Static Equilibrium for a Particle

A particle: An object with inertia (mass) but of negligible dimensions

Equilibrium equations for a particle: A particle is in equilibrium if the resultant of ALL forces
acting on the particle is equal to zero

Equilibrium equations in component form: In a rectangular coordinate system the equilibrium

equations can be represented by three scalar equations:

Free-Body diagram: A diagram showing the particle under consideration and all the forces
acting on this particle. Each force in this diagram must labeled.

String or cable: A mechanical device that can only transmit a tensile force along itself.

Linear spring: A mechanical device which exerts a force along its line of action and
proportional to its extension.
Frictionless pulleys: For a frictionless pulley in static equilibrium, the tension in the cable is the
same on both sides of the pulley.

 Equilibrium of rigid bodies

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 Static equilibrium for a rigid body: A body (or any part of it) which is currently
stationary will remain stationary if the resultant force and resultant moment are zero for
all the forces and couples applied on it.
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 Newton’s 3rd law: Each action has a reaction equal in magnitude and opposite in
direction. This law provides the method used for one body (or part of a body) to interact
with another body (or another part of the body).

 Free-Body Diagram: A diagram of a body (or a part of it) which shows all the forces
and couples applied on it, and which has all the forces and couples labeled for use in the
solution of the problem is called a free-body diagram. Follow these steps to draw a free-
body diagram.

1. Select the body (or part of a body) that you want to analyze, and draw it.
2. Identify all the forces and couples that are applied onto the body and draw them on
the body. Place each force and couple at the point that it is applied.
3. Label all the forces and couples with unique labels for use during the solution
process.
4. Add any relevant dimensions onto your picture.
Composite bodies and internal forces: Forces and couples which are a result of
interaction between one part of an object and another part of it will not appear in the free-
body diagram of the whole object. This is due to Newton’s 3rd law. The two bodies in the
following example are welded at A. When the two parts are looked at as a single body,
the internal forces and couples are added together, and as a result of Newton’s third law
will cancel.

Forces and couples on a free-body diagram: Each force or couple you put on a free-
body diagram represents a model of how the body in the free-body diagram is effected by
its surroundings. In selecting the forces and couples that are to be applied on the free-
body diagram follow these steps:

1. Identify all the forces which come from the interaction of one body with
another. Many of the common supports and their effects are shown in table…
Remember that for each way in which a support restricts the free motion of the
body, a force or a moment must be applied to the body to impose the restriction on
the motion.
2. Apply the weight of the body to its center of gravity (if it is uniform, then apply
it to the centroid).
3. Remember that strings and cables can only pull on an object.
4. Remember that internal loads cancel out and should not be put on the free-body
diagram.
5. Remember that if you have selected the direction of forces or couples of
interaction on one body, then Newton’s 3rd law states that you must apply the forces
or couples in the opposite direction on the other body.

Solving for unknowns: You can write one set of equilibrium equations for each free-
body diagram you draw. Things to remember are:

1. In 2-D problems the equilibrium equations result in three independent scalar

equations (two components of force and one component of moment). Therefore, you
can only solve for three scalar unknowns.
2. Try to select the point you take moments around such that the line of action of
at least one unknown force passes through that point. This will eliminate one
unknown from your moment equation and will result in simpler equations to work
 with. This step is not essential, but will significantly simplify the algebra involved in
solving your system of equations.
3. You can sometimes take moments about two or three different points in a
problem. Select each point so that you eliminate one or more unknowns from the
resulting moment equation. Remember that the additional equations you generate
in this way are not independent of the original equations, and, therefore, you will
still have only three independent equations in 2-D problems per free-body diagram
and you can only solve for three unknowns per free-body diagram.
4. For a composite body, if you have drawn a free-body diagram and written the
equilibrium equations for each of its subsections, you will gain no additional
information if you draw the free-body diagram of the entire composite body and
write its equilibrium equations.
5. In 3-D problems the equilibrium equations result in six independent scalar
equations (three components of force and three components of moment). Therefore,
you can solve for up to six scalar unknowns per free-body diagram.

 A two-force member: A body which has forces applied onto it at only two points, and
no couples applied onto it at all, is called a two-force member. A two-force member can
only be in equilibrium if the line of action of the resultant of the forces at each point
passes through the other point, and each resultant force is equal in magnitude but
opposite in direction to the resultant of the forces applied to the other point.
 A three-force member: A body which has forces applied onto it at only three points,
and no couples applied onto it at all, is called a three-force member. A three-force
member can only be in equilibrium if the lines of action for the resultants of the forces at
each point intersect at a single point.
1)
The girl has a mass of 17kg and mass center at Gg, and the tricycle has a mass of 10kg and mass
center at Gt. Determine the normal reactions at each wheel for equilibrium.

A.NA = 14.77 N, NB = NC = 6.12 N

B.NA = 128.8 N, NB = NC = 68.0 N
C.NA = 144.9 N, NB = NC = 60.0 N
D.NA = 13.15 N, NB = NC = 6.93 N

2.

The sports car has a mass of 1.5 Mg and mass center at G. If the front two springs each have a
stiffness of kA=58 kN/m and the rear two springs each have a stiffness of kB = 65 kN/m,
determine their compression when the car is parked on the 30° incline. Also, what frictional
force FB must be applied to each of the rear wheels to hold the car in equilibrium?

A.xA = 16.1 mm, xB = 42.2 mm, FB = 6.37 kN

B.xA = 65.9 mm, xB = 39.2 mm, FB = 6.37 kN
C.xA = 53.2 mm, xB = 50.5 mm, FB = 3.68 kN
D.xA = 76.1 mm, xB = 45.3 mm, FB = 3.68 kN

3.
Determine the tension in the supporting cables BC and BD and the components of reaction at the
ball-and-socket joint A of the boom. The boom supports a drum having a weight of 200 lb. at F.
Points C and D lie in the x—y plane.

A.Ax = 0, Ay = 150 lb, Az = 562 lb, TBC = 300 lb, TBD = 212 lb
B.Ax = 0, Ay = 150 lb, Az = 456 lb, TBC = 150 lb, TBD = 212 lb
C.Ax = 0, Ay = 267 lb, Az = 843 lb, TBC = 533 lb, TBD = lb
D.Ax = 0, Ay = 150 lb, Az = 500 lb, TBC = 212 lb, TBD = 212 lb
4.

The space truss is supported by a ball-and-socket joint at A and short links, two at C and one at
D. Determine the x, y, z components of reaction at A and the force in each link.

A.Ax = -1.050 kN, Ay = 1.050 kN, Az = 0.800 kN, Cy = -1.050 kN, Cz = 0.600 kN, Dx = 1.050 kN
B.Ax = -1.400 kN, Ay = 1.400 kN, Az = 0.800 kN, Cy = -1.400 kN, Cz = 0.600 kN, Dx = 1.400 kN
C.Ax = -2.49 kN, Ay = 1.867 kN, Az = 0.800 kN, Cy = -2.49 kN, Cz = 0.600 kN, Dx = 2.49 kN
D.Ax = -1.867 kN, Ay = 1.867 kN, Az = 0.800 kN, Cy = -1.867 kN, Cz = 0.600 kN, Dx = 1.867 kN
5.
The flying boom B is used with a crane to position construction materials in coves and
underhangs. The horizontal "balance" of the boom is controlled by a 250-kg block D, which has
a center of gravity at G and moves by internal sensing devices along the bottom flange F of the
beam. Determine the position x of the block when the boom is used to lift the stone S, which has a
mass of 60 kg. The boom is uniform and has a mass of 80 kg.

A.x = 2.500 m
B.x = 0.340 m
C.x = 1.180 m
D.x = 0.600 m

6.

There is a ball and socket connection at A. At point B there is a connection that opposes motion in the x
and z directions only. Determine the unknown force components at A and B. Use a scalar analysis.

A.Ax = 5.5 kN, Ay = -1.0 kN, Az = 2.75 kN, Bx = 3.5 kN, Bz = 1.25 kN, FDC = 2.0 kN
B.Ax = 1.5 kN, Ay = -1.0 kN, Az = 0.75 kN, Bx = -3.5 kN, Bz = 1.25 kN, FDC = 2.0 kN
C.Ax = 5.5 kN, Ay = -1.0 kN, Az = 2.75 kN, Bx = 3.5 kN, Bz = -0.75 kN, FDC = 2.0 kN
D.Ax = 1.5 kN, Ay = -1.0 kN, Az = 1.25 kN, Bx = -3.5 kN, Bz = 0.75 kN, FDC = 2.0 kN
7.
Determine the horizontal and vertical components of reaction at the pin A and the reaction at the
roller support B required for equilibrium of the truss.

A.Ax = 0, Ay = 333 lb, NB = 267 lb

B.Ax = 462 lb, Ay = 66.7 lb, NB = 533 lb
C.Ax = 267 lb, Ay = 223 lb, NB = 377 lb
D.Ax = 154.0 lb, Ay = 333 lb, NB = 308 lb

8.

The crane provides a long-reach capacity by using the telescopic boom segment DE. The entire
boom is supported by a pin at A and by the telescopic hydraulic cylinder BC, which can be
considered as a two-force member. The rated load capacity of the crane is measured by a
maximum force developed in the hydraulic cylinder. If this maximum force is developed when
the boom supports a mass m = 6 Mg and its length is l = 40 and = 60°, determine the greatest
mass that can be supported when the boom length is extended to l = 50 m and = 45°. Neglect
the weight of the boom and the size of the pulley at E. Assume the crane does not overturn. Note:
when = 60° BC is vertical; however, when = 45° this is not the case.

A.m = 7.50 Mg
B.m = 4.80 Mg
C.m = 3.26 Mg
D.m = 4.61 Mg
9.

A Russell's traction is used for immobilizing femoral fractures C. If the lower leg has a weight of
8 lb, determine the weight W that must be suspended at D in order for the leg to be held in the
position shown. Also, what is the tension force F in the femur and the distance which locates
the center of gravity G of the lower leg? Neglect the size of the pulley at B.

A.x = 1.44 ft, w = 10.8 lb, F = 12.61 lb

B.x = 1.33 ft, w = 15.76 lb, F = 20.0 lb
C.x = 1.56 ft, w = 9.75 lb, F = 12.69 lb
D.x = 0.869 ft, w = 6.44 lb, F = 5.03 lb
10.

There is a ball and socket connection at A. At B there is a roller that prevents motion in the —z
direction. Corner C is tied to D by a rope. The triangle is weightless. Determine the unknown
force components acting at A, B, and C. Use a scalar analysis.

A.Ax = 0, Ay = 0, Az = 267 N, Bz = 150 N, FDC = 283 N

B.Ax = 0, Ay = 0, Az = 450 N, Bz = 800 N, FDC = 550 N
C.Ax = 0, Ay = 0, Az = 200 N, Bz = 200 N, FDC = 300 N
D.Ax = 0, Ay = 0, Az = 467 N, Bz = 350 N, FDC = 117.1 N
11.
If the boom in the previous problem is to remain horizontal when the stone S is removed, what is x?

A.x = 1.180 m
B.x = 2.500 m
C.x = 0.340 m
D.x = 0.660 m
12.

Compute the horizontal and vertical components of force at pin B. The belt is subjected to a
tension of T=100 N and passes over each of the three pulleys.

A.Bx = 0 N, By = 141.4 N
B.Bx = -15.89 N, By = 120.7 N
C.Bx = 20.7 N, By = 157.3 N
D.Bx = 0, By = 100.0 N
13.

The oil rig is supported on the trailer by the pin or axle at A and the frame at B. If the rig has a
weight of 115,000 lb and the center of gravity at G, determine the force F that must de developed
along the hydraulic cylinder CD in order to start lifting the rig (slowly) off B toward the vertical.
Also compute the horizontal and vertical components of reaction at the pin A.

A.Ax = 343 kip, Ay = -172.5 kip, FCD = 447 kip

B.Ax = 205 kip, Ay = -57.5 kip, FCD = 268 kip
C.Ax = 241 kip, Ay = -172.5 kip, FCD = 375 kip
D.Ax = 220 kip, Ay = -70.1 kip, FCD = 288 kip

Equilibrium
Equilibrium For A Particle

A particle is defined as being in equilibrium if it is stationary (at rest), or moving at constant

velocity, with respect to ground (an inertial reference frame). This means that the vector sum of
all the forces acting on it is equal to zero. See figure below.

where F1, F2,..., Fn are the external forces acting on the particle P, and XYZ is an inertial
reference frame fixed to ground.

By Newton’s Second Law,

where ΣF is the vector sum of the forces, m is the mass of the particle, and a is the acceleration
of the particle with respect to ground.

The particle P is in equilibrium if

As a result, we can write the following scalar equations for the component directions of the sum
of forces (along the X, Y, Z directions):

Where:

ΣFX is the sum of the forces in the X-direction

ΣFY is the sum of the forces in the Y-direction

ΣFZ is the sum of the forces in the Z-direction

More specifically,

Where:

F1X, F2X,..., FnX are the X-components of the external forces acting on the particle P

F1Y, F2Y,..., FnY are the Y-components of the external forces acting on the particle P
F1Z, F2Z,..., FnZ are the Z-components of the external forces acting on the particle P

Equations (1)-(3) are all the equations that are necessary to solve for the forces on a particle in
equilibrium.

Equilibrium For A Rigid Body

A rigid body is defined as being in equilibrium if:

• It is stationary (at rest), with respect to ground (an inertial reference frame).

• It is moving at constant velocity, with no rotation, with respect to ground.

These two conditions mean that the vector sum of all the forces acting on the rigid body is equal
to zero. See figure below.

Where:
XYZ is an inertial reference frame fixed to ground

O is an arbitrary point, which can be located anywhere (on or off the rigid body)

F1, F2,..., Fn are the external forces acting on the rigid body

r1, r2,..., rn are the position vectors from point O to the locations on the rigid body where the
external forces F1, F2,..., Fn are acting

By Newton’s Second Law,

where ΣF is the vector sum of the forces, m is the mass of the rigid body, and aG is the
acceleration of the center of mass G of the rigid body, with respect to ground.

The rigid body is in equilibrium if

As a result, we can write the following scalar equations for the component directions of the sum
of forces (along the X, Y, Z directions):

Where:

ΣFX is the sum of the forces in the X-direction

ΣFY is the sum of the forces in the Y-direction

ΣFZ is the sum of the forces in the Z-direction

More specifically,

Where:

F1X, F2X,..., FnX are the X-components of the external forces acting on the rigid body

F1Y, F2Y,..., FnY are the Y-components of the external forces acting on the rigid body

F1Z, F2Z,..., FnZ are the Z-components of the external forces acting on the rigid body

The rigid body must also be in rotational equilibrium. This means that the sum of the moments
about point O must equal zero. Thus, we can write the following scalar equations:

Where:

ΣMOX is the sum of the moments acting on the rigid body, taken about point O and about the X-
direction

ΣMOY is the sum of the moments acting on the rigid body, taken about point O and about the Y-
direction
ΣMOZ is the sum of the moments acting on the rigid body, taken about point O and about the Z-
direction

Now,

where ΣMO is the sum-of-moments vector

We can express ΣMO as its vector components:

where ΣMOX, ΣMOY, ΣMOZ are the terms on the left side of the (scalar) equations (7)-(9).

Equations (4)-(9) are all the equations that are necessary to solve for the forces on a rigid body in
equilibrium.

Once again, point O can be chosen arbitrarily. However, it is generally easiest to place O at a
location where one of the external forces is acting (for example, F1), since this will result in the
corresponding position vector (r1) equaling zero. This will eliminate the force F1 from the set of
equations, thus reducing the number of unknowns to solve for in equations (4)–(9).

For planar problems (two-dimensional) you can place O at the intersection of the lines of action
of any two unknown external forces. This will eliminate those two forces from the equations,
since the moment of those forces will be zero (i.e. rxF = 0, since the position vector r and the
force vector F are parallel, for these two forces).

For more information on moments see moment of a force.