Chapter 5B

Rotational Equilibrium
AA PowerPoint
PowerPoint Presentation
Presentation by
by
Paul
Paul E.
E. Tippens,
Tippens, Professor
Professor of
of Physics
Physics
Southern
Southern Polytechnic
Polytechnic State
State University
University
© 2007
The Golden Gate
Bridge provides
an excellent
example of
balanced forces
and torques.
Engineers must
design such
structures so that
rotational and
translational
equilibrium is
maintained. Photo © EP 101 Photodisk/Getty
Objectives: After completing this
module, you should be able to:
• State and describe with examples your
understanding of the first and second
conditions for equilibrium.
• Write and apply the first and second
conditions for equilibrium to the solution
of physical problems similar to those in
this module.
 Translational Equilibrium

Car at rest Constant speed

a  0;  F  0; No change in v

The linear speed is not changing with time.

There is no resultant force and therefore zero
acceleration. Translational equilibrium exists.
 Rotational Equilibrium
Wheel at rest Constant rotation

  0; No change in rotation.

The angular speed is not changing with

time. There is no resultant torque and,
therefore, zero change in rotational
velocity. Rotational equilibrium exists.
 Equilibrium
• An object is said to be in equilibrium if
and only if there is no resultant force
and no resultant torque.

First
Condition: 
 F
F 
 0;
0;
xx 
 0
F
F 
 0 yy

Second
Condition: 
 0

 
 0
 Does Equilibrium Exist?
IsYES!
the system at left in
Observation
T
equilibrium
shows bothof
that no part
300 thetranslationally and
system is changing
rotationally?
its state of motion.

A sky diver moments after the jump? Yes or

NoNo?
A sky diver who reaches terminal speed? Yes
A fixed pulley rotating at constant speed? Yes
 Statics or Total Equilibrium
Statics is the physics that treats objects at
rest or objects in constant motion.

In
In this
this module,
module, we
we will
will review
review the
the first
first
condition
condition for
for equilibrium
equilibrium (treated
(treated inin Part
Part 5A
5A
of
of these
these modules);
modules); then
then wewe will
will extend
extend our
our
treatment
treatment byby working
working with
with the
the second
second
condition
condition for
for equilibrium.
equilibrium. Both
Both conditions
conditions
must
must bebe satisfied
satisfied for
for true
true equilibrium.
equilibrium.
 Translational Equilibrium Only
If all forces act at the same point, then there
is no torque to consider and one need only
apply the first condition for equilibrium:
• Construct free-body diagram.
• Sum forces and set to zero:
Fx= 0; Fy= 0
• Solve for unknowns.
 Review: Free-body Diagrams

•• Read
Read problem;
problem; draw
draw and
and label
label sketch.
sketch.
•• Construct
Construct force
force diagram
diagram for
for each
each object,
object,
vectors
vectors at
at origin
origin of
of x,y
x,y axes.
axes.
•• Dot
Dot in
in rectangles
rectangles and
and label
label xx and
and yy compo-
compo-
nents
nents opposite
opposite and
and adjacent
adjacent to to angles.
angles.
•• Label
Label all
all components;
components; choose
choose positive
positive
direction.
direction.
Example 1. Find the tension in ropes A and B.

Free-body Diagram:
600
B B By
A A 600
Bx
80 N
80 N
• Read problem; draw sketch; construct a free-
body diagram, indicating components.
• Choose x-axis horizontal and choose right
direction as positive (+). There is no motion.
Example 1 (Continued). Find A and B.

Free-body Diagram:
600
B B By
A A 600
Bx
80 N
80 N

Note: The components Bx and By can be found

from right triangle trigonometry:

BBxx =
= B cos 60 ;;
B cos 6000
BByy = B sin 60
= B sin 6000
Example 1 (Cont.). Find tension in ropes A and B.

Free-body Diagram: By
B sin 600
B By Fx = 0
A 600 A Bx
Fy = 0
Bx B cos 60o
80 N 80 N

• Apply the first condition for equilibrium.


FF 0;0;xx 
FF 0;0;
yy
 Example 2. Find tension in ropes A and B.

350 550 B By
A B Ay A
350 550
Ax Bx
500 N W

Recall: Fx = Fy = 0 Fx = Bx - Ax = 0

W = 500 N Fy = By + Ay – 500 N = 0

Example 2 (Cont.) Simplify by rotating axes:

x Fx = B - Wx = 0
y
B B = Wx = (500 N) cos 350
A
Wx BB =
= 410
410 NN
550
35
0

Wy W
Fy = A - Wy = 0
A = Wx = (500 N) sin 350

Recall that W = 500 N AA =

= 287
287 NN
 Total Equilibrium
In general, there are six degrees of freedom
(right, left, up, down, ccw, and cw):

Fx= 0 Right = left

Fx= 0 Up = down


ccw (+) cw (-) (ccw)= (ccw)
 General Procedure:
• Draw free-body diagram and label.
• Choose axis of rotation at point where least
information is given.
• Extend line of action for forces, find moment
arms, and sum torques about chosen axis:

• Sum forces and set to zero: Fx= 0; Fy= 0
• Solve for unknowns.
 Example 3: Find the forces exerted by
supports A and B. Neglect the weight
of the 10-m boom.
2m 7m 3m
Draw free-body
diagram A B
40 N 80 N
Rotational Equilibrium:
A B
2m 7m 3m
Choose axis at point
of unknown force.
40 N 80 N
At A for example.
Example 3 (Cont.)
A B
Note: When applying 2m 7m 3m

(ccw) = (cw) 80 N
40 N
we need only the
Torques about axis ccw
absolute (positive)
are equal to those cw.
magnitudes of each
torque.
ccw (+)
 (+) =  (-) cw (-)

Essentially,
Essentially, we
we are
are saying
saying that
that the
the torques
torques
are
are balanced
balanced about
about aa chosen
chosen axis.
axis.
 Example 3: (Cont.)
2m 7m 3m
Rotational Equilibrium:
A B
 40 N 80 N
or A B
2m 7m 3m
(ccw) = (cw)
40 N 80 N
With respect to Axis A:

CCW Torques: Forces B and 40 N.

CW Torques: 80 N force.
Force A is ignored: Neither ccw nor cw
Example 3 (Cont.)
2m 7m 3m
First: (ccw) A B
40 N 80 N
1 = B (10 m)
A B
2m 7m 3m
2 = (40 N) (2 m)
= 80 Nm 40 N 80 N

Next: (cw) (ccw) = (cw)

B(10 m) + 80 Nm = 560 Nm
3 = (80 N) (7 m) =
560 Nm BB == 48.0
48.0 NN
 Example 3 (Cont.)
2m 7m 3m
Translational A B
Equilibrium 40 N 80 N

A B
F 0; F
Fxx== 0; Fyy== 00 2m 7m 3m

F(up) = F(down) 40 N 80 N

A + B = 40 N + 80 N Recall that B = 48.0 N

A + 48 N = 120 N
A + B = 120 N AA == 72.0
72.0 NN
Example 3 (Cont.)
2m 7m 3m
Check answer by A B
summing torques 40 N 80 N
about right end to A B
2m 7m 3m
verify A = 72.0 N
40 N 80 N
(ccw) = (cw)

(40 N)(12 m) + (80 N)(3 m) = A (10 m)

480 Nm + 240 Nm = A (10 m)

AA == 72.0
72.0 NN
Reminder on Signs:
2m 7m 3m
Absolute values
apply for: A B
40 N 80 N
F(up) = F(down) A B
2m 7m 3m
We used absolute (+)
values for both UP 40 N 80 N
and DOWN terms.

Instead of: Fy = A + B – 40 N - 80 N = 0

We wrote: A + B = 40 N + 90 N
Example 4: Find the tension in
the rope and the force by the T
wall on the boom. The 10-m 300
boom weighing 200 N. Rope is
2 m from right end.
800 N

For
For purposes
purposes ofof summing
summing torques,
torques, we
we consider
consider
entire
entire weight
weight to
to act
act at
at center
center of
of board.
board.

Fy T
T
Fx 300
300 3m 2m
5m
200 N 800 N
200 N 800 N
 Example 4 F r
y T
T (Cont.)
Fx 300
300 3m 2m
5m
200 N 800 N
200 N 800 N
Choose axis of rotation at wall (least information)
(ccw): Tr = T (8 m)sin 300 = (4 m)T

(cw): (200 N)(5 m) + (800 N)(10 m) = 9000 Nm

(4 m)T = 9000
Nm
TT =
= 2250
2250 NN
 T
Example 4 F Ty
y
T (Cont.) Tx
Fx 3030
0 0
300 3m 2m
5m
200 N 800 N
200 N 800 N

F(up) = F(down): Ty + Fy = 200 N + 800 N

Fy = 200 N + 800 N - Ty ; Fy = 1000 N - T sin 300

Fy = 1000 N - (2250 N)sin 300 Fy = -125 N

F(right) = F(left): Fx = Ty = (2250 N) cos 300

Fx = 1950 N or FF =
= 1954
1954 N,
N, 356.3
356.30
0
 Center of Gravity
The center of gravity of an object is the point
at which all the weight of an object might be
considered as acting for purposes of treating
forces and torques that affect the object.

The single support force has line of action that passes

through the c. g. in any orientation.
Examples of Center of Gravity

Note: C. of G. is not always inside material.

 Example 5: Find the center of gravity of the
apparatus shown below. Neglect the weight
of the connecting rods.
x F
C. of G. is point at 4m 6m
which a single up-
upward force F will
balance the system. 30 N 10 N 5N

Choose axis at left, F(up) = F(down):

then sum torques: F = 30 N + 10 N + 5 N
(ccw) = (cw)
(45 N) x = 90 N
Fx = (10 N)(4 m) + (5 N)(10 m)
Fx = 90.0 Nm xx =
= 2.00
2.00 m
m
 Summary
Conditions for Equilibrium:

An
An object
object isis said
said to
to FFxx  00
be
be in
in equilibrium
equilibrium ifif
and
and only
only ifif there
there isis FFyy  00
no
no resultant
resultant forceforce
and
and nono resultant
resultant
torque.   00
torque.
 Summary: Procedure
• Draw free-body diagram and label.
• Choose axis of rotation at point where least
information is given.
• Extend line of action for forces, find moment
arms, and sum torques about chosen axis:

• Sum forces and set to zero: Fx= 0; Fy= 0
• Solve for unknowns.
CONCLUSION: Chapter 5B
Rotational Equilibrium