ME 302 DYNAMICS OF

MACHINERY

Virtual Work-Energy Methods

Dr. Sadettin KAPUCU

1
© 2007 Sadettin Kapucu
 VIRTUAL WORK-ENERGY METHODS

Newton method provides complete information about all

interior forces at pin joints as well as about the external
forces and torques on the mechanisms. One consequence
of this fact is the relative complexity of their application
which requires the simultaneous solution of large system of
equations. Energy methods for solution of these problems
are easier but it gives less information. Only the external,
work producing, forces and torques are found by these
methods. The internal joint forces are not computed. One
chief value of the energy approach is its use as a quick
check on the correctness of the Newtonian sol’n for input
torque.   

W   F  R      0
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 Example 1
Find the magnitude and direction of the moment must be applied to link 2 to
drive the linkage against a 100 N force at the point E of the link 4 as shown. Use
virtual displacement method
AB=DE=2.5 cm, DC=4 cm, BC=5.7cm

D(6cm, 3cm) E
y B
2 3 100 N

60o 4
A x
C
1
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 Example 1
D  4 E 
R
y B R4
 2
3 100 N
T
4
2 60 o

A x
C
1
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 Example 1
D  4 E 
R
y B R4
 2
3 100 N
T
4
2 60 o

A x
C
1
      
FE  100 j RE  DEi  0 .025 i RE  0 .025 *  4 j
       
W  F  R     2  0 100 j  ( 0 .025 *  4 ) j   k   2  0
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 Example 1
D  4 E 
R
y B R4
 2
3 100 N
T
4
2 60 o

A x
C
1
   
100 j  ( 0 .025 *  4 ) j   k   2  0
 4 We need the ratio of  4 This ratio can easily be found
  2 .5   from instantaneous velocity
 2  2 analysis.
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 Example 1
D I14 E
y I23 B 3
 

2 I24 4
60o
A VI24  
I12 x  4
C   2 .5 
1 I34  2
 2   4 0 .029
VI 24  AI 24 *  2  0 .029 * VI 24  DI 24 *  4  0 .0345 * 4   0 .8405
dt dt  2 0 .0345

T  100 * 0 .025 * 0 .8405  2 .1 Nm CCW

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