Mechanical equilibrium occurs when the net force on an object is zero, so that its state of motion is unchanged. This can happen when opposing forces balance each other out, such as the tension in ropes or strings balancing the downward force of gravity on a suspended object. Vectors are used to represent forces, with direction and magnitude, and the parallelogram rule can be used to calculate the resultant force of two non-parallel vectors. Static equilibrium refers to objects at rest, while dynamic equilibrium is when an object is moving at a constant velocity in a straight line.