The structures involved in equilibrium are located in the inner ear. There are two types of equilibrium - static and dynamic. Static equilibrium occurs when the body is motionless or moving in a straight line, and involves the utricle, saccule, and otolith membranes. Dynamic equilibrium occurs during rotational movement and involves the three semicircular canals and their associated ampullae and cupulae. Both static and dynamic equilibrium allow the detection of head position and movement via hair cells that detect fluid motion and send nerve impulses.