CHAPTER 2.

Equilibrium of a Particle in Two-Dimensions

In the preceding sections, we discussed the methods for determining the
resultant of several forces acting on a particle. Although it has not occurred in
any of the problems considered so far, it is quite possible for the resultant to
be zero. In such a case, the net effect of the given forces is zero, and the
particle is said to be in equilibrium.
We thus have the following definition: When the resultant of all the forces
acting on a particle is zero, the particle is in equilibrium.
A particle which is acted upon by two forces will be in equilibrium if the two
forces have the same magnitude and the same line of action but opposite
sense. The resultant of the two forces is then zero. Such a case is shown in
Fig. 2.1.

Fig. 2.1

Fig. 2.2

Another case of equilibrium of a particle is represented in Fig. 2.2, where four

forces are shown acting on A. Thus the resultant R of the given system of
forces is zero, and the particle is in equilibrium. To express algebraically the
conditions for the equilibrium of a particle, we write

R= F=0 (2.1)

Resolving each force F into rectangular components, we have

(Fx i + Fy j) = 0 or ( Fx ) i + ( Fy ) j = 0
We conclude that the necessary and sufficient conditions for the equilibrium of
a particle are

𝐹𝑥 = 0 𝐹𝑦 = 0 (2.2)

Returning to the particle shown in Fig. 2.2, we check that the equilibrium
conditions are satisfied. We write

𝐹𝑥 = 300 N – (200 N) sin 30° – (400 N) sin 30°

= 300 N – 100 N – 200 N = 0

𝐹𝑦 = –173.2 N – (200 N) cos 30° + (400 N) cos 30°

= –173.2 N – 173.2 N + 346.4 N = 0

Free-body diagram
In applying the principles of mechanics to analyze forces acting on a body, it is
essential that we isolate the body in question from all other bodies so that a
complete and accurate account of all forces acting on this body can be taken.
This isolation should exist mentally and should be represented on paper. The
diagram of such an isolated body with the representation of all external forces
acting on it is called a free-body diagram.
The free-body diagram method is the key to the understanding of mechanics.
This is so because the isolation of a body is the tool by which cause and effect
are clearly separated, and by which our attention is clearly focused on the
literal application of a principle of mechanics. The technique of drawing free-
body diagrams is covered below.
The methods of analysis discussed in the preceding sections apply to a system
of forces acting on a particle. A large number of problems involving actual
structures, however, can be reduced to problems concerning the equilibrium
of a particle. This is done by choosing a significant particle and drawing a
separate diagram showing this particle and all the forces acting on it. Such a
diagram is called a free-body diagram.
Before presenting a formal procedure as to how to draw a free-body diagram,
we will first consider two types of connections often encountered in particle
equilibrium problems.
Springs.
If a linearly elastic spring (or cord) of undeformed length l0 is used to support a
particle, the length of the spring will change in direct proportion to the force F
acting on it, Fig. 2.3 . A characteristic that defines the “elasticity” of a spring is
the spring constant or stiffness k.
The magnitude of force exerted on a linearly elastic spring which has a stiffness
k and is deformed (elongated or compressed) a distance x = l - l0, measured
from its unloaded position, is

F = kx (2.3)

If x is positive, causing an elongation, then F must pull on the spring; whereas if

x is negative, causing a shortening, then F must push on it.

Fig. 2.3

For example, if the spring in Fig. 2.3 has an unstretched length of 0.8 m and a
stiffness k = 500 N/m and it is stretched to a length of 1 m, so that
x = l – l0 = 1 m – 0.8 m = 0.2 m,
then a force F = kx = 500 N/m (0.2 m) = 100 N is needed.

Cables and Pulleys.

Unless otherwise stated throughout this book, all cables (or cords) will be
assumed to have negligible weight and they cannot stretch. Also, a cable can
support only a tension or “pulling” force, and this force always acts in the
direction of the cable. Later on, it will be shown that the tension force
developed in a continuous cable which passes over a frictionless pulley must
have a constant magnitude to keep the cable in equilibrium. Hence, for any
angle θ, shown in Fig. 2.4, the cable is subjected to a constant tension T
throughout its length.

Fig. 2.4

As an example, consider the 75 kg crate shown in the space diagram of

Fig. 2.5a. This crate was lying between two buildings, and it is now being lifted
onto a truck, which will remove it. The crate is supported by a vertical cable,
which is joined at A to two ropes which pass over pulleys attached to the
buildings at B and C. It is desired to determine the tension in each of the ropes
AB and AC.

Fig. 2.5

In order to solve this problem, a free-body diagram showing a particle in

equilibrium must be drawn. Since we are interested in the rope tensions, the
free-body diagram should include at least one of these tensions or, if possible,
both tensions. Point A is seen to be a good free body for this problem. The
free-body diagram of point A is shown in Fig. 2.5b. It shows point A and the
forces exerted on A by the vertical cable and the two ropes. The force exerted
by the cable is directed downward, and its magnitude is equal to the weight W
of the crate. Recalling that

W = mg = (75 kg)(9.81 m/s2) = 736 N

and indicate this value in the free-body diagram. The forces exerted by the two
ropes are not known. Since they are respectively equal in magnitude to the
tensions in rope AB and rope AC, we denote them by TAB and TAC and draw
them away from A in the directions shown in the space diagram. No other
detail is included in the free-body diagram.
Since point A is in equilibrium, the values TAB and TAC of the tension in the
ropes may be found. When a particle is in equilibrium under three forces, the
problem can be solved by using an analytic solution, the equations of
equilibrium given before should be solved:

𝐹𝑥 = 0 𝐹𝑦 = 0

and write
𝐹𝑥 = TAC cos 30° – TAB cos 50° = 0

𝐹𝑦 = –736 N + TAC sin 30° + TAB sin 50° = 0

TAB = 647 N TAC = 480 N

These equations can be solved for no more than two unknowns.

The more common types of problems are those in which the two unknowns
represent (1) the two components (or the magnitude and direction) of a single
force, (2) the magnitudes of two forces, each of known direction.

Since we must account for all the forces acting on the particle when applying
the equations of equilibrium, the importance of first drawing a free-body
diagram cannot be overemphasized. To construct a free-body diagram, the
following three steps are necessary.
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 be helpful 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.

Example 1
The 5 kg plate is suspended by two straps A and B. To find the force in each
strap we should consider the free-body diagram of the plate.

As noted, the three forces acting on it form a concurrent force system.

Example 2
The chains exert three forces on the ring at A, as shown on its free-body
diagram. The ring will not move, or will move with constant velocity, provided
the summation of these forces along the x and along the y axis equals zero.

If one of the three forces is known, the magnitudes of the other two forces can
be obtained from the two equations of equilibrium.

Example 3
The sphere in Fig. a has a mass of 6 kg and is supported as shown.

Draw a free-body diagram of the sphere, the cord CE, and the knot at C.
Sphere.
By inspection, there are only two
forces acting on the sphere, namely,
its weight, 6 kg (9.81 m/s2) = 58.9 N,
and the force of cord CE.
The free-body diagram is shown in
Fig. b.

Cord CE.
When the cord CE is isolated from its
surroundings, its free-body diagram
shows only two forces acting on it,
namely, the force of the sphere and the
force of the knot, Fig. c. Notice that FCE
shown here is equal but opposite to that
shown in Fig. b, a consequence of
Newton’s third law of action–reaction.
Also, FCE and FEC pull on the cord and
keep it in tension so that it doesn’t
collapse. For equilibrium, FCE = FEC.

Knot.
The knot at C is
subjected to three
forces, Fig. d. They
are caused by the
cords CBA and CE
and the spring CD.
As required, the
free-body diagram
shows all these
forces labeled with
their magnitudes and directions. It is important to recognize that the weight of
the sphere does not directly act on the knot. Instead, the cord CE subjects the
knot to this force.
SAMPLE PROBLEM 2.1
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 in cable BD: TBD = 60 (9.81) N.
The forces in cables BA and BC can be determined by investigating the
equilibrium of ring B. Its free-body diagram is shown and 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, we have
4
𝐹𝑥 = 0 ; TC cos 45° – TA = 0 (1)
5
3
𝐹𝑦 = 0 ; TC sin 45° + TA – 60 (9.81) N = 0 (2)
5

Equation ( 1 ) can be written as; TA = 0.8839TC

Substituting this into Eq. ( 2 ) yields
3
TC sin 45° + (0.8839TC) – 60 (9.81) N = 0
5
so that
TC = 475.66 N ≅ 476 N ◀
Substituting this result into either Eq. ( 1 ) or Eq. ( 2 ), we get
TA = 420 N ◀
SAMPLE PROBLEM 2.2
Two cables are tied together at A and loaded as
shown. Draw the free-body diagram needed to
determine the tension in each cable.

SOLUTION
Free-Body Diagram
Point A is chosen as a free body; this point is
subjected to four forces, two of which TAB and 240 mm
TAC are of unknown magnitude.

From the right triangle ABC:

960
tan 𝜃 = ; 𝜃 = 76°
240

For the right triangle of the force 640 N

Assume the angle α ;
5
3 α
3 4
sin 𝛼 = , cos 𝛼 = 4
5 5

Equilibrium Condition
We express that point A is in equilibrium by writing the sums of the x, and y
components of the forces are respectively equal to zero.

𝐹𝑥 = 0 TAB cos θ + TAC – 640 cos α = 0 (1)

𝐹𝑦 = 0 TAB sin θ + 640 sin α – 960 = 0 (2)
From Eq. (2) we find TAB = 593.6 N ◀
and, substituting this value into Eq. (1), TAC = 368.3 N ◀
In drawing the free-body diagram, we assumed a sense for each unknown
forces. A positive sign in the answer indicates that the assumed sense is
correct.
SAMPLE PROBLEM 2.3
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 = 0.4 m, 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 = kx.
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) = 78.5 N
and so the free-body diagram of the ring at A is shown.
Equations of Equilibrium.
Using the x, y axes,
𝐹𝑥 = 0 ; TAB – TAC cos 30° = 0
𝐹𝑦 = 0 ; TAC sin 30° – 78.5 N = 0
Solving, we obtain
TAC = 157.0 N & TAB = 135.9 N
The stretch of spring AB is therefore
TAB = kAB xAB ; 135.9 N = 300 N/m (xAB) xAB = 0.453 m
so the stretched length is 𝑙𝐴𝐵 = 𝑙𝐴𝐵 + xAB
𝑙𝐴𝐵 = 0.4 m + 0.453 m = 0.853 m
The horizontal distance from C to B requires
2 m = 𝑙𝐴𝐶 cos 30° + 0.853 m
𝑙𝐴𝐶 = 1.32 m ◀
SAMPLE PROBLEM 2.4

Determine the magnitudes of the

forces C and T, which, along with
the other three forces shown, act
on the bridge-truss joint.

SOLUTION 1
For the x-y axes as shown we have
𝐹𝑥 = 0 ; 8 + T cos 40° + C sin 20° – 16 = 0
0.766T + 0.342C = 8 (a)
𝐹𝑦 = 0 ; T sin 40° – C cos 20° – 3 = 0
0.643T – 0.940C = 3 (b)
Simultaneous solution of Eqs. (a) and (b) produces
T = 9.09 kN ◀
C = 3.03 kN ◀
SOLUTION II
To avoid a simultaneous solution, we may use axes x’-y’ with the first
summation in the y’-direction to eliminate reference to T. Thus,
+ 𝐹𝑦′ = 0 ; – C cos 20° – 3 cos 40° – 8 sin 40° + 16 sin 40° = 0
C = 3.03 kN ◀
+ 𝐹𝑥′ = 0 ; T + 8 cos 40° – 16 cos 40° – 3 sin 40° – 3.03 sin 20° = 0
T = 9.09 kN ◀