Chapter#8

WAVE MOTION AND SOUND

Prepared by Sir Ahsan Siraj

Torque, Equilibrium and Angular

Momentum
Statics:
Static is the branch of mechanics which deals with the study of bodies at rest
under a number of forces, the equilibrium, conditions of equilibrium, types of
equilibrium, torque etc.

Types of Motions:
There are following types of motion:
Translator motion.
Rotatory motion.

Translatory motion:
A motion is said to be a translator motion if and
only if the axes of frame of reference of object is
always parallel to the axes of frame of reference
of observer.
For translatory motion it is not necessary for body
to move on straight line.
Examples:
Motion of car moving on the road.
Motion of a projectile.

Rotatory motion:
A body is said to be in purely rotatory motion if all the particles of body are
moving in circular paths and all the centers on these circles are on a common
line called the axes of rotation.
There are two types of Rotatory motion:
(i) Orbital Motion.
(ii) Spin Motion.

Orbital Motion:
If the axis of rotation is outside the body then it
is said to be in orbital motion.
Examples:
Motion of electron about nuclease.
Motion of a vehicle about a crossroad.

Spin Motion.
If the axis of rotation is passing through the body itself then it is said to be in
spin motion.

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Chapter#8

WAVE MOTION AND SOUND

Prepared by Sir Ahsan Siraj

Examples:
Motion of a spinning top.
Motion of electron in its orbital.

Torque:
Tendency of a force or Forces to rotate or produce angular acceleration in a body
is called torque.
It is also called the turning effect of a force (or forces).

Types of Torques:
There are two types of torque
1. Moment of Force
2. Moment of Couple

Moment of Force:
Torque produced in a body fixed at one
end by a single force is called Moment of
force.
Mathematically:
Mathematically torque due to single force
(Moment of Force) is defined as
The cross product of position vector with
force is called torque (Moment of Force)
I-e
=r
F
Now if
r =r x i+r y j+r z k

F =F x i+ F y j+ F z k
Moment of Couple can be written as

i
j k
= r x r y r z
Fx F y Fz

In magnitude form:
=rF sin
=Fr sin
Here the term

rsin

is called moment arm and it is represented by d .

=Fd

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Chapter#8

WAVE MOTION AND SOUND

Prepared by Sir Ahsan Siraj

Here

is the perpendicular distance between the point of application of force

and axis of rotation.

Moment of Couple:
The Couple is defined as pair of two forces same in magnitude but opposite in
direction.
Torque produced in a body fixed at one end by a Couple of force is called
Moment of Couple.
Mathematically:
Mathematically torque due to couple of
force is defined as
The cross product of difference of position
vectors one of the force is called force is
called torque (Moment of couple)
Consider two forces acting in a body at two
different positions as shown in figure. Both
forces will tend to produce torque in body

and two torques 1 and 2 will be

produces an can be written as
1=r 1

F
And
2=

r 2
F
2=

r2
F
Net torque

can be written as

=
1 +
2
=( r 1
F ) + (
r 2
F)
=r 1
F
r2
F

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Chapter#8

WAVE MOTION AND SOUND

Prepared by Sir Ahsan Siraj

=( r 1
r2 )
F
r =
r 1
r2

Since
=r
F

Now if
r =r x i+r y j+r z k

F =F x i+ F y j+ F z k
Moment of Couple can be written as

i
j k
= r x r y r z
Fx F y Fz

In magnitude form:
=rF sin
=Fr sin

Here the term

rsin

is called moment arm and it is represented by d .

=Fd

Here

is the distance between the points of application of two forces.

Equilibrium:
A body is said to be in equilibrium if it is at rest or moving with uniform velocity.

OR
A body is said to be in equilibrium if the linear and angular acceleration of a
body are zero, the.
A body is said to be in equilibrium when two or more forces act on a body such
that their resultant or combining effect on the body is zero and the body retains
its state of rest or of uniform motion.

A book lies on the table.

Suspended bodies.
All stationary bodies.

Jump by using parachute.

Examples:

Types of equilibrium
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Chapter#8

WAVE MOTION AND SOUND

Prepared by Sir Ahsan Siraj

On the basis of Physical State of body Equilibriums can be classified in to two

types:
1. Static equilibrium.
2. Dynamic equilibrium.

1. Static equilibrium
If the combined effect of all the forces acting on a body is zero and the body is
in the state of rest then its equilibrium is termed as static equilibrium.
Example:
All stationary bodies

2. Dynamic equilibrium:
When a body is in state of uniform motion and the resultant of all forces acting
upon it is zero then it is said to be in dynamic equilibrium.
For example: Jump by using parachute.

Conditions of Equilibrium
There are two conditions of equilibrium are as follows

First condition of
equilibrium:
The first condition of equilibrium stated
as follows:
A body is said to be in equilibrium if the
vector sum of all the forces acting on the
body is equal to zero.

OR
A body is said to be in equilibrium if the
sum of all the forces acting along X-axis
is zero and the sum of all the forces acting along Y-axis is zero.
F x +
F y =0
F =
If first condition is satisfied then the body is said to be in translational
equilibrium transitional equilibrium but not in complete equilibrium.

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Chapter#8

WAVE MOTION AND SOUND

Prepared by Sir Ahsan Siraj

Second condition of
equilibrium
The second condition of equilibrium
stated as follow:
A body will be in rotational equilibrium
when the vector sum of all the torques
acting on it is Zero.

OR
A body is said to be in equilibrium if the
sum of all clockwise torque and
anticlockwise torque is zero.
A =0
= c +

Angular Momentum:
Amount of rotational motion of a body is called Angular momentum.

Mathematically:
Mathematically angular momentum is defined as:
The cross product of position vector (r ) with the linear momentum

( p )

of a

body in circular motion is called Angular momentum.

I-e
l =r p
If
r =r x i+r y j+r z k
p= p x i+ p y j+ pz k

Angular Momentum: can be written as

i
l= r x
px

j
ry
py

k
rz
pzz

Since; p=mv
l =r m v
l =m r v

If

v =v x i+ v y j + v z k
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Chapter#8

WAVE MOTION AND SOUND

Prepared by Sir Ahsan Siraj

Angular Momentum: can be written as

i
j k
l=m r x r y r z
vx v y vz

In magnitude form
l=rpsin
l=rmvsin
For perfect circular path

=90

l=mvr

Law of Conservation of Angular Momentum:

Statement:
Angular Momentum of a body remains same if the net
torque acting on the body is zero.

Proof:
Consider a body of mass
path of radius

Vector

moving along a circular

is the position vector from

center of the circular locating the body. If

momentum of the body and

p is the linear

the force experienced

by the body then this force can be written as

d p

F=
dt
Taking Cross product with

on both sides we get

d p
r
F =r
dt
Since
=r
F
And
p=m v
We get

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Chapter#8

WAVE MOTION AND SOUND

Prepared by Sir Ahsan Siraj

=r

d p
dt

Angular momentum can be written as

l =r p

Differentiating with respect to time

d l d ( r p )
=
dt
dt
Using the product law of vector differentiation
d ( x y )
d y d x
=x
+
y
dt
dt dt

Above will become

d l
d p d r
=r
+ p
dt
dt dt
Since
p=m v
d r
= v
dt
=r

d p
dt

By putting the values we get we get

d l
=
dt
Now if

=0

d l
=0
dt
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Chapter#8

WAVE MOTION AND SOUND

Prepared by Sir Ahsan Siraj

Since the derivative of angular momentum is zero it mean angular momentum

is constant
I-e
l =constant

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