# Equilibrium in Motion Study

Question asked by Aysuh Mohanty on Sep 5, 2017
Latest reply on Nov 16, 2017 by Aysuh Mohanty

Case:
From the attached image it is observed that there is a link attached to a reference body by a pin on one of its end which acts as a revolute pair. The other end of the link is free. The reference is kept on a fixed body which is grounded(named as ground). Now we define gravity to the whole system and attach a rotator motor at that end of the link where pin is attached. Due to net force in x & y direction and torque in z direction, the body is not currently under equilibrium.

Now we attach 2 linear motors (in x and y directions) with the reference body and 1 rotatory motor (with angular components along z direction) with  the reference body with zero displacement condition. This makes the link revolve about the reference (making the reference stay under equilibrium). Now we plot and generate a csv file of data set of forces acting on the body under the action of zero displacement condition of the 2 linear motors and 1 rotatory motor. The same amount of force if we apply to the reference it should ideally stay under equilibrium as was the case earlier.

Problem:

The body is not under equilibrium and it shows lot of deviation in the form of abrupt rotation and displacement.

Doubt:

How to bring the system in equilibrium i.e. the link rotates about the reference under equilibrium at each time instant?