Equilibrium and Torque

Equilibrium
An object is in Equilibrium when:

1. There is no net force acting on the object
2. There is no net Torque (well get to this later)

In other words, the object is NOT experiencing
linear acceleration or rotational acceleration.


a =
Av
At
= 0
o =
Ae
At
= 0
Well get to this later
Static Equilibrium
An object is in Static Equilibrium when it is
NOT MOVING.



v =
Ax
At
= 0
a =
Av
At
= 0
Dynamic Equilibrium
An object is in Dynamic Equilibrium when it is
MOVING with constant linear velocity
and/or rotating with constant angular velocity.

a =
Av
At
= 0
o =
Ae
At
= 0
Equilibrium
Lets focus on condition 1: net force = 0



The x components of force cancel


The y components of force cancel


F = 0

F
x
= 0

F
y
= 0
Condition 1: No net Force
We have already looked at situations where the net force = zero.
Determine the magnitude of the forces acting on each of the
2 kg masses at rest below.
60
30 30 30
Condition 1: No net Force
F
x
= 0 and F
y
= 0
mg = 20 N
N = 20 N
F
y
= 0
N - mg = 0
N = mg = 20 N
Condition 1: No net Force
F
x
= 0 and F
y
= 0
F
y
= 0
T1 + T2 - mg = 0

T1 = T2 = T

T + T = mg
2T = 20 N
T = 10 N
T1 = 10 N
20 N
T2 = 10 N
Condition 1: No net Force
60
mg =20 N
f = 17.4 N
N = 10 N
F
x
- f = 0
f = F
x
= mgsin 60
f = 17.4 N
N = mgcos 60
N = 10 N
Condition 1: No net Force
F
x
= 0 and F
y
= 0
30 30
mg = 20 N
T1 = 20 N T2 = 20 N
F
y
= 0
T1
y
+ T2
y
- mg = 0
2T
y
= mg = 20 N

T
y
= mg/2 = 10 N
T2 = 20 N
T2
x

T2
y
= 10 N
30
T
y
/T = sin 30
T = T
y
/sin 30
T = (10 N)/sin30

T = 20 N
F
x
= 0
T2x - T1x = 0
T1
x
= T2
x

Equal angles ==> T1 = T2

Note: unequal angles ==> T1 T2

Condition 1: No net Force
F
x
= 0 and F
y
= 0
Note:
The y-components cancel, so
T1
y
and T2
y
both equal 10 N

30 30
mg = 20 N
T1 = 20 N T2 = 20 N
Condition 1: No net Force
F
x
= 0 and F
y
= 0
30
20 N
T1 = 40 N
T2 = 35 N
F
y
= 0
T1
y
- mg = 0
T1
y
= mg = 20 N

T1
y
/T1 = sin 30
T1 = T
y
/sin 30 = 40 N
F
x
= 0
T2

- T1
x
= 0
T2

= T1
x
= T1cos30
T2 = (40 N)cos30

T2 = 35 N
Condition 1: No net Force
F
x
= 0 and F
y
= 0
Note:
The x-components cancel
The y-components cancel
30
20 N
T1 = 40 N
T2 = 35 N

30 60
Condition 1: No net Force

A Harder Problem!
a. Which string has the greater tension?
b. What is the tension in each string?

a. Which string has the greater tension?
F
x
= 0 so T1
x
= T2
x

30 60
T1
T2
T1 must be greater in order to have the same x-component as T2.

F
y
= 0
T1
y
+ T2
y
- mg = 0
T1sin60 + T2sin30 - mg = 0
T1sin60 + T2sin30 = 20 N
Solve
simultaneous
equations!
F
x
= 0
T2x-T1x = 0
T1
x
= T2
x
T1cos60 = T2cos30


30 60
T1
T2
Note: unequal angles ==> T1 T2

What is the tension in each string?
Equilibrium
An object is in Equilibrium when:

1. There is no net force acting on the object
2. There is no net Torque

In other words, the object is NOT experiencing
linear acceleration or rotational acceleration.

a =
Av
At
= 0
o =
Ae
At
= 0
What is Torque?
Torque is like twisting force

The more torque you apply to a wheel the
more quickly its rate of spin changes
Math Review:

1. Definition of angle in radians






2. One revolution = 360 = 2 radians
ex: radians = 180
ex: /2 radians = 90

Au = s/ r
Au =
arc length
radius

Au
s
r
Linear vs. Rotational Motion
Linear Definitions Rotational Definitions

Ax
v =
Ax
At
a =
Av
At

Au in radians
e =
Au
At
in radians/sec or rev/min
o =
Ae
At
in radians/sec/sec

Ax

x
i

x
f

Au

u
i

u
f
Linear vs. Rotational Velocity
A car drives 400 m in
20 seconds:
a. Find the avg linear velocity
A wheel spins thru an angle of
400 radians in 20 seconds:
a. Find the avg angular velocity

v =
Ax
At
=
400m
20s
= 20m/ s

e =
Au
At
=
400t radians
20s
e = 20t rad/sec
=10 rev/sec
= 600 rev/min

Ax

x
i

x
f

Au
Linear vs. Rotational
Net Force ==> linear acceleration
The linear velocity changes

aF
net
Net Torque ==> angular acceleration
The angular velocity changes
(the rate of spin changes)

o t
net
Torque
Torque is like twisting force

The more torque you apply to a
wheel, the more quickly its rate
of spin changes
Torque = Frsin
Torque is like twisting force
Imagine a bicycle wheel that can only spin about its axle.
If the force is the same in each case, which case produces
a more effective twisting force?
This one!
Torque is like twisting force
Imagine a bicycle wheel that can only spin about its axle.

What affects the torque?
1. The place where the force is applied: the distance r
2. The strength of the force
3. The angle of the force
r

F

F
// to r

F
to r

Torque is like twisting force
Imagine a bicycle wheel that can only spin about its axle.

What affects the torque?
1. The distance from the axis rotation r that the force is applied
2. The component of force perpendicular to the r-vector
r

F

F
to r

Imagine a bicycle wheel that can only spin about its axle.

Torque = (the component of force perpendicular to r)(r)
r

F

F

= Fsin


t = (F

)(r)
t = (F sin)(r)
t = Fr sin
Torque = Frsin

Torque=(F

)(r)
Torque is like twisting force
Imagine a bicycle wheel that can only spin about its axle.
r

F

F

= Fsin


t = (F

)(r)
t = (F sin)(r)
t = Fr sin

t = (F

)(r)
t = Frsin
r

F

F

= Fsin

F
r


0

Since 0 and are supplementary angles
(ie : 0 + = 180)
sin0 = sin
Cross r with F and choose any angle
to plug into the equation for torque
Torque = (Fsin)(r)
Two different ways of looking at torque
r

F

F

= Fsin

Torque = (F)(rsin)
r
F

r

r

F

= Fsin

r

F

Torque=(F

)(r)

Torque=(F)(r

)
Imagine a bicycle wheel that can only spin about its axle.
Torque = (F)(rsin)
r
F

r

F

r

is called the "moment arm" or "moment"

Equilibrium
An object is in Equilibrium when:

1. There is no net force acting on the object
2. There is no net Torque

In other words, the object is NOT experiencing
linear acceleration or rotational acceleration.

a =
Av
At
= 0
o =
Ae
At
= 0
Condition 2: net torque = 0
Torque that makes a wheel want to rotate clockwise is +
Torque that makes a wheel want to rotate counterclockwise is -

Au

Au
Positive Torque Negative Torque
Condition 2: No net Torque
Weights are attached to 8 meter long levers at rest.
Determine the unknown weights below
20 N
??
20 N
??
20 N
??
Condition 2: No net Torque
Weights are attached to an 8 meter long lever at rest.
Determine the unknown weight below
20 N
??
Condition 2: No net Torque
F
1
= 20 N
r1 = 4 m r2 = 4 m
F
2
=??
Ts = 0

T2 - T1 = 0
T2 = T1
F
2
r
2
sin
2
= F
1
r
1
sin
1


(F
2
)(4)(sin90) = (20)(4)(sin90)

F
2
= 20 N same as F
1


Upward force
from the fulcrum
produces no torque
(since r = 0)
Condition 2: No net Torque
20 N
20 N
Condition 2: No net Torque
20 N ??
Weights are attached to an 8 meter long lever at rest.
Determine the unknown weight below
Condition 2: No net Torque
Ts = 0

T2 - T1 = 0
T2 = T1
F
2
r
2
sin
2
= F
1
r
1
sin
1


(F
2
)(2)(sin90) = (20)(4)(sin90)

F
2
= 40 N

F
2
=??
F
1
= 20 N
r1 = 4 m r2 = 2 m
(force at the fulcrum is not shown)
Condition 2: No net Torque
20 N
40 N
Condition 2: No net Torque
20 N
??
Weights are attached to an 8 meter long lever at rest.
Determine the unknown weight below
Condition 2: No net Torque
F
2
=??
F
1
= 20 N
r1 = 3 m r2 = 2 m
Ts = 0

T2 - T1 = 0
T2 = T1
F
2
r
2
sin
2
= F
1
r
1
sin
1


(F
2
)(2)(sin90) = (20)(3)(sin90)

F
2
= 30 N
(force at the fulcrum is not shown)
Condition 2: No net Torque
20 N
30 N
In this special case where
- the pivot point is in the middle of the lever,
- and
1
=
2

F
1
R
1
sin
1
= F
2
R
2
sin
2

F
1
R
1
= F
2
R
2
20 N
20 N
20 N
40 N
20 N
30 N
(20)(4) = (20)(4)
(20)(4) = (40)(2)
(20)(3) = (30)(2)
More interesting problems
(the pivot is not at the center of mass)
Masses are attached to an 8 meter long lever at rest.
The lever has a mass of 10 kg.
Determine the unknown weight below.
20 N ??
CM
Trick: gravity applies a torque equivalent to
(the weight of the lever)(R
cm
)
T
cm
=(mg)(r
cm
) = (100 N)(2 m) = 200 Nm
More interesting problems
(the pivot is not at the center of mass)
20 N
??
CM
Weight of lever
Masses are attached to an 8 meter long lever at rest.
The lever has a mass of 10 kg.
Masses are attached to an 8 meter long lever at rest.
The lever has a mass of 10 kg.
Determine the unknown weight below.
F1 = 20 N
CM
R1 = 6 m
R2 = 2 m
F2 = ??
Rcm = 2 m
Fcm = 100 N
Ts = 0

T2 - T1 - Tcm = 0
T2 = T1 + Tcm
F
2
r
2
sin
2
= F
1
r
1
sin
1
+ F
cm
R
cm
sin
cm
(F
2
)(2)(sin90)=(20)(6)(sin90)+(100)(2)(sin90)

F
2
= 160 N
(force at the fulcrum is not shown)
Other problems:

Sign on a wall#1 (massless rod)
Sign on a wall#2 (rod with mass)
Diving board (find ALL forces on the board)
Push ups (find force on hands and feet)
Sign on a wall, again

Sign on a wall #1
Eat at Joes
30
A 20 kg sign hangs from a 2 meter long massless rod
supported by a cable at an angle of 30 as shown.
Determine the tension in the cable.
30
Pivot point
T
Ty = mg = 200N
mg = 200N
T
y
/T = sin30
T = T
y
/sin30 = 400N
We dont need to use torque
if the rod is massless!
(force at the pivot point is not shown)
Sign on a wall #2
Eat at Joes
30
A 20 kg sign hangs from a 2 meter long rod that
has a mass of 10 kg and is supported by a cable at an
angle of 30 as shown. Determine the tension in the cable F
T

30
Pivot point
F
T

mg = 200N
F
cm
= 100N
(force at the pivot point is not shown)
Sign on a wall #2
A 20 kg sign hangs from a 2 meter long rod that
has a mass of 10 kg and is supported by a cable at an
angle of 30 as shown. Determine the tension in the cable.
30
Pivot point
F
T

mg = 200N
F
cm
= 100N
T = 0
T
FT
= T
cm
+ T
mg

F
T
(2)sin30 =100(1)sin90 + (200)(2)sin90
F
T
= 500 N
(force at the pivot point is not shown)
Diving board
bolt
A 4 meter long diving board with a mass of 40 kg.
a. Determine the downward force of the bolt.
b. Determine the upward force applied by the fulcrum.
Diving board
A 4 meter long diving board with a mass of 40 kg.
a. Determine the downward force of the bolt.
(Balance Torques)
bolt
R
cm
= 1 R
1
= 1
F
cm
= 400 N F
bolt
= 400 N
T = 0
(force at the fulcrum is not shown)
Diving board
A 4 meter long diving board with a mass of 40 kg.
a. Determine the downward force of the bolt.
(Balance Torques)
b. Determine the upward force applied by the fulcrum.
(Balance Forces)
bolt
F
cm
= 400 N F
bolt
= 400 N
F = 800 N F = 0
Remember:
An object is in Equilibrium when:

a. There is no net Torque



b. There is no net force acting on the object

EF = 0

Et = 0
Push-ups #1
A 100 kg man does push-ups as shown
Find the force on his hands and his feet
1 m
0.5 m
30
F
hands

F
feet

CM
Answer:
F
hands
= 667 N
F
feet
= 333 N
A 100 kg man does push-ups as shown
Find the force on his hands and his feet
T = 0
T
H
= T
cm

F
H
(1.5)sin60 =1000(1)sin60

F
H
= 667 N
F = 0
F
feet
+ F
hands
= mg = 1,000 N
F
feet
= 1,000 N - F
hands
= 1000 N - 667 N

F
Feet
= 333 N
1 m
0.5 m
30
F
hands

F
feet

CM
mg = 1000 N
Push-ups #2
A 100 kg man does push-ups as shown
Find the force acting on his hands
1 m
0.5 m
30
F
hands

CM
90
Push-ups #2
A 100 kg man does push-ups as shown
T = 0
T
H
= T
cm

F
H
(1.5)sin90 =1000(1)sin60

F
H
= 577 N
1 m
0.5 m
30
F
hands

CM
90
mg = 1000 N
Force on hands:
(force at the feet is not shown)
Sign on a wall, again
A 20 kg sign hangs from a 2 meter long rod that
has a mass of 10 kg and is supported by a cable at an
angle of 30 as shown
Find the force exerted by the wall on the rod
Eat at Joes
30 30
F
T
= 500N
mg = 200N
Fcm = 100N
FW = ?
(forces and angles NOT drawn to scale!
Find the force exerted by the wall on the rod
FW
x
= FT
x
= 500N(cos30)
FW
x
= 433N
FW
y
+ FT
y
= Fcm +mg
FW
y
= Fcm + mg - FT
y

FW
y
= 300N - 250
FW
y
= 50N
(forces and angles NOT drawn to scale!)
Eat at Joes
30 30
FT = 500N
mg = 200N
Fcm = 100N
FW
FW
y
= 50N
FW
x
= 433N
FW= 436N
FW= 436N