What is the Torque (T) due to force F?

F=100N; distance to F: rF = 1m, =30o

T = MR * F
F
a)
b)
c)
d)
e)

86.6 N
100 Nm
86.6 Nm
50 Nm
50 N

MR
rF

Elbow torque due to weight of forearm

11 N

0.16 m

T=MR * F
T = 0.16m *
11N
T = 1.8 Nm
Direction?
T = -1.8Nm

A person holds their forearm so that it is 30

below the horizontal. Elbow torque due to
forearm weight? Fw=11N; rF = 0.16m

Fw

rF

a) 1.76 Nm
b) 1.5 Nm
c) 0.88 Nm
d) -1.5 Nm
e) -0.88 Nm

A person holds their forearm so that it is 30

below the horizontal. Elbow torque due to
forearm weight?
Fw=11N; rF = 0.16m

11 N

MR
30

0.16 m

T=MR*F
F = 11 N
MR=rFcos 30
MR = 0.16 cos 30 =
0.14 m
T = 1.5 N m
Use right-hand rule:
T = -1.5 Nm

A person is holding a 100N weight at a

distance of 0.4 m from the elbow.
What is the total elbow torque due to
external forces?
100 N

11 N

We must consider the

effects of 2 forces:
forearm (11N)
weight being held
(100N)

A person is statically holding a 100N

weight at a distance of 0.4 m from the
elbow. What is the elbow torque due to
external forces?
100 N

11 N
0.16

0.4 m

A) T= (-Tarm) + (Tbriefcase )
B) T = Tarm+Tbriefcase
C) T = (-Tarm) +
Tbriefcase
D) T = Tarm + (Tbriefcase)

A person is statically holding a 100N

weight at a distance of 0.4 m from the
elbow. What is the elbow torque due to
external forces?
100 N

11 N
0.16

0.4 m

T = (-Tarm) + (Tbriefcase )
T = -(11 N * 0.16
m) - (100 N * 0.4
m)
T = -42 Nm

Torque about shoulder due to external forces

when 5 kg briefcase is held with straight arm.

Forearm Upper
force
arm
Briefcase
force
force

Briefcase
force

Forearm
force

20N
15N
15N

49N
0.65 m
a)
b)
c)
d)
e)

Upper
arm
force

31 Nm
20.6 Nm
- 41Nm
41 Nm
None of the above

0.16 m
0.48 m
0.48 m

20N
15N
15N
49N

0.16 m
0.48 m
0.48 m

0.65 m
T= (49N * 0.65m) + (15N * 0.48m) + (20N
* 0.16m)
T = (31 Nm) + (7.2 Nm) + (3.2 Nm)
T = 41 Nm

Muscles create torques about joints

Upper
arm

Elbow

Elbow
flexor
muscle

Biceps
force

Forearm
T

Solve for Muscle

force, Fm

Fj,y Fm

Static equilibrium

Melbow = 0

Fw

Rm
Rw

Fj creates no moment at elbow

-(Tw) + (Tm) = 0
-(Fw * Rw) + (Fm * Rm) = 0
Fm = (Fw * Rw) / Rm
Substitute: Fw = 11 N, Rw = 0.16 m, Rm = 0.03 m
Fm = 59 N

If a person holds a 100 N weight in their

hand 0.4 m from the elbow, what is the
elbow flexor muscle force?
Ignore weight of
forearm
Information

Upper
arm

Muscle Fext

Rm = 0.03 m
Rext = 0.4 m

Step 1: Free body

diagram

Elbow

Forearm

Solve for
Elbow flexor
force

Fj,y
Fj,x

Rm = 0.03
m
Fext = 100
N
Rext = 0.4
m

Fm
Rm
Rext

Fext

Solve for
Elbow flexor
force

Rm = 0.03 m
Fext = 100 N
Rext = 0.4 m
Melbow = 0
(Tm) (Text) = 0

Fj,y
Fj,x

Fm
Rm

Fext

(FmRm) - (FextRext)
=0
Fm = Fext (Rext /
Rm)
Fm = 1333 N

Rext

When Rm < Rext,

muscle force > external force

Upper
arm

Fm = Fext (Rext / Rm)

Biceps
brachialis
Fex
t

Rm
Elbow

Rext

Last example
Fext = 100N
Rext > Rm
Fm = 1333 N

If a person holds a 100 N weight in their hand

0.4 m from the elbow, what is the joint reaction force?
(ignore weight of forearm).

Fj,y Fm
Fj,x

Rm

Rext

Fext

Free body diagram

Apply equations

If a person holds a 100 N weight in their hand

0.4 m from the elbow, what is the joint reaction force?
(ignore weight of forearm).

Fj,y Fm
Fj,x

Rm

Fext

Free body diagram

Apply equations:
Fy = 0
Fj,y + Fm - Fext = 0

Rext

Fm = 1333 N, Fext = 100

N
Fj,y = -1233 N
Fx = 0

If a person holds a 100 N weight in their hand

0.4 m from the elbow, what is the joint reaction force?
(ignore weight of forearm).

Fj,y Fm
Fj,x

Fext

Free body diagram

Apply equations
Fy = 0
-Fj,y + Fm - Fext = 0

Rm

Rext

Fm = 1333 N, Fext = 100

N
Fj,y = 1233 N
Fx = 0

What is the muscle force when a

5 kg briefcase is held with
straight arm?
Fm
Fj
Forearm Upper
arm
force
Briefcase
force
force

20N
15N
15N
49N

0.16 m
0.48 m
0.48 m

0.65 m
T = (49N * 0.65m) + (15N * 0.48m) + (20N
* 0.16m)
T = (31 Nm) + (7.2 Nm) + (3.2 Nm)
T = 41 Nm

Fm
20N
15N
0.48 m

49N
0.65 m
Rm = 0.025 m, Fm = ???
a)
b)
c)
d)

-1640 Nm
1640 Nm
1640 N
None of the above

Fj
0.16 m

Fm
20N
15N

Fj
0.16 m

0.48 m

49N
0.65 m
Rm = 0.025 m
Mshoulder = 0

0 = Tbriefcase + = Tlowerarm + Tupperarm ( Tmuscle )

0 = (49N * 0.65m) + (15N * 0.48m) + (20N *0.16m) (Fm * 0.025m)
0 = 41 Nm Fm*0.025

Fm
20N
15N
0.48 m

49N
0.65 m
Does Fjx = 0?
a) Yes
b) No
c) It depends

Fj
0.16 m

At the end of stance phase while

running, Fg,x under the right foot is 200N
and Fg,y is 350N. Fg is applied to the foot
0.2 m from the ankle.
What is the ankle torque due to Fg?
What is the ankle torque due
to Fg?
0.2 m
30
200N

350N

What is the ankle extensor

muscle force?
(MRmusc = 0.05m)

At the end of stance phase while

running, Fg,x under the right foot is 200N
and Fg,y is 350N. Fg is applied to the foot
0.2 m from the ankle. What is the ankle
torque due to Fg?

0.2 m
30
200N

350N

Step 1: Find moment arm

of Fg,x (MRx) & Fg,y (MRy)
about ankle.

At the end of stance phase while

running, Fg,x under the right foot is 200N
and Fg,y is 350N. Fg is applied to the foot
0.2 m from the ankle. What is the ankle
torque due to Fg?
Step1
MRx

0.2 m
30

200N

350N

MRx = 0.2 sin 30 = 0.10

m

At the end of stance phase while

running, Fg,x under the right foot is 200N
and Fg,y is 350N. Fg is applied to the foot
0.2 m from the ankle. What is the ankle
torque due to Fg?
Step 1

MRy
MRx

0.2 m
30

200N

MRx = 0.2 sin 30 = 0.10 m

MRy = 0.2 cos 30 = 0.17 m
Step 2
T = (Tx) + (Ty)
T = (Fg,x *MRx) + (Fg,y * MRy)

350N

T = (200 * 0.10) + (350 * 0.17)

T = 79.5 Nm

At the end of stance phase while running,

Fg,x under the right foot is 200N and Fg,y is
350N. Fg is applied to the foot 0.2 m from the
ankle.
What is the ankle extensor muscle force?
MRmusc = 0.05m

MRy
MRx

0.2 m
30

200N

350N

At the end of stance phase while running,

Fg,x under the right foot is 200N and Fg,y is
350N. Fg is applied to the foot 0.2 m from the
ankle.
What is the ankle extensor muscle force?

MRy
MRx

0.2 m
30

200N

T = 79.5 Nm
Mankle = 0

0=79.5 Nm Tmusc
0=79.5 Nm MRmusc*Fmusc
If MRmusc = 0.05m

350N

Fmusc = 79.5/0.05 = 1590 N

A person is holding a weight (100 N) in their hand.

The weight is a distance of 0.3 meters from the
center of rotation of the elbow.
1. If the forearm is parallel to the ground, what is
the torque about the elbow due to the weight?
2. If the forearm has an angle of 30 above the
horizontal (hand is higher than elbow), what is
the torque about the elbow due to the weight?
3. If an elbow flexor muscle has a moment arm of
0.030 m about the elbow, what force must it
generate to hold the forearm at an angle of 50
above the horizontal with the weight in the
hand (ignoring the weight of the forearm)?

A person is holding a weight (100 N) in their hand. The weight is a distance of 0.3
meters from the center of rotation of the elbow.
1. If the forearm is parallel to the ground, what is the torque about the elbow due to
the weight?
Telbow = F * R = 100 N * 0.3 meters = 30 Nm
2. If the forearm has an angle of 30 above the horizontal (hand is higher than
elbow), what is the torque about the elbow due to the weight?
Telbow = F * R
R = 0.3cos 30 = 0.26 meters
Telbow = 100 N * 0.26 m = 26 Nm
3. If an elbow flexor muscle has a moment arm of 0.030 m about the elbow, what
force must it generate to hold the forearm at an angle of 50 above the
horizontal with the weight in the hand (ignoring the weight of the forearm)?
Melbow = 0:
FwRw FmRm = 0
where Fm & Rm are the muscle force and its moment arm respectively, and
Fw & Rw are the 100N weight and its moment arm respectively.
Rw = 0.3 * cos 50 = 0.19 meters
100 * 0.19 Fm * 0.03 = 0
Fm = 642 N

A person is wearing a weight boot (150N) and doing exercises

to strengthen the knee extensor muscles. The center of
mass of the weight boot is 0.35 meters from the center of
rotation of the knee. The person's foot + shank has a
weight of 40N and its center of mass is 0.2 meters from the
center of rotation of the knee. These distances are along
the length of the shank.
1. When the shank is perpendicular to the ground, what is the
total torque about the knee? (Be sure to use a free-body
diagram.)
2. When the shank is held at a position where it is 20 below
the horizontal (foot is lower than knee), what is the torque
about the knee? (Be sure to use a free-body diagram. Note
that the moment arm of the weight boot about the knee
changes with knee angle.)
3. If the quadriceps muscle group has a moment arm of 0.025
m, what is the muscle force needed to hold the shank at
20 below the horizontal?

A person is wearing a weight boot (150N) and doing exercises to strengthen the
knee extensor muscles. The center of mass of the weight boot is 0.35 meters
from the center of rotation of the knee. The person's foot + shank has a weight
of 40N and its center of mass is 0.2 meters from the center of rotation of the
knee. These distances are along the length of the shank.
1. When the shank is perpendicular to the ground, what is the total torque about
the knee? (Be sure to use a free-body diagram.)
All of the moment arms are zero because the force vectors go directly
through the center of rotation of the knee. As a result, the total torque
is 0.
2. When the shank is held at a position where it is 20 below the horizontal (foot is
lower than knee), what is the torque about the knee? (Be sure to use a freebody diagram. Note that the moment arm of the weight boot about the knee
changes with knee angle.)
T = - (T due to shank weight + T due to weight boot) = -[(40)(0.2 cos 20)]
+ [(150)(0.35 cos 20)] = -56.9 N m
3. If the quadriceps muscle group has a moment arm of 0.025 m, what is the
muscle force needed to hold the shank at 20 below the horizontal?
Mknee = 0 = -[(40)(0.2 cos 20)] + [(150)(0.35 cos 20)] + 0.025 F m,quad
Fm,quad = 2.27 kN

What is the moment of inertia of the

forearm about the elbow?
Given: ICOM = 0.0065 kg * m2
m =1.2kg & COM is 0.2m distal to
elbow

Iprox = ?
a) 0.0415 kg m2
b) 0.0545 kg m2
c) 0.2465
d) I have no idea

Elbow

C.O.M.
0.2m

What is the moment of inertia of the

forearm about the elbow?
Given: IC.O.M. = 0.0065 kg * m2
m =1.2kg & com 0.2m distal to elbow

Iprox = ?
a) 0.0415 kg m2
b) 0.0545 kg m2
c) 0.2465

Parallel axis theorem

Iprox = IC.O.M. + mr2
Iprox = 0.0065 + (1.2)(0.22) = 0.0545 kg * m2

Elbow

C.O.M.
0.2m

Lets include the hand:

What is the moment of inertia of the hand and
forearm about the elbow when fully extended?
Given: Forearm: ICOM = 0.0065 kg * m2, m =1.2kg, COM is 0.2m distal
to elbow
Hand: ICOM = 0.0008 kg * m2, m =0.3kg, COM is 0.056m distal to wrist
Length of forearm: 0.3m

a) 0.0917 kg m2
b) 0.0546 kg m2
c) 0.0933 kg m2
d) I have no idea

Elbow

COM

0.2m

Wr
is t

Iprox = ?

COM

0.056m

Lets include the hand:

What is the moment of inertia of the hand and
forearm about the elbow when fully extended?
Given: Forearm: ICOM = 0.0065 kg * m2, m =1.2kg, com is 0.2m distal
to elbow
Hand: ICOM = 0.0008 kg * m2, m =0.3kg, com is 0.056m distal to wrist
Iprox =
Length
of ?
forearm: 0.3m
a) 0.0917 kg m2 (subtracted)
b) 0.0546 kg m2 (forgot forearm length)
c) 0.0933 kg m2

Parallel axis theorem

Iprox = (ICOM + mr2)forearm+(ICOM + mr2)hand
Iprox = 0.0545 + 0.0388
Iprox = 0.0933 kg m2

Elbow

COM

0.2m

Wr
is t

Iprox = 0.0065 + (1.2)(0.22) + 0.0008+(0.3)(0.3+0.056)2

COM

0.056m

What is Fmusc needed to accelerate

the forearm at 20 rad/s2 about the
elbow?
( ICOM = 0.0065 kg * m2 ; Iprox = 0.054 kg
* m2)

Step 1: Draw free body diagram.

Step 2: : M = I

Fj F
m
Elbow

Rm
Rw

Fw

What is Fmusc needed to accelerate

the forearm at 20 rad/s2 about the
elbow?
( ICOM = 0.0065 kg * m2 ; Iprox = 0.054 kg
* m2)

Step 1: Draw free body diagram.

Step 2: : M = I
a Melbow = Iprox
b Melbow = Icom
c Mcom = Iprox
d) Im lost

Fj F
m
Elbow

Rm
Rw

Fw

What is Fmusc needed to accelerate

the forearm at 20 rad/s2 about the
elbow?
( ICOM = 0.0065 kg * m2 ; Iprox = 0.054 kg
* m2)

Step 1: Draw free body diagram.

Step 2: : M = I
Melbow = Iprox

Melbow = 0.054 * 20 = 1.1 Nm

Step 3: Find moments due to each force on

forearm
(Fm * Rm) - (Fw * Rw) = 1.1 N m

Fj F
m

Fw = 11 N, Rw = 0.16 m, Rm = 0.03 m
R
Fm = 95 N

Elbow

Rw

Fw

What is net muscle moment needed to

accelerate the forearm at 20 rad/s2 about
the elbow?
(Iprox = 0.06 kg * m2, Fw = 15 N, Rw = 0.2
m)

Net muscle moment?

Fext Fj Fflex
Elbow

Fw

Net muscle moment: net moment

due to all active muscles

Mmus =- (Fm,ext*Rm,ext) + (Fm,flex*Rm,flex)

Fm,ext Fj Fm,flex

Elbow

Fw

What is net muscle moment needed to

accelerate the forearm at 20 rad/s2 about
the elbow?
(Iprox = 0.06 kg * m2, Fw = 15 N, Rw =
0.2 m)
Step 1: Free body diagram
Step 2: Melbow = Iprox
Melbow = (0.06)(20) = 1.2 N m
Step 3: Find sum of the moments about the elbow
Melbow = 1.2 = Mmus - (Fw * Rw)
Mmus = 4.2 N m

Fj
Mmus
Rw

Fw

Another sleepy day in

Keeping your head upright requires alertness
but4540
not much muscle force. Given this
diagram/information, calculate the muscle
force. Head mass = 4 kg.
a) 2.4 N

b) 23.544N
c) 0.0589 N
d) Im lost

Another sleepy day in

Keeping your head upright requires alertness
but4540
not much muscle force. Given this
diagram/information, calculate the muscle
force. Head mass = 4 kg.

a) 2.4 N (forgot 9.81)

b) 23.544N
c) 0.0589 N (multiplied
moment arm)
d) Im lost

I-70 Nightmare
While driving, you start to nod off
asleep, and a very protective reaction
kicks in, activating your neck muscles
and jerking your head up in the nick of
time to avoid an accident.

I-70 Nightmare

Calculate the muscle force needed to

cause a neck extension acceleration of 10
rad/s2. The moment of inertia of the head
about the head-neck joint is 0.10 kg m2.

a) 123.1 N
b) -73 N
c) -0.117 N
d) Im lost

I-70 Nightmare

Calculate the muscle force needed to

cause a neck extension acceleration of 10
rad/s2. The moment of inertia of the head
about the head-neck joint is 0.10 kg m2.

a) 123.1 N
b) -73 N (sign mistake)
c) -0.117 N (mulitplied
moment arm)
d) Im lost

How much torque must be generated by the deltoid

muscle to hold a 60N dumbbell straight out at a
90o arm position? The dumbbell is 0.6m from the
shoulder joint. The center of mass of the arm,
weighing 30N, is 0.25 m from the shoulder joint.
The moment arm for the deltoid muscle is 0.05m.
A. 870 Nm
B. 570 Nm
C. 43.5 Nm
D.-870 Nm

How much torque must be generated by the deltoid

muscle to hold a 60N dumbbell straight out at a
90o arm position? The dumbbell is 0.6m from the
shoulder joint. The center of mass of the arm,
weighing 30N, is 0.25 m from the shoulder joint.
The moment arm for the deltoid muscle is 0.05m.
A. 870 Nm (muscle force)
B. 570 Nm (muscle force and sign error)
C. 43.5 Nm
D.-870 Nm