MODULE 3

STATIC FORCE ANALYSIS

– Introduction
– Static equilibrium
– Equilibrium of two and three force members
– Members with two forces and torque
– Equilibrium of four-force member
– Free body diagrams
– Principles of virtual work
• Static force analysis of
– Four bar mechanism and slider-crank mechanism with and without
friction.
 NEED FOR FORCE ANALYSIS

 Forces are transmitted from one component to the another in machines.

 It is necessary to know the magnitudes and directions of forces when

designing machine or mechanisms.

 The analysis helps in determining sizes of components to withstand the

stresses developed.

 Improperly sized components may fail during the machine operations.

Oversized components will add to weight and cost etc.
STATIC FORCE ANALYSIS?

 When the components of a machine accelerate, inertia forces are

produced due to their masses. If the magnitudes of these forces are
small compared to the externally applied loads, they can be neglected
while analyzing the mechanism. Such an analysis is known as static-
force analysis.
CONSTRAINT AND APPLIED FORCES

 A pair of action and reaction forces which constrain two connected

bodies to behave in a particular manner depending upon the nature of
connection are known as constraint forces.

 Forces acting from outside on a system of bodies are called applied

forces.
 STATIC EQUILIBRIUM
A body is in static equilibrium if it remains in its state of rest or
motion.
• The conditions for static equilibrium are:
– the vector sum of all the forces acting on the body is zero and
– the vector sum of all the moments about any arbitrary point is zero.
• Mathematically,

• In a planer system, forces can be described by two-dimensional

vectors and therefore,
EQUILIBRIUM OF TWO FORCE MEMBERS

• A member (body) 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 (collinear), and
– the forces are in opposite directions.

F1=-F2

(a)
EQUILIBRIUM OF THREE-FORCE MEMBERS
• 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).

(c)
(b) Force polygon
EQUILIBRIUM OF THREE-FORCE MEMBERS (Contd….)
• In Figure (b) member acted upon by three forces F1, F2 and F3 and is in
equilibrium as lines of action of forces intersect at point O and the resultant
force is zero.

• This is verified by adding the forces vectorially [Fig.(c)]. As the head of the last
vector F3 meets the tail of the first vector F1, the resultant is zero. (Force
triangle closed)

• In Figure (d) magnitudes and directions of the forces are same, but the lines of
action of forces do not intersect at one point. Thus, the member is not in
equilibrium.
 EQUILIBRIUM OF 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.
h is perpendicular
distance b/w F1 and F2.

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.
EQUILIBRIUM OF FOUR-FORCE
MEMBER
 Consider a system of four non-parallel forces acting on a body as shown in
Fig.
 P is the point of intersection of forces F1 and F2. Similarly Q is the point of
intersection of forces F3 & F4.
 Now join P to Q. The resultant of forces F1 & F2 and the resultant of forces
F3 & F4 must be parallel to PQ
Assume F1 is fully known in magnitude and direction; F2, F3, F4 are known in direction
with unknown magnitudes.

To draw the force polygon, draw a line 'oa' parallel to the line of action (L.O.A) of force
F1 and equal to the given magnitude.

From 'a' draw a line parallel to direction of force F2, and from 'o' draw a line parallel to
PQ to intersect the line of action of F2 at 'b’. Then ab = F2.

Now from 'b' draw a line parallel to L.O.A. of F3 and from 'o' draw a line parallel to
L.O.A. of F4. The intersection of these two lines will give point 'c’.
Now oc= F4 and bc =F3.
PRINCIPLES OF SUPERPOSITION
It states that if number of forces act on a linear system, the net effect
is equal to the sum of the individual effects of the forces taken one at
a time. In a linear system, the output force is directly proportional to
the input force (where coulomb or dry friction is neglected)

F4 F4

F3 F3

F1 ≡ F + + +
1

F2 F2
PRINCIPLES OF TRANSMISSIBILITY OF
FORCES

The principle states that the external effect of a force on a rigid body
remains unchanged if the point of application of force is shifted along the
same line of action of force.

F F
F F
F B
B B
≡ F A ≡
≡F A
A
F Rigid
body
2 equal & opposite 2 equal &
force at B opposite force
cancel
 FORCE CONVENTION
1. The force exerted by member i on member j is represented by Fij
The force exerted by member j on member i is represented by Fji
Fij =- Fji, equal in magnitude opposite in direction.

2. A force unknown in magnitude but known in direction is represented

by a solid straight line without arrowhead, _____
3. A force unknown in magnitude and direction is represented by a
wavy line.
 FREE BODY DIAGRAMS
• A free body diagram is a diagram of a link isolated from the
mechanism showing all active and reactive forces acting on a link
in order to determine the nature of forces.
STATIC FORCE ANALYSIS OF FOUR-BAR
MECHANISM
Consider a four-bar mechanism subjected to a force F applied to link 4.
  Aim: For applied known force ‘F’ on link 4 we need to find the
forces on various links including the Torque T2 on link 2
 First draw the free body diagram of each link as shown in Fig.

Link 2 is subjected to
forces F12, F32 and a
torque T2

Link 3 is subjected to forces F23 and F43 Link 4 is subjected to forces F, F34 and F14
Note:
• F32 Parallel to BC
• F12 Parallel to F32
➢ Link 3 is a two-force member and for its equilibrium F23 and F43 must act
along BC. Their magnitudes not known at this stage.
➢ Thus, F34 being equal and opposite to F43 also acts along BC.
➢ Since link 4 is a 3 force member, for its static equilibrium the line of action
of all the 3 forces should meet at one common point. i.e., F14 passes
through intersection of F and F34 (point G).
➢ By drawing a force triangle, 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
T=F32 × h

➢ Restoring torque, T2 = - T ..(cw)

Static Force Analysis of Slider-crank
Mechanism (OR Analysis of Engine
Mechanism)
Consider a slider-crank mechanism subjected to a force P due to gas force on the
piston, as shown in Fig. (a). The system is kept in equilibrium by applying a torque T2
to crank/link 2 through the shaft at O2.

Fixed link

Aim: To find the forces in all the links and torque on link 2
 FBD of 3

FBD of 4
FBD of 2
Link 2 is subjected to forces Link 3 is subjected to Link 4 is subjected to
F12, F32 and a torque T2 . forces F23 and F43 forces P, F34 and F14.
 Link 2 has three unknowns: force F32 known in direction only, force F12
unknown in magnitude and direction and the unknown moment T2 exerted
on crank 2 by shaft.
 The magnitude of forces F34 and F14 for link 4 can be found by force
polygon as shown in Fig. (c). From the triangle of forces, we have

 F12 must be equal and opposite to F32 to balance forces on link 2. Two equal,
opposite and parallel forces produce a torque T, which can be balanced by
another torque T2 only.
 Forces on Link 2
Force polygon of 4 Forces on Link 3
h =perpendicular distance
between F32 and F12
Q1. A slider crank mechanism is shown in Fig. The force applied to the piston is 1000
N when the crank is at 60° from IDC. Calculate the driving torque T2.
Scale For configuration diagram & F.B.D.
1 cm = 50 mm

Scale For Force polygon

1 cm = 100 N
 F23

Scale 1 cm = 50 mm

F43

F34 = - F43= F23 = - F32= 1050 N

F12 = 1050 N
 Practice problem -1

Q2. A slider crank mechanism is shown in Fig. The force applied to the piston is 1000 N
when the crank is at 120° from IDC. Determine the input torque, T on the link OA for the
static equilibrium of the mechanism for the given configuration.
 Scale 1 cm=100 mm

Scale for force polygon

1 cm=200 N
Scale 1 cm=100 mm

h =1.5× scale
=1.5 × 100
=150 mm
Three different methods to conduct Static
Force analysis
 Principles of Super position
 Principles of Virtual Work

 Composite Graphical Solution (Resolving force into

Normal and Tangential component)
Q3. For the slider crank mechanism shown in Fig. determine the input
torque T on the link AB for static equilibrium.

Graphical solution
Input torque T can be determined by considering the effects of forces P, Q and S
separately according to principles of super position. The individual effects then
summed up to get the actual value of torque.
Step 1: Draw the given mechanism (configuration diagram) to a Scale 1
cm=100 mm

Scale
1 cm=500 N
Scale 1 cm=100 mm
Scale 1 cm=100 mm

Scale 1 cm=100 mm
Scale
1 cm=200 N

h2 =1.1 × Scale
=1.1 × 100=110 mm

Scale
1 cm=100 mm
Step 2: Neglect forces Q and S and consider only the force P. Then, link 3 is a two
force member F23 and F43. For equilibrium these forces must be equal in magnitude and
opposite in direction and acts along link BC.

Link 4 is a three-force member F14, P and F34.

F14 direction is perpendicular to the contact surface.
Draw force polygon to a scale, 1 cm = 500 N.

Force F34= ab x scale=4.35×500 = 2175 N

Also, F34 =-F43=F23=-F32
F32 = 2175 N and its direction is opposite to that of F23.
For equilibrium of link 2, F12 equal, parallel and opposite to F32.

h1 = Perpendicular distance between F12 and F32

= 2.7 × Scale=2.7 × 100=270 mm
Torque, T1 =F32 × h1= 2175 × 270= 587250 Nmm= 587.25 Nm (cw)
Step 3:Neglect the forces P and S and consider only force Q. Then, link 4 is a two
force member F14 and F34 which are to be equal and opposite for equilibrium. F14 is
perpendicular to the contact surface. Hence, force F34 also perpendicular to the contact
surface but opposite in direction.

Link 3 is a three force member in which Q is known in magnitude and direction.

To find L.O.A of Force F23, redraw link 3 to scale 1 cm =100 mm. LOA of F43, Q
indicate. Now L.O.A of these two forces intersect at O. Join B to O. LOA of F23 will be
along BO as three forces are to be concurrent.

Draw force polygon of link 3 to scale 1 cm =200 N, where indicate Forces Q, F23, F43.

F23 =ab × scale = 3.45 × 200 =690 N

Link 2 is subjected to two forces (F32, F12) and a torque T2. For equilibrium, F12 is equal,
parallel and opposite to F32.
h2 = perpendicular distance between forces F12 and F32
= 1.1 × scale=1.1 × 100 mm=110 mm.

Torque, T2 =F32 × h2= 690 × 110 = 75900 Nmm= 75.9 Nm (cw)

Step : 4
Neglect the forces P and Q and consider only S. Then, links 3 and 4 are two force
members. For equilibrium F43 can be along BC and F34 perpendicular to AC. But since
F43 and F34 are equal and opposite, both must zero.
F34= F43 = 0

Also, F14=F23 =F32= 0

Hence, link 2 is in equilibrium under the action of two forces (S and F12) and torque T3.
S and F12 are equal and opposite forces.
h3 = Perpendicular distance between forces S and F12= 1.5 × Scale =1.5 × 100= 150mm.

Step : 5
Q4. A four bar mechanism under the action of two external force is shown in Fig.
Determine the torque to be applied on the link AB for static equilibrium. The dimensions of
the links are AB = 50 mm, BC = 66 mm, CD = 55 mm, CE = 25 mm, CF = 30 mm, BAD
=60° and AD =100 mm.

Solution: Input torque T can be determined by considering the effects of forces P and Q separately
as per principles of super position and individual effects summed up to get the actual value of
torque.
 Scale 1 cm=10 mm

Scale 1 cm=100 N
Scale 1 cm=10 mm
Scale 1 cm=10 mm

Scale 1 cm=10 mm

Scale 1 cm=100 N

Scale 1 cm=10 mm
Neglect force Q and consider only force P.
L.O.A of F34 and P extend to get point of Concurrency O. At this point O, F14 must
pass. Join D to O to know L.O.A of F14.
Draw force polygon for link to a scale, 1 cm = 100 N.
Force F34= ob x scale=2×100 = 200 N
Also, F34 =-F43=F23=-F32
F32 = 200 N and its direction is opposite to that of F23.
Link 2 is subjected to two forces (F32, F12) and a torque T1. For equilibrium of Link 2,
F12 equal, parallel and opposite to F32.
h1 = Perpendicular distance between F12 and F32
= 3.85× Scale= 3.85 × 10 mm =38.5 mm
Torque, T1 =F32 × h1= 200 × 38.5= 7700 Nmm= 7.7 Nm (cw)
Neglect force P and consider only force Q. Then, link 4 is a two force member F14
and F34 which are to be equal and opposite for equilibrium, have L.O.A along link CD.

Link 3 is a three force member. To find L.O.A of F23, redraw link 3 to scale 1 cm =10
mm. LOA of F43, Q indicate. Now L.O.A of these two forces intersect at O. Join B to
O. LOA of F23 will be along BO as three forces to be concurrent.

Draw force polygon for link 3 to scale 1 cm =100 N, where indicate Forces Q, F23,
F43.

F23 =ob × scale = 3.8 × 100 =380 N

Link 2 is subjected to two forces (F32, F12) and a torque T2. For equilibrium, F12 is
equal, parallel and opposite to F32.
h2 = perpendicular distance between forces F12 and F32
= 1.1 × scale=1.1 × 10 mm=11 mm.

Torque, T2 =F32 × h2= 381 × 11 = 4180 Nmm= 4.18 Nm (cw)

Total torque =T1+T2 =7.7+4.18 =11.88 Nm (cw)
 Practice problem -2

Q5. In the Fig. a bar mechanism is shown. Calculate the value of torque T2
and various forces on links for the equilibrium of the system.
Configuration diagram
scale 1 cm = 50 mm
 Force polygon for link 4
scale 1 cm = 500 N

F.B.D.
scale 1 cm = 50 mm
From force polygon
F34= ab × scale = 2.4 × 500 = 1200 N
F14 = ob × scale = 1.8 × 500 = 900N

F34=-F43=F23= 1200 N

F23=-F32=F12 = 1200N

Now, Torque, T2 = F32 h

where h = 3.96 × 50 =198 mm

T2 = 1200 × 198
= 237600 N mm
= 237.6Nm (cw)
Q6. In a four bar mechanism shown in Fig. Torque T3 and T4 have
magnitudes of 3000 Nm and 2000 Nm respectively. Take AD=800 mm, AB =
300 mm, BC = 700 mm and CD = 400 mm. For static equilibrium of
mechanism, find the required input torque on the crank.

Solution:
The input torque can be obtained by considering the effects of torques
T4 and T3 separately according to the principal of superposition, then
the individual effects summed up to get actual value of torque.
Configuration diagram
scale 1 cm = 100 mm

F.B.D.
scale 1 cm = 100 mm
Neglect, torque T3 and find the value of Torque T2 considering only T4
For equilibrium of link 4,
F34 × h4a = T4,
Where h4a= 3.85 × 100 = 385 mm =0.385 m.
F34 × 0.385 = 2000
F34 = 5194.8 N
F34=-F43=F23=-F32=F12 =5194.8 N

T2a = F12 × h2a = F32 × h2a

Where h2a =2.7 × 100 =270 mm =0.27 m.

 T2a = 5194.8 × 0.27 = 1402.6 Nm (ccw)

Neglecting torque T4, find the value of T2 considering the
effect T3 only.

T3 =F43 × h3b
where h3b =6.7 × 100 =670 mm =0.67 m
i.e., 3000 = F43 × 0.67
F43 = 4477.6 N

F34=-F43=F23=-F32=F12=4477.6 N

T2b =F12 × h2b

where h2b =0.48 × 100 =48 mm =0.048 m

T2b = 4477.6 × 0.048

= 214.9 Nm (ccw)

Total torque, T2 = T2a+T2b = 1402.6+214.9 = 1617.5 Nm (ccw)

 F.B.D.
scale 1 cm = 100 mm
Q7.
 Configuration diagram
scale 1 cm = 100 mm

F.B.D.
scale 1 cm = 100 mm

Force polygon link 3

scale 1 cm = 20 N
Force polygon link 4
scale 1 cm = 20 N
Neglect forces F3, F4 and consider only the force F2. Then links 3 and 4 are
two-force members. For equilibrium F43 can be along BC and F34 along DC.
But since F43 and F34 are equal and opposite, both must be zero.
 F43=F34=0
Also, F14=F23=F32=0
Link 2 is in equilibrium under the action of two forces F2, F12 and torque T2a,
 T2a = F2 × h2a
where h2a =0.75 × 100=75 mm
T2a= 80 × 75 =6000 Nmm=6 Nm (cw)

Neglect forces F2 and F4 and consider only force F3.

Draw force polygon for link 3 choosing scale of 1 cm = 20 N.
F43 =qr×scale =2.35×20 = 47 N
F23 = pr×scale =5.65×20 =113 N

F23 = -F32 = F12 = 113N

Link 2 is subjected to forces F32 and F12 and a torque T2b.
T2b = F12×h2b = 113×160 =18080 Nmm= 18.08 Nm (ccw)
Where h2b= 1.60×100 = 160 mm
 Neglect forces F2 and F3 and consider only F4.
Link 4 is a three force member F34, F4 and F14. Draw force polygon for
link 4 choosing scale of 1 cm = 20 N.
F14 =ab×scale =1.725×20 = 34.5 N
F34 = ob×scale =1.75×20 =35 N
F34 = -F43 =F23 = 35 N

Link 2 is subjected to F32 and F12 and a torque T2c

For equilibrium
T2C = F12×h2c = 35×380 =13300 Nmm= 13.3 Nm (ccw)
Where h2c= 3.85 ×100 = 380 mm

Net crankshaft torque, T2 = T2a+ T2b+ T2c

=6-18.08-13.3=-25.38 Nm
T2 = 25.38 Nm (ccw)
Derive the condition for principle of virtual
work considering a slider crank mechanism
Principle of virtual (imaginary) work can be stated as ‘work done during a
virtual displacement from the equilibrium is equal to zero’.

Virtual displacement may be defined as an imaginary infinitesimal

displacement of the system. By applying this principle, an entire mechanism is
examined as a whole and there is no need of dividing it into free bodies.
PRINCIPLE OF VIRTUAL WORK (CONT.)
 Consider a slider-crank mechanism shown in Fig. It is acted upon by the
external piston force F, external crankshaft torque T and force at the
bearings.

 As the crank rotates through a small angular displacement δϴ, the

corresponding displacement of the piston is δx.
PRINCIPLE OF VIRTUAL WORK (CONT.)
The various forces acting on the system are:

 Bearing reaction at O (performs no work)

 Force of cylinder on piston (produces no work)

 Bearing forces at A and B, being equal and opposite (AB is a two-

force member), no work is done

 Work done by torque

 Work done by force

Work done is positive if a force acts in the direction of the

displacement and negative if it acts in the opposite direction.
PRINCIPLE OF VIRTUAL WORK (CONT.)
 According to the principle of virtual work,

 As virtual displacement must take place during the same interval δt,

where ω is the angular velocity of crank and v linear velocity of piston.

The negative sign indicates that for equilibrium, T must be applied in

opposite direction to angular displacement.
Q8. For the static equilibrium of the mechanism shown in Fig. find the required
input torque. The dimensions are AB = 150 mm, BC=AD = 500 mm, DC = 300 mm,
CE =100 mm and EF = 450mm.
Scale 1cm= 50 mm

Configuration diagram
 Scale 1cm= 50 N

F45

F65
Scale 1cm= 50 N

F43

F23

Scale 1cm= 50 mm
From force polygon of link 6,
F56= ob × scale = 5.6 × 50=280N
F16 = ab × scale = 2.5 × 50 = 125 N
F56 = -F65=F45= 280 N

From force polygon of link 4,

F34= ob × scale = 7.25 × 50 = 362.5 N
F14 = ab × scale = 5.1 × 50 = 255 N

F34 = -F43 =F23= 362.5N

Torque, T2 = F32. h

where h is perpendicular distance between F12 and F32

h =2.55 × 50= 127.5 mm
T2 = 362.5 × 127.5= 46218.75 Nmm = 46.22 Nm (cw)
 Practice problem -3

Q9.A four link mechanism is acted upon by forces as shown in the figure.
Determine the torque T2 to be applied on link 2 to keep the mechanism in
equilibrium. AD=50mm, AB=40mm, BC=100mm, DC=75mm, DE= 35mm.

Scale for configuration diagram

1 cm =10 mm

Dept of AE MITE, By:Dr. Y Shriraj Rao

 Link 3 is acted upon by only two forces F23 & F43 and they must be collinear &
along BC.
Link 4 is acted upon by three forces F14, F34 & FE and they must be concurrent.

Scale for Force polygon 1 cm= 30 N

F34=ab× scale
=1.6 ×30
F34 = -F43 =F23= 47.8 N

F23=-F32=F12= 47.8 N
b
a
T2 =F32×h
o
(CW)

Where h=3.93×scale
=39.3 mm
Force analysis considering friction:
Friction in sliding member
When two members of a mechanism move relative to each other or one
member move over the another fixed member, friction occurs at the
joints/connection . The presence of friction increases the energy requirements
of a machine.
Friction angle =ϕ = tan-1 μ
Force analysis considering friction: Numerical

Q10. A slider crank mechanism is shown in Fig. The force applied to the piston is 1000
N when the crank is at 60° from IDC. Calculate the driving torque T2 on the link AB for
static equilibrium. The dimension of link AB =100 mm and BC =300 mm. Solve by
graphical method. Coefficient of friction = 0.15 for sliding pair. The impending motion
of the slider is to the left.

Solution:
Friction angle =ϕ = tan-1μ= tan-1 0.15 = 8.53°
 Scale For configuration diagram & F.B.D.
1 cm = 50 mm

Normal
reaction
F14
ϕ Resultant of normal
& friction force
F14
ϕ =8.53° Friction force

Scale For Force polygon

1 cm = 100 N
b
Since slider moves towards left. The
From force polygon friction force acts towards right.
F34= ab × scale = 9.98× 100 = 998 N Hence, F14 is at an angle ϕ w.r.t
F14 = ob × scale = 2.92 × 100 = 292 N normal reaction.
 F23

Scale 1 cm = 50 mm

F43

F34= -F43=F23= 998 N

F23=-F32=F12 = 998 N
Now, Torque, T2 = F32 h = F12 h

T2 = 998 × 98.7
= 98502.6 N mm
= 98.5026 Nm (cw)

Note : If friction is not given, then the direction of F14 is perpendicular to the
contact surface.
Q11. For the four bar mechanism shown in Fig. determine the torque on the link
AB for the static equilibrium of the mechanism.

The input torque T can be determined by considering the effects of forces F1

and F2 separately as per principle of super position.
Scale of configuration
diagram, 1 cm = 100 mm

Scale 1 cm = 100 mm
D

Scale 1 cm = 100 mm

Scale 1 cm = 100 mm
Scale 1 cm = 50 N

Scale 1 cm = 100 mm
Neglect force F2 and consider only F1. Then, link 3 is a two force member F23 and F43.
For equilibrium F23 and F43 must acts along link BC. Link 4 is a three force member F14,
F1 and F34.

Draw force polygon for link 4 to a scale of 1 cm = 50 N.

F34 = ab × scale = 0.8 × 50 = 40 N
Also F34= -F43= F23= -F32 = 40 N

Link 2 is subjected to F32, F12 and a torque T1.

h1= 3 × Scale = 3 × 100= 300 mm
T1 =F32 × h1 =40 × 300=12000 Nmm=12 Nm (cw).

Neglect F1 and consider only F2. Then, link 4 is a two force member F34 and F14. For
equilibrium F34 and F14 must acts along link CD.

Link 3 is a three force member F43, F2 and F23. Draw force polygon for link 3.
Force, F23=ab × scale=1.95×50=97.5 N
Link 2 is subjected to F32, F12 and a torque T2.
h2 = 2.4 × scale = 2.4 × 100 = 240 mm
T2 =F32 × h2= 97.5 × 240=23400 Nmm = 23.4 Nm (cw)
Total torque, T= T1+T2 = 12 + 23.4=35.4 Nm (cw)
Q12.

Force act on the system

F

F
 F

Force triangle for the forces acting on link 4 is drawn to some suitable scale.

Measure the lengths of vectors and multiply by the scale factor to get the magnitudes of
F34 & F14.
F