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Chapter 11 PDF

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100% found this document useful (3 votes)
664 views52 pages

Chapter 11 PDF

Uploaded by

KazaValiShaik
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved.

This material is protected under all copyright laws as they currently


exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–1.

Use the method of virtual work to determine the tensions in


cable AC. The lamp weighs 10 lb. B

45° A 30°
SOLUTION
Free Body Diagram: The tension in cable AC can be determined by releasing
cable AC. The system has only one degree of freedom defined by the independent
coordinate u. When u undergoes a positive displacement du, only FAC and the weight
of lamp (10 lb force) do work.

Virtual Displacement: Force FAC and 10 lb force are located from the fixed point B
using position coordinates yA and xA.

xA = l cos u dxA = - l sin udu (1)

yA = l sin u dyA = l cos udu (2)

Virtual–Work Equation: When yA and xA undergo positive virtual displacements


dyA and dxA, the 10 lb force and horizontal component of FAC, FAC cos 30°, do
positive work while the vertical component of FAC, FAC sin 30°, does negative work.

dU = 0; 10dyA - FAC sin 30°dyA + FAC cos 30°, dxA = 0 (3)

Substituting Eqs. (1) and (2) into (3) yields

(10 cos u - 0.5FAC cos u - 0.8660FAC sin u)ldu = 0

Since ldu Z 0, then


10 cos u
FAC =
0.5 cos u + 0.8660 sin u
At the equilibrium position u = 45°,

10 cos 45°
FAC = = 7.32 lb Ans.
0.5 cos 45° + 0.8660 sin 45°

Ans:
FAC = 7.32 lb

1123
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–2.

The scissors jack supports a load P. Determine the axial P


force in the screw necessary for equilibrium when the jack
is in the position u. Each of the four links has a length L and
is pin-connected at its center. Points B and D can move
horizontally.

C D

SOLUTION A B

x = L cos u, dx = -L sin u du u

y = 2L sin u, dy = 2L cos u du

dU = 0; - Pdy - Fdx = 0

-P(2L cos u du) - F(- L sin u du) = 0

F = 2P cot u Ans.

Ans:
F = 2P cot u

1124
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–3.

If a force of P = 5 lb is applied to the handle of the P  5 lb


mechanism, determine the force the screw exerts on the cork
of the bottle. The screw is attached to the pin at A and passes
through the collar that is attached to the bottle neck at B.

SOLUTION A

Free - Body Diagram: When u undergoes a positive virtual angular displacement of u  30°
du, the dash line configuration shown in Fig. a is formed. We observe that only the 3 in. B
force in the screw Fs and force P do work when the virtual displacements take place.

Virtual Displacement: The position of the points of application for Fs and P are
specified by the position coordinates yA and yD, measured from the fixed point B,
respectively.

yA = 2(3 sin u) dyA = 6 cos udu (1)

yD = 6(3 sin u) dyD = 18 cos udu (2)

Virtual Work Equation: Since P acts towards the positive sense of its corresponding
virtual displacement, it does positive work. However, the work of Fs is negative
since it acts towards the negative sense of its corresponding virtual displacement.
Thus,

dU = 0; PdyD + A - FSdyA B = 0 (3)

Substituting P = 5 lb, Eqs. (1) and (2) into Eq. (3),

5(18 cos udu)FS (6 cos udu) = 0

cos udu(90 - 6FS) = 0

Since cos udu Z 0, then

90 - 6FS = 0

FS = 15 lb Ans.

Ans:
FS = 15 lb

1125
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–4.

The disk has a weight of 10 lb and is subjected to a vertical


force P = 8 lb and a couple moment M = 8 lb # ft. M  8 lb  ft
Determine the disk’s rotation u if the end of the spring
wraps around the periphery of the disk as the disk turns.
The spring is originally unstretched. 1.5 ft

k  12 lb/ft
SOLUTION
P  8 lb
dyF = dyP = 1.5du

dU = 0; PdyP + Mdu - FdyF = 0

8(1.5 du) + 8 du - F(1.5 du) = 0

u(20 - 1.5F) = 0

Since du Z 0

20 -1.5F = 0 F = 13.33 lb

F = kx

Where x = 1.5u

13.33 = 12(1.5u)

u = 0.7407 rad = 42.4° Ans.

Ans:
u = 42.4°

1126
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–5.

The punch press consists of the ram R, connecting rod AB,


and a flywheel. If a torque of M = 75 N # m is applied to the 200 mm B 600 mm
flywheel, determine the force F applied at the ram to hold R
u
the rod in the position u = 60°.
F
M A

Solution
Free Body Diagram. The system has only one degree of freedom, defined by the
independent coordinate u. When u undergoes a positive angular displacement du as
shown in Fig. a, only force F and couple moment M do work.

Virtual Displacement. The position of force F is measured from fixed point O by


position coordinate xA. Applying the law of cosines by referring to Fig. b,

0.62 = x2A + 0.22 - 2xA(0.2) cos u (1)

Differentiating the above expression,

0 = 2xAdxA + 0.4xA sin u du - 0.4 cos u dxA


0.4xA sin u
dxA = du (2)
0.4 cos u - 2xA

Virtual–Work Equation. When point A undergoes a positive virtual displacement,


and the flywheel undergoes positive virtual angular displacement du, both F and M
do negative work.

dU = 0; - FdxA - Mdu = 0 (3)

Substituting Eq. (2) into (3)


0.4 xA sin u
ca bF + M d du = 0
0.4 cos u - 2xA
Since du ≠ 0, then
0.4 xA sin u
F + M = 0
0.4 cos u - 2xA
0.4 cos u - 2xA
F = -a bM (4)
0.4 xA sin u
At the equilibrium position u = 60°, Eq. (1) gives
0.62 = xA2 + 0.22 - 2xA(0.2) cos 60°
xA = 0.6745 m

Substitute M = 75 N # m, u = 60° and this result into Eq. (4)


0.4 cos 60° - 2(0.6745)
F = -c d (75)
0.4(0.6745) sin 60°
= 368.81 N = 369 N Ans.

Ans:
F = 369 N

1127
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–6.

The flywheel is subjected to a torque of M = 75 N # m.


Determine the horizontal compressive force F and plot the 200 mm B 600 mm
result of F (ordinate) versus the equilibrium position u R
u
(abscissa) for 0° … u … 180°.
F
M A

Solution
Free Body Diagram. The system has only one degree of freedom, defined by the
independent coordinate u. When u undergoes a positive angular displacement du as
shown in Fig. a, only force F and couple moment M do work.

Virtual Displacement. The position of force F is measured from fixed point O by


position coordinate xA. Applying the law of cosines by referring to Fig. b,

0.62 = xA2 + 0.22 - 2xA(0.2) cos u (1)

Differentiating the above expression,

0 = 2xAdxA + 0.4xA sin u du - 0.4 cos u dxA


0.4xA sin u
dxA = (2)
0.4 cos u - 2xA

Virtual–Work Equation. When point A undergoes a positive virtual displacement


and the flywheel undergoes positive virtual angular displacement du, both F and M
do negative work.

dU = 0; - FdxA - Mdu = 0 (3)

Substituting Eq. (2) into (3)


0.4 xA sin u
ca bF + M d du = 0
0.4 cos u - 2xA
Since du ≠ 0, then
0.4 xA sin u
a bF + M = 0
0.4 cos u - 2xA

0.4 cos u - 2xA


F = -M a b
0.4 xA sin u

Here, M = 75 N # m. Then
0.4 cos u - 2xA
F = - 75 a b (4)
0.4 xA sin u

Using Eq. (1) and (4), the following tabulation can be computed. Subsequently, the
graph of F vs u shown in Fig. c can be plotted

u(deg.) 0 30 60 90 120 150 180 15 73.0


xA(m) 0.80 0.7648 0.6745 0.5657 0.4745 0.4184 0.4 0.7909 0.6272
F(N) ∞ 580 369 375 524 1060 ∞ 1095 356

1128
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–7.

When u = 20°, the 50-lb uniform block compresses the


two vertical springs 4 in. If the uniform links AB and CD
each weigh 10 lb, determine the magnitude of the applied
couple moments M needed to maintain equilibrium when k 2 lb/in. k 2 lb/ in.
u = 20°.
B D 1 ft
1 ft
1 ft
SOLUTION u u
2 ft
M
Free Body Diagram: The system has only one degree of freedom defined by the M
4 ft
independent coordinate u. When u undergoes a positive displacement du, only the A C
spring forces Fsp, the weight of the block (50 lb), the weights of the links (10 lb) and
the couple moment M do work.

Virtual Displacements: The spring forces Fsp, the weight of the block (50 lb) and the
weight of the links (10 lb) are located from the fixed point C using position
coordinates y3, y2 and y1 respectively.

y3 = 1 + 4 cos u dy3 = -4 sin udu (1)

y2 = 0.5 + 4 cos u dy2 = -4 sin udu (2)

y1 = 2 cos u dy1 = - 2 sin udu (3)

Virtual–Work Equation: When y1, y2 and y3 undergo positive virtual displacements


dy1, dy2 and dy3, the spring forces Fsp, the weight of the block (50 lb) and the weights
of the links (10 lb) do negative work. The couple moment M does negative work
when the links undergo a positive virtual rotation du.

dU = 0; - 2Fspdy3 - 50dy2 - 20dy1 - 2Mdu = 0 (4)

Substituting Eqs. (1), (2) and (3) into (4) yields

(8Fsp sin u + 240 sin u - 2M) du = 0

Since du Z 0, then

8Fsp sin u + 240 sin u - 2M = 0

M = sin u(4Fsp + 120)

At the equilibrium position u = 20°, Fsp = kx = 2(4) = 8 lb.

M = sin 20°[4(8) + 120] = 52.0 lb # ft Ans.

Ans:
M = 52.0 lb # ft

1129
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–8.

The bar is supported by the spring and smooth a


collar that allows the spring to be always perpendicular to
A
the bar for any angle u. If the unstretched length of the B
spring is l0, determine the force P needed to hold the bar in u
the equilibrium position u. Neglect the weight of the bar.
k

C
l
SOLUTION
s = a sin u, ds = a cos u du

y = l sin u, dy = l cos u du

Fs = k(a sin u - l0)


P
dU = 0; Pdy - Fsds = 0

Pl cos du - k(a sin u - l0) a cos u du = 0

ka (a sin u - l0)
P = Ans.
l

Ans:
ka (a sin u - l0)
P =
l

1130
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–9.

The 4-ft members of the mechanism are pin-connected at P1 P2


their centers. If vertical forces P1 = P2 = 30 lb act at C and
E as shown, determine the angle u for equilibrium. The
spring is unstretched when u = 45°. Neglect the weight of
the members. E C
k = 200 lb/ft

2 ft 2 ft

SOLUTION
B
y = 4 sin u, x = 4 cos u 2 ft 2 ft

dy = 4 cos u du, dx = - 4 sin u du


θ
A D
dU = 0; - Fsdx - 30dy - 30dy = 0

3 - Fs1 -4 sin u2 - 6014 cos u24du = 0

cos u
Fs = 60 a b
sin u

Since Fs = k14 cos u - 4 cos 45°2 = 20014 cos u - 4 cos 45°2

60 cos u = 8001cos u - cos 45°2sin u

sin u - 0.707 tan u - 0.075 = 0

u = 16.6° Ans.

and

u = 35.8° Ans.

Ans:
u = 16.6°
u = 35.8°

1131
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–10.

The thin rod of weight W rest against the smooth wall and
floor. Determine the magnitude of force P needed to hold it
in equilibrium for a given angle u. B

SOLUTION l

Free-Body Diagram: The system has only one degree of freedom defined by the
independent coordinate u. When u undergoes a positive displacement du, only the
weight of the rod W and force P do work.

Virtual Displacements: The weight of the rod W and force P are located from the
fixed points A and B using position coordinates yC and xA, respectively A θ
P

1 1
yC = sin u dyC = cos udu (1)
2 2

xA = l cos u dxA = - l sin udu (2)

Virtual-Work Equation: When points C and A undergo positive virtual displacements


dyC and dxA, the weight of the rod W and force F do negative work.

dU = 0; - WdyC - PdyA = 0 (3)

Substituting Eqs. (1) and (2) into (3) yields

Wl
a Pl sin u - cos ub du = 0
2

Since du Z 0, then

Wl
Pl sin u - cos u = 0
2
W
P = cot u Ans.
2

Ans:
W
P = cot u
2

1132
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–11.

If each of the three links of the mechanism have a mass of


4 kg, determine the angle u for equilibrium. The spring,
which always remains vertical, is unstretched when u = 0°. M  30 N  m
A
k  3 kN/ m
u

200 mm D

200 mm

u
Solution B
C
200 mm
Free Body Diagram. The system has only one degree of freedom, defined by the
independent coordinate u. When u undergoes a positive angular displacement du
as shown in Fig. a, only the weights W1 = W2 = W3 = W, couple moment M, and
spring force Fsp do work.

Virtual Displacement. The positions of the weights W1, W2, W3 and spring force
Fsp are measured from fixed point A using position coordinates y1, y2, y3 and y4
respectively

y1 = 0.1 sin u dy1 = 0.1 cos u du (1)

y2 = 0.2 sin u + 0.1 dy2 = 0.2 cos u du (2)

y3 = 0.1 sin u + 0.2 dy3 = 0.1 cos u du (3)

y4 = 0.5 sin u dy4 = 0.2 cos u du (4)

Virtual Work Equation. When all the weights undergo positive virtual displacement,
all of them do positive work. However, Fsp does negative work when its undergoes
positive virtual displacement. Also, M does positive work when it undergoes positive
virtual angular displacement.

dU = 0; W1dy1 + W2dy2 + W3dy3 - Fspdy4 + Mdu = 0 (5)

Substitute Eqs (1), (2) and (3) into (5), using W1 = W2 = W3 = W.


W(0.1 cos u du) + W(0.2 cos u du) + W(0.1 cos u du) - Fsp(0.2 cos u du) + Mdu = 0

(0.4 W cos u - 0.2 Fsp cos u + M)du = 0

Since d ≠ 0, then

0.4 W cos u - 0.2 Fsp cos u + M = 0


Here M = 30 N # m, W = 4(9.81)N = 39.24 N and Fsp = kx = 3000(0.2 sin u)
= 600 sin u. Substitute these results into this equation,

0.4(39.24) cos u - 0.2(600 sin u)cos u + 30 = 0


15.696 cos u - 120 sin u cos u + 30 = 0

1133
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–11. Continued

Solve numerically:

u = 23.8354° = 23.8° Ans.

or

u = 72.2895° = 72.3° Ans.

Note: u = 23.8° is a stable equilibrium, while u = 72.3° is an unstable one.

Ans:
u = 23.8°
u = 72.3°

1134
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–12.

The disk is subjected to a couple moment M. Determine the k  4 kN/ m


disk’s rotation u required for equilibrium. The end of the
spring wraps around the periphery of the disk as the disk
turns. The spring is originally unstretched. 0.5 m

M  300 N  m

Solution
Free Body Diagram. The system has only one degree of freedom, defined by the
independent coordinate u. When u undergoes a positive angular displacement du as
shown in Fig. a, only the spring force Fsp and couple moment M do work.

Virtual Work Equation. When the disk undergoes a positive angular displacement
du, correspondingly point A undergoes a positive displacement of dxA. As a result
couple moment M does positive work whereas spring force Fsp does negative work.

dU = 0; Mdu + ( - FspdxA) = 0 (1)

Here, Fsp = kxA = 4000(0.50) = 2000u and dxA = 0.5du. Substitute these results
into Eq. (1)

300du - 2000u(0.5du) = 0

(300 - 1000u)du = 0

Since du ≠ 0,

300 - 1000u = 0

u = 0.3 rad = 17.19° = 17.2°          Ans.

Ans:
u = 17.2°

1135
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–13.

A 5-kg uniform serving table is supported on each side by 250 mm 150 mm


pairs of two identical links, AB and CD, and springs CE. If
the bowl has a mass of 1 kg, determine the angle u where the
table is in equilibrium. The springs each have a stiffness of
k = 200 N>m and are unstretched when u = 90°. Neglect E
A C k
the mass of the links.

250 mm
u u
SOLUTION D
B
Free -Body Diagram: When u undergoes a positive virtual angular displacement of
du, the dash line configuration shown in Fig. a is formed. We observe that only the 150 mm
spring force Fsp, the weight Wt of the table, and the weight Wb of the bowl do work
when the virtual displacement takes place. The magnitude of Fsp can be computed
using the spring force formula, Fsp = kx = 200 A 0.25 cos u B = 50 cos u N.
Virtual Displacement: The position of points of application of Wb, Wt, and Fsp are
specified by the position coordinates yGb, yGt, and xC, respectively. Here, yGb and yGt
are measured from the fixed point B while xC is measured from the fixed point D.
yGb = 0.25 sin u + b dyGb = 0.25 cos udu (1)
yGt = 0.25 sin u + a dyGt = 0.25 cos udu (2)
xC = 0.25 cos u dxC = -0.25 sin udu (3)
Virtual Work Equation: Since Wb, Wt, and Fsp act towards the negative sense of
their corresponding virtual displacement, their work is negative. Thus,
dU = 0; -WbdyGb + A - WtdyGt B + A - FspdxC B = 0 (4)

1 5
Substituting Wb = a b(9.81) = 4.905 N, Wt = a b(9.81) = 24.525 N,
2 2
Fsp = 50 cos u N, Eqs. (1), (2), and (3) into Eq. (4), we have
- 4.905(0.25 cos udu) - 24.525(0.25 cos udu) - 50 cos u( -0.25 sin udu) = 0
du A - 7.3575 cos u + 12.5 sin u cos u B = 0
Since du Z 0, then
- 7.3575 cos u + 12.5 sin u cos u = 0
cos u( -7.3575 + 12.5 sin u) = 0
Solving the above equation,
cos u = 0 u = 90° Ans.
- 7.3575 + 12.5 sin u = 0
u = 36.1° Ans.

Ans:
u = 90°
u = 36.1°

1136
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–14.

A 5-kg uniform serving table is supported on each side by 250 mm 150 mm


two pairs of identical links, AB and CD, and springs CE. If
the bowl has a mass of 1 kg and is in equilibrium when
u = 45°, determine the stiffness k of each spring. The springs
are unstretched when u = 90°. Neglect the mass of the links. E
A C k

250 mm
u u
SOLUTION D
B
Free -Body Diagram: When u undergoes a positive virtual angular displacement of
du, the dash line configuration shown in Fig. a is formed. We observe that only the 150 mm
spring force Fsp, the weight Wt of the table, and the weight Wb of the bowl do work
when the virtual displacement takes place. The magnitude of Fsp can be computed
using the spring force formula, Fsp = kx = k A 0.25 cos u B = 0.25 k cos u.
Virtual Displacement: The position of points of application of Wb, Wt, and Fsp are
specified by the position coordinates yGb, yGt, and xC, respectively. Here, yGb and yGt
are measured from the fixed point B while xC is measured from the fixed point D.
yGb = 0.25 sin u + b dyGb = 0.25 cos udu (1)
yGt = 0.25 sin u + a dyGt = 0.25 cos udu (2)
xC = 0.25 cos u dxC = -0.25 sin udu (3)
Virtual Work Equation: Since Wb, Wt, and Fsp act towards the negative sense of
their corresponding virtual displacement, their work is negative. Thus,
dU = 0; -WbdyGb + A - WtdyGt B + A - FspdxC B = 0 (4)

1 5
Substituting Wb = a b(9.81) = 4.905 N, Wt = a b(9.81) = 24.525 N,
2 2
Fsp = 0.25k cos u N, Eqs. (1), (2), and (3) into Eq. (4), we have
- 4.905(0.25 cos udu) - 24.525(0.25 cos udu) - 0.25k cos u(-0.25 sin udu) = 0
du A -7.3575 cos u + 0.0625k sin u cos u B = 0
Since du Z 0, then
- 7.3575 cos u + 0.0625k sin u cos u = 0
117.72
k =
sin u
When u = 45°, then
117.72
k = = 166 N>m Ans.
sin 45°

Ans:
k = 166 N>m

1137
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–15.

The service window at a fast-food restaurant consists of glass


doors that open and close automatically using a motor which
supplies a torque M to each door. The far ends, A and B, a a a a
move along the horizontal guides. If a food tray becomes u u
stuck between the doors as shown, determine the horizontal
C M A B M D
force the doors exert on the tray at the position u.

SOLUTION
x = 2a cos u, dx = - 2a sin u du

dU = 0; -M du - F dx = 0

-M du + F (2a sin u)du = 0

M
F = Ans.
2a sin u

Ans:
M
F =
2a sin u

1138
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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–16.

The members of the mechanism are pin connected. If a


vertical force of 800 N acts at A, determine the angle u for
equilibrium. The spring is unstretched when u = 0°. Neglect
the mass of the links. B D
u

k  6 kN/m
1m

1m 1m
Solution A
Free Body Diagram. The system has only one degree of freedom, defined by the
independent coordinate u. When u undergoes a positive angular displacement du as 800 N
shown in Fig. a, only spring force Fsp and force P do work.

Virtual Displacement. The positions of Fsp and P are measured from fixed point B
using position coordinates yc and yA respectively.

           yc = 1 sin u      dyc = cos u du (1)

            yA = 3(1 sin u)  dyA = 3 cos u du (2)

Virtual Work Equation. When Fsp and P undergo their respective positive virtual
displacement, P does positive work whereas Fsp does negative work.

            dU = 0; - Fspdyc + PdyA = 0 (3)

Substitute Eqs. (1) and (2) into (3)

- Fsp(cos udu) + P(3 cos udu) = 0

( -Fsp cos u + 3P cos u)du = 0

Since du ≠ 0, and assuming u 6 90°, then

- Fsp cos u + 3P cos u = 0

Fsp = 3P

Here Fsp = kx = 6000(1 sin u) = 6000 sin u and P = 800 N, Then

6000 sin u = 3(800) 


sin u = 0.4

              u = 23.58° = 23.6° Ans.

Ans:
u = 23.6°

1139
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–17.

When u = 30°, the 25-kg uniform block compresses the two 50 mm


horizontal springs 100 mm. Determine the magnitude of the
applied couple moments M needed to maintain equilibrium. 300 mm
Take k = 3 kN>m and neglect the mass of the links. k
100 mm
200 mm
D
A
k u
M
C
u
100 mm
B
Solution M

Free Body Diagram. The system has only one degree of freedom, defined by the
independent coordinate u. When u undergoes a positive angular displacement du as
shown in Fig. a, only spring force Fsp, the weight of the block W, and couple moment
M do work.

Virtual Displacement. The positions of Fsp and W are measured from fixed point B
using position coordinates x and y respectively.

         x = 0.3 cos u + 0.05  dx = -0.3 sin u du (1)

             y = 0.3 sin u + 0.1      dy = 0.3 cos udu (2)

Virtual–Work Equation. When Fsp, W and M undergo their respective positive


virtual displacement, all of them do negative work. Thus

dU = 0; - 2Fsp dx - Wdy - 2Mdu = 0 (3)

Substitute Eqs. (1) and (2) into (3),

- 2Fsp( -0.3 sin udu) - W(0.3 cos udu) - 2Mdu = 0

(0.6Fsp sin u - 0.3 W cos u - 2M)du = 0

Since du ≠ 0, then

0.6 Fsp sin u - 0.3 W cos u - 2M = 0

M = 0.3 Fsp sin u - 0.15 W cos u (4)

When u = 30°, Fsp = kx = 3000(0.1) = 300 N. Also W = 25(9.81) = 245.25 N.


Substitute these values into Eq. 4.

  M = 0.3(300) sin 30° - 0.15(245.25) cos 30° = 13.14 N # m = 13.1 N # m Ans.

Ans:
M = 13.1 N # m

1140
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–18.

The “Nuremberg scissors” is subjected to a horizontal force


of P = 600 N. Determine the angle u for equilibrium. The E
spring has a stiffness of k = 15 kN>m and is unstretched u
when u = 15°. 200 mm
A
B
k
200 mm

D
SOLUTION C P

Free - Body Diagram: When u undergoes a positive virtual angular displacement of


du, the dash line configuration shown in Fig. a is a formed. We observe that only the
spring force Fsp acting at points A and B and the force P do work when the virtual
displacements take place. The magnitude of Fsp can be computed using the spring
force formula,

Fsp = kx = 15(103) C 2(0.2 sin u) - 2(0.2 sin 15°) D = 6000(sin u - 0.2588) N

Virtual Displacement: The position of points A and B at which Fsp acts and point C
at which force P acts are specified by the position coordinates yA, yB, and yC,
measured from the fixed point E, respectively.

yA = 0.2 sin u dyA = 0.2 cos udu (1)

yB = 3(0.2 sin u) dyB = 0.6 cos udu (2)

yC = 8(0.2 sin u) dyB = 1.6 cos udu (3)

Virtual Work Equation: Since Fsp at point A and force P acts towards the positive
sense of its corresponding virtual displacement, their work is positive. The work of
Fsp at point B is negative since it acts towards the negative sense of its
corresponding virtual displacement. Thus,

dU = 0; Fsp dyA + A - FspdyB B + PdyC = 0 (4)

Substituting Fsp = 6000(sin u - 0.2588), P = 600 N, Eqs. (1), (2), and (3) into Eq. (4),

6000(sin u - 0.2588)(0.2 cos udu - 0.6 cos udu) + 600(1.6 cos udu) = 0

cos udu C -2400(sin u - 0.2588) + 960 D = 0

Since cos udu Z 0, then

- 2400(sin u - 0.2588) + 960 = 0

u = 41.2° Ans.

Ans:
u = 41.2°

1141
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–19.

The “Nuremberg scissors” is subjected to a horizontal force


of P = 600 N. Determine the stiffness k of the spring for E
equilibrium when u = 60°. The spring is unstretched when u
u = 15°. 200 mm
A
B
k
200 mm

D
SOLUTION C P

Free - Body Diagram: When u undergoes a positive virtual angular displacement of


du, the dash line configuration shown in Fig. a is formed. We observe that only the
spring force Fsp acting at points A and B and the force P do work when the virtual
displacements take place. The magnitude of Fsp can be computed using the spring
force formula.

Fsp = kx = k C 2(0.2 sin u) - 2(0.2 sin 15°) D = (0.4)k(sin u - 0.2588) N

Virtual Displacement: The position of points A and B at which Fsp acts and point C
at which force P acts are specified by the position coordinates yA, yB, and yC,
measured from the fixed point E, respectively.

yA = 0.2 sin u dyA = 0.2 cos udu (1)

yB = 3(0.2 sin u) dyB = 0.6 cos udu (2)

yC = 8(0.2 sin u) dyB = 0.6 cos udu (3)

Virtual Work Equation: Since Fsp at point A and force P acts towards the positive
sense of its corresponding virtual displacement, their work is positive. The work of
Fsp at point B is negative since it acts towards the negative sense of its
corresponding virtual displacement. Thus,

dU = 0; Fsp dyA + A - FspdyB B + PdyC = 0 (4)

Substituting Fsp = k(sin u - 0.2588), P = 600 N, Eqs. (1), (2), and (3) into Eq. (4),

(0.4)k(sin u - 0.2588)(0.2 cos udu - 0.6 cos udu) + 600(1.6 cos udu) = 0

cos udu C - 0.16k(sin u - 0.2588) + 960 D = 0

Since cos udu Z 0, then

- 0.16k(sin u - 0.2588) + 960 = 0

6000
k =
sin u - 0.2588

When u = 60°,

6000
k = = 9881N>m = 9.88 kN>m Ans.
sin 60° - 0.2588

Ans:
k = 9.88 kN>m

1142
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–20.

The crankshaft is subjected to a torque of M = 50 N # m.


Determine the horizontal compressive force F applied to
400 mm
the piston for equilibrium when u = 60°. 100 mm

M
SOLUTION
(0.4)2 = (0.1)2 + x2 - 2(0.1)(x)(cos u)

0 = 0 + 2x dx + 0.2x sin u du - 0.2 cos u dx

dU = 0; - 50du - Fdx = 0

For u = 60°, x = 0.4405 m

dx = - 0.09769 du Ans.

( -50 + 0.09769F) du = 0

F = 512 N Ans.

Ans:
dx = - 0.09769 du
F = 512 N

1143
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–21.

The crankshaft is subjected to a torque of M = 50 N # m.


Determine the horizontal compressive force F and plot
400 mm
the result of F (ordinate) versus u (abscissa) for 100 mm
0° … u … 90°.
u

M
SOLUTION
(0.4)2 = (0.1)2 + x 2 - 2(0.1)(x)(cos u) (1)

0 = 0 + 2x dx + 0.2x sin u du - 0.2 cos u dx

0.2x sin u
dx = a b du
0.2 cos u - 2x

dU = 0; -50du - Fdx = 0

0.2x sin u
- 50du - F a b du = 0, du Z 0
0.2 cos u - 2x

50(2x - 0.2 cos u)


F =
0.2x sin u

From Eq. (1)

x2 - 0.2x cos u - 0.15 = 0

0.2 cos u ; 20.04 cos2 u + 0.6


x = , since20.04 cos2 u + 0.6 7 0.2 cos u
2

0.2 cos u + 20.04 cos2 u + 0.6


x =
2

500 20.04 cos2 u + 0.6


F = Ans.
(0.2 cos u + 20.04 cos2 u + 0.6) sin u

Ans:
50020.04 cos2 u + 0.6
F =
(0.2 cos u + 20.04 cos2 u + 0.6) sin u

1144
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–22.

The spring is unstretched when u = 0°. If P = 8 lb,


determine the angle u for equilibrium. Due to the roller
guide, the spring always remains vertical. Neglect the weight
of the links. k  50 lb/ft

2 ft

2 ft
SOLUTION
y1 = 2 sin u, dy1 = 2 cos u du

y2 = 4 sin u + 4, dy2 = 4 cos u du


4 ft
Fs = 50(2 sin u) = 100 sin u u

dU = 0; - Fs dy1 + Pdy2 = 0
4 ft
- 100 sin u(2 cos u du) + 8(4 cos u du) = 0

Assume ® 6 90°, so cos ® Z 0.


P
200 sin u = 32

u = 9.21° Ans.

Ans:
u = 9.21°

1145
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–23.

Determine the weight of block G required to balance the 4 in. 4 in. x


differential lever when the 20-lb load F is placed on the pan. C G
The lever is in balance when the load and block are not on A
the lever. Take x = 12 in. B

D E

2 in.

SOLUTION
Free-Body Diagram: When the lever undergoes a virtual angular displacement of F
du about point B, the dash line configuration shown in Fig. a is formed. We observe
that only the weight WG of block G and the weight WF of load F do work when the
virtual displacements take place.

Virtual Displacement: Since dyG is very small, the vertical virtual displacement of
block G and load F can be approximated as

dyG = (12 + 4)du = 16du (1)

dyF = 2du (2)

Virtual Work Equation: Since WG acts towards the positive sense of its
corresponding virtual displacement, its work is positive. However, force WF does
negative work since it acts towards the negative sense of its corresponding virtual
displacement. Thus,

dU = 0; WGdyG + A - WFdyF B = 0 (3)

Substituting WG = 20 lb and Eqs. (1) and (2) into Eq. (3),

WG A 16du B - 20(2du) = 0

du(16WG - 40) = 0

Since du Z 0, then

16WG - 40 = 0

WG = 2.5 lb Ans.

Ans:
WG = 2.5 lb

1146
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–24.

If the load F weighs 20 lb and the block G weighs 4 in. 4 in. x


2 lb, determine its position x for equilibrium of the C G
differential lever. The lever is in balance when the load and A
block are not on the lever. B

D E

2 in.

SOLUTION
Free -Body Diagram: When the lever undergoes a virtual angular displacement of F
du about point B, the dash line configuration shown in Fig. a is formed. We observe
that only the weight WG of block G and the weight WF of load F do work when the
virtual displacements take place.

Virtual Displacement: Since dyG is very small, the vertical virtual displacement of
block G and load F can be approximated as

dyG = (4 + x)du (1)

dyF = 2du (2)

Virtual Work Equation: Since WG acts towards the positive sense of its
corresponding virtual displacement, its work is positive. However, force WF does
negative work since it acts towards the negative sense of its corresponding virtual
displacement. Thus,

dU = 0; WGdyG + A -WFdyF B = 0 (3)

Substituting WF = 20 lb, WG = 2 lb, Eqs.(1) and (2) into Eq. (3),

2(4 + x)du - 20(2du) = 0

du C 2(4 + x) - 40 D = 0

Since du Z 0, then

2(4 + x) - 40 = 0

x = 16 in. Ans.

Ans:
x = 16 in.

1147
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–25.

The dumpster has a weight W and a center of gravity at G.


Determine the force in the hydraulic cylinder needed to
hold it in the general position u.

G
b
d
a

SOLUTION
θ
s = 2a2 + c2 - 2a c cos (u + 90°)

= 2a2 + c2 + 2a c sin u
1 c
ds = (a2 + c2 + 2a c sin u)- 2 ac cos u du

y = (a + b) sin u + d cos u

dy = (a + b) cos u du - d sin u du

dU = 0; Fds - Wdy = 0
1
F(a2 + c2 + 2a c sin u)- 2 ac cos u du - W(a + b) cos u du + Wd sin u du = 0

W(a + b - d tan u)
F = a b 2a2 + c2 + 2a c sin u Ans.
ac

Ans:
W(a + b - d tan u)
F = 2a2 + c 2 + 2ac sin u
ac

1148
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–26.

The potential energy of a one-degree-of-freedom system is


defined by V = (20x3 - 10x2 - 25x - 10) ft # lb, where x is
in ft. Determine the equilibrium positions and investigate the
stability for each position.

SOLUTION
Equilibrium Configuration: Taking the first derivative of V, we have
dV
= 60x2 - 20x - 25
dx
dV
Equilibrium requires = 0. Thus,
dx

60x 2 - 20x - 25 = 0
20 ; 3( -20)2 - 4(60)(- 25)
x =
2(60)
x = 0.833 ft and - 0.5 ft Ans.
Stability: The second derivative of V is
d2V
= 120x - 20
dx2

At x = 0.8333 ft,

d2V 2
= 120(0.8333) - 20 = 80 7 0
dx2 x = 0.8333 ft

Thus, the equilibrium configuration at x = 0.8333 ft is stable. Ans.


At x = -0.5ft,

d 2V 2
= 120( - 0.5) - 20 = - 80 6 0
dx2 x = -0.5 ft

Thus, the equilibrium configuration at x = -0.5 ft is unstable. Ans.

Ans:
x = - 0.5 ft unstable
x = 0.833 ft stable

1149
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–27.

If the potential function for a conservative one-degree-of-


freedom system is V = (12 sin 2u + 15 cos u) J,where
0° 6 u 6 180°, determine the positions for equilibrium and
investigate the stability at each of these positions.

SOLUTION
V = 12 sin 2u + 15 cos u

dV
= 0; 24 cos 2u - 15 sin u = 0
du

2411 - 2 sin2 u2 - 15 sin u = 0

48 sin2 u + 15 sin u - 24 = 0

Choosing the angle 0° 6 u 6 180°

u = 34.6° Ans.

and

u = 145° Ans.

d2V
= - 48 sin 2u - 15 cos u
du2

d 2V
u = 34.6°, = - 57.2 6 0 Unstable Ans.
du2

d2V
u = 145°, = 57.2 7 0 Stable Ans.
du2

Ans:
Unstable at u = 34.6°
stable at u = 145°

1150
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–28.

If the potential function for a conservative one-degree-of-


freedom system is V = 18x3 - 2x 2 - 102 J, where x is
given in meters, determine the positions for equilibrium and
investigate the stability at each of these positions.

SOLUTION
V = 8x3 - 2x2 - 10

dV
= 24x2 - 4x = 0
dx

124x - 42x = 0

x = 0 and x = 0.167 m Ans.

d2V
= 48x - 4
dx2

d 2V
x = 0, = -4 6 0 Unstable Ans.
dx2

d2V
x = 0.167 m, = 4 7 0 Stable Ans.
dx2

Ans:
x = 0.167 m
d 2V
= -4 6 0 Unstable
dx2
d 2V
= 4 7 0 Stable
dx2

1151
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–29.

If the potential function for a conservative one-degree-of-


freedom system is V = 110 cos 2u + 25 sin u2 J, where
0° 6 u 6 180°, determine the positions for equilibrium and
investigate the stability at each of these positions.

SOLUTION
V = 10 cos 2u + 25 sin u

For equilibrium:

dV
= - 20 sin 2u + 25 cos u = 0
du

1- 40 sin u + 252 cos u = 0

25
u = sin-1 a b = 38.7° and 141° Ans.
40

and

u = cos-1 0 = 90° Ans.

Stability:

d2V
= - 40 cos 2u - 25 sin u
du2

d2V
u = 38.7°, = - 24.4 6 0, Unstable Ans.
du2

d2V
u = 141°, = - 24.4 6 0, Unstable Ans.
du2

d 2V
u = 90°, = 15 7 0, Stable Ans.
du2

Ans:
u = 38.7° unstable
u = 90° stable
u = 141° unstable

1152
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–30.

If the potential energy for a conservative one-degree-of-


freedom system is expressed by the relation
V = (4x3 - x 2 - 3x + 10) ft # lb, where x is given in feet,
determine the equilibrium positions and investigate the
stability at each position.

SOLUTION
V = 4x3 - x2 - 3x + 10

Equilibrium Position:

dV
= 12x 2 - 2x - 3 = 0
dx

2 ; 2(- 2)2 - 4(12)(- 3)


x =
24

x = 0.590 ft and - 0.424 ft Ans.

Stability:

d 2V
= 24x - 2
dx 2
d2V
At x = 0.590 ft = 24(0.590) - 2 = 12.2 7 0 Stable Ans.
dx 2
d 2V
At x = -0.424 ft = 24( - 0.424) - 2 = -12.2 6 0 Unstable Ans.
dx 2

Ans:
x = - 0.424 ft unstable
x = 0.590 ft stable

1153
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–31.

The uniform link AB has a mass of 3 kg and is pin connected 400 mm


at both of its ends. The rod BD, having negligible weight, D
passes through a swivel block at C. If the spring has a k  100 N/m
stiffness of k = 100 N>m and is unstretched when u = 0°,
determine the angle u for equilibrium and investigate the A C
stability at the equilibrium position. Neglect the size of the
swivel block. u

SOLUTION
400 mm
s = 2(0.4)2 + (0.4)2 - 2(0.4)2 cos u B
= (0.4)22(1 - cos u)

V = Vg + Ve

1
= -(0.2)(sin u)3(9.81) + (100) C (0.4)2(2)(1 - cos u) D
2

dV
= - (5.886) cos u + 16(sin u) = 0 (1)
du

u = 20.2° Ans.

d2V
= 5.886 sin u + (16) cos u = 17.0 7 0 stable Ans.
du2

Ans:
u = 20.2°
stable

1154
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–32.

The spring of the scale has an unstretched length W


of a. Determine the angle u for equilibrium when a weight W
is supported on the platform. Neglect the weight of the
members. What value W would be required to keep
the scale in neutral equilibrium when u = 0°? L L

SOLUTION
L L
Potential Function: The datum is established at point A. Since the weight W is u u
above the datum, its potential energy is positive. From the geometry, the spring
stretches x = 2L sin u and y = 2L cos u.

V = Ve + Vg
a
1 2
= kx + Wy
2
1
= (k)(2 L sin u)2 + W(2L cos u)
2
= 2kL2 sin 2 u + 2WL cos u

dV
Equilibrium Position: The system is in equilibrium if = 0.
du

dV
= 4kL2 sin u cos u - 2WL sin u = 0
du

dV
= 2kL2 sin 2u - 2WLsin u = 0
du

Solving,

W
u = 0° or u = cos-1 a b Ans.
2kL

d2V 2
Stability: To have neutral equilibrium at u = 0°, = 0.
du2 u - 0°

d 2V
= 4kL2 cos 2 u - 2WL cos u
du2

d 2V
2 = 4kL2 cos 0° - 2WLcos 0° = 0
du2 u - 0°

W = 2kL Ans.

Ans:
W
u = cos-1a b
2kL
W = 2kL

1155
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–33.

The uniform bar has a mass of 80 kg. Determine the angle u


for equilibrium and investigate the stability of the bar when
it is in this position. The spring has an unstretched length
when u = 90°.

B
4m

k  400 N/ m
Solution
u
Potential Function. The Datum is established through point A, Fig. a. Since the A
center of gravity of the bar is above the datum, its potential energy is positive. Here,
y = 2 sin u and the spring stretches x = 4(1 - sin u) m. Thus,
V = Ve + Vg
1 2
= kx + Wy
2
1
= (400) 3 4(1 - sin u) 4 2 + 80(9.81)(2 sin u)
2
= 3200 sin2 u - 4830.4 sin u + 3200

dV
Equilibrium Position. The bar is in equilibrium of = 0
du
dV
= 6400 sin u cos u - 4830.4 cos u = 0
du

cos u(6400 sin u - 4830.4) = 0

Solving,

u = 90° or u = 49.00° = 49.0° Ans.

Using the trigonometry identify sin 2u = 2 sin u cos u,

dV
= 3200 sin 2u - 4830.4 cos u
du

d 2V
= 6400 cos 2u + 4830.4 sin u
du 2
d 2V d 2V
Stability. The equilibrium configuration is stable if 7 0, unstable if 6 0
d 2V du 2 du 2
and neutral if = 0.
du 2
At u = 90°,
d 2V
2 = 6400 cos [2(90°)] + 4830.4 sin 90° = -1569.6 6 0
du 2 u = 90°
Thus, the bar is in unstable equilibrium at u = 90°

At u = 49.00°,
d 2V
= 6400 cos [2(49.00°)] + 4830.4 sin 49.00° = 2754.26 7 0
du2
Thus, the bar is in stable equilibrium at u = 49.0°.
Ans:
Unstable equilibrium at u = 90°
Stable equilibrium at u = 49.0°

1156
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–34.

The uniform bar AD has a mass of 20 kg. If the attached C


spring is unstretched when u = 90°, determine the angle u
for equilibrium. Note that the spring always remains in the
vertical position due to the roller guide. Investigate the
stability of the bar when it is in the equilibrium position. k  2 kN/m
A

u
B

0.5 m

Solution
Potential Function. The Datum is established through point A, Fig. a. Since the 1m
center of gravity of the bar is below the datum, its potential energy is negative. Here, D
y = 0.75 cos u and the spring stretches x = 0.5 cos u. Thus,
V = Ve + Vg
1 2
= kx + ΣWy
2
1
= (2000)(0.5 cos u)2 + 3 - 20(9.81)(0.75 cos u) 4
2

= 250 cos2 u - 147.15 cos u

dV
Equilibrium Position. The bar is in equilibrium if = 0.
du

dV
= - 500 sin u cos u + 147.15 sin u = 0
du

sin u(147.15 - 500 cos u) = 0

Solving,

u = 0°    u = 72.88° = 72.9° Ans.

Using the trigonometry identity sin 2u = 2 sin u cos u,

dV
= - 250 sin 2u + 147.15 sin u
du
d 2V
= - 500 cos 2u + 147.15 cos u
du 2
d 2V d 2V
Stability. The equilibrium configuration is stable if 2
7 0, unstable if 6 0
d 2V du du 2
and neutral if = 0.
du 2
d 2V 2
= - 500 cos 0° + 147.15 cos 0° = -352.85 6 0
du 2 u = 0°
Thus, the bar is in unstable equilibrium at u = 0°.
At u = 72.88°,
d 2V 2
= - 500 cos [2(72.88°)] + 147.15 cos 72.88° = 456.69 7 0
du2 u = 72.88°
Thus, the bar is in stable equilibrium at u = 72.9°.

Ans:
Unstable equilibrium at u = 0°
Stable equilibrium at u = 72.9°

1157
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–35.

The two bars each have a weight of 8 lb. Determine the B


required stiffness k of the spring so that the two bars are in
equilibrium when u = 30°. The spring has an unstretched
length of 1 ft.
2 ft 2 ft

θ k
A C

SOLUTION
1
V = 2(8)(1 sin u) + k(4 cos u - 1)2
2

dV
= 16 cos u + k(4 cos u - 1)( - 4 sin u)
du

dV
= 16 cos u - 4k(4 cos u - 1) sin u
du

dV
u = 30°, = 0
du

16 cos 30° - 4k(4 cos 30° - 1) sin 30° = 0

k = 2.81 lb>ft Ans.

Ans:
k = 2.81 lb>ft

1158
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–36.

Determine the angle u for equilibrium and investigate the


stability at this position. The bars each have a mass of 3 kg
and the suspended block D has a mass of 7 kg. Cord DC has
a total length of 1 m. 500 mm 500 mm

u u
A C

SOLUTION 500 mm

l = 500 mm
l
y1 = sin u
2 D
y2 = l + 2l(1 - cos u) = l(3 - 2 cos u)

V = 2Wy1 - WDy 2

= Wl sin u - WD l(3 - 2 cos u)


dV
= l(W cos u - 2WD sin u) = 0
du
W 3(9.81)
tan u = = = 0.2143
2WD 14(9.81)

u = 12.1° Ans.

d2V
= l( -W sin u - 2WD cos u)
du2

d 2V
u = 12.1°, = 0.5[- 3(9.81) sin 12.1° - 14(9.81) cos 12.1°]
du2

= -70.2 6 0 Unstable Ans.

Ans:
u = 12.1°
Unstable

1159
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–37.

Determine the angle u for equilibrium and investigate the


stability at this position. The bars each have a mass of 10 kg
and the spring has an unstretched length of 100 mm.
500 mm 500 mm

u k 1.5 kN/ m u
A C

500 mm

Solution
Potential Function. The Datum is established through point A, Fig. a. Since
the centers of gravity of the bars are above the datum, their potential
energies are positive. Here y = 0.25 sin u and the spring stretches
x = 3 2(0.5 cos u) - 0.5 4 - 0.1 = (cos u - 0.6) m. Thus

V = Ve + Vg
1 2
= kx + ΣWy
2
1
= (1500)(cos u - 0.6)2 + 2[10(9.81)](0.25 sin u)
2

= 750 cos2 u - 900 cos u + 49.05 sin u + 270

dV
Equilibrium Position. The system is in equilibrium if = 0.
du

dV
= - 1500 sin u cos u + 900 sin u + 49.05 cos u = 0
du
Solving numerically,

u = 4.713° = 4.71° or u = 51.22° = 51.2° Ans.

Using the trigonometry identity sin 2u = 2 sin u cos u,

dV
= - 750 sin 2u + 900 sin u + 49.05 cos u
du

d 2V
= 900 cos u - 1500 cos 2u - 49.05 sin u
du 2
d 2V d 2V
Stability. The equilibrium configurate is stable if 7 0, unstable if 6 0 and
d 2V du 2 du 2
neutral if = 0.
du 2

1160
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–37. Continued

At u = 51.22°,
d 2V
2 = 900 cos 51.22° - 49.05 sin 51.22° - 1500 cos [2(51.22°)] = 848.77 7 0
du 2 u = 51.22°
Thus, the system is in stable equilibrium at u = 51.2°.
At u = 4.713°,
d 2V 2
= 900 cos 4.713° - 49.05 sin 4.713° - 1500 cos [2(4.713°)] = - 586.82 6 0
du2 u = 4.713°
Thus, the system is in unstable equilibrium at u = 4.71°.

Ans:
Stable equilibrium at u = 51.2°
Unstable equilibrium at u = 4.71°

1161
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–38.

The two bars each have a mass of 8 kg. Determine the A


required stiffness k of the spring so that the two bars are in
equilibrium when u = 60°. The spring has an unstretched
length of 1 m. Investigate the stability of the system at the u
equilibrium position. 1.5 m

k B

Solution 1.5 m
Potential Function. The Datum is established through point A, Fig. a. Since the
centers of gravity of the bars are below the datum, their potential energies are C
negative. Here, y1 = 0.75 cos u, y2 = 1.5 cos u + 0.75 cos u = 2.25 cos u and the
spring stretches x = 2(1.5 cos u) - 1 = (3 cos u - 1) m. Thus,

V = Ve + Vg
1 2
= kx + ΣWy
2
1
   = k(3 cos u - 1)2 + [ - 8(9.81)(0.75 cos u)] + [ - 8(9.81)(2.25 cos u)]
2

= 4.5 k cos2 u - 3 k cos u + 0.5 k - 235.44 cos u

= 4.5 k cos2 u - (3 k + 235.44) cos u + 0.5 k


dV
Equilibrium Position. The system is in equilibrium if = 0
du
dV
= - 9 k sin u cos u + (3 k + 235.44) sin u = 0
du
sin u( -9 k cos u + 3 k + 235.44) = 0

Since sin u ≠ 0, then


- 9 k cos u + 3 k + 235.44 = 0

235.44
k =
9 cos u - 3
When u = 60°,

235.44
k = = 156.96 N>m = 157 N>m Ans.
9 cos 60° - 3

Using this result,

dV
= -9(156.96) sin u cos u + [3(156.96) + 235.44] sin u
du

  = - 1412.64 sin u cos u + 706.32 sin u

Using the trigonometry identity sin 2u = 2 sin u cos u,

dV
= 706.32 sin u - 706.32 sin 2u
du

d 2V
= 706.32 cos u - 1412.64 cos 2u
du 2

1162
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–38 Continued

d 2V d 2V
Stability. The equilibrium configuration is stable if 2
7 0, unstable if 6 0,
d 2V du du 2
and neutral if = 0.
du 2
At u = 60°,
d 2V
2 = 706.32 cos 60° - 1412.64 cos [2(60°)] = 1059.16 7 0
du 2 u = 60°
Thus, the system is in stable equilibrium at u = 60°.

Ans:
k = 157 N>m
Stable equilibrium at u = 60°

1163
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–39.

A spring with a torsional stiffness k is attached to the pin


at B. It is unstretched when the rod assembly is in the
vertical position. Determine the weight W of the block that
results in neutral equilibrium. Hint: Establish the potential L
2
energy function for a small angle u. i.e., approximate sin u L 0,
and cos u L 1 - u2>2.
A

L
SOLUTION 2
k
Potential Function: With reference to the datum, Fig. a, the gravitational potential B

energy of the block is positive since its center of gravity is located above the datum. Here, L
2
L 3
the rods are tilted with a small angle u. Thus, y = cos u + L cos u = L cos u.
2 2 C
u2
However, for a small angle u, cos u 1 -
.Thus,
2
3 u2 3WL u2
Vg = Wy = W a L b a1 - b = a1 - b
2 2 2 2

The elastic potential energy of the torsional spring can be computed using
1
Ve = kb 2, where b = 2u. Thus,
2

1
Vg = k(2u)2 = 2ku2
2

The total potential energy of the system is


3WL u2
V = Vg + Ve = a1 - b + 2ku2
2 2

Equilibrium Configuration: Taking the first derivative of V, we have


dV 3WL 3WL
= - u + 4ku = ua - + 4k b
du 2 2

dV
Equilibrium requires = 0. Thus,
du
3WL
ua - + 4k b = 0
2
u = 0°

Stability: The second derivative of V is


d2V 3WL
= - + 4k
du2 2

d2V
To have neutral equilibrium at u = 0°, 2 = 0. Thus,
du2 u = 0°
3WL
- + 4k = 0
2
8k
W = Ans.
3L

Ans:
Note: The equilibrium configuration of the system at u = 0° is stable if 8k
8k d 2V 8k d2V W =
W< > 0 and is unstable if W > < 0 . 3L
3L du2 3L du2
1164
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–40.

A conical hole is drilled into the bottom of the cylinder, and


it is then supported on the fulcrum at A. Determine the
minimum distance d in order for it to remain in stable
equilibrium.

SOLUTION
Potential Function: First, we must determine the center of gravity of the cylinder. By
referring to Fig. a,

h d 1
(rpr2h) - a rpr2d b
©yCm 2 4 3 6h2 - d 2
y = = = (1)
©m 1 4(3h - d)
rpr 2h - rpr2d
3

With reference to the datum, Fig. a, the gravitational potential energy of the cylinder
is positive since its center of gravity is located above the datum. Here,

y = (y - d)cos u = B - d R cos u = B R cos u


6h2 - d2 6h2 - 12hd + 3d2
4(3h - d) 4(3h - d)

Thus,

V = Vg = Wy = W B R cos u
6h2 - 12hd + 3d2
4(3h - d)

Equilibrium Configuration: Taking the first derivative of V,

= -W B R sin u
dV 6h2 - 12hd + 3d2
du 4(3h - d)

dV
Equilibrium requires = 0. Thus,
du

-WB R sin u = 0
6h2 - 12hd + 3d2
4(3h - d)

sin u = 0 u = 0°

Stability: The second derivative of V is

= -W B R cos u
d 2V 6h2 - 12hd + 3d2
2 4(3h - d)
du

d 2V 2
To have neutral equilibrium at u = 0°, = 0. Thus,
d2u u = 0°

-WB R cos 0° = 0
6h2 - 12hd + 3d2
4(3h - d)

6h2 - 12hd + 3d2 = 0

12h ; 2( - 12h)2 - 4(3)(6h2)


d = = 0.5858h = 0.586h Ans.
2(3)

Note: If we substitute d = 0.5858h into Eq. (1), we notice that the fulcrum must be Ans:
at the center of gravity for neutral equilibrium. d = 0.586h

1165
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–41.

The uniform rod has a mass of 100 kg. If the spring is A


unstretched when u = 60°, determine the angle u for
equilibrium and investigate the stability at the equilibrium
position. The spring is always in the horizontal position due
2m
to the roller guide at B u
k  500 N/m

2m

Solution
Potential Function. The Datum is established through point A, Fig. a. Since the
center of gravity of the bar is below the datum, its potential energy is negative. Here
y = 2 cos u, and the spring stretches x = 2 sin 60° - 2 sin u = 2(sin 60° - sin u).
Thus

V = Ve + Vg
1 2
= kx + Wy
2
1
= (500)[2(sin 60° - sin u)]2 + [ - 100(9.81)(2 cos u)]
2

= 1000 sin2 u - 100013 sin u - 1962 cos u + 750


dV
Equilibrium Position. The bar is in equilibrium if = 0.
du
dV
= 2000 sin u cos u - 100013 cos u + 1962 sin u
du

Using the trigonometry identity sin 2u = 2 sin u cos u,

dV
= 1000 sin 2u - 100013 cos u + 1962 sin u = 0
du

Solved numerically,

u = 24.62° = 24.6° Ans.

d 2V
= 2000 cos 2u + 100013 sin u + 1962 cos u
du 2
d 2V d 2V
Stability. The equilibrium configuration is stable if 2
7 0, unstable if 6 0
d 2V du du 2
and neutral if = 0.
du 2
At u = 24.62°,
d 2V
= 2000 cos[2(24.62°)] + 100013 sin 24.62° + 1962 cos 24.62° = 3811.12 7 0
du 2
Thus, the bar is in stable equilibrium at u = 24.6°.

Ans:
Stable equilibrium at u = 24.6°

1166
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–42.

Each bar has a mass per length of m0. Determine the angles u
and f at which they are suspended in equilibrium. The
contact at A is smooth, and both are pin connected at B. B

3l u f
2

Solution A
l
Require G for system to be at its lowest point. 2

l l 3
0 - a b - (0.75 l sin 26.565°)a lb
4 2 2
x = = -0.20937 l
l 3
l + + l
2 2

1 lx 3
- a b(l) - l a b - (0.75 l cos 26.565°)a lb
2 2 2
y = = -0.66874 l
l 3
l + + l
2 2
0.20937 l
f = tan-1a b = 17.38° = 17.4° Ans.
0.66874 l
u = 26.565° - 17.38° = 9.18° Ans.

Ans:
f = 17.4°
u = 9.18°

1167
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–43.

The truck has a mass of 20 Mg and a mass center at G.


Determine the steepest grade u along which it can park
without overturning and investigate the stability in this
G
position.

3.5 m

SOLUTION
Potential Function: The datum is established at point A. Since the center of gravity 1.5 m
for the truck is above the datum, its potential energy is positive. Here, 1.5 m
y = (1.5 sin u + 3.5 cos u) m. u

V = Vg = Wy = W(1.5 sin u + 3.5 cos u)

dV
Equilibrium Position: The system is in equilibrium if = 0
du

dV
= W(1.5 cos u - 3.5 sin u) = 0
du

Since W Z 0,

1.5 cos u - 3.5 sin u = 0

u = 23.20° = 23.2° Ans.

Stability:

d2V
= W(-1.5 sin u - 3.5 cos u)
du2

d2V
= W( - 1.5 sin 23.20° - 3.5 cos 23.20°) = -3.81W 6 0
du2 u = 23.20°

Thus, the truck is in unstable equilibrium at u = 23.2° Ans.

Ans:
Unstable equilibrium at u = 23.2°

1168
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–44.

The small postal scale consists of a counterweight W1,


W2
connected to the members having negligible weight.
Determine the weight W2 that is on the pan in terms of the
angles u and f and the dimensions shown. All members are
pin connected. a f

u
SOLUTION b a
f
y1 = b cos u
W1
y2 = a sin f = a sin (90° - u - g)

where g is a constant and f = (90° - u - g)

V = -W1y1 + W2y2

= -W1 b cos u + W2 a sin (90° - u - g)

dV
= W1 b sin u - W2 a cos (90° - u - g)
du

b sin u
W2 = W1 a b Ans.
a cos f

Ans:
b sin u
W2 = W1a b
a cos f

1169
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–45.

A 3-lb weight is attached to the end of rod ABC. If the rod


is supported by a smooth slider block at C and rod BD, C
6 in.
determine the angle u for equilibrium. Neglect the weight of
the rods and the slider.
θ B

D
10 in.
4 in.

SOLUTION
x = 2(6)2 - (4 sin u)2 = 236 - 16 sin2 u A

6 16
=
x (x + 4 cos u) + y

x + 4 cos u + y = 2.667x

y = - 4 cos u + 1.667 236 - 16 sin2 u

1
dy = 4 sin u du + 1.667a b (36 - 16 sin2 u)- 2 ( -32 sin u cos u)du
1

dU = 0; W dy = 0

W c 4 - 0.8333(36 - 16 sin2 u)- 2 (32 cos u) d sin u du = 0


1

Thus,

sin u = 0

u = 0° Ans.

or,

A 36 - 16 sin2u B 2 = 6.667 cos u


1

u = 33.0° Ans.

Ans:
u = 0°
u = 33.0°

1170
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–46.

If the uniform rod OA has a mass of 12 kg, determine the


mass m that will hold the rod in equilibrium when u = 30°. B
Point C is coincident with B when OA is horizontal. Neglect
the size of the pulley at B.
C
m

3m
SOLUTION
Geometry: Using the law of cosines, A
1m
2 2
lA¿B = 21 + 3 - 2112132 cos190° - u2 = 210 - 6 sin u
e O
lAB = 212 + 32 = 210 m

l = lAB - lA¿B = 210 - 210 - 6 sin u

Potential Function: The datum is established at point O. Since the center of gravity
of the rod and the block are above the datum, their potential energy is positive.

Here, y1 = 3 - l = 33 - 1210 - 210 - 6 sin u24 m and y2 = 0.5 sin u m.

V = Vg = W1y1 + W2y2

= 9.81m33 - 1210 - 210 - 6 sin u24 + 117.7210.5 sin u2

= 29.43m - 9.81m1210 - 210 - 6 sin u2 + 58.86 sin u

Equilibrium Position: The system is in equilibrium if

`
dV
= 0.
du u = 30°

dV 1
= - 9.81m c - 110 - 6 sin u2- 21- 6 cos u2 d + 58.86 cos u
1

du 2

29.43m cos u
= - + 58.86 cos u
210 - 6 sin u

At u = 30°,

`
dV 29.43m cos 30°
= - + 58.86 cos 30° = 0
du u = 30° 210 - 6 sin 30°
m = 5.29 kg Ans.

Ans:
m = 5.29 kg

1171
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–47.

The cylinder is made of two materials such that it has a mass


of m and a center of gravity at point G. Show that when G
lies above the centroid C of the cylinder, the equilibrium is
unstable. G
a
C

SOLUTION
Potential Function: The datum is established at point A. Since the center of gravity
of the cylinder is above the datum, its potential energy is positive. Here,
y = r + d cos u.

V = Vg = Wy = mg(r + d cos u)

dV
Equilibrium Position: The system is in equilibrium if = 0.
du

dV
= - mgd sin u = 0
du

sin u = 0 u = 0°

Stability:

d 2V
= - mgd cos u
du2

d 2V 2
= - mgd cos 0° = - mgd 6 0
du2 u = 0°
Thus, the cylinder is in unstable equilibrium at u = 0° (Q.E.D.)

1172
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

*11–48.

The bent rod has a weight of 5 lb ft. A pivot of negligible 8 in. 8 in.
size is attached at its center A and the rod is balanced as
shown. Determine the length L of its vertical segments so 2 in. A
that it remains in neutral equilibrium. Neglect the thickness
of the rod. L L

SOLUTION
To remain in neutral equilibrium, the center of gravity must be located at A.

©yW
y =
©W
16 L 2L
2a b (5) - a - 2 b a b (5)
12 2 12
0 =
16 2L
a b (5) + a b (5)
12 12

0 = 5L2 - 20L - 160

20 ; 2( - 20)2 - 4(5)(- 160)


L =
10

Take the positive root

L = 8 in. Ans.

Ans:
L = 8 in.

1173
© 2016 Pearson Education, Inc., Upper Saddle River, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

11–49.

The triangular block of weight W rests on the smooth


corners which are a distance a apart. If the block has three
d
equal sides of length d, determine the angle u for 60
equilibrium.
G 60
u

SOLUTION a
AF = AD sin f = AD sin (60° - u)

AD a
=
sin a sin 60°

a
AD = (sin (60° + u))
sin 60°

a
AF = (sin (60° + u)) sin (60° - u)
sin 60°

a
= (0.75 cos2 u - 0.25 sin2 u)
sin 60°

d
y= cos u - AF
23

V = Wy

dV a
= Wc( -0.5774 d) sin u - ( -1.5 sin u cos u - 0.5 sin u cos u)d = 0
du sin 60°

Require, sin u = 0 u = 0° Ans.

a
or - 0.5774 d - ( -2 cos u) = 0
sin 60°

d
u = cos-1 a b Ans.
4a

Ans:
u = 0°
d
u = cos-1a b
4a

1174

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