Equilibrium

GE210: Engineering Mechanics
Equilibrium
Prof. Hanafy Omar

Equilibrium and Equations of Equilibrium
Equilibrium: Balance of force and moment.
For Equilibrium in 3D, we have 6 Equations
FX  0; FY  0; FZ  0
M X  0; M Y  0; M Z  0
For Equilibrium in 2D
If the loads are acting in x-y-plane then the equations of equilibrium reduce to:
FX  0; FY  0;
M O  0 Only 3 Equations
Moment about any axis

perpendicular to x-y plane and
passing through point O.
Action of Forces (Reactions)
Smooth surfaces: Smooth surfaces offer reactions only in one direction,
normal to the surface.
Rough surfaces: Rough surfaces offer reactions in tangential as well as in

normal directions.
Roller Supports
Roller support s offer reactions only in one direction, normal to the supporting
surface.
Pin Connections/Supports
Pin connections/supports offer reactions in the two perpendicular directions

(Rx and Ry) i.e. in any direction in the plane normal to the axis. A pin not free
to turn may also offer reaction against a couple.
Built-in or Fixed Supports
Fixed supports offer three reactions: an axial force (F), a

transverse force (V) and a couple (M).
Force Exerted By A Flexible Cable, Belt, Chain or Rope
Force exerted by a flexible cable is always a tension (away from the body) in
the direction of the cable.
Free Body Diagram (FBD)
• Free body diagram is drawn by detaching the structural
member from its supports, and showing the reactions that
these supports exert on the structure.
FBD
FBD of a Cantilever beam
FBD of a Simple Beam
FBD of a rigid system of interconnected bodies
Categories of Equilibrium in 2-D
Collinear Force System
Independent equilibrium equations : ΣFx  0

( Note : ΣM  0  ( ΣFx )d  0  ΣFx  0  No new independent equation)
Categories of Equilibrium in 2-D (Contd.)
Concurrent Force System
Independent equilibriu m equations : ΣFx  0; ΣFy  0

Categories of Equilibrium in 2-D (contd.)
Parallel Force System
Independent equilibrium equations : ΣFx  0 ΣM z  0

Categories of Equilibrium in 2-D (contd.)
General Force System
Independent equilibrium equations: ΣFx  0; ΣFy  0 ΣM z  0

Equilibrium of Two force members
• A two-force member has forces applied at only two points on the member.
• For any two-force member to be in equilibrium:
• The two forces acting on the member must have the same magnitude;
• Act in opposite directions; and
• Have the same line of action.
FA
A
B
For equilibrium : FA  FB
FB
Equilibrium of Three-force members
•A three-force member has F1

forces applied at three points
on the member.
•For any three-force member to
be in equilibrium the lines of O
action of the three forces
acting on the member must be F3 F2
concurrent. F3
•In this case the force polygon F2
F1
will be closed.
Problem-1
A cantilever beam OABC is subjected to the forces and moment as shown.
(i) Draw free body diagram of the cantilever beam OABC.
(ii) Compute the reactions at the fixed support point O.
Assume beam is weightless and its thickness is negligible compared to
other dimensions. Note the two pulleys, shown in the figure, are smooth.
0
15 kN.m 30
1.4 kN 3 kN
O A B C
x
1.2 m 1.8 m 1.8 m

Solution
(i) Free body diagram of the cantilever beam
(ii) Reactions at the fixed support O

( )Fx  0  Ox  3 sin 30   0  Ox  1.5 kN
 )Fy  0  O y  1.4  3 cos 30   0  O y  3.99 kN

(CCW  ) M o  0   M O  1.4 1.2  15  3 cos 30   4.8  0  M O  29 .15 kNm
Problem-2
Determine the force P required to maintain the 200 kg weight in the

position. The diameter of the pulley at B is negligible. Given, θ = 300
.
Solution
tan  
2  2 cos30     15



2 sin 30
  180  (30  90 )  60

T 150 P
600
200×9.81
Free Body Diagram
  Fx  0  T sin 60  P sin 15  0  T  0.3P

  Fy  0  T cos 60  P cos15  200  9.81  0
 0.3P cos 60  P cos15  200  9.81  0  P  1758.2 N
 T  0.3P  0.3  1758.2  527.5 N  T  527.5 N
Problem-3
Calculate the tension T in the cable which supports the 500-kg mass with
the pulley arrangement shown. Each pulley is free to rotate about its
bearing, and the weights of all parts are small compared with the load.
Find the magnitude of the total force on the bearing of pulley C.
Solution
Pulley A :
M  0  T r  T r  0  T  T
O 1 2 1 2
  F  0  T  T  500  9.81  0  2T  500  9.81

y 1 2 1
 T  T  2450 N
1 2
Pulley B :
T  T  T / 2  1226 N
3 4 2
Pulley C :
The moment equilibrium requires :
T  T or T  1226 N
3
 F  0  1226 cos 30  F  0  F  1062 N

x
0
x x
  F  0  F  1226 sin 30  1226  0  F  613 N

y y
0
y
 F  F  F  1062  613  1226 N

x
2
y
2 2 2
Rope Tensnion
Note: For the same rope, the tension will be the same at
any point in the rope
T T
2T
2T
Problem-4
The uniform concrete slab shown in edge view has a mass of
25000 kg and is being hoisted slowly into a vertical position by
the tension P in the hoisting cable. For the position where θ = 600
calculate the force T in the horizontal anchor cable. Assume
support A is a roller.
Solution
Free Body Diagram of Slab

25000  9.81 2
P
cos 30  6 sin 60  sin 30  3  163500 N

T  P cos 30  163500  cos 30  141595.1

 T  141.6 kN
  Fx  0  T  P cos 30  0  T  P cos 30
CCW ()M A  0  P cos 30  6 sin 60 
P sin 30  3  25000  9.81 2  0

Equilibrium

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GE210: Engineering Mechanics

Prof. Hanafy Omar

FX  0; FY  0; FZ  0

Moment about any axis

Rough surfaces: Rough surfaces offer reactions in tangential as well as in

Pin connections/supports offer reactions in the two perpendicular directions

Fixed supports offer three reactions: an axial force (F), a

Collinear Force System

Independent equilibrium equations : ΣFx  0

Concurrent Force System

Independent equilibriu m equations : ΣFx  0; ΣFy  0

Parallel Force System

Independent equilibrium equations : ΣFx  0 ΣM z  0

General Force System

Independent equilibrium equations: ΣFx  0; ΣFy  0 ΣM z  0

•A three-force member has F1

1.2 m 1.8 m 1.8 m

(i) Free body diagram of the cantilever beam

(ii) Reactions at the fixed support O

 )Fy  0  O y  1.4  3 cos 30   0  O y  3.99 kN

Determine the force P required to maintain the 200 kg weight in the

  Fx  0  T sin 60  P sin 15  0  T  0.3P

  F  0  T  T  500  9.81  0  2T  500  9.81

 F  0  1226 cos 30  F  0  F  1062 N

  F  0  F  1226 sin 30  1226  0  F  613 N

 F  F  F  1062  613  1226 N

Free Body Diagram of Slab

T  P cos 30  163500  cos 30  141595.1

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