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
a 0;

F 0;

Constant speed

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:

Second
Condition:

0;

Does Equilibrium Exist?

T
300

IsYES!
the system
at left in
Observation
equilibrium
bothof
shows
that no part
and
thetranslationally
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?
A fixed pulley rotating at constant speed?

Yes
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 in
in Part
Part 5A
5A
of
of these
these modules);
modules); then
then we
we will
will extend
extend our
our
treatment
treatment by
by working
working with
with the
the second
second
condition
condition for
for equilibrium.
equilibrium. Both
Both conditions
conditions
must
must be
be 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
components
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

600

By

Bx
80 N

80 N

Read problem; draw sketch; construct a freebody 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

600

By

Bx
80 N

80 N

Note: The components Bx and By can be

found from right triangle trigonometry:
00;
BBxx == BB cos
60
cos 60 ;

00
BByy == BB sin
60
sin 60

Example 1 (Cont.). Find tension in ropes A and B.

Free-body Diagram:
A

600

By

Bx

Fx = 0
Fy = 0

By
B sin 600
Bx

B cos 60o

80 N

80 N

Apply the first condition for equilibrium.

0;

0;

Example 2. Find tension in ropes A and B.

350

550

B
500 N

Ay

By

350

550

Ax

Bx
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

y
A
Wx

350

Wy

B
550

Recall that W = 500 N

Fx = B - Wx = 0
B = Wx = (500 N) cos 350
BB == 410
410 NN
Fy = A - Wy = 0
A = Wx = (500 N) sin 350
AA == 287
287 NN

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

ccw (+)

cw (-)

Fx= 0

Right = left

Fx= 0

Up = down

(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;
Solve for unknowns.

Fy= 0

Example 3: Find the forces exerted by

supports A and B. Neglect the weight
of the 10-m boom.
Draw free-body
diagram

2m

40 N

Rotational Equilibrium:
Choose axis at point
of unknown force.
At A for example.

2m

40 N

7m

A
A

3m

80 N

7m

3m
80 N

Example 3 (Cont.)
Note: When applying

(ccw) = (cw)
we need only the
absolute (positive)
magnitudes of each
torque.

(+) = (-)

2m

40 N

7m

3m
80 N

Torques about axis ccw

are equal to those cw.
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.)
Rotational Equilibrium:

or
(ccw) = (cw)
With respect to Axis A:

7m

2m
40 N
2m

A
A

40 N

3m

80 N

7m

3m
80 N

CCW Torques: Forces B and 40 N.

CW Torques:

80 N force.

Force A is ignored:

Neither ccw nor cw

Example 3 (Cont.)
First: (ccw)

1 = B (10 m)
2 = (40 N) (2 m)
= 80 Nm
Next: (cw)

3 = (80 N) (7 m)
= 560 Nm

7m

2m

40 N
2m
40 N

3m

80 N

7m

3m
80 N

(ccw) = (cw)
B(10 m) + 80 Nm = 560 Nm

BB == 48.0
48.0 NN

Example 3 (Cont.)

Translational
Equilibrium
F
Fxx== 0;
0; F
Fyy== 00

F(up) = F(down)
A + B = 40 N + 80 N
A + B = 120 N

7m

2m

3m

40 N
2m
40 N

80 N

7m

3m
80 N

Recall that B = 48.0 N

A + 48 N = 120 N

AA == 72.0
72.0 NN

Example 3 (Cont.)

Check answer by
summing torques
about right end to
verify A = 72.0 N
(ccw) = (cw)

7m

2m
40 N
2m

A
A

3m

80 N
7m

40 N

3m
80 N

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

480 Nm + 240 Nm = A (10 m)

AA == 72.0
72.0 NN

Reminder on Signs:

Absolute values
apply for:
F(up) = F(down)
We used absolute (+)
values for both UP
and DOWN terms.

7m

2m
40 N
2m
40 N

A
A

3m

80 N
7m

3m
80 N

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
wall on the boom. The 10-m
boom weighing 200 N. Rope is
2 m from right end.

T
300

800 N

For
For purposes
purposes of
of 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
300

200 N

800 N

T
Fx

300

5m

3m

200 N

2m

800 N

Example 4 F r
y
(Cont.)

300

200 N

Fx

300

5m

3m

200 N

800 N

2m

800 N

Choose axis of rotation at wall (least information)

(ccw):
(cw):

Tr = T (8 m)sin 300 = (4 m)T

(200 N)(5 m) + (800 N)(10 m) = 9000 Nm

(4 m)T = 9000
Nm

TT == 2250
2250 NN

Example 4 F
y
(Cont.)

F x Tx

300

200 N

5m

00
3030

3m

200 N

800 N

F(up) = F(down):

800 N

Fy = 1000 N - T sin 300

Fy = 1000 N - (2250 N)sin 300

F(right) = F(left):

2m

Ty + Fy = 200 N + 800 N

Fy = 200 N + 800 N - Ty ;

Fx = 1950 N

Ty

Fy = -125 N

Fx = Ty = (2250 N) cos 300

or

FF == 1954
1954 N,
N, 356.3
356.300

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.
F

C. of G. is point at
which a single upupward force F will
balance the system.

Choose axis at left,

then sum torques:
(ccw) = (cw)
Fx = (10 N)(4 m) + (5 N)(10 m)

Fx = 90.0 Nm

4m

30 N

6m

10 N

5N

F(up) = F(down):
F = 30 N + 10 N + 5 N
(45 N) x = 90 N

xx == 2.00
2.00 m
m

Summary
Conditions for Equilibrium:

An
An object
object isis said
said to
to
be
be in
in equilibrium
equilibrium ifif
and
and only
only ifif there
there isis
no
no resultant
resultant force
force
and
and no
no resultant
resultant
torque.
torque.

Fx 0

Fy 0
0

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;
Solve for unknowns.

Fy= 0

CONCLUSION: Chapter 5B
Rotational Equilibrium