1

2D Equilibrium
Dr Atul JAIN
Mechanical Engineering Department
Indian Institute of Technology Kharagpur

Mechanics
 Outline 2

Outline

Part I- Equations of equilibrium

Part II - Concepts of free body diagram

Part III- Problem solving

 2D Equilibrium
Part I-Equations of equilibrium

3 Mechanics
 2D Equilibrium –Part I 4

Prior knowledge requirement

Before, learning about 2D equilibrium, you should have prior knowledge of

- Vectors
- Vector summation
- Calculating Moments about a point
 2D Equilibrium –Part I 5

Equilibrium
When a body is in equilibrium, the resultant of all forces (and moments) acting on it
must be zero

𝑅𝐹 = ෍ 𝑭 = 0 F1
M1

𝑅𝑀 = ෍ 𝑴 = 0
M2

F3
Important: Both forces and moments are F2

vectors, vector summation is zero for

equilibrium
 2D Equilibrium –Part I 6

Equilibrium Equations
F1
෍ 𝐹𝑥 = 0 ෍ 𝑀𝑥 = 0
M1

෍ 𝐹𝑦 = 0 ෍ 𝑀𝑦 = 0

M2

෍ 𝐹𝑧 = 0 ෍ 𝑀𝑧 = 0
F3
F2

Each Force and Vector is decomposed into the x, y and z components and
equated to zero for satisfying equilibrium
Each of the 6 equations have to be satisfied for equilibrium
 2D Equilibrium –Part I 7

2D-Equilibrium Equations

• In a 2D case, the forces (and moments) applied to it

are contained in the same plane
෍ 𝐹𝑥 = 0 ෍ 𝑀𝑥 = 0 • If the applied forces (and moments) are in same
plane, the reactions must also be in the same plane
• If all the forces (and moments) are contained in x
෍ 𝐹𝑦 = 0 ෍ 𝑀𝑦 = 0 and y plane, then the ΣFz = 0 leads to trivial
equation
• Similarly ΣMx = 0 and ΣMy = 0 leads to trivial
෍ 𝐹𝑧 = 0 ෍ 𝑀𝑧 = 0 equations
• If all the forces (are moments) are contained in y
and z plane, the relevant non-trivial equations are
ΣFy = 0, ΣFz= 0 and ΣMx = 0
 2D Equilibrium –Part I 8

Variants of the equilibrium equations

F1
෍ 𝐹𝑥 = 0 ෍ 𝑀𝐴 = 0 ෍ 𝑀𝐵 = 0
B M1

Sometimes instead of summation of forces in x and y

axis, it might be preferable to have equilibrium
equations in form of moment equilibrium A
M2

Line AB must not be parallel to y-axis F3

F2
y
Open question to think:
When is it preferable to use this set of equation?
x
 2D Equilibrium –Part I 9

Variants of the equilibrium equations

෍ 𝑀𝐴 = 0 ෍ 𝑀𝐵 = 0 ෍ 𝑀𝐶 = 0 F1

B M1

Sometimes instead of summation of forces in x and y

C
axis, it might be preferable to have equilibrium A
M2
equations in form of moment equilibrium

Points A, B and C must not lie on a single line. ABC F3

F2
must form a triangle y

x
 2D Equilibrium –Part I 10

Equilibrium equations in special cases

Consider a body subjected to forces which are parallel

to each other and pass through same line y
x

Such systems are known as collinear F3

෍ 𝐹𝑥 = 0 ෍ 𝐹𝑦 = 0 ෍ 𝑀𝐵 = 0
F1
F2

While solving problems where bodies are subjected to collinear forces. It is logical to
use a coordinate system such that all the forces are parallel to x-axis (or y-axis)
 2D Equilibrium –Part I 11

Equilibrium equations in special cases

F4
Consider a body subjected to forces all of which are
parallel but not necessarily collinear
B
F3
෍ 𝐹𝑥 = 0 ෍ 𝐹𝑦 = 0 ෍ 𝑀𝐵 = 0
F1
F2

y
x

While solving problems where bodies are subjected to parallel forces.

It is logical to use a coordinate system such that all the forces are
parallel to x-axis (or y-axis)
 2D Equilibrium –Part I 12

Equilibrium equations in special cases

Consider a body subjected to forces all of which are F4

concurrent y

x
෍ 𝐹𝑥 = 0 ෍ 𝐹𝑦 = 0 ෍ 𝑀𝐵 = 0
F2
F3
B

F1
ΣMB = 0, leads to trivial equation as all forces are passing through B
Therefore, we have only two equations of equilibrium
 2D Equilibrium –Part I 13

Equilibrium equations in special cases

Consider a body subjected to only two forces

F2

Let us consider a coordinate axis system such that x-axis

is parallel to one of the forces

σ 𝐹𝑦 = 0 and σ 𝐹𝑥 = 0 is only valid if and only if F2

also parallel to F1 with equal magnitude and
opposite direction
y
If a body is subjected to two forces, then both the forces x
must be equal in magnitude, opposite in direction and F1
collinear
 2D Equilibrium –Part I 14

Equilibrium equations in special cases

Consider a body subjected to only three forces

In a very general case, two forces pass through a point. D F3
The third force may or may not be concurrent

Let two forces, F1 and F2 pass through point A F2

A
σ 𝑀𝐴 = 0 will be true if and only if either:
y
F3×AD =0 F1

x
F3 = 0 OR AD = 0
If a body is subjected to three forces, then
the three forces must be concurrent
 2D Equilibrium –Part I 15

Summary

For a general 2D equilibrium problem there are 3 equations, up to 3 unknowns

can be solved
If forces are collinear  only one equation
If forces are concurrent  only two equations
If a body is subjected to two forces, then both the forces must be equal in
magnitude, opposite in direction and collinear for equilibrium
If a body is subjected to three forces, then the three forces must be
concurrent for equilibrium