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The underlined red part: I don't particularly understand where they got this from?
The yellow highlight: Why are they finding the vertical distance, instead of the perpendicular distance?
A moment of a rigid body is a measure of the tendency of a force to cause rotation about a specific point or axis. It is calculated by multiplying the magnitude of the force by the perpendicular distance from the point/axis to the line of action of the force.
The equilibrium of a rigid body is determined by analyzing the forces and moments acting on the body. If the sum of all forces acting on the body is zero and the sum of all moments about any point is also zero, then the body is in equilibrium.
The center of mass is the average position of the mass of a body, while the center of gravity is the point at which the weight of the body can be considered to act. For symmetrical objects with uniform density, the center of mass and center of gravity are at the same point.
No, a rigid body cannot be in equilibrium if it is accelerating. In order for a body to be in equilibrium, it must have a constant velocity or zero acceleration.
Changing the point of application of a force does not change the magnitude of the moment of a rigid body, but it can change the direction of the moment. The moment of a force is always perpendicular to the plane of motion of the force and passes through the point of application.