Unit 2 Force Systems

Equilibrium of aParticle 3CHAPTER OBJECTIVES

•To introduce the concept of the free-body diagram for a particle.

•To show how to solve particle equilibrium problems using the

equations of equilibrium.

3.1 Condition for the Equilibriumof a Particle

A particle is said to be inequilibriumif it remains at rest if originally at rest,

or has a constant velocity if originally inmotion.Most often,however, theterm "equilibrium" or.more specifically, “static equilibrium" is used to

describe an object at rest.To maintain equilibrium,it isnecessary to satisfyNewton's first law of motion, which requires the resultant force actingon a

particle tobe equal to smi.Thiscondition may be slatedmathematically as

2F = 0 (3-1)

where 2Fis the vector sum ofall 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 £F = /«a. Since the force system satisfies Eq.3-1.then nni - 0. and therefore the particle's acceleration a = 0.

Consequently, the particle indeed moves with constant velocity orremains at rest.

86 CHAPTER 3 EQUILIBRIUM OF A PARTICLE

+S

.

F

HR- 3-1

3.2 The Free-Body Diagram

To appl the eation of equilibrium,we must account for all the known and unknown forces (2F) which act on the 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.

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

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

stiffness k and is deformed (elongated or compressed) a distance s = / - /„.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 0.8 m and a

stiffness k = 500 N/m and it is stretched to a length of 1 m. so

that j=/-/,= 1m - 0.8 m = 0.2 m. then a force F = ks = 500 N/m(0.2 m) = 100 N is needed.

Cables and Pulleys. Unless otherwise stated, throughout this book, except in Sec. 7.4, all cables (or cords) will be assumed to have negligible weight and they cannot stretch. Also, a cable can support only a tension or "pulling” force,and this force always acts in the direction of

the cable.In Chapter 5. it will be shown that the tension force developed in a continuous cable which passes over a frictionless pulley must have a constant magnitude to keep the cable in equilibrium. Hence, for any angle 0, shown in Fig. 3-2, the cable is subjected to a constant tension T

throughout its length.

TT T

T Cable is in tension

HR. 3-2

873.2 THE FREE-BODY DIAGRAM

mProcedure for Drawing a Free-Body Diagram

Since we must account for all tlw forces acting on the panicle whenapplying the equations of equilibrium,the importance of first drawinga free-body diagram cannot be overemphasized.To construct a free-body diagram, the following three steps are necessary.

Draw Outlined Shape.

Imagine the particle to be isolatedor cut "free” from its surroundingsby drawing its outlined shape.

Show All Forces.

Indicate on this sketch all the forces that act on the particle. Theseforces can be active forces, which tend to set the particle in motion.or they can be reactive forces which are the result of the constraintsor supports that tend to prevent motion. To account for all theseforces, it may be helpful 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 propermagnitudes and directions. Letters are used to represent themagnitudes and directions of forces that are unknown.

r*

The bucket is held in equilibrium bythe cable, and instinctively we knowthat the force in the cable must equalthe weight of the bucket.By drawinga free-body diagram of the bucket w e

can understand why this is so. Thisdiagram shows that there arc onlytwo forces acting un the bucket.namely, its weight W and the force Tof the cable. For equilibrium, theresultant of these forces must heequal to zero,andso 7 = W.

R]

*T„ T,

inu

The spool has a weight IV and is suspended fromthe crane boom.If we wish to obtain the forces incables AB and /1C. then we should consider thefree-body diagram of the ringat /I Ilore the cablesAD exert a resultant force of W on the ring andthe condition of equilibrium is used to obtainT„and Tf%


EXAMPLE

The sphere in Fig. 3-3« 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.

..&

kFt, (Force of cordCEacting on sphere)

C| Oils. ElA

QL>(a)

SOLUTION58.9N ( Weight or gravity acting on sphere)

(b) Sphere. By inspection, there arc only two forces acting on thesphere.namely, its weight.6 kg (9.81 m/s2) = 58.9 N. and the force ofcord CE.The free-body diagram is shown inFig.3-3b.

ffx (Force of knot acting on cord CE) Cord CE. When the cord CE is isolated from its surroundings, itsfree-body diagram shows only two forces acting on it. namely, theforce of the sphere and the force of the knot. Fig. 3-3e. Notice that

Fc/. 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 andFp_c Pu'l on the cord and keep it in tension so that it doesn’t collapse.For equilibrium.FCE ~ &EC•

Knot. The knot at C is subjected to three forces. Fig. 3-3cl.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 theirmagnitudes and directions.It is important to recognize that the weightof the sphere does not directly act on the knot. Instead, the cord CEsubjects the knot to this force.

F,HA (Force of cord CBA acting on knot)

Pc; (Force ol sphere acting on cord CE)

(c)

60°\ CFco (Force of spring acting on knot)

F( t (Force of cord CE acting onknot)

(d)

Fig. 3-3

893.3 COPLANAR FORCE SYSTEMS

3.3 Coplanar Force Systems

If a particle is subjected to a system of coplanar forces that lie in the x-yplane as in Fig. 3ÿ4. then each force can be resolved into its i and jcomponents. For equilibrium, these forces must sum to produce a zeroforce resultant,i.e..

F,F

2F = 0

2F,i + lFyj = 0

F,F,

For this vector equation to be satisfied, the force’s x andy componentsmust both be equal to zero.Hence. HR. 3-4

ZF„ = 0

2FV = 0(3-3)

These two equations can be solved for at most two unknowns,generallyrepresented as angles and magnitudes of forces shown on the particle’sfree-body diagram.

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

account for the sense of direction of any component by using analgebraic sign which corresponds to the arrowhead direction of thecomponent along the x or y axis.It is important to note that if a force hasan unknown magnitude, then the arrowhead sense of the force on thefree-body diagram can be assumed.Then if the solution yields a negativescalar, this indicates that the sense of the force is opposite to that whichwas assumed.

For example,consider the free-body diagram of the particle subjectedto the two forces shown inFig. 3-5.Here it is assumed that the unknown

force F acts to the right to maintain equilibrium. Applying the equationof equilibrium along the .r axis, we have

= 0; +F + ION = 0

Both terms are "positive”since both forces act in the positive x direction.When this equation is solved. F = —ION. Here the negative signindicates 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, aftersolving,F = -10N. indicating that F would be directed to the left.

F ION

FiR. 3-5


Procedure for Analysis

Coplanar force equilibrium problems for a particle canbe solved usingIhe following procedure.

Free-Body Diagram.

•Establish the x,y axes in any suitable orientation.

•Label all the known and unknown force magnitudes and directionson the diagram.

•The sense of a force having an unknown magnitude can beassumed.

Equations of Equilibrium.

•Apply the equations of equilibrium. 2.F, = 0 and £FV = 0.

•Components are positive if they are directed along a positive axis.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 deformations of thespring.

•Since the magnitude of a force is always a positive quantity, thenif the solution for a force yields a negative result, this indicates itssense is the reverse of that shown on the free-body diagram.

y

itf

/CThe chains exert three forces on the ringat A.as shown on its free-body diagram.The ringwill not move, or will move with constantvelocity, provided the summation of theseforcesalong the x and along the y axis is zero.If one of the three forces is known, themagnitudes of the other two forces can beobtained from the two equations ofequilibrium.

T,

i


EXAMPLE 3.2

Determine the tension incables BA and BC necessary to support the60-kg cylinder in Ftg.3-6a.

CA

rao = 60(9.81)NJ

l4 '.45°

a

I 60 (9.81) ND

(b)

(a)

SOLUTIONFree-Body Diagram. Due to equilibrium, the weight of the cylindercauses the tension in cable BD to be THD = 60(9.81) N. Fig. 3-66.Theforces in cables BA and BC can be determined by investigatingthe equilibriumof ringB.Its free-body diagramis shown inFig.3-6c.Thcmagnitudes of T/( and Tc are unknown,but their directions are known.

Equations of Equilibrium. Applying the equations of equilibriumalong the x andy axes, we have

2F, = 0:

y

Tc cos 45° - (\)TA = 0

+ tSFv = 0; Tc sin 45° + (l)TA - 60(9.81)N = 0

(1)T i T,

(2)45“

Equation (1) can be written as TA = 0.8839rt-. Substituting this intoEq.(2) yields

’B

77,„ = 60<9.81)N

Tc sin 45" + (|)(0.8839rr) - 60(9.81) N = 0

So that (c)

Tc = 475.66 N = 476 N

Substituting this result into cither Eq.(1) or Eq.(2).we get

TA = 420N

NOTE: The accuracy of these results, of course, depends on theaccuracy of the data, i.c.. measurements of geometry and loads. Formost engineering work involving a problem such as this, the data asmeasured to three significant figures would be sufficient.

Ans.FIR. 3-6

Ans.


EXAMPLE 3.3

The 200-kg crate inFig.3-7a is suspended using the ropes AB and AC. Eachrope can withstand a maximum force of 10 kN before it breaks.If AB always remains horizontal,determine the smallest angle fl to which the crate can be suspended before one of the ropes breaks.

c /0F,

F„ilA B'

7A

DFn= 1962 N

(b)

Fig. 3-7 (a)

SOLUTION

Free-Body Diagram. We will study the equilibrium of ring A.Therearc three forces acting on it.Fig.3-7b.The magnitude of F/; is equal tothe weight of the crate.Le..FD = 200 (9.81)N = 1962 N < 10kN.

Equations of Equilibrium. Applying the equations of equilibriumalong the .v and v axes.

2F* = 0:

+ T %Fy = 0;

From Eq. (1). Fc is always greater than F since cos 0 Si.Therefore, rope AC will reach the maximum tensile force of 10 kN

before rope AB.Substituting Fc - 10 kN intoEq. (2). we get

[10(10J)N] sin 0 - 1962 N = 0

0 = sin'(0.1962) = 11.31° = 11.3°

The force developed in rope AB can be obtained by substituting thevalues for 0 and Fc intoEq. (1).

FjL- Fc cos 0 + FB = 0: Fc =

Fc sin 0 - 1962 N = 0

(1)cos 0

(2)

Arts.

10(103)N = ——cos11.31°

FH = 9.81 kN


EXAMPLE 3.4

Determine the required length of cord AC in Fig. 3-8a so that the8-kg lamp can be suspended in the position shown. The undeformedlength of spring AB is l'AB = 0.4 m. and the spring has a stiffness of

kAB = 300 N/m.

£2 m

-VAC

kAB = 300 N/m30 30’

fl' A TAM

VV = 78.5N

(b)

(a)Fig. 3-8

SOLUTIONIf the force in spring AB is known, the stretch of the spring can befound usingF = ks. From the problem geometry,it is thenpossible to

calculate the required length of AC.

Free-Body Diagram. The lamp has a weight W = 8(9.81) = 78.5 Nand so the free-body diagram of the ring at A is shown inFig. 3-8b.

Equations of Equilibrium. Using the x.y axes.

ZF, = 0;

+t ZFy = 0;

Solving,we obtain

TAB-TACCOS30° = 0

TAC sin 30° - 78.5 N = 0

TaC = 157.0N

Tab= 135.9 N

The stretch of spring AB is therefore

TAS = kABsAB; 135.9 N = 300N/m(i/ts)

sAB = 0.453 m

so the stretched length is

IAS = IAB + SAH

lAB = 0.4m + 0.453 m = 0.853 m

Tlie horizontal distance from C to B,Fig. 3-8«,requires

2 m =lAC cos 30° + 0.853 m

IAC = 1.32 m Ann.

1033.4 THREE-DIMENSIONAL FORCE SYSTEMS

3.4 Three-Dimensional Force Systems

In Section 3.1 we slated that the necessary and sufficient condition forparticle equilibrium is

F,£F = 0

In the case of a three-dimensional force system, as in Fig. 3-9, we can

resolve the forces into their respective i. j. k components, so thatIF,i + 2F,j + ZF.k = 0.To satisfy this equation we require

(3-4)F

/v

ZF, = 0

2F,= 0

2FZ = 0

X '

(3-5)

F.

Fig. 3-9

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

Procedure for Analysis

Three-dimensional force equilibrium problems for a particle can besolved using the following procedure.

Free-Body Diagram.

•Establish the.t,y, z axes in any suitable orientation.

•Label all the known and unknown force magnitudes anddirections on the diagram.

•The sense of a force having an unknown magnitude can beassumed.

Equations of Equilibrium.

•Use the scalar equations of equilibrium. 1Ft = 0. £FV = 0.2F. = 0. in cases where it is easy to resolve each force into itsx. 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 £F = 0. and then set the i. j. k

components equal to zero.

•If the solution for a force yields a negative result, this indicatesthat its sense is the reverse of that shown on the free-bodydiagram.

Ff \v

F„ F<F„

.<li

The ring at A is subjected to the force fromthe hook as well as forces from each of thethree chains. If the electromagnet and its loadhave a weight W. then the force at the hook

will be W. and the three scalar equations ofequilibrium can be applied to the free-bodydiagram of the ring in order todetermine thechain forces.F«. F(.and Fn.

Documents

Unit 2 Force Systems