Chapter 2

Forces and equilibrium

Objectives
Determine the resultant of two vectors at right angles to
each other by drawing a vector for triangle and using
trigonometric function of sine, cosine and tangent.
Determine the resultant of any two vectors by drawing a
vector triangle and using either sine or cosine law.
Resolve any vector quantity into components (horizontal and
vertical direction).
Resolve any vector quantity along any two axes.
Determine the resultant of several vectors by method of
components.
 Forces and Equilibrium

Scalars and vectors

Types of forces
Resultant of forces
Equilibrium of particles
 Scalar and Vectors
Scalar - a physical quantity that is completely described by a real number
e.g. time, length, mass, temperature

Vector - is described by both magnitude (non-negative real number) and

direction
e.g. position of a point in space relative to another point, forces
- represented by bold-faced letters: u, a, W
- magnitude of vector u = |u|
- graphical representation of vectors: arrows
- direction of arrow shows the direction of vector
- length of arrow magnitude of vector
Example: Vectors

rAB - position of point B relative to point A

- direction from point A to point B
- distance between A and B = |rAB|
What is the different between scalar
and vector?
10ft long scalar
A floor area of 20m2 scalar

15N vertically downward vector

A velocity of 20km/h - vector
Types of forces

External force

Internal force
Resultant of force in 2-Dimension
Scalar
Added 4 m2 and 3 m2 = 7 m2
Vector
Added 4 km and 3 km = sum and direction

Resultant = single vector giving the result of the addition

of the original two or more vectors.
What is the result if you walk 4km east and then 3km west? Total walking distance is 7km.
But how far you walked from origin?When you add 4 + 3 vectorially, place the vectors tip to trail. The
resultant is a vector from original point to final point. In this case R=1km in
easterly direction

R 3km

4km

What is the result if you walk 4km east and 3 km north? R

The distance would be represented by vectors and added being 3km
Placed tip to trail. The resultant vector drawn from origin to the final
point is the hypotenuse of a right angle triangle. For this case R= 5km
in northeast direction 4km
 Resultant of force in 2-Dimension
Graphical
Require an accurate scaled drawing

Analytical
Using trigonometric methods based on the law of sines and cosines
Resultant of forces: Graphical
Q Triangle rule
- sum of vector from tail of P to
head of Q
P R=P+Q
Parallelogram rule
- the sum is independent of the
order in which the vectors are
R
placed head to tail
P
- vector addition is commutative
Q
P+Q=Q+P=R

Q - vector subtraction
R=PQ
R=PQ
P Q

R - resultant of two forces, P and Q

Resultant of forces: Analytical

Trigonometric:
Q C
B Law of cosine,
B
R 2 P 2 Q 2 2PQ cos B
P R=P+Q
Law of sine,
sin A sin B sin C
A
Q R A
Pythagorean theorem
Resolution of vectors:
Resolve vectors into components using the x
and y axes system.

We use the unit vectors i and j to designate

the x and y axes

Example 1:

Figure shows an initial design sketch of part of the roof of a sports stadium to be supported by
the cables AB and AC. The forces the cables exert on the pylon to which they are attached are
represented by the vectors FAB and FAC. The magnitude of the forces are |FAB| = 100 kN and
|FAC| = 60 kN. Determine the magnitude and direction of the sum of the forces exerted on the
pylon by the cables (a) graphically and (b) using trigonometry.
Solution:

(a) Graphically construct the parallelogram rule with FAB and FAC
proportional to their magnitudes:

By measuring the figure, we estimate the magnitude of the

vector FAB + FAC to be 160 kN and its direction to be 18 above
the horizontal.
Solution:

(b) Consider the parallelogram rule:

Since = 180 30 = 150

Applying law of cosine to the triangle:

FAB FAC FAB FAC 2 FAB FAC cos

2 2 2

100 60 2100 60 cos 150

2 2

Magnitude |FAB + FAC| = 154.9 kN

To determine the angle between FAB + FAC and the horizontal,
apply law of sines to shaded triangle:

sin sin

FAB FAB FAC

FAB sin 100 sin 150

arcsin arcsin 18.8
FAB FAC 155
Example 2:

60 N
A Determine the resultant of
forces that acts on bolt A.

80 N

Using theorem Pythagoras,

R 602 802 100N

tan 80 / 60 1.33 52.13o

180o 180o 52.13o 127.87o R=100 N 127.87

Example 3:

Determine the horizontal and

vertical components of P

Solution:
Example 4:

The ring shown in figure is subjected to two forces, Fl and F2. If it

is required that the resultant force have a magnitude of 1 kN and
be directed vertically downward, determine the magnitudes of Fl
and F2,
provided = 30.
Solution:
Vector addition sketch according to the parallelogram law:
Using the law of sines:

F1 1000 N

sin 30 sin 130

F1 = 635 N

F2 1000 N

sin 20 sin 130
F2 = 446 N
Example 5:

Determine the resultant of

forces that acts on bolt A.

Solution:

Trigonometric solution - law of cosines,

R 2 P 2 Q 2 2PQ cos B
40N 60N 240N60N cos 155
2 2

R 97.73N
Law of sines,

sinA sinB

Q R
Q
sinA sinB
R
60N
sin155
97.73N
A 15.04
20 A
35.04
There are four concurrent
cable forces acting on the
bracket.
How do you determine the
resultant force acting on the
bracket ?
Resultant of forces (component method)

A single force can be broken up into two separated forces

Fy
F

Fx

To add vectors analytically using the method components ,

one should be proceed according to the step.
 Resolve each vector into a horizontal and vertical
component
Add the vertical components, Ry=Fy.
Add the horizontal components, Rx = Fx
Combine the horizontal and vertical components to obtain
a single resultant vector.

Ry
R ( Rx ) 2 ( R y ) 2 tan
1
R
x
Exercise 1
Three concurrent forces are acting on a bracket. Find the
magnitude and angle of the resultant force by resolving the
forces.
Break into component x and y
Solution:

F1 = { 15 sin 40 i + 15 cos 40 j } kN
= { 9.642 i + 11.49 j } kN

F2 = { -(12/13)26 i + (5/13)26 j } kN
= { -24 i + 10 j } kN

F3 = { 36 cos 30 i 36 sin 30 j } kN
= { 31.18 i 18 j } kN
Summing up all the i and j components respectively, we get,
FR = { (9.642 24 + 31.18) i + (11.49 + 10 18) j } kN
= { 16.82 i + 3.49 j } kN

FR = ((16.82)2 + (3.49)2)1/2 = 17.2 kN

= tan-1(3.49/16.82) = 11.7

y
FR

x
Resultant force in 3 Dimension

+y
-Z

-X +X

+Z
-y
 y
6N
R

x
4N
3N R1
z

R1 (3 N ) 2 (4 N ) 2 R (5 N ) 2 (6 N ) 2
R1 5 N R 7.81N

R=7.81 N, coordinates (4,6,3)

Vector equation
Or known as Cartesian vector
Used right hand coordinate system
 RECTANGULAR COMPONENT OF A VECTOR
Using two successive parallelogram law, resolve
vector A into;

A= A+Az
A=Ax+Ay

Combining those equation, vector sum A;

A= Ax+Ay +Az

Direction of A can be specified using a

unit vector. The vector is so named
since it has magnitude of 1. If A is vector
having a magnitude A0, then the unit
vector having same direction as A is
represented by
uA= A/A dimensionless

A= AuA < magnitude and direction

 CartesanVector Representation
A= Axi + Ayj + Azk note that
magnitude and direction of each
component vector are seperated!

Magnitude of cartesan vector

A= A2 + Az2 (see coloured right triangle)
A= Ax2+ Ay2(see shaded right triangle)
A = Ax2+ Ay2 + Az2
Hence magnitude of A is equal to the positive
square root of the sum of the squares of its
component
 Direction of cartesan vector
The orientation of A is defined by
coordinate direction angles (apha),
(beta) and (gamma) measured
between tail of A and the positive x, y,
z axes.
To determine , , , referring to
blue coloured right triangle;

cos =


cos =


cos =

 Another way to obtain direction cosine A is to form unit vector in the direction
of A
A= Axi + Ayj + Azk

UA= (A/A)= + +

Where A = Ax + Ay + Az
2 2 2

It is seen that the i,j,k component of UA represent the direction of A,

A2 = Ax2+ Ay2 + Az2
A2 = A2cos2 + A2cos2 + A2cos2
cos2 + cos2 + cos2=1 Prove that the equation =1?
Provided vector A lies in a known octant, this equation can be used to determined
one of the coordinate direction angles if the other two are known.

Finally, if the magnitude and coordinate direction angle of A are given, A maybe
expressed in cartesian vector form as
A= AuA
= A cos i+ A cos j+ A cos k
= Axi + Ayj + Azk
Example 2.13
Express the force F shown in Figure 2.23 as a Cartesian
vector
 Since only two coordinate direction angles are specified, the third angle must be
determined using equation

cos2 cos2 cos2 1

cos2 cos2 60 o cos2 45o 1
cos 1 (0.5) 2 (0.707 ) 2 0.5
Hence, two possibilities exist, namely,
= cos-1(0.5) = 60o or = cos-1(0.5) = 120o
 By inspection, it is necessary that = 60o, since Fx must be in the +x direction, with
F = 200 N, we have WHY?

F = F cos i + F cos j + F cos k

F = (200 cos 60oN)i + ( 200 cos 60o N)j + ( 200 cos 45o)k
F = {100.0i + 100.0j + 141.4k} N

Show that indeed the magnitude of F = 200N

F Fx Fy Fz
2 2 2

F 100 2 100 2 141.4 2

Example

x
 Equilibrium of a particle
The term particle used in statics to describe a body when;
the size and shape of the body will not significantly affect the solution of
the problem being considered.
the mass of the body can be assumed to be concentrated at a point.
A particle can be subjected only to a system of concurrent forces and that the necessary
and sufficient conditions for equilibrium can be expressed mathematically as
R = F = 0
where F is the vector sum of all forces acting on the particle.
To apply the equation of equilibrium --- account for all the known and unknown forces
(F) which act on the particle.
APPLICATIONS

For a spool of given weight,

what are the forces in cables
AB and AC ?
APPLICATIONS (continued)

For a given cable strength,

what is the maximum weight
that can be lifted ?
 Procedure for Drawing a Free-Body Diagram
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 help 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.
EQUILIBRIUM OF PARTICLE IN 2-D
This is an example of a 2-D or 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 learn how to draw a free body
diagram and apply equations of
equilibrium.
THE WHAT, WHY AND HOW OF A FREE BODY
DIAGRAM (FBD)
Free Body Diagrams are one of the most important things for you to know how to
draw and use.

What ? - It is a drawing that shows all external

forces acting on the particle.

Why ? - It helps you write the equations of

equilibrium used to solve for the unknowns
(usually forces or angles).
 How ?
1. Imagine the particle to be isolated or cut free from its surroundings.

2. Show all the forces that act on the particle.

Active forces: They want to move the particle. Reactive forces:
They tend to resist the motion.

3. Identify each force and show all known magnitudes and directions.
Show all unknown magnitudes and / or directions as variables .

Note : Engine mass = 250 Kg FBD at A

EQUATIONS OF 2-D EQUILIBRIUM

Since particle A is in equilibrium, the net force at A is

zero.
So FAB + FAD + FAC = 0
A or F = 0

FBD at A

In general, for a particle in equilibrium, F = 0 or

Fx i + Fy j = 0 = 0 i + 0 j (A vector equation)

Or, written in a scalar form,

Fx = 0 and Fy = 0
These are two scalar equations of equilibrium (EofE). They can be used to solve
for up to two unknowns.
 EXAMPLE

Note : Engine mass = 250 Kg FBD at A

Write the scalar EofE:

+ Fx = TB cos 30 TD = 0
+ Fy = TB sin 30 2.452 kN = 0

Solving the second equation gives: TB = 4.90 kN

From the first equation, we get: TD = 4.25 kN
 Two-Dimensional Problems
R = Rx + Ry = Rn + Rt = 0
= Rxi + Ryj = Rnen + Rtet = 0
= Fxi + Fyj = Fnen + Ftet = 0

Satisfy only if
Rx = Rxi = Fxi = 0
Ry = Ryj = Fyj = 0
Rn = Rnen = Fnen = 0
Rt = Rtet = Ftet = 0
 Example 2.14
A free-body diagram of a particle subjected to the action of four forces is shown in
Fig.2.29. Determine the magnitudes of forces Fl and F2 so that the particle is in
equilibrium
Solution
+ Fx = F1x + F2x + F3x + F4x = 0
= F1 cos 60 + F2 cos 30 - 40 cos 56 - 10 cos 15 = 0
= 0.5 F1 + 0.866 F2 22.37 9.659 = 0
From which
F1 + 1.732 F2 = 64.06 (a)
+ Fy = F1y + F2y + F3y + F4y = 0
= F1 sin 60 + F2 sin 30 - 40 sin 56 + 10 sin 15 = 0
= 0.8660 F1 + 0.5 F2 33.16 + 2.588 = 0
From which
F1 + 0.5774 F2 = 35.30 (b)
Solving Eqs (a) and (b) simultaneously yields
F1 = 20.9 kip
F2 = 24.9 kip
 Exercise

Given: The car is towed at constant speed by the

600 N force and the angle is 25.
Find: The forces in the ropes AB and AC.

Plan:

1. Draw a FBD for point A.

2. Apply the EofE to solve for the forces in ropes
AB and AC.
 GROUP PROBLEM SOLVING (continued)

600 N

FBD at point A
A
25 30

FAB FAC

Applying the scalar EofE at A, we get;

+ Fx = FAC cos 30 FAB cos 25 = 0
+ Fy = -FAC sin 30 FAB sin 25 + 600 = 0
Solving the above equations, we get;
FAB = 634 N
FAC = 664 N
 EQUILIBRIUM OF PARTICLE IN 3-D
Three-Dimensional Problems
R = F = 0
= Rx + Ry + Rz = 0
= Rxi + Ryj + Rzk = 0
= Fxi + Fyj + Fzk = 0
satisfied only if
Rx = Rxi = Fxi = 0
Ry = Ryj = Fyj = 0
Rz = Rzk = Fzk = 0
 Example 2.17
A 90-lb load is suspended from the hook shown in Figure 2.28(a). The load is
supported by two cables and a spring having a stiffness k = 500 lb/ft.
Determine the force in the cables and the stretch of the spring for
equilibrium. Cable AD lies in the x-y plane and cable AC lies in the x-z plane.

y
 Free-Body Diagram.

y
 Equation of equilibrium
Fx = 0 FD sin 30 - (4/5)FC = 0 (a)
Fy = 0 -FD cos 30 + FB = 0 (b)
Fz = 0 (3/5) FC 90 lb = 0 (c)
Solving Eq. (c) for FC, then Eq (a) for FD, and finally Eq. (b) for FB, yields,
FC = 150 lb Ans
FD = 240 lb Ans
FB = 208 lb Ans
 The strech of spring is therefore
FB = ksAB
208 lb = 500 lb/ft (sAB)
sAB = 0.416 ft Ans
 Tutorial
The 100kg crate shown in Figure is
supported by three cords, one of
which is connected to a spring.
Determine the tension in cords AC
and AD and the stretch of spring
Assignment No. 2:
3.The members of a truss are pin-connected at joint O. Determine the
magnitudes of F1 and F2 for equilibrium. Set = 60o
Assignment No. 2:

1. Three concurrent forces

are acting on a bracket. Find
the magnitude and angle of
the resultant force by
resolving the forces.

Dateline:
Quiz 1

2. Find the components of

force Q for the axis system of
A and B.

Tips:
Construct a vector parallelogram by
drawing lines parallel to axes A and B,
from the tip of Q. Then, apply the sine
law.
Quiz 1:

1. Give the units of velocity, force, and energy.

Berikan unit halaju and tenaga.

2. State the Newton's laws. Describe each of them.

Nyatakan hukum-hukum Newton. Terangkan setiap
satunya
 Summary of Chapter 2
How to calculate resultant force
2 vectors
Graphical
Trigonometry Parallelogram rule, theorem Pythagoras

How to calculate resultant force

More than 2 vectors
Component method resolve the force into x, y

Express the force in Cartesian vectors 3 Dimensional

Equilibrium of particle 2D and 3D