PROBLEM 10.

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

SOLUTION








Have 2 cos so that 2 sin
D D
x l x l = =
2 A l =
B l =
Virtual Work:
0: 0
D
U Q x P A P B = =
( ) ( ) ( ) 2 sin 2 0 = Q l P l P l
2 sin 3 0 = Ql Pl

3
2 sin
=
P
Q




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 70 . =

SOLUTION





First note, by the Law of Cosines
( ) ( ) ( )( )
2 2
2
3 ft 2 ft 2 3 ft 2 ft cos = + DB
[ ]( )
2
13 12cos ft =
13 12cos = DB
Then
( )( ) 12 sin 1
2 13 12cos

= =

B
DB
or
6sin
13 12cos

B

Also 4.5cos =
A
y
Then 4.5sin =
A
y
Virtual Work
( ) 0: 8 kips 0
A DB B
U y F = =
Then ( )
6sin
8 4.5sin 0
13 12cos
DB
F

or
( )( ) 8 4.5sin
13 12cos
6sin

=
DB
F
or 6 13 12cos =
DB
F
For 70 =
17.895 kips =
DB
F
17.90 kips
DB
= F







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
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
6 13 12cos =
AB
F
For 25 kips =
AB
F
6 13 12cos 25 =
or
17.36 13
cos 0.3633
12

+
= =
111.31 =
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) 2 . AB CD =

SOLUTION





For both (a) and (b): Since P and P are vertical, they form a couple of
moment
sin = +
P
M Pl
The forces F and F exerted by springs must, therefore, also form a
couple, with moment
cos =
F
M Fa
We have
= +
P F
dU M d M d
( ) sin cos = Pl Fa d
but
1
sin
2


= =


F ks k a
Thus,
2
1
sin sin cos
2


=


dU Pl ka d
From Equation (10.19), page 580, we have
2
1
sin sin 2
4
= = + dV dU Pl d ka d
or
2
1
sin sin 2
4

= +
dV
Pl ka
d

and
2
2
2
1
cos cos 2
2

= +
d V
Pl ka
d
(1)


PROBLEM 10.104 CONTINUED
For 0: =
2
2
2
1
2
= +
d V
Pl ka
d

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

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

Note: To check that equilibrium is unstable for
2
,
2
=
ka
P
l
we
differentiate (1) twice:
3
2
3
sin sin 2 0, for 0,

= + = =
d V
Pl ka
d


4
2
4
cos 2 cos 2

=
d V
Pl ka
d

For 0 =
4 2
2 2
4
2 2 0
2
= = <
d V ka
Pl ka ka
d

Thus, equilibrium is unstable when
2
2
=
ka
P
l




PROBLEM 10.105
Determine the vertical force P which must be applied at G to maintain the
equilibrium of the linkage.

SOLUTION









2 4
, ,
3 0.72
A G
u
y u y u = = =
( ) ( ) ( ) 80 N 18 N m = +
A G
V y P y
( ) ( )
2 4
80 18
3 0.72
u
u P u

= +



2
80 100 0
3
dV
P
du
= =
270 N = P 270 N = P
Substituting 270 N = P into the expression for V, we have 0. = V 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

Assume
A
y
0.04 4
:
0.09 9
C A A
y y y = =
4
,
9
D C A
y y y = =
4 4 50
0.08 9 0.08 0.72 9
C A
A A
y y
y y

= = = =
Virtual Work:
( ) ( ) 0: 80 N 18 N m 0
A
U y M = + + =

50 50
80 18 0
9 9
A A A
y y M y
| | | |
+ + =
| |
\ . \ .


50
80 100 0
9
M + + =
32.4 N m M = 32.4 N m = 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 =
cos 2 cos
2 2
l l
V W W
| | | |
=
| |
\ . \ .

( ) 2sin 2 sin
2
dV l
W
d

= +
( )
2
2
4cos 2 cos
2
d V l
W
d

=

Equilibrium:
( ) 0: 2sin 2 sin 0
2
dV Wl
d

= + =
or ( ) sin 4cos 1 0 + =
Solving, 0, 75.5 , 180 , and 284.5 =
Stability:
( )
2
2
4cos 2 cos
2
d V l
W
d

=
At 0: = ( )
2
2
4 1 0
2
d V l
W
d
= < 0, = Unstable
At 75.5 : = ( ) ( )
2
2
4 .874 .25 0
2
d V l
W
d
= > 75.5 , = Stable
At 180 : = ( )
2
2
4 1 0
2
d V l
W
d
= + < 180.0 , = Unstable
At 284.5 : = ( ) ( )
2
2
4 .874 .25 0
2
d V l
W
d
= > 285 , = Stable





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,
A B
y y =
5 1 5 5 1 5
; ;
8 2 6 6 2 12
C B E B E E B B
y y y y y y y y
| |
= = = = =
|
\ .

Virtual Work: ( ) ( ) 0: 800 N 600 0
A C F
U A y y y = + =
5 5
800 600 0
8 12
y B B B
A y y y
| | | |
+ =
| |
\ . \ .

250 N
y
A = + 250 N
y
= A
For horizontal motion , 0 ; 0
A x A x
x U A x A = = =
250 N = A
For couple ,
A
M we rotate AB about A through


PROBLEM 10.108 CONTINUED
( )
1 1
1.8 ; 1.8 0.9
2 2
B E B
y y y = = = =
( )
5 5
1.8 1.25
8 8
C B
y y = = =
( )
5 5
0.98 0.75
6 6
F E
y y = = =
Virtual Work:
( ) ( ) 0: 800 N 600 N 0
A C F
U M y y = + =
( ) ( ) 800 1.125 600 0.75 0
A
M + =
450 N m
A
M = + 450 N m
A
= M







PROBLEM 10.109
Using the method of virtual work, determine the reaction at D.

SOLUTION

We move point D downward a distance
D
y
3 3

8 2
C D E D
y y y y = =
5 5 3 5
6 6 2 4
F E D D
y y y y
| |
= = =
|
\ .

Virtual Work:
( ) ( ) 0: 800 N 600 N 0
D C F
U D y y y = + + =

3 5
800 600 0
8 4
D D D
D y y y
| | | |
+ + =
| |
\ . \ .

1050 N D = + 1050 N = D




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 tan A C a =
( ) tan
A
y A C a = =
2
cos
A
a
y

=
For : BB C
sin B C l A C =
sin tan l a =
sin tan
tan tan
B C l a
BB



= =
cos
B
x BB l a = =
sin
B
x l =
Virtual Work:
0: 0
B A
U P x Q y = =
( )
2
sin 0
cos
a
P l Q

| |
=
|
\ .

or
2
sin cos Pl Qa =

2
sin cos
l
Q P
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 15 , = determine the
value of corresponding to equilibrium and check that the equilibrium
is stable.

SOLUTION





Have cos
C
y l =
( )
2
0 0
1
15 rad
2 12
C
V k r Wy

= + = =


( )
2
2
0
1
cos
2
kr Wl = +
( )
2
0
sin
dV
kr Wl
d

=
Equilibrium ( )
2
0
0: sin 0
dV
kr wl
d

= = (1)
With 100 lb, 50 lb/in., 20 in., and 5 in. W R l r = = = =
( )
( )
( )( )
2
50 lb/in. 25 in 100 lb 20 in. sin 0
12

| |
=
|
\ .

or 0.625 sin 0.16362 =
Solving numerically, 1.8145 rad 103.97 = =
104.0 =
Stability
2
2
2
cos
d V
kr Wl
d

= (2)
or 1250 2000cos =
For 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 30 , = determine the
value of corresponding to equilibrium and check that the equilibrium is
stable.

SOLUTION
Using the solution of Problem 10.111, particularly Equations (1), with 15 replace by 30 rad :
6
| |
|
\ .

For equilibrium
2
sin 0
6
kr Wl

| |
=
|
\ .

With 50 lb/in., 100 lb, 5 in., and 20 in. k W r l = = = =
( )
( )
( )( )
2
50 lb/in. 25 in. 100 lb 20 in. sin 0
6

| |
=
|
\ .

or 1250 654.5 2000sin 0 =
Solving numerically, 1.9870 rad 113.8 = =
113.8 =
Stability: Equation (2), Problem 111:
2
2
2
cos
d V
kr Wl
d

=
or 1250 2000cos =
For 113.8 : = 2057 in. lb 0 = > Stable