Translational Equilibrium

Objectives
• Describe with examples Newton’s three
laws of motion.
• Describe with examples the first
condition for equilibrium.
• Draw free-body diagrams for objects in
translational equilibrium.
• Apply the first condition for equilibrium
to the solution of problems.
 Translational Equilibrium
• An object is said to be in
Translational Equilibrium if and
only if there is no resultant force. B A
• This means that the sum of all C
acting forces is zero.

In
In the
the example,
example, the
the resultant
resultant ofof the
the three
three forces
forces
A,
A, B,
B, and
and CC acting
acting onon the
the ring
ring must
must bebe zero.
zero.
 Visualization of Forces
Force diagrams are necessary for studying
objects in equilibrium.

Equilibrium: The action forces are each

FF  00 ON the ring.

A • Force A: By ceiling on ring.

B
C • Force B: By ceiling on ring.
• Force C: By weight on ring.
 Visualization of Forces
Now let’s look at the Reaction Forces for the
same arrangement. They will be equal, but
opposite, and they act on different objects.

Reaction Reaction forces are each

forces: exerted: BY the ring.

Br Ar • Force Ar: By ring on ceiling.

Cr • Force Br: By ring on ceiling.
• Force Cr: By ring on weight.
 Vector Sum of Forces
• An object is said to be in
Translational Equilibrium if and
only if there is no resultant force. 400
• The vector sum of all forces acting A
B
on the ring is zero in this case.
C
W

Vector sum: F = A + B + C = 0
 Vector Force Diagram
400
A
A Ay Ay
B B 40 0

C
C Ax
W
W

A free-body diagram is a force diagram

showing all the elements in this diagram:
axes, vectors, components, and angles.
 Look Again at Previous Arrangement
A
40 0
Ay
A Ay
B B 40 0

C Ax
C
W
W

1. Isolate point. 4. Label components.

2. Draw x,y axes. 5. Show all given
3. Draw vectors. information.
 Translational Equilibrium
• The First Condition for
Equilibrium is that there be no
resultant force.
• This means that the sum of all
acting forces is zero.

FFxx  00 FFyy  00
 Example 2. Find the tensions in ropes A
and B for the arrangement shown.
A
400
A Ay Ay
B B 40 0

C C Ax
200 N
200 N

The Resultant Force Rx = Ax + Bx + Cx = 0

on the ring is zero:
Ry = Ay + By + Cy = 0
R = F = 0
 Example 2. Continued . . .

Components A
Ax = A cos 400 Ay Ay
B 40 0

Ay = A sin 400 Ax
C
Bx = B; By = 0
W
Cx = 0; Cy = W

AA free-body
free-body diagram
diagram must
must represent
represent all
all
forces
forces as
as components
components along
along xx and
and y-axes.
y-axes.
It
It must
must also
also show
show all
all given
given information.
information.
 Example 2. Continued . . .
A Components
40 0

B A Ay Ay
B 400 Ax = A cos 400
C C Ax
200 N Ay = A sin 400
200 N
Bx = B; By = 0
Fx= 0 F F
y y=
 A sin 0 N  0; or Asin 40  200CN = 0; C = W
40  200
0 0

x y

F
x  A cos 40  B  0; or B  A cos 40
0 0
 Example 2. Continued . . .
A Two
Ay Ay A sin 40  200 N
0
B 40 0 equations;
C Ax two
unknowns
B  A cos 40 0

200 N

Solve first 200 N Solve Next

A  311 N
for A sin 40 0
for B

B  A cos 40  (311 N) cos 40 ; B =238 N

0 0

The tensions in
A and B are A = 311 N; B = 238 N
 Problem Solving Strategy
1. Draw a sketch and label all information.
2. Draw a free-body diagram.
3. Find components of all forces (+ and -).
4. Apply First Condition for Equilibrium:

Fx= 0 ; Fy= 0

5. Solve for unknown forces or angles.

 Example 3. Find Tension in Ropes A and B.

300 600 B By
B Ay A
A 30 0 600 600
300
Ax Bx
400 N 400 N

1. Draw free-body diagram.

2. Determine angles.
3. Draw/label components.
 Example 3. Find the tension in ropes A and B.

First Condition for

Equilibrium: B By
Ay A
300 600
Ax Bx
Fx= 0 ; Fy= 0
W 400 N

4. Apply 1st Condition for Equilibrium:

Fx = Bx - Ax = 0 Bx = Ax
Fy = By + Ay - W = 0 By + Ay = W
 Example 3. Find the tension in ropes A and B.

Ax = A cos 300; Ay = A sin 300

B By
Bx = B cos 600 Ay A
300 600
By = B sin 600 Ax Bx
Wx = 0; Wy = -400 N W 400 N

Using Trigonometry, the first condition yields:

Bx = Ax B cos 600 = A cos 300
By + Ay = W A sin 300 + B sin 600 = 400 N
 Example 3 (Cont.) Find the tension in A and B.

B cos 600 = A cos 300

B By
Ay A A sin 300 + B sin 600 = 400 N
300 600
Ax Bx
We now solve for A and B: Two
W 400 N Equations and Two Unknowns.

We will first solve the horizontal equation for

B in terms of the unknown A:
0
A cos 30
B 0
 1.73 A BB = 1.732 AA
= 1.732
cos 60
 Example 3 (Cont.) Find Tensions in A and B.

B = 1.732 A
B By Now apply Trig to:
Ay A
300 600
Ax Bx Ay + By = 400 N

400 N A sin 600 + B sin 600 = 400 N

B = 1.732 A A sin 300 + B sin 600 = 400 N

A sin 300 + (1.732 A) sin 600 = 400 N

0.500 A + 1.50 A = 400 N AA == 200

200 NN
 Example 3 (Cont.) Find B with A = 200 N.

A = 200 N
B By
Ay A B = 1.732 A
300 60 0

Ax Bx B = 1.732(400 N)
W 400 N B = 346 N

Rope tensions are: A = 200 N and B = 346 N

This problem is made much simpler if you notice
that the angle between vectors B and A is 900 and
rotate the x and y axes.
 Example 4. Rotate axes for same example.

y x
300 600 B By
A B Ay A
300 60 0
300 600
Ax Bx
400 N 400 N
W

We recognize that A and B are at right angles,

and choose the x-axis along B – not horizontally.
The y-axis will then be along A.
Since A and B are perpendicular, we can find
the new angle  from geometry.

y x y x

B A B
A
300 600
600 
300

400 N W =400 N
y x
Wx = (400 N) cos 300
B Wy = (400 N) sin 300
A
Wx Thus, the components of
300 the weight vector are:
Wy 400 N Wx = 346 N; Wy = 200 N

Apply the first condition for Equilibrium, and . . .

BB –– W
Wxx == 00 and
and AA –– W
Wyy == 00
 Example 4 (Cont.) We Now Solve for A and B:

y x
Fx = B - Wx = 0
B
A B = Wx = (400 N) cos 300
Wx
300 BB == 346
346 NN
Wy 400 N
Fy = A - Wy = 0
Before working a A = Wy = (400 N) sin 300
problem, you might
see if rotation of the AA == 200
200 NN
axes helps.
 Summary
•• Newton’s
Newton’s First
First Law:
Law: AnAn object
object at
at rest
rest or
or an
an
object
object in
in motion
motion at at constant
constant speed
speed will
will
remain
remain at
at rest
rest oror at
at constant
constant speed
speed inin the
the
absence
absence of
of aa resultant
resultant force.
force.
 Summary
•• Second
Second Law:
Law: Whenever
Whenever aa resultant
resultant force
force
acts
acts on
on an
an object,
object, itit produces
produces an an
acceleration,
acceleration, an
an acceleration
acceleration that that isis
directly
directly proportional
proportional to to the
the force
force and
and
inversely
inversely proportional
proportional to to the
the mass.
mass.
 Summary

•• Third
ThirdLaw:
Law:To
Toevery
everyaction
actionforce
forcethere
theremust
mustbe
bean
an
equal
equaland
andopposite
oppositereaction
reactionforce.
force.
 Problem Solving Strategy
1. Draw a sketch and label all information.
2. Draw a free-body diagram.
3. Find components of all forces (+ and -).
4. Apply First Condition for Equilibrium:

Fx= 0 ; Fy= 0

5. Solve for unknown forces or angles.

Friction and Equilibrium
 Objectives

•• Define
Define and
and calculate
calculate the
the coefficients
coefficients ofof kinetic
kinetic
and
and static
static friction,
friction, and
and give
give the
the relationship
relationship of
of
friction
friction to
to the
the normal
normal force.
force.
•• Apply
Apply the
the concepts
concepts of of static
static and
and kinetic
kinetic
friction
friction to
to problems
problems involving
involving constant
constant motion
motion
or
or impending
impending motion.
motion.
 Friction Forces
When two surfaces are in contact, friction forces
oppose relative motion or impending motion.

P Friction forces are parallel to

the surfaces in contact and
oppose motion or impending
motion.

Static Friction: No Kinetic Friction:

relative motion. Relative motion.
motion
 Friction and the Normal Force
12
8N n N
n
4N
n2 N 4N 6N

The force required to overcome static or

kinetic friction is proportional to the normal
force, n.

= ssn
ffss = n = kkn
ffkk = n
Friction forces are independent of area.

4N 4N

If the total mass pulled is constant, the

same force (4 N) is required to overcome
friction even with twice the area of
contact.

For this to be true, it is essential that ALL

other variables be rigidly controlled.
 Constant or Impending Motion
For motion that is impending and for
motion at constant speed, the resultant
force is zero and F = 0. (Equilibrium)
fs P fk P

Rest Constant Speed

P – fs = 0 P – fk = 0

Here the weight and normal forces are

balanced and do not affect motion.
 Friction and Acceleration
When P is greater than the maximum fs the
resultant force produces acceleration.
a
fk P
fk = kn
Constant Speed

Note that the kinetic friction force remains

constant even as the velocity increases.
 EXAMPLE 1: If k = 0.3 and s = 0.5, what horizontal
pull P is required to just start a 250-N block moving?

1. Draw sketch and free-body

diagram as shown.

2. List givens and label what is

n to be found:

fs P
k = 0.3; s = 0.5; W = 250 N
+
W
Find: P = ?

3. Recognize for impending motion: P – fs = 0

EXAMPLE 1(Cont.): s = 0.5, W = 250 N. Find P to
overcome fs (max). Static friction applies.

n For this case: P – fs = 0

fs P 4. To find P we need to
+ know fs , which is:
f s = s n n=?
250
N

5. To find n: Fy = 0 n–W=0

W = 250 N n = 250 N
 EXAMPLE 1(Cont.): s = 0.5, W = 250 N. Find P to overcome f
(max). Now we know n = 250 N.

6. Next we find fs from:

n
fs = sn = 0.5 (250 N) P
fs
7. For this case:
case P – fs = 0 +
250
P = fs = 0.5 (250 N) N
s = 0.5
PP =
= 125
125 N
N
This force (125 N) is needed to just start
motion. Next we consider P needed for
constant speed.
EXAMPLE 1(Cont.): If k = 0.3 and s = 0.5, what horizontal pull
P is required to move with constant speed? (Overcoming
kinetic friction)
Fy = may = 0
n-W=0 n=W
k = 0.3
n
P Now: fk = kn = kW
fk
+ Fx = 0; P - fk = 0
mg
P = fk = kW

P = (0.3)(250 N) PP =
= 75.0
75.0 N
N
 The Normal Force and Weight
The normal force is NOT always equal to
the weight. The following are examples:
P
n Here the normal force
300 is less than weight
m
due to upward
W component of P.
P Here the normal force
n is equal to only the
component of weight
W
 perpendicular to the
plane.
Example 2. A force drags a 300-N block by a rope at an
angle of 400 above the horizontal surface. If uk = 0.2,
what force P will produce constant speed?
1. Draw and label a sketch of
W = 300 P=? the problem.
N
n 400 2. Draw free-body diagram.
fk
m
P sin 400 Py
P
W n 40 Py
The force P is to be 0
Px
replaced by its com- fk P cos 400
ponents Px and Py. W +
 Example 2 (Cont.). P = ?; W = 300 N; uk = 0.2.

3. Find components of P: P sin 400

P
n 40
Px = P cos 400 = 0.766P 0

Py = P sin 400 = 0.643P fk P cos 400

m
Px = 0.766P; Py = 0.643P g +
Note: Vertical forces are balanced, and for constant
speed, horizontal forces are balanced.


 0
F
F 
 0
xx 
 0
F
F 
 0yy
 Example 2 (Cont.). P = ?; W = 300 N; uk = 0.2.

Px = 0.766P Py = 0.643P
0.643P
P
4. Apply Equilibrium con- ditions n
to vertical axis. 400

F fk 0.766P
Fyy =
= 00
300 N +
n + 0.643P – 300 N= 0
[Py and n are up (+)]
n = 300 N – 0.643P;
Solve for n in terms of P

nn == 300
300 N 0.643PP
N –– 0.643
 Example 2 (Cont.). P = ?; W = 300 N; uk = 0.2.

nn == 300
300 N 0.643PP
N –– 0.643
0.643P
P
n
5. Apply Fx = 0 to con- stant 400
horizontal motion.
fk 0.766P
F
Fxx = 0.766PP –– ffkk =
= 0.766 = 00 300 N +

fk = k n = (0.2)(300 N - 0.643P)

fk = (0.2)(300 N - 0.643P) = 60 N – 0.129P

0.766P – fk = 0; 0.766PP –– (60

0.766 (60 N 0.129PP)) =
N –– 0.129 = 00
 Example 2 (Cont.). P = ?; W = 300 N; uk = 0.2.
0.643P
P 0.766PP –– (60
0.766 (60 N 0.129PP )=0
N –– 0.129
n 40
)=0
0
6. Solve for unknown P.
fk 0.766P
300 0.766P – 60 N + 0.129P =0
N +

0.766P + 0.129P = 60 N If P = 67 N, the

block will be
0.766P + 0.129P = 60 N dragged at a
constant speed.
0.895P = 60 N
P = 67.0 N P = 67.0 N
 Example 3: What push P up the incline is needed to
move a 230-N block up the incline at constant speed if k
= 0.3?
Step 1: Draw free-body P
including forces, angles
and components. W =230 N

600
0
y n P
x
Step 2: Fy = 0
fk W cos 600 n – W cos 600 = 0
W sin 600 600
n = (230 N) cos 600
230
N nn == 115
115 N
N
Example 3 (Cont.): Find P to give move
up the incline (W = 230 N).
60
0

y n P
x

fk W cos 600
Step 3. Apply Fx= 0
W sin 600 600 P - fk - W sin 600 = 0
fk = kn = 0.2(115 N)
W
fk = 23 N, P = ?
P - 23 N - (230 N)sin 600 = 0

P - 23 N - 199 N= 0 PP =
= 222
222 N
N
 Summary

• The maximum force of static friction is

the force required to just start motion.
n
fs
P
f s  s n
W

Equilibrium exists at that

instant:
FFxx  0;
0; FFyy  00
 Summary: Important Points (Cont.)
• The force of kinetic friction is that force
required to maintain constant motion.
n
fk
P
f k  k n
W

• Equilibrium exists if speed is

constant, but fk does not get
larger as the speed is increased.
FFxx  0;
0; FFyy  00
 Summary: Important Points (Cont.)
• Choose an x or y-axis along the direction
of motion or impending motion.

The F will be zero

along the x-axis and
k = 0.3
n along the y-axis.
fk P
+
In this figure, we
W have:
FFxx  0;
0; FFyy  00
 Summary
• the normal force n is not always equal to
the weight of an object.
P
n 300
It is necessary to draw
the free-body diagram
m
and sum forces to solve
W
for the correct n value.
P
n
W FFxx  0;
0; FFyy  00

 Summary

Static Friction: No Kinetic Friction:

relative motion. Relative motion.

≤ ssn
ffss ≤ n = kkn
ffkk = n
Procedure for solution of equilibrium
problems is the same for each case:

FFxx  00 FFyy  00