Static Force Analysis

• In all types of machinery, forces are transmitted

from one component to another.
Ex: Belt to pulley, gear to shaft, brake drum to
brake shoe, etc.
• In the design of machines & mechanisms, it is
necessary to know the magnitudes as well as the
directions of force transmitted from input to
output.
• The analysis helps in selecting proper sizes of
machine components to withstand the stresses
developed in them.
 Static Force Analysis
• If components of a machine accelerate, inertia forces
are produced due to their masses.
• However, if the magnitude of these forces are small
compared to the externally applied loads, they can be
neglected while analyzing the mechanism.
• Such analysis is known as Static Force Analysis
Ex: Lifting cranes, where the bucket loads are quite
high compared to dynamic loads due to accelerating
masses.
When the inertia effect due to mass of components is
also considered, it is called dynamic force analysis.
 Static equilibrium
• A body is said to be in static equilibrium if it remains
in its state of rest or of uniform motion.
• If the body is at rest, it tends to remain at rest and if
in motion, it tends to keep the motion.
In static equilibrium,
1. The vector sum of all the forces acting on the body
is zero and
2. The vector sum of all the moments about any
arbitrary point is zero.
Mathematically,
F  0
T  0
 Equilibrium of two force members
A member under the action of two forces will be in
equilibrium if;
• the forces are of same magnitude
• the forces act along the same line, and
• the forces are in opposite directions.
The fig shows such a member.
F1
F1 = F
2
A

F2
 Equilibrium of three force members
A member under the action of three forces will be in
equilibrium if;
• the resultant of all the forces is zero
• the lines of action intersect at a point (known as
point of concurrency)

F2
A member shown in fig is in F1
F1
Equilibrium as the lines of action
of the forces intersect at o and
A B F
their resultant is zero. The vector 3
diagram of such a system of O
F2
forces is a closed polygon.
C

F
3
 F2
A member acted upon by forces as F1
shown in fig is not in equilibrium as
the lines of action of the forces do not
intersect and their resultant is non zero.
O

F
3
 Member with two forces and a torque
A member under the action of two forces and an
applied torque will be in equilibrium if;
• the forces are equal in magnitude, parallel in
direction and opposite in sense and
• the forces form a couple which is equal and
opposite to the applied torque.

The fig shows a member acted upon by two F1

equal forces F1 and F2 and an applied torque T.
T
For equilibrium,
T  F1  h  F2  h h
T is clockwise where as the couple formed F2
by F1 and F2 is counter clockwise.
 Equilibrium of four force members
Consider a system of four non-parallel forces acting on a
body as shown in fig.
P is the point of intersection of forces F1 and F2.
Q is the point of intersection of forces F3 and F4.
Join P and Q. The resultant forces of F1 and F2 & the
resultant forces of F3 and F4 must be parallel to PQ.
F1 F2

Q
F4 F3
 Equilibrium of four force members
F1 F2
o
F4
F1

P a
c
F3 F2
Q b
F4 F3 Force Polygon

Assume that the force F1 is fully known in both magnitude and direction
and the forces F2, F3 and F4 are known in direction with unknown
magnitudes.
• Draw oa parallel to F1 and equal to the given magnitude.
• From ‘a’, draw a line parallel to direction of F2 and from o, draw a line
parallel to PQ to obtain the point b. Now ab represents magnitude of F2.
• From b draw a line parallel to direction of F3 and from o draw a line
parallel to line of action of F4. The intersection of these lines give point c.
•Now oc= F4 and bc=F3
 Force convention
The force exerted by member ‘i’ on member ‘j’ is
represented by ‘Fij’
Free Body Diagrams
A free body diagram is a sketch or diagram of a part
isolated from the mechanism in order to determine
the forces acting on it.
Principle of superposition
If a number of forces act on a body, the net effect is
equal to the superposition of the effects of individual
forces taken one at a time.
A linear system is one in which the output force is
directly proportional to the input force (neglecting
coulomb or dry friction)
 Analysis of reciprocating engine mechanism
B
T
3
2
C P
A
4
1
1

Fig shows a slider-crank mechanism where a force P is

applied to the piston.
To keep the system in equilibrium, a couple or torque
T2 is applied to link 2 through the crank shaft at A.
The forces on various links and the torque on link 2
are to be determined.
 B
T
3
2
C P
A
4
1
1
F
34 F
C 23
O P
B
3
F
14
F
43
Free Body Diagram of link 4 F C
32
Free Body Diagram of link 3
B
h T
2 2

A F
12

Free Body Diagram of link 2

 Analysis of reciprocating engine mechanism
To find these forces & couple, the free body diagrams of each link
have to be drawn.
Link 4: It is a three force member.
(i) Force P is known both in magnitude & direction. (ii) Link 3 exerts
force F34 on link 4 along BC but magnitude is unknown.
(iii) Fixed link 1 exerts force F14 on link 4 directed normal to the
surface but unknown in magnitude.
The line of action of F34 and P intersect at O. Since the link is in
equilibrium, the line of action of F14 must pass through O.
F
34 C
O P

F
14
Free Body Diagram of link 4
 Analysis of reciprocating engine mechanism
To find these forces & couple, the free body diagrams of
each link have to be drawn.
Link 4: It is a three force member.
(i) Force P is known both in magnitude & direction. (ii)
Link 3 exerts force F34 on link 4 along BC but magnitude is
unknown.
(iii) Fixed link 1 exerts force F14 on link 4 directed normal
to the surface but unknown in magnitude.
F a P o
34 C
O P
F
F 14
F
34
14
Free Body Diagram of link 4
 Analysis of reciprocating engine mechanism
From the closure of the polygon , we get F34 and F14.
Link 3:
Link 3 is a two force member as shown in FBD. For
equilibrium, F43=F23
Also F43=F34 and F23=F32 (But opposite in directions)

F
23

B
3

F
43
C
Free Body Diagram of link 3
 Analysis of reciprocating engine mechanism
Link 2:
Link 2 is a member with two forces and a couple as shown
in FBD. For equilibrium, F32=F12. These two equal &
opposite forces produce a couple in counter clockwise
direction.
This couple must be balanced by a couple T2 which is
equal to F12 x h which is clockwise.
F
32
B
h T
2 2

A F
12

Free Body Diagram of link 2

 Problem 1
A slider crank mechanism is shown in fig. The force
applied to the piston is 1000 N when the crank is
at 600 from IDC. Calculate the driving torque T2.

B
T2 3

2
o C
A 60 1000 N
4
1 1
AB=100 mm, BC=300 mm
 Analysis of reciprocating engine mechanism
To find the forces & couple, the free body diagrams of each link have
to be drawn.
Link 4: It is a three force member.
(i) Force P is known both in magnitude & direction. (ii) Link 3 exerts
force F34 on link 4 along BC but magnitude is unknown.
(iii) Fixed link 1 exerts force F14 on link 4 directed normal to the
surface but unknown in magnitude.
The line of action of F34 and P intersect at O. Since the link is in
equilibrium, the line of action of F14 must pass through O.
F
B 34 C
T O P
3
2

A
C P F
14
4
1
1 Free Body Diagram of link 4
 B
T
3
2
C P
A
4
1
1

P
F
34 C
O P F
F 14
34
F
14
Force Polygon
Free Body Diagram of link 4 Scale: 1cm=100N

From the force polygon, F14 =300 N and F34 =1045 N

Link 3:
Link 3 is a two force member as shown in FBD. For
equilibrium, F43=F23
Also F43=F34 and F23=F32 (But opposite in directions)

F
23 B

B C F
T 43
3
2
C P
A
4
1
1

Here, F43 = F34 = F23= F32 =1045 N

Link 2:
Link 2 is a member with two forces and a couple as shown
in FBD. For equilibrium, F32=F12. These two equal &
opposite forces produce a couple in counter clockwise
direction.
This couple must be balanced by a couple T2 which is
equal to F12 x h which is clockwise.
B F
32
B
T
T2
3
2
C P h=98 mm
A F
4 12
1
1
A

Here, Torque T2= F12 x h

=1045 x 98=102.4 Nm
 Problem 2
A four link mechanism with the following dimensions is
acted upon by a force 80 N at 1500 on link DC as shown in
fig. AD=50 mm, AB=40 mm, BC=100mm, DC=75 mm,
DE=35 mm. Determine the input torque T on the link AB
for the static equilibrium of the mechanism for the given
configuration.
C

3
4
B E
150°

2 F=80N
12
0 °
A D
1 1
Member 4: It is acted upon by three forces; F, F34 and F14.
Considering its free body diagram, the line of action of F
and F34 (parallel to BC) meet at a point O. The l.o.a of F14
may be obtained by joining O & D. C

3
4
B E
150°
l. o. a of F34 C
2 F=80N
12
0 °
A D
O 1 1
4 F34
E F14
l. o. a of F14

F F

D From the force polygon, F14 =62.7 N

and F34 =47.24 N
Member 3: It is acted upon by two forces; F43 and F23.
Considering its free body diagram, the line of action of F
and F43 is parallel to BC and F23 is equal and opposite to it.

C
F43
3
4
B E
150°
3
2 F=80N
12
0 °
F
23 A D
1 1

F34 =F43 F23= F32= =47.24 N

Member 2: It is acted upon by two forces; F32 and F12
which are equal and opposite and constitute a ccw
couple. For static balance, a couple T2 =F12 x h must be
applies in clockwise direction.
Considering its free body diagram, h=39.57 mm.
C

F
32 3
4
B E
h 150°
T
2 F=80N
2 12
0 °
A D
1 1
F
12
Hence T2 =F12 x h
=47.24x39.57=1870 N-mm
 Problem 3
For the mechanism shown, find the required input torque
for static equilibrium. The lengths OA & AB are 250 mm
and 650 mm respectively. F=500 N
F

30°
C
35°

A 3

30°
2
60°

B 4
50

O
1
1
 To find the forces & couple, the free body diagrams of each link have
to be drawn.
Link 4: It is a two force member.
Link 3 exerts force F34 on link 4 along CB but magnitude is unknown.
Fixed link 1 exerts force F14 on link 4 directed normal to the surface
but unknown in magnitude.
The line of action of F34 and F14 must be opposite for equilibrium.
F

C 30°
F34
35°

A 3
30°

2
60°

B 4
F14
50

O
1
1
Free Body Diagram of link 4
Link 3: It is a three force member.
Force F is known both in magnitude & direction.
Link 4 exerts force F43 on link 3 along vertical but magnitude is
unknown.
Link 2 exerts force F23 on link 3 directed as shown but unknown in
magnitude.
F
30° LOA of
C F23
LOA of F
C
LOA of
35°

A 3 F43
3
A
30°

2
60°

B 4
50

O B
1
1
F43
N
Free Body Diagram of link 3
5 00
F=
F23 From the force polygon, F23=477.5N
and F43=49 N
 Link 2: It is a acted upon by two forces & a torque T2.
Force F32 is equal and opposite to F23.
Link 1 exerts force F12 on link 2 which is equal to F32 and acts at a
distance h which produces a couple in ccw direction.
For equilibrium, a torque T2= F12 x h (Or F32 x h) must be applied in
clockwise direction.
F LOA of
F23 F32 A
30°

LOA of F
C C
LOA of
h
F43
3 T2
35°

A 3
A
2
30°

2
F12
60°

4 B
B O
50

O
1
1

Free Body Diagram of link 2

From the FBD h= 143.65 mm

Hence T2= 477.5 x 143.65= 68593 N-mm or 68.6N-m
For the static equilibrium of the mechanism shown in fig,
determine the required input torque.

E
AB=150 mm, AD=500 mm, DC=300 mm
CE=100 mm, EF=450 mm
C 5

F
3 P=250 N
6
B 1
4

200
2
75
°

D
A
1 1
 E
AB=150 mm, AD=500 mm, DC=300 mm
CE=100 mm, EF=450 mm
C 5

F
3 P=250 N
6
B 1
4

200
2
75
°

D
A
1 1

P=250N
F56
P=250 N
F56 F16 From the Force
F16 polygon, we get
F56 = 279.1N
F16 =125.15 N
Force polygon for link 6
FBD of Link 6
 E
AB=150 mm, AD=500 mm, DC=300 mm
CE=100 mm, EF=450 mm
C 5

F
3 P=250 N
6
B 1
4

200
2
75
°

D
A
1 1
E
F45

F
As link 5 is a two force member,
we get,
F65 F56 = F65=F45 =F54= 279.1 N

FBD of Link 5
 E
AB=150 mm, AD=500 mm, DC=300 mm
CE=100 mm, EF=450 mm
C 5

F
3 P=250 N
6
B 1
4

200
2
75
°

D
A
1 1

E L . O. A
of F F34
54
C

.A of F 34
L.O F
14

14
fF

F54
.A o

From the Force

L.O

4 (279.1 N) polygon, we get

F34 = 353N
D F14 =251.25 N
FBD of Link 4 Force polygon for link 4
 E
AB=150 mm, AD=500 mm, DC=300 mm
CE=100 mm, EF=450 mm
C 5

F
3 P=250 N
6
B 1
4

200
2
75
°

D
A
1 1

F43
C

F23 B
From the FBD, we get
F34 =F43 = F23=F32= 353N
FBD of Link 3
 E
AB=150 mm, AD=500 mm, DC=300 mm
CE=100 mm, EF=450 mm
C 5

F
3 P=250 N
6
B 1
4

200
2
75
°

D
A
1 1

F32 B
h
T2
2
From the FBD, we get h= 125 mm.
A Also F32 =F12= 353 N
F12
Hence Torque T2=F12x h=353x125
T2= 44125 N-mm = 44.125 N-m (Clockwise)

FBD of Link 2
 Linkages with more than one force
acting on different links
When there are two or more forces acting on the
links of a mechanism, the principle of
superposition may be used. i.e. only one force
may be considered at a time and the sub
problems are solved. Then the net effect will be
obtained by superimposing all the individual
effects.
Determine the various forces on the links and couple T2
for the mechanism shown in fig. when the crank makes an
angle of 450 with the line of stroke.

Q=800N
B
2

60°
45°

A C P=2000 N
4
1 1
AB=300 mm, BC=600 mm, BD=200 mm
Note: When there are two or more forces acting on the
links of a mechanism, the principle of superposition may
be used. i.e. only one force may be considered at a time
and the sub problems are solved. Then the net effect will
be obtained by superimposing all the individual effects.

B
2
45°

A C P=2000 N
4
1 1
Sub problem (a) Only force P is considered
 B F34
2 4 P
45° C P=2000 N
A
4 F14
1 1
Sub problem (a) Only force P is considered

P=2000 N
From the force polygon, F14 =756 N
and F34 =2138 N
F34 F14
F23

B 3 F32
F43 B
C
2
A
h
From the FBD of link2, h= 273.4 mm. Hence , 1 F12
Torque T2a= F12 x h =2138 x 273.4= 584529 N-mm
Or 584.53 N-m (clockwise)
Sub problem (b) Only force Q=800 N considered
Q=800N
B F34
2

60°
D
4
45°

A C
4
1 1 F14
AB=300 mm, BC=600 mm, BD=200 mm
Free body diagram of link 4

LOA of F23
From the force polygon,
B LOA of Q LOA of F14 F43 =247N and
F43 Q
D F23 =671.4 N
3

C
F23

Free body diagram of link 3 F32 B

h
From the FBD of link2, h= 113.5 mm. Hence , 2
Torque T2b= F12 x h =671.4 x 113.5= 76204 N-mm A
Or 76.2 N-m (clockwise) 1 F12
By superposition principle, the torque T2 is
given by
T2 =T2a+T2b
= (584.53 + 76.2) N-m
T2 = 660.73 Nm (clockwise)
A two cylinder engine shown in fig is in static equilibrium.
The dimensions are OA =OB =50 mm, AC=BD=250 mm,
Angle AOB =900. Determine the torque on crank OAB.

3000 N

1000 N
C

90°

4 5°
1900

A O

B
 Sub Problem (a) When only 1000 N force is considered
6 1 1000N
1000 N F14
C 4
D
D
1
F
34
3
90° FBD of Link 4

4 5°
0
190
1
A O
2
1000N
B

F
34

F14

From the force polygon, F34 =1010.2N and

F14 =143 N
 Sub Problem (a) When only 1000 N force is considered
6 1
1000 N F
C D 43
4

D
1

3
90°
3

4 5°
1900 F
43
1
A O
2

B FBD of Link 3
F B
12
F
1 23

A O
2
From the FBD of link2, h= 35.7 mm. Hence ,
FBD of Link 2 B Torque T2a= F12 x h =1010.2x 35.7 = 36064 N-mm
h Or 36.0624 N-m (counter clockwise)
F
32
 Sub Problem (b) When only 3000 N force is considered
3000 N
6 1
3000 N 6 F
16
C 4

D
1
C
F
56
5
90°
3 FBD of Link6

4 5°
1900
1
A O
2

3000 N

F
56

From the force polygon, F56 =3041 N and

F16 =498.3 N F
16
 Sub Problem (a) When only 1000 N force is considered
3000 N F
65
6 1 C
C 4

D
1
5
5
3
90°

4 5°
1900
1
A O A
2 F
25
h F
12 B

1 FBD of Link 5
A O
2
From the FBD of link2, h= 45.1 mm. Hence ,
F B
52 Torque T2b= F12 x h =3041 x 45.1= 137149 N-mm
Or 137.15 N-m (clockwise)
FBD of Link 2
 By superposition principle, the torque T2 is
given by
T2 =T2a+T2b
= (-36.0624 + 137.15) N-m
(Taking negative sign for counterclockwise)
T2= 101.1 Nm (clockwise)
A four link mechanism is subjected to following
external forces as shown in fig. Determine the
torque T2 on the input link AB for static equilibrium of
the mechanism.

F2=80 N, F3=144 N
F4=60 N
297 C
3
B
F3 F4

58
°
mm

F2

4 2°
373
60

2 4
5

°
32

74
°

A
1 1 D

AB=500 mm, BC=660 mm, CD=560 mm, AD=1000 mm

 C

C F43 =0
m

F2 3
5m

F23=0 B
32

74
°

A
D
FBD of Link 3
1 1
F34=0
AB=500 mm, BC=660 mm, CD=560 mm, AD=1000 mm
C
Sub problem (a) Only force
F2=80 N is considered
FBD of Link 4
4
B

T2a
m

D
5m

F2 =80 N F14 =0
32

74

F12
°

A
From the FBD of link2, h= 76 mm.
Hence , Torque T2a= F2x h =80x 76 =
h 6080 N-mm =6.08 N-m (clockwise)
 297 C F
3 34

C
B F 23 LOA of F14
F3 of
A F3
of

5 8°
LO A
2 4 FBD of LO C
Link 4 4
60 °

B
F3 =144N
A
1 1 D D

AB=500 mm, BC=660 mm, CD=560 mm, AD=1000 mm F

14

Sub problem (b) Only force F3=144 N is considered F 23

F3 =144N
B h

F 32 F14

2
From the force
polygon,
F 12 From the FBD of link 2, h=32 mm
A F23 = 113.28 N
Hence T2b = F32 x h = 113.28 x 160 F14 = 48 N
FBD of Link 3 =18125 N-mm = 18.125 N-m (ccw)
 F2=80 N, F3=144 N
3 C
F4=60 N
B
L.O.A of F34
F4 =60 N

4 2°
C
2 4
60°

F
4
of

14
.A

F
A

of
1 1 D 4

L.

.A
O
L.
AB=500 mm, BC=660 mm, CD=560 mm, AD=1000 mm

Sub problem (c) Only force F4=60 N is considered

FBD of Link 4
0 N
=6 F32 B
F4 F14
From the FBD of link 2,
F34 h h=381 mm
2 Hence T2b = F32 x h
From the force polygon,
F12 = 34x 381
F34 = 34 N
=12954 N-mm = 12.95 N-m
F14 = 36 N A
(Counter clockwise)
 By superposition principle, the torque T2 is
given by
T2 =T2a+T2b +T2c
= (6.08 - 18.125-12.95) =-25 N-m
(Taking negative sign for counterclockwise)
Hence T2= 24.995 Nm (Counterclockwise)
In a four link mechanism shown in fig, torque T3
and T4 have magnitudes of 30 N-m & 20 N-m
respectively. The link lengths are AD=800 mm,
AB=300 mm, BC=700 mm & CD=400mm. For
static equilibrium of the mechanism, determine
the required input torque T2.
AD=800 mm, AB=300 mm, B
BC=700 mm, CD=400 mm T2
2

60°
D A
1 3 T 1
3
T4
4

C
 AD=800 mm, AB=300 mm, B
BC=700 mm, CD=400 mm T2 h4
2
F14

60°
T4
D A
4 F34
1 3 1
T4
4 FBD of Link 4

C Given torque T4  20N-m=2000N-mm,

Sub problem (a) consider only torque T4 2000
T4  F34  h4  F34    52.18N
T4 = 20 N-m & neglecting Torque T3 h4 38.33
F23 Hence F34 = F43 = F23 = F32 = 52.18N
B
From the free body diagram,
h2
h 2  272mm
B
 Torque T2 a  F32  h
3 F32
2  52.18  272
T2  14193 N-mm
A
C
FBD of Hence T 2 a = 14.2 N - m
F43
Link 3 FBD of Link 2 (counter clockwise)
 F14
AD=800 mm, AB=300 mm, B
BC=700 mm, CD=400 mm T2
2 FBD of

60°
A 4
Link 4
D
1 3 T 1
3 F34
4
Given torque T3  30N-m=3000N-mm,
C
T3 3000
T4  F32  h3  F32    44.71N
Sub problem (b) consider only torque h3 67.1
T3 = 30 N-m & neglecting Torque T4 Hence F34 = F43 = F23 = F32 = 44.71N
B F32

F23 B
From the FBD of link 2
h3 T2
h 2  43.8mm
T3 2
 Torque T2b  F32  h2
3
A  44.71 43.8
F43 F12 h2
 1958 N-mm
C FBD of Hence T 2b = 1.958N - m
Link 3 FBD of Link 2 (Counter clockwise)
 By superposition principle, the torque T2 is
given by
T2 =T2a+T2b
= (-14.2 – 1.958) =-16.16 N-m
(Taking negative sign for counterclockwise)
Hence T2= 16.16 N-m (Counterclockwise)