Ch.

As it turns out, it is not the net external force, but rather the net external torque that causes the
rotational velocity to change. Just as greater net forces cause greater linear accelerations, greater
net torques cause greater rotational or angular accelerations. (+) CCW... (-) CW

(N-m)

line of action is an extended line drawn colinear with the force.

lever arm = distance ℓ between the line of action and the axis of rotation, measured on a
line that is perpendicular to both

A rigid body is in equilibrium if it has zero translational acceleration and zero angular
acceleration. In equilibrium, the sum of the externally applied forces is zero, and the sum of the
externally applied torques is zero:

Applying the Conditions of Equilibrium to a Rigid Body

1.  Select the object to which the equations for equilibrium are to be applied.

2.  Draw a free-body diagram that shows all the external forces acting on the object.

3.  Set an x, y axes and resolve all forces into components that lie along these axes.

4.  Apply the equations that specify the balance of forces at equilibrium: ΣFx = 0 and ΣFy = 0.

5.  Select a convenient axis of rotation. The choice is arbitrary. Identify the point where each
external force acts on the object, and calculate the torque produced by each force about the
chosen axis. Set the sum of the torques equal to zero: Στ = 0.

6. Solve the equations in Steps 4 and 5 for the desired unknown quantities.
Ch. 9
 Ch. 9

The center of gravity of a rigid body is the point at which its

weight can be considered to act when the torque due to the
weight is being calculated.

The center of gravity of any symmetrically shaped and

uniform object, such as a sphere, disk, cube, or cylinder, is
located at its geometrical center. However, this does not mean
that the center of gravity must lie within the object itself. The
center of gravity of a compact disc recording, for instance, lies
at the center of the hole in the disc and is, therefore, “outside”
the object.

Rigid body rotating about fixed

axis from Newton’s Second
Law, valid only in an inertial
frame (non-accelerating)
 Ch. 9

All of the above expressed in radian measure with result in (J)

Angular Momentum: (kg · m2/s)

*ω in rad/s

Linear momentum is an important concept in physics because the total linear momentum of a
system is conserved when the sum of the average external forces acting on the system is zero.
Then, the final total linear momentum Pf and the initial total linear momentum P0 are the same:
Pf = P0

Total angular momentum of a system remains constant (is conserved) if the net average external
torque acting on the system is zero.(L0 = Lf)