Rotational of Equilibrium

►When forces do not have a common line of action, there may be a tendency to
rotate called the torque. If no rotation is desired, there must be no resultant
torque.

Definition of Terms

1. Line of Action – it is an imaginary line extended indefinitely along a vector in

both directions.
2. Axis of Rotation – it is an imaginary line passing through a point perpendicular
to the direction of rotation.
3. Moment of Arm – it is the perpendicular distance from the axis of rotation to
the line of action of a force.
Torque
►Torque is defined as the product of a magnitude of force (F) and its moment
(r).

τ=Fr

(a) Moment (r) is measured perpendicular to the line of action of the force (F).
(b) The units of torque is newton – meter (N∙m)
(c) If the force (F) tends to produce counterclockwise rotation about an axis, the
torque will be positive (+) and clockwise torque will be considered negative (-).

r F

r F
Torque Calculation

r F

r F
 𝜏 = 𝐹𝑟  𝜏 = 𝐹𝑟
𝜃 
r 𝜃  r

F F

 𝜏 =𝑟 𝑥 𝐹 cos 𝜃  𝜏 =𝑟 𝑥 𝐹 cos 𝜃
Torque Calculation: Perpendicular
Distance
L 𝜃 

Pivot point F
𝜃 
 𝑑 ̩

Perpendicular distance
Line of action

 𝜏 = 𝐹 ∙ 𝑑
 𝜏 =𝐹 ∙ 𝐿 cos 𝜃
Torque Calculation: Vector Method
r

Pivot point F

 𝜏  
¿  𝐹  ∙  𝑟
^𝑥  ^𝑦  ^𝑧 
𝑟 𝑥 𝑟 𝑦 𝑟 𝑧
¿
 
𝐹  𝑥 𝐹  𝑦 𝐹  𝑧
Sample Problem
A 3.0 kg mass is placed 2.00 m to the right of the pivot point of a see-
saw. What is the magnitude and the sigh of the torque applied?

2.00
  𝑚

𝑚𝑔
 

 𝜏  
¿  𝐹  ∙  𝑟
 ¿ 𝑚𝑔
   ∙  𝑟
 ¿3.00𝑘𝑔
    ) 2.00
  𝑚
 𝜏  ¿ 58.8
  𝑁 ∙𝑚
Sample Problem
An 80 N force acts at the end of a 12 cm wrench. Find the torque.

 𝜏  ¿  𝐹  ∙ r
 ¿ 80
  𝑁 (12𝑐𝑚𝑥s
  in 60° )  𝑥   (
 𝜏  ¿ 8  .32 𝑁 ∙ 𝑚
Sample Problem
•Find
  the magnitude of the torque. Given that the length of the bar is 5
m , force exerted is 100 N and angle
r

Pivot point F

𝜏  =𝑟 ∙ 𝐹 𝑐𝑜𝑠 𝜃
¿  𝑚)  
  (5 30
 𝜏  ¿  ( CW)
Sample Problem
•Find
  the magnitude of the torque. Given that the length of the bar is 2
m , force exerted is 100 N and angle

F
 𝑑 ̩ 𝐿
  2
Pivot point

 𝜏 =𝐹 ∙ 𝑑
¿  100 N   30

 ¿ 100 N   30
 𝜏  ¿  ( CW)
Sample Problem
•Find
  the magnitude of the torque. Given that the length of the bar is 2
m , mass of the block is 10 kg and angle

  𝐿
m

Pivot point 𝑚𝑔
 

𝑑
 

 𝜏 =𝐹 ∙ 𝑑
 ¿ 𝑚𝑔
   ∙ d
 ¿10𝑘𝑔
    ) 2  .00 𝑚 cos60
 
 𝜏  ¿ 98
  𝑁 ∙𝑚
Sample Problem
•  force, F = (6.00 N) + (-4.00 N) acts on a point in a rigid body. The position vector
A
from the origin to the point where F acts upon r = (0.420 m) + (0.380 m) . Find the
torque vector produced by F.

 𝜏  
¿  𝐹  ∙  𝑟
^𝑥  ^𝑦  ^𝑧  ^𝑥  ^𝑦  ^𝑧 
𝑟 𝑥 𝑟 𝑦 𝑟 𝑧
¿
  ¿
  .420
  0.380 0
𝐹  𝑥 𝐹  𝑦 𝐹  𝑧 6 −  4 0

 𝜏  ¿   0 – 0) +¿    0 – 0) +¿
    0.420)(-4) – (0.380 )(6)]  
 𝜏  ¿   )
Second Condition of Equilibrium
 ► The second condition of equilibrium is called rotational equilibrium. This condition
states that the algebraic sum of all torques about any axis must be equal to zero. That
is,

► It tells us that the clockwise torques are exactly balanced by the counterclockwise
torque.
Sample Problem
Consider Figure 1. A uniform beam that weighs 200 N is held up by two supports A
and B. What are the forces exerted by the supports?
 Sample Problem
∑𝐹
 
𝑦 ¿
  0

+¿    −300
 𝐴   𝐵   𝑁  −200
  𝑁  − 400
  𝑁  ¿  0
 𝐴 +¿
  𝐵  ¿  300
    200
𝑁 +¿   𝑁 +¿
  400
  𝑁
 𝐴 +¿
  𝐵  ¿  900
  𝑁 ←𝑬𝒒
  .1

∑τ
  ¿0 
 𝐴   𝐵
+¿ ¿    900
  𝑁
−  𝐴 ( 12 𝑚 ) +300 𝑁 ( 10𝑚 ) +200 𝑁 ( 4 𝑚 ) − 400 𝑁 ( 4 𝑚 )=0
𝐵
  ¿  900
  𝑁  − 𝐴
(  −12 𝑚 ) 𝐴 +3000 𝑁 ∙𝑚+800 𝑁 ∙ 𝑚− 1600 𝑁 ∙𝑚 =0
  ( 12 𝑚 ) 𝐴 =200 𝑁 ∙ 𝑚 ¿  900
  𝑁  − 183
  𝑁
𝐵
  ¿  717
  𝑁
  𝐴 =183 𝑁
Sample Problem
Determine the tension T in the cable and the F exerted by the surface on the bar AB
if the weight on the bar AB is 1020 N.

𝑇 
30
  °

𝑑  3 𝑀𝑔
 
𝑚𝑔
 

𝑑  2 𝑑  1
Sample Problem
Determine the tension T in the cable and the F exerted by the surface on the bar AB
if the weight on the bar AB is 1020 N.

 
Sample Problem
Determine the tension T in the cable and the F exerted by the surface on the bar AB
if the weight on the bar AB is 1020 N.