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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
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
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
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
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
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:
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
r r r
R AB
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
r r
FR F Fx i Fy j Fz k
ˆ ˆ ˆ
Example
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
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
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
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 F0
F1 F2 F3 F 0
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
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