Objectives

7.1 Centre of Gravity

7.2 Equilibrium of particles
7
Statics 7.3 Equilibrium of rigid bodies

By Liew Sau Poh

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Learning Outcome
(a) define centre of gravity
(b) state the condition in which the
centre of mass is the centre of gravity
(c) state the condition for the equilibrium
of a particle
(d) solve problems involving forces in
equilibrium at a point
(e) define torque as = r F
3 4
(f) state the conditions for the equilibrium
of a rigid body
(g) sketch and label the forces which act
on a particle and a rigid body
(h) use the triangle of forces to represent
forces in equilibrium
(i) solve problems involving forces in
equilibrium.

7. Statics 7.1 Centre of Gravity (C.G.)

Statics equilibrium is a state where The Centre of Gravity (C.G.) of a body is
balanced forces acting on a rigid body or the point through which the whole
a particle so that it remains at rest. weight of the body appears to act

For a regular object, the C.G is always at

the centre

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7.1 Centre of Gravity (C.G.) Determine the C.G of a

lamina (Experimental method)
Line of action of its weight must pass
through the centre of gravity.
hung freely at A hung freely at B

at rest, draw
vertical line

G is centre
of gravity
at rest, draw vertical line
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The Centre of Gravity of a Lamina The Centre of Gravity of a Lamina
(Mathematical method)
Taking moments about the y-axis,
Assumption: Lamina is made up of n Xavg = Mg( ) = (m1g1)x1 + (m2g2)x2 +
particles (m3g3)x3 + . . . + (mngn)xn
coordinate of n
coordinate of x ( mi gi xi )
CG each particle
i 1
n
( mi gi xi )
x i 1
Mg
Manhattan Pre ss (H.K.) L td.

The Centre of Gravity of a Lamina The Centre of Gravity of a Lamina

If g = constant (in a uniform Coordinates of centre of gravity:
gravitational field), g1 = g2 = g3 = ... = gn = n n
g, then n ( mi xi ) ( mi yi )
( mi x i ) x i 1 i 1
y
x i 1 M M
M
Note: These are in fact the coordinates
Similarly, by taking moments about the of the centre of mass.
x-axis, n
(mi yi )
i 1
y
M
Centre of Mass (C.M.) vs. Centre Example of C.G.:
of Gravity (C.G.)
Centre of mass of a body is defined as If a body is uniform and regular in
shape, then the c.g. is at the
the point where the entire mass of the geometrical centre.
body acts.
c.g.
Centre of gravity of a body is defined as c.g.
the point where the weight of the body
acts.
c.g. c.g. Centre of
cylinder
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7.2 Equilibrium of particles 7.2 Equilibrium of particles

A body is balanced if pivoted at a point The condition for a particle in static
which passes through c.g.. equilibrium state.
(a) Resultant force is zero.
c.g.
F2 F1

If F1 = - F2
Then the resultant force,
The uniform ruler above is Fnet = F1 + F 2
balanced. =0
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 7.2 Equilibrium of particles Example 1
Thus, F1 + F2 =0 Let three forces F1, F2, and F3 acting on a
particle O, which is in equilibrium, as
The vector sum of the forces must be zero.
shown: F2(y) F1(y )
F2 F1
F2 F1 F2(x) F1(x)
O
F3(x)

3 F3(y) F
Then,
(components x) F1(x) + F2(x) + F3(x) = 0,
and (components y) F 1(y) + F2(y) + F3(y) = 0
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Alternative method Closed polygon

Vector sum of the F2 Consider three forces acting on a
F1
forces must be particles is in equilibrium.
zero. O F2
F1 + F2 + F3 = 0 F3
B F3
F2 F1
F3 The forces can be joined to form a
A
polygon.
F1
C The resultant force = 0
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Closed polygon
If the forces acting on a particle is not in F1
equilibrium, a resultant force is existing. F3
F2
The length of the
sides representing F2 F1
the magnitude of the F2
forces. F3 F1 Resultant F
The direction of
force is represented F3
F4 Resultant, F
by its arrow. Resultant Force, F = F1 + F 2 + F3
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7.3 Equilibrium of a Rigid Body 7.3 Equilibrium of a Rigid Body

The following shows a rod in balance, Two conditions are necessary:
which is so called in static equilibrium.
No resultant force (R = weight)
The weight of the rod is supported by
the reaction, R No resultant torque (Moment = 0)
R
R

Support
weight
weight
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 Toque Toque
Torque can be produced by two parallel
If a force, F is applied on the one end of
forces of the magnitude, but opposite
the rod, it will start to rotate about G. direction of a distance from the rotating
A torque is produced by the force, where axis.
torque, = F r
G r The pair of forces = a couple
F1
d=1m d=1m

F
weight
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F2 26

Torque More about Torque

The a couple (torque), if exists, will
Torque is the tendency
cause a moment (torque) about the
of a force to rotate an
rotating axis, which is given by = Fr = F
object about an axis.
F(2x) 0
Torque, , is a vector
Hence the body is not in equilibrium. r
quantity. Line of
F (external force) P
Consider an object Action
x=1m x=1m d
pivoting about the point Moment arm
P by the force F being
F exerted at a distance r.
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More about Torque More about Torque

The line that extends Magnitude of torque is defined as the
out of the tail of the product of the force exerted on the object
F to rotate it and the moment arm.
force vector is called
the line of action. rF sin Fd
r F Sin F
The perpendicular P Line of
distance from the Action 1 2
r
d
pivoting point P to F1d1 F2 d2 P Line of
Moment arm
the line of action is Action
d
called Moment arm.
29 Moment arm 30

More about Torque 7.3 Equilibrium of a Rigid Body

When there are more than one force being
exerted on certain points of the object, one If a mass of 1 kg is put on one end, the
can sum up the torque generated by each rod will rotate in clockwise direction.
force vectorially. While the force, F1 = 10N
The convention for sign of the torque is
positive if rotation is in counter-clockwise and The torque, = Fr = (10)(1) = 10 Nm
negative if clockwise. F1 r=1m
rF sin Fd
d2
1 2
P
Support F1 =10 N
F1d1 F2 d 2 d1 F2 31 32
7.3 Equilibrium of a Rigid Body 7.3 Equilibrium of a Rigid Body
If another mass of 1 kg is applied on the In this case, the sum of moment/torque
other end, the system will be in static = F1r1 F2r2 = (10)(1) (10)(1) = 0.
equilibrium again, where R = F1 + F2, or
R + F1 + F2 = 0.
1m 1m
R = 20N
1m 1m

Support
F2 = 10N F1 =10N
F2 = 10N Support F1 =10N Direction of Rotation
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Example 1 Solution
The figure shows a rod of length 2 m Let R1 = reaction at point A,
and weight 1 kg resting on supports at R2 = reaction at point B,
end A and B. Find the reaction at A and F = force due to weight of the rod.
B. (g = 10 ms-2)
0.5 m
R1 R2
0.5 m 0.5 m
A B

A F = 10N B
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Solution Solution
Since the system is in equilibrium, Sum of moment about A, M = 0
Resultant Force = 0 R2 (0.5 + 1) 10(1) = 0
R2 = 10/1.5 =6.67 N
From (1), R1 = 10 6.67 =3.33 N
R1 R2 R1
0.5 m 0.5 m R2
1m 0.5 m 0.5 m

A F = 10N B F = 10N
A B
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Solution Example 2
A uniform horizontal beam
OR, Sum of moment about B, M = 0
with a length of l = 8.00 m
R1 (0.5 + 1) 10(0.5) = 0 and a weight of Wb = 200 N
R1 = 5/1.5 = 3.33 N is attached to a wall by a
R2 = 10 3.33 = 6.67N pin connection and
R1 R2 supported by a cable as
1m 0.5 m 0.5 m shown. A person of weight
Wp = 600 N stands a
distance d = 2.00 m from
A F = 10N B the wall.
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 Example 2 Solution
Find the tension in the Analyze
cable as well as the Draw a free body
magnitude and direction diagram
of the force exerted by Use the pivot in the
the wall on the beam. problem (at the wall)
as the pivot
This will generally be
easiest
Note there are three
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unknowns (T, R, q) 42

Solution Solution
The forces can be resolved into
Apply the two
components in the free body diagram. conditions of
equilibrium to obtain
three equations
Solve for the unknowns
Taking moment about R,
l
z (T sin )(l ) Wp d Wb ( ) 0
2
l
W pd Wb ( ) (600 N )(2 m) (200 N )( 4m)
T 2 313N
l sin (8m) sin 53
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Solution Example 3
Considering sum of Fx and sum of Fy, A safe whose mass is M =
430 kg is hanging by a b
Fx R cos T cos 0
rope from a boom with
Fy R sin T sin W p Wb 0
dimensions a = 1.9 m and
a
R sin
tan
W p Wb T sin b = 2.5 m as shown in the
R cos T sin figure. The uniform beam
1
W p Wb T sin has a mass m of 85 kg; the
tan 71.7
T sin mass of the cable and rope
R
T cos (313N ) cos 53
581N are negligible.
cos cos 71.7

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Example 3 Solution
a) What is the tension Tc Consider the sum of Fx and sum of Fy,
in the cable; i. e., what is b Fnet, x Fext, x Fh Tc 0 ; Fh Tc
the magnitude of the
Fnet, y Fext, y Fv Mg mg 0 ; Tr Mg
force Tc on the beam
a Tc
from the horizontal
cable?
Fv
b) What is the force at the Tr
hinge?
mg
Fh
47 Mg 48
 Solution Solution
Taking moment about the hinge Tc

net, z ext, z h v mg Tc Tr
Fh Tc 6093N
Fv
b Tc Fv Mg mg 5047 N Tr
0 0 mg Tc a Tr b 0
2 Fv

b
T F Fh 2 Fv 2 7912 N mg
mg Tc a Mgb 0 mg
r
Fh
2 Fh Mg
Mg
b b m b
Tc Mg mg (M )g 6093N
a 2a 2 a
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Summary

Statics Centre of Gravity

Centre of Mass

Equilibrium Resultant Force = 0

of Particles
Triangle of forces

Equilibrium Torque, = r F
of Rigid Resultant force = 0
Bodies Resultant torque = 0
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