CHAPTER III
EQUILIBRIUM
3.1 Introduction
In the previous chapter, we have seen systems of forces. In this chapter stability of force systems,
named as equilibrium of a body. Thus a body is said to be in equilibrium when the resultant of all
the forces acting on it is zero. That is, the resultant force vector R and the resultant couple vector
M are both zero.
Equilibrium of a rigid body requires both a balance of forces, to prevent the body from
translating with accelerated motion, and a balance of moments, to prevent the body from
rotating.
Equilibrium of a rigid body requires both a balance of forces, to prevent the body from
translating with accelerated motion, and a balance of moments, to prevent the body from
rotating. F 0 M O r F 0
Resolving each force and moment into its rectangular components leads to 6 scalar equations
which also express the conditions for static equilibrium,
Fx 0 Fy 0 Fz 0
Mx 0 My 0 Mz 0
First step in the static equilibrium analysis of a
rigid body is identification of all forces acting on
the body with a free-body diagram.
Select the extent of the free-body and detach it
from the ground and all other bodies.
Indicate point of application, magnitude, and
direction of external forces, including the rigid
body weight.
Indicate point of application and assumed direction
of unknown applied forces. These usually consist
of reactions through which the ground and other
bodies oppose the possible motion of the rigid
body.
Include the dimensions necessary to compute the
moments of the forces.
3.2 Equilibrium in Two-Dimension
Equilibrium of a body requires both a balance of forces, to prevent the body from translating
with accelerated motion, and a balance of moments, to prevent the body from rotating.
For all forces and moments acting on a two-dimensional
structure,
Fz 0 M x M y 0 M z M O
Equations of equilibrium become
Fx 0 Fy 0 M A 0
Where A is any point in the plane of the structure
The 3 equations can be solved for no more than 3 unknowns.
The 3 equations cannot be augmented with additional
equations, but they can be replaced
Fx 0 M A 0 M B 0
Categories of Equilibrium in Two Dimensions
The following categories of equilibrium conditions can be identified due to the nature of forces
considered.
SOLUTION OF REAL PROBLEMS IN TWO DIMENSIONS
Step 1: Examine the space diagram and select the significant body - the free body diagram.
Detach this body from the space diagram and sketch its contours
Step 2: Identify and indicate all external forces acting on the body. The external forces consist
of the externally applied forces, the weight and reactions of the body at the point of contact
with other external bodies.
Step 3: All the important dimensions must be included in the free body diagram.
Step 4: apply equilibrium equation and solve it.
TWO AND THREE-FORCE MEMBERS
The solution of some equilibrium problems are simplified if one is able to recognise members
that are subjected to only two or three forces.
Two-Force Members: When a member is subject to no couple moments and forces are applied
at only two points on a member, the member is called a two-force member.
Consider a plate subjected to two forces F1 and F2
For static equilibrium, the sum of moments about A must be
zero. The moment of F2 must be zero. It follows that the line
of action of F2 must pass through A.
Similarly, the line of action of F1 must pass through B for the
sum of moments about B to be zero.
Similarly, the line of action of F1 must pass through B for the
sum of moments about B to be zero.
Three Force Members
Three force members are to be in equilibrium, the lines of action of the three forces must be
either concurrent or parallel.
Consider a rigid body subjected to forces acting at only 3
points.
Assuming that their lines of action intersect, the moment of
F1 and F2 about the point of intersection represented by D is
zero.
Since the rigid body is in equilibrium, the sum of the
moments of F1, F2, and F3 about any axis must be zero. It
follows that the moment of F3 about D must be zero as well
and that the line of action of F3 must pass through D.
Equilibrium of in Three Dimensions
Six scalar equations are required to express the conditions for the equilibrium in the general three
dimensional case.
Fx 0 Fy 0 Fz 0
Mx 0 My 0 Mz 0
These equations can be solved for no more than 6 unknowns which generally represent reactions
at supports or connections
The scalar equations are conveniently obtained by applying the vector forms of the conditions for
equilibrium,
F 0 M O r F 0
Reactions at Supports and Connections for a Three-Dimensional Structure
EXAMPLE
A sign of uniform density weighs 270 lb and is supported by a ball-and-socket joint at A and by
two cables. Determine the tension in each cable and the reaction at A.
Soln.
Create a free-body diagram for the sign.
Since there are only 5 unknowns, the sign is partially constrain. It is free to rotate about
the x axis. It is, however, in equilibrium for the given loading.
rD rB
TBD TBD
rD rB
8i 4 j 8k
TBD
12
TBD 23 i 13 j 23 k
rC rE
TEC TEC
rC rE
6i 3 j 2 k
TEC
7
TEC 76 i 73 j 72 k
Apply the conditions for static equilibrium to develop equations for the unknown
reactions.
F A TBD T EC 270 lb j 0
i : Ax 23 TBD 76 TEC 0
j : Ay 13 TBD 73 TEC 270 lb 0
k : Az 23 TBD 72 TEC 0
M A rB TBD rE TEC 4 ft i 270 lb j 0
j : 5.333 TBD 1.714 TEC 0
k : 2.667 TBD 2.571TEC 1080 lb 0
Solve the 5 equations for the 5 unknowns TBD 101.3 lb TEC 315 lb
A 338 lb i 101.2 lb j 22.5 lb k
