PROBLEM 10.

71
Two uniform rods, each of mass m, are attached to gears of equal radii as
shown. Determine the positions of equilibrium of the system and state in
each case whether the equilibrium is stable, unstable, or neutral.

SOLUTION

Potential Energy

 l  l 
V = W  − sin θ  + W  cosθ  W = mg
 2  2 

l
=W ( cosθ − sin θ )
2

dV Wl
= ( − sin θ − cosθ )
dθ 2

d 2V Wl
= ( sin θ − cosθ )
dθ 2
2

dV
For Equilibrium: = 0: sin θ = − cosθ
dθ

or tan θ = −1

Thus θ = −45.0° and θ = 135.0°

Stability:

d 2V Wl
At θ = −45.0° : = sin ( −45° ) − cos 45° 
dθ 2 2 

Wl  2 2
=  − − <0
2  2 2 

∴ θ = −45.0°, Unstable

d 2V Wl
At θ = 135.0° : = ( sin135° − cos135° )
dθ 2
2

Wl  2 2
=  + >0
2  2 2 

∴ θ = 135.0°, Stable
 PROBLEM 10.72
Two uniform rods, AB and CD, are attached to gears of equal radii as
shown. Knowing that mAB = 3.5 kg and mCD = 1.75 kg, determine the
positions of equilibrium of the system and state in each case whether the
equilibrium is stable, unstable, or neutral.

SOLUTION

Potential Energy

(  l
 2
) 

( l
2
)

V = 3.5 kg × 9.81 m/s 2  − sin θ  + 1.75 kg × 9.81 m/s 2  cosθ 


= ( 8.5838 N ) l ( −2sin θ + cosθ )

dV
= ( 8.5838 N ) l ( −2cosθ − sin θ )
dθ

d 2V
= ( 8.5838 N ) l ( 2sin θ − cosθ )
dθ 2

dV
Equilibrium: = 0: − 2cosθ − sin θ = 0
dθ

or tan θ = −2

Thus θ = −63.4° and 116.6°

Stability

d 2V
At θ = −63.4°: = ( 8.5838 N ) l  2sin ( −63.4° ) − cos ( −63.4° ) 
dθ 2

= ( 8.5838 N ) l ( −1.788 − 0.448 ) < 0

∴ θ = −63.4°, Unstable

d 2V
At θ = 116.6° : = ( 8.5838 N ) l  2sin (116.6° ) − cos (116.6° ) 
dθ 2

= ( 8.5838 N ) l (1.788 + 0.447 ) > 0

∴ θ = 116.6°, Stable
 PROBLEM 10.73
Using the method of Section 10.8, solve Problem 10.39. Determine
whether the equilibrium is stable, unstable or neutral. (Hint: The
potential energy corresponding to the couple exerted by a torsional
1
spring is Kθ 2 , where K is the torsional spring constant and θ is the
2
angle of twist.)

SOLUTION

Potential Energy

1
V = Kθ 2 − Pl sin θ
2

dV
= Kθ − Pl cosθ
dθ

d 2V
= K + Pl sin θ
dθ 2

dV K
Equilibrium: = 0: cosθ = θ
dθ Pl

For P = 400 lb, l = 10 in., K = 150 lb ⋅ ft/rad

150 lb ⋅ ft/rad
cosθ = θ
( 400 lb )  ft 
10
 12 

= 0.450θ

Solving numerically, we obtain

θ = 1.06896 rad = 61.247°

θ = 61.2°

Stability

d 2V  10 
= (150 lb ⋅ ft/rad ) + ( 400 lb )  ft  sin 61.2° > 0
dθ 2
 12 

∴ Stable
 PROBLEM 10.74
In Problem 10.40, determine whether each of the positions of equilibrium
is stable, unstable, of neutral. (See the hint for Problem 10.73.)

SOLUTION

Potential Energy

1
V = Kθ 2 − Pl sin θ
2

dV
= Kθ − Pl cosθ
dθ

d 2V
= K + Pl sin θ
dθ 2

dV K
Equilibrium = 0: cosθ = θ
dθ Pl

For P = 1260 lb, l = 10 in., and K = 150 lb ⋅ ft/rad

150 lb ⋅ ft/rad
cosθ = θ
(1260 lb )  ft 
10
 12 

θ
or cosθ =
7

Solving numerically, θ = 1.37333 rad, 5.652 rad, and 6.616 rad

or θ = 78.7°, 323.8°, 379.1°

d 2V  10 
Stability At θ = 78.7° : = (150 lb ⋅ ft/rad ) + (1260 lb )  ft  sin 78.7°
dθ 2
 12 

= 1179.6 ft ⋅ lb > 0 ∴ θ = 78.7°, Stable

d 2V  10 
At θ = 323.8° : = (150 lb ⋅ ft/rad ) + (1260 lb )  ft  sin 323.8°
dθ 2
 12 

= −470 ft ⋅ lb < 0 ∴ θ = 324°, Unstable

d 2V  10 
At θ = 379.1° : = (150 lb ⋅ ft/rad ) + (1260 lb )  ft  sin 379.1°
dθ 2
 12 

= 493.5 ft ⋅ lb > 0 ∴ θ = 379°, Stable

 PROBLEM 10.75
Angle θ is equal to 45° after a block of mass m is hung from member AB
as shown. Neglecting the mass of AB and knowing that the spring is
unstretched when θ = 20°, determine the value of m and state whether
the equilibrium is stable, unstable, or neutral.

SOLUTION

Potential Energy

1 2
Have V = kxSP + mgyB
2

π
where xSP = r (θ − θ 0 ) , r = 100 mm, θ 0 = 20° = rad
9

yB = LAB cosθ , LAB = 450 mm

1 2
kr (θ − θ 0 ) + mgLAB cosθ
2
Then V =
2

dV
and = kr 2 (θ − θ 0 ) − mgLAB sin θ
dθ

d 2V
= kr 2 − mgLAB cosθ
dθ 2

With k = 800 N/m, θ = 45°

π π π
Equilibrium:
dV
dθ
= 0: (800 N/m )( 0.1 m )2 
4
−
9
( 2
)
 − m 9.81 m/s ( 0.45 m ) sin = 0
4

Then m = 1.11825 kg m = 1.118 kg

Stability

π
Now
d 2V
dθ 2
2
( )
= ( 800 N/m )( 0.1 m ) − (1.118 kg ) 9.81 m/s2 ( 0.45 m ) cos
4

= 4.51 J > 0

∴ Stable
 PROBLEM 10.76
A block of mass m is hung from member AB as shown. Neglecting the
mass of AB and knowing that the spring is unstretched when θ = 20°,
determine the value of θ corresponding to equilibrium when m = 3 kg.
State whether the equilibrium is stable, unstable, or neutral.

SOLUTION

Using the general results of Problem 10.76 and noting that now

m = 3 kg, and θ 0 = 20°

we have

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

π
(800 N/m )( 0.1 m )2 θ

−
9
( 2
)
 − ( 3 kg ) 9.81 m/s ( 0.45 m ) sin θ = 0

 π
or θ −  − 1.65544sin θ = 0
 9

Solving numerically, θ = 1.91011 rad

= 109.441°

or θ = 109.4°

Stability

d 2v
= kr 2 − mgLAB cosθ
dθ 2

= ( 800 N/m )( 0.1 m ) − ( 3 kg )( 9.81 m/s )( 0.45 m ) cos (109.4° )

2

= 12.41 J > 0

∴ Stable
 PROBLEM 10.77
A slender rod AB, of mass m, is attached to two blocks A and B which can
move freely in the guides shown. Knowing that the spring is unstretched
when y = 0 , determine the value of y corresponding to equilibrium
when m = 12 kg, l = 750 mm, and k = 900 N/m.

SOLUTION

Deflection of spring = s, where s= l 2 + y2 − l

ds y
=
dy l 2 − y2

1 2 y
Potential Energy: V = ks − W
2 2
dV ds 1
= ks − W
dy dy 2

dV
dy
=k ( l 2 + y2 − l ) 2
l + y
y
2
−
1
2
W

 l 
= k 1 −  y − 1W
 l 2 + y 2  2


dV  l 
Equilibrium = 0: 1 − y = 1W
dy  2 2 
l + y  2 k


Now ( )
W = mg = (12 kg ) 9.81 m/s 2 = 117.72 N, l = 0.75 m, and k = 900 N/m

 
Then 1 − 0.75 m  y = 1 (117.72 N )

 ( 0.75 m )2

+ y 2  2 ( 900 N/m )


 0.75 
or 1 −  y = 0.6540
 0.5625 + y 2 

Solving numerically, y = 0.45342 m
y = 453 mm
 PROBLEM 10.78
The slender rod AB of negligible mass is attached to two 4-kg blocks A
and B that can move freely in the guides shown. Knowing that the
constant of the springs is 160 N/m and that the unstretched length of each
spring is 150 mm, determine the value of x corresponding to equilibrium.

SOLUTION


First note y = 0.4 − ( 0.22 )2 − ( 0.4 − x )2  m
 

(
= 0.4 − − x 2 + 0.8 x − 0.1116 m )
Now, the Potential Energy is
1 1
k ( x − 0.15 ) + k ( y − 0.15 ) + 0.4mA g + mB gy
2 2
V =
2 2

( )
2
1 1
k ( x − 0.15 ) + k 0.25 − − x 2 + 0.8 x − 0.1116
2
=
2 2

(
+ 0.4m A g + mB g 0.4 − − x 2 + 0.8 x − 0.1116 )
For Equilibrium

dV
dθ (
= 0: k ( x − 0.15 ) + k 0.25 − − x 2 + 0.8 x − 0.1116 )  − 2 −x 2
0.8 − 2 x 

+ 0.8 x − 0.1116 

0.8 − 2 x
− mB g =0
2
2 − x + 0.8 x − 0.1116
Simplifying,

k ( x − 0.4 ) + − x 2 + 0.8x − 0.1116 + 4mB g ( x − 0.4 ) = 0

Substituting the masses, mA = mB = 0.4 kg, and the spring constant k = 160 N/m:

(160 N/m ) ( x − 0.4 + ) (

− x 2 + 0.8 x − 0.1116 m 2 + 4 ( 4 kg ) 9.81 m/s 2 ) ( x − 0.4 ) m = 0
 PROBLEM 10.78 CONTINUED

or ( x − 0.4 + )
− x 2 + 0.8x − 0.1116 + 0.981( x − 0.4 ) = 0

( 0.8x − x )
2
= ( 0.7924 − 1.981x )
2 2
Simplifying, − 0.1116

or 4.924362 − 3.93949 x + 0.739498 = 0

3.93949 ± ( −3.93949 )2 − 4 ( 4.92436 )( 0.739498)

Then x=
2 ( 4.92436 )

or x = 0.49914 m and x = 0.30086 m

Now x ≤ 0.4 m ⇒ x = 301 mm

 PROBLEM 10.79
A slender rod AB, of mass m, is attached to two blocks A and B that can
move freely in the guides shown. The constant of the spring is k, and the
spring is unstretched when AB is horizontal. Neglecting the weight of the
blocks, derive an equation in θ , m, l, and k that must be satisfied when
the rod is in equilibrium.

SOLUTION

Elongation of Spring:

s = l sin θ + l cosθ − l

s = l ( sin θ + cosθ − 1)

1 2 l
Potential Energy: V = ks − W sin θ W = mg
2 2

1 2 l
kl ( sin θ + cosθ − 1) − mg sin θ
2
=
2 2

dV 1
= kl 2 ( sin θ + cosθ − 1)( cosθ − sin θ ) − mgl cosθ (1)
dθ 2

Equilibrium:

dV mg
= 0: ( sin θ + cosθ − 1)( cosθ − sin θ ) − cosθ = 0
dθ 2kl

 mg 
or cosθ ( sin θ + cosθ − 1)(1 − tan θ ) − =0
 2kl 
 PROBLEM 10.80
A slender rod AB, of mass m, is attached to two blocks A and B that can
move freely in the guides shown. Knowing that the spring is unstretched
when AB is horizontal, determine three values of θ corresponding to
equilibrium when m = 125 kg, l = 320 mm, and k = 15 kN/mm. State
in each case whether the equilibrium is stable, unstable, or neutral.

SOLUTION

Using the results of Problem 10.79, particularly the condition of equilibrium

 mg 
cosθ ( sin θ + cosθ − 1)(1 − tan θ ) − =0
 2kl 

( )
Now, with W = mg = (125 kg ) 9.81 m/s 2 = 1226.25 N, l = 320 mm, and k = 15 kN/m,

W 1226.25 N
Now = = 1.2773
2kl 2 (15000 N/m )( 0.32 m )

so that cosθ ( sin θ + cosθ − 1)(1 − tan θ ) − 1.2773 = 0

By inspection, one solution is cosθ = 0 or θ = 90.0°

Solving numerically: θ = 0.38338 rad = 9.6883° and θ = 0.59053 rad = 33.8351°
Stability
d 2V 1
= kl 2 ( cos θ − sin θ )( cos θ − sin θ ) + ( sin θ + cos θ − 1)( − sin θ − cos θ )  + mgl sin θ
dθ 2
2
 mg 
= kl 2 cos 2 θ + sin 2 θ − 2 sin θ cos θ − sin 2 θ − cos 2 θ − 2 sin θ cos θ + sin θ + cos θ + sin θ 
 2 kl 

 mg  
= kl 2 1 +  sin θ + cos θ − 2 sin 2θ 
 2kl  

= (15 N/m )( 0.32 m ) (1 − 127.73) sin θ + cos θ − 2 sin 2θ 

2

Thus, at
d 2V
At θ = 90°: = 89.7 > 0 ∴ θ = 90.0°, Stable
dθ 2
d 2V
At θ = 9.6883°: = 0.512 > 0 ∴ θ = 9.69°, Stable
dθ 2
d 2V
At θ = 33.8351°: = −0.391 < 0 ∴ θ = 33.8°, Unstable
dθ 2