1

2D Equilibrium
Dr Atul JAIN
Mechanical Engineering Department
Indian Institute of Technology Kharagpur

Mechanics
 Outline 2

Outline

Part I- Equations of equilibrium

Part II - Concepts of free body diagram

Part III- Problem solving

 2D Equilibrium
Part I-Equations of equilibrium

3 Mechanics
 2D Equilibrium –Part I 4

Prior knowledge requirement

Before, learning about 2D equilibrium, you should have prior knowledge of

- Vectors
- Vector summation
- Calculating Moments about a point
 2D Equilibrium –Part I 5

Equilibrium
When a body is in equilibrium, the resultant of all forces (and moments) acting on it
must be zero

𝑅𝐹 = ෍ 𝑭 = 0 F1
M1

𝑅𝑀 = ෍ 𝑴 = 0
M2

F3
Important: Both forces and moments are F2

vectors, vector summation is zero for

equilibrium
 2D Equilibrium –Part I 6

Equilibrium Equations
F1
෍ 𝐹𝑥 = 0 ෍ 𝑀𝑥 = 0
M1

෍ 𝐹𝑦 = 0 ෍ 𝑀𝑦 = 0

M2

෍ 𝐹𝑧 = 0 ෍ 𝑀𝑧 = 0
F3
F2

Each Force and Vector is decomposed into the x, y and z components and
equated to zero for satisfying equilibrium
Each of the 6 equations have to be satisfied for equilibrium
 2D Equilibrium –Part I 7

2D-Equilibrium Equations

• In a 2D case, the forces (and moments) applied to it

are contained in the same plane
෍ 𝐹𝑥 = 0 ෍ 𝑀𝑥 = 0 • If the applied forces (and moments) are in same
plane, the reactions must also be in the same plane
• If all the forces (and moments) are contained in x
෍ 𝐹𝑦 = 0 ෍ 𝑀𝑦 = 0 and y plane, then the ΣFz = 0 leads to trivial
equation
• Similarly ΣMx = 0 and ΣMy = 0 leads to trivial
෍ 𝐹𝑧 = 0 ෍ 𝑀𝑧 = 0 equations
• If all the forces (are moments) are contained in y
and z plane, the relevant non-trivial equations are
ΣFy = 0, ΣFz= 0 and ΣMx = 0
 2D Equilibrium –Part I 8

Variants of the equilibrium equations

F1
෍ 𝐹𝑥 = 0 ෍ 𝑀𝐴 = 0 ෍ 𝑀𝐵 = 0
B M1

Sometimes instead of summation of forces in x and y

axis, it might be preferable to have equilibrium
equations in form of moment equilibrium A
M2

Line AB must not be parallel to y-axis F3

F2
y
Open question to think:
When is it preferable to use this set of equation?
x
 Basic Engineering Mechanics 9

Proof

Consider a body such that σ 𝑀𝐴 = 0 F1

The resultant, R might or might not be zero but has to pass
through point A R
B
Now, let us add another condition, σ 𝐹𝑥 = 0 y

If σ 𝐹𝑥 = 0 is zero, then direction of R has to be

perpendicular to x-axis
A x

Let us add a third condition, σ 𝑀𝐵 = 0

If AB is parallel to y-axis, we can still have R ≠ 0 F3
F2
R can pass through both A and B and also be perpendicular y
to x-axis

x
 Basic Engineering Mechanics 10

If AB is not parallel to y-axis, R will necessary have to

F1
be zero

So we have, y
B

❑Total Moment is zero A x

❑And resultant, R is zero F2

F3

The body is in equilibrium!

x
 2D Equilibrium –Part I 11

Variants of the equilibrium equations

෍ 𝑀𝐴 = 0 ෍ 𝑀𝐵 = 0 ෍ 𝑀𝐶 = 0 F1

B M1

Sometimes instead of summation of forces in x and y

C
axis, it might be preferable to have equilibrium A
M2
equations in form of moment equilibrium

Points A, B and C must not lie on a single line. ABC F3

F2
must form a triangle y

x
 Basic Engineering Mechanics 12

Proof
Consider a body such that σ 𝑀𝐴 = 0
The resultant, R might or might not be zero but has to pass through F1
point A
R
Let us add a second condition, σ 𝑀𝐵 = 0 B

we can still have R ≠ 0, R will necessary to pass through line AB

R can pass through both A and B
C A

Let us add a third condition, σ 𝑀𝑐 = 0

F3
we can still have R ≠ 0, if R passes through line ABC F2
R is necessarily zero, if ABC is not collinear y

x
 Basic Engineering Mechanics 13

Therefore, if

෍ 𝑀𝐴 = 0 ෍ 𝑀𝐵 = 0 ෍ 𝑀𝐶 = 0

And A, B and C are not collinear. It has been proved that the net Moment is zero and resultant, R
is necessarily zero

The body is in equilibrium!

 2D Equilibrium –Part I 14

Equilibrium equations in special cases

Consider a body subjected to forces which are parallel

to each other and pass through same line y
x

Such systems are known as collinear F3

෍ 𝐹𝑥 = 0 ෍ 𝐹𝑦 = 0 ෍ 𝑀𝐵 = 0
F1
F2

While solving problems where bodies are subjected to collinear forces. It is logical to
use a coordinate system such that all the forces are parallel to x-axis (or y-axis)
 2D Equilibrium –Part I 15

Equilibrium equations in special cases

F4
Consider a body subjected to forces all of which are
parallel but not necessarily collinear
B
F3
෍ 𝐹𝑥 = 0 ෍ 𝐹𝑦 = 0 ෍ 𝑀𝐵 = 0
F1
F2

y
x

While solving problems where bodies are subjected to parallel forces.

It is logical to use a coordinate system such that all the forces are
parallel to x-axis (or y-axis)
 2D Equilibrium –Part I 16

Equilibrium equations in special cases

Consider a body subjected to forces all of which are F4

concurrent y

x
෍ 𝐹𝑥 = 0 ෍ 𝐹𝑦 = 0 ෍ 𝑀𝐵 = 0
F2
F3
B

F1
ΣMB = 0, leads to trivial equation as all forces are passing through B
Therefore, we have only two equations of equilibrium
 2D Equilibrium –Part I 17

Equilibrium equations in special cases

Consider a body subjected to only three forces

In a very general case, two forces pass through a point. D F3
The third force may or may not be concurrent

Let two forces, F1 and F2 pass through point A F2

A
σ 𝑀𝐴 = 0 will be true if and only if either:
y
F3×AD =0 F1

x
F3 = 0 OR AD = 0
If a body is subjected to three forces, then
the three forces must be concurrent
 2D Equilibrium –Part I 18

Equilibrium equations in special cases

Consider a body subjected to only two forces

F2

Let us consider a coordinate axis system such that x-axis

is parallel to one of the forces

σ 𝐹𝑦 = 0 and σ 𝐹𝑥 = 0 is only valid if and only if F2

also parallel to F1 with equal magnitude and
opposite direction
y
If a body is subjected to two forces, then both the forces x
must be equal in magnitude, opposite in direction and F1
collinear
 2D Equilibrium –Part I 19

Summary

❑For a general 2D equilibrium problem there are 3 equations, up to 3 unknowns

can be solved
❑If forces are collinear → only one equation
❑If forces are concurrent → only two equations
❑If a body is subjected to two forces, then both the forces must be equal in
magnitude, opposite in direction and collinear for equilibrium
❑If a body is subjected to three forces, then the three forces must be
concurrent for equilibrium
 2D Equilibrium –Part II 20

Free body diagrams

Free body Diagram is a graphical illustration used to visualize

the applied forces, moments, and resulting reactions on a body
in a given condition

They depict a body or connected bodies with all the applied

forces and moments, and reactions, which act on the
body(ies).

Drawing the free body diagram is the

single most important step towards
solving problems in Mechanics

[Link]
 2D Equilibrium –Part II 21

Free body diagram

❑A simplified version of the body isolated completely other bodies

❑Each constraint is replaced by suitable reactions

❑Forces shown as straight arrows pointing in the direction they act on the body

❑Moments shown as curved arrows pointing in the direction they act on the body

❑A coordinate system
 2D Equilibrium –Part II 22

Isolation of the body

First step is to isolate the body completely

Let us consider a book placed in a table. To draw the FBD of the book, first isolate the book
completely and replace the constraint by suitable reactions

R
 2D Equilibrium –Part II 23

Drawing FBD

The table will lead to reaction forces

The weight of the book leads to body forces

R
y

Cordinate axis system

x
 2D Equilibrium –Part II 24

Common constraints- Pin joint

Not constrained

Fx
constrained
y
Fy

x
Pin joints allow rotation
Pin joints do not allow linear FBD
translation
 2D Equilibrium –Part II 25

Common constraints- roller support

FBD

Not constrained

y
Fy
constrained

Roller joints allow rotation

Roller joints allow horizontal translation
Roller joints do not allow vertical translation
 2D Equilibrium –Part II 26

Common constraints- welded joint

Fy M

Fx

Both rotation and translation are

constrained x
FBD
 2D Equilibrium –Part II 27

Common constraints- freely guiding slot

Freely guiding slots allow movement along a certain direction

While solving such problems, it is convenient to choosing coordinate axis system

such that the reaction force is parallel to a coordinate axis
 2D Equilibrium –Part II 28

FBD example 1

Pin joint at B
Roller
support at A

While drawing the FBD , inner details are not important; inner constraints are not considered
In the figure A is roller support, B is pin-joint
 2D Equilibrium –Part II 29

FBD example 2

While drawing the FBD , inner details are not important; just the outline of the vehicle is drawn
In this problem all the forces are parallel
Notice the reactions at wheels are 2A and 2B respectively → recall there are two front and two
rear wheels
 2D Equilibrium –Part II 13

FBD example 3

TAB TAB

Cx

y Cy

Pin joint at C
x
 2D Equilibrium –Part II 31

FBD example 4

FB

FD

y
Pin joint at A

[Link]
 2D Equilibrium –Part II 32

FBD example 5

Tension due to thread

Self-weight
at G

Pin joint at A

The different length and angles are important to place in fbd

From the picture it is not evident clearly but will be mentioned in the problem statement
[Link]
 2D Equilibrium –Part II 33

FBD example 6

Draw a FBD of member ABC and

CD, which is supported by a smooth
collar at A, roller at B, and link CD.

The structure is made of two connected bodies (CD and ABC), the fbd of both members must be
drawn
The moment is applied at point B and must be considered in the fbd
 2D Equilibrium –Part II 34

FBD example 6

❑Note that there are pin joints at C and D

CD is a two force member

Dy
y Cx
Dx
Cx
x Dx
y
Cy

Recall x
If a body is subjected to two forces, then both the forces must be
equal in magnitude, opposite in direction and collinear
 2D Equilibrium –Part II 18

FBD example 6
Note:
FCD = Cx
• Single reaction at collar at A and roller at y
B but different directions 2.5 kN
• The roller leads to no moment reaction, 3m
x
but moment can be applied at that point 4 kN.m
60°

NC
45°
4m 6m

NA
 2D Equilibrium –Part II 36

FBD example 7
What are the reactions at A and D?

Notice: Horizontal movement at A and D is

constrained by the wall
Vertical movement in A and D is NOT constrained
0.06m
D D

y
TBE C
0.16m
x B 200 N

A
A
 Basic Engineering Mechanics 37

FBD example 8

Obstruction at A is rough, mass

A leads to is 2kN downward force
2 kN
 2D Equilibrium –Part II 38

FBD example 9

RA

mg
y

x
RB

At support A, horizontal movement is constrained; at support B vertical movement is

constrained and hence the reaction forces
Both supports at A and B are frictionless
 2D Equilibrium –Part II 39

FBD example 9a

How will the fbd of the crate vary in

the two cases?
 Basic Engineering Mechanics 40

50 kg roll
Basic Engineering Mechanics 41
Basic Engineering Mechanics 42
 J
F K
H J H F I K
E I

G
G
J K

I
F

B
A
 G
Ky
J Jy
Fx
F K Kx
H Jx H F Ix I K
E I
T1 Fy
T1 Iy
T1

Gy Gy
T1 T1 P T1
Gx Gx
G G
Ex Kx K
Fy J Iy
Ey Jx Ky
Fx I Ix
F Jy
Ey T1
y
E Ex
x Bx
B
A By
Lift

weight
 2D Equilibrium –Part III 46

Basic algorithm of mechanics (BAM)

❑Identity the quantities which are knowns and unknowns

❑Make a clear choice to isolate and draw its fbd

❑Choose a convenient coordinate axis system

❑Write the equations of equilibrium

❑Solve the equations to get the unknowns

 Basic Engineering Mechanics 47

Example 1

660 lb motor-cycle
319, 470 lb
 Example 2
The person wants to cause the 200-lb crate to start
sliding toward the right. To achieve this, the
horizontal component of the force exerted on the
crate by the rope must equal 0.35 times the
normal force exerted on the crate by the floor. In
Fig. a, the person pulls on the rope in the direction
shown. In Fig. b, the person attaches the rope to a
support as shown and pulls upward on the rope.
What is the magnitude of the force he must exert
on the rope in each case?

a.) 66.1 lb
b.) 12.3 lb
Example 3

A rectangular uniform picture frame of mass 1 kg with

dimensions as shown in the figure is to be hung horizontally
(from B to C) as shown with the help of a thread. The maximum
tension in the thread can be 15 N.

The minimum length of thread needed is

________________cm?

Mechanics 49
 2D Equilibrium –Part III 52

Example 5

The lever BCD is

hinged at C and is
attached to a control
rod at B. If P = 100 N,
determine (a) the
tension in rod AB
 2D Equilibrium –Part III 53

Example 5

Unknowns: Reactions at C and tension AB

Draw the FBD P

Choose the coordinate axis system

TAB

Cx

y Cy
Pin joint at C

x
 2D Equilibrium –Part III 54

Example 4

Write the equations of equilibrium

P

෍ 𝑀𝐶 = 0

TAB
𝑇𝐴𝐵 = 150𝑁
Cx

y Cy
Pin joint at C

Tip: Taking Moment about the point where x

two unknowns pass leads to the
calculation of the third unknown directly
 Basic Engineering Mechanics
55

Example 6
A skeletal diagram of a hand holding a
load is shown in the upper figure. If
the load and the forearm have masses
of 2 kg and 1.2 kg, respectively, and
their centers of mass are located at
and , determine the force developed
in the biceps CD
Take g =10m/s2
2g Tcd
y

Bx
x

By
1.2g
 𝑃 𝑙𝑐𝑜𝑠𝜃 + 𝑃 𝑙𝑠𝑖𝑛𝜃 − M = 0

Mechanics 56
Draw the FBD and
write moment
equilibrium equation
Radius of roller at A,
B = 15mm
 Radius of roller
at A, B = 15mm

𝜃
𝑊 𝑙𝑐𝑜𝑠 − 𝑃 𝑙𝑠𝑖𝑛𝜃 = 0 𝑀𝐶 + 20 0.165 + (20)(0.060) = 0
2
Take Moment about D
Take
Moment
about D
(𝐹𝐴𝐷 𝑐𝑜𝑠 60) 250 − 500 100 = 0

40 4 − 80 4 − 𝐶 (3) + (𝐸𝑠𝑖𝑛 30)(3) = 0

 2D Equilibrium –Part III 63

Example

A T-shaped bracket supports a 300-N load as shown.

Determine the reactions at A and C when α = 60°.

Θ°
400mm

𝐴Ԧ

60°
Θ°
300mm
300N If a body is subjected to three forces,
y
150mm
Cx then both the forces must be
concurrent
Cy 𝐶Ԧ
x
 2D Equilibrium –Part III 64

Example

EA = 400×tan30 = 230.94 mm

𝐶𝐹 150 A
tan 𝜃 = =
𝐸𝐹 230.94 + 300

θ = 15.7759°
F
 2D Equilibrium –Part III 65

Example

Angle (bac) = 15.77° a

Angle (acb) = 180-120-15.77 = 44.224°
Angle (cba) = 120°

𝐴 𝐶 300
= = 𝐴Ԧ 𝐶Ԧ
sin 44.24 sin 120 sin 15.77

𝐴 = 769.61𝑁 b

C = 955.61N 300 N
c
Note that the two unknowns and one
load are passing through point B, So if
we write Moment equation about
point B, we can easily calculate the
A
desired unknown

M (0.3 cos(30), 0.3 sin (30), 0)

y
mg

x
R1x B (0, -0.3, 0 )

R1y

Solve problems 3, 4 and 8

 Mechanics 67

Example
The smooth disks D and E have a weight of 20 lb and 10 lb,
respectively. If a horizontal force of 20 lb is applied to the center
of disk E, determine the normal reactions at the points of
contact with the ground at A, B, and C.
Na = 25.4 lb
Nb = 0.918 lb
Nc = 14.1 lb
 Example 10

128N, 77.8 N
 T

RC
RC

RB

W
 Solve problems 5, 9
Example 11

lcos(θ)

Fs
FA

y
W
FB
x
Solve problems 5, 9

Rcy Hint: Triangle ABC is isosceles

Therefore, Fspring is NOT perpendicular to BC

A Rcx

Fspring

P
Example 12

A vertical load P is applied at end B of rod BC. The

constant of the spring is k, and the spring is unstretched
when θ = 60°. (a) Neglecting the weight of the rod,
express the angle θ corresponding to the equilibrium
position terms of P, k, and l. (b) Determine the value of θ
corresponding to equilibrium if P = 1/4kl.

Mechanics 72
 ?? 12
Moment about point D
-Q*0.75 +5*1.5+ 7.5*2.75-12*2.25 = 0
Q = 1.5kN

Moment about point B

12*2.25-Q*3-5*0.75+7.5*0.5=0
Q= 9kN

5kN Q
7.5kN
For the given loading of the beam AB, determine the range of
values of the mass of the crate for which the system will be in
equilibrium, knowing that the maximum allowable value of the
reactions at each support is 2.5 kN and that the reaction at E must
be directed downward
Rod ABC is bent in the shape of a circular arc of radius R.
Determine (a) the value of θ so that the magnitudes of the
reactions at B and C are equal,

Cy
B
Cx

P
Ax = 108 N
Ay = 48.8 N
F = 50.6 N

If spring BC is unstretched with theta = 0°

and the bell crank achieves its equilibrium position when
theta is 15°, Determine the force F applied perpendicular to
segment AD and the horizontal and vertical components of
reaction at pin A. Spring BC remains in the horizontal postion
at all times due to the roller at C.
Mechanics 77
Determine the minimum cable force T and critical angle, theta
which will cause the tow truck to start tipping, i.e., for the normal
reaction at A to be zero. Assume that the truck is braked and will
not slip at B. The truck has a total mass of
4 Mg and mass center at G.
Mechanics 78
C =7lb,
D = 2lb,
A = 9lb,

The fish B weighs 27 lb. Determine

the weights of the fish A, C, and D.
(The weights of the crossbars are
negligible.)
Mechanics 79
 P

mg
RB
RA
Rb F

M
F=M/0.24
 When alpha =30 When alpha =0

4680 2460
× 5 = 𝑚𝑔𝑟sin(𝜃
ҧ + 𝛼 − 90) × 5 = 𝑚𝑔𝑟cos(𝜃)
ҧ
0.24 0.24

In both cases, take moment about point O

and get a relation between Θ and r
Consider a semispherical bowl
Radius – R
Mass M

In that we want to balance a pencil with

length 2R, mass m

At what angle with the horizontal will the

pencil attain equilibrium?

mg
A
E is the point of intersection with the Force at A and normal reaction
at C
A and C are points in a circle
AE is passing through the centre
E
CO = AO = radius, R

AH = AG cos(θ)
O
AH = AE cos(α) C
G
C
A H

A mg
 A cylinder of weight W rests
between two rods AC and CE
of weights WAC and WCE
respectively. Rod AC rests in a
frictionless slot of finite
length at the end A shown
with the end C connected to a
rod CE by a pin joint. Rod CE
is connected by a pin joint to
a wall at E. If the system is in
W equilibrium, draw the free
body diagrams of the rods
and cylinder. Neglect Friction 86