PROBLEM 10.

101
Derive an expression for the magnitude of the force Q required to
maintain the equilibrium of the mechanism shown.

SOLUTION

Have xD = 2l cosθ so that δ xD = −2l sin θδθ

δ A = 2lδθ

δ B = lδθ

Virtual Work:

δ U = 0: − Qδ xD − Pδ A − Pδ B = 0

−Q ( −2l sin θδθ ) − P ( 2lδθ ) − P ( lδθ ) = 0

2Ql sin θ − 3Pl = 0

3 P
Q=
2 sin θ
 PROBLEM 10.102
The position of boom ABC is controlled by the hydraulic cylinder BD.
For the loading shown, determine the force exerted by the hydraulic
cylinder on pin B when θ = 70°.

SOLUTION

First note, by the Law of Cosines

DB 2 = ( 3 ft ) + ( 2 ft ) − 2 ( 3 ft )( 2 ft ) cosθ
2 2

= [13 − 12cosθ ] ft 2( )
DB = 13 − 12 cosθ

1 ( −12 )( sin θ )
Then δ B = δ DB = δθ
2 13 − 12cosθ

6sin θ
or δB = δθ
13 − 12 cosθ

Also y A = 4.5cosθ

Then δ y A = −4.5sin θδθ

Virtual Work

δ U = 0: − ( 8 kips ) δ y A − FDBδ B = 0

 6sin θ 
Then −8 ( −4.5sin θ ) δθ − FDB   δθ = 0
 13 − 12 cosθ 

or FDB =
(8)( 4.5sin θ ) 13 − 12cosθ
6sin θ

or FDB = 6 13 − 12cosθ

For θ = 70°

FDB = 17.895 kips

FDB = 17.90 kips

 PROBLEM 10.103
The position of boom ABC is controlled by the hydraulic cylinder BD.
For the loading shown, determine the largest allowable value of the angle
θ if the maximum force that the cylinder can exert on pin B is 25 kips.

SOLUTION

From the analysis of Problem 10.102, we have

FAB = 6 13 − 12cosθ

For FAB = 25 kips

6 13 − 12 cosθ = 25

−17.36 + 13
or cosθ = = −0.3633
12

θ = 111.31°

θ = 111.3°
 PROBLEM 10.104
A vertical bar AD is attached to two springs of constant k and is in
equilibrium in the position shown. Determine the range of values of the
magnitude P of two equal and opposite vertical forces P and −P for
which the equilibrium position is stable if (a) AB = CD, (b) AB = 2CD.

SOLUTION

For both (a) and (b): Since P and −P are vertical, they form a couple of
moment

M P = + Pl sin θ

The forces F and −F exerted by springs must, therefore, also form a

couple, with moment

M F = − Fa cosθ

We have

dU = M P dθ + M F dθ

= ( Pl sin θ − Fa cosθ ) dθ

1 
but F = ks = k  a sin θ 
2 

 1 
Thus, dU =  Pl sin θ − ka 2 sin θ cosθ  dθ
 2 

From Equation (10.19), page 580, we have

1 2
dV = −dU = − Pl sin θ dθ + ka sin 2θ dθ
4

dV 1
or = − Pl sin θ + ka 2 sin 2θ
dθ 4

d 2V 1
and = − Pl cosθ + ka 2 cos 2θ (1)
dθ 2
2
PROBLEM 10.104 CONTINUED

d 2V 1
For θ = 0: = − Pl + ka 2
dθ 2
2

d 2V 1 2
For Stability: > 0, − Pl + ka > 0
dθ 2 2

ka 2
or (for parts a and b) P<
2l

ka 2
Note: To check that equilibrium is unstable for P = , we
2l
differentiate (1) twice:

d 3V
= + Pl sin θ − ka 2 sin 2θ = 0, for θ = 0,
dθ 3

d 4V
= Pl cosθ − 2ka 2 cos 2θ
dθ 4

d 4V ka 2
For θ = 0 = Pl − 2ka 2 = − 2ka 2 < 0
dθ 4
2

ka 2
Thus, equilibrium is unstable when P=
2l
 PROBLEM 10.105
Determine the vertical force P which must be applied at G to maintain the
equilibrium of the linkage.

SOLUTION

2 4u
y A = −u, yG = − u, β =
3 0.72

V = ( 80 N ) y A + P ( yG ) − (18 N ⋅ m ) β

 2  4u
= 80 ( −u ) + P  − u  − (18 )
 3  0.72

dV 2
= −80 − P − 100 = 0
du 3

P = −270 N P = 270 N

Substituting P = −270 N into the expression for V, we have V = 0. Thus V is constant and equilibrium is
neutral.
 PROBLEM 10.106
Determine the couple M which must be applied to member DEFG to
maintain the equilibrium of the linkage.

SOLUTION

0.04 4 4
Assume δ y A : δ yC = δ yA = δ yA , δ yD = δ yC = δ yA
0.09 9 9

δ yC 4 δ yA 4 50
δφ = = = δ yA = δ yA
0.08 9 0.08 0.72 9

Virtual Work:

δ U = 0: (80 N ) δ y A + (18 N ⋅ m ) δφ + M δφ =0

 50   50 
80δ y A + 18  δ y A  + M  δ y A  = 0
 9   9 

50
80 + 100 + M =0
9

M = −32.4 N ⋅ m M = 32.4 N ⋅ m
 PROBLEM 10.107
Two uniform rods, each of mass m and length l, are attached to drums
that are connected by a belt as shown. Assuming that no slipping occurs
between the belt and the drums, determine the positions of equilibrium of
the system and state in each case whether the equilibrium is stable,
unstable, or neutral.

SOLUTION

W = mg

l  l 
V = W  cos 2θ  − W  cosθ 
2  2 

dV l
= W ( −2sin 2 + sin θ )
dθ 2

d 2V l
= W ( −4cos 2θ − cosθ )
dθ 2
2

Equilibrium:

dV Wl
= 0: ( −2sin 2θ + sin θ ) = 0
dθ 2

or sin θ ( −4cosθ + 1) = 0

Solving, θ = 0, 75.5°, 180°, and 284.5°

Stability:

d 2V l
= W ( −4cos 2θ − cosθ )
dθ 2
2

d 2V l
At θ = 0: = W ( −4 − 1) < 0 ∴ θ = 0, Unstable
dθ 2
2

d 2V l
At θ = 75.5° : = W ( −4 ( −.874 ) − .25 ) > 0 ∴ θ = 75.5°, Stable
dθ 2
2

d 2V l
At θ = 180°: = W ( −4 + 1) < 0 ∴ θ = 180.0°, Unstable
dθ 2
2

d 2V l
At θ = 284.5°: = W ( −4 ( −.874 ) − .25 ) > 0 ∴ θ = 285°, Stable
dθ 2
2
 PROBLEM 10.108
Using the method of virtual work, determine separately the force and the
couple representing the reaction at A.

SOLUTION

Vertical component at A. Move point A downward without rotation.

Since AB remains horizontal, δ y A = δ yB

5 1 5 51  5
δ yC = δ yB ; δ yE = δ yB ; δ yE = δ yE =  δ yB  = δ yB
8 2 6 62  12

Virtual Work: δ U = 0: − Aδ y A + ( 800 N ) δ yC − ( 600 ) δ yF = 0

5   5 
− Ayδ yB + 800  δ yB  − 600  δ yB  = 0
8   12 

Ay = +250 N A y = 250 N

For horizontal motion δ x A , δ U = 0 = Axδ x A; Ax = 0

∴ A = 250 N

For couple M A , we rotate AB about A through δθ

 PROBLEM 10.108 CONTINUED

1 1
δ yB = 1.8δθ ; δ yE = δ yB = (1.8δθ ) = 0.9δθ
2 2

5 5
δ yC = δ yB = (1.8δθ ) = 1.25δθ
8 8

5 5
δ yF = δ yE = ( 0.98θ ) = 0.75δθ
6 6

Virtual Work:

δ U = 0: − M A δθ + ( 800 N ) δ yC − ( 600 N ) δ yF = 0

−M Aδθ + 800 (1.125δθ ) − 600 ( 0.75δθ ) = 0

MA = + 450 N ⋅ m M A = 450 N ⋅ m
 PROBLEM 10.109
Using the method of virtual work, determine the reaction at D.

SOLUTION

We move point D downward a distance δ yD

3 3
δ yC = δ yD δ yE = δ yD
8 2

5 5 3  5
δ yF = δ yE =  δ yD  = δ yD
6 6 2  4

Virtual Work:

δ U = 0: −Dδ yD + ( 800 N ) δ yC + ( 600 N ) δ yF = 0

3  5 
− Dδ yD + 800  δ yD  + 600  δ yD  = 0
 8   4 

D = +1050 N D = 1050 N
 PROBLEM 10.110
The slender rod AB is attached to a collar A and rests on a small wheel at
C. Neglecting the radius of the wheel and the effect of friction, derive an
expression for the magnitude of the force Q required to maintain the
equilibrium of the rod.

SOLUTION

For ∆AA′C : A′C = a tan θ

y A = − ( A′C ) = −a tan θ

a
δ yA = − δθ
cos 2 θ

For ∆BB′C :

B′C = l sin θ − A′C

= l sin θ − a tan θ

B′C l sin θ − a tan θ

BB′ = =
tan θ tan θ

xB = BB′ = l cosθ − a

δ xB = −l sin θ δθ

Virtual Work:

δ U = 0: Pδ xB − Qδ y A = 0

 a 
P ( −l sin θ δθ ) − Q  − δθ  = 0
 cos θ
2


or Pl sin θ cos 2 θ = Qa

l
Q = P sin θ cos 2 θ
a
 PROBLEM 10.111
A load W of magnitude 100 lb is applied to the mechanism at C.
Knowing that the spring is unstretched when θ = 15°, determine the
value of θ corresponding to equilibrium and check that the equilibrium
is stable.

SOLUTION Have yC = l cosθ

1 2 π
V = k  r (θ − θ 0 )  + WyC θ 0 = 15° = rad
2 12

1 2
kr (θ − θ 0 ) + Wl cosθ
2
=
2

dV
= kr 2 (θ − θ 0 ) − Wl sin θ
dθ

dV
Equilibrium = 0: kr 2 (θ − θ 0 ) − wl sin θ = 0 (1)
dθ

With W = 100 lb, R = 50 lb/in., l = 20 in., and r = 5 in.

π 
( 50 lb/in.) ( 25 in 2 ) θ −  − (100 lb )( 20 in.) sin θ = 0
 12 

or 0.625θ − sin θ = 0.16362

Solving numerically, θ = 1.8145 rad = 103.97°

θ = 104.0°

d 2V
Stability = kr 2 − Wl cosθ (2)
dθ 2

or = 1250 − 2000cosθ

For θ = 104.0°: = 1734 in.⋅ lb > 0 ∴ Stable

 PROBLEM 10.112
A load W of magnitude 100 lb is applied to the mechanism at C.
Knowing that the spring is unstretched when θ = 30°, determine the
value of θ corresponding to equilibrium and check that the equilibrium is
stable.

SOLUTION

π 
Using the solution of Problem 10.111, particularly Equations (1), with 15° replace by 30°  rad  :
6 

 π
For equilibrium kr 2 θ −  − Wl sin θ = 0
 6
With k = 50 lb/in., W = 100 lb, r = 5 in., and l = 20 in.

π
( 50 lb/in.) ( 25 in.2 ) θ −  − (100 lb )( 20 in.) sin θ = 0
 6

or 1250θ − 654.5 − 2000sin θ = 0

Solving numerically, θ = 1.9870 rad = 113.8°

θ = 113.8°

Stability: Equation (2), Problem 111:

d 2V
= kr 2 − Wl cosθ
dθ 2

or = 1250 − 2000cosθ

For θ = 113.8° : = 2057 in.⋅ lb > 0 ∴ Stable