Chapter 12

Equilibrium
Skip sections 12.6 12.7

The two requirements for the

state of equilibrium are:
1. The linear momentum of its
center of mass is constant.
2. Its angular momentum
about its center of mass, or
about any other point, is also
constant.
The balancing rock is an
example of an object that is in
static equilibrium. That is, in
this situation the constants in
the above requirements are
zero;

12.3 The Requirements of Equilibrium

Equalibrium
What does this mean?

F net

dP
0
dt

net

dL
0
dt

There are no net external forces acting

and
There are no net external torques acting about any axis.

A third requirement if a system is in static (not moving) equilibrium: P = 0

and L= 0

We will treat simple systems in which forces are acting only in the xy plane.
This means any torques due to these forces are along the z axis:
Fnet , x 0

Fnet , y 0

net , z 0

Also: When considering torques: We are free to choose any axis parallel to the
z axis.
This will simplify many problems because if the line of action points
into an axis: those forces do not cause torques.

Example 1.
A meter stick with uniform mass of 1 kg balances in static equilibrium on a pivot
located at its center of mass. A 3 kg mass hangs at the 0 cm mark and a 5 kg
hangs mass somewhere to the right of the pivot.
a) What is the normal force of the pivot on the meter stick?
b) Where should the 5 kg mass hang to insure static equilibrium?

a. Given the diagram and

mR 2 kg

m1 3 kg
m 5 kg
a 50 cm
FN ?

3kg

5kg

Equilibrium is guarunteed by the following:

F net , y 0

and

net ,axis 0
FN

First :
Place force vectors at the proper places.
Equilibrium Condition #1
F net , y FN mR g m1 g mg 0

m1 g

FN mR g m1 g mg 0
FN 2 g 3 g 5 g 0

so

mR g

Fn 10 g 0

mg

So: Fn 10 g 98 N The pivot supplies 98 N of force supporting

the meter stick.
b. Find the length b using: net ,axis 0
We can choose an axis anywhere we wish.
Choose an axis at the pivot.
Equilibrium Condition #2

net , P m1 g (a) mg (b) 0

a and b are the moment (lever) arms for

the weights of the hanging masses.

Fn and mR g do not contribute to torques about axis P. Why?
m1 g (a ) mg (b)
am1 mb
so :

ba

m1
3 3
(0.5) 0.30 meters
m
5 10

So place the 5kg mass at the 80 cm mark

Example of Static Equilibirum

Given :
Weight of Fireman: WF mF g 72 9.8 706 N

Weight of Ladder: WL mL g 45 9.8 441 N

Length of Ladder L 12 m
L
Center of mass Ladder:
4m
3
L
Fireman position:
6m
2

12
9.3

WF

WL

P Push force of Wall on ladder

V Vertical force of pavement on ladder
H Horizontal force of pavement on ladder

Static Equilibrium:
Fnet , x P H 0
Fnet , y V WL WF 0
From the second equation: V WL WF 706 441 1146 N
First equation gives: P H

but we need more information to find P or H

3rd Static Equilibrium condition:

net ,axis 0

We choose an axis through the point represented by the star

as shown
Forces H and V both act at that point
(This eliminates these forces for consideration. Why?)

Below we show the lever (Moment) arms to calculate torques:

Force Lever Arm

9.3

(Remember: extend line of action of the force.

Draw a line from the axis perpendicular
to the force line.
That's the Lever arm for that force.

LP
WF

WL

net P LP WF LF WL LL

LL

LP Lever Arm for force P : LP 9.3m

LF Lever Arm for weight of fireman: LF 6 cos

H
V

LF

LL Lever Arm for weight of ladder: LL 4 cos

Now from geometry: 12 sin 9.3 so sin

9.3
9.3
sin 1 50.8
12
12

So: LF 6 cos(50.8 ) 6(0.632) 3.79

LL 4 cos(50.8 ) 4(0.632) 2.53

net , A 9.3 P 706(3.79) 441(2.53) 9.3 P 3791 0

So 9.3 P 3791

3791
Which gives: P
408 N and H 408 N too.
9.3

b 2

Draw the free body diagram. Write

down all of the forces acting on this beam.
T c : The cable pulls to the left.
T r : tension in the rope pulling
down due to the weight of the safe.
W mg : weight of the beam acting
downward at its center of mass
(because its uniform)
F h : horizontal force of hinge on beam
(trying to hold it outward)
F v : vertical force of hinge on beam
(trying to hold it upward)

First: this entire system is in static equilibrium.

Tc Fh 0

and

Second: In equilibium:

The lines of action of the forces has been

extended to help visualize the moment (lever)
arms for torques

any axis

Tr mg Fv 0

In solving problems, you are free to choose the location of the axis. Choose an axis
where lots of forces are acting. (Forces whose lines of action intersect the axis create
no torques!)
Choose the axis location at the foot of teh beam where Fh and Fv are acting, since
we don't know their magnitudes. Torque = force x lever arm

(T )(a) (T )(b) (mg )(b 2) 0

c

The moment arm for Tc is a

The moment arm for Tr is b
The moment arm for the weight mg is b 2
You can verify the latter: moment arm L 2 cos but L cos b so L 2 cos b 2

Moment arm
for T c

Moment arm
for mg

Moment arm
for Tr
The torque equation alone will give us the required Tc
Note that a free body diagram for the rope and safe alone shows:
Tr Mg 0
so Tr Mg
M 430 kg , m 85 kg , a 1.9 m, b 2.5 m

b
aTc bTr mg 0 so
2

Tc =

b
bTr mg
b
mg
2
Mg

a
a
2

2.5
m
g M 6092 N 6100 N
1.9
2
So the tension is the cable is: Tc 6100 N

Tc =

(b) Find the horizontal and vertical forces of the hinge on the beam.
The linear force laws provide the answer:

Tc Fh 0

Tr mg Fv 0

Fh Tc =6100 N
and from the second equation:
Fv Tr mg Mg mg g ( M m) 5047 N

so

Fv 5047 N

F
39.6

The magnitude of the total force of the hinge on the beam is: F Fh 2 Fv 2 7900 N
and its direction relative to the horizontal: tan

Fv 5047

0.827 so 39.6
Fh 6100

Fv

Fh
10