Forces and

equilibrium

Forces and Equilibrium

Scalars and vectors
Types of forces
Resultant of forces
Equilibrium of particles

Scalar and Vectors

Scalar a

a physical quantity that is completely described by

real number
e.g. time, length, mass, temperature

Vector - is described by both magnitude (nonnegative

real
number) and direction
e.g. position of a point in space relative to
another
point, forces
- represented by bold-faced letters: u, a, W
- magnitude of vector u = |u|
- graphical representation of vectors: arrows
- direction of arrow shows the direction of
vector
- length of arrow magnitude of vector

Vectors
Example:

rAB - position of point B relative to point A

- direction from point A to point B
- distance between A and B = |rAB|

Types of forces

Types of forces

External force

Internal force

Resultant of force in
2Dimension
Scalar
Added 4 m2 and 3 m2 = 7 m2

Vector
Added 4 km and 3 km = sum and direction

Resultant = single vector giving the result

of the addition of the original two or more
vectors.

Resultant of forces: Graphical

Q

Triangle rule
- sum of vector from tail of P to
head of Q

Parallelogram rule
- the sum is independent of the
order in which the vectors are
placed head to tail
- vector addition is commutative
P+Q=Q+P=R

R=P+Q

R
P
Q

PQ

- vector subtraction
R=PQ
Q

R - resultant of two forces, P and

Resultant of forces: Analytical

Trigonometric:
Law of cosine,

R 2 P 2 Q 2 2PQ cos B
R=P+Q

Law of sine,

sin A sin B sin C

Q
R
A

A
Pythagorean theorem

Resolution of vectors:
Resolve vectors into
components using the x and y
axes system.
We use the unit vectors i and j
to designate the x and y axes

Example 1:

Figure shows an initial design sketch of part of the roof of a sports

stadium to be supported by the cables AB and AC. The forces the
cables exert on the pylon to which they are attached are
represented by the vectors FAB and FAC. The magnitude of the forces
are |FAB| = 100 kN and |FAC| = 60 kN. Determine the magnitude and
direction of the sum of the forces exerted on the pylon by the cables
(a) graphically and (b) using trigonometry.

Solution:
(a) Graphically construct the parallelogram rule with FAB and FAC
proportional to their magnitudes:

By measuring the figure, we estimate the magnitude of the

vector FAB + FAC to be 160 kN and its direction to be 19 above
the horizontal.

Solution:
(b) Consider the parallelogram rule:
Since = 180 30 = 150

Applying law of cosine to the triangle:

2

FAB FAC FAB FAC 2 FAB FAC cos

100 60 2 100 60 cos 150
2

Magnitude |FAB + FAC| = 154.9 kN

To determine the angle between FAB + FAC and the horizontal,

apply law of sines to shaded triangle:
sin
sin

FAB FAB FAC

FAB sin
arcsin
FAB FAC

100 sin 150

18.8
155

arcsin

Example 2:
Determine the horizontal and
vertical components of P
Solution:

Example
The ring shown in figure is subjected to two
forces, Fl and F2. If it is required that the resultant
force have a magnitude of 1 kN and be directed
vertically downward, determine the magnitudes of
Fl and F2,
provided = 30.

Solution:
Vector addition sketch according to the parallelogram law:

Using the law of sines:

F1
1000 N

sin 30 sin 130

F1 = 635 N

F2
1000 N

sin 20 sin 130

F2 = 446 N

Example 4:
Determine the resultant of
forces that acts on bolt A.

Solution:
Trigonometric solution - law of cosines,
R 2 P 2 Q 2 2PQ cos B
40N 60N 2 40N 60N cos 155
2

R 97.73N

Law of sines,
sinA sinB

Q
R
Q
sinA sinB
R
sin155
A 15.04
20 A

35.04

60N
97.73N

There are four concurrent

cable forces acting on the
bracket.
How do you determine the
resultant force acting on the
bracket ?

Resultant of forces (component method)

A single force can be broken up into two

separated forces
Fy
F

Fx

To add vectors analytically using the method

components , one should be proceed
according to the step.

 Resolve each vector into a horizontal and

vertical component
Add the vertical components, Ry=Fy.
Add the horizontal components, Rx = Fx
Combine the horizontal and vertical
components to obtain a single resultant
vector.

R ( Rx ) 2 ( R y ) 2

Ry

R
x

tan 1

Exercise 1
Three concurrent forces are acting on a
bracket. Find the magnitude and angle of the
resultant force by resolving the forces.

Solution:
F1 = { 15 sin 40 i + 15 cos 40 j } kN
= { 9.642 i + 11.49 j } kN
F2 = { -(12/13)26 i + (5/13)26 j } kN
= { -24 i + 10 j } kN
F3 = { 36 cos 30 i 36 sin 30 j } kN
= { 31.18 i 18 j } kN

I = x axis, j = y axis

Summing up all the i and j components respectively, we get,

FR = { (9.642 24 + 31.18) i + (11.49 + 10 18) j } kN
= { 16.82 i + 3.49 j } kN
FR = ((16.82)2 + (3.49)2)1/2 = 17.2 kN
= tan-1(3.49/16.82) = 11.7

FR

Resultant force in 3 Dimension

+y
-Z
+X

-X
+Z

-y

y
6N
R
x
4N
z

3N

R1

R1 (3 N ) 2 (4 N ) 2

R (5 N ) 2 (6 N ) 2

R1 5 N

R 7.81N

R=7.81 N, coordinates
(4,6,3)

Vector equation
Or known as Cartesian vector
Used right hand coordinate system

Example 2.13
Express the force F shown in Figure 2.23 as a
Cartesian vector

Since only two coordinate direction angles are specified,

the third angle must be determined using equation

cos 2 cos 2 cos 2 1

cos 2 cos 2 60 o cos 2 45 o 1
cos 1 (0.5) 2 (0.707) 2 0.5

Hence, two possibilities exist, namely,

= cos-1(0.5) = 60o or = cos-1(0.5) = 120o

By inspection, it is necessary that = 60o, since Fx must be

in the +x direction, with F = 200 N, we have

F = F cos i + F cos j + F cos k

F = (200 cos 60oN)i + ( 200 cos 60o N)j + ( 200 cos 45o)k
F = {100.0i + 100.0j + 141.4k} N

Show that indeed the magnitude of F = 200N

2

F Fx Fy Fz

F 100 2 100 2 141.4 2

Equilibrium of a particle

The term particle used in statics to describe a body when;

the size and shape of the body will not significantly affect
the solution of the problem being considered.
the mass of the body can be assumed to be concentrated
at a point.

A particle can be subjected only to a system of concurrent

forces and that the necessary and sufficient conditions for
equilibrium can be expressed mathematically as
R = F = 0
where F is the vector sum of all forces acting on the particle.

To apply the equation of equilibrium --- account for all the

known and unknown forces (F) which act on the particle.

APPLICATIONS

For a spool of given

weight, what are the
forces in cables AB
and AC ?

APPLICATIONS (continued)

For a given cable

strength, what is the
maximum weight
that can be lifted ?

Procedure for Drawing a Free-Body Diagram

Draw Outlined Shape: Imagine the particle to be
isolated or cut "free" from its surroundings by drawing its
outlined shape.
Show all Forces: Indicate on this sketch all the forces
that act on the particle. These forces can be active forces,
which tend to set the particle in motion, or they can be
reactive forces which are the result of the constraints or
supports that tend to prevent motion. To account for all
these forces, it may help to trace around the particle's
boundary, carefully noting each force acting on it.
Identify Each Force: The forces that are known should
be labeled with their proper magnitudes and directions.
Letters are used to represent the magnitudes and
directions of forces that are unknown.

EQUILIBRIUM OF PARTICLE IN 2DThis is an example of a 2-D or

coplanar force system. If the
whole assembly is in
equilibrium, then particle A is
also in equilibrium.
To determine the tensions in
the cables for a given weight
of the engine, we need to
learn how to draw a free
body diagram and apply
equations of equilibrium.

THE WHAT, WHY AND HOW OF A FREE

BODY DIAGRAM (FBD)
Free Body Diagrams are one of the most important things for
you to know how to draw and use.

What ? - It is a drawing that

shows all external forces acting
on the particle.
Why ? - It helps you write the
equations of equilibrium used to
solve for the unknowns (usually
forces or angles).

How ?
1. Imagine the particle to be isolated or cut free from its
surroundings.
2. Show all the forces that act on the particle.
Active forces: They want to move the particle.
Reactive forces: They tend to resist the motion.
3. Identify each force and show all known magnitudes
and directions. Show all unknown magnitudes
and / or directions as variables .

Note : Engine mass = 250 Kg

FBD at A

EQUATIONS OF 2-D EQUILIBRIUM

Since particle A is in equilibrium, the
net force at A is zero.
So FAB + FAD + FAC = 0
A

or F = 0
FBD at A

In general, for a particle in equilibrium, F = 0

Fx i + Fy j = 0 = 0 i + 0 j (A vector
equation)

or

Or, written in a scalar form,

Fx = 0 and Fy = 0
These are two scalar equations of equilibrium (EofE).
They can be used to solve for up to two unknowns.

EXAMPLE

Note : Engine mass = 250 Kg

FBD at A

Write the scalar EofE:

+ Fx = TB cos 30 TD = 0
+ Fy = TB sin 30 2.452 kN = 0
Solving the second equation gives: TB = 4.90 kN
From the first equation, we get: TD = 4.25 kN

Two-Dimensional Problems
R

= R x + R y = Rn + R t = 0
= Rxi + Ryj = Rnen + Rtet = 0
= Fxi + Fyj = Fnen + Ftet = 0

Satisfy only if
Rx = Rxi = Fxi = 0
Ry = Ryj = Fyj = 0
Rn = Rnen = Fnen = 0
Rt = Rtet = Ftet = 0

Example 2.14
A free-body diagram of a particle subjected to the action of
four forces is shown in Fig.2.29. Determine the magnitudes
of forces Fl and F2 so that the particle is in equilibrium

Solution
+ Fx = F1x + F2x + F3x + F4x = 0
= F1 cos 60 + F2 cos 30 - 40 cos 56 - 10 cos 15 = 0
= 0.5 F1 + 0.866 F2 22.37 9.659 = 0
From which
F1 + 1.732 F2 = 64.06

(a)

+ Fy = F1y + F2y + F3y + F4y = 0

= F1 sin 60 + F2 sin 30 - 40 sin 56 + 10 sin 15 = 0
= 0.8660 F1 + 0.5 F2 33.16 + 2.588 = 0
From which
F1 + 0.5774 F2 = 35.30
Solving Eqs (a) and (b) simultaneously yields
F1 = 20.9 kip

(b)

GROUP PROBLEM SOLVING

Given: The car is towed at
constant speed by the 600
N force and the angle is
25.
Find:

The forces in the ropes AB

and AC.

Plan:
1. Draw a FBD for point A.
2. Apply the EofE to solve for the
forces in ropes AB and AC.

GROUP PROBLEM SOLVING (continued)

600 N
FBD at point A

A
25
FAB

30
FAC

Applying the scalar EofE at A, we get;

+ Fx = FAC cos 30 FAB cos 25 = 0
+ Fy = -FAC sin 30 FAB sin 25 + 600 = 0
Solving the above equations, we get;
FAB = 634 N
FAC = 664 N

EQUILIBRIUM OF PARTICLE IN 3-D

Three-Dimensional Problems
R

= F = 0
= R x + R y + Rz = 0
= Rxi + Ryj + Rzk = 0
= Fxi + Fyj + Fzk = 0

satisfied only if
Rx = Rxi = Fxi = 0
Ry = Ryj = Fyj = 0
Rz = Rzk = Fzk = 0

Example 2.17

A 90-lb load is suspended from the hook shown in

Figure 2.28(a). The load is supported by two cables
and a spring having a stiffness k = 500 lb/ft.
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.

 Free-Body Diagram.

Equation of equilibrium
Fx = 0 FD sin 30 - (4/5)FC = 0

(a)

Fy = 0 -FD cos 30 + FB = 0

(b)

Fz = 0 (3/5) FC 90 lb = 0

(c)

Solving Eq. (c) for FC, then Eq (a) for FD, and finally Eq.
(b) for FB, yields,

FC = 150 lb

FD = 240 lb

FB = 208 lb

Ans
Ans
Ans

The strech of spring is therefore

FB = ksAB
208 lb = 500 lb/ft (sAB)
sAB = 0.416 ft Ans

Assignment No. 1:
1. Find the components of
force Q for the axis system
of A and B.

Tips:
Construct a vector parallelogram by
drawing lines parallel to axes A and B,
from the tip of Q. Then, apply the sine
law.

Assignment No. 1:
2. Three concurrent forces are acting on a bracket.
Find the magnitude and angle of the resultant force by
resolving the forces.

Assignment No. 1:
3.The members of a truss are pin-connected at joint O.
Determine the magnitudes of F1 and F2 for
equilibrium. Set = 60o

Assignment No. 1 is due Friday, October 4, 2013 by 12 noon