ECOR 1101 Mechanics I

Sections D and E

Jack van den Berg

Lecture 04 – Equilibrium and FBDs

(Chapter 3: Sections 3.1-3.4)

January 20, 2015

2D and 3D Equilibrium of a particle

Objectives
Learn the concept of free-body diagrams;
Learn to solve problems involving particles in equilibrium;
and,
Learn to use equilibrium equations using cartesian vector
coordinates.

ECOR1101 – Mechanics I 2
Equilibrium of a Particle

 A particle is in equilibrium if:

 It remains at rest under action of a system of forces, or,
 It continues in its state of motion with constant velocity
under action of a system of forces.
 For a particle to be in equilibrium the resultant of all
forces acting on it must be zero.

 Satisfies Newton’s 1’st law of motion

 The above equation represents the necessary and
sufficient condition for equilibrium of a particle in
space.

ECOR1101 – Mechanics I 3
Equilibrium of a Particle

 According to Newton’s 2nd law of motion, if F = ma = 0,

 the particle is in equilibrium since a = 0 and F = 0
 i.e. the particle is under constant velocity or is at rest.
 The equilibrium equation can be used to solve problems
dealing with equilibrium of a particle involving no more
than three unknowns.

ECOR1101 –Mechanics I 4
Free-body Diagrams (FBD)

 To apply the equations of equilibrium to a particle all

forces (known and unknown) must be accounted for.
 The best way to do this is to isolate the particle from its
surroundings to form a “free-body diagram (FBD)”.
 Then apply all the forces (known and unknown) acting
on the particle.
 Finally, solve for the unknown forces.

ECOR1101 –Mechanics I 5
Procedure for drawing FBD

 Isolate particle from its surrounding;

 Sketch outline shape of particle with all forces (active
and reactive) indicated;
 Label all forces (known and unknown) with both their
magnitudes and directions;
 If you know that an unknown force is in tension, do you
draw it away or towards the particle?

ECOR1101 –Mechanics I 6
Free Body Diagrams (FBDs)

7
FBDs
 Rigid Bodies
 Springs
 Hooke’s law
 F=ks
 F = spring constant x displacement

 Cables (assumptions)
 Must be in tension
 Negligible weight
 Do not stretch
 Frictionless pulley

8
FBDs
Draw a FBD of the cable AB and of the joint C.

9
 Sample Problem
z
8m
B
A 200-kg cylinder is hung by means of two
10 m
cables AB and AC, which are attached to the
top of a vertical wall. A horizontal force P
P A C perpendicular to the wall holds the cylinder in
the position shown. Determine the magnitude
12 m of P and the tension in each cable.
1.2 m
2m Introduce unit vectors i, j, k along
z
B y
orthogonal axes and resolving forces:
x
P = Pi + 0j + 0k
TAB
k
A C W = 0i + 0j - mgk =
TAC = 0i + 0j - 2009.81k
P
= 0i + 0j -1962Nk
w j
i
Assume force in members AB and AC are
y
TAB and TAC respectively.
x
ECOR1101 –Mechanics I 10
rAB = (-1.2m)i - (8m)j + (10m) k
rAC = (-1.2m)i + (10m)j+ (10m)k

rAB   1.22   82  10 2  12.862 m

rAC   1.22  102  102  14.193 m
rAB
u AB   0.093i  0.622 j  0.778k, m
rAB
rAC
u AC   0.0846i  0.7046 j  0.7046k, m
rAC

Since the cylinder is under equilibrium:

F  F  F  F
x y z 0
 P  W  T AB u AB  TAC u AC  0

F X  0  P  0  0.093TAB  0.0846TAC  0  P  0.093TAB  0.0846TAC

F y  0  0  0  0.622TAB  0.7046TAC  0  TAB  1.133TAC
F z  0 0  1962  0.778TAb  0.7046TAC  0  TAB  0.9056TAC  2521.851

TAB  1401.6 N  1.40 kN

TAC  1237.1 N  1.24 kN
P  235 N
ECOR1101 – Mechanics I 11
Cables, Springs and Pulleys

Cables (or cords), in general, are

assumed to have the following
properties:
Weightless;
Supports only tension in the
direction of the cable (cannot be
pushed);
Cannot stretch (i.e. increase in
length under load);
A cable passing over a frictionless
pulley has a constant magnitude.

ECOR1101– Mechanics I 12
 Cables, Pulleys and Springs

 Springs, when deformed, exert

a force proportional to the
amount of deformation.
 Springs are often defined by the
spring constant or stiffness k
 The magnitude of force exerted
on a linearly elastic spring with
stiffness k is given by:
F = ks
s = l − lo,
lo = un-stretched length,
l = stretched length

ECOR1101– Mechanics I 13
Coplanar Force Systems (2D)

 If a particle is
y
subjected to a system
of coplanar forces (x-y
plane), then the forces F1y
F1
can be resolved and
F2x
equilibrium equations
x
F1x
applied.

F2y
F2

The two equations of equilibrium can

be solved for at most two unknowns.
Application of the equation must take
into account direction of components of
the force.
ECOR1101–Mechanics I 14
Procedure For Analysis of Coplanar (2D) Force Equilibrium

 Establish x-y axes

 Draw a free-body diagram
 Draw and label all forces (known and unknown) with
magnitudes, sense and direction
 Choose an arbitrary direction for unknown forces
 Resolve forces in x-y axes
 Apply equations of equilibrium
 Assume a +ve direction for the purpose of writing your
equation of equilibrium
 Solve for unknown forces
 Compare your answers to your original assumption (not to
the +ve direction when writing your equations)
 Redraw your FBD with all Forces as positive numbers

ECOR1101 – Mechanics I 15
 Three-Dimensional (3D) Force Systems
 Conditions for equilibrium
z
F  0 F2z
F2

 Resolve forces into respective F1x

F1
F2y F1z
Cartesian components, i, j, k
F  0
 F i   F j  F k  0
x y z F2x F1y
F  0
x
y
F 0
y
x
F  0
z

The three equation of equilibrium are algebraic sums

of force components and can be used to find at most
three unknowns (coordinate direction angles or
magnitudes of forces acting on a particle)

ECOR1101 – Mechanics I 16
Procedure For Analysis of 3D Force Systems
 Establish x-y-z axes
 Draw a free-body diagram
 Draw and label all forces (known and unknown) with
magnitudes, sense and direction
 Choose an arbitrary direction for unknown forces
 Resolve forces in x-y-z axes using 3-D Cartesian vectors
 Apply equations of equilibrium
 Assume a +ve direction for the purpose of writing your
equation of equilibrium
 Solve for unknown forces
 Compare your answers to your original assumption (not to
the +ve direction when writing your equations)

ECOR1101 – Mechanics I 17
Sample Problem

The shear leg derrick is

used to haul the 200-kg net
of fish onto the dock.
Determine the compressive
force along each of the
legs AB and CB and the
tension in the winch cable
DB. Assume the force in
each leg acts along its axis.

ECOR1101 – Mechanics I 18
 z
B

4
FBD FBC
FBA W
C
2 y
D
5.6 4
A
2

Write the coordinates for points A, B, C, and

x
D, position vectors, unit vectors, Force
Vectors.
A (2m, 0, 0)
B (0, 4m, 4m)
C (-2m, 0, 0)
D (0, -5.6m, 0)

ECOR1101 – Mechanics I 19
rBA = 2mi − 4mj − 4mk

rBC = − 2mi − 4mj − 4mk

rBC  2i  4 j  4k
u BC    0.333i  0.667 j  0.667k, m
rBC (2)   4    4 
2 2 2

rBD = 0mi − 9.6mj − 4mk

r 0i  9.6 j  4k
u BD  BD   0i  0.923j  0.385k, m
rBD (0)   9.6    4 
2 2 2

W = 0i + 0j – (2009.81)k
= 0i + 0j − 1962Nk

ECOR1101 – Mechanics I 20
 z
B

FBD FBC
FBA W
C

y
D
A

F  0  F u  F u  F
BA BA BC BC BD u BD  W  0
 F  0  0.333F  0.333F
x BA BC 0
x
 FBA  FBC
F y  0  0.667 FBA  0.667 FBC  0.923FBD  0
 FBD  1.445 FBA
F z  0  0.667 FBA  0.667 FBC  0.385 FBD  1962  0

FBA  2521.85 N  2.52 kN

FBC  2.52 kN
FDB  3.65 kN
ECOR1101 – Mechanics I 21
Problem F3-8

Determine the tension developed in cables AB, AC, and AD.

22
Problem 3-59
Determine the maximum weight of the crate that can be supported
from cables AB, AC, and AD so that the tension developed in any
one of the cables does not exceed 250 lb.

23
Problem 3-61
If cable AD is tightened by a turnbuckle and develops a tension of
1,300 lb, determine the tension developed in cables AB and AC
and the force developed along the antenna tower AE at point A.

24
Problem 3-77
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 forces acting in each of the members required
for equilibrium at the joint.

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