EML 3004C

Chapter 4: Equilibrium

Equilibrium means balance of forces to

prevent body from translating, and balance of
moments to prevent body from rotating.
Vector analysis in 3-D is the preferred method
of solution.

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-1
 EML 3004C

4.1 Conditions for Equilibrium

Equilibrium means that the object is at rest (if originally at rest), or

in constant velocity (if originally moving).

F  0 (Static)

 F  ma (dynamic) but a  0 for static

Let Fi be the external force and f i be the

internal force. Then  F +  f = 0.
i i

Since for equilibrium  f = 0, we have  F  0

i

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-2
 EML 3004C

4.1 Conditions of Equilibrium Con’t

Moment about any point O,

M = 0

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-3
 EML 3004C

4.2 Free Body Diagrams

Need to know how to represent support and contact

conditions.
If a support prevents translation in any direction, we have a
reaction force in that direction.
If a support prevents rotation in any orientation, then we
have a couple moment exerted.
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-4
 EML 3004C

4.2 Free Body Diagrams Con’t

Weight always acts at the center of gravity.

W=mg

Consider the case

of springs.

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-5
 EML 3004C

4.2 Free Body Diagrams Con’t

Consider the cantilever

beam supported by a
fixed support at A.

Free body
diagram

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-6
 EML 3004C

Free Body Diagrams of a Platform

Consider the
platform
Exclude all other
effects except the
platform now!

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-7
 EML 3004C

4.3 Equations of Equilibrium

In two dimensions (x-y plane)

 F   F  F
x y z 0
Rarely though
 F   M   M 0
a A B

 M   M   M 0
A B C

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-8
 EML 3004C

4.3 Supports and Reactions

Supports are idealized first. Reaction forces (magnitude

and direction) and moments then depends on the type of
support.

Roller allows motion along

the plane. Reaction force is
perpendicular to the
surface.

Rocker allows rotation at

that point. Reaction force
is perpendicular to the
surface.
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-9
 EML 3004C

4.3 Supports and Reactions-2

Pin connected to a collar.
Reaction force is
perpendicular to the rod.

Hinge allows motion both in x

and y direction but no rotation.
Reaction force in x and y only.
F not along member

Fixed allows no rotation

and no translation.
Reaction force vector and
moment will result.
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-10
 EML 3004C

4.3 Analysis Precedure

First draw the free body

diagram for the loading
shown to the right.

Apply equations of
equilibrium through force
and moment balance.

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-11
 EML 3004C

Problem 4-3 (page 138, Section 4.1-4.3)

4.3 Draw the free-body diagram of the automobile, which has
a mass of 5 Mg and center of mass at G. The tires are free to
roll, so rolling resistance can be neglected. Explain the
significance of each force on the diagram.

Solution:
W  effect of gravity
(weight) on the car.
T = effect of the cable
on the car.
N A and N B = effect of the
road surface on the car.

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-12
 EML 3004C

Problem 4-7 (page 139, Section 4.1-4.3)

4.7 Draw the free body diagram of the beam. The incline at B
is smooth.

Solution:

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-13
 EML 3004C

Problem 4-17 (page 154, Section 4.4-4.5)

4.17 Determine the stretch of each spring for

equilibrium of 20-Kg block. The springs are
shown in their equilibrium position.

Solution:
Equilibrium:
Spring AD
+ F y = 0; FAD  20(9.81)  0
Spring AB and AC
4
+   Fy = 0; FAB  FAC sin 45=0
5
3
+   Fx = 0; FAB  FAC cos 45  196.2=0
4
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-14
 EML 3004C

4.17 Determine the stretch of each spring

for equilibrium of 20-Kg block. The
springs are shown in their equilibrium
position.

Solution-Con’t (slide 2)
Solving Eq. 1 and 2 yields:
FAC  158.55 N FAB  140.14N
Spring elongation:
140.14
x AB   0.467m
300
158.55
x AC   0.793m
200
196.2
x AD   0.490m
400
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-15
 EML 3004C

4.4 Two-Force Members

Two force members are trusses that have forces (tension or
compression) but not couple moments.
Resolve all the forces at A and B so that
FA  F1  F2  F3 and FB  F4  F5  F6
If FA and FB are collinear then FA  FB and M  0.
Then the body is a two-force member.
It can be either in compression FA < 0
or tension FA > 0

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-16
 EML 3004C

4.4 Two and Three-Force Members

If a member is subjected to three coplanar

forces, then the forces should either be
concurrent or coplanar for equilibrium.

Hydraulic
cylinder is a
two-force
member

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-17
 EML 3004C

Problem 4-26 (page 155, Section 4.4-4.5)

4.26 Determine the horizontal and vertical

components of reaction at the pin A and the
force in the short link BD.

Solution:
CCW + M A  0;
8 (1.5 cos 30) - FBD (0.5 sin 30) = 0
FBD  41.57 kN = 41.6 kN
  Fx  0;
+
41.57 - Ax  0 Ax  41.6 kN
   Fy  0;
Ay 8  0 A y  8 kN
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-18
 EML 3004C

4.5 Equilibrium in 3-D

The concept of equilibrium in 3-D is similar. Here we need to solve all
the known and unknown in 3-D. Once again we need to know the
reaction forces and moments for each type of support, see Table 4-2

Ball- Only 3 forces Pin- All except 1 moment

Bearing- 2 forces+2 moments Fixed- All 6 forces & moments

Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-19
 EML 3004C

4.6 Equations of Equilibrium

In 3-D we apply all the equations of motion

F  0
M  0
The same equations can be written as a set of six scalar equations.

F  F  F  0
x y z

M  M  M  0
x y z

Procedure for Analysis:

1. Draw Free body diagram for the body under analysis
2. Mark all the reaction and external forces/moments.
3. Use the above equations to solve.
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-20
 EML 3004C

Problem 4-68 (page 174, Section 4.6-4.7)

4.68 Member AB is supported by a cable BC and at A by
a smooth fixed square rod which fits loosely through the
square hole of the collar. If the force F = - 45k lb,
determine the tension in cable BC and the x, y, z
components of reaction at A.
Solution: Force Vector:
 12i + 4j + 6k 
FBC  FBC  
 (12) 2  4 2  6 2 
 
6 2 3
= - FBC i + FBC j + FBC k
7 7 7
Equilibrium:
3
 z F  0;
7
FBC - 45 = 0

FBC  105 lb
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-21
 EML 3004C

4.68 Member AB is supported by a cable BC

and at A by a smooth fixed square rod which
fits loosely through the square hole of the
collar. If the force F = - 45k lb, determine
the tension in cable BC and the x, y, z
components of reaction at A.
Solution-Con’t (slide 2)
F x  0;
6
Ax  (105)  0 Ax  90 lb
7
 Fy  0;
2
Ay  (105)  0 Ay  30 lb
7
 M x  0;
3
M Ax  (105)(4)  0 M Ax  180 lb  ft
7
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-22
 EML 3004C

4.68 Member AB is supported by a cable BC

and at A by a smooth fixed square rod which
fits loosely through the square hole of the
collar. If the force F = - 45k lb, determine
the tension in cable BC and the x, y, z
components of reaction at A.
Solution-Con’t (slide 3)
 M y  0;
3
M Ay  45 (12)  (105) (12)  0
7
M Ay  0
M z  0;
2 6
M Az  (105) (12) + (105) (4) = 0
7 7
M Az  720 lb  ft
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-23
 EML 3004C

4.7 Friction

Friction is the force of resistance offered by

a body that prevents or retards a body from
motion relative to the first.
Friction always acts tangent to the surface
and opposing any possible motion.

Friction is caused by small asperities as

shown here.

We should consider all the

minor surface asperities to get
a distributed load .

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-24
 EML 3004C

4.7 Friction-2
Frictional coefficient changes from
static to kinetic when the value
reduces..

Consider the motion of the

following structure.

Seven unknowns:
N A , FA , Bx , By , P, N c , Fc

Two sets of 3 equations

and
Friction  F = s N

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-25
 EML 3004C

4.7 Friction-3
But we use simple law suggested by Coloumb for two possible cases.
Impending (or possible) motion-statics  Fs   s N
Actual motion-kinetic  Fk   k N
First we still need to establish equilibirum to find N
For static conditions, we use F friction   s N

For dynamics conditions, we use Ffriction  k N

Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-26
 EML 3004C

4.7 Tipping or impending motion

Tipping during motion or sliding depends if the

clockwise moment at the bottom corner is CW or CCW.
Evaluate the location of N with respect to W.

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-27
 EML 3004C

Example of pipes stacked

The concrete pipes are stacked. Determine the
minimum coefficient of static friction so that
the pile does not collapse.

Solution:
Draw the Free body diagrams first.

Top
pipe

 M  0;  F  r  F  r  0  F  F
0 A B A B

 F  0;N sin 30  F cos30  N sin 30  F cos30  0

x A B

 F  0;2 N cos30  2 F sin 30  W  0

y
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-28
 EML 3004C

Example of pipes stacked

Solution: Use F  F and N  N

A A

 M  0;  F  r  F .r  0  F  F
0 C C

 F  0;  N sin 30  F cos30  F  0 (2)

x

 F  0;N  W  N cos30  F sin 30  0 (3)

y C

From (2),
F
  s min   0.268
Bottom pipe N

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-29
 EML 3004C

Example of man on a plank

Determine how far d the man can walk up the plank without causing
the plank to slip. s between A and B is 0.3. Man weighs 200 lb.

Solution:

 F  0; F  F cos 30  N cos 60  0
x A B B (1)
 F  0;2 N  F sin 30  N sin 60  200  0
y A B B (2)
 M  0; N cos10(15)  F sin10(15) 
A B B

 200sin 20(3)  200 cos 20( d )  0 (3)

Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-30
 EML 3004C

Example of man on a plank-2

Solution continued

If the plank is on the verge of moving,

slipping would occur at A.

Hence FA   N A and FB   N B  0.3 N B

Substituting in eqns (1), (2) and (3),
d  10.2 ft
N A  110.09 lb and N B  88.14 lb

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-31
 EML 3004C

Problem 4-100 (page 192, Section 4.6-4.7)

4.100 Two boys, each weighing 60 lb, sit at
the ends of a uniform board, which has a
weight of 30 lb. If the board rests at its center
on a post having a coefficient of static friction
of (  s )  0.6 with the board, determine the
greatest angle of tilt  before slipping occurs.
Neglect the size of post and the thickness of the
board in the calculations.
Solution:
  Fx  0;

0.6 N cos  - N sin  =0
tan  = 0.6
 = 31.0
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-32
 EML 3004C

Problem 4-112 (page 195, Review Problems)

4.112 The horizontal beam is supported by springs at its ends.
If the stiffness of the spring at A isk A  5 kN/m , determine
the required stiffness of the spring at B so that if the beam is
loaded with the 800-N force it remains in the horizontal
position both before and after loading.
Solution:
Equilibrium:
CCW + M A  0;
FB (3) - 800 (1) = 0
FB  266.67 N
CCW+ M B  0;
800(2) - FA (3)=0
FA  533.33 N
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 4-33
 EML 3004C

4.112 The horizontal beam is supported by

springs at its ends. If the stiffness of the
spring at A is k A  5 kN/m, determine the
required stiffness of the spring at B so that
if the beam is loaded with the 800-N force
it remains in the horizontal position both
before and after loading.

Solution-Con’t (slide 2)
F
Spring Force Formula: x 
k
x A  xB
533.33 266.67

5000 kB
k B  2500 N/m=2.50 kN/m

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-34
 EML 3004C

Chapter 4: Equilibrium.. concludes

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 4-35