EQUILIBRIUM OF - CONCURRENT COPLANAR FORCE SYSTEMS

Definition:If a system of forces acting on a body, keeps the body in a

state of rest or in a state of uniform motion along a straight
line, then the system of forces is said to be in equilibrium.
ALTERNATIVELY, if the resultant of the force system is zero,
then, the force system is said to be in equilibrium.

Conditions for Equilibrium :

A coplanar concurrent force system will be in equilibrium if it
satisfies the following two conditions:
i)

Fx = 0; and ii) Fy = 0

i.e. Algebraic sum of components of all the forces of the system,

along two mutually perpendicular directions, is ZERO.

Graphical conditions for Equilibrium

Triangle Law: If three forces are in equilibrium, then, they form a
closed triangle when represented in a Tip to Tail arrangement, as
shown in Fig 2.1
F2
F1
Fig 2.1

F3

F1

Polygonal Law: If more than three forces are in equilibrium,

then, they form a closed polygon when represented in a Tip to
Tail arrangement, as shown in Fig. 2.2.
F3

F2
F1

F4

Fig 2.2
F5

F1

LAMIS THEOREM

If a system of three forces is in equilibrium, then, each force of the

system is proportional to sine of the angle between the other two
forces (and constant of proportionality is the same for all the
forces). Thus, with reference to Fig.2.3, we have,

F3

F3
F1
F2

Sin
Sin
Sin

F2

F1
Fig. 2.3

Note: While using Lamis theorem, all the three forces

should be either directed away or all directed towards the
point of concurrence.

EQUILIBRIUM OF NON-CONCURRENT COPLANAR FORCE SYSTEM

When a body is in equilibrium, it has neither translatory nor

rotatory motion in any direction.
Thus the resultant force R and the resultant couple M are both
zero, and we have the equilibrium equations for two
dimensional force system
Fx = 0;

Fy = 0

M = 0

These requirements are both necessary and sufficient

conditions for equilibrium.

SPACE DIAGRAMS & FREE BODY DIAGRAMS

Space Diagram (SPD) : The sketch showing the physical

conditions of the problem, like, the nature of supports
provided; size, shape and location of various bodies; forces
applied on the bodies, etc., is known as space diagram.
eg, Fig 2.4 is a space diagram
Weight of sphere = 0.5 kN,
Radius = 1m

3m

Cable
P = 2kN
30
Sphere

wall

Fig. 2.4 SPD

Free Body Diagram (FBD) :

It is an isolated diagram of the body being analyzed (called
free body), in which, the body is shown freed from all its
supports and contacting bodies/surfaces. Instead of the
supports and contacting bodies/surfaces, the reactive
forces exerted by them on the free body is shown, along
with all other applied forces.

A Few Guidelines for Drawing FBD

1) Tensile Force: It is a force trying to pull or extend the body.
2) Compressive Force: It is force trying to push or contract the
body.
3) Reactions at smooth surfaces: The reactions of smooth
surfaces, like walls, floors, Inclined planes, etc. will be normal to
the surface and pointing towards the body.
4)Forces in Link rods/connecting rods: These forces will be
acting along the axis of the rod, either towards or away from the
body. (They are either compressive or tensile in nature).
5) Forces in Cables (Strings or Chords): These can only be
tensile forces. Thus, these forces will be along the cable and
directed away from the body.

Weight of sphere = 0.5 kN,

Radius = 1m

3m

Cable

T
P = 2kN

30

Rw
30

P = 2kN

Sphere

Sphere

wall

Fig. 2.4 SPD

W=0.5kN
Fig. 2.5 F B D of Sphere

Supports: A structure is subjected to external forces and

transfers these forces through the supports on to the
foundation. Therefore the support reactions and the external
forces together keep the structure in equilibrium.
There are different types of supports.
a) Roller Support
b) Hinged or pinned support
c) Fixed or built in support

Supports
Types of Supports

Action on body

(a) Flexible cable ,belt ,chain, rope

BODY

BODY
T
Force exerted by cable is
always a tension away from
the body in the direction of
cable

(b) Smooth surfaces

900
F

900

Contact forces are normal to

the surfaces

Supports

A
(c) Roller
support

Contact force is normal to the

surface on which the roller moves.
The reaction will always be
perpendicular to the plane of the
roller . Roller support will offer only
one independent reaction
component. (Whose direction is
known.)

Supports

(d) pinned Support / hinged support

A

Rh

Rv

This support does not allow any translatory movement of the

rigid body. There will be two independent reaction
components at the support. The resultant reaction can be
resolved into two mutually perpendicular components. Or it
can be shown as resultant reaction inclined at an angle with
respect to a reference direction.

Supports

(e) Fixed or Built-in Support

RAH

M
A

RAV

This type of support not only prevents the translatory

movement of the rigid body, but also the rotation of the rigid
body. Hence there will be 3 independent reaction
components of forces. There will be 3 unknown components
of forces, two mutually perpendicular reactive force
component and a reactive moment as shown in the figure.

Types of support

Hinge and roller support

TYPES OF BEAMS

A member which is subjected to predominantly transverse loads

and supported in such a way that rigid body motion is prevented
is known as beam. It is classified based on the support
conditions. A beam generally supported by a hinge or roller at
the ends having one span (distance between the support) is
called as simply supported beam. A beam which is fixed at one
end and free at another end is called as a cantilever beam.

B
span

span

(a) Simply supported beam

TYPES OF BEAMS

Span
B
A
RH

M
Rv

(b) Cantilever beam

TYPES OF BEAMS

If one end or both ends of the beam project beyond

the support it is known as overhanging beam.

(c) Overhanging beam

(right overhang)

Types of beam

Cantilever, fixed, continuous and

overhang beams

Types of load

Statically determinate beam

Using the equations of equilibrium, if all the reaction
components can be found out, then the beam is a
statically determinate beam

the equations of equilibrium

Fx = 0;

Fy = 0

M = 0

FRICTION
Friction is defined as the contact resistance exerted by
one body upon another body when one body moves or tends
to move past another body. This force which opposes the
movement or tendency of movement is known as frictional
resistance or friction. Friction is due to the resistance offered by
minute projections at the contact surfaces. Hence friction is the
retarding force, always opposite to the direction of motion.
Friction has both advantages & disadvantages.
Disadvantages ---- Power loss, wear and tear etc.
Advantages ---- Brakes, traction for vehicles etc.

FRICTION

W
P

F (Friction)

Hills & Vales

Magnified Surface

Frictional resistance is dependent on the amount of wedging

action between the hills and vales of contact surfaces. The
wedging action is dependent on the normal reaction N.

FRICTION

Frictional resistance has the remarkable property of

adjusting itself to magnitude of force producing or tending
to produce the motion so that the motion is prevented.
When P = 0, F = 0 block is under equilibrium
When P increases, F also increases proportionately to
maintain equilibrium. However there is a limit beyond
which the magnitude of this friction cannot increase.

FRICTION

When the block is on the verge of motion(motion of the

block is impending) F attains maximum possible value,
which is termed as Limiting Friction. When the applied force
is less than the limiting friction, the body remains at rest and
such frictional resistance is called the static friction.
Further if P is increased, the value of F decreases rapidly
and then remains fairly a constant thereafter. However at
high speeds it tends to decrease. This frictional resistance
experienced by the body while in motion is known as
Dynamic friction OR Kinetic Friction.

FRICTION

Dynamic Friction

Sliding friction friction experienced

when a body slides over another surface.
Rolling friction friction experienced by
a body when it rolls over a surface.

FRICTION

FN

Fmax = N
P
Where Fmax = Limiting Friction

Fmax

=Coefficient of friction

N
=

N= Normal Reaction between the

contact surfaces

R
Fmax
N

Note : Static friction varies from zero to a maximum value. Dynamic

friction is fairly a constant.

FRICTION

Angle of Friction

The angle between N & R depends

on the value of F.
P

This angle , between the resultant

R and the normal reaction N is
termed as angle of friction.
As F increases, also increases and will
reach to a maximum value of when F is
Fmax (limiting friction)
i.e. tan = (Fmax )/N =
Angle is known as Angle of limiting Friction.

Fmax
R

FRICTION

Angle of limiting friction is defined as the angle between the

resultant reaction (of limiting friction and normal reaction) and
the normal to the plane on which the motion of the body is
impending.

Angle of repose
When granular material is heaped, there exists a limit for the
inclination of the surface. Beyond that angle, the grains start
rolling down. This limiting angle upto which the grains repose
(sleep) is called the angle of repose of the granular material.

FRICTION

Significance of Angle of repose:

The angle that an inclined plane makes with the
horizontal, when the body supported on the plane is on
the verge of motion due to its self -weight is equal to the
angle of repose.
Angle of repose is numerically equal to Angle of
limiting friction

Laws of dry friction

FRICTION

1. The magnitude of limiting friction bears a constant ratio

to the normal reaction between the two surfaces.
(Experimentally proved)
2. The force of friction is independent of the area of contact
between the two surfaces.
3. For low velocities the total amount of friction that can
be developed is practically independent of velocity.
It is less than the frictional force corresponding
to impending motion.

(Q 2.23)

FRICTION

An uniform ladder 3m in length and weighing 180N is placed

against a wall with its end A at the floor and the other end B
on the wall, ladder AB making 60 with the floor. Coefficient
of friction between the wall and ladder is 0.25 and between
floor and ladder is 0.35. In addition to the self weight, the
ladder has to support a person weighing 900N at its top B.
To prevent slipping, a force P is applied horizontally at A at
the level of the floor. Find the minimum force P required for
this condition. Find also the minimum angle at which the
above ladder with the person at the top should be placed to
prevent slipping without the horizontal force P.

FRICTION

Y +ve

(Q 2.23)
FBD of Ladder

X +ve

900N
NB

FB
3sin
180 N

FA

3cos

NA

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q1. A 10kN roller rests on a smooth horizontal floor and is

held by the bar AC as shown in Fig(1). Determine the
magnitude and nature of the force in the bar AC and reaction
from the floor under the action of the forces applied on the
roller.
7kN
C
A

300
Fig(1)

450

5kN

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q2.
A 10 kN weight is suspended from a rope as shown in
figure. Determine the magnitude and direction of the least force P
required to pull the rope, so that, the weight is shifted horizontally
by 0.5m. Also, determine, tension in the rope in its new position.

2m

10kN

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q3. Determine the value of P and the nature of the forces in the
bars for equilibrium of the system shown in figure.
[Ans: P = 3.04 kN, Forces in bars are Compressive.]

45
75
2kN

60
45
P

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q4. A cable fixed as shown in Fig. supports three loads.

Determine the value of the load W and the inclination of the
segment BC. [Ans: W=25kN, = 54.780]

30
B

60

20
Loads are in kN

C
W

22.5

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q5. Find the reactions at A,B,C and D for the beam loaded
as shown in the figure. (Ans.RA=RB =34kN;RC=28.84kN;
MC=-140kNm ; C=-33.69 )

12kN/m

20 kN
4kN/m

12kN/m

4kN/m

30kN

3
C

40kNm
1m

2m

1m

1m

2m

1m

1m

2m

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q6. A uniform bar AB of weight 50N shown in the figure

supports a load of 200N at its end. Determine the
tension developed in the string and the force supported
by the pin at B. (Ans. T=529.12N;RB=807.15N, B=64.6)

2.5m

string
B
A
200N

60
2.5m

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q7. Find the position of the hinged support (x),such that the
reactions developed at the supports of the beam are equal..
(Ans.x=2m.)
10kN/m

2.0m

15kN

1.0m 0.6 1.4m

18kN/m
x
3.0m

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q8. A right angled bar ABC hinged at A as shown in fig carries

two loads W and 2W applied at B &C .Neglecting self weight of
the bar find the angle made by AB with vertical (Ans: =18.44)

A
Lm

B
W
0.5L

C
2W

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q9. For the block shown in fig., determine the smallest

force P required
a) to start the block up the plane
b) to prevent the block moving down the plane.
Take = 0.20
[Ans.:
(a) Pmin = 59.2N
(b) Pmin = 23.7N
(b) = 11.3o]

P
100N

25

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q10. A block of weight 2000 N is attached to a cord

passing over a frictionless pulley and supporting a weight
of 800N as shown in fig. If between the block and the
plane is 0.35, determine the unknown force P for
impending motion
(a) to the right
(b) to the left
[Ans.: (a) P = 132.8N (b) P = 1252N]

2000N

30
P

800N

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q11. Determine value of angle to cause the motion of

500N block to impend down the plane, if for all contact
surfaces is 0.30.

200N
500N
=?
[Ans.: = 28.4]

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q12. A horizontal bar 10m long and of negligible weight

rests on rough inclines as shown in fig. If angle of friction
is 15o, how close to B may the 200N force be applied
before the motion impends.

100N
2m
A

200N
X=?
B

30

60
[Ans.: x = 3.5m]

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q13. Determine the vertical force P required to drive the

wedge B downwards in the arrangements shown in fig.
Angle of friction for all contact surfaces is 12o.Weight of
block A= 1600 N.

A
[Ans.: P = 328.42N]

B
20

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q14.
Determine the force P which is necessary to start
the wedge to raise the block A weighing 1000N. Self
weight of the wedge may be ignored. Take angle of friction,
= 15o for all contact surfaces.

A
P
[Ans.: P = 1192N]

20

wedge

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q15. A ladder of weight 200N, 6m long is supported as shown

in fig. If between the floor and the ladder is 0.5 & between
the wall and the ladder is 0.25 and it supports a vertical load of
1000N, determine
a) the least value of at which the ladder may be placed
without slipping
b) the reactions at A & B

1000N

5m

[Ans.: (a) = 56.3o

(b) RA = 1193 N,
RB = 550N]

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q16. An uniform ladder of weight 250N is placed against a

smooth vertical wall with its lower end 5m from the wall.
between the ladder and the floor is 0.3. Show that the ladder
remains in equilibrium in this position. What is the frictional
resistance on the ladder at the point of contact between the
ladder and the floor?

Smooth wall
B

12m
[Ans.: FA = 52 N]
A

5m

EXERCISE PROBLEMS
2. EQUILIBRIUM OF FORCE SYSTEMS

Q17. A ladder of length 5m weighing 500N is placed at 45o

against a vertical wall. between the ladder and the wall
is 0.20 & between ladder and ground is 0.50. If a man
weighing 600N ascends the ladder, how high will he be
when the ladder just slips. If a boy now stands on the
bottom rung of the ladder, what must be his least weight
so that the man can go to the top of the ladder.
[Ans.: (a) x = 2.92m (b) W boy = 458N]