Chapter:1

STATIC FORCE ANALYSIS

 Need of force analysis
A machine is combination of links. These links are subjected to different forces such as:
Forces due to combustion of liquids or fuels
Friction forces due to sliding and turning pairs
Forces due to change of temperature
Forces due to external loads
Spring forces
Impact forces
Inertia forces
Gravitational force or mass of the machine parts
Couples

We cannot design the links without study of these forces.

Generally, static and dynamic force analysis are used to analysis the magnitude and direction of forces.

These analysis helps us to decide :

Correct size of links

Material to construct the links

Cost
 Classification of forces
Generally, two types of forces act on a machine component.

a) Externally applied load or forces: These forces are produced due to transmission of power and
fastening of components.

b) Inertia forces: These forces are produced due to rotation of components.

Static Force Analysis

If magnitudes of inertia forces are small compared to externally applied forces, they can be neglected while
analyzing the mechanism. Such analysis is called static force analysis.
Dynamic Force Analysis
If the magnitudes of inertia forces are considered while analyzing the mechanism. Such analysis is called
dynamic force analysis.

Which is best analysis?

In case of lifting cranes, magnitude of inertia forces is less as compare to externally applied loads i.e
load due to bucket and dead weights, these forces (inertia forces) can be neglected. But, in case of car,
inertia forces cannot neglected. Here, dynamic force analysis is justified.
 Static Equilibrium
A body is in static equilibrium if it retains or maintains its state of rest or motion.

In other words,
If a body is in rest, it tends to remain in rest until some external force is not applied on it.

•If a body is in motion, it keeps its motion until some external force is not applied on it.

Thus, external forces disturb the state of equilibrium. So, to keep a rigid body in equilibrium,

Vector sum of all forces must be equal to zero.

Vector sum of all moments about any arbitrary or random point must be zero.

Mathematically,
F  0..............(i )
M  0
Where F is the summation of forces and M is the summation of moments of all forces.

In a planar system, it is a convention to resolve the forces along two mutually perpendicular directions
x and y. Then the equation of equilibrium (i) can be written as

Fx  0
FY  0
M  0
 Couple
Two equal, opposite and parallel forces acting on a body are termed as couple.

Two parallel forces of equal magnitude F are shown.

F
h
F

The resultant of these forces is zero.

 Here, the moment is not zero because moment is the product of F and distance between the
lines of action of forces (h).

Mathematically, it can be written as

M = F. h
 Equilibrium of three-force system
Suppose a body is subjected under three non-parallel forces. This body will be in equilibrium, if

The resultant of the all non-parallel forces is zero,

The line of action of the three forces intersect at a common point (which is known as
point of concurrency) and
The forces give a closed force polygon.

Suppose, three forces F1, F2 and F3 are acting on a body.

Their lines of action intersect at point 0 which is the point of concurrency.
The resultant of these forces is zero and they give a closed polygon

F2
F1

F2
F1 O
F3
F1
F3 F2
F3

Sequence of adding the forces   

F1 F2 F3 Sequence of adding the forces F1  FF3 2
Conclusion: Resultant of forces in both cases is zero so sequence of adding the forces does not matter.
 Case II
Let us consider another case. Here, body is again subjected under three non-parallel forces.

F1 F2
F1
O
a F3 F3
F2
F1 is known in magnitude and direction.
F2 is known in direction only.
F3 is unknown in magnitude and direction

Since body is in equilibrium, so line of action of forces F1 and F2 will intersect at some point.
Suppose it is O. it is also called point of concurrency.
Assume that third force F3 acts on point a. Now, Join a to O. Now oa is the line of action of force F3.

Measure the three unknown quantities

a) Magnitude of force F2,

b) Magnitude of force F3 and

c) Direction of force F3 can be determined.

 Equilibrium of Four-Force system
F2 Consider a body is subjected under four non-
parallel forces
Line of actions of forces F1 and F2 intersect at O1.
Similarly, O2 is intersection point of line of action of
F1 forces F3 and F4. Join O1 to O2.
O1
Here, line O1-O2 represents the direction of resultant of
all four forces.

O2
F3
F4 Forces Magnitude Direction
F1 Known Known

F4 F1 F2 Unknown Known

F3 Unknown Known
F2
F3
F4 Unknown Known
 Free Body Diagram
Free body means free from the body.
Here body means machine.
Machine is made of several components on which numbers of forces are acted.
To make the problem easier each component of a machine is isolated from the others.
In analyzing the forces in machines, it is necessary to draw the free body diagrams to show
all forces acting on individual components.
 F23 F32

3
2
F43
1 1 F12
F34
F12 is the force applied by link 1 on link 2 and
F 4 F32 is force applied by link 3 on link 2

F14
 Slider Crank Mechanism
Fig. shows the slider-crank mechanism. A force F, which one can assume to be the resultant of gas
pressure, is acting on the piston as shown.

3 T2
4 2
F
1 1
The system is kept in equilibrium by applying a couple T2 on link 2.
Here, our objective is to find the forces on various links including the couple on link 2.
First of all, Draw the free-body diagram of forces acting on different links

F34 This link has three forces:

F F which is known in direction and magnitude

F 14 unknown in magnitude and direction is perpendicular to the path of the slider,
F14 F34 is the force applied by link 3 on link 4 and its magnitude is unknown.

Sr. Forces Magnitude Direction

F34 no.
1 F Known Known
F14 2 F14 ? Known
3 F34 ? Known
F
 F23

3
F32 T2
F43 h 2 F12
F34
Find ..F34
F 4
F34  F43  F23 F
32

F14
T2  F32  h
 Slider-Crank 'Mechanism with Two Known Forces

The slider-crank mechanism with two known forces F and Q is shown in Fig.

The mechanism is in equilibrium.

Here our objective is to determine the various forces on links and couple T2.
B Q
3
2 T2
D
4 F
A C
1
1
Link 3.Link 3 is a three force member. Forces F23, F43 and Q are acting on Link 3 so force F43 is not along BC.
Forces Magnitude Direction
Let F43 is broken into two components.
F23 ? Known
(Perpendicular
One component is along BC which is denoted by F34N and the other
perpendicular to BC denoted by T .
to link F 34
N T
F43 ? ? The resultant of F34 and F
34 is force F43.
Q Known Known

N F34T
F 34

F
F14
 Link 4: Four forces are acting on Link four i.e. F34N F34T F14 F
F34T and F are known fully. Their resultant F34 can be found by drawing force polygon
Force Magnitude Direction N F34T
F
34
F Known Known
FT43 Known Known (Perpendicular to Link 3
FN43 ? Known (Parallel to link 3)
F
F14 ? Known (perpendicular to the path of slider)
F14
Line of action of force Q
F F23 Force Magnitu Direction
de
F34T F43 F23 ? ?
F32
F34 D F43 = F34 Known Known (From Force
polygon)
Q F43
F14 F43 Q Known Known

F34N F23
F32
h

B Q F12
3
2 T2
D
4 T2  F32  h
A C F
1
 Example 1:
In figure, a slider crank mechanism is shown. The value of force applied on slider 4 is 3000 N. Determine the
forces on various links. Also calculate the driving torque T2.
AB=10 cm, BC=30 cm

B
3
2 T2
0
60 4
A C 3000N
1
Force Magnitude Direction
1
F34 ? Known 3000N
F14 ? Known F14 937.5N
F Given Known F34 3219N By.measurement
(3000N) By.measurement
F23
3219N 3
2
F32 3219N F43 3219N
F12
h(9.8cm) F34 4
By.measurement F (3000 N )

T2  F32  h  3219N  9.8cm  31497.2Ncm  314.97Nm F14

Example 2: Determine the coupleT2.
AB=30 cm, BC=45.5 cm, BE-17.5 cm x1
900
B Q  500 N Q  500 N
0 B 900
2 T2 50 500
3 E 3 E
0
45
A
4
C F  4000N C
1 F43N
1
F43T
Solution: Step I:
The link 3 is a three force member. So the force F43 is not acting along BC. Let the force F43 is broken into two
N T
component one along BC ( F43 ) and other perpendicular to BC ( F43 ). T
F34
Taking the moment about B or by equation of moments
Q.x1  F43T  BC F34N
Q.x1 500  14 F
F43T    153.85N
BC BC
Step II: Now draw the free body diagram for slider (link 4) F14
F  4000N
F  153.8 N
T
34
Force Magnitude Direction
FN43 ? Known F34 4590N F14
FT Known Known By.measurement
43

F14 ? Known
F34N
F Known Known 2250N
F43 =F34 ? ? By.measurement
 B Q  500 N F
0
F34T
2 T2 50 F34 4590N
3 E By.measurement
0
45 C F34N F14
A 2250N
4
1 1
By.measurement

Line.of .action.of .
force.F23 Force Magnitude Direction
B Q  500 N
F23 ? ?
F32
F43 Known (4590N) Known
3 C Q Given (500) Known

F43 4590N
Q
F43 4590N
F32 4900N
2 T2
F23 4900N x2 27.5cm
By.measurement By.measurement

T2  F32  h  4900N  27.5cm  1347.5Nm

 Problem 3: For the static equilibrium of the quick return mechanism shown in figure, find the required
input torque T2 for a force of 3500N on the slider. Angle of EB with the vertical is 70 degree. The
impending motion of the slider is to the left. AE=50 cm, AC =100cm, BC=40cm, CD=30cm, EB=20 cm
D6 F  3500N 6
5 5
F65
C 3600N F
F24 4 F35 F56
50cm F16
3600N
F34
4 F  3500N
20 B
E 70
20cm C F53 F
3600N 842N 16 F56
3 By.measurement
50cm 3600N
By.measurement
3
1 Force Magnitude Direction
A
F43 F Known Known
F53 3600N 3500

F13 F16 ? Known

3100N F56 ? Known
F43 A Line.of .action.of
5850N By.measurement
F13 h  11cm
Force Magnitude Direction By.measurement h
F12 2 F43  F42 5850N
F53 Known Known
F43 ? Known
T2  F32  h  5850  0.11  643.5N
F13 ? ?
Example 4: In figure, a four bar mechanism is shown. Calculate the required value of T2 and various forces on
links for equilibrium of the system. AB=20 cm, BC=37 cm, CD= 25 cm, CE = 10 cm, AD=21.5 cm
Line.of .action.of .F34
C
3 350 F  2000N C
B T2 E F
4
2 110 0 E
4 Line.of .action.of .F14
A 1 D
D
C F43  F34 950N
3
F  2000N B B F32 950N
F14 F23 950N
1175N F32 19.7cm h 2
By.measurement By.measurement
F34
By.measurement F12 A
950N

T2  F32  h  950 19.7  187.2Nm