Department of Technical Mechatronics

Subject: Engineering Mechanics

First Stage
Lecturer: M.SC Alaq F. Hasan
Year: 2022-2023
Lecture Four
 Lecture Outline:

• 4.1 Introduction
• 4.2 System Isolation and The Free-Body Diagram
• 4.3 Equilibrium Conditions
• Homework
4.1 Introduction
When a body is in equilibrium, the resultant of all forces acting on it is zero. Thus, the resultant force 𝑅 and the resultant couple 𝑀
are both zero, and we have the equilibrium equations
𝑅 = σ 𝐹Ԧ = 0 , 𝑀 = σ𝑀 = 0

These requirements are both necessary and sufficient conditions for equilibrium. All physical bodies are three-dimensional, but we
can treat many of them as two-dimensional when the forces to which they are subjected act in a single plane or can be projected
onto a single plane. When this simplification is not possible, the problem must be treated as three dimensional.

4.2 System Isolation and The Free-Body Diagram

Before we apply the equilibrium Equations, we must define unambiguously the particular body or mechanical system to be
analyzed and represent clearly and completely all forces acting on the body. Omission of a force which acts on the body in
question, or inclusion of a force which does not act on the body, will give erroneous results. A mechanical system is defined as a
body or group of bodies which can be conceptually isolated from all other bodies. A system may be a single body or a combination
of connected bodies.
Once we decide which body or combination of bodies to analyze, we then treat this body or combination as a single body isolated
from all surrounding bodies. This isolation is accomplished by means of the free-body diagram, which is a diagrammatic
representation of the isolated system treated as a single body. The diagram shows all forces applied to the system by mechanical
contact with other bodies, which are imagined to be removed. If appreciable body forces are present, such as gravitational or
magnetic attraction, then these forces must also be shown on the free-body diagram of the isolated system. Only after such a
diagram has been carefully drawn should the equilibrium equations be written. Because of its critical importance, we emphasize
here that

The free-body diagram is the most important single step in the solution of problems in mechanics.

Before attempting to draw a free-body diagram, we must recall the basic characteristics of force. These characteristics were
described in lecture one, with primary attention focused on the vector properties of force. Forces can be applied either by direct
physical contact or by remote action. Forces can be either internal or external to the system under consideration. Application of
force is accompanied by reactive force, and both applied and reactive forces may be either concentrated or distributed. The
principle of transmissibility permits the treatment of force as a sliding vector as far as its external effects on a rigid body are
concerned.
o Modeling the Action of Forces

The next figure shows the common types of force application on mechanical systems for analysis in two dimensions. Each
example shows the force exerted on the body to be isolated, by the body to be removed. Newton’s third law, which notes the
existence of an equal and opposite reaction to every action, must be carefully observed. The force exerted on the body in question
by a contacting or supporting member is always in the sense to oppose the movement of the isolated body which would occur if the
contacting or supporting body were removed.
o Construction of Free-Body Diagrams

The full procedure for drawing a free-body diagram which isolates a body or system consists of the following steps.
Step 1. Decide which system to isolate. The system chosen should usually involve one or more of the desired unknown quantities.
Step 2. Next isolate the chosen system by drawing a diagram which represents its complete external boundary. This boundary
defines the isolation of the system from all other attracting or contacting bodies, which are considered removed. This step is often
the most crucial of all. Make certain that you have completely isolated the system before proceeding with the next step.
Step 3. Identify all forces which act on the isolated system as applied by the removed contacting and attracting bodies, and
represent them in their proper positions on the diagram of the isolated system. Make a systematic traverse of the entire boundary to
identify all contact forces. Include body forces such as weights, where appreciable. Represent all known forces by vector arrows,
each with its proper magnitude, direction, and sense indicated. Each unknown force should be represented by a vector arrow with
the unknown magnitude or direction indicated by symbol. If the sense of the vector is also unknown, you must arbitrarily assign a
sense. The subsequent calculations with the equilibrium equations will yield a positive quantity if the correct sense was assumed
and a negative quantity if the incorrect sense was assumed. It is necessary to be consistent with the assigned characteristics of
unknown forces throughout all of the calculations. If you are consistent, the solution of the equilibrium equations will reveal the
correct senses.
Step 4. Show the choice of coordinate axes directly on the diagram. Pertinent dimensions may also be represented for
convenience. Note, however, that the free-body diagram serves the purpose of focusing attention on the action of the external
forces, and therefore the diagram should not be cluttered with excessive extraneous information. Clearly distinguish force arrows
from arrows representing quantities other than forces. For this purpose a colored pencil may be used.

Examples of Free-Body Diagrams

4.3 Equilibrium Conditions
In section 4.1, we defined equilibrium as the condition in which the resultant of all forces and moments acting on a body is zero.
Stated in another way, a body is in equilibrium if all forces and moments applied to it are in balance. These requirements are
contained in the vector equations of equilibrium which may be written in scalar form as

෍ 𝐹𝑥 = 0 , ෍ 𝐹𝑦 = 0 , ෍ 𝐹𝑧 = 0 , ෍ 𝑀𝑂 = 0

The fourth equation represents the zero sum of the moments of all forces about any point O on or off the body. The Equations are
the necessary and sufficient conditions for statics equilibrium. They are necessary conditions because, if they are not satisfied, there
can be no force or moment balance. They are sufficient because once they are satisfied, there can be no imbalance, and equilibrium
is assured.
For statics equilibrium , all four of Equations must hold. However, these conditions are independent requirements, and one may
hold without another. Take, for example, a body which slides along a horizontal surface with increasing velocity under the action of
applied forces. The force–equilibrium equations will be satisfied in the vertical direction where the acceleration is zero, but not in
the horizontal direction.
Example 4.1: Determine the horizontal and vertical components of reaction on the member at the pin A, and the normal reaction at
the roller B.
Solution. The reaction 𝑁𝐵 can be obtained directly by summing moments about point A,
since 𝐴𝑥 and 𝐴𝑦 produce no moment about A.

↶ + ෍ 𝑀𝐴 = 0

𝑁𝐵 cos 30° 6 − 𝑁𝐵 sin 30° 2 − 750 3 = 0

𝑁𝐵 = 536.2 𝑙𝑏
Using this result,
+
՜ ෍ 𝐹𝑥 = 0

𝐴𝑥 − 𝑁𝐵 sin 30° = 0
𝐴𝑥 = 536.2 sin 30° = 268.1 𝑙𝑏

+↑ ෍ 𝐹𝑦 = 0

𝐴𝑦 + 𝑁𝐵 cos 30° − 750 = 0

Free-body diagram
𝐴𝑦 = −536.2 cos 30° + 750 = 285.64 𝑙𝑏
Example 4.2: Determine the support reactions on the member. The collar at A is fixed to the member and can slide vertically along the
vertical shaft..
Solution . The forces 𝐴𝑥 and 𝑁𝐵 can be determined directly from the force equations
of equilibrium
+
՜ ෍ 𝐹𝑥 = 0

𝐴𝑥 = 0

+↑ ෍ 𝐹𝑦 = 0

𝑁𝐵 − 900 = 0
𝑁𝐵 = 900 𝑁
The moment 𝑀𝐴 can be determined by summing moments either about point A or
point B.

↶ + ෍ 𝑀𝐴 = 0
Free-body diagram
𝑁𝐵 1.5 + 1.5 + 1 cos 45° − 500 − 900 1.5 + 𝑀𝐴 = 0
𝑀𝐴 = −1486 𝑁. 𝑚 = 1.486 𝑘𝑁. 𝑚 ↷
Example 4.3: If the spring 𝐷𝐵 has an unstretched length of 2 𝑚, determine the stiffness of the spring to hold the 40 𝑘𝑔 crate in the
position shown.
Solution .

+
՜ ෍ 𝐹𝑥 = 0

3 2
𝐹𝑆𝑃 − 𝑇𝐷𝐶 = 0 (1)
13 2 2

+↑ ෍ 𝐹𝑦 = 0

2 2
𝐹𝑆𝑃 + 𝑇𝐷𝐶 − 40 9.81 = 0 (2)
13 2 2
𝑇𝐵𝐶
Solving Eqs (1) and (2) 𝐹Ԧ𝑆𝑃
𝐹𝑆𝑃 = 282.96 𝑁 , 𝑇𝐷𝐶 = 332.96 𝑁
The stretched length of the spring is

𝐹𝑆𝑃 = 𝑘𝑥 = 𝑘 𝑙 − 𝑙𝑜 = 𝑘 22 + 32 − 2

282.96 = 𝑘 13 − 2 ՜ 𝑘 = 176.24 𝑁/𝑚

𝑊
Free-body diagram
Example 4.4: A 90 𝑙𝑏 load is suspended from the hook shown in the figure. If the load is supported by two cables and a spring
having a stiffness 𝑘 = 500 𝑙𝑏/𝑓𝑡 , determine the force in the cables and the stretch of the spring for equilibrium. Cable AD lies in
the 𝑥 − 𝑦 plane and cable AC lies in the 𝑥 − 𝑧 plane.
Solution.
4
σ 𝐹𝑥 = 0, 𝐹𝐷 sin 30° − 𝐹𝐶 = 0
5

σ 𝐹𝑦 = 0, −𝐹𝐷 cos 30° + 𝐹𝐵 = 0

3
σ 𝐹𝑧 = 0, 𝐹𝐶 − 90 𝑙𝑏 = 0
5

Solving Eq. (3) for 𝐹𝐶 then Eq. (1) for 𝐹𝐷 and finally Eq. (2) for 𝐹𝐵 yields

𝐹𝐶 = 150 lb

𝐹𝐷 = 240 lb

𝐹𝐵 = 207.8 lb
𝐹𝐵 207.8
𝐹𝐵 = 𝑘𝑥 ; ՜ 𝑥 = = = 0.42 𝑓𝑡
𝑘 500

Free-body diagram
Example 4.5: Calculate the tension 𝑇 in the cable which supports the 1000 𝑙𝑏 load 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:

+⤹ ෍ 𝑀𝑂 = 𝑇2 𝑟 − 𝑇1 𝑟 = 0 ՜ 𝑇2 = 𝑇1

+↑ ෍ 𝐹𝑦 = 𝑇1 + 𝑇2 − 1000 = 0 ՜ 𝑇1 = 𝑇2 = 500 𝑙𝑏

Pulley B:

+⤹ ෍ 𝑀𝐺 = 𝑇4 𝑟 − 𝑇3 𝑟 = 0 ՜ 𝑇4 = 𝑇3

+↑ ෍ 𝐹𝑦 = 𝑇3 + 𝑇4 − 500 = 0 ՜ 𝑇3 = 𝑇4 = 250 𝑙𝑏

Pulley C:

+⤹ ෍ 𝑀𝐸 = 𝑇3 𝑟 − 𝑇 𝑟 = 0 ՜ 𝑇3 = 𝑇 = 250 𝑙𝑏

+↑ ෍ 𝐹𝑦 = 𝑇 sin 30° + 𝐹𝑦 − 250 = 0 ՜ 𝐹𝑦 = 125 𝑙𝑏 Free-body diagram

 +
՜ ෍ 𝐹𝑥 = 𝑇 cos 30° − 𝐹𝑥 = 0 ՜ 𝐹𝑥 = 217 𝑙𝑏

𝐹= 𝐹𝑥 2 + 𝐹𝑦 2 = 1252 + 2172 = 250 𝑙𝑏

Example 4.6: Determine the magnitude 𝑇 of the tension in the supporting cable and the magnitude of the force on the pin at 𝐴 for the jib
crane shown. The beam 𝐴𝐵 is a standard 0.5 𝑚 I-beam with a mass of 95 𝑘𝑔 per meter of length.
Solution.

+⤹ ෍ 𝑀𝐴 = 0

𝑇 sin 25° 5 − 0.12 + 𝑇 cos 25° 0.25 − 10 5 − 1.5 − 0.12 − (95 ∗ 5 ∗ 9.81)(2.5 − 0.12) = 0
𝑇 = 19.61 𝑘𝑁

+↑ ෍ 𝐹𝑦 = 𝑇 sin 25° + 𝐴𝑦 − 10 − 4.66 = 0 ՜ 𝐴𝑦 = 6.37 𝑘𝑁

+
՜ ෍ 𝐹𝑥 = 𝐴𝑥 − 𝑇 cos 25° = 0 ՜ 𝐴𝑥 = 17.77 𝑘𝑁

𝐴= 𝐴𝑥 2 + 𝐴𝑦 2 = 17.772 + 6.372 = 18.88 𝑘𝑁

 Example 4.7: Determine the tensions in cables AB, AC, and AD.
Solution.
𝐴(0,0, −2.5), 𝐵 −1.5, −0.5,0 , 𝐶 0,1.25,0 , 𝐷(2, −0.5,0)

𝑟Ԧ𝐴𝐵 −1.5 − 0 𝑖Ԧ + −0.5 − 0 𝑗Ԧ + 0 + 2.5 𝑘

𝑇𝐴𝐵 = 𝑇𝐴𝐵 = 𝑇𝐴𝐵
𝑟𝐴𝐵 −0.5 − 0 2 + −1.5 − 0 2 + 0 − 2.5 2

𝑇𝐴𝐵 = −0.507 𝑇𝐴𝐵 𝑖Ԧ − 0.169 𝑇𝐴𝐵 𝑗Ԧ + 0.845 𝑇𝐴𝐵 𝑘

𝑟Ԧ𝐴𝐶 1.25 − 0 𝑗Ԧ + 0 + 2.5 𝑘

𝑇𝐴𝐶 = 𝑇𝐴𝐶 = 𝑇𝐴𝐷
𝑟𝐴𝐶 1.25 − 0 2 + 0 + 2.5 2

𝑇𝐴𝐶 = 0.447 𝑇𝐴𝐶 𝑗Ԧ + 0.894 𝑇𝐴𝐶 𝑘

𝑟Ԧ𝐴𝐷 2 − 0 𝑖Ԧ + −0.5 − 0 𝑗Ԧ + 0 + 2.5 𝑘

𝑇𝐴𝐷 = 𝑇𝐴𝐷 = 𝑇𝐴𝐷
𝑟𝐴𝐷 2−0 2 + −0.5 − 0 2 + 0 + 2.5 2

𝑇𝐴𝐷 = 0.617 𝑇𝐴𝐷 𝑖Ԧ − 0.154 𝑇𝐴𝐷 𝑗Ԧ + 0.772 𝑇𝐴𝐷 𝑘

+↘ ෍ 𝐹𝑥 = −0.507 𝑇𝐴𝐵 + 0.617 𝑇𝐴𝐷 = 0 (1)

Free-body diagram
+↗ ෍ 𝐹𝑦 = −0.169 𝑇𝐴𝐵 + 0.447 𝑇𝐴𝐶 − 0.154 𝑇𝐴𝐷 = 0 (2)

+↑ ෍ 𝐹𝑧 = 0.845 𝑇𝐴𝐵 + 0.894 𝑇𝐴𝐶 + 0.772 𝑇𝐴𝐷 − 120 9.81 = 0 (3)

Solving Eqs (1), (2) and (3)

𝑇𝐴𝐵 = 569 𝑁
𝑇𝐴𝐶 = 376 𝑁
𝑇𝐴𝐷 = 467 𝑁
 Homework

Q1/. Three cables are joined at the junction ring C. Determine the tensions in cables AC and BC caused by the weight of the 30 𝑘𝑔
cylinder. See figure (1).

Q2/. Determine the reactions on the bent rod which is supported by a smooth surface at B and by a collar at A, which is fixed to the
rod and is free to slide over the fixed inclined rod. See figure (2).

Q3/. The portable floor crane in the automotive shop is lifting a 420 𝑙𝑏 engine. For the position shown compute the magnitude of the
force supported by the pin at C and the oil pressure p against the 3.20 𝑖𝑛-diameter piston of the hydraulic-cylinder unit AB. See figure
(3).

Fig (1) Fig (2) Fig (3)

 References

• J.L. MERIAM, L.G. KRAIGE and J. N . BOLTON, ENGINEERING MECHANICS STATICS, EIGHTH
EDITION

• R. C. HiBBELER, ENGINEERING MECHANICS STATICS, FOURTEENTH EDITION