Prof M.

Rashid Khan
 MDCAT Unit : TORQUE and EQUILIBRIUM
Torque
Moment of force – Turning effect of force– counter part of force – Rate of changing angular momentum
A vector directed along axis of rotation/along change in angular momentum, denoted by 𝛕.
Magnitude of torque depends upon:
1.magnitude of position vector …….. r
2.magnitude of force ……. F
Prof M. Rashid Khan

3.angle between position vector and force

ෝ
𝐧
Torque can be expressed as: 𝛕
∆𝐋
ෝ= 𝐧
𝛕 = 𝐫 × 𝐅 = r F sinθ 𝐧 ෝ = I𝛂 ෝ𝐧 = 𝐦𝐫 𝟐 𝛂 𝐧
ෝ (SI Unit is Nm)
∆𝐭
ෝ gives the direction of torque that can be determined by right hand rule or right hand thumb rule.
𝐧
Right hand rule states that:
Hold axis of rotation in right hand such that curling of fingers is along
rotation of the body then thumb point along torque 𝛕
If on curling of fingers thumb point toward observer then torque will be in anticlockwise
r⊥ = rsinθ
F ෝ
Z 𝐧 Moment arm
E Perpendicular distance from
r O F Y pivot O to the line of action
X of force.
S
 Q. What is expression of torque
መ F
𝐢Ƹ 𝐣Ƹ 𝐤 in the rod as shown in Fig?
𝛕=𝐫×𝐅= x y z
Fx Fy Fz r
⨀
O P
መ
𝛕 = 𝐫 × 𝐅 = yFz − zFy 𝐢Ƹ − xFz − zFx 𝐣Ƹ + xFy − yFx 𝐤
τ = r F sin 90𝑜 − θ = rFcos θ
መ on a rigid
Q. A force 𝐅 = 𝐢Ƹ − 𝐣Ƹ acts at position 𝐫 = 𝐣Ƹ + 𝐤

Prof M. Rashid Khan

body to rotate it. What is torque in the body?
𝐢Ƹ 𝐣Ƹ መ
𝐤
𝛕=𝐫×𝐅= 0 1 1 τ ∝ r⊥
1 −1 0
𝛕= 1 0 − (−1)(1) 𝐢Ƹ − 0 0 − (1)(1) 𝐣Ƹ + መ
0 −1 − (1)(1) 𝐤
መ Nm
𝛕 = 𝐢Ƹ + 𝐣Ƹ − 𝐤

τ = r F sinθ = rsinθ F = r⊥ F
Q. At which point on the rod as shown in Fig the
Case i: If 𝐫 ∥ 𝐅 then θ = 0o ⟹ τ=0 (min)
force acting causes a maximum torque?
Case ii: If 𝐫 ⊥ 𝐅 then θ = 90o ⟹ τ=rF (max)
Case iii: If 𝐫 ↑↓ 𝐅 then θ = 180o ⟹ τ=0 (min)
⨀
In cases 𝐫 ∥ 𝐅 and 𝐫 ↑↓ 𝐅, line of action of force passes through O A B C D
pivot O and r⊥ = 0 ⟹ τ= 0 τ ∝ r⊥
Q. What is torque about center of gravity of a sphere Q. A spinning fan changes its angular momentum
as shown in Fig. under the action of its weight? from 120 Js to 80 Js in during 10 s. what is torque
on the fan?
Force F = W passes through pivot
so r⊥ = 0 ∆L Lf − Li 80 Js − 120 Js −40 Js
τ= = = = = −4 Nm
c.g ∆t ∆t 10 s 10 s
Thus,
τ = r⊥ F = (0) W = 0 Q. A rigid body rotating about an axis with moment
of inertia 8 kg 𝒎𝟐 becomes at rest from
10 rev 𝒔−𝟏 in 5 s. what is torque acting on the body?
W
ωf − ωi (0 − 10 × 2π)
τ = Iα = I =8
Q. What is torque about suspension of simple ∆t 5
pendulum as shown in Fig?
Q. A spanner ofτ length
= −325πcm rad s −1 with 1 Nm torque
rotates
to open a bolt, what is force acting on the spanner?

L ⊥ w sinθ ⟹ L = r⊥ τ 1 100
τ = r⊥ F ⟹F= = = = 20 N
τ = r⊥ F= L (- W sinθ) θ r⊥ 5 × 10−2 5
L
= - WL sinθ

O
θ
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W
 Equilibrium
Equilibrium Of Forces Equilibrium Of Torques
When net of all forces acting on a body is zero, the body is When net of all torques acting on a body is zero, the body is
either at rest or moves with uniform linear velocity. This is either at rest or rotates with uniform angular velocity. This is
called equilibrium of forces. called equilibrium of torques.
Rn 𝝉1 FE = F
Rn ω=0
α=0 O 𝛕3 FD = F
v≠0
Fnet = 0

r
a =0
v=0
a =0

↷ ↶
f Fe
ω ⨀ ω ≠0
F =m2 g α=0
=m
F1 1 g 2

W m3 g= F3
W
𝐅 =𝐑 +W=O 𝛕net = 𝝉1 + 𝝉 2 + 𝛕 3 = O 𝛕net = 𝛕E + 𝛕 D = O
net n

If body is at rest under 𝐅net = 𝐅𝐞 + 𝐑 𝐧 + f + W = O

equilibrium of forces, it is
called static equilibrium of
forces
Prof M. Rashid Khan
If body is moving with
uniform linear velocity under
equilibrium of forces, it is
called dynamical equilibrium
of forces.
If body is moving with
If body is at rest under uniform angular velocity
equilibrium of torques, it is under equilibrium of torques,
called static equilibrium of it is called dynamical
torques. equilibrium of torques.
 Conditions Of Equilibrium
There are two conditions of equilibrium namely
First Condition Second Condition
A body is said to be satisfying first condition of equilibrium, if A body is said to be satisfying second condition of equilibrium,
vector sum of forces acting on it is zero. Or mathematically if vector sum of torques acting on it about an arbitrary axis is
n zero. Or mathematically
n
෍ 𝐅r = 0
r=1 ෍ 𝛕r = 0
In case of coplanar forces lying in r=1
xy-plane, we can write above Eq. In case of torques acting on a
in components form as: meter rod as shown in Fig., we
n
can write above Eq. as:
෍(Frx 𝐢Ƹ + Fry 𝐣)Ƹ = 0
r=1 σ3r=1 τr = τ1 + τ 2 + (−τ 3 ) = 0
⟹ σnr=1 Frx = 0
and σnr=1 Fry = 0
By convention forces directed along positive axes are taken By convention counterclockwise torques are taken as
as positive and directed along negative axes as negative. positive and clockwise torques as negative.
A body satisfying first condition equilibrium must be in A body satisfying second condition equilibrium must be in
translational equilibrium. ⟹a=0 rotational equilibrium. ⟹α=0
Coplanar forces passing through same point are concurrent
 Among of three given forces if sum of two smaller forces is less than third force then σ𝐧𝐫=𝟏 𝐅𝐫 ≠ 𝟎 and body is not
in equilibrium.
Among of three given forces if sum of two smaller forces is greater/equal to third force then σ𝐧𝐫=𝟏 𝐅𝐫 = 𝟎 and body is
in equilibrium.
Couple Of Forces
Two forces equal in magnitude, opposite in direction
acting on a body along same axis at two different points
make couple. e.g couple on Steering of car. It is easier to r
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rotate steering of car with both hands because of couple.

↷
O d⊥ =2r
τcoup = rFsinθ + rFsinθ = 2rFsinθ = 2rsinθ Fsinθ r
In Fig. θ = 90o and 2rsinθ =2r = d⊥
τcoup = d⊥ F
τcoup = perpendicular distance between couple × magniitude of either force
In case of couple:
σ𝐧𝐫=𝟏 𝐅𝐫 = 𝟎 ⟹a=0 but σ𝐧𝐫=𝟏 𝛕𝐫 ≠ 𝟎 ⟹𝛂≠𝟎
Q. What is torque about O in the Fig. Shown below? Q. What is torque about O in the Fig. Shown below?
τcoup = d⊥ F= dsinθ F F=10 N
τcoup = d⊥ F= dcosθ F F=20 N
= 2 m sin30o × 10 N θ=30o
= 5 m sin60o × 20 N
= 10 N m dsinθ = d⊥
= 50 N m
F=20 N d⊥ = dcos60𝑜
F=10 N
 States Of Equilibrium
There are three states of equilibrium, namely
Stable Equilibrium Unstable Equilibrium Neutral Equilibrium
When a body in equilibrium is disturbed When a body in equilibrium is disturbed When a body in equilibrium is
and its center of gravity gets raise, it will and its center of gravity gets lower, it will disturbed and its center of gravity gets
be in stable equilibrium. be in unstable equilibrium. lower, it will be in unstable
equilibrium.
τ=0 τ=0 τ=0

C C C/
h2 h1
τ=0 C
h h
h2 > h1
h1
h2 = h1 = h
P.E of body increases in stable
h2 P.E of body remain unchanged in
equilibrium
neutral equilibrium
h2 < h1
What is type of
Prof M. Rashid Khan equilibrium of steel
P.E of body decreases in unstable ball rolling as shown
equilibrium in Fig?