 FC i + 0.6 FC k
FD = FD (rD / rD)
FD = FD [Cos  i + Cos  j + Cos  k ]D
= FD [Cos 60 i - Cos 30 j + 0 k] = FD [(1/2) i - (√3/2) j]
= 0.5 FD i - 0.866 FD j
W = -90 k
FB = FB j
For equilibrium,
∑F = 0; FB + (FC) + [FD ]+ W = 0
FB j + (- 0.8 FC i + 0.6 FC k) + [0.5 FD i - 0.866 FD j ] – 90 k = 0

∑Fx = 0; - 0.8 FC +0.5 FD = 0 (31)

∑Fy = 0; FB - 0.866 FD = 0 (32)
∑Fz = 0; 0.6 FC - 90 = 0 (33)
Fron Eq. (33), FC = 90/0.6=150 Ib (34)
Fron Eq. (31), FD = 1.6 FC = 240 Ib (35)
Fron Eq. (32), FB = 0.866 FD = 207.84 Ib (36)
But, FB = kAB xAB
Hence, 207.84 Ib = (500 Ib/ft) xAB ,
i.e. xAB = 207.84/500 = 0.416 ft.
Example 3.8 : Determine the tension in each cord
used to support the 100-kg crate shown.

FBD at Point A
 Solution Example 3.8 :
• Equations of Equilibrium. Each force on the free-body diagram is
first expressed in Cartesian vector form

Equilibrium requires
Solution Example 3.8 :
Problem F3–10.
Determine the tension developed in cables AB,
AC, and AD.
• This is an example of a 3-D or coplanar force system.
If the whole assembly is in equilibrium, determine the
tension developed in each cables

FB=FB i
Solution F3–10 FBD at point A
Solution F3–10
Prob.*3–52.: This is an example of a 3-D or coplanar
force system. If the whole assembly is in equilibrium, and
supported by two cables and strut AD. Given 400lb crate,
determine the magnitude of the tension developed in
each cables and the force developed along strut AD.
Solution Prob.*3–52.:
Solution Prob.*3–52.:
Problem*3–64.: If cable AD is tightened by a
turnbuckle and develops a tension of 1300 lb,
determine the tension developed in cables AB and
AC and the force developed along the antenna tower
AE at point A.
Solution
Problem*3–64.:
Problem 3–55: Determine the maximum weight of
the crate that can be suspended from cables AB, AC,
and AD so that the tension developed in any one of
the cables does not exceed 250 lb.
B(-3,0,2)
C(2,0,3)
D(0,9,4)
A(0,6,0)
rAB=-3 i-6J+2 k
rAC=2i-6j+3 k
rAD=0i+3j+4k
Solution Problem 3–55:
Force Vectors: We can express each of the forces shown in Fig. a in Cartesian vector
form as

Equations of Equilibrium: Equilibrium requires

Solution Problem 3–55:
Problem R3–5. The joint of a space frame is
subjected to four member forces. Member OA lies in
the x–y plane and member OB lies in the y–z plane.
Determine the force acting in each of the members
required for equilibrium of the joint.
Solution Problem R3–5.
Problem R3–6. Determine the magnitudes of F1, F2,
and F3 for equilibrium of the particle.
SolutionProblem R3–6
Problem E: The joint O of a space frame is
subjected to four forces. Strut OA lies in the x-y
plane and strut OB lies in the y-z plane.
Determine the force acting in each if the three
struts required for equilibrium of the joint. Set =
45°.

Sum of force in z direction

-500 + p sin30 = 0
p=1000
sum of force in x direction
300 - r sin45 =0
r = 424.26
sum of force in y direction
p cos30 - r cos45 = f
f = 566.025