ECOR 1101 Mechanics I

Sections C and F
Jack Vandenberg

Lecture 04 Equilibrium and FBDs

(Chapter 3 Sections 3.1-3.4)
January 20/21, 2014

2D and 3D Equilibrium of a particle

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

ECOR1101 Mechanics I

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.
FR F x Fy Fz 0

Satisfies Newtons 1st law of motion

The above equation represents the necessary and

sufficient condition for equilibrium of a particle in
space.

Equilibrium of a Particle
According to Newtons 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

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

ECOR1101 Mechanics I

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

Free Body Diagrams (FBDs)

FBDs
Rigid Bodies
Springs
Hookes law
F=ks
F = spring constant x displacement

Cables (assumptions)

Must be in tension
Negligible weight
Do not stretch
Frictionless pulley

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

Sample Problem

z
8m

A 200-kg cylinder is hung by means of two

cables AB and AC, which are attached to the
top of a vertical wall. A horizontal force P
perpendicular to the wall holds the cylinder in
C
the position shown. Determine the magnitude
12 m of P and tension in each cable

10 m

A
1.2 m

2m

TAB

k
A

P
i

TAC
w

Introduce unit vectors i, j, k along

orthogonal axes and resolve forces
P = Pi + 0j + 0k
W = 0i + 0j - mgk =
= 0i + 0j - 2009.81k = 0i + 0j -1962Nk,
N
For forces TAB and TAC we need their
respective unit vectors

y
x

ECOR1101 Mechanics I

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rAB = (-1.2m)i - (8m)j + (10m) k

rAC = (-1.2m)i + (10m)j+ (10m)k

1.2 2 8 2 10 2 12.862 m
1.2 2 10 2 10 2 14.193 m

rAB
rAC
u AB

rAB
0.093i 0.622 j 0.778k, m
rAB

u AC

rAC
0.0846i 0.7046 j 0.7046k, m
rAC

Since the cylinder is under equilibrium:

F F F F
x

P W T AB u AB TAC u AC 0

F
F
F

0 P 0 0.093TAB 0.0846TAC 0 P 0.093TAB 0.0846TAC

0 0 0 0.622TAB 0.7046TAC 0 TAB 1.133TAC

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

ECOR1101Mechanics 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 = unstretched length,
l = stretched length

ECOR1101Mechanics I

13

Coplanar Force Systems (2D)

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

F1

F1y
F2x

F1x

F2

F2y

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
ECOR1101Mechanics 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

ECOR1101Mechanics I

15

Three-Dimensional (3D) Force Systems

Conditions for equilibrium

F 0

Resolve forces into respective

Cartesian components, i, j, k

F 0
F i F j F k 0
F 0
F 0
F 0
x

F2
F2z
F2y

F2x

F1

F1x

F1z

F1y

y
x

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)

ECOR1101Mechanics I

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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
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)

ECOR1101Mechanics 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.

ECOR1101Mechanics I

18

4
FBD

FBC

FBA

5.6

C
y

4
2

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

D, position vectors, unit vectors, Force
Vectors
A(2m, 0, 0)
B(0, 4m, 4m)
C(-2m, 0, 0)
D(0, -5.6m, 0)
ECOR1101Mechanics I

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rBA = 2mi 4mj 4mk

u BA

rBA
2i 4 j 4k

0.333i 0.667 j 0.667k

2
2
2
rBA
(2) 4 4

rBC = 2mi 4mj 4mk

u BC

rBC
2i 4 j 4k

0.333i 0.667 j 0.667k, m

2
2
2
rBC
(2) 4 4

rBD = 0mi 9.6mj 4mk

u BD

rBD
0i 9.6 j 4k

0i 0.923 j 0.385k, m
2
2
2
rBD
(0) 9.6 4

W = 0i + 0j (2009.81)k
= 0i + 0j 1962Nk

ECOR1101Mechanics I

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z
B

FBD

FBC

FBA
C

D
A

F 0 F u F u F
F 0 0.333F 0.333F
BA

BA

BC

BC

BA

BD

BC

u BD W 0

FBA FBC

0 0.667 FBA 0.667 FBC 0.923FBD 0

0 0.667 FBA 0.667 FBC 0.385 FBD 1962 0

FBD 1.445 FBA

z

FBA 2521.85 N 2.52 kN

FBC 2.52 kN
FDB 3.65 kN

ECOR1101Mechanics I

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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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