Chapter 2

Static and Dynamic

Analysis of Muscle and
Joint Loads

Biruk. A
Introduction
• We combine movements that are:
– Precise – high repeatability.
– Accurate – achieves target position with minimal error.
– Controlled – velocity, acceleration, path of motion, feedback
(central nervous system).

• Human movement is complex.

Cont.
• Movements require:
– Strength – generation of high forces/moments.

– muscle fibres(type I, IIa, IIx)

• e.g. weightlifting
– Flexibility – compliance, range of motion.
• e.g. gymnastics
– Endurance – sustained performance.
• e.g. long distance running
Muscle strength: Gluteus and Knee Muscles
 Cont.

• Movement is generated by muscle forces with the path of

motion governed by:

1. Degrees of freedom of joints (e.g. hinge joint - elbow, ball

and socket joint – hip, combination of joint degrees of
freedom – whole arm).

2. Geometry of articulating joint surfaces.

3. Passive restraint to limit excess joint motion (ligaments).

5
Cont.
• Degeneration of the musculoskeletal system can lead to
compromised mobility and drastic reduction in quality of life.

• The challenge:

• Ensure that each individual maintains ‘pain-free’ mobility

throughout their lives.

• This requires an understanding of the musculoskeletal joint

system and of the forces and moments acting on a given joint
under different conditions of loading.
 Rigid body mechanics
Scalar and vectors

• Scalar: Magnitude only

E.g. mass, Length, volume, density

• Vectors: Both Magnitude and direction

E.g. force, Moment, Velocity, acceleration

Velocity and Acceleration

• Velocity: rate of change of position(x) with respect to time (t):

V=dx/dt, units m/s

• Acceleration: rate of change of velocity(v) with respect to time(t):

a=dv/dt= d2x/dt2, units m/s2
 Cont.
Angular velocity and Angular Acceleration

• The time rate of change of angular position is called angular

velocity.
ω= dΦ/dt(rad/s) where 2π radians = 360˚
 Cont.
Angular Acceleration

• Rate of change of angular velocity

• α = dω/dt= d2Φ/dt2(rad/s2)

• If angular velocity is constant then angular acceleration is

zero

Force: action of one body on another

e.g. rise from a chair, quadriceps muscles generate a

force to cause knee extension and motion
 Cont.
Force classifications

• Internal and External Force

• Normal and Tangential Force

• Tensile and Compressive Force

• Coplanar Forces

• Collinear Forces

• Concurrent Force

• Parallel Force

• Gravitational Force or Weight

• Frictional Force
Force classifications
 Cont.
Moments

• Rotation of an object in direction of applied force

• Equal to the force multiplied by the perpendicular

distance between the force and the axis of rotation

Moment about the elbow:

M= d1 x Fmbb + d2 x Fmbr
 Cont.
Newton’s Laws

1. A body will remain at rest, or continue in motion in a

straight line(at constant velocity), unless it is acted upon
by an external force.

2. An external force will cause a body to accelerate in the

direction of the force with an acceleration directly to the
magnitude of the force(F=ma).

3. For every action force, there is an equal and opposite

reaction force.
 Static Analysis
Static Equilibrium

• An object is in static equilibrium when the forces

acting on it sum to zero and the moments acting on
it sum to zero

• Forces Moments

ƩFx= 0 ƩMx= 0

ƩFy= 0 ƩMy = 0

ƩFz= 0 ƩMz = 0
 Cont.
Free-body Diagrams
• Successful application of the equations of equilibrium
requires a complete specification of all the known and
unknown external forces that act on the body.
• Best way to account for these forces is to draw a free-body
diagram (FBD).
• FBD is a sketch of the outlined shape of the body, which
represents it as being isolated or “free” from its surroundings.
• Show all the forces and moments that the surroundings
exert on the body for inclusion in equations of equilibrium.
 Cont.
• A thorough understanding of how to draw a free-body
diagram is of primary importance for solving problems in
statics and dynamics of muscle and joint loads.

Support Reactions

• If a support prevents the translation of a body in a given

direction, then a force is developed on the body in that
direction.

• If rotation is prevented, a couple moment is exerted on the

body.
Commonly encountered supports
Commonly encountered supports
 Cont.
Procedures for Drawing a FBD

1. Draw outlined shape

• Imagine body to be isolated or cut from its constraints

• Draw outline shape

2. Show All forces and couple Moments

• Identify all external forces and couple moments that act on

the body

- Applied loadings; reactions occurring at supports or

points of contact with other bodies; and the weight of the
 Cont.
3. Identify Each Loading and given dimensions

• Indicate dimensions for calculation of forces/moments

• Known forces and couple moments should be properly

labeled with their magnitude and directions
 Sample Problem 1

Example 1: An arm is flexed to 90 degrees, as shown in the diagram. A

weight of 2 kg is held in the hand as shown in Fig. The weight of the
forearm is 1.5 kg. Anatomical measurements have given the following
dimensions:

a = distance of m. biceps brachii attachment to elbow joint = 3 cm

b = distance of m. brachioradialis attachment to elbow joint = 20 cm

c = distance from centre of gravity of forearm to elbow joint = 15 cm

d = distance from weight to elbow joint = 35 cm

β = angle of B1 and the arm = 75°

γ = angle of B2 and the arm = 20°

 Cont.

Use symbols to denote the length and force quantities, and use the SI
units of kg, N, and m as follows:

G = weight of the forearm = 1.5 kg × 9.81 ms^2 = 14.72N

W = weight in hand = 2 kg × 9.81 ms^2 = 19.62N

R = elbow joint reaction force

α = angle between R and the forearm

B1 = m. biceps brachii force

B2 = m. brachioradialis force
Sample problem 1
 Cont.

1. Write the equations of static equilibrium, and show

that there are unknowns?
2. By assuming that the forces in the brachioradialis is
zero, Calculate that the forces in the m.biceps brachii
and the force(direction and magnitude) acting at the
elbow?
Dynamic Analysis…
Thank you