Angular Kinetics and Center of Mass

These flashcards cover the essential concepts of angular kinetics, torque, center of mass, and equilibrium from the lecture.

What does torque depend on?

Torque depends on the magnitude of the force applied and the distance from the axis of rotation (moment arm).

What is the formula for torque?

Torque (𝛕) = Force (F) × moment arm (d).

What is the relationship between center of mass and stability?

The center of mass (CoM) is related to stability and balance; a fall is likely if the line of gravity falls outside the base of support.

Define static equilibrium in terms of forces and torques.

An object is in static equilibrium when the sum of external forces and torques acting on it is zero (∑F = 0, ∑𝜏 = 0).

What happens to the moment arm of the biceps as the elbow is flexed?

The moment arm of the biceps is largest when the elbow is at 90° and decreases as the elbow is flexed or extended.

What are centric and eccentric forces?

Centric forces act through the center of mass and cause linear motion, while eccentric forces do not pass through the center of mass and can cause both linear and angular motion.

How does the base of support affect balance?

A larger base of support increases stability but decreases mobility.

Explain the importance of the center of mass in humanoid robot design.

The center of mass is crucial for maintaining balance in humanoid robots, as it impacts their ability to maintain a steady position without falling.

What is a key characteristic of the center of mass for symmetrically distributed objects?

For symmetrically distributed objects, the center of mass is located at the balance point.

How does a woman's center of mass compare to a man's?

A woman's center of mass is approximately 55% of her height, while a man's center of mass is about 57% of his height.