Structural Mechanics

3.0 Equilibrium of a Particle

Chapter Objectives:
▪ Concept of the free-body diagram for a particle
▪ Solve particle equilibrium problems using the equations of equilibrium

Contents:
3.1 Condition for the Equilibrium of a Particle
3.2 The Free-Body Diagram
3.3 Coplanar Systems
3.4 Three-Dimensional Force Systems

3.1 Condition for the Equilibrium of a Particle

⚫ Particle at equilibrium if
▪ At rest
▪ Moving at constant a constant velocity

⚫ Newton’s first law of motion, ∑ 𝐅 = 0 where ∑ 𝐅 is the vector sum of all the
forces acting on the particle.
⚫ Newton’s second law of motion, ∑ 𝐅 = 𝑚𝐚 when the force fulfill Newton's first
law of motion,
𝑚𝐚 = 0
𝐚=0
therefore, the particle is moving in constant velocity or at rest.

3.2 The Free-Body Diagram

⚫ Best representation of all the unknown forces (∑ 𝐅) which acts on a body.
⚫ A sketch showing the particle “free” from the surroundings with all the forces
acting on it.
⚫ Consider two common connections in this subject :
(i) Spring
(ii) Cables and Pulleys

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(i) Spring
▪ Linear elastic spring: change in length is directly proportional to the force
acting on it.
▪ spring constant or stiffness k: defines the elasticity of the spring, 𝐹 = 𝑘𝑠

▪ Magnitude of force when spring is elongated or compressed.

(ii) Cables and Pulley
▪ Cables (or cords) are assumed negligible weight and cannot stretch.
▪ Tension always acts in the direction of the cable.
▪ Tension force must have a constant magnitude for equilibrium.
▪ For any angle θ, the cable is subjected to a constant tension T.

Cable in tension

⚫ Procedure for Drawing a FBD

1. Draw outlined shape
2. Show all the forces
▪ Active forces: tend to set the particle in motion
▪ Reactive forces: constraints or supports that prevent motion
3. Identify each force
▪ Known forces should be labeled with proper magnitudes and
directions.
▪ Letters are used to represent magnitudes and directions of unknown
forces.

Example:
The sphere has a mass of 6kg and is supported. Draw a free-body diagram of the sphere,
the cord CE and the knot at C.

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Solution:
FBD at Sphere
▪ Two forces acting, weight and the force on cord CE.
▪ Weight of 6kg (9.81m/s2) = 58.9N

Cord CE
▪ Two forces acting: sphere and knot
▪ Newton’s 3rd Law: FCE is equal but opposite
▪ FCE and FEC pull the cord in tension
▪ For equilibrium, FCE = FEC

FBD at Knot
▪ 3 forces acting: cord CBA, cord CE and spring CD
▪ Important to know that the weight of the sphere does not act directly on the knot
but subjected to by the cord CE.

3.3 Coplanar Systems

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⚫ A particle is subjected to coplanar forces in the x-y plane.
⚫ Resolve into i and j components for equilibrium
∑ 𝐹𝑥 = 0
∑ 𝐹𝑦 = 0
⚫ Scalar equations of equilibrium require that the algebraic sum of the x and y
components to equal to zero.

⚫ Procedure for Analysis

1. Free-Body Diagram
▪ Establish the x, y axes
▪ Label all the unknown and known forces
2. Equations of Equilibrium
▪ Apply the equations of equilibrium
∑ 𝐹𝑥 = 0
∑ 𝐹𝑦 = 0
▪ Components are positive if they are directed along a positive axis, and
negative if they are directed along a negative axis.
▪ Apply 𝐹 = 𝑘𝑠 to find spring force
▪ When negative result force is the reverse

Example:
Determine the tension in cables BA and BC necessary to support the 60-kg cylinder.

Solution:
Free-body Diagram: Due to equilibrium, the weight of the cylinder causes the tension

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in cable BD to be 𝑇𝐵𝐷 = 60(9.81)N . The forces in cables BA and BC can be
determined by investigating the equilibrium of ring B. The magnitudes of 𝑇𝑎 and 𝑇𝑐
are unknown, but their directions are known.

Equations of equilibrium: Applying the equations of equilibrium along the x and y axes,
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+→ ∑ 𝐹𝑥 = 0; 𝑇𝑐 cos 45° − (5) 𝑇𝐴 = 0 (1)

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+↑ ∑ 𝐹𝑦 = 0; 𝑇𝑐 sin 45° + (5) 𝑇𝐴 − 60(9.81)N = 0 (2)

Equation (1) can be written as 𝑇𝐴 = 0.8839𝑇𝐶 . Substituting this into Eq. (2) yields
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𝑇𝐶 sin 45° + ( ) (0.8893𝑇𝐶 ) − 60(9.81)N = 0
5
So that, 𝑇𝐶 = 475.66N = 476N
Substituting this result into either Eq. (1) or Eq. (2), 𝑇𝐴 = 420N

Example:
The 200-kg crate is suspended using the ropes AB and AC. Each rope can withstand a
maximum force of 10kN before it breaks. If AB always remains horizontal, determine
the smallest angle θ to which the crate can be suspended before one of the ropes breaks.

Solution:
Free-body diagram: For the equilibrium of ring A, there are three forces acting on it.
The magnitude of 𝐹𝐷 is equal to the weight of the crate, i.e. 𝐹𝐷 = 200(9.81)N =
1962N < 10kN.

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Equations of equilibrium: Applying the equations of equilibrium along the x and y axes,
𝐹
+→ ∑ 𝐹𝑥 = 0; −𝐹𝐶 cos 𝜃 + 𝐹𝐵 = 0; 𝐹𝑐 = cos𝐵𝜃 (1)

+↑ ∑ 𝐹𝑦 = 0; 𝐹𝐶 sin 𝜃 − 1962N = 0 (2)

From equation (1), FC is always greater than FB since cos 𝜃 ≤ 1. Therefore, rope AC
will reach the maximum tensile force of 10kN before rope AB. Substituting 𝐹𝑐 = 10kN
into eq. (2),
[10(103 )N] sin 𝜃 − 1962N = 0
𝜃 = sin−1 0.1962 = 11.31°
The force developed in rope AB can be obtained by substituting the values for θ and
𝐹𝑐 into eq. (1).
𝐹𝐵
10(103 )N =
cos 11.31°
𝐹𝐵 = 9.81kN
Example:
Determine the required length of cord AC so that the 8-kg lamp can be suspended in the
′
position shown. The undeformed length of spring AB is 𝑙𝐴𝐵 =0.4m, and the spring has
a stiffness of 𝑘𝐴𝐵 = 300 N⁄m.

Solution:
If the force in spring AB is known, the stretch of the spring can be found using 𝐹 = 𝑘𝑠.
From the problem geometry, it is then possible to calculate the required length of AC.

Free-body diagram: The lamp has a weight 𝑊 = 8(9.81) = 78.5N.

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Equations of Equilibrium: Using the x, y axes,
+→ ∑ 𝐹𝑥 = 0; 𝑇𝐴𝐵 − 𝑇𝐴𝐶 cos 30° = 0
+↑ ∑ 𝐹𝑦 = 0; 𝑇𝐴𝐶 sin 30° − 78.5N = 0

Solving, we obtain 𝑇𝐴𝐶 = 157.0𝑁

𝑇𝐴𝐵 = 135.9𝑁

The stretch of spring AB is therefore 𝑇𝐴𝐵 = 𝑘𝐴𝐵 𝑠𝐴𝐵 ;

135.9N = 300 N⁄m (𝑠𝐴𝐵 )
𝑠𝐴𝐵 = 0.453m
′
So the stretched length is 𝑙𝐴𝐵 = 𝑙𝐴𝐵 + 𝑠𝐴𝐵
𝑙𝐴𝐵 = 0.4m + 0.453m = 0.853m
The horizontal distance from C to B, requires 2m = 𝑙𝐴𝐶 cos 30° + 0.853m
𝑙𝐴𝐶 = 1.32m
Example:
The block has a mass of 5 kg and rests on the smooth plane. Determine the unstretched
length of the spring.

Solution:
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(𝐹 ) − 5(9.81) sin 45° = 0
5 𝑠𝑝
𝐹𝑠𝑝 = 43.35N
𝐹𝑠𝑝 = 𝑘(𝑙 − 𝑙0 )

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 43.35 = 200(0.5 − 𝑙0 )
𝑙0 = 0.283m

Example:
If the mass of cylinder C is 40 kg, determine the mass of cylinder A in order to hold the
assembly in the position.

Solution:
+↑ ∑ 𝐹𝑦 = 0; (392.4N) sin 30° − 𝑚𝐴 (9.81) = 0
𝑚𝐴 = 20kg

Exercise:
Determine the unstretched length of spring AC if a force 𝑃 = 400N causes the angle
𝜃 = 60° for equilibrium. Cord AB is 0.6m long. Take 𝑘 = 850 N⁄m .

Answer: 0.804m

3.3 Three-dimensional force systems

⚫ For particle equilibrium, ∑ 𝐅 = 0
⚫ ⃗⃗ = 𝟎
Resolving into i, j, k components, ∑ 𝐹𝑥 𝑖⃗ + ∑ 𝐹𝑦 𝑗⃗ + ∑ 𝐹𝑧 𝑘
⚫ The scalar equations representing algebraic sums of the x, y, z forces
∑ 𝐹𝑥 𝑖⃗ = 𝟎
{ ∑ 𝐹𝑦 𝑗⃗ = 𝟎
⃗⃗ = 𝟎
∑ 𝐹𝑧 𝑘

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⚫ Procedure for Analysis
1. Free-body Diagram
▪ Establish the x, y, z axes
▪ Label all known and unknown forces
▪ The sense of a force having an unknown magnitude can be assumed
2. Equations of Equilibrium
▪ Apply ∑ 𝐹𝑥 = 0, ∑ 𝐹𝑦 = 0 and ∑ 𝐹𝑧 = 0
▪ Substitute vectors into ∑ 𝐹 = 0 and set i, j, k components = 0
▪ Negative results indicate that the sense of the force is opposite to that shown in
the FBD.

Example:
A 90-N load is suspended from the hook. If the load is supported by two cables and a
spring having a stiffness 𝑘 = 500 N⁄m , 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:
The stretch of the spring can be determined once the force in the spring is determined.
Free-body diagram: The connection at A is chosen for the equilibrium analysis since
the cable forces concurrent at this point.

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Equations of equilibrium: By inspection, each force can easily be resolved into its x,
y, z components, and therefore the three scalar equations of equilibrium can be used.
Considering components directed along each positive axis as “positive”,
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∑ 𝐹𝑥 = 0; 𝐹𝐷 sin 30° − (5) 𝐹𝐶 = 0 (1)

∑ 𝐹𝑦 = 0; −𝐹𝐷 cos 30° + 𝐹𝐵 = 0 (2)

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∑ 𝐹𝑍 = 0; (5) 𝐹𝐶 − 90N = 0 (3)

Solving eq. (3) for FC, then eq. (1) for FD and finally eq. (2) for FB, yields
𝐹𝐶 = 150N
𝐹𝐷 = 240N
𝐹𝐵 = 207.8N
The stretch of the spring is therefore 𝐹𝐵 = 𝑘𝑠𝐴𝐵
207.8N = (500 N⁄m)(𝑠𝐴𝐵 )
𝑠𝐴𝐵 = 0.416m
Since the results for all the cable forces are positive, each cable is in tension; that is, it
pulls on point A as expected.

Example:
The 10-kg lamp is suspended from the three equal- length cords. Determine its smallest
vertical distance s from the ceiling if the force developed in any cord is not allowed to
exceed 50 N.

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Solution:
Free-body diagram: Due to symmetry, the distance DA = DB = DC = 600mm . It
follows that from ∑ 𝐹𝑥 = 0 and ∑ 𝐹𝑦 = 0, the tension T in each cord will be the same.
Also, the angle between each cord and the z-axis is γ.

Equations of equilibrium: Applying the equilibrium equation along the z-axis, with
𝑇 = 50N,
∑ 𝐹𝑧 = 0; 3[(50N) cos 𝛾] − 10(9.81)N = 0
98.1
γ = cos −1 150 = 49.16

600mm
From the shaded triangle, tan 49.16° = 𝑠

𝑠 = 519mm

Example:
Determine the force developed in each cable used to support the 40kN crate.

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Solution:
FBD at Point A
To expose all three unknown forces in the cables.

Equations of Equilibrium
Expressing each forces in Cartesian vectors,
⃗⃗⃗⃗⃗⃗
𝑟
⃗⃗⃗⃗⃗
𝐹𝐵 = 𝐹𝐵 𝑟𝐵 = −0.318𝐹𝐵 𝒊 − 0.424𝐹𝐵 𝒋 + 0.848𝐹𝐵 𝒌
𝐵

𝑟⃗⃗⃗⃗𝐶
⃗⃗⃗⃗⃗
𝐹𝐶 = 𝐹𝐶 = −0.318𝐹𝐶 𝒊 + 0.424𝐹𝐶 𝒋 + 0.848𝐹𝐶 𝒌
𝑟𝐶
⃗⃗⃗⃗⃗
𝐹𝐷 = 𝐹𝐷 𝒊
⃗⃗⃗⃗ = −40𝐤
W

⃗⃗⃗⃗⃗
For equilibrium, ∑ 𝐹 = 0; 𝐹 ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗
𝐵 + 𝐹𝐶 + 𝐹𝐷 + 𝑊 = 0
−0.318𝐹𝐵 𝒊 − 0.424𝐹𝐵 𝒋 + 0.848𝐹𝐵 𝒌 − 0.318𝐹𝐶 𝒊 + 0.424𝐹𝐶 𝒋 + 0.848𝐹𝐶 𝒌+𝐹𝐷 𝒊
− 40𝐤 = 0

∑ 𝐹𝑥 = 0; −0.318𝐹𝐵 − 0.318𝐹𝐶 + 𝐹𝐷 = 0
∑ 𝐹𝑦 = 0; −0.424𝐹𝐵 + 0.424𝐹𝐶 = 0

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∑ 𝐹𝑧 = 0; 0.848𝐹𝐵 + 0.848𝐹𝐶 − 40 = 0

Solving, 𝐹𝐵 = 𝐹𝐶 = 23.6kN
𝐹𝐷 = 15.0kN

Example:
Determine the tension in each cord used to support the 100-kg crate.

Solution:
Free-body diagram: The force in each of the cords can be determined by investigating
the equilibrium of point A. The weight of the crate is 𝑊 = 100(9.81) = 981N.
Equations of equilibrium: Each force on the free-body diagram is first expressed in
Cartesian vector form.
𝑭𝐵 = 𝐹𝐵 𝒊
𝑭𝐶 = 𝐹𝐶 cos 120° 𝒊 + 𝐹𝐶 cos 135° 𝒋 + 𝐹𝐶 cos 60° 𝒌
𝑭𝐶 = −0.5𝐹𝐶 𝒊 − 0.707𝐹𝐶 𝒋 + 0.5𝐹𝐶 𝒌
−1𝒊 + 2𝒋 + 2𝒌
𝑭𝐷 = 𝐹𝐷 ( )
√(−1)2 + 22 + 22
𝑭𝐷 = −0.333𝐹𝐷 𝒊 + 0.667𝐹𝐷 𝒋 + 0.667𝐹𝐷 𝒌
𝑾 = −981𝒌

∑ 𝑭 = 0; 𝑭𝐵 + 𝑭𝐶 + 𝑭𝐷 + 𝑾 = 0
𝐹𝐵 𝒊 − 0.5𝐹𝐶 𝒊 − 0.707𝐹𝐶 𝒋 + 0.5𝐹𝐶 𝒌 − 0.333𝐹𝐷 𝒊 + 0.667𝐹𝐷 𝒋 + 0.667𝐹𝐷 𝒌 − 981𝒌
=0
Equating the respective i, j and k components to zero,

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∑ 𝐹𝑥 = 0; 𝐹𝐵 − 0.5𝐹𝐶 − 0.333𝐹𝐷 = 0
∑ 𝐹𝑦 = 0; −0.707𝐹𝐶 + 0.667𝐹𝐷 = 0
∑ 𝐹𝑧 = 0; 0.5𝐹𝐶 + 0.667𝐹𝐷 − 981 = 0
𝐹𝐶 = 813N
{𝐹𝐷 = 862N
𝐹𝐵 = 694N

Example:
Determine the magnitude of forces F1, F2, F3, so that the particles is held in equilibrium.

Solution:
3 3
∑ 𝐹𝑥 = 0; [5 𝐹3 ] (5) + 600N − 𝐹2 = 0

4 3 4
∑ 𝐹𝑦 = 0; (5) 𝐹1 − [(5) 𝐹3 ] (5) = 0

4 3
∑ 𝐹𝑧 = 0; (5) 𝐹3 + (5) 𝐹1 − 900N = 0

𝐹1 = 466N; 𝐹2 = 879N; 𝐹3 = 776N

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Example:
The 75-kg crate is supported by cables AB, AC and AD. Determine the tension in
these wires.

𝑟⃗ −1.8𝒊+0.9𝒋+0.6𝒌 6 3 2
𝐹⃗𝐵 = 𝐹𝐵 (𝑟𝐴𝐵 ) = 𝐹𝐵 ( ) = − 7 𝐹𝐵 𝒊 + 7 𝐹𝐵 𝒋 + 7 𝐹𝐵 𝒌
𝐴𝐵 √(−1.8)2 +0.92 +0.62

𝑟⃗ −1.8𝒊−0.6𝒋+0.9𝒌 6 2 3
𝐹⃗𝐶 = 𝐹𝐶 (𝑟𝐴𝐶 ) = 𝐹𝐶 ( ) = − 7 𝐹𝐶 𝒊 − 7 𝐹𝐶 𝒋 + 7 𝐹𝐶 𝒌
𝐴𝐶 √(−1.8)2 +(−0.6)2 +0.92

𝐹⃗𝐷 = 𝐹𝐷 𝒊
⃗W
⃗⃗⃗ = −75(9.81)𝒌
6 6
∑ 𝐹𝑥 = 0; − 7 𝐹𝐵 − 7 𝐹𝐶 + 𝐹𝐷 = 0

3 2
∑ 𝐹𝑦 = 0; 𝐹 − 7 𝐹𝐶 = 0
7 𝐵

2 3
∑ 𝐹𝑧 = 0; 𝐹 + 7 𝐹𝐶 − 75 × 9.81 = 0
7 𝐵

𝐹𝐵 = 792.3N; 𝐹𝐶 = 1188.5N; 𝐹𝐷 = 1697.8N

Example:
If each cable cam withstand a maximum tension of 1000 N, determine the largest mass
of the cylinder for equilibrium.

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