Forces: Equilibrium

CHAPTER 5 (PART 2)
MATH NMF

1
Previously…
▪ In the discussion of linear motion,
objects are treated as point particles
without considering their structure.
▪ Point of application of force was neglected.
In reality, the point of application of
force matters.

How can you immediately bring down a ball

carrier in football? Tackle him below the waistline
or near his midriff?

2
Recall
A particle is in EQUILIBRIUM (i.e. the particle is either at rest or is not accelerating) if the vector
sum of all the forces acting on it is zero.

෍ 𝐹Ԧ = 0 FIRST CONDITION OF EQUILIBRIUM

If forces act at different points on an extended object, an additional requirement must be

satisfied. The object to remain in equilibrium must also have no tendency to rotate.

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Outline
▪ Torque
▪ Equilibrium
▪ Conditions of Equilibrium
▪ Center of Gravity

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Illustration 1
1. Which force/s will rotate the
bolt in the counterclockwise
𝐹𝐹 𝐹𝐵 𝐹𝐴
direction? In the clockwise 𝐹𝐸
direction?
2. Which force will rotate the
bolt the easiest? the hardest?
3. Which force will not be able
to rotate the bolt?
𝐹𝐷

The effectiveness of a force in rotating the bolt depends on the

magnitude of the force, the position or point of application of
the force, and the angle at which it is applied. 𝐹𝐶

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 5.5 Torque
Torque describes the twisting and turning effect Let 𝐹Ԧ be a force acting on an object, and let 𝑟Ԧ be
of a force. a position vector from a chosen point O to the
Consider the figure below which is an overhead point of application of the force, with 𝐹Ԧ
view of a door hinged at a point O. The door is perpendicular to 𝑟.Ԧ
free to rotate around an axis perpendicular to
the page and passing through O.
The magnitude of the torque 𝜏Ԧ exerted by the force 𝐹Ԧ
is given by
𝜏 = 𝑟𝐹
hinge 𝐹Ԧ where r is the length of the position vector (or the
lever arm) and F is the magnitude of the force.
𝑂
𝑟Ԧ SI unit: newton-meter 𝑵 ∙ 𝒎

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5.5 Torque
𝐹⊥
𝐹Ԧ
𝐹Ԧ
𝑂 𝑂 𝐹∥
𝑟Ԧ 𝑟Ԧ
Exerting a force parallel to the direction of the Only the component of the force perpendicular
position vector could not possibly open the door. to the door will cause it to rotate.

General Definition of Torque

The magnitude of the torque 𝜏Ԧ exerted by the force 𝐹Ԧ is given by

𝝉 = 𝒓𝑭 𝒔𝒊𝒏 𝜽

where r is the length of the position vector (or the lever arm), F is the magnitude of the force,
and 𝜃 is the angle between 𝐹Ԧ and 𝑟.Ԧ

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5.5 Torque
Torque as a Vector
When a force 𝐹Ԧ acts at a point having a position vector 𝑟Ԧ with respect to an
origin 𝑂, the torque 𝜏Ԧ of the force with respect to 𝑂 is the vector quantity

𝝉=𝒓×𝑭

Ԧ
▪ The direction of 𝜏Ԧ is perpendicular to both 𝑟Ԧ and 𝐹.

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5.5 Torque
Torque is a vector perpendicular to the plane determined by the
position and force vectors. The direction can be determined by the
right-hand rule.
1. Point the fingers of your right hand in the direction of 𝑟.
Ԧ
2. Curl your fingers toward the direction of the vector 𝐹.Ԧ
3. Your thumb then points approximately in the direction of the
torque.

Young, H. D. (2019). Sears and Zemansky's University Physics

with Modern Physics (15th ed.). London: Pearson.
9
5.5 Torque
Things to remember
▪ The point O is usually chosen to coincide with the axis the object is rotating around, such as
the hinge of a door or hub of a merry-go-round. (Other choices are possible as well.)
▪ We consider only forces acting in the plane perpendicular to the axis of rotation.
▪ An object can rotate around the chosen axis in one of two directions. By convention,
counterclockwise is taken to be the positive direction, clockwise the negative direction.
◦ For example, when an applied force causes an object to rotate counterclockwise, the torque on the
object is positive. When the force causes the object to rotate clockwise, the torque on the object is
negative.
▪ When two or more torques act on an object at rest, the torques are added. If a net torque isn’t
zero, the object starts rotating at an ever-increasing rate. If a net torque is zero, the object’s
rate of rotation doesn’t change.

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5.5 Torque
Example 1: Battle of the Revolving Door
A businessman enters a revolving door on the
right, pushing with 576 N of force directed
perpendicular to the door and 0.700 m from the
hub, while a boy exerts a force of 365 N
perpendicular to the door 1.25m to the left of
the hub. Find the (a) torque exerted by each
person and (b) the net torque on the door.

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 A businessman enters a revolving door on the right, pushing with 576 N of force directed
perpendicular to the door and 0.700 m from the hub, while a boy exerts a force of 365 N
perpendicular to the door 1.25m to the left of the hub. Find the (a) torque exerted by each person
and (b) the net torque on the door.
To solve for the torque exerted by each person, use the equation
𝜏 = 𝑟𝐹
𝐹Ԧ𝑀 = 576 N
𝐹Ԧ𝐵 = 365 N 𝜏𝑀 = 𝑟𝑀 𝐹𝑀 = 0.700 m 576 N = +𝟒𝟎𝟑 𝐍 ∙ 𝐦
𝑟Ԧ𝑀 The torque exerted by the business man is POSITIVE because
𝑟Ԧ𝐵 = 0.700 m
= 1.25 m 𝐹Ԧ𝑀 , if unopposed, would cause a counterclockwise rotation.
𝑂
𝜏𝐵 = 𝑟𝐵 𝐹𝐵 = − 1.25 m 365 N = −𝟒𝟓𝟔 𝐍 ∙ 𝐦
The torque exerted by the business man is NEGATIVE because
𝐹Ԧ𝐵 , if unopposed, would cause a clockwise rotation.

The net torque is the sum of the torques.

The door is hinged at O (the hub).
𝜏𝑛𝑒𝑡 = 𝜏𝑀 + 𝜏𝐵 = 403 N ∙ m − 456 N ∙ m = −𝟓𝟑 𝐍 ∙ 𝐦
The boy wins!!!
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5.5 Torque
Example 2: The Swinging Door
(a) A man applies a force of F = 300 N at an angle of 60.0° to the door, 2m from
the hinges. Find the torque on the door, choosing the position of the hinges as
the axis of rotation. (b) Suppose a wedge is placed 1.50m from the hinges on
the other side of the door, what minimum force must the wedge exert so that
the force applied in part (a) won’t open the door?

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 (a) A man applies a force of F = 300 N at an angle of 60.0° to the door, 2m from the hinges. Find the
torque on the door, choosing the position of the hinges as the axis of rotation. (b) Suppose a wedge is
placed 1.50m from the hinges on the other side of the door, what minimum force must the wedge
exert so that the force applied in part (a) won’t open the door?

𝐹 = 300 N a. To solve for the torque on the door, use the equation
𝜏 = 𝑟𝐹 sin 𝜃
60° 𝜏𝐹 = 𝑟𝐹 𝐹 sin 𝜃 = 2 m 300 N sin 60°
𝑂
𝑟 =2m 𝜏𝐹 = 𝟓𝟏𝟗. 𝟔𝟏𝟓 𝐍 ∙ 𝐦 ≈ 𝟓𝟐𝟎 𝐍 ∙ 𝐦

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 (a) A man applies a force of F = 300 N at an angle of 60.0° to the door, 2m from the hinges. Find the
torque on the door, choosing the position of the hinges as the axis of rotation. (b) Suppose a wedge is
placed 1.50m from the hinges on the other side of the door, what minimum force must the wedge
exert so that the force applied in part (a) won’t open the door?
b. Suppose a wedge is placed on the other side of the door
𝜏ℎ𝑖𝑛𝑔𝑒 − 𝜏𝑤𝑒𝑑𝑔𝑒 + 𝜏𝐹 = 0
wedge 𝐹 = 300 N
0 − 𝜏𝑤𝑒𝑑𝑔𝑒 + 520 N ∙ m = 0
1.5 m
60° 𝜏𝑤𝑒𝑑𝑔𝑒 = 520 𝑁 ∙ 𝑚
𝑂
𝑟 =2m since
𝐹𝑤𝑒𝑑𝑔𝑒 𝜏𝑤𝑒𝑑𝑔𝑒 = 𝑟𝑤𝑒𝑑𝑔𝑒 𝐹𝑤𝑒𝑑𝑔𝑒 = (1.5 m)𝐹𝑤𝑒𝑑𝑔𝑒
Note that
i. The problem requires the door to not be opened (no (1.5 m)𝐹𝑤𝑒𝑑𝑔𝑒 = 520 N ∙ m
rotation).→ σ 𝛕 = 𝟎
ii. The hinge force provides no torque because it acts at 𝑭𝒘𝒆𝒅𝒈𝒆 = 𝟑𝟒𝟕 𝐍
the axis (r = 0).
iii. The wedge force provides a negative torque because, if
unopposed, it creates a clockwise rotation.
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5.6 Equilibrium
An object in mechanical equilibrium must satisfy the following two conditions:

The net external force must be zero:

σ𝑭 = 𝟎 An object to be in equilibrium, it must move through
space at a constant speed and rotate at a constant
angular speed.
The net external torque must be zero: → No translation or rotation
σ𝝉 = 𝟎

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5.6 Equilibrium
Center of Gravity
▪ One of the forces acting on the object is its weight.
▪ The weight doesn’t act at a single point; it is distributed over the entire object.
▪ To compute for the torque due to the force of gravity, the object’s entire weight can be thought of
as concentrated at a single point called the

CENTER OF GRAVITY
(abbreviated as ‘cg’ )
▪ If the acceleration due to gravity does not vary significantly over the object, then the object’s
center of gravity is identical to its center of mass.
▪ The center of gravity of a homogeneous, symmetric body must lie on the axis of symmetry.

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5.6 Equilibrium
Center of Gravity
▪ At the object’s cg, the effect of the gravitational force on the
rotation of the object is the same as that of the individual
particles.
▪ For a collection of particles, the coordinates of the cg in the
𝑥𝑦-plane are:

σ 𝑚𝑖 𝑥𝑖 𝑚1 𝑥1 + 𝑚2 𝑥2 + 𝑚3 𝑥3 + ⋯
𝑥𝑐𝑔 = =
σ 𝑚𝑖 𝑚1 + 𝑚2 + 𝑚3 + ⋯

σ 𝑚𝑖 𝑦𝑖 𝑚1 𝑦1 + 𝑚2 𝑦2 + 𝑚3 𝑦3 + ⋯
𝑦𝑐𝑔 = =
σ 𝑚𝑖 𝑚1 + 𝑚2 + 𝑚3 + ⋯

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5.6 Equilibrium
Center of Gravity
Example 3:
𝑦
Find the center of gravity of the system of objects.
5.00 kg

0.5 m 1.00 m

𝑥
2.00 kg
1.00 m 0.5 m

4.00 kg

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 Find the center of gravity of the system of objects.
𝑦 From the given figure,
.
5.00 kg mass x - coordinate y - coordinate
𝑚1 = 2.00 kg 0m 0m
𝑚2 = 4.00 kg 1.00 m −0.5 m

0.5 m 𝑚2 = 5.00 kg 0.5 m 1.00 m

1.00 m
𝒄𝒈 Using the data from the table above, the coordinates of the center of
gravity of the system of objects are:
𝑥 σ 𝑚𝑖 𝑥𝑖 2 kg 0 m + 4 kg 1 m + 5 kg 0.5 m
2.00 kg 𝑥𝑐𝑔 = = = 0.591 m
0.5 m σ 𝑚𝑖 2 kg + 4 kg + 5 kg
1.00 m
σ 𝑚𝑖 𝑦𝑖 2 kg 0 m + 4 kg −0.5 m + 5 kg 1 m
𝑦𝑐𝑔 = = = 0.273 m
σ 𝑚𝑖 2 kg + 4 kg + 5 kg
4.00 kg
𝒄𝒈: (𝟎. 𝟓𝟗𝟏 𝐦, 𝟎. 𝟐𝟕𝟑 𝐦)

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5.6 Equilibrium
Example 4
A woman of mass 55 kg sits on the left end of a seesaw – a plank of length L = 4.00m, pivoted in
the middle. (a) Where should a man of mass 75.0 kg sit if the system is to be balanced? (b) Find
the normal force exerted by the pivot if the plank has a mass of 12.0 kg.

𝐿 = 4.00 m
𝑚𝑤 = 55 kg 𝑚𝑀 = 75 kg

𝑚𝑃 = 12 kg

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 A woman of mass 55 kg sits on the left end of a seesaw – a plank of length L = 4.00m, pivoted in the
middle. (a) Where should a man of mass 75.0 kg sit if the system is to be balanced? (b) Find the
normal force exerted by the pivot if the plank has a mass of 12.0 kg.

Assume the pivot (in the middle) to be the point of rotation.

𝐿 = 4.00 m Let: 𝑥 = distance of the man from the pivot
𝑚𝑤 = 55 kg 𝐹𝑁 (pivot) 𝑚𝑀 = 75 kg
Step 2: Identify all the forces acting on the seesaw and
𝑥 apply the second condition of equilibrium.

𝑂 ෍𝝉 = 𝟎

𝑚𝑃 = 12 kg +𝜏𝑤 − 𝜏𝑀 + 𝜏𝑃 + 𝜏𝐹𝑁 = 0

𝑤𝑤 𝑤𝑝 𝝉𝑷 𝐚𝐧𝐝 𝝉𝑭𝑵 are zero because the weight of the plank

𝑤𝑀
a. Where should the man sit to balance the seesaw?
Step 1: Choose the point of rotation.
Hint: Choose any location for the point of rotation but It’s
usually best to select an axis that will make at least one torque
equal to zero, just to simplify the net torque equation.
and the normal force of the support are acting on the
axis where 𝒓 = 𝟎.
𝝉𝑴 is negative because the man’s weight causes a
clockwise rotation if unopposed; 𝝉𝑾 is positive because
the woman’s weight causes a counterclockwise rotation
if unopposed.

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 A woman of mass 55 kg sits on the left end of a seesaw – a plank of length L = 4.00m, pivoted in the
middle. (a) Where should a man of mass 75.0 kg sit if the system is to be balanced? (b) Find the
normal force exerted by the pivot if the plank has a mass of 12.0 kg.

𝐿 = 4.00 m 𝜏𝑊 − 𝜏𝑀 = 0

𝐹𝑁 (pivot) 𝑚𝑀 = 75 kg By the definition of torque, we have

𝑚𝑤 = 55 kg
𝐿
𝑥 𝑤𝑊 − 𝑤𝑀 𝑥 = 0
2
𝑂 𝐿
𝑚𝑊 𝑔 − 𝑚𝑀 𝑔𝑥 = 0
2
𝑚𝑃 = 12 kg 𝐿
𝑚𝑀 𝑥 = 𝑚𝑊
2
𝑤𝑤 𝐿
𝑤𝑝 𝑚𝑊
𝑤𝑀 𝑥 = 2 = 𝑚𝑊 𝐿
𝑚𝑀 2𝑚𝑀
55 kg 4.00 𝑚
𝑥 = = 𝟏. 𝟒𝟕 𝐦
2 75 kg
The man should sit 1.47 m to the right of the pivot to make the seesaw balanced.

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 A woman of mass 55 kg sits on the left end of a seesaw – a plank of length L = 4.00m, pivoted in the
middle. (a) Where should a man of mass 75.0 kg sit if the system is to be balanced? (b) Find the
normal force exerted by the pivot if the plank has a mass of 12.0 kg.

b. To solve for the normal force exerted by the

𝐿 = 4.00 m pivot, use the first condition of equilibrium.
𝑚𝑤 = 55 kg 𝐹𝑁 (pivot) 𝑚𝑀 = 75 kg
෍𝑭 = 𝟎
𝑥
− 𝑤𝑊 − 𝑤𝑀 − 𝑤𝑝 + 𝐹𝑁 = 0
𝑂
𝐹𝑁 = 𝑤𝑊 + 𝑤𝑀 + 𝑤𝑝
𝑚𝑃 = 12 kg
𝐹𝑁 = 𝑚𝑊 𝑔 + 𝑚𝑀 𝑔 + 𝑚𝑝 𝑔
𝑤𝑤 𝑤𝑝
𝑤𝑀 𝐹𝑁 = 𝑚𝑊 + 𝑚𝑀 + 𝑚𝑝 𝑔
m
𝐹𝑁 = 55 kg + 75 kg + 12 kg 9.8
s2
𝑭𝑵 = 𝟏𝟑𝟗𝟏. 𝟔 𝐍 ≈ 𝟏𝟑𝟗𝟎 𝐍

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5.6 Equilibrium
Example 5
Suppose a 416-kg alligator of length 3.5 m is stretched out on a uniform board of the same
length weighing 65N. If the board is supported on the ends, with one end by a scale which reads
1 880 N, find the alligator’s center of gravity.
𝐿 = 3.5 m

𝑚𝐴 = 416 𝑘𝑔

𝑤𝐵 = 65 N
𝐹𝑆 = 1880 N

25
 Suppose a 416-kg alligator of length 3.5 m is stretched out on a uniform board of the same length
weighing 65N. If the board is supported on the ends, with one end by a scale which reads 1 880 N,
find the alligator’s center of gravity.

𝐿 = 3.5 m Step 2: Choose a point of rotation.

In this case, it is advantageous to place
𝐹Ԧ𝑁 𝐹Ԧ𝑆 1880 N it in the leftmost end of the board. This will
eliminate the torque caused by 𝐹Ԧ𝑁 .

𝑂 Step 3: Apply the second condition of

𝑤𝐵 = 65 N equilibrium.
𝑤𝐴 ෍𝝉 = 𝟎

Step 1: Identify all the forces acting on the uniform board and their 𝜏𝐹𝑁 − 𝜏𝑤𝐴 − 𝜏𝑤𝐵 + 𝜏𝐹𝑆 = 0
points of application.
Note that the board is uniform, hence its center of gravity is
the point of symmetry which is its geometric center. The alligator’s
center of gravity, on the other hand, is unknown. Assume its
location anywhere.
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 Suppose a 416-kg alligator of length 3.5 m is stretched out on a uniform board of the same length
weighing 65N. If the board is supported on the ends, with one end by a scale which reads 1 880 N,
find the alligator’s center of gravity.

𝐿 = 3.5 m −𝜏𝑤𝐴 − 𝜏𝑤𝐵 + 𝜏𝐹𝑆 = 0

𝐿
𝐹Ԧ𝑁 2 𝐹Ԧ𝑆 1880 N Use 𝜏 = 𝑟𝐹 to evaluate each torque; the
𝑥 lever arms must be measured from the point
of rotation.
𝐿
𝑂 −𝑚𝐴 𝑔𝑥 − 𝑤𝐵 + 𝐹𝑆 𝐿 = 0
2
𝑤𝐵 = 65 N 𝐿
𝑚𝐴 𝑔𝑥 = −𝑤𝐵 + 𝐹𝑆 𝐿
𝑤𝐴 2
𝐿
−𝑤𝐵 + 𝐹𝑆 𝐿
Let: 𝑥= 2
𝑥 = distance of the alligator’s center of gravity from O 𝑚𝐴 𝑔
3.5 m
𝐿Τ = distance of the board’s center of gravity from O − 65 N + 1880 N 3.5 m
2 2
𝑥= m = 𝟏. 𝟓𝟗 𝐦
The alligator’s center of gravity is located 1.59 m from 416 kg 9.8 2
s
the leftmost end of the board.
27
References
Serway, R. A. & Vuille, C. (2018). College Physics. USA: Cengage Learning Asia Pte Ltd.
Cutnell, J. & Johnson, K. (2012). Physics (9th ed.). New York, NY: John Wiley & Sons, Inc.
Young, H. D. (2019). Sears and Zemansky's University Physics with Modern Physics (15th ed.).
London: Pearson.

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The END

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