Engineering Mechanics

STATICS
Equilibrium of a Particle
LECTURE 3

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Condition of the Equilibrium of a Particle
A particle is in equilibrium provided
• it is at rest if originally at rest or
• has a constant velocity if originally in motion
To maintain equilibrium, it is necessary to satisfy
Newton’s first law of motion, which requires that the
resultant force acting on a particle to be equal to zero.
This condition may be stated mathematically as
nF = 0
The above equation is necessary and sufficient

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Condition of the Equilibrium of a Particle
Additionally, if the particle is moving

⇒ Newton's second Law: ΣF = ma

But to satisfy equilibrium

ΣF = 0 ⇒ ma = 0 ⇒ a = 0

⇒ particle has constant velocity

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 The Free-Body Diagram

To apply the equation of equilibrium;

All the known and unknown forces (nF ) must be considered

The best way to do that is through drawing the particle’s

FREE BODY DIAGRAM

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 The Free-Body Diagram

Procedure:
1. Draw outline shape of the
particle to be isolated
2. Show all forces acting on
the particle
3. Identify each force

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Springs
• With linear elastic springs,
deformation is linearly
proportional to the applied
force
• The elasticity of the spring
is defined by means of the
spring stiffness k
F = ks
s = l – lo
If s > 0F must “pull”
If s < 0 F must “push”

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Cables and Pulleys

Remarks:
• Weights of Cables are not to
be considered
• Cables support only Tension
in the direction of the Cable
• For any θ the cable is
subjected to a constant
tension T throughout its
length

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Example 3-1

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Coplanar Force System
If a particle is subjected to a system of forces that
lie in the x-y plane

For the above vector equation to be

satisfied then

These scalar equations must be satisfied

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Scalar Notation

• In the above example, when drawing the FBD, we assumed the sense
of the unknown F is to the right.
• But the equation resulted in F = -10 N, which indicates that F must have
a sense to the left to hold the particle in equilibrium

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Example 3-2

FBD

Equilibrium Equations

From the above Equilibrium Equations, then

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Example 3-3

FBD

Equilibrium Equations

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Example 3-3

FBD
Newton’s 3rd Law
FBD Principle of Action and Reaction

Equilibrium Equations

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Problem 3-16/1

The cylinder D has a mass of

20 kg. If a force of F=100N is
applied horizontally to the
ring at A, determine the
largest dimension d so that the
force in cable AC is zero.

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Problem 3-16/2
Free-Body diagram of ring A:
• Force from cable AC (FAC=0)
• Force from cable AB (FAB)
• Weight of cylinder D {W = 20(9.81) = 196.2N}
• Force F = 100N
y
FAB

θ F = 100N
⇒ x

W = 20(9.81)
= 196.2N

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Problem 3-16/3
Equations of Equilibrium :
⎯→ ∑ Fx = 0
⎯ + y

⇒ − FAB cos θ + 100 = 0

FAB

⇒ FAB cos θ = 100 (1)

θ F = 100N
x

+ ↑ ∑ Fy = 0 W = 20(9.81)
⇒ FAB sinθ − 196.2 = 0 = 196.2N

⇒ FAB sinθ = 196.2 ( 2)

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Problem 3-16/4
FAB cos θ = 100 (1)
FAB sinθ = 196.2 ( 2)
y
FAB
( 2) FAB sin θ 196.2
⇒ =
(1) FAB cos θ 100
θ
⇒ tan θ = 1.962 F = 100N
x
⇒ θ = 62.99°
W = 20(9.81)
= 196.2N
Substitute in (1)
100
⇒ FAB = = 220.2 N
cos62.99°
Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g
 Problem 3-16/5

θ = 62.99°
From geometry :
1.5 + d
θ tan θ =
2
⇒ d = 2(tan θ ) − 1.5
⇒ d = 2(tan 62.99) − 1.5
⇒ d = 2.42m

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Problem 3-22/1

The springs on the rope assembly are originally

stretched 1 ft when θ = 0°. Determine the vertical force
F that must be applied so that θ = 30°.

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Problem 3-22/2
Free-Body diagram of A:
• Tension from cable AB (Fs)
• Tension from cable AD (Fs)
• Vertical Force F

Fs Fs

⇒ 30ο 30ο
x

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Problem 3-22/3
2 2
BA = = = 2.31 ft
cosθ cos30°
when θ = 30° the springs are stretched x = l - lo
⇒ x = 2.31 − 1 = 1.31 ft
Fs = kx
⇒ Fs = 30(1.31) = 39.3lb

Fs Fs
+ ↑ ∑ Fy = 0
30ο 30ο
⇒ 2( Fs )sinθ − F = 0 x

⇒ 2(39.3)(sin 30°) − F = 0 F
⇒ F = 39.3lb
Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g
 Three Dimensional Force System
For particle equilibrium we require :
∑F = 0
If the forces are resolved into their i, j, k components :
⇒ ∑ Fx i + ∑ Fy j+ ∑ Fz k = 0
⎧∑ Fx = 0
⎪
⇒ ⎨∑ Fy = 0
⎪ F =0
⎩∑ z

∑F x = 0 ⇒ F1x − F2 x + F3 x = 0
∑F y = 0 ⇒ F1 y + F2 y − F3 y = 0
∑F z = 0 ⇒ − F1z + F2 z + F3 z = 0

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Problem 3-59/1

If the maximum allowable

tension in cables AB and AC is
500 lb, determine the maximum
height z to which the 200-lb crate
can be lifted. What horizontal
force F must be applied? Take y
= 8 ft.

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Problem 3-59/2
Free-Body diagram of A:
• Tension from cable AB (FAB = 500 lb)
• Tension from cable AC (FAC = 500 lb)
• Weight of the crate (W = 200 lb)
• Force F z

5 ft FAB = 500 lb
5 ft
FAC = 500 lb (4-z) ft 4 ft
z’
4 ft
8 ft

y = 8ft
⇒ x
8 ft
x’ A
y’
F

200 lb y

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Problem 3-59/3 z

Consider A as origin, x'-y'-z'as axes 5 ft FAB = 500 lb

5 ft
FAC = 500 lb (4-z) ft 4 ft
z’
4 ft
8 ft

rAB = −5 i − 8 j+ ( 4 − z ) k x x’
8 ft y’
F

rAB = ( −5) 2 + ( −8) 2 + ( 4 − z ) 2 = 89 + ( 4 − z ) 2 200 lb y

−5 8 (4 − z )
u AB = i− j+ k
89 + ( 4 − z ) 2
89 + ( 4 − z ) 2
89 + ( 4 − z ) 2

FAB = 500 u AB
⎧⎪ − 2500 4000 500( 4 − z ) ⎫⎪
⇒ FAB =⎨ i− j+ k ⎬lb
⎪⎩ 89 + ( 4 − z ) 2 89 + ( 4 − z ) 2 89 + ( 4 − z ) 2 ⎪⎭
Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g
 Problem 3-59/4
⎧⎪ − 2500 4000 500( 4 − z ) ⎫⎪
FAB = ⎨ i− j+ k ⎬lb
⎪⎩ 89 + ( 4 − z ) 2
89 + ( 4 − z ) 2
89 + ( 4 − z ) ⎪⎭
2

FAB and FAC are symmetrical thus

⎧⎪ 2500 4000 500( 4 − z ) ⎫⎪
FAC =⎨ i− j+ k ⎬lb
⎪⎩ 89 + ( 4 − z ) 2
89 + ( 4 − z ) 2
89 + ( 4 − z ) 2 ⎪⎭
z

5 ft FAB = 500 lb
W = {− 200 k }lb FAC = 500 lb
5 ft
(4-z) ft 4 ft
z’
4 ft
F = {F j} 8 ft
x x’
8 ft y’
F

200 lb y
Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g
 Problem 3-59/5
z

∑F x =0 5 ft FAB = 500 lb

− 2500 2500 FAC = 500 lb

5 ft
(4-z) ft
⇒ + =0 4 ft

89 + ( 4 − z ) 2 89 + ( 4 − z ) 2 4 ft
z’
8 ft
x x’

∑F
8 ft y’
y =0 F

− 4000 4000 200 lb y

⇒ − +F =0
89 + ( 4 − z ) 2
89 + ( 4 − z ) 2

⎛ − 8000 ⎞
⇒ ⎜ ⎟+ F = 0
⎜ ( )2 ⎟
⎝ 89 + 4 − z ⎠
⎛ 8000 ⎞ y = 8ft

⇒F= ⎜ ⎟ (1)
⎜ ( )2 ⎟
⎝ 89 + 4 − z ⎠
Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g
 Problem 3-59/6 z
⎛ 8000 ⎞
F= ⎜ ⎟ (1)
5 ft FAB = 500 lb

⎜ ( )2 ⎟ 5 ft
⎝ 89 + 4 − z ⎠
FAC = 500 lb (4-z) ft 4 ft
z’
4 ft
8 ft

∑F z =0 x
8 ft
x’
y’
F
500( 4 − z ) 500( 4 − z )
⇒ + − 200 = 0
89 + ( 4 − z ) 2
89 + ( 4 − z ) 2 y
200 lb

⎛ 1000( 4 − z ) ⎞
⇒⎜ ⎟ − 200 = 0
⎜ 89 + (4 − z )2 ⎟
⎝ ⎠
⎛ 1000( 4 − z ) ⎞
⇒ 200 = ⎜ ⎟ ( 2) y = 8ft
⎜ + ( − )2 ⎟
⎝ 89 4 z ⎠

Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g

 Problem 3-59/7
z

⎛ 8000 ⎞ 5 ft FAB = 500 lb

F =⎜ ⎟ (1) FAC = 500 lb

5 ft
⎜ 89 + (4 − z )2 ⎟
(4-z) ft 4 ft

⎝ ⎠ 4 ft
z’
8 ft
⎛ 1000( 4 − z ) ⎞
200 = ⎜ ⎟ x x’
( 2) 8 ft y’
⎜ ( )2 ⎟ F

⎝ 89 + 4 − z ⎠ 200 lb y

Dividing (2) by (1)

200 4 - z
⇒ =
F 8 y = 8ft
1600
⇒ (4 − z ) =
F
Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g
 Problem 3-59/8
z
1600
( 4 − z) = 5 ft FAB = 500 lb
F FAC = 500 lb
5 ft
(4-z) ft 4 ft
⎛ 8000 ⎞ z’
From (1) F= ⎜ ⎟ 4 ft
⎜ ⎟
8 ft

⎝ 89 + (4 − z )2
⎠ x
8 ft
x’
y’
F
F 1
⇒ =
89 + (4 − z )
200 lb y
8000 2

F 1
⇒ =
8000 ⎛ 1600 ⎞
2

89 + ⎜ ⎟
⎝ F ⎠ y = 8ft
2 2
⎛ 8000 ⎞ ⎛ 1600 ⎞
⇒⎜ ⎟ = 89 + ⎜ ⎟
⎝ F ⎠ ⎝ F ⎠
Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g
 Problem 3-59/9 z

5 ft FAB = 500 lb
2 2 5 ft
⎛ 8000 ⎞ ⎛ 1600 ⎞ FAC = 500 lb (4-z) ft 4 ft
⎜ ⎟ = 89 + ⎜ ⎟ z’
⎝ F ⎠ ⎝ F ⎠ 4 ft
8 ft
8000 2 − 1600 2 x x’
⇒ 2
= 89 8 ft y’
F
F
⇒ 6.14 ×107 = 89 F 2 200 lb y

6.14 ×107
⇒F= = 831lb
89

1600 1600
4− z = = = 1.93 y = 8ft
F 831
⇒ z = 4 − 1.93 = 2.07 ft
Dr.-Ing. Saleh Chehade HCU – Dept. of Mechtronics Eng’g