ES16

Engineering Mechanics I:
Statics of Rigid Bodies
Equilibrium of a Particle
Prepared by:
Engr. Marc Lin F. Abonales
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

Condition for the

Equilibrium of a Particle
A particle is said to be in equilibrium if it remains at a state of rest or balance due to the
rest if originally at rest, or has a constant velocity if equal action of opposing forces.
originally in motion.
Most often, however, the term “equilibrium” or, more specifically, “static equilibrium” is used to
describe an object at rest. To maintain equilibrium, it is necessary to satisfy Newton’s first law of
motion, which requires the resultant force acting on a particle to be equal to zero. This condition
may be stated mathematically as
∑F = 0
where ∑F is the vector sum of all the forces acting on the particle.

Not only is the equation above is a necessary condition for equilibrium, it is also a sufficient
condition. This follows from Newton’s second law of motion, which can be written as ∑F = ma.
Since the force system satisfies ∑F = 0, then ma = 0, and therefore the particle’s acceleration a = 0.
Consequently, the particle indeed moves with constant velocity or remains at rest.
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

The Free-Body Diagram

To apply the equation of equilibrium, we must account for all the known and unknown forces (∑F) which act on
the particle. The best way to do this is to think of the particle as isolated and “free” from its surroundings. A
drawing that shows the particle with all the forces that act on it is called a free-body diagram (FBD).
Before presenting a formal procedure as to how to draw a free-body diagram, we will first consider two
types of connections often encountered in particle equilibrium problems.
Springs. If a linearly elastic spring (or cord) of undeformed length l0 is used to support a
particle, the length of the spring will change in direct proportion to the force F acting on it,
as shown in the figure. A characteristic that defines the “elasticity” of a spring is the spring
constant or stiffness k. The magnitude of force exerted on a linearly elastic spring which has
a stiffness k and is deformed (elongated or compressed) a distance s = l - l0, measured from
its unloaded position, is
F = ks
If s is positive, causing an elongation, then F must pull on the spring; whereas if s is
negative, causing a shortening, then F must push on it.
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

The Free-Body Diagram

Cables and Pulleys. Unless otherwise stated, all cables (or cords)
will be assumed to have negligible weight and they cannot stretch.
Also, a cable can support only a tension or “pulling” force, and this
force always acts in the direction of the cable. The tension force
developed in a continuous cable which passes over a frictionless
pulley must have a constant magnitude to keep the cable in
equilibrium. Hence, for any angle 𝜃, shown in the figure, the cable is
subjected to a constant tension T throughout its length.
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

The Free-Body Diagram

Procedure for Drawing a Free-Body Diagram
Since we must account for all the forces acting on the particle when applying the equations of equilibrium, the importance of
first drawing a free-body diagram cannot be overemphasized. To construct a free-body diagram, the following three steps are
necessary.

Draw Outlined Shape.

Imagine the particle to be isolated or cut “free” from its surroundings by drawing its outlined shape.

Show All Forces.

Indicate on this sketch all the forces that act on the particle. These forces can be active forces, which tend to set the
particle in motion, or they can be reactive forces which are the result of the constraints or supports that tend to
prevent motion. To account for all these forces, it may be helpful to trace around the particle’s boundary, carefully
noting each force acting on it.
Identify Each Force.
The forces that are known should be labeled with their proper magnitudes and directions. Letters are used to
represent the magnitudes and directions of forces that are unknown.
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

EXAMPLE.
The sphere in the figure has a mass of 6 kg and is supported as shown.
Draw a free-body diagram of the sphere, the cord CE, and the knot at C.
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

Coplanar Force Systems

If a particle is subjected to a system of coplanar forces that lie in the x–y plane, as shown in the
figure, then each force can be resolved into its i and j components. For equilibrium, these forces
must sum to produce a zero force resultant, i.e.,

For this vector equation to be satisfied, the resultant force’s x and y components must both be equal
to zero. Hence,

These two equations can be solved for at most two unknowns, generally represented as angles and
magnitudes of forces shown on the particle’s free-body diagram. When applying each of the two
equations of equilibrium, we must account for the sense of direction of any component by using an
algebraic sign which corresponds to the arrowhead direction of the component along the x or y
axis. It is important to note that if a force has an unknown magnitude, then the arrowhead sense of the
force on the free-body diagram can be assumed . Then if the solution yields a negative scalar , this
indicates that the sense of the force is opposite to that which was assumed.
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

Coplanar Force Systems

Procedure for Analysis
Coplanar force equilibrium problems for a particle can be solved using the following procedure.
Free-Body Diagram.
• Establish the x, y axes in any suitable orientation.
• Label all the known and unknown force magnitudes and directions on the diagram.
• The sense of a force having an unknown magnitude can be assumed.
Equations of Equilibrium.
• Apply the equations of equilibrium, ∑Fx = 0 and ∑Fy = 0.
• Components are positive if they are directed along a positive axis, and negative if they are directed
along a negative axis.
• If more than two unknowns exist and the problem involves a spring, apply F = ks to relate the spring
force to the deformation s of the spring.
• Since the magnitude of a force is always a positive quantity, then if the solution for a force yields a
negative result, this indicates that its sense is the reverse of that shown on the free-body diagram.
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

EXAMPLE. ANSWERS:
Determine the tension in cables BA and
TA = 420 N
BC necessary to support the 60-kg cylinder as
shown in the figure. TC = 476 N
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

EXAMPLE. ANSWERS:
The 200-kg crate in the figure is suspended
using the ropes AB and AC. Each rope can withstand a 𝜃= 11.3°
maximum force of 10 kN before it breaks. If AB always
remains horizontal, determine the smallest angle 𝜃 to
which the crate can be suspended before one of the
ropes breaks.
 GENERAL ENGINEERING MECHANICS
EQUILIBRIUM OF A PARTICLE

EXAMPLE. ANSWERS:
Determine the required length of cord
AC as shown in the figure so that the 8-kg lamp can lAC = 1.32 m
be suspended in the position shown. The
undeformed length of spring AB is l’AB = 0.4 m, and
the spring has a stiffness of kAB = 300 N/m.
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

Three-Dimensional
Force Systems
It was stated that the necessary and sufficient condition for particle
equilibrium is
∑F = 0
In the case of a three-dimensional force system, as shown in the
figure, the forces can be resolved into their respective i, j, k
components, so that ∑Fxi + ∑Fyj + ∑Fzk = 0. To satisfy this equation
the following are required

These three equations state that the algebraic sum of the components
of all the forces acting on the particle along each of the coordinate axes
must be zero. Using them it can be solved for at most three
unknowns, generally represented as coordinate direction angles or
magnitudes of forces shown on the particle’s free-body diagram.
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

Three-Dimensional
Force Systems
Procedure for Analysis
Three-dimensional force equilibrium problems for a particle can be solved using the following procedure.
Free-Body Diagram.
• Establish the x, y, z axes in any suitable orientation.
• Label all the known and unknown force magnitudes and directions on the diagram.
• The sense of a force having an unknown magnitude can be assumed.
Equations of Equilibrium.
• Use the scalar equations of equilibrium, ∑Fx = 0, ∑Fy = 0, ∑Fz = 0, in cases where it is easy to resolve
each force into its x, y, z components.
• If the three-dimensional geometry appears difficult, then first express each force on the free-body
diagram as a Cartesian vector, substitute these vectors into ∑F = 0, and then set the i, j, k
components equal to zero.
• If the solution for a force yields a negative result, this indicates that its sense is the reverse of that
shown on the free-body diagram.
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

EXAMPLE. ANSWERS:
A 90-lb load is suspended from the hook
as shown in the figure. If the load is supported by FC = 150 lb
two cables and a spring having a stiffness k = 500 FD = 240 lb
lb/ft, determine the force in the cables and the FB = 208 lb
stretch of the spring for equilibrium. Cable AD lies
in the x–y plane and cable AC lies in the x–z plane. sAB = 0.416 ft
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

EXAMPLE. ANSWERS:
Determine the force in each cable used
to support the 40-lb crate as shown in the figure. FB = FC = 23.6 lb
FD = 15 lb
 STATICS OF RIGID BODIES
EQUILIBRIUM OF A PARTICLE

EXAMPLE. ANSWERS:
Determine the tension in each cord used
to support the 100-kg crate shown in the figure. FC = 813 N
FD = 862 N
FB = 694 N