EDJ18503 / DNT122

APPLIED MECHANICS

CHAPTER 2 :
EQUILIBRIUM OF
PARTICLE

BY : NOR SHAIFUDIN BIN ABDUL HAMID

CHAPTER INTRODUCTION

2
2.1 Condition For The Equilibrium Of A
Particle
 Particle is at equilibrium if
- At rest
- Moving at constant velocity

 Newton’s first law of motion

∑F = 0
where ∑F is the vector sum of all the forces acting on
the particle
3
2.1 Condition For The Equilibrium Of A
Particle
 Newton’s second law of motion
∑F = ma
 When the force fulfill Newton's first law of
motion,
ma = 0
a=0
therefore, the particle is moving in constant
velocity or at rest

4
2.2 Analysis of Particle Equilibrium
Problems
- Establish the x, y axes
- Label all the unknown and known forces

5
 2.2.1 The Free-Body Diagram

 What? - It is a drawing that shows all external forces

acting on the body/particle.

 Why? - It is key to being able to write the equations

of equilibrium - which are used to solve for the
unknowns (usually forces or angles).

 Consider two common connections in this subject

– Spring
– Cables and Pulleys
6
 2.2.1 The Free-Body Diagram
Spring
- Linear elastic spring: change in length is directly proportional
to the force acting on it
- spring constant or stiffness,k defines the elasticity of the spring
- Magnitude of force when spring is elongated or compressed
F = ks

where s is determined from the difference in spring’s

deformed length l and its undeformed length lo
s = l - lo

If s is positive, F must “pull” on the spring

If s is negative, F must “push” on the spring
7
 2.2.1 The Free-Body Diagram
Example
Given lo = 0.4m and k = 500N/m
To stretch it until l = 0.6m,
F = ks
=(500N/m)(0.6m – 0.4m)
=100N is needed
To compress it until l = 0.2m,
F = ks
=(500N/m)(0.2m – 0.4m) If s is positive, F must “pull” on the spring
If s is negative, F must “push” on the spring
= -100N is needed
8
 2.2.1 The Free-Body Diagram

 Cables and Pulley

– Cables (or cords) are assumed to have
negligible weight and they cannot
stretch.
– Tension always acts in the direction of
the cable.
– Tension force must have a constant
magnitude for equilibrium.
– For any angle θ, the cable is subjected to
a constant tension T.

9
 2.2.1 The Free-Body Diagram
Procedure for Drawing a FBD
1. Draw outlined shape
- Isolate particle from its surroundings
2. Show all the forces that act on particle.
- Active forces: set the particle in motion
- Reactive forces: result of constraints and supports
that tend to prevent motion
3. Identify each forces
- Known forces should be labeled with proper
magnitude and direction
- Letters are used to represent magnitude and
directions of unknown forces
10
 2.2.1 The Free-Body Diagram

Example 1
The sphere has a mass of 6kg and is supported.
Draw a free-body diagram of the sphere, the cord
CE and the knot at C.

11
 2.2.1 The Free-Body Diagram
Solution
FBD at Sphere
 Two forces acting, weight and the force on cord CE.

 Weight of sphere, 6kg (9.81m/s2) = 58.9N

12
 2.2.1 The Free-Body Diagram
Solution
Cord CE
 Two forces acting, force of the sphere and force of the knot
 Newton’s Third Law: FCE is equal but opposite
 FCE and FEC pull the cord in tension
 For equilibrium, FCE = FEC

13
 2.2.1 The Free-Body Diagram
Solution
FBD at Knot
 Three forces acting, force by cord CBA, cord CE and spring CD
 Important to know that the weight of the sphere does not act
directly on the knot but subjected to by the cord CE

14
 2.2.2 Coplanar Force Systems
Example 1
Determine the tension in cables BA and BC necessary
to support the 60kg cylinder in figure

15
 2.2.2 Coplanar Force Systems
Solution
Step 2 : Equation of Equilibrium
Step 1 : Free Body Diagram, FBD
 4
 Fx  0; TC cos 45  TA  0 (1)
5
3
  Fy  0; TC sin 45  TA  60(9.81)  0 (2)
5

from eq(1) TC  1.13TA . Substituting this into eq(2)

3
1.13TA sin 45  TA  60(9.81)  0
5
1.4TA  588.60
TA  420.43N

TC  1.13TA  1.13(420.43N )  475.08 N

16
 2.2.2 Coplanar Force Systems
Example 2
If the sack at A has a weight
of 20N (≈ 2kg), determine
the weight of the sack at B
and the force in each cord
needed to hold the system in
the equilibrium position
shown.

17
 2.2.2 Coplanar Force Systems
Solution : at Point E
Step 1 : Free Body Diagram, FBD Step 2 : Equation of Equilibrium



 Fx  0; TEG sin 30  TEC cos 45  0 (1)
 Fy  0; TEG cos 30  TEC sin 45  20 N  0 (2)

from eq(1) TEG  1.41TEC . Substituting this into eq(2)

1.41TEC cos 30  TEC sin 45  20 N  0

TEC  38.6 N

TEG  1.41TEC  1.41(38.6 N )  54.4 N

18
 2.2.2 Coplanar Force Systems
Solution : at Point C
Step 2 : Equation of Equilibrium
Step 1 : Free Body Diagram, FBD
 4
 Fx  0;  TCD  38.6 cos 45  0 (1)
5
3
  Fy  0; TCD  3.86 sin 45  WB  0 (2)
5

from eq(1)
4
 TCD  38.6 cos 45  0
5
TCD  34.1N

from eq(2)
3
(34.1)  38.6 sin 45  WB  0
5
WB  47.8 N

19
 2.2.2 Coplanar Force Systems
Example 3
Determine the required length of the cord AC so that
the 8kg lamp is suspended. The undeformed length of
the spring AB is l’AB = 0.4m, and the spring has a
stiffness of kAB = 300N/m.

20
 2.2.2 Coplanar Force Systems
Solution :
Step 2 : Equation of Equilibrium
Step 1 : Free Body Diagram, FBD


 Fx  0 ;  TAC cos 30  TAB  0 (1)
 Fy  0 ; TAC sin 30  78.5 N  0 (2)

from eq(2)
TAC sin 30  78.5 N
TAC  157 N

from eq(1)
 157 cos 30  TAB  0
TAB  136 N

21
 2.2.2 Coplanar Force Systems
Solution
TAB = kABsAB; 136.0N = 300N/m(sAB)
sAB = 0.453N
For stretched length,
sAB = lAB - l’AB
lAB = 0.4m + 0.453m
= 0.853m

For horizontal distance BC,

2m = lAC cos 30°+ 0.853m
lAC = 1.32m
22
 2.2.2 Coplanar Force Systems
CLASS EXERCISE
EXERCISE 1
Given: The box weights 550 N and
geometry is as shown.
Find: The forces in the ropes AB
and AC.

Plan:
1. Draw a FBD for point A.
2. Apply the Equation of Equilibrium
to solve for the forces in ropes AB
FC  518.87 N and AC.
FB  477.36 N
23
 2.2.2 Coplanar Force Systems
CLASS EXERSICE
Solution : At Point A
Step 2 : Equation of Equilibrium
Step 1 : Free Body Diagram, FBD  

4
Fx  0 ;  FB cos 30  FC  0 (1)
5
3
y   Fy  0 ; FB sin 30  FC  550 N  0 (2)
FC 5
FB
5 3 0.8
30˚ 4 from eq(1), FB  FC N  0.92 FC
A cos 30
x

subs FB  0.92 FC into eq (2)

FD = 550 N 3
0.92 FC sin 30  FC  550 N  0
5
FC  518.87 N

FB  0.92 FC  0.92(518.87)  477.36 N

24
 2.2.2 Coplanar Force Systems
CLASS EXERCISE
EXERCISE 2 Given: The mass of lamp is 20 kg
and geometry is as shown.
Find: The force in each cable.

Plan:
1. Draw a FBD for Point D.
2. Apply Equation of Equilibrium at
Point D to solve for the unknowns
(FCD & FDE).
FDE  392.40 N
FDC  339.83N 3. Knowing FCD, repeat this process at
FAC  242.13N point C.
FBC  275.14 N
25
 2.2.2 Coplanar Force Systems
CLASS EXERSICE
Solution : At Point D
Step 2 : Equation of Equilibrium
Step 1 : Free Body Diagram, FBD


 Fx  0 ;  FDC  FDE cos 30  0 (1)

y  Fy  0 ; FDE sin 30  FDF  0 (2)

FDE
FDC
from eq(2),
30˚
D FDE sin 30  FDF  0
x
20(9.81)
FDE   392.40 N
sin 30
FDF =20(9.81)N

subs FDE  392.40 N into eq (1)

 FDC  392.40 cos 30  0
FDC  339.83N

26
 2.2.2 Coplanar Force Systems
CLASS EXERSICE
Solution : At Point D
Step 2 : Equation of Equilibrium
Step 1 : Free Body Diagram, FBD  

3
Fx  0 ;  FAC  FCD  FBC sin 45  0 (1)
5
4
  Fy  0 ; FAC  FBC cos 45  0 (2)
5

FAC y
FBC cos 45
from eq(2), FAC   0.88FBC
5
0.8
4
FCD =339.83N
3
subs FAC  0.88FBC into eq (1)
C x
FBC 3
 (0.88FBC )  FCD  FBC sin 45  0
45˚ 5
FBC  275.14 N

FAC  0.88FBC  0.88(275.14)  242.13N

27
 2.2.2 Coplanar Force Systems
CLASS EXERSICE
FE 1011,1314

Two spring are used to suspend

the 2 kg wooden box as shown
in Figure 2 below. The springs
are shown in equilibrium position.
Determine the stretch in each
spring.
FAC  15.85 N
FAB  14.01N

S AC  0.79m
S AB  0.47m

28
 2.2.2 Coplanar Force Systems
CLASS EXERSICE
Solution Step 2 : Equation of Equilibrium
Step 1 : Free Body Diagram, FBD  3 4

 Fx  0 ;  FAC  FAB  0 (1) 2M
4.24 5
3 3
 Fy  0 ; FAC  FAB  2(9.81)  0 (2)
4.24 5 2M

Solving eq(1) & (2),

FAC  15.85 N
2M
FAB  14.01N

F  kS
F 15.85 N
S AC  AC   0.79m 2M
k AC 20 Nm 1
FAB 14.01N
S AB    0.47m 2M
k AB 30 Nm 1
29
 2.2.2 Coplanar Force Systems
ATTENTION QUIZ
1. Select the correct FBD of particle A.

A
30 40

100 N

F1 F2

A) A B)
30 40°
100 N
A
F1 F2
F
C) D) 30° 40°
30°
A
A

100 N 100 N
30
 2.2.2 Coplanar Force Systems
ATTENTION QUIZ

2. Using this FBD of Point C, the sum of forces in

F2
the x-direction ( FX) is ___ . Use a sign
20 N 50°
convention of +  .
C

F1
A) F2 sin 50° – 20 = 0
B) F2 cos 50° – 20 = 0
C) F2 sin 50° – F1 = 0
D) F2 cos 50° + 20 = 0

31
 2.2.3 Three-Dimensional Force Systems
Example 1

Given: A 600N load is supported by

three cords with the geometry as
shown.
Find: The tension in cords AB, AC and
AD.

Solution :
1) Draw a free-body diagram of Point A. Let the unknown force magnitudes
be FB, FC, FD .
2) Represent each force in its Cartesian vector form. (i , j , k component)
3) Apply scalar equations of equilibrium to solve for the three unknowns.
32
 2.2.3 Three-Dimensional Force Systems

Solution :
Step 1: FBD
FBD at A z
FD FC

2m

1m 30˚ y
2m A
FB
x
600 N

From the FBD there are :

- 3 unknown force (FB, FC and FD)
- 1 known force (600N)
33
 2.2.3 Three-Dimensional Force Systems

Solution :
Step 2: Cartesian vector form
Cord FC
-Cord Fc lies at x plane (i component) and in
Cord FB opposite direction (-ve)
-Cord FB lies at x-y plane (i and j component)
z z
FC

A 30˚ y y
A
FB
x x

FB  {(FB sin 30)i  (FB cos 30)j}N FC  – FC i N

 {0.5 FB i  0.866 FB j} N
34
 2.2.3 Three-Dimensional Force Systems

Solution : z

Step 2: Cartesian vector form

Cord FD 2k
y

-Cord FD lies in the x,y,and z (i ,j,k

component) 1i = i
x
-Unit Vector were use for forces that lies in
3 axis. -2j
(-ve because opposite Vector FD lies on i -2j+2k
-Unit Vector = (vector/ magnitude of the direction)
vector)

- Force = tension in cable x unit vector  1i – 2 j  2 k 

FD  FD  N
 ( 12  2 2  2 2 ) 
 
 { 0.333 FD i – 0.667 FD j  0.667 FD k } N
35
 2.2.3 Three-Dimensional Force Systems

Solution :
FBD at A
Step 3: Equation of equilibrium z
FD FC
 Fx = 0.5 FB – FC + 0.333 FD = 0
2m
 Fy = 0.866 FB – 0.667 FD = 0 y
1m 30˚
2m A
 Fz = 0.667 FD – 600 = 0
FB
x
600 N
Solving the three simultaneous equations yields
FC = 646 N (since it is positive, it is as assumed, e.g., in tension)
FD = 900 N
FB = 693 N

36
 2.2.3 Three-Dimensional Force Systems

Example 2
Given:
A 90N load is suspended from the hook. The
load is supported by two cables and a spring
having a stiffness k = 500N/m. Cable
AD lies in the x-y plane and cable AC
lies in the x-z plane.

Find:
The force in the cables and
the stretch of the spring for equilibrium.
37
 2.2.3 Three-Dimensional Force Systems

Solution
Step 2: Cartesian vector form Cable FD
-Cable FD lies at x-y plane (i and j component)
Cable FB
-Cable FB lies at y plane (j component) z
z

y
FB 30˚
y FD
x
x

FD  (FD sin 30 )i - (FD cos 30 )j }N

FB  (FB j) N
38
 2.2.3 Three-Dimensional Force Systems

Solution
z
Step 2: Cartesian vector form  4 3 
Fc   - Fc i  Fc k  N 5
3
Cable Fc  5 5 
-Cable FC lies at x-z plane (i and k component) 4 -x
x-z plane
z Fc OR

5 3
4 Using direction of angle opposite
Sin  
(using the trigonometry to find the angle) hypotenuse
adjacent
y Cos  
hipotenuse
opposite
Tan  
adjacent
  36.87
FC   ( Fc cos 36.87)i  ( Fc sin 36.87)k N
x a

b

c
sin a sin b sin c

C  A2  B 2  2 AB cos 

39
2.2.3 Three-Dimensional Force Systems
Solution Using direction of angle
(using the trigonometry to find the angle)
Step 3: Equation of equilibrium
Fx  0; FD Sin 30  Fc cos 36.87  0
Fy  0;  FD Cos 30  FB  0
4
Fx  0; FD Sin 30  Fc  0 Fz  0; Fc Sin 36.87  90 N  0
5
Fy  0;  FD Cos 30  FB  0 OR
Solving
3 FC  150 N
Fz  0; Fc  90 N  0
5 FD  240 N
Solving FB  208 N
FC  150 N
FD  240 N For the stretch of the spring,
FB = ksAB
FB  208 N
208N = 500N/m(sAB)
sAB = 0.416m
40
2.2.3 Three-Dimensional Force Systems

Example 3
Determine the force developed in each cable used
to support the 40kN crate.

41
2.2.3 Three-Dimensional Force Systems

Solution

  3i  4 j  8k 
FB  FB    0.32 F i  0.42 F j  0.85F k
 (3) 2  (4) 2  82  B B B
 
  3i  4 j  8k 
FC  FC    0.32 F i  0.42 F j  0.85F k
 (3) 2  (4) 2  82  C C C
 
FD  ( FD )i
W  (40kN )k
42
2.2.3 Three-Dimensional Force Systems

Solution
For equilibrium
 Fx  0;  0.32 FB  0.32 FC  FD  0 (1)
 Fy  0;  0.42 FB  0.42 FC  0 (2)
 Fz  0; 0.85FB  0.85FC  40kN  (3)

Solving eq (1) , (2) & (3)

FB  23.53kN
FC  23.53kN
FD  15.06kN
43
 2.2.3 Three-Dimensional Force Systems
CLASS EXERCISE
EXERCISE 3
Given: The four forces and geometry
shown.
Find: The force F5 required to keep
particle O in equilibrium.
Plan:
1) Draw a FBD of particle O.
2) Write the unknown force as
F5 = {Fx i + Fy j + Fz k} N
3) Write F1, F2 , F3 , F4 , and F5 in Cartesian vector form.
4) Apply the three equilibrium equations to solve for the three unknowns Fx,
Fy and Fz. F  {524i  138 j  566.36k}N
5

44
2.2.3 Three-Dimensional Force Systems
CLASS EXERCISE
Solution 4 3
F1  (300) j  (300)k  {240 j  180k}N
5 5
F2  {600 N }i
F3  {900 N }k
 3i  4 j  6k 
F4  200   {76.00i  102.00 j  153.64k}N
 (3) 2  (4) 2  6 2 
 
F5  {Fx i  Fy j  Fz k}N

For equilibrium
 Fx  0;  600  76  Fx  0
Fx  524 N
 Fy  0; 240  102  Fy  0
Fy  138 N
 Fz  0; 180  900  153.64  Fz  0
Fz  566.36 N

F  {524i  138 j  566.36k}N 45

 2.2.3 Three-Dimensional Force Systems
CLASS EXERCISE
EXERCISE 4
Given: A 17500-N (≈ 1750-kg) motor and
plate, as shown, are in equilibrium and
supported by three cables and d = 0.8m
Find: Magnitude of the tension in each of the
cables.

Plan:
1) Draw a free-body diagram of Point A. Let the
unknown force magnitudes be FB, FC, F D.
2) Represent each force in the Cartesian vector form.
3) Apply equilibrium equations to solve for the three
unknowns.
FB  6872.23N FC  3958.41N FD  8301.66 N

46
2.2.3 Three-Dimensional Force Systems
CLASS EXERCISE
FBD of Point A
Solution z
W

y
x
FD
FB FC
 1.2i  0.9 j  3k 
FB  FB    0.36 F i  0.27 F j  0.90 F k
 (1.2)  (0.9)  3 
2 2 2 B B B
 
 0.4i  0.9 j  3k 
FC  FC    0.13F i  0.28F j  0.95F k
 (0.4)  (0.9)  (3) 
2 2 2 C C C
 
  1.2i  0.3 j  3k 
FD  FD    0.36 F i  0.09 F j  0.92 F k
 (1.2)  (0.9)  (3) 
2 2 2 D D D
 
W  (17500 N )k 47
2.2.3 Three-Dimensional Force Systems
CLASS EXERCISE
Solution

FX  0 ; 0.36 FB  0.13FC  0.36 FD  0 (1)

FY  0 ;  0.27 FB  0.28FC  0.09 FD  0 (2)
FZ  0 ;  0.90 FB  0.95FC  0.92 FD  17500 N  0 (3)

Solving eq(1), (2) & (3)

FB  6872.23N
FC  3958.41N
FD  8301.66 N

48
 2.2.3 Three-Dimensional Force Systems
CLASS EXERCISE
FE1617

Three cables are used to tether a

balloon as shown in Figure 3. Given the
tension of the cable AB is 259N.
Determine the tension of cables AC, AD
and the vertical force exerted by the
balloon at A.

FAC  485.63N FAD  542.76 N P  1043.05 N

49
 2.2.3 Three-Dimensional Force Systems
CLASS EXERCISE
Solution :
1) Draw a free-body diagram of Point A. Let the
unknown force magnitudes be FAB, FAC, FAD
and vertical force as P.
P=mg
P

(-5.6m)j
(-4.2m)i

FAB (-3.3m)k
FAD
(2.4m)i
(4.2m)k

FAC AB  4.20i  5.60j

AC  2.40i  5.60j  4.20k
2) Represent each force in its Cartesian vector AD  5.60j  3.30k
form. (i , j , k component) P  Pj
50
 2.2.3 Three-Dimensional Force Systems
CLASS EXERCISE
Step to determine the position vector from coordinate point

OA + AB = OB AB
AB = OB - OA
=(-4.2,0,0) - (0,5.6,0 ) 0A P= Pj AD
= (-4.2,-5.6,0)
0B 0A
= (- 4.2i - 5.6j)
0D

OA + AD = OD
OA + AC = OC AD = OD - OA
AC = OC - OA 0A =(0,0,-3.3) - (0,5.6,0 )
AC
=(2.4,0,4.2) - (0,5.6,0 ) = (0,-5.6,-3.3)
= (2.4,-5.6,4.2)
= (- 5.6j - 3.3k )
= (-2.4i - 5.6j +4.2k) 0C

51
 2.2.3 Three-Dimensional Force Systems
CLASS EXERCISE
2) Represent each force in its Cartesian vector form. (i , j , k component)

  4.20i  5.60j
FAB  259   (155.40i  207.20j)N
 
2M
 (4.20)2  (5.60)2 


 2.40i  5.60j  4.20k

FAC  FAC    F (0.32i  0.76j  0.57k) N
 
2M
 (2.40)2  (5.60)2  (4.20)2 
AC


 
 5.60j  3.30k
FAD  FAD    F (0.86j  0.51k) N 2M

 
(5.60)2  (3.30)2 
AD

P  Pj
52
 2.2.3 Three-Dimensional Force Systems
CLASS EXERCISE
3) Apply scalar equations of equilibrium to solve for the three unknowns.
 F  FAB  FAC  FAD  P
 (155.40i  207.20j)N  FAC (0.32i  0.76j  0.57k) N  FAD (0.86j  0.51k) N  Pj

 Fx  0  155.40  0.32FAC  0
FAC  485.63N

 Fz  0 0.57FAC  0.51FAD  0
0.57(485.63)  0.51FAD  0
FAD  542.76N

 Fy  0  207.20  0.76FAC  0.86FAD  P  0

 207.20  0.76(485.63)  0.86(542.76)  P  0
P  1043.05N
4M 53
 2.2.3 Three-Dimensional Force Systems
CLASS EXERCISE
OR : using matrix to solve the unknowns.
 T  TAB  TAC  TAD  P
 (155.40i  207.20j)N  TAC (0.32i  0.76j  0.57k) N  TAD (0.86j  0.51k) N  Pj

 0.32 0 0 TAC  155.40 

 0.76  0.86 1 T   207.20
   AD   
 0.57  0.51 0  P   0 
1
TAC   0.32 0 0 155.40 
T    0.76  0.86 1 207.20
 AD     
 P   0.57  0.51 0  0 
TAC   485.63 
T    542.76 
 AD   
 P  1043.05
54
2.2.3 Three-Dimensional Force Systems
ATTENTION QUIZ
z
1. Four forces act at point A and point A is in
equilibrium. Select the correct force vector P. F3 = 10 N
A) { -20 i + 10 j - 10 k} N P
F2 = 10 N
B) { -10 i – 20 j – 10 k} N F1 = 20 N A y
C) { 20 i + 10 j + 10 k} N
D) { 20 i – 10 j + 10 k} N x

2. In 3-D, when you don’t know the direction or the magnitude of a force,
how many unknowns do you have corresponding to that force?
A) One B) Two C) Three D) Four

55
BY : NOR SHAIFUDIN BIN ABDUL HAMID