Objectives

1. To introduce the concept of the free-

body diagram for a particle.
2. To show how to solve particle
equilibrium problems using the
equations of equilibrium.
 Definitions

1. A particle is in equilibrium if it is at rest if

originally at rest or has a constant velocity if
originally in motion.
2. Static equilibrium denotes a body at rest.
3. Newton’s first law is that a body at rest is
not subjected to any unbalanced forces.
Static Equilibrium

r
 F  0
 Static Equilibrium

r
 F is the vector sum of all
forces acting on the particle.
 The Free-Body Diagram
1. To apply equilibrium equations we must
account for all known and unknown forces
acting on the particle.
2. The best way to do this is to draw a free-
body diagram of the particle.
3. The free-body diagram (FBD) of a body is a
sketch of the body showing all forces that
act on it. The term free implies that all
supports have been removed and replaced
by the forces (reactions) that they exert on
the body.
 Springs

F=ks
Cables and
Pulleys
 Cables and Pulleys
Cables are assumed to have negligible
weight and they cannot stretch. They can
only support tension or pulling (you can’t
push on a rope). Pulleys are assumed to be
frictionless. A continuous cable passing
over a frictionless pulley must have tension
force of a constant magnitude. The tension
force is always directed in the direction of
the cable.
Drawing Free-Body Diagrams
1. Draw Outlined Shape - Imagine the particle
isolated or cut “free” from its surroundings
2. Show All Forces - Include “active forces” and
“reactive forces”
3. Identify Each Force - Known forces labeled
with proper magnitude and direction. Letters
used for unknown quantities.
 Force Types
1. Active Forces - tend to set the particle
in motion.
2. Reactive Forces - result from
constraints or supports and tend to
prevent motion.
 Example

The sphere has a mass of

6 kg and is supported as
shown. Draw a free-
body diagram of the
sphere, cord CE,
CE and the
knot at C
 Sphere

There are two forces acting on the

sphere. These are its weight and
the force of cord CE.
The weight is:
W = 6 kg (9.81 m/s2)=58.9 N.
FCE

58.9 N
Cord CE
There are two forces
acting on the cord.
These are the force
of the sphere, and the
force of the knot. A
cord is a tension
only member.
Newton’s third law
applies.
 FEC

FCE
 Knot at C

There are three forces acting on the knot at C. These are the
force of the cord CBA, and the force of the cord CE, and the
force of the spring CD.
 FCBA

60o FCD

FCE
Example
Example

Not a
Free
Body
Diagram!
FBD
Example
FBE of E
FBD of C
Example
FBD of A
 Coplanar Force System
1. A two dimensional system.
2. Assumed to lie in the x-y plane.
3. Use i and j unit vectors.
r
F  0
 x  y j 0
F ˆ
i  F ˆ
  x
F  0
 Fy  0
Scalar equations of equilibrium require that the
algebraic sum of the x and y components of all the
forces acting on a particle be equal to zero.
  x
F  0
 Fy  0
Two equations means only two unknowns can be
solved for from a single FBD.
Assume a sense for an unknown force. If the
equations yield a negative value for the magnitude
then the sense is opposite of what was assumed.

F + 10 N = 0
F = -10 N
F acts to the left (opposite of direction shown).
Procedure for Analysis

Free-Body Diagram
1. Establish the x, y axes in any suitable
orientation.
2. Label all known and unknown force
magnitudes and directions on the FBD.
3. The sense of an unknown force may be
assumed.
Procedure for Analysis
Equations of Equilibrium
1. Apply equations of equilibrium.

 Fx  0 and  Fy  0
2. Components of force are positive if directed along a
positive axis and negative if directed along a
negative axis.
3. If solution yields a negative result the force is in the
opposite sense of that shown on the FBD.
 Example

Determine the tension

in cables AB and AD
for equilibrium of the
250 kg engine block.
To solve this problem apply equilibrium equation at point A.
The weight of the object is W = 250 kg (9.81 m/s2) = 2.452 N.
This weight is supported by cable AC so TAC = 2.452 N.

y
TAB

A 30o
TAD x

TAC = 2.452 kN

Free-Body Diagram
 Equilibrium Equations

 Fx 0
o
TAB cos 30  TAD  0

 Fy  0
o
TAB sin 30  2.452 kN  0
Solving:
o
TAB sin 30  2.452kN  0
o
TAB sin 30  2.452kN
TAB (0.5000)  2.452kN
TAB  4.904 kN
Solving:
o
TAD  TAB cos 30
TAD  (4.904 kN)(0.8660)
TAD  4.247 kN
Reporting our answers to three
significant figures:

TAB = 4.90 kN
TAD = 4.25 kN
 Example

If the sack has a weight

of 20 lb, determine the
weight of the sack at B
and the force in each cord
needed to hold the
system in the equilibrium
position shown.
Note: there are four unknowns, the tension in
the three cords and the weight B. We can
draw free-body diagrams of points E and C.

Each FBD yields two equilibrium equations.

Thus, we will have four equations to solve for
out four unknowns.
FBE of E
 Fx  0
o o
TEG sin 30  TEC cos45  0
TEG (0.5000)  TEC (0.7071)  0
TEG  1.4142 TEC
 Fy  0
TEG cos 30o  TEC sin 45o  20 lb  0
TEG (0.8660)  TEC (0.7071)  20 lb  0
(1.4142)(TEC )(0.8660)  TEC (0.7071)  20 lb  0
0.5176 TEC  20 lb
Solution  Fx  0
TEG  1.4142 TEC
 Fy  0
0.5176 TEC  20 lb

TEC  38.6 lb
TEG  54.6 lb
FBD of C
 Fx  0
TCE cos45  TCD 4
o
 5  0
38.6 (0.7071)  TCD  0.8000   0
TCD  34.2 lb
 Fy  0
o
 5  W
TCE sin 45  TCD 3 B 0

38.6(0.07071)  34.2  0.6000   WB  0

WB  47.8 lb
 Answers

TEC  38.6 lb TCD  34.2 lb

TEG  54.6 lb WB  47.8 lb
Example

Determine the required length of cord AC so that the 8 kg

lamp is suspended in the position shown. The undeformed
length of spring AB is 0.4 m and the spring has a stiffness of
300 N/m
FBD of A

 m
W   9.81 2   8 kg   78.5 N
 s 
Equilibrium

 x
F  0  TAB  TAC cos 30 o
0

 Fy  0  TAC sin 30 o
 78.5N  0

TAC  157.0 N
TAB  136.0 N
 Spring
TAB  136.0 N
TAB  k AB s AB
N
136.0 N  300 s AB
m
s AB  0.453m
Stretched length:
LAB  0.4 m  0.453 m  0.853 m
 CORD CA

Horizontal Distance from C to A:

o
2 m  L AC cos 30  0.853 m

L AC  1.32m
Rectangular Components

r r r r
A  Ax  A y  Az
 Unit Vectors
Unit Vector: a vector having magnitude of 1.

r
A
û A 
A
or
r
A  Aû A
 r
A
A

û A
 Cartesian Unit Vectors
Unit Vectors in Coordinate Directions:

î Unit vector in the x-direction

ˆj Unit vector in the y-direction

k̂ Unit vector in the z-direction

Cartesian Vector Representation

r
ˆ ˆ ˆ
A  Ax i  Ay j  Az k
r
A  Ax ˆi  Ay ˆj  Az kˆ
 Magnitude

A A  Az
2 2

A  2
Ax  Ay 2

2 2 2
A Ax  Ay  Az
, , and  are the
coordinate direction
angles.
These are the angles
between A and the
reference axes.
The cosines of these
angels are called the
direction cosines.
 Direction Cosines

Ax
cos   Ay
A cos  
A Az
cos  
A
 r
A  Ax ˆi  Ay ˆj  Az kˆ

r
A Ax ˆ A y ˆ Az ˆ
û A   i j k
A A A A

û A   cos   ˆi   cos   ˆj   cos   kˆ

 Important Relationship
r
A  A uˆ A
r
A  A cos  ˆi  A cos  ˆj  A cos  kˆ
r
A  Ax ˆi  Ay ˆj  Az kˆ
 Addition and Subtraction of
Cartesian Vectors
r
A  Ax ˆi  Ay ˆj  Az kˆ
r
B  Bx ˆi  B y ˆj  Bz kˆ

r r r
R AB
r
 
R   Ax  Bx  ˆi  Ay  B y ˆj   Az  Bz  kˆ
 Addition and Subtraction of
Cartesian Vectors
r
A  Ax ˆi  Ay ˆj  Az kˆ
r
B  Bx ˆi  B y ˆj  Bz kˆ

r r r
R  A  B
r
 
R    Ax  Bx  ˆi  Ay  B y ˆj   Az  Bz  kˆ
 Concurrent Force Systems

A concurrent force system is one in which the lines

of action of all forces intersect at a common point.

r r
FR   F  Fx i   Fy j   Fz k
ˆ ˆ ˆ
Example

Determine the magnitude

and coordinate direction
angles of the resultant
force on the ring and
 Example
r
For F1 :
1  45o 1  60o 1  120o
r
F1  F1 cos 1ˆi  F1 cos 1ˆj  F1 cos 1kˆ
r
F1   300 N  cos 45o ˆi   300 N  cos60 o ˆj   300 N  cos120o kˆ
r
F1   212.2iˆ  150ˆj  150kˆ  N
 Example
r
F1   212.2iˆ  150ˆj  150kˆ  N
r
F2  F2x ˆi  F2y ˆj  F2z kˆ
r
FR  800ˆj N
 Example
r r r
FR  F1  F2

800ˆj  212.2iˆ  150ˆj  150kˆ  F2x ˆi  F2y ˆj  F2z1kˆ

800ˆj   212.2  F2x  ˆi   150  F2y  ˆj   150  F2z  kˆ
FRx  212.2  F2x  0  F2x  212.2N
FRy  150  F2y  800  F2y  650N
FRy  150  F2z  0  F2z  150N
 Example
r

F2  212.2iˆ  650ˆj  150kˆ N 
700   212.2  2
  650    150 
2 2

212.2  212.2  1 o
cosα 2   α 2  cos    108
700  700 
650 1  650  o
cosβ2   2  cos    21.8
700  700 
150 1  150  o
cos γ 2    2  cos    77.6
700  700 
Position Vectors
 Coordinates
1. Right hand coordinate system
2. z - positive upwards
3. Position vector given by:
Cartesian Vector Form

r ˆ ˆ ˆ
r  x i  yj  zk
Relative Position Vectors
Force Along a Line

r r
 r
F  Fuˆ  F  
r
 Example

The man shown in the figure

pulls on a cord with a force
of 70 lb. Represent the force
acting on support A as a
Cartesian vector and
determine its direction.
 Position Vector
r
rAB  ( xB  xA )iˆ  ( yB  yA )jˆ  ( zB  zA )kˆ
Locate Points of Interest:
A  0ft, 0ft, 30ft  B  12ft, 8ft, 6ft 
r
rAB  (12  0)iˆ  ( 8  0)jˆ  (6  30)kˆ
r
 
rAB  12iˆ  8jˆ  24kˆ ft
 Unit Vector
r

rAB  12iˆ  8jˆ  24kˆ ft 
 12   8    24   28ft
2 2 2
rAB 

r
û AB 
rBA

rBA 28
1 ˆ ˆ ˆ 3ˆ 2ˆ 6 ˆ
12i  8j  24k  i  j  k
7 7 7

 Force Vector
3ˆ 2ˆ 6 ˆ
û AB  i  j  k
7 7 7
r  3ˆ 2ˆ 6 ˆ
F  Fuˆ AB  70 lb  i  j  k 
7 7 7 
r
 
F  30iˆ  20jˆ  60kˆ lb
Direction Angles
3ˆ 2ˆ 6 ˆ
û AB  i  j  k
7 7 7
3 o
cos      64.6
7
2 o
cos       107
7
6
cos       149o
7
u AB
 3D Equilibrium
r
F  0

where F is the vector

sum of all forces acting
on the particle.
Three-Dimensional Force System

Use i , j, and k unit vectors.

r
F  0
 x  y  z
F ˆi  F ˆj  F kˆ  0
  Fx  0
 Fy  0
 Fz  0
Scalar equations of equilibrium require that the
algebraic sum of the x, y and z components of all the
forces acting on a particle be equal to zero.
  Fx  0
 Fy  0
 Fz  0
Three equations means only three unknowns can be
solved for from a single FBD.
 Procedure for Analysis

Free-Body Diagram
1. Establish the x, y, and z axes in any
suitable orientation.
2. Label all known and unknown force
magnitudes and directions on the FBD.
3. The sense of an unknown force may be
assumed.
 Procedure for Analysis
Equations of Equilibrium

1. Resolve force vectors into Cartesian components.

2. Apply equations of equilibrium.

 Fx  0 ,  Fx  0 , and  Fy  0
3. If solution yields a negative result the force is in the
opposite sense of that shown on the FBD.
Example
A 90 lb load is suspended
from the hook as shown. The
load is supported by two
cables and a spring with
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
Equilibrium Equations
4
 Fx  0 FD sin 30  5 FC  0
o

 Fy  0 o
 FD cos 30  FB  0

3
 Fz  0 5
FC  90 lb  0
 o 4
FD sin 30  FC  0
Solution 5
o
 FD cos 30  FB  0
3
FC  90 lb  0
5

FC  150 lb
FD  240 lb
FB  208 lb
Stretch
FB  208 lb
FB  k s AB
lb
208 lb  500 s AB
ft
s AB  0.416 ft
Example
Determine the magnitude
and coordinate direction
angles of the force, F,
required for equilibrium
of particle O.
Free Body Diagram
 Vector Forces
 

F1  400 ˆj N

 

F2  800 kˆ N

  ˆ ˆ ˆ 
  rOB   2 i  3 j  6 k 
F3  F3    700 N
 rOB   2 
  2    3    6  
2 2

 

F3  200iˆ  300 ˆj  600 kˆ N

F  Fx ˆi  Fy ˆj  Fz kˆ
 
Equilibrium  F0
   
F1  F2  F3  F  0

400 ˆj  800 kˆ  200iˆ  300 ˆj  600 kˆ

 F ˆi  F ˆj  F kˆ  0
x y z

 Fx  0  200  Fx  0
 Fy  0 400  300  Fy  0

 Fz  0  800  600  Fz  0
 Solution

200  Fx  0  Fx  200 N
400  300  Fy  0  Fy  100 N
800  600  Fz  0  Fz  200 N
Solution

F  200 ˆi  100 ˆj  200 kˆ N 
 200    100    200   300 N
2 2 2
F
2ˆ 1ˆ 2 ˆ
û F  i  j  k
3 3 3
1  2 
  cos    48.2o
 3
 1
  cos 1     109o
 3
1 
2
  cos    48.2o
 3
 Example

Determine the force in

each cable used to
support the 40 lb crate.
Free Body
Diagram
Express each force in Cartesian vector form.

The locations (in feet) of the three points are:

A (0, 0, 0) B (-3, -4, 8)

C (-3, 4, 8)
r
FB  FB uˆ AB
r
FC  FC uˆ AC
r
FD  FD uˆ AD
Vector  
 rAB 

 3 ˆi  4jˆ  8 kˆ


FB  FB    FB 
Forces  rAB    3    3    8 
2 2 2 


FB  0.318 FB ˆi  0.424 FB ˆj  0.848 FB kˆ
  ˆi  4 ˆj  8 kˆ 
  rAC    3 
FC  FC    FC
 rAC  
  2    3    8 
2 2 2


FC  0.318 F ˆi  0.424 F ˆj  0.848 F kˆ
C C C

FD  FD ˆi
 

W  40 kˆ lb
Equilibrium

 
 F0
 
FB  FC  FD  W  0

0.318 FB ˆi  0.424 FB ˆj  0.848 FB kˆ

0.318 F ˆi  0.424 F ˆj  0.848 F kˆ  F ˆi  40 kˆ  0
C C C D

 Fx  0  0.318 FB  0.318 FC  FD  0
 Fy  0  0.424 FB  0.424 FC  0

 Fz  0 0.848 FB  0.848 FC  40  0
Solution
0.318 FB  0.318 FC  FD  0
0.424 FB  0.424 FC  0
0.848 FB  0.848 FC  40  0

FB  FC  23.6 lb
FD  15.0 lb