Module 3

Equilibrium
OVERVIEW

In this module, we will be discussing the concept of Equilibrium of

Force Systems. Equilibrium is present when the resultant of a system of
forces is zero. A body is said to be in equilibrium when the force system
acting upon it has zero resultant.

LEARNING OUTCOMES

After studying this module, you must be able to:

• To introduce the concept of the free-body diagram for a particle.
• Know how to solve particle equilibrium problems using the equations of
equilibrium.

LESSON 1: CONDITION FOR THE EQUILIBRIUM OF A PARTICLE

A particle is said to be in equilibrium if it remains at rest if originally at

rest or has a constant velocity, if originally in motion. Most often, however,
the term “equilibrium” or, more specifically, “static equilibrium” is used to
describe an object at rest. To maintain equilibrium, it is necessary to satisfy
Newton’s first law of motion, which requires the resultant force acting on a
particle to be equal to zero. This condition may be stated mathematically as
ΣF = 0 (3-1)
where ΣF is the vector sum of all the forces acting on the particle.

Not only is Eq. 3-1 a necessary condition for equilibrium, it is also a

sufficient condition. This follows from Newton’s second law of motion which
can be written as ΣF = ma. Since the force system satisfies Eq. 3-1, then
ma = 0, and therefore the particle’s acceleration a = 0. Consequently, the
particle indeed moves with constant velocity or remains at rest.

LESSON 2: THE FREE-BODY DIAGRAM

To apply the equation of equilibrium, we must account for all the

known and unknown forces (ΣF) which act on a particle. The best way to do
this is to think of the particle as isolated and “free” from its surroundings. A
drawing that shows the particle with all the forces that act on it is called a
free-body diagram (FBD).

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.

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 Springs. If a linearly elastic spring (or cord) of undeformed length lo
is used to support a particle, the length of the spring will change in direct
proportion to the force F acting on it as shown in Fig. 3-1. A characteristic
that defines the “elasticity” of a spring is the spring constant or stiffness k.

lo
l

F
Figure 3-1

The magnitude of force exerted on a linearly elastic spring which has

a stiffness k and is deformed (elongated or compressed) a distance s = l –
lo, measured from its unloaded position, is
F = ks (3-2)

If s is positive, causing an elongation, then F must pull on the spring;

whereas if s is negative, causing a shortening, then F must push on it. For
example, if the spring in Fig. 3-1 has an unstretched length of 0.8m and a
stiffness k = 500 N/m and it is stretched to length of 1m, so that
s = l – lo = 1m – 0.8m = 0.2m,
then force F = ks = 500N/m(0.2m) = 100 N is needed.

Cables and Pulleys. Unless otherwise stated, throughout our

discussion, all cables or cords will be assumed to have negligible θ
weight and they cannot stretch. Also, a cable can support only
support a tension or “pulling” force, and this force always acts in the
T
direction of the cable. Hence, for any angle θ, shown in Fig. 3-2, the
cable is subjected to a constant tension T throughout its length. T
Cable is in tension
Figure 3-2
2.1 Procedure for Drawing a Free Body Diagram

Since we must account for all 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.

1. Draw Outlined Shape

Imagine the particle to be isolated or cut “free” from its surroundings
by drawing its outlined shape.

2. 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

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 they can be reactive forces which are the result of the constraints or
support 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.

3. 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.

The bucket is held in equilibrium by the cable, and instinctively we

know that the force in the cable must equal the weight of the bucket. By
drawing a free-body diagram of the bucket we can understand why this
is so. This diagram shows that there are only two forces acting on the
bucket, namely, its weight W and the force T of the cable. For
equilibrium, the resultant of these forces must be equal to zero, and so
T = W.

FBD:
The sphere in Fig. 3-3a 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.

60°
C
45° D
E
A

Fig. 3-3a

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Solution:

Sphere. By inspection, there are only two forces acting on ‘sphere namely,
its, weight, 6kg (9.81 m/s2) = 58.9 N, and the force of cord CE. The free-
body diagram is shown in Fig. 3-3b.
FCE (Force of cord CE acting on sphere)

W = 58.9 N (Weight or gravity acting on sphere)

Fig. 3-3b

Cord CE. When cord CE 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. 3-3c. Notice that FCE shown here is equal but
opposite to that shown in Fig. 3-3b, 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.
FEC (Force of knot acting on cord CE)

FCE (Force of cord CE acting on sphere)

Fig. 3-3c

Knot. The knot at C is subjected to three forces, Fig. 3-3d. 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.
FCBA (Force of cord CBA acting on knot)

FCD (Force of spring acting on knot)

FCE (Force of cord CE acting on knot)

Fig. 3-3d

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LESSON 3: COPLANAR FORCE SYSTEMS

If a particle is subjected to a system of coplanar forces that lie in the

x-y plane as in Fig. 3-4, then each force can be resolved into its i and j
components. For equilibrium, these forces must sum to produce a zero force
resultant, i.e.,
y
F1
F2

F3
F4

Figure 3.4

ΣF = 0
For this vector equation to be satisfied, the forces x and y
components must both be equal to zero. Hence

ΣFx=0 (3-3)
ΣFY=0

These two equations can be solved for at most two unknowns,

generally represented as angles and magnitudes of forces shown on the
particle’s free-body diagram

When applying each of the two equations of equilibrium, we must

account for the sense of direction of the component by using an algebraic
sign which corresponds to the arrowhead direction of the component along
the x or y axis. It is important to note that if a force has an unknown
magnitude, then the arrowhead sense of the force on the free-body diagram
can be assumed. Then if the solution yields a negative scalar, this indicates
that the sense of the force is opposite to that which was assumed.

For example, consider the free-body diagram of the particle

subjected to the two forces shown in Fig. 3-5. Here it is assumed that the
unknown force F acts to the right to

F 10 N
x

Figure 3.5

maintain equilibrium. Applying the equation of equilibrium along the x axis,

we have
+ ΣFX = 0; +F + 10N = 0

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 Both terms are “positive” since both forces acts in the positive x
direction. When this equation is solved, F = -10N. Here the negative sign
indicates that F must act to the left to hold the particle in equilibrium, Fig. 3-
5. Notice that if the +x axis in Fig. 3-5 were directed to the left, both terms in
the above equation would be negative, but again, after solving, F = -10N,
indicating that F would be directed to the left.

3.1 Procedure for Drawing a Free Body Diagram

Coplanar force equilibrium problems for a particle can be solve using

the following procedure:
 Free-Body Diagram
• Establish the x, y axes in any suitable orientation.
• Label all the known and unknown force magnitudes and directions
on the diagram.
• The sense of a force having an unknown magnitude can be
assumed.
 Equations of Equilibrium
• Apply the equations of equilibrium, ΣFx=0 and ΣFY=0.
• Components are positive if they are directed along a positive and
negative if they are directed along a negative axis.
• If more than two unknowns exist and the problem involves a spring,
apply F=ks to relate the spring force to the deformation s of the
spring.
• Since the magnitude of a force is always a positive quantity, then if
the solution of a force yields a negative result, this indicates its sense
is the reverse of that shown on the free-body diagram.

3.2 Common Methods Used in Solving Coplanar Force System.

After drawing the Free-Body Diagram, you can choose the most
suitable method to solve for the unknowns in the problem.

A system of cords knotted together at A and B support the weights

shown in Fig. 3-6. Compute the tensions P, Q, F and T acting in the
various cords.

Q 90°
B
60° P
75° P T
75° 60°

A x

200 lb

300 lb

Figure 3-6

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 We begin by drawing a FBD of knots A and B. Of these two coplanar
force systems, we must first solve that at A. The force system at B is
temporarily indeterminate because it contains three unknown forces and
has available only two independent equations of equilibrium. Its solution
must be postponed until one of the unknown, P in the instance, has been
determined from the coplanar forces acting at A, where P, exerting an equal
and opposite effect to its action on B, is only one of the unknowns.

Method I – Using Horizontal and Vertical Axes. y

Q
This is a routine method requiring no imagination. 60°
75° P
Selecting reference axes that are horizontal and vertical as 30°
15°
shown in Fig. 3-7, we apply the conditions of equilibrium, x

Eq. (3-1), to obtain

ΣFx = 0
P cos 15° - Q cos 30° = 0 (a) 300 lb

ΣFY = 0
Figure 3-7 – Method I
P sin 15°+ Q sin 30° - 300 = 0 (b)

Solving Equations (a) and (b) simultaneously yields

P = 367 lbs
Q = 410 lbs

Method II – Using Rotated Axes.

The disadvantage of Method I is the necessity of solving

simultaneous equations. Since the reference axes are arbitrarily selected in
the first place, a better choice of the reference axes will eliminate
simultaneous equations; this simplifies the numerical work and reduces the
chance for error. For example, let the X axis be selected to pass through
one of the unknowns, say Q. In this case Q will have no Y component and
will not appear in a Y summation.

Y
Q Q

P P
30° 15°
x x
30° 45°
60° 60°
X X
300 lb 300 lb

(a) (b)

Figure 3-8 – Method II: Using rotated axes.

The method of determining the angles between the forces and the
rotated reference axes is shown in Fig. 3-8a; the final values of the angles
are shown in Fig. 3-8b. When actually solving the problems, only the X axis

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need be drawn, as in Fig. 3-8a. The Y axis can be omitted; it is understood
to be perpendicular to the X axis.

Since the X axis was chosen to coincide with Q, it is evident that Q

has no Y component. Hence by applying the condition of equilibrium, ΣFY =
0, we automatically eliminate Q from the equation. Thus, we have
ΣFY = 0
P sin 45° - 300 sin 60° = 0
P = 367 lb

Having determined P, we readily find the second unknown Q by

applying the second equation of equilibrium:

ΣFX = 0
367 cos 45° + 300 cos30° - Q = 0
P = 410 lb

Note carefully the technique used. When the x-axis is chosen so that it
coincides with one of the unknowns, the y-summation determines the
other unknown. Then the x-summation determines the remaining
unknown.

Method III – Using Force Triangle

When three forces are in equilibrium, the easiest solution is generally

obtained by applying the sine law to the triangle representing the polygon of
forces. Since forces in equilibrium have a zero resultant, the tip of the last
vector must touch the tail of the first vector. This tip to tail addition gives the
closed polygon of forces shown in Fig. 3-9. Applying the law of sines to this
triangle, we obtain
300 𝑃
= 60°
Q
sin 45° sin 60°
300 lb
Therefore, 30°
75°
P
P = 367 lb and Q = 410 lb
Figure 3-9 – Method III: Using Force
Triangle

If this solution is compared with ΣFY = 0 in Method II, it will be seen

to give the same equation. Indeed, the solution from a force triangle is
equivalent to using two sets of rotated axes, one set drawn so as to pass
through one unknown force, whereas the other set coincide with the other
unknown force.

We are now ready to determine the forces F and T holding the

coplanar system of forces at B in equilibrium. A closed polygon of forces for
this system forms a quadrilateral so that the sine law cannot be applied.
Although a diagonal of this quadrilateral can be drawn that will subdivide it

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into two triangles to which the sine law can be applied, this procedure is
more cumbersome than the method of using rotated axes described above
in Method II.
Y
F
Applying the method of rotated axes to the
45°
FBD of B, we draw the X axis to coincide with T as in
45° B
Fig. 3-10, thereby eliminating T from a Y summation. P
Hence, we obtain F from T
75° 60°
X
ΣFY = 0
F sin 45° - 367 sin 45° - 200 sin 60° = 0 200 lb
F = 612 lb answer
Figure 3-8: Method of rotated
The remaining unknown T is now determined from axes applied to FBD of B

ΣFX = 0
T + 200 cos 60° - 367 cos 45° - 612 cos 45° = 0
T = 593 lb answer

The sum of all forces in the x-direction or horizontal is zero.

ΣFx=0 or ΣFH=0

The sum of all forces in the y-direction or vertical is zero.

ΣFy=0 or ΣFV=0

Important Points for Equilibrium Forces

• Two forces are in equilibrium if they are equal and oppositely directed.
• Three coplanar forces in equilibrium are concurrent.
• Three or more concurrent forces in equilibrium form a close polygon
when connected in head-to-tail manner.

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SAMPLE PROBLEMS
1. The cable and boom shown in the Figure
below support a load of 600 lb.
Determine the tensile force T in the
cable and the compressive force C in
the boom.

Solution:FBD of Cable and Boom:

ΣFH=0
C cos45°=Tcos30°
C=1.2247T
ΣFV=0
Tsin30°+Csin45°=600
Tsin30°+(1.2247T) sin45°=600
1.366T=600
T=439.24 lb answer
C=1.2247(439.24)
C=537.94 lb answer

Another Solution: By Rotation of Axis

ΣFy=0
Tsin75°=600sin45°
T=439.23 lb (okay!)
ΣFx=0
C=Tcos75°+600cos45°
C=439.23cos75°+600cos45°
C=537.94 lb (okay!)

Another Solution: By Force Polygon

2. The system of knotted cords shown support the indicated weights.

Compute the tensile force in each cord.

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From the knot where 400 lb load is hanging
ΣFH=0
Dsin75°=Csin30° D=0.5176C
ΣFV=0
Dcos75°+Ccos30°=400
(0.5176C) cos75°+Ccos30°=400
C=400 lb answer
D=0.5176(400)
D=207.06 lb answer
From the knot where 300-lb load is hanging
ΣFV=0
Bsin45°=300+Ccos30°
Bsin45°=300+400cos30°
B=914.16 lb answer

ΣFH=0
A=Bcos45°+Csin30°
A=914.16cos45°+400sin30°
A=846.41 lb answer

FBD of knot w/ 400 lb load:

FBD of knot w/ 300 lb load:

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PROBLEM EXERCISES

1. & 2. A 250-lb box is held at rest on a smooth plane by a force P inclined at

an angle θ with the plane as shown in the Figure below. If θ = 50°, determine
the value of P and the normal pressure N exerted by the plane.
W = 250 lb

3. Determine the magnitude of P and F necessary to keep the concurrent force

system in Figure shown in equilibrium.

400 N

300 N

4. Figure below represents the concurrent force system acting at a joint of a

bridge truss. Determine the value of P and E to maintain equilibrium of the
forces.

200 lb

250 lb
150 lb

5. The 320-lb force and the 380-lb force shown below are to be held in
equilibrium by a third force F acting at an unknown angle θ with the
horizontal. Determine the values of F and θ.

380 lb
320 lb

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6. Determine the values of α and θ so that the forces shown in the Figure will
be in equilibrium.
50 kN

30 kN

20 kN

7. Three bars, hinged at A and D and pinned at B and C as shown in Fig. P-

318, form a four-link mechanism. Determine the value of P that will prevent
motion.

40 kN
P

8. Cords are loop around a small spacer separating two cylinders each
weighing 400 lb and pass, as shown below over a frictionless pulley to
weights of 200 lb and 400 lb. Determine the angle θ and the normal pressure
N between the cylinders and the smooth horizontal surface.

700 lb

500 lb

300 lb

9. Forces P and F acting along the bars as shown, maintain equilibrium of pin
A. Determine the values of P and F.

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 5m 3m

7m

25 kN

14 kN
10. Two weightless bars pinned together as shown, support a load of 35 kN.
Determine the forces acting at AB and AC.

45 kN

LESSON 4: EQUILIBRIUM OF THREE-DIMENSIONAL FORCE SYSTEM

z
In the case of a three-dimensional
force system, as shown in figure 4-1, we F3
F2
can resolve the forces into their respective
i, j, k components, so that ΣFxi + ΣFyj +
ΣFzk = 0. To satisfy this equation we
require
y
ΣFx = 0 x
ΣFy = 0
ΣFz = 0 F1

Figure 4-1

These three equations state that the algebraic sum of the components
of all the forces acting on the particle along each of the coordinate axes must
be zero. Using them we can solve for at most three unknowns, generally
represented as coordinate direction angles or magnitudes of forces shown on
the particle's free-body diagram.

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4.1 Procedure for Analysis

Three-dimensional force equilibrium problems for a particle can be

solved using the following procedure.

Free-Body Diagram.
• Establish the x, y, z axes in any suitable orientation.
• Label all the known and unknown force magnitudes and directions on
the diagram.
• The sense of a force having an unknown magnitude can be assumed.

Equations of Equilibrium.
• Use the scalar equations of equilibrium. ΣFx = 0, ΣFy = 0, ΣFz = 0. in
cases where it is easy to resolve each force into its x, y, z components.
• If the three-dimensional geometry appears difficult, then first express
each force on the free-body diagram as a Cartesian vector, substitute
these vectors into ΣF = 0. and then set the i, j, k components equal to
zero.
• If the solution for a force yields a negative result, this indicates that its
sense is the reverse of that shown on the free-body diagram.

What are the applications of three-dimensional force system?

You know the weight of the electromagnet and its

load. But, you need to know the forces in the
chains to see if it is a safe assembly. How would
you do this?

This shear leg derrick is to be designed to lift a

maximum of 200 kg of fish. How would you find the
effect of different offset distances on the forces in
the cable and derrick legs?

SAMPLE PROBLEMS

1. Given: The four forces and geometry shown. Find: The

force F5 required to keep particle O in equilibrium.
Procedure:
a. Draw a FBD of particle O.
b. Write the unknown force as F5 = {Fx i + Fy j + Fz k} N
c. Write F1, F2, F3, F4 and F5 in Cartesian vector form.
d. Apply the three equilibrium equations to solve for the
three unknowns Fx , Fy , and Fz .

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

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 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

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

ΣFx = 76.8 – 600 + Fx = 0 ; solving gives Fx = 523.2 N
ΣFy = 240 – 102.4 + Fy = 0 ;solving gives Fy = – 137.6 N
ΣFz = 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.

2. Given: A 600 N load is supported by three cords

with the geometry as shown.
Find: The tension in cords AB, AC and AD.
Procedure:
a. Draw a free body diagram of Point A. Let the
unknown force magnitudes be FB , FC , FD .
b. Represent each force in its Cartesian vector
form.
c. Apply equilibrium equations to solve for the
three unknowns. z

Solution: FD
FC
2m
FB = FB (sin 30 i + cos 30 j) N
y
= {0.5 FB i + 0.866 FB j} N 1m
A 30°
2m
FC = – FC i N
FD = FD (rAD /rAD) FB
x
= FD { (1 i – 2 j + 2 k) / (12 + 22 + 22 ) ½ } N
600 N
= { 0.333 FD i – 0.667 FD j + 0.667 FD k } N
Now equate the respective i , j , k components to zero.
Figure 4-1
Σ Fx = 0.5 FB – FC + 0.333 FD = 0
Σ Fy = 0.866 FB – 0.667 FD = 0
Σ Fz = 0.667 FD – 600 = 0

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

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PROBLEM EXERCISES
1. A 3500 lb motor and plate, as shown below, are in equilibrium and
supported by three cables and d = 3 ft. Find the magnitude of the tension in
each of the cables.

2. Determine the tension developed in cables AB, AC and AD required for

equilibrium of the 100-kg cylinder.

3. Determine the height d of cable AB so that the force in cables AD and AC

is one-half as great as the force in cable AB. What is the force in each cable
for this case? The flower pot has a mass of 75 kg.

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SUMMARY

This module can be summarized as follows:

• When a particle is at rest or moves with constant velocity, it is in equilibrium.
This requires that all the forces acting on the particle form a zero resultant
force.
FR = ΣF = 0
• The two scalar equations of force equilibrium can be applied with reference
to an established x, y coordinate system.
ΣFX = 0
ΣFY = 0
• If the three-dimensional geometry is difficult to visualize, then the
equilibrium equation should be applied using Cartesian vector analysis. This
requires first expressing each force on the free body diagram as Cartesian
vector. When the forces are summed up and set equal to zero, then the i, j,
and k components are also zero.
ΣF = 0
ΣFX = 0
ΣFY = 0
ΣFz = 0

SUGGESTED READINGS

You can also try to access the internet, aside from your reference books.
You can access and watch you tube, just search for our topic and you will see
videos of professors discussing about these topics that we have undertaken in
this module.

REFERENCES
• Hibbeler, R.C., Engineering Mechanics, Statics, 14th Edition, 2016
• Khurmi, R.S., A Textbook of Engineering Mechanics
• Singer, Ferdinand L., Engineering Mechanics, Statics and Dynamics, 3rd
Edition

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