Static Equilibrium

❑ Equilibrium and static

equilibrium
❑ Static equilibrium
conditions
◼ Net external force must
equal zero
◼ Net external torque must
equal zero
❑ Center of gravity
❑ Solving static equilibrium
problems
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 Static and Dynamic Equilibrium
❑ Equilibrium implies the object is at rest (static)
or its center of mass moves with a constant
velocity (dynamic)
❑ We will consider only with the case in which
linear and angular velocities are equal to zero,
called “static equilibrium” : vCM = 0 and w = 0
❑ Examples
◼ Book on table
◼ Hanging sign
◼ Ceiling fan – off
◼ Ceiling fan – on
◼ Ladder leaning against wall
 Conditions for Equilibrium
❑ The first condition of
equilibrium is a statement of
translational equilibrium
❑ The net external force on the
object must equal zero
  
Fnet =  Fext = ma = 0

❑ It states that the translational

acceleration of the object’s
center of mass must be zero
 Conditions for Equilibrium
❑ If the object is modeled as a
particle, then this is the only
condition that must be
satisfied  
Fnet =  Fext = 0
❑ For an extended object to be
in equilibrium, a second
condition must be satisfied
❑ This second condition
involves the rotational motion
of the extended object
 Conditions for Equilibrium
❑ The second condition of
equilibrium is a statement of
rotational equilibrium
❑ The net external torque on
the object must equal zero
  
 net =  ext = I = 0
❑ It states the angular
acceleration of the object to
be zero
❑ This must be true for any axis
of rotation
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 Conditions for Equilibrium
❑ The net force equals zero F = 0
◼ If the object is modeled as a particle, then
this is the only condition that must be
satisfied
❑ The net torque equals zero   = 0
◼ This is needed if the object cannot be
modeled as a particle
❑ These conditions describe the rigid objects
in the equilibrium analysis model

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 Equilibrium Equations
❑ For simplicity, We will restrict the applications
to situations in which all the forces lie in the
xy plane.
 
❑ Equation 1: Fnet =  Fext = 0 : Fnet , x = 0 Fnet , y = 0 Fnet , z = 0
 
❑ Equation 2: net  =   ext = 0 :  net , x = 0  net , y = 0  net , z = 0

❑ There are three resulting equations

Fnet , x =  Fext , x = 0
Fnet , y =  Fext , y = 0
 net , z =   ext , z = 0
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 Example
Determine the horizontal and vertical
components of reaction for the beam
loaded. Neglect the weight of the beam in
the calculations.
 Solution
Free Body Diagrams
❑ 600N represented by x and y
components
❑ 200N force acts on the beam at B
 Solution
Equations of Equilibrium
+ →  M B = 0; 600 cos 45  N − Bx = 0  Bx = 424 N
 M B = 0;
100 N (2m) + (600 sin 45 N )(5m) − (600 cos 45 N )(0.2m) − Ay (7m) = 0
Ay = 319 N
+   Fy = 0;
319 N − 600 sin 45 N − 100 N − 200 N + B y = 0
B y = 405N
 Center of Gravity
❑ The torque due to the gravitational force on an
object of mass M is the force Mg acting at the
center of gravity of the object
❑ If g is uniform over the object, then the center
of gravity of the object coincides with its center
of mass
❑ If the object is homogeneous and symmetrical,
the center of gravity coincides with its geometric
center

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 Where is the Center of Mass ?
❑ Assume m1 = 1 kg, m2 = 3 kg, and x1 =
1 m, x2 = 5 m, where is the center of
mass of these two objects? x = m1 x1 + m2 x2
m1 + m2
CM
A) xCM = 1 m
B) xCM = 2 m
C) xCM = 3 m
D) xCM = 4 m
E) xCM = 5 m
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 Center of Mass (CM)
❑ An object can be divided into
many small particles
◼ Each particle will have a
specific mass and specific
coordinates
❑ The x coordinate of the
center of mass will be
m x i i
xCM = i

m i
i

❑ Similar expressions can be

found for the y coordinates

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 Center of Gravity (CG)
❑ All the various gravitational forces acting on all the
various mass elements are equivalent to a single
gravitational force acting through a single point called
the center of gravity (CG)
MgCG xCG = (m1 + m2 + m3 + ) g CG xCG
=m1 g1 x1 + m 2 g 2 x2 + m3 g 3 x3 + 

❑ If g1 = g2 = g3 = 

❑ then
m1 x1 + m 2 x2 + m3 x3 +   mi xi
xCG = =
m1 + m2 + m3 +   mi
Force Vectors
First we define scalars and vectors:

Scalar: is a quantity that characterized by a positive or negative number. For example:

mass, length.

Vector: is a quantity that has both magnitude and direction. For example: force, velocity.

A vector is represented graphically by an arrow. The length of arrow represent the

magnitude, and the angle between the arrow line of action and a reference axis represents
the direction.

From the figure shown:

The vector A has a magnitude of 3 units and a direction equals 35◦ measured
counterclockwise from the reference line (horizontal here)

Tail
Point O called tail and point P called tip (or head)

Vector operations :-

1. Multiplication of a vector by a scalar. For example

2. Vector addition.

If we have a two vectors A&B. These two vectors can be added to form a resultant
vector R = A + B by using the parallelogram law.

To do this A & B are joined together by their tails. Parallel lines drawn from the
head of each vector intersect at a common point to form a parallelogram.

The resultant R is the diagonal of the parallelogram which extends from the tail of
A & B to the intersection point.

We can also added B to A using the triangle construction which a special case of
parallelogram law.

Connect the head of A to the tail of B. The resultant extends from the tail of A to
the head of B.

Or, head of A to tail of B.

 As a special case, if A & B are collinear (the both have the same line of action), R
determined by scalar addition.

3. Vector subtraction :

The resultant difference between A&B may expressed as :

4. Resolution of a vector :

The vector may be resolved into two components having known lines of action by using the
parallelogram law. For example: if R is to be resolved into components acting along the lines a &
b. Start from the head of R to draw a parallelogram.
Then, the components A & B extend from the tail of R to the intersection points.
Vector addition of Forces :-
A force is a vector quantity since it has a magnitude and direction. Therefore, the force addition will be

according to parallelogram law.

The sine law and the cosine law may be used.

Examples:-

Ex.1: determine the magnitude of the resultant and the direction measured from the
horizontal line. Note that theta is equal to 60 degree.

Sol.:
Ex.2: determine the magnitude of forces FA and FB acting on each chain In order to
develop a resultant force of 600 N directed along the positive Y-axis.

Sol.:
Ex.3:- The screw eye shown is subjected to two forces F1 and F2. Determine the
magnitude and direction of the resultant force .

Sol.:

2
1
 Moment and Couples
(1) Moment of a force:
The moment of a force about a point or axis provides a measure of the tendency of the force to cause a body to rotate
about the point or axis.

The force F and the point O lie in a plane. The moment about the point O, or about an axis passing through O and
perpendicular to the plane is a vector quantity.

The magnitude of M is : M=F.d

Where d is the moment arm or perpendicular distance from point O to the line of action of the force F. Units of
moment consist of force times distance, e.g., N.m or lb.ft.

The direction of M is specified by using the right-hand role. The fingers of the right hand is followed the rotation.
The thumb then points along the moment axis to give the direction of the moment vector.

Here the sense of rotation represents the direction of moment.

Ex 1.: Determine the moment of each of the three forces about point A.

Sol.:
Note : It is easier to use the principle of moments, that is : the moment of a force about a point is equal to the
sum of the moments of the forces components about the point. ( Varignon’ s Theorem)

2
3
Ex2: Determine the direction θ (0◦ ≤ θ ≥ 180◦) of the force F
= 40 lb so that it produces (a) moment about point A and
(b) the minimum moment about point A. Compute the
moment in each case.
Sol.:

Ex.3 : Determine the resultant moment of the forces

shown about point O.

Sol.:
 (2) Couples :
A couple is defined as two parallel forces that may have the same magnitude,
opposite directions, and are separated by a perpendicular distance.

Since the resultant force of the two forces is zero, the only effect of a couple is
to produce a rotation.

The moment produced by a couple called a couple moment and is MC = F . d

Where F is a magnitude of one of the forces and d is the perpendicular distance

between the two forces.

Ex.1: Determine the magnitude of the couple. =10kN

=2m
Sol.:

+ MC =F . d

= 10 *2 = 20 kN.m

Ex.2: Determine the magnitude of the couple.

Sol.: 1m
It is difficult to find the perpendicular distance
between the forces.

Instead we can resolve each force into components and then use varginon ’s
theorem.
 90N

Notice that the couple moment can be act at any point of the member since
the MC is free vector.
Ex.3: Replace the forces acting on the brace by an equivalent resultant force
and couple moment acting at point A.
Ex.4: Replace the force system acting on the beam by an equivalent resultant force and couple
moment acting at point A.

Sol.: