Static Force Analysis

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EME 2056
Theory of Machines
EME 2056
Theory of Machines
Chapt er 5:
St at i c For ce
Anal ysi s
Lect ur ed by: K.W. Li ew
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Learning Out come of Chapt er 5
Learning Out come of Chapt er 5

Analyse the static force of the linkage and
slider-crank mechanism.
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Cont ent s
Cont ent s
5.1. I nt roduct ion
5.2. Forces
5.3. Moment of a Force
5.4. Free-Body Diagrams
5.5. St at ic Equilibrium
5.6. Two- and Three-Force Members
5.7. Force Analysis
5.8. Sliding Frict ion Force
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5.1 I nt roduct ion
5.1 I nt roduct ion

The general function of any machine is to transmit
motion and forces from an actuator to the
components that perform the desired task.

Example:
Escalator used in many commercial building

Electrical power is fed into motors, which drive
mechanisms that move and fold the stairs. The
task is to safely and efficiently move people up
and down at multilevel buildings.
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5.1 I nt roduct ion
5.1 I nt roduct ion

A critical task in the design of machines is to
ensure that the strength of the links and joints is
sufficient to withstand the forces imposed on
them. Therefore, a full understanding of the forces
in the various components of a machine is vital.

This chapter deal with the force analysis in
mechanisms without accelerations, or where the
accelerations can neglected. This condition is
termed static equilibrium.
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5.1 I nt roduct ion
5.1 I nt roduct ion

Static equilibrium is applicable in many machines
where movement is relatively slow.

Examples: clamps, latches, support linkages,
and many hand-operated tools, such as pliers
and cutters.
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5.2 Forces
5.2 Forces

A force is a vect or quant it y t hat represent s a
pushing or pulling act ion on a part .

Being a vect or, t his force is defined by a
magnit ude and a direct ion of t he pulling act ion.

Unit SI , t he primary unit used is t he Newt on (N).
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Scalar Notation
-

Since the x and y axes are designated positive
and negative directions.
-

The magnitude and directional sense of the
rectangular components of a force can be
expressed in terms of algebraic scalars.
Eg:
Sense of direction
along positive x and
y axes
y x
F F F + =
5.2 Forces
5.2 Forces
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Scalar Notation
Eg:
Sense of direction
along positive x and
negative y axes
y x
F F F ' ' ' + =
5.2 Forces
5.2 Forces
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Scalar Notation
-

Head of a vector arrow = sense of the
vector graphically (algebraic signs not
used)
-

Vectors are designated using boldface
notations
-

Magnitudes (always a positive quantity)
are designated using italic symbols
5.2 Forces
5.2 Forces
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Cartesian Vector Notation
-

Cartesian unit vectors i

and j

are used to designate
the x and y directions
-

Unit vectors i

and j

have dimensionless magnitude of
unity ( = 1 )
-

Their sense are indicated by a positive or negative
sign (pointing in the positive or negative x or y axis)
-

Magnitude is always a positive quantity, represented
by scalars F
x
and F
y
5.2 Forces
5.2 Forces
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F

= F
x
i

+ F
y
j F = F
x
i

+ Fy(-j)
F = F
x
i

F
y
j
5.2 Forces
5.2 Forces
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Coplanar Force Resultants

To determine resultant of several coplanar
forces:
-

Resolve force into x and y components
-

Addition of the respective components
using scalar algebra
5.2 Forces
5.2 Forces
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Example: Consider three coplanar
forces
Cartesian vector notation
F
1

= F
1x
i

+ F
1y
j
F
2

= -

F
2x
i

+ F
2y
j
F
3

= F
3x
i

F
3y
j
5.2 Forces
5.2 Forces
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Vector resultant is therefore
F
R

= F
1

+ F
2

+ F
3
= F
1x
i

+ F
1y
j -

F
2x
i

+ F
2y
j + F
3x
i

F
3y
j
= (F
1x
-

F
2x
+ F
3x
)i

+ (F
1y
+ F
2y

F
3y
)j
= (F
Rx
)i

+ (F
Ry
)j
5.2 Forces
5.2 Forces
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If scalar notation are used
F
Rx
= (F
1x
-

F
2x
+ F
3x
)
F
Ry
= (F
1y
+ F
2y

F
3y
)
In all cases,
F
Rx
= F
x
F
Ry
= F
y
*

Take note of sign conventions
5.2 Forces
5.2 Forces
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-

Positive scalars = sense of direction
along the positive coordinate axes
-

Negative scalars = sense of direction
along the negative coordinate axes
-

Magnitude of F
R

can be found by
Pythagorean Theorem
Ry Rx
R
F F F
2 2
+ =
5.2 Forces
5.2 Forces
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-

Direction angle

(orientation of the force)
can be found by trigonometry
Rx
Ry
F
F
1
tan
= u
5.2 Forces
5.2 Forces
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Example 5.1
The link is subjected to two forces F
1

and
F
2

. Determine the magnitude and
orientation of the resultant force.
5.2 Forces
5.2 Forces
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Solution
Scalar Notation
| =
+ =
E =
=
=
E =
N
N N F
F F
N
N N F
F F
Ry
y Ry
Rx
x Rx
8 . 582
45 cos 400 30 sin 600
:
8 . 236
45 sin 400 30 cos 600
:

5.2 Forces
5.2 Forces
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Solution
Resultant Force
From vector addition,
Direction angle

is
( ) ( )
N
N N F
R
629
8 . 582 8 . 236
2 2
=
+ =
9 . 67
8 . 236
8 . 582
tan
1
=
|
.
|
\
|
=

N
N
u
5.2 Forces
5.2 Forces
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Solution
F
1

= { 600cos30i

+ 600sin30j

} N
F
2

= { -400sin45i

+ 400cos45j

} N
Thus,
F
R

= F
1

+ F
2
= (600cos30N -

400sin45N)i

+
(600sin30N + 400cos45N)j
= {236.8i

+ 582.8j}N
5.2 Forces
5.2 Forces
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Moment of a force about a point or axis provides a
measure of the tendency of the force to cause a body
to rotate about the point or axis.
Case 1
Consider horizontal force F
x

,
which acts perpendicular to
the handle of the wrench and
is located a distance d
y
from the
point O
5.3 Moment of a Force
Scalar Formulat ion
Scalar Formulat ion
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F
x

tends to turn the pipe about the z axis

The larger the force or the distance d
y
, the
greater the turning effect

Torque

tendency of
rotation caused by F
x
or simple moment (M
o

)
z
Scalar Formulat ion
Scalar Formulat ion
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Moment axis (z) is perpendicular to shaded
plane (x-y)

F
x

and d
y
lies on the shaded plane (x-y)

Moment axis (z) intersects
the plane at point O
Scalar Formulat ion
Scalar Formulat ion
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Case 2
Apply force F
z

to the wrench

Pipe does not rotate about z axis

Tendency to rotate about x axis

The pipe may not actually
rotate F
z

creates tendency
for rotation so moment
(M
o

)
x

is produced
Scalar Formulat ion
Scalar Formulat ion
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Case 2

Moment axis (x) is perpendicular to shaded
plane (y-z)

F
z

and d
y
lies on the shaded plane (y-z)
Scalar Formulat ion
Scalar Formulat ion
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Scalar Formulat ion
Scalar Formulat ion
Case 3
Apply force F
y

to the wrench

No moment is produced about point O

Lack of tendency to rotate
as line of action passes
through O
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Scalar Formulat ion
Scalar Formulat ion
In General

Consider the force F

and the point O which lies in the
shaded plane

The moment M
O

about point O,
or about an axis passing
through O and perpendicular
to the plane, is a vector quantity

Moment M
O

has its specified
magnitude and direction
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Scalar Formulat ion
Scalar Formulat ion
Magnitude

For magnitude of M
O

,
M
O

= Fd
where d = moment arm

or perpendicular
distance

from the axis at point O to its line
of action of the force

Units for moment is N.m
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Scalar Formulat ion
Scalar Formulat ion
Direction

The direction of M
O

is specified by
using right hand rule

The thumb points along the
moment axis to give the direction
and sense of the moment vector

Moment vector is upwards and
perpendicular to the shaded plane
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Scalar Formulat ion
Scalar Formulat ion
Direction

M
O

is shown by a vector arrow
with a curl to distinguish it from
force vector
Example (Fig b)

M
O

is represented by the
counterclockwise curl, which indicates
the action of F. The arrowhead of t he
curl shows t he sense of rot at ion caused
by F.
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Scalar Formulat ion
Scalar Formulat ion
Direct ion

Moment always act s about an
axis perpendicular t o t he plane
cont aining F and d

Moment axis int ersect s
t he plane at point O
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Scalar Formulat ion
Scalar Formulat ion
Result ant Moment of a Syst em of
Coplanar Forces

Result ant moment , M
Ro
= addit ion of t he moment s
of all t he forces algebraically since all moment forces
are collinear
M
Ro
= Fd
t aking count erclockwise t o be posit ive
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Scalar Formulat ion
Scalar Formulat ion
Result ant Moment of a Syst em of
Coplanar Forces

A count erclockwise curl is writ t en along t he
equat ion t o indicat e t hat a posit ive moment if
direct ed along t he + z axis
and negat ive along t he z axis
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Scalar Formulat ion
Scalar Formulat ion
Example 5.2
For each case, det ermine t he moment of t he
force about point O
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Scalar Formulat ion
Scalar Formulat ion
Solut ion

Line of act ion is ext ended as a dashed line t o
est ablish moment arm d

Tendency t o rot at e is indicat ed and t he orbit is
shown as a colored curl
) ( . 5 . 37 ) 75 . 0 )( 50 ( ) (
) ( . 200 ) 2 )( 100 ( ) (
CW m N m N M b
CW m N m N M a
o
o
= =
= =
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Scalar Formulat ion
Scalar Formulat ion
Solut ion
) ( . 4 . 42 ) 45 sin 1 )( 60 ( ) (
) ( . 229 ) 30 cos 2 4 )( 40 ( ) (
CCW m N m N M d
CW m N m m N M c
o
o
= =
= + =
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Scalar Formulat ion
Scalar Formulat ion
Example 5.3
Det ermine t he moment s of
t he 800N force act ing on t he
frame about point s A, B, C
and D.
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(40)
Scalar Formulat ion
Scalar Formulat ion
Solut ion
Scalar Analysis
Line of act ion of F passes t hrough C
) ( . 400 ) 5 . 0 )( 800 (
. 0 ) 0 )( 800 (
) ( . 1200 ) 5 . 1 )( 800 (
) ( . 2000 ) 5 . 2 )( 800 (
CCW m N m N M
m kN m N M
CW m N m N M
CW m N m N M
D
C
B
A
= =
= =
= =
= =
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- Vect or Formulat ion

Moment of force F about point O can
be expressed using cross product
M
O
= r X F
where r represent s posit ion
vect or from O t o any point
lying on t he line of act ion
of F
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Magnit ude

For magnit ude of cross product ,
M
O
= r F sin
where

is t he angle measured bet ween
t ails of r and F

Treat r as a sliding vect or. Since d = r sin,
M
O
= r F sin

= F (r sin) = Fd
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Direct ion

Direct ion and sense of M
O
are det ermined by
right -hand rule
- Ext end r t o t he dashed posit ion
- Curl fingers from r t owards F
- Direct ion of M
O
is t he same
as t he direct ion of t he t humb
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Direct ion
* Not e:
- curl of t he fingers indicat es t he sense of
rot at ion
- Maint ain proper order of r
and F since cross product
is not commut at ive
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Cart esian Vect or Formulat ion

For force expressed in Cart esian
form,
where r
x
, r
y
, r
z
represent t he x, y, z
component s of t he posit ion vect or
and F
x
, F
y
, F
z
represent t hat of t he
force vect or
z y x
z y x O
F F F
r r r
k j i
F X r M
= =
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(46)

Wit h t he det erminant expended,
M
O
= (r
y
F
z
r
z
F
y
)i (r
x
F
z
- r
z
F
x
)j + (r
x
F
y

y
F
x
)k

M
O
is always perpendicular t o
t he plane cont aining r and F

Comput at ion of moment by cross
product is bet t er t han scalar for
3D problems
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Result ant moment of forces about point
O can be det ermined by vect or addit ion
M
Ro
= (r x F)
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5.4 Free-Body Diagrams

FBD is t he best met hod t o represent all t he
known and unknown forces in a syst em.

FBD is a sket ch of t he out lined shape of t he
body, which represent s it being isolat ed or free
from it s surroundings.

Necessary t o show all t he forces and couple
moment s t hat t he surroundings exert on t he
body so t hat t hese effect s can be account ed
for when equat ions of equilibrium are applied.
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Support React ions
Ex: Pin

The pin passes t hrough a hold in t he beam
and t wo leaves t hat are fixed t o t he ground

Prevent s t ranslat ion of t he beam in any
direct ion

The pin exert s a force F on t he beam in t his
direct ion
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Weight and Center of Gravity

When a body is subjected to gravity, each
particle has a specified weight

For entire body, consider gravitational forces as
a system of parallel forces acting on all particles
within the boundary

The system can be represented by a single
resultant force, known as weight Wof the body

Location of the force application is known as the
center of gravity
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Weight and Center of Gravity

Center of gravity occurs at the geometric
center or centroid for uniform body of
homogenous material

For non-homogenous bodies and usual
shapes, the center of gravity will be given
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I dealized Models

When an engineer perform a force analysis of any obj ect ,
he or she considers a corresponding analyt ical or
idealized model t hat gives result s t hat approximat e as
closely as possible t he act ual sit uat ion.

To do t his, careful select ion of support s, mat erial
behavior and obj ect s dimensions are needed for t rust y
result s.

I n complex cases may require developing several
different models for analysis.
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Procedure for Drawing a FBD
1. Draw Out lined Shape

I magine body t o be isolat ed or cut free from it s
const raint s

Draw out line shape
2. Show All Forces and Couple Moment s

I dent ify all ext ernal forces and couple moment s
t hat act on t he body
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Usually due t o
- applied loadings
- react ions occurring at t he support s or at
point s of cont act wit h ot her body
- weight of t he body

To account for all t he effect s, t race over t he
boundary, not ing each force and couple
moment act ing on it
3. I dent ify Each Loading and Give Dimensions

I ndicat e dimensions for calculat ion of forces
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Known forces and couple moment s should
be properly labeled wit h t heir magnit udes
and direct ions

Let t ers used t o represent t he magnit udes
and direct ion angles of unknown forces and
couple moment s

Est ablish x, y and coordinat e syst em t o
ident ify unknowns
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Example 5.4
Draw t he free-body diagram of
t he foot lever. The operat or
applies a vert ical force t o t he
pedal so t hat t he spring is
st ret ched 40mm and t he force
in t he short link at B is 100N.
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Solut ion

Lever loosely bolt ed t o frame at A

Rod at B pinned at it s ends and act s as a
short link

For idealized model of t he lever,
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Solut ion

Free-Body Diagram

Pin support at A exert s component s A
x
and A
y
on
t he lever, each force wit h a known line of act ion
but unknown magnit ude
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Solut ion

Link at B exert s a force 100N act ing in t he
direct ion of t he link

Spring exert s a horizont al force on t he lever
F
s
= ks = 5N/ mm(40mm) = 200N

Operat ors shoe exert vert ical force F on t he
pedal

Comput e t he moment s using t he dimensions on
t he FBD

Comput e t he sense by t he equilibrium equat ions
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Example 5.5
Draw t he free-body diagram
of t he unloaded plat form t hat
is suspended off t he edge of
t he oil rig. The plat form has a
mass of 200kg.
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Solut ion

I dealized model considered in
2D because by observat ion,
loading and t he dimensions are
all symmet rical about a vert ical
plane passing t hrough t he
cent er

Connect ion at A assumed t o be
a pin and t he cable support s t he
plat form at B
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Solut ion

Direct ion of t he cable and average dimensions
of t he plat form are list ed and cent er of gravit y
has been det ermined

Free-Body Diagram
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(66)
Solut ion

Plat forms weight = 200(9.81) = 1962N

Force component s A
x
and A
y
along wit h
t he cable force T represent t he
react ions t hat bot h pins and cables
exert on t he plat form

Half of t he cables magnit udes is
developed at A and half developed at B
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Example 5.6
The free-body diagram of each obj ect is
drawn. Carefully st udy each solut ion and
ident ify what each loading represent s.
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Solut ion
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Solut ion
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Example 5.7
Draw t he free-body diagrams of each part of
t he smoot h pist on and link mechanism used
t o crush recycled cans.
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Solut ion

Member AB is a t wo force member

FBD of t he part s
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(72)
Solut ion

Since t he pins at B and D connect only t wo
part s t oget her, t he forces are equal but
opposit e on t he separat e FBD of t heir
connect ed members

Four component s of t he force act on t he
pist on: D
x
and D
y
represent t he effect s of
t he pin and N
w
is t he result ant force of t he
floor and P is t he result ant compressive
force caused by can C
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Example 5.8
Draw t he free-body
diagrams of t he bucket and
t he vert ical boom of t he back
hoe. The bucket and it s
cont ent has a weight W.
Neglect t he weight of t he
members.
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(74)
Solut ion

I dealized model of t he assembly

Members AB, BC, BE and HI are t wo
force members
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(75)
Solut ion

FBD of t he bucket and boom

Pin C subj ect ed t o 2 forces, force
of t he link BC and force of t he
boom

Pin at B subj ect ed t o t hree forces,
force by t he hydraulic cylinder and
t he forces caused by t he link

These forces are relat ed by
equat ion of force equilibrium
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5.5 St at ic Equilibrium

St at ic Equilibrium all links t hat are at rest
or moving at const ant velocit y.

Condit ions for an obj ect t o be in st at ic
equilibrium:
1. The result ant , of all ext ernal forces act ing on
t he obj ect is equivalent t o zero and does not
cause it t o t ranslat e.
2. The moment due t o any ext ernal force is
cancelled by t he moment s of t he ot her forces
act ing on t he obj ect and do not cause it t o
rot at e about any point .
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(77)

For equilibrium of an object in 2D,
F
x

= 0; F
y

= 0; M
O

= 0

F
x

and F
y

represent the algebraic sums of the
x and y components of all the forces acting on
the object.

M
O

represents the algebraic sum of the couple
moments and moments of the force components
about an axis perpendicular to x-y

plane and
passing through arbitrary point O, which may lie
on or off the object.
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(78)
5.6 Two- and Three-Force
Members
Members

Simplify some equilibrium problems by
recognizing members t hat are subj ect ed t op only
2 or 3 forces
Two-Force Members

When a member is subj ect t o
no couple moment s and forces
are applied at only t wo point s
on a member, t he member is
called a t wo-force member
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(79)
Members
Members
Two-Force Members
Example

Forces at A and B are summed t o
obt ain t heir respect ive result ant s F
A
and F
B

These t wo forces will maint ain
t ranslat ional and force equilibrium
provided F
A
is of equal magnit ude
and opposit e direct ion t o F
B

Line of act ion of bot h forces is
known and passes t hrough A and B
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(80)
Members
Members
Two-Force Members

Hence, only t he force
magnit ude must be det ermined
or st at ed

Ot her examples of t he t wo-
force members held in
equilibrium are shown in t he
figures t o t he right
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(81)
Members
Members
Three-Force Members

I f a member is subj ect ed t o only t hree forces, it is
necessary t hat t he forces be eit her concurrent or
parallel for t he member t o be in equilibrium

To show t he concurrency
requirement , consider a body
wit h any t wo of t he t hree forces
act ing on it , t o have line of
act ions t hat int ersect at point O
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(82)
Members
Members
Three-Force Members

To sat isfy moment equilibrium about O, t he t hird
force must also pass t hrough O, which t hen
makes t he force concurrent

I f t wo of t he t hree forces parallel,
t he point of currency O, is
considered at infinit y

Third force must parallel t o
t he ot her t wo forces t o insect
at t his point
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(83)
Members
Members

Bucket link AB on t he back
hoe is a t ypical example of a
t wo-force member since it is
pin connect ed at it s end
provided it s weight is
neglect ed, no ot her force
act s on t his member

The hydraulic cylinder BC is
pin connect ed at it s ends,
being a t wo-force member.
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(84)
Members
Members

The boom ABD is subj ect ed t o t he
weight of t he suspended mot or at D,
t he forces of t he hydraulic cylinder at
B, and t he force of t he pin at A. I f t he
booms weight is neglect ed, it is a
t hree-force member

The dump bed of t he t ruck operat es
by ext ending t he hydraulic cylinder
AB. I f t he weight of AB is neglect ed,
it is a t wo-force member since it is
pin-connect ed at it s end point s
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(85)
5.7 Force Analysis
5.7 Force Analysis
Example 5.9
The link is pin-connect ed at a and rest a
smoot h support at B. Comput e t he horizont al
and vert ical component s of react ions at pin A
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(86)
5.7 Force Analysis
5.7 Force Analysis
Solut ion
FBD

React ion N
B
is perpendicular t o t he link at
B

Horizont al and vert ical
component s of react ion
are represent ed at A
87
87
(87)
5.7 Force Analysis
5.7 Force Analysis
Solut ion
Equat ions of Equilibrium
N Ax
N A
F
N N
m N m N m N
M
x
x
B
B
A
100
0 30 sin 200
; 0
200
0 ) 75 . 0 ( ) 1 ( 60 . 90
; 0
=
=
= +
=
= +
=
88
88
(88)
5.7 Force Analysis
5.7 Force Analysis
Solut ion
N A
N N A
F
y
y
y
233
0 30 cos 200 60
; 0
=
=
= | +
89
89
(89)
Example 5.10
Placement of concret e from t he
t ruck is accomplished using t he
chut e. Det ermine t he force t hat t he
hydraulic cylinder and t he t ruck
frame exert on t he chut e t o hold it in
posit ion. The chut e and t he wet
concret e cont ained along it s lengt h
have a uniform weight of 560N/ m.
5.7 Force Analysis
5.7 Force Analysis
90
90
(90)
5.7 Force Analysis
5.7 Force Analysis
Solut ion

I dealized model of t he chut e

Assume chut e is pin connect ed t o t he frame
at A and t he hydraulic cylinder BC act s as a
short link
91
91
(91)
5.7 Force Analysis
5.7 Force Analysis
Solut ion
FBD

Since chut e has a lengt h of 4m, t ot al support ed
weight is (560N/ m)(4m) = 2240N, which is
assumed t o act at it s midpoint , G

The hydraulic cylinder exert s a horizont al force
FBC on t he chut e

A direct solut ion of F
BC
is obt ained by t he
summat ion about t he pin at A
92
92
(92)
5.7 Force Analysis
5.7 Force Analysis
Solut ion
N Ax
N A
F
N F
m N
m N m F
M
x
x
BC
BC
A
7900
0 7900
; 0
7900
0 ) 0625 . 0 ( 30 sin 2240
) 2 ( 30 cos 2240 ) 5 . 0 (
; 0
=
= +
= +
=
= +
+
=
93
93
(93)
5.7 Force Analysis
5.7 Force Analysis
Solut ion
Checking,
0 ) 0625 . 0 ( 30 sin 2240 ) 1 ( 30 cos 2240
) 30 cos 1 ( 2240 ) 5 . 0 ( 7900
; 0
2240
0 2240
; 0
= +
+ +
=
=
=
= | +
m N m N
m N m N
M
N A
N A
F
B
y
y
y

94
94
(94)
5.7 Force Analysis
5.7 Force Analysis
Example 5.11
The uniform t ruck ramp has a weight of
1600N (

160kg ) and is pinned t o t he body
of t he t ruck at each end and held in posit ion
by t wo side cables.
Det ermine t he t ension
in t he cables.
95
95
(95)
5.7 Force Analysis
5.7 Force Analysis
Solut ion

I dealized model of t he ramp

Cent er of gravit y locat ed at t he midpoint since t he
ramp is approximat ely uniform
FBD of t he Ramp
96
96
(96)
5.7 Force Analysis
5.7 Force Analysis
Solut ion
By t he principle of t ransmissibilit y, locat e T at C
m d
m d
N T
N
T m T
M
A
0154 . 1
20 sin
2
10 sin
5985
0 ) 30 cos 5 . 1 ( 1600
) 30 cos 2 ( 20 sin ) 30 sin 2 ( 20 cos
; 0
=
=
=
= +
+
=

97
97
(97)
5.7 Force Analysis
5.7 Force Analysis
Solut ion
Since t here are t wo cables support ing t he
ramp,
T = T/ 2 = 2992.5N
98
98
(98)
5.7 Force Analysis
5.7 Force Analysis
Example 5.12
The lever ABC is pin-support ed
at A and connect ed t o a short
link BD. I f t he weight of t he
members are negligible,
det ermine t he force of t he pin
on t he lever at A.
99
99
(99)
5.7 Force Analysis
5.7 Force Analysis
Solut ion
FBD

Short link BD is a t wo-force
member, so t he result ant
forces at pins D and B must be
equal, opposit e and collinear

Magnit ude of t he force is
unknown but line of act ion
known as it passes t hrough B
and D

Lever ABC is a t hree-force
member
100
100
(100)
5.7 Force Analysis
5.7 Force Analysis
Solut ion
FBD

For moment equilibrium, t hree
non-parallel forces act ing on it
must be concurrent at O

Force F on t he lever at B is
equal but opposit e t o t he force
F act ing at B on t he link

Dist ance CO must be 0.5m
since lines of act ion of F and
t he 400N force are known
101
101
(101)
5.7 Force Analysis
5.7 Force Analysis
Solut ion
Equat ions of
Equilibrium
Solving,
kN F
kN F
F F
F
N F F
F
A
A
y
A
x
32 . 1
07 . 1
0 45 sin 3 . 60 sin
; 0
0 400 45 cos 3 . 60 cos
; 0
3 . 60
4 . 0
7 . 0
tan
1
=
=
=
= | +
= +
= +
=
|
.
|
\
|
=

u
102
102
(102)
5.7 Force Analysis
5.7 Force Analysis
Example 5.13
The hand exert s a force of 35N on t he grip of t he
spring compressor. Det ermine t he force in t he
spring needed t o maint ain equilibrium of t he
mechanism.
103
103
(103)
5.7 Force Analysis
5.7 Force Analysis
Solut ion

FBD for part s DC and ABG
104
104
(104)
Solut ion
Lever ABG
Pin E
N F
N F F
F F F
F F F
N F
mm N mm F M
x
EF ED
EF EA y
EA
EA B
140
0 140 60 cos 2 ; 0
0 60 sin 60 sin ; 0
140
0 ) 100 ( 35 ) 25 ( ; 0
=
= = +
= =
= = | +
=
= =

5.7 Force Analysis
5.7 Force Analysis
105
105
(105)
Solut ion
Arm DC
N F
mm mm F
M
s
s
C
62 . 60
0 ) 75 ( 30 cos 140 ) 150 (
; 0
=
= +
=
5.7 Force Analysis

5.7 Force Analysis
106
106
(106)
5.8 Sliding Frict ion Force

When friction force cannot be neglected in
a machine analysis, an additional force,
friction force, F
f
, is observed.

Friction always acts to impede motion. So,
a friction force acts on a sliding link
(perpendicular to the normal force, N) and
in a direction opposite to the motion.
107
107
(107)

For a stationary object, friction works to
prevent motion until the maximum
attainable friction has been reached.

This maximum value is a function of a
coefficient of friction, .

The friction force value that acts on sliding
components is calculated as
F
f
= N

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5.7 Force Analysis

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