EGR 2214

Engineering Statics
Dr. Intan Syaqirah Binti Mohd Zulkifli
 Chapter in Engineering Statics
1. Overview of statics 1. 2D Analysis
a) Resultant
2. Force Vectors b) Equilibrium
3. Equilibrium of particle 2. 3D Analysis
4. Resultants force system a) Resultant
b) Equilibrium
5. Equilibrium of rigid body
6. Structural analysis
7. Internal forces
8. Friction
9. Centre of gravity and centroid
10.Moments of inertia
Learning Outcomes
Students will be able to :
a) Resolve a 2-D vector into components.
b) Add 2-D vectors using Cartesian vector notations
c) Resolve equilibrium 2-D
Statics of Particles – 2D Resultant
• Resultant force = if the number of forces (e.g P, Q,
S,….) are acting simultaneously on a particle, then a
single force will produce the same effect as all of
the give forces.
• Method to solve resultant 2D
• Trigonometry
• Parallelogram
• Rectangular Method/Cartesian Vector
Statics of Particles – 2D Resultant
Example 1
Determine the resultant force of the two forces

150 N

30°
100 N
20°
 Statics of Particles – 2D Resultant
a) Trigonometry Head to tail

150 N 150 N
150 N
30°

= =
30°
R R
30° β
100 N 𝜃
100 N 𝛼 100 N
20° 20° 20°

𝛽 = 20° + 60° = 80°

𝑅2 = 1002 + 1502 − 2 100 150 cos 80°

Law of Cosines 𝑅 = 165.2 𝑁

sin 𝛼 sin 80°

Law of Sines =
150 165.2

𝜃 = 𝛼 + 20° = 83.4°
 Statics of Particles – 2D Resultant
b) Parallelogram
150 N 150 N
R

30°
100 N
= 30°
70°80°
100 N
= 80°
20° 20°

𝑅2 = 1002 + 1502 − 2 100 150 cos 80°

𝑅 = 165.2 𝑁

sin 𝛼 sin 80°

=
150 165.2

𝜃 = 𝛼 + 20° = 83.4°
Statics of Particles – 2D Resultant
c) Rectangular Component/Cartesian Vector
150 cos 30°
F2
150 N 150 N +ve j
y 100 sin 20°

30°
100 N
= 150 sin 30° 30°

20°
100 N
F1

100 cos 20°

20° x
+ve i
(→+) ΣFx = Rx FR = F 1 + F 2
Rx = 100 cos 20° – 150 sin 30°
= F1x i + F1y j  F2x i + F2y j
Rx = 18.97 N (→)
(↑+) ΣFy = Ry = (F1x  F2x) i + (F1y + F2y) j
Ry = 100 sin 20° – 150 cos 30°
= (FRx) i + (FRy) j
Ry = 164.1 N (↑)
R = R2x + R2y = 18.972 + 164.12 = 165.3 N
𝑅𝑦 164.2
𝜃= tan−1 = tan −1
= 83.4°
𝑅𝑥 18.97
Example 2
Given: Three concurrent forces acting
on a tent post.
Find: The magnitude and angle of the
resultant force.

Plan:
a) Resolve all the forces into their x-y components.
b) Add the respective components to get the resultant vector.
c) Find magnitude and angle from the resultant components.
Example 2 (cont)

F1 = {0 i + 300 j } N

F2 = {– 450 cos (45°) i + 450 sin (45°) j } N

= {– 318.2 i + 318.2 j } N

F3 = { (3/5) 600 i + (4/5) 600 j } N

= { 360 i + 480 j } N
Example 2 (cont)
Summing up all the i and j components respectively, we get,
FR = { (0 – 318.2 + 360) i + (300 + 318.2 + 480) j } N
= { 41.80 i + 1098 j } N

Using magnitude and direction: y

FR
FR = ((41.80)2 + (1098)2)1/2 = 1099 N
 = tan-1(1098/41.80) = 87.8°

x
Example 3
Given: Three concurrent forces
acting on a bracket.
Find: The magnitude and angle
of the resultant force.

Plan:
a) Resolve all the forces into their x and y-components.
b) Add the respective components to get the resultant vector.
c) Find magnitude and angle from the resultant components.
Example 3 (cont)

F1 = {800 cos (60°) i + 800 sin (60°) j } N

= { 400 i + 692.8 j } N

F2 = {-600 sin (45°) i + 600 cos (45°) j } N

= { -424.3 i + 424.3 j } N

F3 = {(12/13) 650 i  (5/13) 650 j } N

{ 600 i  250 j } N
 Example 3 (cont)

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

FR = { (400 – 424.3 + 600) i + (692.8 + 424.3 – 250) j }N
= { 575.7 i + 867.1 j } N

y
Now find the magnitude and angle, FR
FR = ((575.7)2 + (867.1)2) ½ = 1041 N
 = tan–1( 867.1 / 575.7 ) = 56.4° 
x
From positive x-axis,  = 56.4°
 Statics of Particles – 2D Resultant
Exercise 1
a) Resolve F1 and F2 into b) Determine the FR (angle
component acting along u and v measured clockwise from x
axes. Then determine the FR (angle positive)
measured clockwise from u
positive)

Ans: F1v=2.93kN, F1u=2.07kN,

F2v=6kN, F2u=3.11kN Ans: Fr=54.2N 43.5°
Fr=8.03kN 1.22°
Statics of Particles – 2D
Equilibrium
• A particle is in equilibrium when the RESULTANT of
all forces acting on it equals to zero.
෍𝐅 = 𝐑 = 𝟎 Equation of
equilibrium
@
෍ 𝐅𝐱 = 𝐑 𝐱 = 𝟎 𝐚𝐧𝐝 ෍ 𝐅𝐲 = 𝐑 𝐲 = 𝟎 E of E

• Method to solve equilibrium 2D

• Draw FBD
• Use method to solve resultant 2D (trigonometry,
rectangular method)
• Equal it to zero
• Procedure to draw FBD
• Draw the boundary of the chosen section/particle and
detach/separate it from all other particles
• Input all external forces acting on the particles
• For a particles with a mass, put the weight = mg acting at the
centre of gravity (G) of the particle in the vertical downwards
direction,
• For particle touching a surface there is a normal force acting
perpendicular to the surface and directing towards the
particle.
T

= P
𝛼
β

𝜃 N

mg
• Special notes on cables/wires/ropes and pulley
• All cables are assumed to be inextensible (unable to stretched)
• All forces acting from cables must direct outwards from point of
analysis
• When cable passed a pulley, the tension is the same as long as it’s the
same cable
• Pulleys are assumed to be smooth except stated otherwise
• The dimensions of a pulley are usually neglected in calculations except
stated otherwise

T A
A

A A T T P
T B B
β β
θ θ
A
m m
m m
m
• Spring Force
Spring Force = spring constant x deformation of spring
F=ks
Statics of Particles – 2D Equilibrium
Example 4
Determine the tension in cables AB and BC for the system to
be equilibrium.
 Statics of Particles – 2D Equilibrium
a) Trigonometry
TBA
TBC sin 60° sin 70° sin 50°
= =
40° 20° TBA 1962 𝑇𝐵𝐴 𝑇𝐵𝐶

= 1962 N
50°
40°
70° 20°
TBC
𝑇𝐵𝐴 = 2129 𝑁
𝑇𝐵𝐶 = 1735 𝑁

20°

200 x 9.81=1962 N
 Statics of Particles – 2D Equilibrium
b) Rectangular method
TBA sin 40°
TBA TBC sin 20°

TBC
TBA cos 40°
40° 20°
TBC cos 20°

=
200 x 9.81=1962 N 1962 N

(↑+) ΣFy = 0
(→+) ΣFx = 0 = TBC sin 20°+ TBA sin 40° – 1962 = 0
= TBC cos 20° – TBA cos 40° = 0 = 0.8152 TBA sin 20° + TBA sin 40 – 1962 = 0
TBC = 0.8152 TBA TBA = 2129 N
TBC = 1735 N
Example 5
Given: The box weighs 550 N and geometry is
as shown.
Find: The forces in the ropes AB and AC.

Plan:
1. Draw a FBD for point A.
2. Resolve all the forces into their x and y-components.
3. Apply the E-of-E to solve for the forces in ropes AB and AC.
 Example 5 (cont)

y FC FBD at point A
FB
5 3
30˚ 4
A x

FD = 550 N

FD = {– 550 j } N Applying the scalar E-of-E at A, we get;

FC = {FC (4/5) i + FC (3/5) j } N +   F x = – FB cos 30° + FC (4/5) = 0
FB = {– FB cos 30° i + FB sin 30° j } N +   F y = FB sin 30° + FC (3/5) - 550 N = 0
Solving the above equations, we get;
FB = 478 N and FC = 518 N
Example 6
Given: The mass of lamp is 20 kg and
geometry is as shown.
Find: The force in each cable.

Plan:

1. Draw a FBD for Point D.

2. Resolve all the forces into their x and y-components.
3. Apply E-of-E at Point D to solve for the unknowns (FCD & FDE).
4. Knowing FCD, repeat this process at point C.
 Example 6 (cont)
FBD at point D
y FDE

FCD 30˚
D x

W = 20 (9.81) N

FDE = {FDE cos 30° i + FDE sin 30° j } N Applying the scalar E-of-E at D, we get;

FCD = {–FCD i } N +  Fy = FDE sin 30° – 20 (9.81) = 0

W = {– 196.2 j } N +  Fx = FDE cos 30° – FCD = 0

Solving the above equations, we get:
FDE = 392 N and FCD = 340 N
 Example 6 (cont)
FBD at point C
FAC y
5
4
3 FCD =340 N
C x
FBC
45˚

FAC = {–FAC (3/5) i + FAC (4/5) j } N Applying the scalar E-of-E at C, we get;

FCD = {340 i } N +  Fx = 340 – FBC sin 45° – FAC (3/5) = 0

FBC = {–FBC sin 45° i – FBC cos 45° j } N +   Fy = FAC (4/5) – FBC cos 45° = 0
Solving the above equations, we get;
FBC = 275 N and FAC = 243 N
 Statics of Particles – 2D Equilibrium
Exercise 2
a) The 30-kg pipe is supported at A by a b) Determine the force in cables AB
system of five cords. Determine the force and AC necessary to support the 12-kg
in each cord for equilibrium. traffic light.
Learning Outcomes
Students will be able to :
a) Resolve a 3-D vector into components.
b) Add 3-D vectors using Cartesian vector notations
c) Resolve equilibrium 3-D
Statics of Particles – 3D Resultant
• Resultant force = if the number of forces (e.g P, Q,
S,….) are acting simultaneously on a particle, then a
single force will produce the same effect as all of
the give forces.
• Method to solve resultant 3D
• First angle method
• Second angle method
• Coordinate/position vector method
 Statics of Particles – 3D Resultant
a) First angle method
𝑅 = 𝐹𝑅 = 𝐹𝑥 𝑖 + 𝐹𝑦 𝑗 + 𝐹𝑧 𝑘

𝐹𝑥 = 𝐹 cos 𝛼
𝐹𝑦 = 𝐹 cos 𝛽
𝐹𝑧 = 𝐹 cos 𝛾

𝐹𝑅 = 𝐹𝑥 𝑖 + 𝐹𝑦 𝑗 + 𝐹𝑧 𝑘
z
𝐹𝑅 = 𝐹 cos 𝛼 𝑖 + 𝐹 cos 𝛽 𝑗 + 𝐹 cos 𝛾 𝑘
z 𝐹𝑅 = 𝐹(cos 𝛼 𝑖 + cos 𝛽 𝑗 + cos 𝛾) 𝑘
γ
γ
α β α
β
y

x y
x
 Statics of Particles – 3D Resultant
b) Second angle method Resolved F into
vertical z axis and
horizontal x-y plane

𝐹𝑉 = 𝐹 cos 𝜃 = 𝐹𝑧
𝐹𝐻 = 𝐹 sin 𝜃

Then resolve again

FH
z
𝐹𝑥 = 𝐹𝐻 cos ∅
θ
𝐹𝑦 = 𝐹𝐻 sin ∅
𝐹𝑅 = 𝐹𝑥 𝑖 + 𝐹𝑦 𝑗 + 𝐹𝑧 𝑘

y
x
 Statics of Particles – 3D Resultant
c) Coordinate/positionA vector method
position vector is defined as a fixed
z 𝑟𝑦
z vector that locates a point in space
𝑟α𝑥
relative to another point.
𝑟𝑧 If a force is directed along a line, then
γ
we can represent the force vector in
α β y Cartesian coordinates by using a unit
y
vector, u.
x For a vector force, F, with a
x magnitude of F, an unit vector is
u defined as
From , 𝑭 𝒓
𝐹𝑅 = 𝐹(cos 𝛼 𝑖 + cos 𝛽 𝑗 + cos 𝛾) 𝑘 𝒖= =
𝐹 𝑟
𝐹𝑥 𝑟𝑥 Characteristics of a unit vector :
𝑢𝑥 = cos 𝛼 = = 𝑟= 𝑟𝑥2 + 𝑟𝑦2 + 𝑟𝑧2
𝐹 𝑟 a) Its magnitude is 1.
𝐹𝑦 𝑟𝑦 𝑐𝑜𝑠 2 𝛼 + 𝑐𝑜𝑠 2 β + 𝑐𝑜𝑠 2 γ = 1
𝑢𝑦 = cos β = = b) It is dimensionless (no units).
𝐹 𝑟 𝑟𝑦
𝐹𝑧 𝑟𝑧 𝑟 𝑟𝑧 c) It points in the same direction
𝑢𝑧 = cos γ = = F= 𝐹 𝑥𝑖 +𝐹 𝑗+𝐹 𝑘
𝐹 𝑟 𝑟 𝑟 𝑟 as the original vector (F).
Example 7
Given: Two forces F1 and F2 are applied to
a hook.
G

Find: The resultant force in Cartesian

vector form.

Plan:

1) Choose suitable method to list down F1 and F2 in Cartesian vector form.

2) Then add the two forces (by adding x and y-components).

 Example 7 (cont)
Solution:
First, resolve force F1.

Fx = 0 = 0 N
Fy = 500 (4/5) = 400 N

Fz = 500 (3/5) = 300 N

Now, write F1 in Cartesian vector form (don’t forget

the units!).
F1 = {0 i + 400 j + 300 k} N
 Example 7 (cont)
Now, resolve force F2.
F2z = -800 sin 45° =  565.7 N
F2’ = 800 cos 45° = 565.7 N

F2’ can be further resolved as, F2 ’

F2x = 565.7 cos 30° = 489.9 N
F2y = 565.7 sin 30° = 282.8 N F2z

Thus, we can write:

F2 = {489.9 i + 282.8 j  565.7 k } N
 Example 7 (cont)

So FR = F1 + F2 and
F1 = {0 i + 400 j + 300 k} N
F2 = {489.9 i + 282.8 j  565.7 k } N
FR = { 490 i + 683 j  266 k } N
Example 8
Given: The screw eye is subjected to two
forces, F1 and F2.

Find: The magnitude and the coordinate

direction angles of the resultant
force.
Plan:

1) Use suitable method to resolve, and write F1 and F2 in the Cartesian vector
form.
2) Add F1 and F2 to get FR.

3) Determine the magnitude and angles , , .

Example 8 (cont)
First resolve the force F1.
F1z = - 250 sin 35° = - 143.4 N
F´ = 250 cos 35° = 204.8 N

F´
F´ can be further resolved as,
F1x = 204.8 sin 25° = 86.6 N
F1z
F1y = 204.8 cos 25° = 185.6 N

Now we can write:

F1 = {86.6 i + 185.6 j  143.4 k } N
Example 8 (cont)
Now, resolve force F2.

The force F2 can be represented in the Cartesian vector form as:

F2 = 400{ cos 120° i + cos 45° j + cos 60° k } N
= { -200 i + 282.8 j + 200 k } N

F2 = { -200 i + 282.8 j +200 k } N

Example 8 (cont)
So FR = F1 + F2 and
F1 = { 86.6 i + 185.6 j  143.4 k} N
F2 = { -200 i + 282.8 j + 200 k} N
FR = { -113.4 i + 468.4 j + 56.6 k} N

Now find the magnitude and direction angles for the vector.
FR = {(-113.4)2 + 468.42 + 56.62}1/2 = 485.2 = 485 N
 = cos-1 (FRx / FR) = cos-1 (-113.4 / 485.2) = 103.5°
 = cos-1 (FRy / FR) = cos-1 (468.4 / 485.2) = 15.1°
 = cos-1 (FRz / FR) = cos-1 (56.6 / 485.2) = 83.3°
Example 9
Given: The 420 N force
along the cable AC.
Find: The force FAC in the Cartesian
vector form.

Plan:
1. Use suitable method to resolve, in this case position vector method.
2. Write FAC in the Cartesian vector form using the position vector rAC and its
unit vector uAC.
2. Obtain the force vector as FAC = 420 N uAC .
Example 9 (cont)
As per the figure, when relating A to C, we will
have to go 2 m in the x-direction, 3 m in the y-
direction, and -6 m in the z-direction. Hence,
rAC = {2 i + 3 j  6 k} m.

(We can also find rAC by subtracting the

coordinates of A from the coordinates of C.)
𝐶 2, 3, 0 − 𝐴 0, 0, 6 = 𝐴𝐶(2, 3, −6)

rAC = {22 + 32 + (-6)2}1/2 = 7 m

Now uAC = rAC/rAC and FAC = 420 uAC = 420 (rAC/rAC )

So FAC = 420{ (2 i + 3 j  6 k) / 7 } N
= {120 i + 180 j - 360 k } N
Example 10
Given: Two forces are acting on a flag pole
as shown in the figure. FB = 700
N and FC = 560 N
Find: The magnitude and the coordinate
direction angles of the resultant
force.

Plan:
1) Find the forces along AB and AC in the Cartesian vector form. Use position vector
method.
2) Add the two forces to get the resultant force, FR.
3) Determine the magnitude and the coordinate angles of FR.
Example 10 (cont)
𝐵 2, −3, 0 − 𝐴 0, 0, 6 = 𝐴𝐵(2, −3, −6)
rAB = {2 i  3 j  6 k} m
𝐶 3, 2, 0 − 𝐴 0, 0, 6 = 𝐴𝐶(3, 2, −6)
rAC = {3 i + 2 j  6 k} m
rAB = {22 + (-3)2 + (-6)2}1/2 = 7 m
rAC = {32 + 22 + (-6)2}1/2 = 7 m

FAB = 700 (rAB / rAB) N

FAB = 700 ( 2 i – 3 j – 6 k) / 7 N
FAB = (200 i – 300 j – 600 k) N

FAC = 560 (rAC / rAC) N

FAC = 560 (3 i + 2 j – 6 k) / 7 N
FAC = {240 i + 160 j – 480 k} N
 Example 10 (cont)

FR = FAB + FAC
= {440 i – 140 j – 1080 k} N

FR = {4402 + (-140)2 + (-1080)2}1/2

= 1174.6 N
FR = 1175 N

 = cos-1(440/1174.6) = 68.0°
 = cos-1(–140/1174.6) = 96.8°
 = cos-1(–1080/1174.6) = 156.8°
 Statics of Particles – 3D Resultant
Exercise 3
Determine the FR and angle. Sketch this vector on the coordinate
system
6m

𝐹3 = 200 𝑁
4m

3m

Ans: Fr=500 N α=89° β=50.3° γ=92.6°

Statics of Particles – 3D
Equilibrium
• A particle is in equilibrium when the RESULTANT of
all forces acting on it equals to zero.
෍𝐅 = 𝐑 = 𝟎 Equation of
equilibrium
@
෍ 𝐅𝐱 = 𝐑 𝐱 = 𝟎 , ෍ 𝐅𝐲 = 𝐑 𝐲 = 𝟎 , ෍ 𝐅𝐳 = 𝐑 𝐳 = 𝟎 E of E

• Method to solve equilibrium 3D

• Draw FBD
• Use method to solve resultant 3D (1st angle, 2nd angle,
position vector)
• Equal it to zero
 Example 11
Find the force F5 required to keep particle O in equilibrium.

1) Draw a FBD of particle O.

2) Write the unknown force as
F5 = {Fx i + Fy j + Fz k} N
3) Write F1, F2 , F3 , F4 , and F5 in Cartesian vector form.
4) Apply the three equilibrium equations to solve for the three
unknowns Fx, Fy, and Fz.
 Example 11 (cont)
Solution:

F1 = {300(4/5) j + 300 (3/5) k} N

F1 = {240 j + 180 k} N
F2 = {– 600 i} N
F3 = {– 900 k} N

F4 = F4 (rB/ rB)
= 200 N [(3i – 4 j + 6 k)/(32 + 42 + 62)½]
= {76.8 i – 102.4 j + 153.6 k} N

F5 = { Fx i – Fy j + Fz k} N
Example 11 (cont)

Equating the respective i, j, k components to zero, we have

 Fx = 76.8 – 600 + Fx = 0 ; solving gives Fx = 523.2 N
 Fy = 240 – 102.4 + Fy = 0 ; solving gives Fy = – 137.6 N
 Fz = 180 – 900 + 153.6 + Fz = 0 ; solving gives Fz = 566.4 N

Thus, F5 = {523 i – 138 j + 566 k} N

Using this force vector, you can determine the force’s magnitude and
coordinate direction angles as needed.
Example 12
A 600-N load is supported by three
cords with the geometry as shown.
Find the tension in cords AB, AC and
AD.

1) Draw a free-body diagram of Point A. Let the unknown force magnitudes

be FB, FC, FD .
2) Represent each force in its Cartesian vector form.
3) Apply equilibrium equations to solve for the three unknowns.
 Example 12 (cont)
FBD at A z
FD FC

2m

1m 30˚ y
2m A
FB
x
600 N

FB = FB (sin 30 i + cos 30 j) N

= {0.5 FB i + 0.866 FB j} N
FC = – FC i N

FD = FD (rAD /rAD)
= FD { (1 i – 2 j + 2 k) / (12 + 22 + 22)½ } N
= { 0.333 FD i – 0.667 FD j + 0.667 FD k } N
 Example 12 (cont)
FBD at A
Now equate the respective i , j , k components
to zero. z
FD FC
 Fx = 0.5 FB – FC + 0.333 FD = 0
2m
 Fy = 0.866 FB – 0.667 FD = 0 y
1m 30˚
A
 Fz = 0.667 FD – 600 = 0
2m
FB
x
600 N

Solving the three simultaneous equations yields

FC = 646 N (since it is positive, it is as assumed, e.g., in tension)
FD = 900 N
FB = 693 N
 Example 13
Given a 17500-N (≈ 1750-kg) motor and
plate, as shown, are in equilibrium and
supported by three cables and
d = 1.2 m. Find the magnitude of the
tension in each of the cables.

1) Draw a free-body diagram of Point A. Let the unknown force magnitudes be

FB, FC, F D.
2) Represent each force in the Cartesian vector form.

3) Apply equilibrium equations to solve for the three unknowns.

Example 13 (cont)
FBD of Point A
z
W

y
x
FD
FB FC

W = load or weight of unit = 17500 k N

FB = FB (rAB/rAB) = FB {(1.2 i – 0.9 j – 3 k) / (3.354)} N

FC = FC (rAC/rAC) = FC { (0.9 j – 3 k) / (3.132) } N
FD = FD (rAD/rAD) = FD { (– 1.2 i + 0.3 j – 3 k) / (3.245) } N
 Example 13 (cont)
The particle A is in equilibrium, hence
FB + FC + FD + W = 0

Now equate the respective i, j, k components to zero (i.e., apply the three
scalar equations of equilibrium).
 Fx = (1.2/ 3.354)FB – (1.2/ 3.245)FD = 0
 Fy = (– 0.9/ 3.354)FB + (0.9/ 3.132)FC + (0.3/ 3.245)FD = 0
 Fz = (– 3/ 3.354)FB – (3/ 3.132)FC – (3/ 3.245)FD + 17500 = 0

Solving the three simultaneous equations gives the tension forces

FB = 7337 N
FC = 4568 N
FD = 7098 N
 Statics of Particles – 3D Equilibrium
Exercise 4
a) The ends of the three cables are b) Determine the height d of cable AB
attached to a ring at A and to the so that the force in cables AD and AC
edge of the uniform plate. Determine is one-half as great as the force in
the largest mass the plate can have if cable AB. What is the force in each
each cable can support a maximum cable for this case? The flower pot has
tension of 15 kN. a mass of 50 kg.