Chapter 3 Equilibrium of a Particle Condition for the Equilibrium of a Particle • A particle is said to be in equilibrium if: – remains at rest (originally at rest) – has a constant velocity (originally in motion) • Newton’s first law of motion → ΣF=0 • Newton’s second law of motion → ΣF=ma → a=0 Question: Does moving with constant speed implies static conditions? 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 cylinder, you need to learn how to draw a freebody diagram and apply the 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 for statics and other subjects! What? - It is a drawing that shows all external forces acting on the particle. Why? - It is key to being able to write the equations of equilibrium—which are 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. y FBD at A FD A Note : Cylinder mass = 40 Kg A FB 30˚ x FC = 392.4 N (What is this?) EQUATIONS OF 2-D EQUILIBRIUM FBD at A FD A y A Since particle A is in equilibrium, the net force at A is zero. FB 30˚ x So FB + FC + FD = 0 or A F=0 FC = 392.4 N FBDatat FBD AA In general, for a particle in equilibrium, F = 0 or F x i + Fy j = 0 = 0i + 0j (a vector equation) Or, written in a scalar form, Fx = 0 and Fy = 0 These are two scalar equations of equilibrium (E-of-E). They can be used to solve for up to two unknowns. EQUATIONS OF 2-D EQUILIBRIUM (continued) y FBD at A FB A FDA 30˚ x FC = 392.4 N Note : Cylinder mass = 40 Kg Write the scalar E-of-E: + → Fx = FB cos 30º – FD = 0 + Fy = FB sin 30º – 392.4 N = 0 Solving the second equation gives: FB = 785 N From the first equation, we get: FD = 680 N ← SIMPLE SPRINGS (linearly elastic spring) the length of the spring will change in direct proportion to the force F acting on it. Elongation or compression Spring Force = spring constant (or stiffness) x deformation of spring or F=k*s CABLES AND PULLEYS Unless otherwise stated, all cables (or cords): 1) Negligible weight 2) Can support only tension (or pulling force) 3) Force always acts in the direction of the cable T1 T2 With a frictionless pulley and cable T1 = T2 for any θ Example 3-1: The sphere in Fig. 3–3 a 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 . Sphere Cord CE Knot EXAMPLE Given: The box weighs 550 N and geometry is as shown. Find: The forces in the ropes AB and AC. Plan: 1. Draw a FBD for point A. 2. Apply the E-of-E to solve for the forces in ropes AB and AC. EXAMPLE (continued) y FB FC 5 30˚ FBD at point A 3 4 A x FD = 550 N Applying the scalar E-of-E at A, we get; +→ F x = FC (4/5) – FB cos 30°= 0 +↑ F y = FB sin 30° + FC (3/5) - 550 N = 0 Solving the above equations, we get; FB = 478 N and FC = 518 N 3–19 The unstretched length of spring AB is 3 m. If the block is held in the equilibrium position shown, determine the mass of the block at D . Chapter 3 Part 2 THE EQUATIONS OF 3-D EQUILIBRIUM of a Particle When a particle is in equilibrium, the vector sum of all the forces acting on it must be zero ( F = 0 ) . This equation can be written in terms of its x, y, and z components. This form is written as follows. ( Fx) i + ( Fy) j + ( Fz) k = 0 This vector equation will be satisfied only when Fx = 0 Fy = 0 Fz = 0 These equations are the three scalar equations of equilibrium. They are valid for any point in equilibrium and allow you to solve for up to three unknowns. EXAMPLE Given: The four forces and geometry shown. Find: The force F5 required to keep particle O in equilibrium. Plan: 1) Draw a FBD of particle O if needed. 2) Write the unknown force as F5 = {Fx i + Fy j + Fz k} N 3) Write F1, F2 , F3 , F4 , and F5 in Cartesian vector form. 4) Apply the three equilibrium equations to solve for the three unknowns Fx, Fy, and Fz. EXAMPLE (continued) Solution: F1 = {300(4/5) j + 300 (3/5) k} N F1 = {240 j + 180 k} N B F2 = {– 600 i} N F3 = {– 900 k} N Point B (3,-4,6) F4 = F4 (rB/ rB) = 200 N [(3i – 4 j + 6 k)/(32 + 42 + 62)½] = {76.8 i F5 = { Fx i – 102.4 j + 153.6 k} N + Fy j + Fz k} N EXAMPLE (continued) Equating the respective i, j, k components to zero, we have Fx = 76.8 – 600 + Fx Fy = = 0 ; solving gives Fx = 523.2 N 240 – 102.4 + Fy = 0 ; solving gives Fy = – 137.6 N Fz = 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. 3–67 The shear leg derrick is used to haul the 200-kg net of fish onto the dock. Determine the compressive force along each of the legs AB and CB and the tension in the winch cable DB. Assume the force in each leg acts along its axis. Solution: A(2, 0, 0)m C(-2, 0, 0)m D(0, -5.6, 0)m B(0,4,4)m Suggested Problems: All Problems