Mechanics of Machines

MCB3043

Lecture 21: StaticForceAnalysis

AP Dr Abdul Rahim Othman

Outline
Static Force Analysis

Force Transmission
Static Equilibrium
2-Force Member
Force Analysis

Forces
Forces are transmitted from a machine member
to another through contact surfaces. The
contact surfaces might be in the forms of:
A round pin turning in circular slot
A round pin sliding or rolling in a linear slot
Mating gear teeth
Cam in contact with the follower
A piston sliding in a cylinder
A screw turning in a threaded hole

Force Transmission in Gears

Force Transmission in Cams

Force Transmission at Linkage Joints

Equilibrium
A link might be in a state of:

static equilibrium if it is stationary

dynamic equilibrium if it is moving at constant
velocity

A mechanism is in a state of static equilibrium

if all its links are stationary

Static Equilibrium
All machine members must be designed to be able
to withstand the static load. To analyse for the static
load on each member, the concept of static
equilibrium must be applied to the machine member.
For an object to be in static equilibrium, the following
conditions apply:
sum of all external forces acting on the object
F = 0;
sum of all moments about an arbitrary point on the
object MA = 0

Static Force Analysis

Applicable when the linkage is:
at rest
moving at low speeds such that the
accelerations are low and thus the inertial
forces generated in its members can
neglected

2-Force Member
If an object is:
in static equilibrium
has only two joints (or contact points) to other links
not subjected to an external force or torque,
then the object is a 2-force member.

Presence of 2-force members in a linkage simplify the process of

determining force directions in the force analysis

Force Analysis of a 2-Force Member

F=0
M=0
For a 2-force member to be in static equilibrium,
the two forces at the two joints must:
have the same magnitude

act in opposite direction

act along the same line (otherwise

M 0)

Force Analysis of a Linkage

F=0
M=0

A motor turns Link 2 about Joint A. Link 4 is supported by a spring to

the frame.
The acceleration is low so that the inertial forces can be neglected.
Link 3 is the only 2-force member of the linkage so we have the
information on the directions of forces acting at its joints.

Force Analysis of a Linkage

F=0

M=0

Force Analysis of a Rock Crusher

The rock crusher is moving slowly

and thus the inertial force can be
neglected. In the position shown,
determine the torque required to
drive the 60-mm link and crush the
rocks. To crush the rocks, a force of
9000 N is required at the position
shown.

Force Analysis of a Rock Crusher

Sketch the free body

diagram for each

moving link.
Solve the equilibrium
equations for each
link.

Free Body Diagrams

The angular positions can

be obtained by drawing a
scaled kinematic diagram
of the linkage.

Reaction Forces at a Joint

Link 2 and Link 3 are joined at Joint B
The reaction force of one link to another must be

equal in magnitude but in opposite direction

Note the nomenclature: F32 is the force exerted by
Link 2 to Link 3

Free Body Diagram: Link 4

Link 4 should be analysed

first because it contains

the Fx = 0
D
applied force, which is
9000 cos13 F43 cos17.3 F41 X 0
known.

Fy = 0

9000 sin 13 F43 sin 17.3 F41Y 0

MD = 0
9000 130 F43 sin 65.7 180 0

F43 = +7132 N 17.3

F41X = +1960 N
F41Y = +96.3 N

Free Body Diagram: Link 3

|F34| = |F43|
F34 = +7132 N 17.3
F32 = +7132 N 17.3

Free Body Diagram: Link 2

Fx = 0
A

F21 X F23 cos17.3 0

Fy = 0
F21Y F23 sin 17.3 0

MA = 0
T21 ( F23 cos17.3) 60 0

|F23| = |F32|

F23 = 7132 N 17.3

T21=408561 Nmm = 409 Nm cw

Problem 13-11

A mechanism shown raises packages in a transfer

mechanism. If a 100-N package sit on the horizontal
link while the mechanism is stationary, determine the
torque required from the motor. The weights of the
links are negligible.

Ans: 28.9 Nm

Sliding Friction Force

frictional force should also be included in static force

analysis
The force magnitude is Ff = N where is the
frictional coefficient and N is the reaction force acting
normal to the contacting surface
The direction of the force is opposite to the direction
of motion (for dynamic friction) or potential motion
(for static friction)
motion

Ff

Tutorial Week 12
13-12
13-15