Irodov Problem 4. The rod experiences five forces - i the two normal reactions N1 and N2 from each of the two rotating wheels ii the forces of friction kN1 and kN2 acting in a direction so as to oppose the relative motion between the rotatig wheel and the rod and iii the force of gravity mg the pulls the rod down. Considering the forces on the rod in the vertical direction we have, Considering forces on the rod in the horizontal direction we have, In 2 , m is the mass of the rod and x the location of the CG of the rod. The location of the CG at the equilibrium position at the center of the wheels is considered to be the origin. Now let us consider the torques acting on the rod due to the five forces about the CG of the rod.
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