₊✩‧₊˚౨ৎ˚₊✩‧₊ RIGID BODY

TORQUE
★ Newton’s Second Law – A larger
net force acting on an object
causes a larger acceleration, and
objects with larger mass require
more force to accelerate.
➔ F = ma
★ Causes an object to have angular
acceleration.
★ The amount of torque depends on
where and in what direction the
force is applied as well as the
location of the axis of rotation.

τ = 𝐹φ`
where,
τ = torque (m*N)
𝐹 = force (N)
φ = lever arm (m)

➔ Magnitude of Torque = Magnitude

of Force * Lever Arm

★ Positive – Counterclockwise
➔ Kasi pataas.
★ Negative – Clockwise
➔ Kasi pababa.
★ SI Unit – m*N or meter * Newton
★ X-axis or Horizontal Component –
Cosine
★ Y-axis or Vertical Component – Sine
EQUILIBRIUM
★ Newton’s Third Law – For every
action (force) in nature there is an
equal and opposite reaction.
★ If a rigid body is in equilibrium,
neither its linear motion nor its
rotational motion changes.

The tendon exerts a force of magnitude

790 N on the point P. Determine the ∑ 𝐹𝑥 = 0
torque (magnitude and direction) of this
force about the ankle joint which is ∑ 𝐹𝑦 = 0
located 3.6x10^-2m away from point P. ∑𝐹 = 0
∑ 𝐹𝑥 = ∑ 𝐹𝑦 = 0
𝐹φ𝑥 = 𝐹φ𝑦 = 0

*ੈ✩‧₊˚ jonabtb ‘26

 CENTRAL OF GRAVITY
Gravity
★ The center of gravity of a rigid body
Frictional Object Frictional is the point at which the weight can
Force Force be considered to act when the
torque due to the weight is being
Normal
calculated.
Force
★ When an object has a symmetrical
shape and its weight is distributed
uniformly, the center of gravity lies at
A woman whose weight is 530N is posed its geometrical center.
at the right end of the diving board with
length 3.90 m. The board has negligible
weight and is bolted down at the left end, 𝑋𝐶𝑚 = center of mass
while being supported 1.40m away from 𝑋𝐶𝑔 = center of gravity
the fulcrum. Find the force ( 𝐹1) and force
𝑊1𝑋1 + 𝑊2𝑋2 + 𝑊3𝑋3...
( 𝐹2) that the bolt and the fulcrum, 𝑋𝐶𝑔 = 𝑊1 + 𝑊2 + 𝑊3 ...
respectively exert on the ground.
wherein,
𝑊 = weight
𝑋 = location

The horizontal arm is composed of three

parts: the upper arm (17 N), the lower arm
(11 N), and the hand (4.2 N). Find the
center of gravity of the arm relative to the
shoulder joint.
 nous n ely Excited
ACTUATOR Excited
★ A mechanical device for actively
moving or driving something
★ Source of movement (drive), Induction Single-Phase
taxonomy: Three-Phase
➔ Electric Drive (motor)
Self Excited Series
➔ Hydraulic Drive Compound
➔ Pneumatic Drive Shunt
➔ Internal combustion, hybrids
➔ Miscellaneous: ion thruster, thermal
DC Motors
shape, memory effect, artificial
★ Field Pole
muscles, etc.
➔ North pole and south pole
➔ Receive electricity to form magnetic
SERVOMECHANISMS
field
★ Mechanism exploring feedback to
★ Armature
deliver number of revolutions,
➔ Cylinder between the poles
position, etc.
➔ Electromagnet when current goes
★ The controlled quantity is
through
mechanical.
➔ Linked to drive shaft to drive the load
★ Commutator
★ Overturns current direction in
armature

★ Properties:
1. High maximum torque/force allows
high de/acceleration
2. Can be source of torque
3. High zero speed torque/force
4. High bandwidth provides accurate
and fast control
5. Works in all four quadrants
6. Robustness

★ Speed control without impact power

Electric Motors
supply quality
Alternating Current Direct Current ➔ Changing armature voltage
Motors Motors ➔ Changing field current
★ Restricted use
Synchro Inductio Separat Self ➔ Few low/medium speed applications
➔ Clean, non-hazardous areas
★ Expensive compared to AC motors

★ Interior of DC Motor
1. Simple, cheap
2. Easy to control
3. 1W - 1kW
4. Can be overloaded
5. Brushes wear
6. Limited overloading on high speeds.

DC Motor Modeling

➔ Power In = Power Out

𝑈𝐼 = 𝑄 + 𝑤
2
𝑈𝐼 ≈ 𝐼 𝑅 + π𝑤

AC Motors
★ Motor Control
1. Controller + H-bridge (allows motor
to be driven in both directions
2. Pulse Width Modulation control
3. Speed control by controlling motor
current
a. Torque
4. Efficient small components
5. PID Controls
★ By Nikola Tesla
★ Electrical current reverses direction
★ Two parts: Stator and rotor
1. Stator: Stationary electrical
component
2. Rotor: Rotates the motor shaft
★ Speed difficult to control as it
depends on current frequency
★ Two types
1. Synchronous motor
2. Induction motor
★ Constant speed fixed by system
frequency
★ DC for excitation and low starting
torque suited for low load
applications
★ Can improve power factors: Suited
for high electricity use systems
★ Synchronous speed (Ns)
 𝑁𝑠 = 120 𝑓 / 𝑃
➔ F = Supply frequency
➔ P = Number of poles

Components

Rotor Squirrel cage:

conducting bars in
parallel slots
Wound rotor:
3-phase,
double-layer,
distributed winding

Stator Stamping with slots

to carry 3-phase
windings
Wound for definite
number of poles

★ How does it work?

1. Electricity supplied to the stator
2. Magnetic field generated that moves
around the rotor.
3. Current induced in the rotor.
4. Rotor produces a second magnetic
field that opposes the stator
magnetic field.
5. Rotor beings to rotate