Appin Mactan ~ Stati Chapter 10 Method of Virtual Work 10.1 Introduction | ‘equations of equilibrium } consider a particle or a rigid body, if it is given an arbitrary displacement from the position of equilibrium, the total work done of the external forces ‘method of virtual work may extend to the concept of potential energy 10.2 Work of a Force consider a particle which moves from 4 to 4” dr is called the displacement of the particle F is the force acting on the particle dU = Fede = Fdscosa where |dr| = ds |FI=F work is a scalar quantity, has a magnitude and sign, but no direction ~ the unit OF workeis > —Naw =F Gouley —— Feds (a=0°) same direction dU = Fdscosa =|0 (a= 90°) perpendicular -Fds a 180°) opposite directionforce acting on a fixed point (reactions at frictionless pin), it is no work done forces acting in the direction perpendicular to displacement, itis no work done [if the roller has friction with surface, then the fiction force has work done} the sum of work done by intemal forces is, zero F iis the force acting on AC exerted by BC, - F is the force acting on BC exerted by AC F and - F has same magnitude but opposite Q=0 [what happen when tan 0 <1, Q < 02, NO, inthis case, F < yN] ~the mechanicat-efficiency-7 is defined ~ ‘output work input work 11 = 1 for ideal machine, in general 1) < 1 Sample Problem 10.1 determine Mf required to maintain equilibrium Isin@ dt = 10038 dyn cos 060 -Isin 950 ¥ bU=0 M60 - Pox + Poy, = 0 M00 - P lcos 850 + P(-Isin 038) = 0 M = PI(sin8 + cos 8) 10-5Aamo Mechanics Stace ‘Sample Problem 10.2 determine @ and the spring force for equilibrium spring constant = k, 0 for yo = A yes Isind dys = Leos 060 Ye= 2sind — dye = 21cos 069 s=ye-h = 2sind-h P= ks = kQIsin@ - h) SU=0 Pd - Foye = 0 P (Leos 050) = [e(2 tin - hy] @le0s 056) en amr and paki tithe y-F ak 2 determine Foy of the hydraulic-ift y= 2asind dy = 2acos06o Sa=a+L-2aLcosd 2aL (sind) 60 asin 59 Bee 2sds 8U= 0-4 Way + Foads = 0 - AW (2 a.c0s 858) 4 Fog ESBS 60 Fon = W> cot Zz 10-6Applied Mechaics Sic for @= 60° a= 07m L=32m s= 291m W= 981kN Foy = 5.15 kN 10.6 Work of a Force Due a nite Displacement consider a force F acting on a particle dU = Fedr the work of F due to a finite displacement of the particle form 4; 10 Az is Una = [OP edr . also dU = FdScosa @ may vary Uva = 52 Fas cos a Cer, + if F and dr in the same direction, then a = 0 and cosa = I ie. Una = F(S - 8) if'the work is done by moment du = mao Ura Smo if M = constant then Usa = Ms ~ 8). work of weight Way Ura =~ Way = -WOn - yi) = -Way auwork of force exerted by a spring Fake ‘k: spring constant dU = -Fdv Una -Q'Fde = -f" keds = Vekx? - Ykx? Ua is positive when x: awia=0 consider the example DA : length of undeformed spring Ve = ekxs = Wye ap = 2Isin@ Ve = Wk QIsin OF Ye= feos Hy = Wieos 0 V = Vo+ Ve=2kP sin’ + Wleos O dV (dO = 4kP sinOcos0 - Wisind = 0 ie. sind=0 or 4k/cosd= W a=0 and 0 = cos" (7/4) this position does not exist if W > 4 ki 10-9Applied Mecases~ States 10.9 Stability of Equilibrium consider the three uniform rods of length 2a and weight W Netegeon ve Wy at the equilibrium position 6 = 0 (®): 7 = minimum (0): 7 = maximum (0): ¥ = constant jl aT aaa aan ; Shing hss bende i si (eisutientcen Unstable equim {Netra eal aV/d0= 0 forequilibrium @VIdP > 0 ie.V = Vin stable equilibrium @V/dP <0 ie.V= Vou unstable equilibrium EV 1 dB = BV IAP =~ = 0 ie Y= constant neutral equilibrium if the system considered possesses several degree of freedom, say V = VC, 6), it will be minimum if the following relations are satisfied simultaneously 10-10-Arplicd Mechanics ~ States ‘Sample Problem 10.4 the spring is unstretched when @ = determine the positions of equilibrium ‘ek (ad? We = ks Ve = Wy = meboos @ Vent = %kae + mebeos 0 avido = 0 for equilibrium ax 008 10x9.81x03 mg b sin = 0.8699 6 0 or 0.902 rad = $1.7° e stability for equilibrium EV de = ka? ~ mg bcos 0 = 40.08 - 10x 9.81 x 0.3 cos @ = 25.6 - 29.43 cos 6 Vd = -383 <0 unstable stable for 0= S17 €V/d# = 136 >0 for 6 = 0%