Formulation of the equations of motion: Single-degree-of-freedom systems 35

It is instrucrive to solve the same problem by a direct formulation of the equation of equi-
librium. By equating the moment of all the forces about A to zeto) the vertical support reaction
at C is obtained as Wl2*HsinQ/Qcosg). The vertical and the horizontal reactions at A arc
W /2 - lHtan Sl /2 and H, respectiyely. Free-body diagrams can now be drawn for rods AB and
BC and are shown in Figure E2.4c.
The horizontal reaction at the hinge at B is obtained by considering the equilibrium of rod
BC and taking moments about E.
/W H \ a*&cosd
^: (z Tranb)i ,,"0
+
W * .blcor| * --a+b
: il@ (e)
'T
The spring force X is equal to R.
Both the virtual displacement and the direct equilibrium solutions to the problem are based
on the assumption that the initial angie d which the leg AB makes with the horizontal does not
change appreciably with the application of the two forces.
In this simple example the advantage of using the method of virtual displacement is not at
once evident. We may note, howeveq that in direct formulation of the equation of equilibrium,
we had to determine the support reactions, even though they were of no interest to us. On the
other hand, these forces did not appear in our virn:al work equations, because the compatible
virtual displacements in the directions of the support reactions were zero. The possibility of
avoiding the determination of the forces of constraints can simplify the problem significantly
when the system being analyzed is complex.

2.7 FORMULATION OF THE EQUATIONS OF MOTION

Having discussed the characteristics of the forces acting in a dynamic system, we

are now in a position to formulate the equations of motion. Following d'Alembert's
principle, the dynamic problem is first converted to a problem of the equilibrium of
forces by introducing appropriate inertia forces. The equations of dynamic equilib-
rium are then obtained either by the direct methods of vectorial mechanics or by the
application of the principle of virrual displacements. In discussing the formulation of
equation of motion, it is convenient to classify the system into one of the following
four categories

1 Systems with localized mass and localized stiffness

2 Systems with localized mass but distributed stiffness
3 Systems with distributed mass but localized stiffness
4 Systems with distributed mass and distributed stiffness

The formulation of the equation of motion for each of the foregoing categories is
discussed in the following paragraphs.

2.7.1 Systems with localized mass and localized stiffness

F igure 2.'L2a shows the simplest single-degreeof-freedom system. The mechanism pro-
viding the force of elastic constraint is localized in the massless spring. The mass can