MODULE III

EQUILIBRIUM

Lesson 1 Equilibrium of Rigid

Bodies under Coplanar
Forces

Lesson 2 Equilibrium under the

action of Concurrent
Forces

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MODULE III

EQUILIBRIUM

 INTRODUCTION

This module presents equilibrium. Equilibrium is a special case in mechanics

where all forces acting on a body equal zero. It will discuss equilibrium of
rigid bodies under coplanar forces and equilibrium under the action of
concurrent forces.

OBJECTIVES

After studying the module, you should be able to:

1. Define equilibrium.
2. Identify and apply force and torque condition for equilibrium in
analyzing problems with forces.
3. Evaluate problems on rigid body under coplanar forces and under
the action of concurrent forces.
4. Solve the horizontal and vertical force, load weight and distance.
5. Identify the equations and determine external forces for a body in
equilibrium.

 DIRECTIONS/ MODULE ORGANIZER

There are two lessons in the module. Read each lesson thoughtfully
then answer the learning activities and a summative test at the end of the
module to find out how much you have benefited from it. Work on these
activities carefully. Date of submission and how will be submitted will be
posted in the google classroom or group chat.

In case you encounter difficulty, contact or message your

instructor/professor through messenger.

Good luck and happy reading!!!

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Lesson 1

 Equilibrium of Rigid Bodies

under Coplanar Forces

The Torque (Or Moment) about an axis, due to a force, is a measure of the
effectiveness of the force in producing rotation about an axis. It is defined
in the following way:

𝑇𝑜𝑟𝑞𝑢𝑒 = 𝑟 = 𝑟𝐹𝑠𝑖𝑛𝜃
where:
r – is the radial distance from the axis to the point of application of the
force.
𝜃- is the acute angle between the lines-of-action of ⃗𝑟⃗→ and ⃗𝐹⃗⃗→as shown
in fig. (a).

Often this definition is written in terms of the lever arm of the force, w/c is
the perpendicular distance from the axis to the line of the force, as shown in
fig. (b). because the lever arm is simply 𝑟𝑠𝑖𝑛𝜃 the torque becomes

𝑟 = (𝐹)(𝑙𝑒𝑣𝑒𝑟 𝑎𝑟𝑚)

The units of torque are Newton-meters (N-m). Plus and minus sign can be
assigned to torques; for example a torque that tends to cause
counterclockwise rotation about the axis is positive, whereas one causing
clockwise rotation is negative.

The Two Conditions for Equilibrium of a rigid object under the action of
coplanar forces are:

1. The first or force condition; The vector sum of all forces acting on the
body must be zero.

∑ 𝐹𝑋 = 0 ∑ 𝐹𝑌 = 0

where the plane of the coplanar forces is taken to be xy – plane.

2. The second or torque condition: Take an axis perpendicular to the

plane of the coplanar forces. Call the torques that tend to cause

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clockwise rotation about the axis negative, & counterclockwise torques

positive; then the sum of all torques acting on the object must be zero:

+↻ ∑ 𝑟 = 0

The Center of Gravity of an object is the point at w/c the entire weight of
the object may be considered concentrated; i.e. the line-of-action of the
weight passes through the center of gravity. A single vertically upward
directed force, equal in magnitude to the weight of the object and applied
through its center of gravity will keep the object in equilibrium.

Example Problems:

1. Find the torque about axis A in fig.1 due to each of the forces shown.

Solution:
We use: 𝑟 = 𝑟𝐹𝑠𝑖𝑛𝜃

Recalling that clockwise torques are negative while

counterclockwise torques are positive. The torques due to the three
forces are:

For 10 𝑁: 𝑟 = −(0.80 𝑚)(10 𝑁)(𝑠𝑖𝑛90°) = −8.0 𝑁𝑚

For 25 𝑁: 𝑟 = +(0.80 𝑚)(25 𝑁)(𝑠𝑖𝑛25°) = +8.5 𝑁𝑚
For 20 𝑁: 𝑟 = ±(0.80 𝑚)(20 𝑁)(𝑠𝑖𝑛0°) = 0

The line of the 20 𝑁 force goes through the axis & so 𝜃 = 0° for it.
Or, put another way, because the line of the force passes through the axis,
its lever arm is zero. Either way, the torque is zero for this (and any) force
whose line passes through the axis.

2. A uniform beam of length L weighs 200 𝑁 and holds a 450 𝑁 object as

shown in the figure. Find the magnitudes of the forces exerted on the
beam by the two supports at its ends. Assume the lengths are exact.

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Solution:

Rather than draw a separate free-body diagram, we show the forces

on the object being considered (the beam). Because the beam is uniform, its
center of gravity is at its geometric center. Thus the weight of the beam
(200 𝑁) is shown acting at the beam’s center. The forces 𝐹1𝑎𝑛𝑑 𝐹2 are exerted
on the beam by the supports. Because there are no x-directed forces acting
on the beam, we have only two equations to write for this equilibrium
situation: ∑ 𝐹𝑌 = 0 and ∑ 𝑟 = 0 .

+𝗍 ∑ 𝐹𝑌 = 0 becomes

𝐹1+ 𝐹2 − 200 𝑁 − 450 𝑁 = 0

Before the torque equation is written, an axis becomes be chosen. We

choose it at A, so that at A, so that the unknown force 𝐹1 will pass through it
and exert no torque. The torque equation is then

+↻ ∑ 𝑟 = 0

−(𝐿⁄2)(200 𝑁)(sin 90°) − (3𝐿⁄4)(450 𝑁)(sin 90°) + (𝐿)(𝐹2) (sin 90°) = 0

Dividing through the equation by L and solving for 𝐹2 , (sin 90° = 1) we find
that
−100 𝑁 − 337.5 𝑁 + (𝐹2) = 0
𝐹2 = 100 𝑁 + 337.5 𝑁

𝐹2 = 437.5 𝑁

To find 𝐹1we substitute the value of 𝐹2 in the force equation, obtaining

𝐹1 = 650 − 437.5 𝑁

𝐹1 = 212.5 𝑁

3. A uniform, 100 𝑁 pipe is used as a lever as shown in the figure. Where

must the fulcrum (the support point) be placed if a 500 𝑁 weight at
one end is to balance a 200 𝑁 weight at the other end? What is the
reaction force exerted by the support on the pipe?

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Solution:
The forces in question are shown in the figure, where 𝐹𝑅 is the reaction
force of the support on the pipe. We assume that the support point is at
distance x from one end. Let us take the axis to be at the support point. Then
the torque equation,

+↻ ∑ 𝑟 = 0 , becomes

+(𝑥)(200 𝑁)(sin 90°) +

(𝑥 − 𝐿⁄2)(100 𝑁)(sin 90°) − (𝐿 − 𝑥)(500 𝑁)(sin 90°) = 0

Simplifying, (𝑠𝑖𝑛90° = 1)

200 𝑁 (𝑥) + 100 𝑁 (𝑥) − 50 𝑁 (𝐿) − 500 𝑁 (𝐿) + 500 𝑁 (𝑥) = 0

(800 𝑁)(𝑥) = (550 𝑁)(𝐿)

and so 𝑥 = 0.69𝐿.

The support should be placed 0.69 of the way from the lighter-loaded
end.

To find the load 𝐹𝑅 held by the support, we use +𝗍 ∑ 𝐹𝑌 = 0 , which

gives
𝐹𝑅 − 200𝑁 − 100 𝑁 − 500 𝑁 = 0
from which
𝐹𝑅 = 200𝑁 + 100 𝑁 + 500 𝑁

𝐹𝑅 = 800 𝑁

4. A uniform, 0.20 𝑘𝑁 board of length L has two objects hanging from it:
300 𝑁 at exactly L/3 from one end, and 400 𝑁 at exactly 3L/4 from
the same end. What single additional force acting on the board will
cause the board to be in equilibrium? Where must the force be
located? The situation is shown in the figure.

Solution:

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The situation is shown in the figure above, where F is the force we wish
to find,. For equilibrium
+𝗍 ∑ 𝐹𝑌 = 0

𝐹 − 300 𝑁 − 200 𝑁 − 400 𝑁 = 0

𝐹 = 300 𝑁 + 200 𝑁 + 400 𝑁

𝐹 = 900 𝑁

Because the board is to be in equilibrium, we are free to choose the

axis anywhere. Choose it at point A. Then,

+↻ ∑ 𝑟 = 0
+(𝑥)(𝐹)(sin 90°)
− (3 𝐿⁄4)(400 𝑁)(𝑠𝑖𝑛90°) − (𝐿⁄2)(200 𝑁)(𝑠𝑖𝑛90°) − (𝐿⁄3)(300 𝑁)(𝑠𝑖𝑛90°) = 0

Simplifying, (𝑠𝑖𝑛90° = 1) and using 𝐹 = 900 𝑁

900 𝑁𝑥 − 300 𝑁𝐿 − 100 𝑁𝐿 − 100 𝑁𝐿 = 0

500 𝑁𝐿 5
𝑥= = 𝐿
900 𝑁 9

𝑥 = 0.56 𝐿

*The required force is 900 𝑁 upward at 0.56 𝐿 from the left end.

5. Consider the situation shown in the figure below. The uniform 0.60 𝑘𝑁
beam is hinged at P. Find the tension in the tie rope and the x-
component of the reaction force exerted by the hinge on the beam.

Solution:
The reaction forces acting on the beam are shown in the figure, where
the force exerted by the hinge is represented by its horizontal component
𝐹𝑅𝐻 . The torque equation about P as axis is

+↻ ∑ 𝑟 = 0

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(3 𝐿⁄4)(𝐹𝑇 )(𝑠𝑖𝑛40°) − (𝐿)(800 𝑁)𝑠𝑖𝑛90° − (𝐿/2)(600 𝑁)𝑠𝑖𝑛90° = 0

Dividing both side by 𝐿
4(800 𝑁 + 300 𝑁)
𝐹𝑇 =
3(𝑠𝑖𝑛40°)

𝐹𝑇 = 2281.73 𝑁
Solving for
𝐹𝑅𝐻 ⃗+
⃗→ ∑ 𝐹𝑋 = 0

𝐹𝑅𝐻 − (𝐹𝑇 )(𝑐𝑜𝑠40°) = 0

𝐹𝑅𝐻 = 2281.73 𝑁(𝑐𝑜𝑠40°)

𝐹𝑅𝐻 = 1747.91 𝑁

6. A uniform, 0.60 𝑘𝑁 boom is supported as shown in fig.a. Find the

tension in the tie rope and the force exerted on the boom by the pin
at P.

Solution:
The forces acting on the boom are shown in fig.b. Take the pin P as
point of axis. The torque equation is then

+↻ ∑ 𝑟 = 0
+(3𝐿⁄4)(𝐹𝑇)(sin 50°) − (𝐿⁄2)(400 𝑁)(sin 40°) − (𝐿)(2000 𝑁) (sin 40°) = 0
+(3𝐿⁄4)(𝐹𝑇)(sin 50°) − 200 𝑁( 𝐿) sin 40° − 2000 𝑁( 𝐿) sin 40° = 0

Dividing both side by 𝐿

4(200 𝑁 sin 40° + 2000 𝑁 sin 40°)

𝐹𝑇 =
3 sin 50°

𝐹𝑇 = 2461.36 𝑁
We now write:

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⃗+
⃗→ ∑ 𝐹𝑋 = 0

𝐹𝑅𝐻 − 𝐹𝑇 = 0

𝐹𝑅𝐻 = 𝐹𝑇 = 2461.36 𝑁

+𝗍 ∑ 𝐹𝑌 = 0
𝐹𝑅𝑉 − 2000 𝑁 − 400 𝑁 = 0

𝐹𝑅𝑉 = 2400 𝑁

𝐹𝑅𝑉 and 𝐹𝑅𝐻 are the components of the reaction force at the
pin. The magnitude of this force is

𝐹 = √(2400)2 + (2461.36 )2 = 3437.77 𝑁

The tangent of the angle it makes with the horizontal is

tan 𝜃 = 2400⁄2461.36 , and so
2400
𝜃 = 𝑡𝑎𝑛−1
2461.36

𝜃 = 44°

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
Name&Section:
LEARNING ACTIVITY
Date: Score:
Subject: LA#6 Instructor:

Direction: At the space below, show your complete solution to gain full
credits. Wrong solution means incorrect answer. Box your final answer. Use
these 2 pages as your answer sheets. You may use additional sheets if
necessary.

1. Where must a 1 𝑘𝑁 object be hung on a uniform, horizontal, rigid

200 𝑁 pole so that a girl pushing up at one end supports one-third as
much as a woman pushing up at the other end? The situation is shown
in the figure.

200 N
1000 N

2. A uniform beam of length L weighs 400 𝑁 and holds a 600 𝑁 object as

shown in the figure. Find the magnitudes of the forces exerted on the
beam by the two supports at its ends. Assume the lengths are exact.

NOTE: Use choose pt. B as the pt. of axis in the torque equation.

400 N

600 N
600 N

3. A uniform, 400 𝑁 board of length L has two objects hanging from it:
600 𝑁 at exactly L/3 from one end, and 750 𝑁 at exactly 3L/4 from
the same end. What single additional force acting on the board will
cause the board to be in equilibrium? Where must the force be
located with reference to point B? The situation is shown in the figure
below.

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NOTE: Use choose pt. B as the pt. of axis in the torque equation.

400 N
600 N

X 750 N

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Lesson 2

 Equilibrium under the action

of Concurrent Forces

Concurrent Forces – are forces whose lines of action all pass through
a common point. The forces acting on a point object are concurrent because
they all pass through the same point, the point object.

An object is in equilibrium under the action of concurrent forces

provided it is not accelerating.
The first condition for equilibrium is the requirement that ∑ 𝐹 = 0 or, in
component form

∑ 𝐹𝑋 = ∑ 𝐹𝑌 = ∑ 𝐹𝑍 = 0

That is, the resultant of all external forces acting on the object must be
zero. This condition is sufficient for equilibrium when the external forces
are concurrent.

PROBLEM SOLUTION METHOD (Concurrent Forces)

1. Isolate the object for discussion.
2. Show the forces acting on the isolated object in a diagram (free-body
diagram).
3. Find the rectangular components of each force.
4. Write the first condition for equilibrium in equation form.
5. Solve for the required quantities.

Example Problems:

1. In the fig. a, the tension in the horizontal cord is 30 𝑁 as shown. Find

the weight of the object?

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Solution:
The tension in cord 1 is equal to the weight of the object hanging from
it. Therefore 𝐹𝑇1 = 𝐹𝑊, and we wish to find 𝐹𝑇1 𝑜𝑟 𝐹𝑊.

Notice that the unknown force 𝐹𝑇1 and the known force of 30 𝑁 both
pull on the knot at point P. It therefore makes sense to isolate the knot at P
as our subject. The free-diagram showing the forces on the knot is drawn as
in fig.b. The force components are also known there.

We next write the first condition for equilibrium for the knot. From the
free body-diagram,

⃗+⃗→ ∑ 𝐹𝑋 = 0

30 𝑁 − 𝐹𝑇2 𝑐𝑜𝑠40° = 0
30 𝑁
𝐹𝑇2 =
𝑐𝑜𝑠40°

𝐹𝑇2 = 39.16 𝑁

+𝗍 ∑ 𝐹𝑌 = 0

𝐹𝑇2 sin 40° − 𝐹𝑊 = 0

𝐹𝑊 = 39.16 𝑁sin 40°

𝐹𝑊 = 25.17 𝑁

2. A rope extends bet. two poles. A 90 𝑁 boy hangs from it as shown in

the fig. Find the tensions in the two parts of the rope.

Solution:
We label the two tensions 𝐹𝑇1 and 𝐹𝑇2 and isolate the rope at the boy’s
hands as the object. The free-diagram for the object is shown in fig.(b).

After resolving the forces into their components as shown, we can write
the first condition for equilibrium:

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⃗+⃗→ ∑ 𝐹𝑋 = 0

𝐹𝑇2 cos 5.0° − 𝐹𝑇1 cos 10° = 0 𝑒𝑞. 1

+𝗍 ∑ 𝐹𝑌 = 0

𝐹𝑇2 sin 5.0° + 𝐹𝑇1 sin 10° − 90 𝑁 = 0 𝑒𝑞. 2

From 𝑒𝑞. 1,
𝐹𝑇1 cos 10°
𝐹𝑇2 = 𝑒𝑞. 1.1
cos 5.0°
Substitute in 𝑒𝑞. 2 ,

𝐹𝑇1 cos 10°

( ) sin 5.0° + 𝐹𝑇1 sin 10° − 90 𝑁 = 0
cos 5.0°

𝑐𝑜𝑠10°𝑡𝑎𝑛5.0°𝐹𝑇1 + 𝐹𝑇1 sin 10° − 90 𝑁 = 0

𝐹𝑇1 (𝑐𝑜𝑠10°𝑡𝑎𝑛5.0° + sin 10°) − 90 𝑁 = 0

thus,

90 𝑁
𝐹𝑇1 = = 346.41 𝑁
𝑐𝑜𝑠10°𝑡𝑎𝑛5.0° + sin 10°)

then substitute 𝐹𝑇1 to 𝑒𝑞. 1.1, thus,

346.41 𝑁 cos 10°

𝐹𝑇2 = = 342.45 𝑁
cos 5.0°

3. Each of the objects is in equilibrium. Find the normal force FN in each

case:

Solution: We apply ∑ 𝐹𝑌 = 0 in each case

(a) 𝐹𝑁 + (200 𝑁) sin 30.0° − 500 𝑁 = 0 from which

𝐹𝑁 = 500 𝑁 − 100 𝑁
𝐹𝑁 = 400 𝑁

(b) 𝐹𝑁 − (200 𝑁) sin 30.0° − 150 𝑁 = 0 from which

𝐹𝑁 = 100 𝑁 + 150 𝑁
𝐹𝑁 = 250 𝑁

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(c) 𝐹𝑁 − (200 𝑁) cos 𝜃 = 0 from which

𝐹𝑁 = (200 cos 𝜃) 𝑁

4. For the situations of problem 1 (fig. 3.a-c), find the coefficient of

kinetic friction if the object is moving w/ constant speed. Round off
your answer to 2 significant figures.

Solution:
We have already found 𝐹𝑁 for each case in Problem 3. To find 𝐹𝑓 , the
sliding-friction force, we use ∑ 𝐹𝑋 = 0. Then we use the definition of 𝜇𝐾.

(a) We have (200 𝑁) cos 30.0° − 𝐹𝑓 = 0 so that 𝐹𝑓 = 173.21 𝑁,

then
𝐹𝑓 173.21 𝑁
𝜇𝐾 = = = 0.43
𝐹𝑁 400 𝑁

(b) We have (200 𝑁) cos 30.0° − 𝐹𝑓 = 0 so that 𝐹𝑓 = 173.21 𝑁,

then
𝐹𝑓 173.21 𝑁
𝜇𝐾 = = = 0.69
𝐹𝑁 250 𝑁

(c) We have (−200 𝑁) sin 𝜃 + 𝐹𝑓 = 0 so that 𝐹𝑓 = 200 sin 𝜃 𝑁,

then
𝐹𝑓 200 sin 𝜃 𝑁
𝜇𝐾 = = = tan 𝜃
𝐹𝑁 200 cos 𝜃 𝑁

5. Pulled by the 8.0 𝑁 block shown in the figure, a 20 𝑁 block slides to the
right at a constant velocity. Find 𝜇𝐾 between the block and the table.
Assume the pulley to be frictionless.

Solution:
Because it is moving at constant velocity, the 20 𝑁 block is at

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equilibrium. Since the pulley is frictionless, the tension in the continuous

rope is the same on both sides of the pulley. Thus we have

𝐹𝑇1 = 𝐹𝑇2 = 8.0 𝑁

Looking at the free-body diagram and recalling that the block is at

equilibrium, we have

⃗+⃗→ ∑ 𝐹𝑋 = 0
𝐹𝑓 − 𝐹𝑇2 = 0

𝐹𝑓 = 𝐹𝑇2 = 8.0 𝑁

+𝗍 ∑ 𝐹𝑌 = 0
𝐹𝑁 − 𝐹𝑊 = 0

𝐹𝑁 = 𝐹𝑊 = 20 𝑁

Solving for the required 𝜇𝐾

𝐹𝑓 8.0 𝑁
𝜇𝐾 = =
𝐹𝑁 20 𝑁

𝜇𝐾 = 0.40

6. In fig. (a), the pulleys are frictionless & the system hangs at
equilibrium. If 𝑊3 is a 200 𝑁 weight, What are the values of 𝑊1 and
𝑊2 ?

(a)

Solution:
The knot above 𝑊1 is in equilibrium under the action of three
forces as shown in fig.(b). Since the pulleys are frictionless, 𝑇2 = 𝑊2 ;
𝑇3 = 𝑊3 . Also, 𝑇1 = 𝑊1 . We are given 𝑇3 = 𝑊3 = 200 𝑁.

From
⃗+
⃗→ ∑ 𝐹𝑋 = 0

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𝑇3 cos 55° − 𝑇2 cos 40° = 0

then substitute 𝑇3 = 200 𝑁 yields,

200 𝑁 cos 55° − 𝑇2 cos 40° = 0

thus solving for 𝑇2 ,

200 𝑁 cos 55°
𝑇2 =
cos 40°

𝑇2 = 150 𝑁
From
+𝗍 ∑ 𝐹𝑌 = 0,
𝑇3 sin 55° + 𝑇2 sin 40° − 𝑇1 = 0

𝑇1 = 200 𝑁 sin 55° + 150 𝑁 sin 40°,

thus solving for 𝑇1 ,

𝑇1 = 260 𝑁

Therefore, 𝑊1 = 𝑇1 = 260 𝑁 and 𝑊2 = 𝑇2 = 150 𝑁

7. A boy of weight 𝑊 hangs from the center of a clothesline and distorts

the line so that it makes 20° angles w/ the horizontal at each end. Find
the tension in the clothesline in terms of 𝑊.

Solution:
Since we are ask to solve for 𝑇, and 𝑊 is along y axis, and the tension
forces 𝑇 are the same, thus we use

+𝗍 ∑ 𝐹𝑌 = 0

2𝑇𝑠𝑖𝑛20° − 𝑊 = 0
𝑊
𝑇=
2𝑠𝑖𝑛20°

𝑇 = 1.46 𝑊

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
Name&Section:
LEARNING ACTIVITY
Date: Score:
Subject: LA#7 Instructor:

Direction: At the space below, show your complete solution to gain full
credits. Wrong solution means incorrect answer. Box your final answer. Use
these 2 pages as your answer sheets. You may use additional sheets if
necessary.

1. For the situation shown in the fig., find the values of FT1 & FT2 if the
objects weight is 600 𝑁.

2. Find the normal force acting on the block in each of the equilibrium
situations in the fig.

fig. 2-1

3. The block shown in fig 2-1(a) slides w/ constant speed under the action
of the force shown
(a) How large is the retarding force?
(b) What is the coefficient of kinetic friction between the block & the
floor?

4. The block shown in fig. 2-1(b) slides at a constant speed down the
incline.
(a) How large is the friction force that opposes its motion?
(b) What is the coefficient of sliding (kinetic) friction between the
block and the plane?

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 MODULE SUMMARY

In module III, you have learned about Equilibrium. You have learned
new concepts along with the kinematic equations. You have also learned how
to use the different approach in solving problems.

There are two lessons in module III. Lesson 1 deals with equilibrium of
rigid bodies under coplanar forces. There are two conditions for equilibrium
in problem solving. These are the force and torque conditions.

Lesson 2 consist of the discussion on equilibrium under the action of

concurrent forces. Here we isolate the object for discussion using free-body
diagram.

Congratulations! You have just studied Module III.

Module III