Chapter 2

Equilibrium of Particle in 2-D

Objectives of Chapter 2
Students will be able to:
1. Draw free-body diagram (FBD) for a particle. 2. Apply equations of equilibrium (EoE) to solve 2-D problems.

Definition
1. A particle will be in equilibrium if it continues to be at rest if originally at rest or moves with a constant velocity if originally in motion. Static equilibrium indicates a body at rest. Newtons 1st law states that a body at rest does not have any unbalanced forces, i.e.

2. 3.

F =0
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Application: Equilibrium Of A Particle

For a spool of given weight, what are the forces in cables AB and AC ?

For given weight of the traffic lights, what are the forces in the cables? What size of cable must you use?
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Equilibrium of a Particle (2D)

This is an example of a 2-D (coplanar) force system. If the whole assembly is in equilibrium, then particle A is also in equilibrium. To determine the tensions in the cables for a given weight of the engine, we need to know how to draw a free body diagram and apply equations of equilibrium.
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250 kg

THE WHAT, WHY AND HOW OF A FREE BODY DIAGRAM (FBD) Free Body Diagram is one of the most important things you must know how to draw and use. What is FBD? - It is a drawing that shows all
the external forces acting on the particle or body.

Why draw? FBD helps you to write the

equations of equilibrium used to solve for the unknowns (usually forces or angles)

How to draw FBD for a Particle?

1. Identify the point you wish to analyze. This is often dictated by the forces you wish to determine. 2. Imagine the particle isolated or cut free from surroundings or system of which it is part. 3. Show all the forces that act on the particle these forces can be active forces (tend to move the particle), or reactive forces (tend to resist motion; caused by supports or constraints) 4. Identify each force, and show all known magnitude and direction. Show all unknown forces as variables. Direction of a force of unknown magnitude can be assumed first.
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NOT a free-body diagram!!

FBD of Point A

W = (250 kg)(9.81 ms-2)

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EQUATIONS OF 2-D EQUILIBRIUM

Since particle A is in equilibrium, the net force at A will be zero. So F AB + F AB + F AC = 0 i.e. F = 0

In general, for a particle in equilibrium, F = 0 Written in a scalar form: F x = 0 and F y = 0 Both are scalar equations of equilibrium (EoE) in 2-D. They can be used to solve up to 2 unknowns.
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Exercise: Draw Free-Body Diagram

The sphere has a mass of 6 kg and is supported as shown. Draw FBD of the sphere, the cord CE and the knot at C.

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FBD of sphere: only two forces acting on sphere: its weight W and force of the cord CE. (FCE, force of cord CE acting on sphere) FCE

FBD of cord CE: When isolated, only two forces act on cord CE: force of sphere and force of knot (Force of knot acting on cord CE) FEC

C E W = mg = 58.9 N (W, weight or gravity acting on sphere)

FCE (FCE, force of sphere acting on cord CE)

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FBD of knot C: Three forces act on the knot as shown below.

FCBA

(Force of cord CBA acting on knot)

FCD (Force of spring acting on knot)

FCE (Force of cord CE acting on knot)

Note: Weight of sphere, W does not directly act on the knot. Instead, the cord CE subjects the knot to this force.

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EXAMPLE: FBD of a particle on an inclined surface

FBD
P
M

P mg
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Types of Connections Encountered in Particle Equilibrium

1. Cables and Pulleys 2. Springs

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Cables and Pulleys

All cables are assumed to be weightless and nonstretchable (i.e. not extensible). All forces acting from cables direct away from point of analysis, i.e. cables are ALWAYS in tension (you cant push on a rope). When a cable passes a pulley, the tension is the same as along as it is the same cable. Pulleys are assumed to be smooth (frictionless) unless stated otherwise. Dimensions of a pulley are usually neglected in calculations, except stated otherwise.

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Cables and Pulleys

Cable is always in tension. Tension is the same as long as it is the same cable.

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A B

T m m
m

2T

2T

3T

2P

mg

mg

mg

mg

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Springs
Magnitude of force exerted on a spring of stiffness k, deformed a distance s = l lo, measured from its unloaded position is F = ks. If s is positive (elongation), F must pull on the spring; if s is negative (compressed), then F must push on it. Example: if spring with an unstretched length lo of 0.4m and k = 500 N/m is to be stretched to 0.6m, s = l lo = 0.2m and F = ks = 100N is needed.

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Springs

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Procedure for Using FBD to Solve for Equilibrium of Particle

Free-Body Diagram Establish x and y axes in any suitable orientation. Show all known and unknown force magnitudes and directions on FBD diagram. Equation of Equilibrium Apply EoE: Fx = 0 and Fy = 0 Components are positive if they are directed along the positive axis and negative if directed along negative axis. If more than 2 unknowns exist and problem involves spring, apply F = ks to relate spring force F to the deformation s of the spring. If the solution for a force is negative, this means the sense of this force is the opposite (reverse) to what you initially assumed.
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Example 2.11
Determine the tension in cables AB and BC for the system to be in equilibrium

A
40

C B
20

200 kg

Ans: TAB = 2129N,

TBC = 1735N

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Example 2.11 Solution 1: Trigonometry and force triangle

Start, end

Sine Law:
TAB
40

50 1962N

1962 sin 60
o

60 70

T AB TBC

TBC

sin 70 sin50o 1962 sin 70o = = 2129 N o sin 60 1962 sin50o = = 1735 N o sin 60
o
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T AB

TBC

Example 2.11

Solution 2: Rectangular component

TABsin40

TBCsin20

C
TBCcos20

+Fx = 0 TBC cos 20o + (TAB cos 40o) = 0 TBC = 0.8152 TAB +Fy = 1962N TAB sin 40o + TBC sin 20o = 1962N ...... (2) ...... (1)

TABcos40

1962 N

Substitute equ. (1) into equ. (2) : TAB = 2129N TBC = 1735N
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Solution 3: Rectangular component method (slanting axes)

All forces are resolved into their component x and y component. Usually, the axis is positioned such that one axis lies on an unknown quantity ( TBC )
y TABcos30

y TBC x

x
] +ve : F y = 0 1962 cos 20o T AB cos 30 o = 0

TABsin30 1962 N sin20

T AB = 2129 N

Z +ve: F x = 0

1962 N
1962 N cos20

T BC 1962 sin 20o T AB sin 30 o = 0 T BC = 1735 N

Advantage: directly solve one unknown Disadvantage: must be good in determining angles

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Example 2.12 Given: Bag A weighs 20 lb. and geometry is as shown. Find: Plan: 1. Draw a FBD for Point E. 2. Apply EoE at Point E to solve for the unknowns (TEG & TEC). 3. Repeat this procedure at C to find WB
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Forces in the cables and weight of bag B.

Example 2.12

A FBD of point E should look like the one to the right. Note the assumed directions for both cables: tension.

Eqn. of equilibrium (in scalar form):

+ : x = T s 3 o T c 4 o = 0 F s E i G n 0 E C o 5 + : y = T c 3 o T s 4 o 2 l = 0 F 0b E o 0 G s E i C n 5
Solving these two simultaneous equations for the two unknowns yields: TEC = 38.6 lb and TEG = 54.6 lb
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Example 2.12
Next, move on to ring C. FBD of C should look like the one on the left.

Eqn. of equilibrium (in scalar form):

4 + : x = 3 6 b c 4 o () T = 0 F 8. 4l o 5 s C D 5 3 + : y = ()C + 3 6 b s 4 o W = 0 F T 8. 4l i 5 n B 5 D

Solving the first equation, then the second yields: TCD = 34.2 lb and WB = 47.8 lb .
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Example 2.13

500

300

Given: System in equilibrium. Find: Plan: 1. Draw a FBD for point equilibrium. 2. Apply EoE to solve for the angle. Soln: Same as in Example 2.11.
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Tension in cables AC and BC

600 N

Example 2.13 Point C as FBD.

= 0;
o o

TACkos50 = TBCkos30 TBC = 2TACkos50o 3 = 0;

T AC

T BC

.........(1)

500 C

300

TACsin50o + TBC sin30o = 600 TACsin50o + TAC = TACkos50o 3 600 (sin50o + kos50 3
o

= 600 = 527.63 N

600 N

)
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TBC = 391.62 N

Example 2.13

OR Polygon (triangle) method

40
0

T AC

= 180o 60o 40o = 80o TAC TBC 600 = = o o sin80 sin60 sin40o TAC = 527.63 N
TBC = 391.62 N

600N
600

T BC

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GROUP PROBLEM SOLVING Given: The car is towed at a constant speed by the 600-lb force, given the angle is 25. Find: Forces in ropes AB and AC.

Plan: 1. Draw FBD for point A. 2. Apply EoE to solve for the forces in ropes AB and AC.
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GROUP PROBLEM SOLVING (continue) 600 lb A

25 30

FBD at point A

FAB

FAC

Applying the scalar EoE at point A, we get; + Fx = FAC cos 30 FAB cos 25 = 0 + Fy = -FAC sin 30 FAB sin 25 + 600 = 0 Solve the above equations, we get; F AB = 634 lb F AC = 664 lb
Alternative soln.: Force triangle and trigonometry; see Example 2.11
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Example 2.14
Given: A 50-kg boy is in equilibrium condition as shown. Length of cable is 20m. Find: Plan: 1. Draw FBD for point equilibrium. 2. Apply EoE at to solve for the angle. Forces in the cable and distance s.
4m s

10m

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Example 2.14
Resolve force into x-y components
+ Fx = 0 T cos = T cos = + Fy = 0 2T sin = 50 (g)

Find angle and tension T

T
If AB = L and BC = (20 L), then : L cos + (20 L) cos = 10 m L cos + 20 cos L cos = 10 m cos = 10 ; = 60o 20
o

50 g

Therefore, T =

50 (9.81) 2 sin 60

= 283.2 N

Distance s:
4 + (L sin ) = (20 L) sin 2 L sin = 20 sin 4 Substitute = 60o and solve for L : 2 L sin 60 = 20 sin 60 4 L = 20 sin 60 4 2 sin 60
o o o o

10 m
4m

L
B 10 m

20-L

= 7.69 m

s = L cos 60 o = 3.85 m

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Example 2.15a

Given: Find:

Unstretched length of spring is 500 mm. a. Stretch of spring, s b. Tension in spring c. Tension in cord AB d. Mass of ball

A = 60 750 mm B

1000 mm

k = 200 N/m

System is in equilibrium as shown Answer: s = 125mm; T = 25N; T AB = 50N; m = 4.41kg

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Example 2.15a a) Final stretch of spring: x1 = 1000 mm 750 mm cos 60 = 625 mm s = 625 mm lo = 125 mm b) Tension in spring, FBC = ks = 200N/m(0.125m) = 25N c) Tension in cord AB, TAB = 25N/cos 60o = 50 N d) Mass of ball, W = mg = 50 N sin 60o m = 4.41 kg

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Example 2.15b
Given: Determine the required length of cord AC so that the 8-kg lamp can be hung as shown. The undeformed length of spring AB is 0.4m; spring stiffness is kAB = 300 N/m Find: a. Tension in spring AB b. Tension in cord AC c. Stretch of spring d. Length of cord AC 1. Draw a FBD for point A. 2. Apply EoE to solve for the forces in AB and AC.
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Solution:

FBD: Point A
If the force in the spring AB is known, then the stretch of spring can be found using F = ks.
+ Fx =0 ; + y =0 F ; Solving :
o TAB T cos 00 = 0 AC o TACsin 00 0 . N = 0 00

TAC =0 0 N and TAB = 111 .1 N 0 .0

Stretch of spring AB: Stretched length:

TAB = ABs AB ; k

000 = (111 N/m)(s AB ) .0N s AB = 1 .111 m

LAB = Lo, AB + sAB LAB = 0.4 m + 0.453 m = 0.853 m

Required length of cord AC:

2 m = LAC cos 30 + 0.853 m LAC = 1.32 m (ANSWER)

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Example 2.16

Given: System is in equilibrium. Find: a. Tension in cable AB b. Length of cable AB

C
500 mm

60

B D 10 kg

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Example 2.16
+ Fx = 0; TAB cos - 10(g) cos 60o = 0 TAB = + 5(g) ..... (1) cos 10(g) sin 60o + TAB sin 10(g) = 0 ....(2)

10 g

T AB

Fy = 0;

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Substitute eqn.(1) into eqn.(2) and rearrange: 10(g) - 5(g) 3 5(g) tan = 0.26795 tan = = 15o Tension in rope AB : TAB = 5(g) 5(9.81) = = 50.78N o cos cos 15

10 g
Length of BC: 500 m m =5 7 7 5 m m .3 o sin 6 0 5 7 7 .3 5 m m L A B = o o sin 1 5 sin 6 0 40 LAB = 1931.85 mm

Length of AB:

Example 2.16 OR
^ +ve

Resolved forces along line of action TAB (x) and y:

y'

= 0; (60o + ) = (90o ) 2 = 30
o

10 g

10gsin(60o + ) = 10 g sin(90o )
60

= 15
Z +ve

x'

= 0;

x
10 g

TAB = 20gkos(75o ) TAB = 50.78 N

Length of cable AB

sin 15o =

500 AB AB = 1931.8 5 mm

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Example 2.17
The beam has a weight of 3.5kN. Determine the shortest cable ABC that can be used to lift the beam if the maximum force that the cable can sustain is 7.5kN.

= 13.5

L ABC = 3.09m

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Example 2.18
If the 5-kg block is suspended from the pulley B and the sag of the cord is d = 0.15m, find the tension in the cord ABC. Neglect size and weight of pulley.
+Fx = 0; +Fy = 0; T cos - T cos = 0 = 2T sin - 49.05N = 0 0.15m = tan-1 = 36.87o 0.20m T = 40.9N

Note: Similar to Example 2.14

W = 5 g

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Ujian 1 18/10/2010

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Solution FBD: Ring A

+ x = 0; F - TAC cos + TAB = 0 TAC = + y = 0; F TAB cos ...... (1)

TAC sin 2452.5 N = 0 ...... (2)

Eq.(1) shows TAC is always TAB since cos 1. Thus, rope AC will reach maximum tensile force of 12.5 kN before rope AB. Substitute TAC = 00 kN into equ.(0 : .0 ) (11111 sin = N) sin - 1111 .1 N = 0 00. N 0 00 = 0 111 .1 0 0 0N 00
o

= sin-0 0 0 0 = 11 .11 .0 0

Solve for tension in rope AB, use equ.(0 : ) TAB TAC = cos TAB = 11 .1 kN cos 11 .11 o =0 .1 1 1 kN 0

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Alternative Solution Case 1: Assume TAB = 12.5 kN FBD: Ring A

+ Fx = 0; - TAC cos + TAB = 0 - TAC cos + 12500 N = 0 + Fy = 0; T AC cos = 12500 N T AC sin = 2452.5 N Solve (2) (1) : ...... (1) ...... (2) TAC sin (250)(9.81) = 0

TAC sin 2452.5 = tan = = 0.1962 TAC cos 12500 = 11.10o

Substitute = 11.10o into either eqn.(1) or eqn.(2) : TAC cos = 12500 N TAC = 12500N cos 11.10
o

= 12738.3N (> 12500N)

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Alternative Solution (continue) FBD: Ring A Case 2: Assume TAc = 12.5 kN

+Fy = 0; TAC sin (250)(9.81) = 0 12500 N sin = 2452.5 N 2452.5 sin = = 0.1962 12500 = sin-1 0.1962 = 11.315o +Fx = 0; - TAC cos + TAB = 0 - 12500 cos 11.315o + TAB = 0 TAB = 12257 N (< 12500 N) Therefore, smallest angle : = 11.31o

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