Chapter Three Equilibrium

3.7 Find the smallest value of P for which the crate in the Prob. 3.6 will be in
equilibrium in the position shown. (Hint: A rope can only support a tensile
force.)

3.8 Determine the rope tension T for which the pulley will be in equilibrium.

3.9 The homogeneous 18-kg pulley is attached to the bar ABC with a pin at B. The
mass of the bar is negligible. The cable running over the pulley carries a tension
of 600 N. Determine the magnitudes of the support reactions at A and C.

.University of Qadisiyah\Faculty of Eng.\Civil Dept 108 Mechanic\Static\1st Class

Chapter Three Equilibrium

Two-Force Principle

If a body is held in equilibrium by two forces, the forces

must be equal in magnitude and oppositely directed along
the same line of action.

To prove the two-force principle:

From the equilibrium equation ΣF = 0 we get PA = −PB.

That is, the forces must be equal in magnitude and of

opposite sense; they must form a couple. Because the
second equilibrium equation, ΣMO = 0 (O is an arbitrary
point), requires the magnitude of the couple to be zero, PA
and PB must be collinear. We conclude that a two-force
body can be in equilibrium only if the two forces are as
shown in Figure (b).

Three-Force Principle

Three non-parallel, coplanar forces that hold a body in

equilibrium must be concurrent.

The proof of this principle can be obtained by

referring to Figure, which shows a body subjected to
the three non-parallel, coplanar forces PA, PB, and PC.
Because the forces are not parallel, two of them say, (PA and PB) must intersect
at some point, such as O. For the body to be in equilibrium, we must have
ΣMO = 0. Therefore, the third force, PC, must also pass through O, as shown in
Figure.

To illustrate the use of the two-force principle, consider the frame shown
in Figure (a). Neglecting the weights of the members, the FBDs for the entire
frame and each of its parts are as shown in Figure (b) through (d).

.University of Qadisiyah\Faculty of Eng.\Civil Dept 109 Mechanic\Static\1st Class

Chapter Three Equilibrium

An efficient analysis is obtained if we recognize that member AC is a two

force body; that is, it is held in equilibrium by two forces—one acting at A (Ax
and Ay are its components) and the other acting at C (Cx and Cy are its
components). Using the two-force principle, we know—without writing any
equilibrium equations—that the resultant forces at A and C are equal in
magnitude and oppositely directed along the line joining A and C. The
magnitude of these forces is labeled PAC in Figure (e).

(e)
Therefore, if we recognize that AC is a two-force body, either of the FBDs
in Figures (f and g) can be used to replace the FBDs in Figures (b, c, and d).
Because each of the FBDs in Figures (f and g) contain three unknowns (PAC, Dx,
and Dy) and provides us with three independent equilibrium equations, either
could be solved completely.

(f) (g)

.University of Qadisiyah\Faculty of Eng.\Civil Dept 110 Mechanic\Static\1st Class

Chapter Three Equilibrium

It is not absolutely necessary to identify two-force bodies when solving

equilibrium problems. However, applying the two-force principle always
reduces the number of equilibrium equations that must be used (from six to
three, in the preceding example). This simplification is invariably convenient,
particularly in the analysis of complicated problems.

The FBD of member BCD, repeated in Figures (h and i), shows that the
member is held in equilibrium by three non-parallel, coplanar forces. Knowing
that the three forces must be concurrent, we could draw the FBD of BCD as
shown in Figure (i). Because the 1000-lb force and PAC intersect at point E, the
pin reaction at D must also pass through that point. Therefore, the two
components Dx and Dy can be replaced by a force RD with the slope 9/4.

(h) (i)

Observe that the FBD in Figures (h and i) contains three unknowns (PAC,
Dx, and Dy) and that there are three independent equilibrium equations (general

coplanar force system). The FBD in Figure (i) contains two unknowns (PAC and
RD), and there are two independent equilibrium equations (concurrent, coplanar
force system). By recognizing that BCD is a three-force body, we reduce both
the number of unknowns and the number of independent equilibrium equations
by one.

.University of Qadisiyah\Faculty of Eng.\Civil Dept 111 Mechanic\Static\1st Class

Chapter Three Equilibrium

Example 15: Determine the pin reactions at A and all forces acting on member
DEF of the frame shown in Fig. (a). Neglect the weights of the members and
use the two-force principle wherever applicable.

Solution: From the FBD of the entire frame, Figure (b),

ΣMA = 0 + −40(3) + Fy(5)=0 Fy = 24.0 kN

ΣMF = 0 + −40(3) − Ay(5)=0 Ay = −24.0 kN
From the FBD of member DEF, Fig. (c),

2 29
ΣFy = 0 + Fy − PBE = 0 PBE = (24.0) = 64.6 kN
29 2

+ 5 15
ΣMF = 0 PCD (4) + PBE (3) = 0 PCD = − (64.6) = −45.0 kN
29 4 29
5
ΣFx = 0 + − PCD − PBE + Fx = 0
29
5
Fx = (64.6) + (−45) = 15.0 kN
29
From the FBD of the entire frame, Fig. (b),
ΣFx = 0 + Ax + Fx + 40.0 = 0 Ax = −15 − 40 = −55.0 kN

Example 16: The frame supports 400-kg load in

the manner shown. Neglect the weights of the
members compared with the forces induced by
the load and compute the horizontal and vertical

.University of Qadisiyah\Faculty of Eng.\Civil Dept 112 Mechanic\Static\1st Class

Chapter Three Equilibrium

components of all forces acting on each of the members.

Solution: From FBD of the entire frame:

ΣMA = 0 + -(0.4)(9.81)5.5 +5D = 0 D = 4.32 kN

ΣFx = 0 + Ax – 4.32 = 0 Ax =4.32 kN

ΣFy = 0 + Ay – 3.92 = 0 Ay =3.92 kN

1
We observe that CE is a two-force member. So E y = Ex
2
1
and C y = C x .
2

FBD of BEF:

1
ΣMB = 0 + -3.92(5) + Ex (3) = 0 Ex = 13.08 kN
2

ΣFy = 0 + -By - 3.92 +13.08/2 = 0 By = 2.62 kN

ΣFx = 0 + - Bx - 3.92 +13.08 = 0 Bx = 9.16 kN

FBD of CE

ΣFx = 0 + Cx- Ex= 0 Cx=Ex=13.08 kN

And for checking use the FBD of AD:

ΣMC = 0 + 4.32(3.5) + 4.32(1.5) - 9.15(1.5) – 3.92(20) = 0 o.k.

ΣFx = 0 + 4.32 – 13.08 + 9.16 + 3.92 - 4.32 = 0 o.k.

ΣFy = 0 + -13.08/2 + 2.62 + 3.92 = 0 o.k.

.University of Qadisiyah\Faculty of Eng.\Civil Dept 113 Mechanic\Static\1st Class

Chapter Three Equilibrium

Example 17: Neglect the weight of the frame and

compute the forces acting on all of its members.

Solution: We can determine the vertical components of

reactions at A and C from free body diagram of the frame
as a whole. Thus,

ΣMC = 0 + ; -50(12) - 30(40) + 30Ay = 0 Ay = 60 lb

4
ΣFy = 0 + ; Cy - 50   - 60 = 0 Cy = 100 lb
5

Next we dismember the frame and draw the free-

body diagram of each part. Since EF is a two-force
member, the direction of the force at E on ED and at F on AB is known. We
assume that the 30-lb force is applied to the pin as a part of member BC.

Member ED: The two unknowns are easily obtained by

ΣMD = 0 + ; -50(12) + 12E = 0 E = 50 lb

ΣF = 0; D – 50 -50 = 0 D = 100 lb

Member EF: Clearly F is equal an opposite to E with

the magnitude of 50 lb.

Member AB: Since F is now known, we solve for Bx, Ax, and By from

  3 
ΣMA = 0 + ; 50 5  (20) – Bx(40) = 0 Bx = 15 lb
  

3
ΣFx = 0 + ; Ax + 15 - 50   = 0 Ax = 15 lb
5

4
ΣFy = 0 + ; 50   - 60 – By = 0 By = -20 lb
5

The minus sign shows that we assigned By in the wrong direction

.University of Qadisiyah\Faculty of Eng.\Civil Dept 114 Mechanic\Static\1st Class

Chapter Three Equilibrium

Member BC: the results for Bx, By, and D are now transferred to BC, and the
remaining unknown Cx is found from

3
ΣFx = 0 + ; 30 + 100   - 15 - Cx = 0 Cx = 75 lb
5

We may apply the remaining two equilibrium equations as a check. Thus,

4
ΣFy = 0 + ; 100 + (-20) - 100   = 0 o.k.
5

ΣMC = 0 + ; (-30 + 15)(40) - (-20)(30) = 0 o.k.

Example 18: Neglecting the weights of the members in Fig. (a), determine the
forces acting on the cylinder at A and B. Apply the two-force and three-force
principles where appropriate. Use two Methods of solution: utilizing (1)
conventional equilibrium equations; and (2) the force triangle.

Solution: Because bar BC is acted upon only by the pin reactions at its ends, it is
a two-force body. Therefore, the force at B, labeled PBC, is directed along the
line BC. The point where the line of action of PBC intersects the 20-lb force is
labeled O.

.University of Qadisiyah\Faculty of Eng.\Civil Dept 115 Mechanic\Static\1st Class

Chapter Three Equilibrium

Next, we note that the cylinder is acted on by three forces: PBC, the 20-lb
applied force, and the pin reaction RA. From the three-force principle, the line of
action of RA must also pass through point O, as shown in Fig. (b).

The angles θ1 and θ2, locating the lines of action of PBC and RA, respectively, can
be found from trigonometry. Referring to Figure (b), we obtain

 3.5 
θ1 = tan −1   = 60.3
o

 2 

a = (2 + 2.5) tan θ1 = 4.5 tan 60.3o = 7.89 in

 a  −1  7.89 
θ 2 = tan −1   = tan   = 72.4
o

 2.5   2.5 

Part 1: The force system acting on the cylinder is concurrent and coplanar,
yielding two independent equilibrium equations. The unknowns PBC and RA can
be determined as follows:

ΣFx = 0 + −PBC cos θ1 + RA cos θ2 = 0

cosθ1 cos 60.3o

RA = PBC = PBC
cosθ 2 cos 72.4o

RA = 1.639PBC …(a)

ΣFy = 0 + −PBC sin θ1 + RA sin θ2 − 20 = 0

−PBC sin 60.3◦ + RA sin 72.4◦ − 20 = 0 …(b)

Solving Eqs. (a) and (b) simultaneously yields

RA = 47.2 lb and PBC = 28.8 lb

Part 2: Because the three forces acting on the cylinder are

concurrent, the unknowns PBC and RA can be found by applying
the law of sines to the force triangle in Figure (c).

The angles in Figure (c) are computed as follows:

α = 72.4◦ − 60.3◦ =12.1◦

.University of Qadisiyah\Faculty of Eng.\Civil Dept 116 Mechanic\Static\1st Class