Chapter 3

Rotational Equilibrium

© 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 x  0; F y 0

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

A sky diver moments after the jump?Yes or No? No

A sky diver who reaches terminal speed? Yes
A fixed pulley rotating at constant speed? Yes
 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 problem; draw and label sketch.

• Construct force diagram for each object,
vectors at origin of x,y axes.
• Dot in rectangles and label x and y compo-
nents opposite and adjacent to angles.
• Label all components; choose positive
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.
 Statics or Total Equilibrium
Statics is the physics that treats objects at
rest or objects in constant motion.

In this module, we will review the first

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

Bx = B cos 600; By = B sin 600

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

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

• Apply the first condition for equilibrium.

F x  0; F
y  0;
 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 B = 410 N
550
350

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

Recall that W = 500 N A = 287 N

 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

0
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:
  1 + 2 + 3 + . . .  0
• 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, we are saying that the torques

are balanced about a chosen axis.
 Example 3: (Cont.)
2m 7m 3m
Rotational Equilibrium:
A B
  1 + 2 + 3 + 4  0 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 B = 48.0 N
 Example 3 (Cont.)
2m 7m 3m
Translational A B
Equilibrium 40 N 80 N

A B
Fx= 0; Fy= 0 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 A = 72.0 N
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
(ccw) = (cw) 40 N 80 N

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

480 Nm + 240 Nm = A (10 m)

A = 72.0 N
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 + 80 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 purposes of summing torques, we consider

entire weight to act at center of 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
T = 2250 N
 T
Example 4 F Ty
y
T (Cont.)
Fx T x 3030
00
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 F = 1954 N, 356.30

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

An object is said to Fx  0

be in equilibrium if
and only if there is Fy  0
no resultant force
and no resultant
torque.   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:
  1 + 2 + 3 + . . .  0
• Sum forces and set to zero: Fx= 0; Fy= 0
• Solve for unknowns.