Static Force Analysis

Static Force Analysis

• Static force analysis

– Introduction
– Static equilibrium
– Equilibrium of two and three force members
– Members with two forces and torque
– Free body diagrams
• Static force analysis of
– four bar mechanism
– slider-crank mechanism.

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 Introduction
We are now ready for a study of the dynamics of machines and
systems.
Such a study is simplified by starting with the statics of such
systems.
In our studies of kinematic analysis we were concerned only with
the geometry of the motions and with the relationships between
displacement and time.
The forces that produced the motion or the motions that would
result from the application of a given force system were completely
neglected.
The fundamental units in kinematic analysis arc length and time;
in dynamic analysis they are length, time, and force.

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 Introduction
Forces are transmitted into machine members through
mating surfaces, e.g., from a gear to a shaft or from one
gear through meshing teeth to another gear, from a
connecting rod through a bearing to a lever, from a V
belt to a pulley, from a cam to a follower, or from a
brake drum to a brake shoe.
It is necessary to know the magnitudes of these forces
for a variety of reasons.
The distribution of the forces at the boundaries or
mating surfaces must be reasonable, and their intensities
must be within the working limits of the materials
composing the surfaces.
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 Introduction
• Force-magnitude, direction & place of application
• Matter- any material substance
• Mass-quantity of matter
• Inertia-property of mass which causes it to resist
any effort to change its motion
• Weight –force that results from gravity acting
upon a mass. (gravitational force)
• Particle – can consist of matter and can have mass
• Rigid body – incapable of deformation
• Deformable body

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 Newton’s laws
As stated in Principia, Newton’s three laws are

• [law1] Every body preserves in it’s state of rest or uniform

motion in a straight line, except in so far as it is compelled to
change that state by impressed forces

• [law2] Change of motion is proportional to the moving force

impressed, and takes place in the direction of the straight line
in which such force is impressed.

• [law3] Reaction is always equal and opposite to action; that

is to say ,the actions of two bodies upon each other are
always equal and directly opposite.
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 Newton’s laws
• For our purposes, it is convenient to restate these laws:
• Law 1 If all the forces acting on a particle are balanced, the
particle will either remain at rest or will continue to move in a
straight line at a uniform velocity.
• Law 2 If the' forces acting on a particle are not balanced, the
particle will experience an acceleration pr0portional to the
resultant force and in the direction of the resultant force.
• Law 3 When two particles react, a pair of interacting forces
come into existence; these forces have the same magnitudes
and Opposite senses, and they act along the straight line
common to the two particles.
 Applied and Constraint forces
• Constraint forces- Pair of action & reaction
forces between any two of the connected
bodies.

• Applied forces: Forces acting on the system

of bodies from outside the system.

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 Moment and Couple
• Two equal and opposite forces along two parallel but
non-collinear straight lines in a body cannot be
combined to constitute a single force and they
constitute a couple.

• The arm of the couple is the perpendicular distance

between their lines of action and the plane of the
couple is the plane containing the two lines of action.

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 Moment and Couple
The moment of the couple M is a vector directed
normal to the plane of the couple and the sense of M is
in accordance to the right-hand rule for rotation.

The value of M is independent of the choice of the reference point about

which the moments are taken, because the vector is the same for all
positions of the origin.
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 POINTS TO REMEMBER
• There is no component of the constraint force /
moment transmitted along an axis where motion is
possible, i.e. along with the direction of pair
variable, because of assumption of frictionless
joint
 Conditions of Equilibriums
• Static equilibrium: A body is in static
equilibrium if
• The vector sum of the forces acting on the
body is zero i.e., ΣF=0
• The vector sum of all the moments about
any arbitrary point is zero i.e., ΣM=0

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 Conditions of Equilibriums

F 0
M  0
When forces are acting in a single plane (XY plane)

F 0 X

F  0 Y

M  0 14-23
Two Force Member

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Three Force Member

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 Two-force member and three-force
member

(a) Two-force member not in equilibrium; (b) two-force member is in equilibrium if FA and FB
are equal, opposite, and share the same line of action; (c) three-force member is not in
equilibrium; (d) three-force member is in equilibrium if FA, FB, and FC are coplanar, if their lines
of action intersect at a common point O, and if their vector sum is zero.

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EQUILIBRIUM OF TWO AND THREE-FORCE
MEMBERS
• A member under the action of two forces will be in
equilibrium if
– the forces are of the same magnitude,
– the forces act along the same line, and
– the forces are in opposite directions.
• Figure shows such a member.
• A member under the action of three forces will be in
equilibrium if
– the resultant of the forces is zero, and
– the lines of action of the forces intersect at a point (known as point
of concurrency).

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EQUILIBRIUM OF TWO AND THREE-FORCE MEMBERS
(Contd….)
• Figure (a) shows a member acted upon by three forces F1, F2 and F3
and is in equilibrium as the lines of action of forces intersect at one
point O and the resultant is zero.
• This is verified by adding the forces vectorially [Fig.(b)].
• As the head of the last vector F3 meets the tail of the first vector F1,
the resultant is zero.
• Figure (d) shows a case where the magnitudes and directions of the
forces are the same as before, but the lines of action of the forces do
not intersect at one point.
• Thus, the member is not in equilibrium.

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• Consider a member in equilibrium in which force F1 is completely
known, F2 known in direction only and F3 completely unknown.
• The point of applications of F1 , F2 and F3 are A, B and C respectively.
• To solve such a problem, first find the point of concurrency O from the
two forces with known directions, i.e. from F1, and F2.
• Joining O with C gives the line of action of the third force F3.
• To know the magnitudes of the forces F2 and F3, take a vector of proper
magnitude and direction to represent the force F1.
• From its two ends, draw lines parallel to lines of action of the forces F2
and F3 forming a force triangle [Fig.].
• Mark arrowheads on F2 and F3 so that F1 , F2 and F3 are in the same
order.

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MEMBER WITH TWO FORCES AND A TORQUE
• A member under the action of two forces and an applied torque will
be in equilibrium if
– the forces are equal in magnitude, parallel in direction and opposite in sense and
– the forces form a couple which is equal and opposite to the applied torque.

• Figure shows a member acted upon by two equal forces F1, and F2
and an applied torque T for equilibrium,

where T, F1 and F2 are the magnitudes of T, F1 and F2 respectively.

• T is clockwise whereas the couple formed by F1, and F2 is counter-
clockwise.

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 Free-body diagram
• A free body diagram is a sketch or drawing
of the body, isolated from the rest of the
machine and its surroundings, upon which
the forces and moments are shown in
action.

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FORCE CONVENTION
• The force exerted by member i on member j is represented
by Fij

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FREE BODY DIAGRAMS FOR MECHANISM
• A free body diagram is a sketch or diagram of a part isolated from the
mechanism in order to determine the nature of forces acting on it.
• Figure (a) shows a four-link mechanism.
• The free-body diagrams of its members 2, 3 and 4 are shown in Figs.
(b), (c) and (d) respectively.
• Various forces acting on each member are also shown.
• As the mechanism is in static equilibrium, each of its members must
be in equilibrium individually.

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• Member 4 is acted upon by three forces F, F34 and F14.
• Member 3 is acted upon by two forces F23 and F43
• Member 2 is acted upon by two forces F32 and F12 and a torque T.
• Initially, the direction and the sense of some of the forces may not be
known.
• Link 3 is a two-force member and for its equilibrium F23 and F43 must
act along BC.
• Thus, F34 being equal and opposite to F43 also acts along BC.

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• Assume that the force F on member 4 is known completely.
• To know the other two forces acting on this member completely, the
direction of one more force must be known.
• For member 4 to be in equilibrium, F14 passes through the
intersection of F and F34 .
• By drawing a force triangle (F is completely known), magnitudes of
F14 and F34 can be known [Fig.(e)].
Now F34 = F43 = F23 = F32
• Member 2 will be in equilibrium if F12 is equal, parallel and opposite
to F32 and

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 Graphical Method of Analysis
A four bar linkage has crank 2 driven by an input torue M12 ,an external load P=534<2200 N acts
at point Q on link 4. For the perpendicular position of the link shown, find all the constraint
forces and their reactions necessary for this to be a position of equilibrium. R(AO2) = 150mm,
R(BA) = 450mm, R(O4O2) = 200mm, R(BO4) = 300mm, and R(QO4) = 125mm

216

60
534

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Graphical method of analysis

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 Graphical method of analysis

138.5

Graphic solution for Example :.

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Find the frame reactions and torque M12 necessary to maintain equilibrium
of the four bar linkage shown in the figure.
R(AO2)=88mm, R(BA)=R(BO4)=150 mm, R(CO4)=100 mm, R(O2O4)=50 mm
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Find the frame reactions and torque M12 necessary to maintain equilibrium
of the four bar linkage shown in the figure.
R(AO2)=88mm, R(BA)=R(BO4)=150 mm, R(CO4)=100 mm, R(O2O4)=50 mm
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Find the frame reactions and torque M12 necessary to maintain equilibrium
of the four bar linkage shown in the figure.
R(AO2)=88mm, R(BA)=R(BO4)=150 mm, R(CO4)=100 mm, R(O2O4)=50 mm
 Analytical Method of Analysis
A four bar linkage has crank 2 driven by an input torue M12 ,an external load P=534<2200 N acts
at point Q on link 4. For the perpendicular position of the link shown, find all the constraint
forces and their reactions necessary for this to be a position of equilibrium. R(AO2) = 150mm,
R(BA) = 450mm, R(O4O2) = 200mm, R(BO4) = 300mm, and R(QO4) = 125mm

534

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Analytic solution

300

125

150

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Find the frame reactions and torque M12 necessary to maintain equilibrium
of the four bar linkage shown in the figure.
R(AO2)=88mm, R(BA)=R(BO4)=150 mm, R(CO4)=100 mm, R(O2O4)=50 mm
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• Sketch complete free-body diagrams for the illustrated four-bar linkage. What
torque M12 must be applied to 2 to maintain static equilibrium at the position
shown?
• R(AO2)=200 mm, R(BA)=400 mm, R(CA)=R(O4O2)=700 mm, R(CO4)=350 mm,
θ2 =600

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Sketch complete free-body diagrams for the illustrated four-bar linkage.
What torque M12 must be applied to 2 to maintain static equilibrium at the
position shown? R(AO2)=200 mm, R(BA)=400 mm, R(CA)=R(O4O2)=700
mm, R(CO4)=350 mm, θ2 =600