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Static Force Analysis Static Equilibrium: A Single Body Assume three forces and a torque act on a single body as shown. For the body to be in static equilibrium, the following conditions must be satisfied: (se.1) Fi = 0

FC FA

C T
FB

T = 0
i

(se.2)

Sum of Forces Equation (se.1) can be solved either graphically or analytically. Graphical The force vectors that act on the body must form a closed loop. Normally, one of the forces is unknown which can be found graphically. In our example, we must have: FA + FB + FC = 0 Analytical Equation (se.1) is projected onto the x- and y-axes to get In our example we must have:

FC FA FB

F cos
i i=1

= 0 and

F sin
i i=1

= 0.

FA cos A + FB cos B + FC cos C = 0 FA sin A + FB sin B + FC sin C = 0

Assume that FA and FB are known and FC is the unknown. To solve for FC , we write the equations as FC cos C = FA cos A FB cos B and FC sin C = FA sin A FB sin B . These equations yield:

FC = (FA cos A + FB cos B )2 + (FA sin A + FB sin B )2

and

1/2

cos C = (FA cos A + FB cos B ) / FC ,

sin C = (FA sin A + FB sin B ) / FC

These expressions should provide the value of C in the correct quadrant. Sum of Torques The sum of moments (torques) about any arbitrary point must be equal to zero. Point A: The sum of moments about point A is written as: C FC R BA FB + R CA FC + T = 0 Note that the moment arm for FA is a zero vector. We can write the moment equation with respect to point B or C in the same way. Point O: We may pick an arbitrary point, such as O, and write the moment equation as: R AO FA + R BO FB + R CO FC + T = 0 In these equations, the cross products between R and F
P.E. Nikravesh
R CA FA

T RBA

FB

A
FC

C
R CO

FA

R AO

FB

O R BO

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vectors must be evaluated. For our example, assuming that the moments are determined with respect to point O, the sum of moments can be evaluated either graphically or analytically. Graphical FB R AO The angle between each R vector and its corresponding FA F vector must be determined. For the purpose of clarity, B A each pair of R and F vector is shown separately with the R BO corresponding angle. The angles are measured and the C moment equation is evaluated as R CO RAO FA sin + RBO FB sin B + RCO FC sin C + T = 0 FC Analytical An x-y frame is positioned at O. The x and y components of all the vectors are determined as y FA FB FC x x x C FA = , FB = , FC = FC FAy FBy FC y FB R
T R AO RAO RBO RCO FA x x x O R R AO = BO , R BO = , R CO = A RAO y RBO y RCO y The moment equation for the body is written as FA RAO FA RAO + FB RBO FB RBO + FC RCO FC RCO + T = 0
x y y x x y y x x y y x
CO

Special Cases If only two or three forces act on a body (and nothing else), and the body is in static equilibrium, the forces are balanced in such a way that they exhibit certain characteristics. We should take advantage of such cases when solving for unknown forces. Two-Force Member If only two forces act on a body that is in static equilibrium, F A B F the two forces must be equal in magnitude and opposite in direction along the axis of the link. Three-Force Member If only three forces act on a body that is in static FC C equilibrium, the axes of all three forces must intersect at a single point. This knowledge can help us simplify the solution FA FB process in some problems. For example, if the axes of two of the forces are known, the intersection of those two axes can B A assist us in determining the axis of the third force. A special case of the three-force member is when three forces meet at a pin F1 joint between three links. When the F2 B F3 F1 system is in static equilibrium, the sum of the three forces must be equal to zero. F
2

F3

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Static Equilibrium Analysis of Mechanisms A one degree-of-freedom planar mechanism may contain N moving links. If the mechanism is in static equilibrium, the static equilibrium equations can be written for each link, which results into 3N equations. In these equations are normally 3N - 1 unknown reaction force/torque components and one unknown applied force or torque. In a static force analysis of a mechanism the objective is to solve the equilibrium equations to find the unknown applied force/torque. Depending of the method of solution, the reaction forces/torques may also be found in the process either directly or indirectly. In these notes, two methods for solving the static equilibrium equations are presented. One is the free-body diagram (FBD) method and the other is the power formula (PF) method. Free-body diagram method (FBD): In this method for each link in the system, with the exception of the ground link, three equilibrium equations can be constructed. For a four-bar or a slider-crank, since there are three links that can move, nine equations can be constructed. For each link, the reaction and applied forces/torque are considered. In general, eight unknown reaction force components or torques, and one unknown applied load (it could be a force or a torque) appear in the equations. The nine equations can be solved to determine the unknowns. The nine equations can be solved analytically. Or, if certain simplifications can be made; e.g., applying the concepts of two- or three-force members, the number of equations could be reduced. The reduced equations can then be solved either analytically or graphically. The general analytical method and the reduced analytical and graphical processes will be demonstrated in the following sections. Power formula method (PF): In this method one equation is constructed for the entire mechanism. Reaction forces or torques do not appear in the equation. Only the unknown applied force (or torque) and other applied forces or toques appear in the equation. Although the system is in static equilibrium; i.e., all the velocities are zeros, we assume that the system is in motion. We specify an arbitrary velocity (angular or linear) to one of the links; e.g., the rotation of the crank, and determine all other velocities that are FP P needed in the equation. The equation for the power formula (also called VP the power equation) is: T (spf.1) FP iVP + T = 0 In this equation FP is a typical applied force acting at point P on a link,

VP is the velocity (absolute) of the point, and FP iVP is their scalar product. Furthermore, T is a typical applied torque acting on the link and is the angular velocity of the link. If the torque and angular velocity are in the same direction, the product T is positive, otherwise the product is negative. These velocities are obtained assuming that the mechanism is in motion. This method is also referred to at the energy or the virtual work method.
Example 1: Slider-Crank Mechanism This slider-crank mechanism is in static equilibrium in the depicted configuration. A known force F acts on the slider block in the direction shown. An unknown torque acts on the crank. Our objective is to determine the magnitude and the direction of this torque. We first solve this problem with the FBD method. We then apply the PF to find the unknown torque.

A T B F

O2

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Free Body Diagram (FBD) Method The free body diagrams for the three links are shown. The reaction force at each pin joint is unknown. Each reaction force is described in term of its x and y components, where the direction of each component is assigned arbitrary at this point. For notational simplification, simple numbered indices are used for all the components. For each link we construct three equilibrium equations. Link 2: F1 + F3 = 0

A A
F4 F3 F3 F4 F6

B
F5

F6
F1

F5 F7

B
T8
F3

O2

F2

b a
F1

F4

F2 + F4 = 0 aF3 + bF4 + T = 0
The sum of moments is about O2 . The magnitudes of the moment arms are measured as a and b. Link 3: F3 + F5 = 0

O2
A
F3 F4

F2

F4 + F6 = 0 cF5 + dF6 = 0 The sum of moments is about A. Link 4: F5 + F = 0 F6 + F7 = 0 T8 = 0

c d

F6

B
F5

F6

F5 F7

B
T8

The sum of moments is about B. Note that F7 and T8 are the reaction force and torque due to the sliding joint. These nine equations can be put into matrix form. The unknowns and their coefficients are kept on the left-hand side and the only known quantity, the known applied force F is moved to the right-hand side: 1 0 1 0 0 0 0 0 0 F1 0 F 0 1 0 1 0 0 0 0 0 2 0 0 0 a b 0 0 0 0 1 F3 0 0 0 1 0 1 0 0 0 0 F4 0 0 0 0 1 0 1 0 0 0 F = 0 5 0 0 0 0 c d 0 0 0 F6 0 0 0 0 0 1 0 0 0 0 F F7 0 0 0 0 0 1 1 0 0 T 0 8 0 0 0 0 0 0 0 1 0 T 0 This set of nine equations in nine unknowns can be solved by any preferred numerical method. If
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the arbitrarily assigned direction to a force component or a torque is not correct, the obtained solution will be a negative quantity. Free Body Diagram Method (simplified) A The connecting rod of this slider-crank mechanism is a F3 two-force member. This observation simplifies the solution to the problem. The reaction forces at A and B must be in equal but in opposite directions. These reaction forces are B named F3 and given arbitrary directions. F3 The FBD of links 2 and 3 are now constructed. For link 4 we write the sum of forces along the x-axis: B F F3 F3( x ) + F = 0 Since the applied force F is known, F3( x ) can be computed. Then based on the angle of F3 , the magnitude of F3 is determined. For link 2 we write the moment equation about O2 :
F4 T5

A
F3

a
F1

aF3 + T = 0 This equation yields the unknown applied torque T.

O2

F2

Power Formula (PF) Method If we are only interested in determining the unknown torque and not the reaction forces, PF is the method of choice. The general formula is FP iVP + T = 0 We assume the mechanism is in motion; e.g., lets assume link 2 rotates with an angular velocity 2 = 1 rad/sec, CCW. The velocity polygon is constructed and the velocity of the slider block (point B) is found. The applied force acts on the block or at point B. This force and the torque on link 2 are the only applied force/ torque that act on the system. Therefore the PF becomes FiVB + T 2 = 0 Since F and VB are in opposite directions, we get
A

T B F

O2

A VBA B VB VA OV

FVB + T 2 = 0
or,

T = FVB / 2
Example 2: Slider-Crank Mechanism (include gravity) For the slider-crank mechanism in Example 1, we are asked to include gravitational forces on the link. It is stated that the mass center for each link is positioned at the geometric center. We first solve this problem with the FBD method. We then apply the PF to find the unknown torque.

A
G2 G3

gravity T

W2

W3 W4

B
G4

O2

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STATIC FORCE ANALYSIS

Free Body Diagram (FBD) Method The free body diagrams for the three links are constructed. Link 2: F1 + F3 = 0

b a G2
F1

F4

F3

F2 + F4 W2 = 0 b aF3 + bF4 W2 + T = 0 : sum of moments about O2 2

Link 3: F3 + F5 = 0
A
F3 F4

O2

W2 F2

F4 + F6 W3 = 0 d cF5 + dF6 + W3 = 0 : sum of moments about A 2 Link 4: F5 + F = 0 F6 + F7 W4 = 0

G3 F6

c d
W3

B
F5

F6 F5 G4 B
W F

F
T8

7 4 T8 = 0 : sum of moments about B These nine equations are expressed in matrix form and solved for the nine unknowns: 1 0 1 0 0 0 0 0 0 F1 0 F W2 0 1 0 1 0 0 0 0 0 2 0 0 a b 0 0 0 0 1 F3 bW2 / 2 0 0 1 0 1 0 0 0 0 F4 0 0 0 0 1 0 1 0 0 0 F = W 3 5 0 0 0 0 c d 0 0 0 F6 dW3 / 2 0 0 0 0 1 0 0 0 0 F7 F 0 0 0 0 0 1 1 0 0 T 8 W4 0 0 0 0 0 0 0 1 0 T 0 Free Body Diagram Method (simplified!) F Since three forces act on the connecting rod, it is no longer a X A two-force member. We cannot assume that the reaction forces at A G3 and B are equal, in opposite directions, and along the axis of the link. Therefore the simplified method is not applicable to this B W3 problem (this is the case for most examples when we include F X gravitational forces). Power Formula (PF) Method The general power formula is A gravity FiV + T = 0 G3

Assuming the mechanism is in motion with 2 = 1 rad/sec, CCW, the velocity polygon is constructed as before. The velocities of the points where the applied forces act, including the gravitational forces, are determined. Therefore, the PF can be expressed in detail
P.E. Nikravesh

G2

T
W2 W3 W4

B
G4

O2

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STATIC FORCE ANALYSIS

as:

FiVB + W2 iVG + W3 iVG + W4 iVG + T 2 = 0

2 3 4

A
VG
3

The dot product between a velocity and a force vector can be obtained either analytically or graphically (the angle between the two vectors can be measured directly from the figures). The PF yields the value for the only unknown which is the applied torque on the crank.
VB
VG
4

VG
4

VB =VG

OV

F
VG
3

VG
W3

W2

W4

Coulomb Friction Coulomb friction force can be included between two contacting surfaces in a static force analysis. Given the static coefficient of friction, (s) , the friction force can be described as the product of the coefficient of friction and the reaction force normal to the contacting surfaces. The friction force must act in the opposite direction of the tendency of any motion. Since the assumption is that the system is in static equilibrium, the tendency of motion must be considered in two ways. The process provides a range of values for the applied load while the system remains in equilibrium. The process is illustrated through two simple examples. Example 3: Slider-Crank Mechanism with Friction We repeat the slider-crank mechanism from A Example 1 with the assumption that dry friction exists between the slider block and the ground. We solve this T problem with the FBD method. We may write the B F complete set of equilibrium equations or take advantage of 2-force member in the system. O2 Note: When Coulomb friction is present, since the friction force depends on a reaction force, the Power-Formula cannot be used. We construct the complete set of equations for this problem. Since the FBD for the crank and the connecting rod are the same as before, we only show the FBD for the slider block. First we assume that the block is about to move to the left. F6 Therefore, the friction force must be directed to the right. The F5 B F equilibrium equations for the block are: e T8 F5 + F + (s) F7 = 0 (s) F

F6 + F7 = 0 T8 + e (s) F7 = 0

(tendency to the left)

F7

Then we assume that the slider block is about to move to the right. Therefore the friction force must be directed too the left. The equilibrium equations become: F5 + F (s) F7 = 0

F6

F5

B
T8 F7

e
(s) F7

F6 + F7 = 0

(tendency to the right)

T8 e (s) F7 = 0 We construct two complete sets of equations, once with the left and once with the right
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set. In the following the two sets are presented together as:

F 0 1 0 0 F2 0 1 F3 0 0 F4 0 0 F5 = 0 0 F6 0 0 F F 7 0 T 0 8 0 T 0 We solve these equations twice: once we assume the positive sign in front of (s) and once we consider the negative sign. Each solution yields a value for the unknown applied torque. Assume the two solutions are Tleft and Tright . Therefore, as long as the applied torque stays 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 a b 0 0 0 0 1 0 1 0 0 0 0 1 0 1 0 0 0 0 c d 0 0 0 0 1 0 (s) 0 0 0 0 1 1 0 0 0 0 0 e (s) 0 0 0 0 0 0 0 0 1
between the range Tleft to Tright , the system remains in static equilibrium. Example 4: Slider-Crank Mechanism (inversion 2) with Friction In this example, the force acting at point P is FP known but the torque that acts on the crank is unknown. It is assumed that dry friction exists at P the sliding joint. A To solve this problem, we construct FBDs for the links. Although it is not necessary, in order to simplify the process of projecting the T reaction forces unto the x-y axes, the x-y axes are rotated in such a way that the x-axis is along the axis of link (4). Link 2: F3 F1 + F3 = 0

O2

O4

F4

F2 + F4 = 0 aF3 bF4 T = 0
T
F2

b a O2
F1

Link 3: F3 (s) F5 = 0

F4 F6 = 0 T6 = 0

T6

(s) F5 F4
F3

F5

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STATIC FORCE ANALYSIS

Link 4: F7 (s) F5 + FP( x ) = 0

FP( x)

FP( y )

F5 + F8 FP( y ) = 0 T6 cF5 + dFP = 0

P
F5
(s)

T6

F5

c d O4
F8

F7

These equations are expressed in matrix form as:

F 0 0 1 0 0 0 F2 0 0 1 F3 0 0 0 F4 0 0 0 F5 = 0 0 0 T6 0 0 0 F FP( x ) 7 1 0 F FP( y ) 8 0 0 T dF P These equations are solved twice to find the range of values for the applied torque T. 1 0 0 0 0 0 0 0 0 0 1 0 0 1 0 1 0 0 a b 0 0 1 0 (s) 0 0 1 0 0 0 0 0 0 0 0 (s) 0 0 0 1 0 0 0 c 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 1 0 0

P.E. Nikravesh