Solucionario de Mecanica Vectorial para Ingenieros Edicion 8 Cap 10 Solucionario

COSMOS: Complete Online Solutions Manual Organization System
Chapter 10, Solution 1.
Link ABC:
Assume δθ clockwise
Then, for point C
δ xC = (125 mm ) δθ
and for point D
δ xD = δ xC = (125 mm ) δθ
and for point E
 250 mm  2
δ xE =   δ xD = δ xD
 375 mm  3
Link DEFG: δ xD = ( 375 mm ) δφ

Thus (125 mm ) δθ = ( 375 mm ) δφ
1
δφ = δθ
3
 100
Then (
δ G = 100 2 mm δφ = 
 3
) 
2 mm  δθ

 100   100 
δ yG = δ G cos 45° =  2 mm  δθ cos 45° =  mm  δθ
 3   3 
Virtual Work: Assume P acts downward at G
δ U = 0: ( 9000 N ⋅ mm ) δθ − (180 N )(δ xE mm ) + P (δ yG mm ) = 0
2   100 
9000 δθ − 180  × 125 δθ  + P  δθ  = 0
 3   3 
or P = 180.0 N
Vector Mechanics for Engineers: Statics and Dynamics, 8/e, Ferdinand P. Beer, E. Russell Johnston, Jr.,
Elliot R. Eisenberg, William E. Clausen, David Mazurek, Phillip J. Cornwell
© 2007 The McGraw-Hill Companies.
Have FA = 20 lb at A
FD = 30 lb at D
Link ABC: δ y A = (16 in.) δθ Link BF: δ yF = δ yB
δ yB = (10 in.) δθ
Link DEFG: δ yF = ( 6 in.) δφ = (10 in.) δθ

5
or δφ = δθ
3
δ yG = (12 in.) δφ = ( 20 in.) δθ
d ED = ( 5.5 in.)2 + ( 4.8 in.)2 = 7.3 in.
5 
δ D = ( 7.3 in.) δφ =  × 7.3 in.  δθ
3 
4.8 4.8  5 
δ xD = δD =  × 7.3 in.  δθ = ( 8 in.) δθ
7.3 7.3  3 
Virtual Work: Assume P acts upward at G
δ U = 0: FAδ y A + FDδ xD + Pδ yG = 0
or ( 20 lb ) (16 in.) δθ  + ( 30 lb ) (8 in.) δθ  + P ( 20 in.) δθ  = 0

or P = − 28.0 lb
P = 28.0 lb W
Link ABC:
Assume δθ clockwise
Then, for point C
δ xC = (125 mm ) δθ
and for point D
δ xD = δ xC = (125 mm ) δθ
and for point E
 250 mm  2
δ xE =   δ xD = δ xD
 375 mm  3
Link DEFG: δ xD = ( 375 mm ) δφ
Thus (125 mm ) δθ = ( 375 mm ) δφ

1
or δφ = δθ
3
Virtual Work: Assume M acts clockwise on link DEFG
δ U = 0: ( 9000 N ⋅ mm ) δθ − (180 N )(δ xE mm ) + M δφ = 0
2  1 
9000 δθ − 180  ⋅125 δθ  + M  δθ  = 0
3  3 
or M = 18000 N ⋅ mm
or M = 18.00 N ⋅ m
Have FA = 20 lb at A
FD = 30 lb at D
Link ABC: δ y A = (16 in.) δθ Link BF: δ yF = δ yB

δ yB = (10 in.) δθ
Link DEFG: δ yF = ( 6 in.) δφ = (10 in.) δθ
5
or δφ = δθ
3
d ED = ( 5.5 in.)2 + ( 4.8 in.)2 = 7.3 in.
5 
δ D = ( 7.3 in.) δφ =  × 7.3 in.  δθ
3 
4.8 4.8  5 
δ xD = δD =  × 7.3 in.  δθ = ( 8 in.) δθ
7.3 7.3  3 
Virtual Work: Assume M acts on DEFG
δ U = 0: FAδ y A + FDδ xD + M δφ = 0
( 20 lb ) (16 in.) δθ  + ( 30 lb ) (8 in.) δθ  + M 

5 
or δθ  = 0
3 
or M = − 336.0 lb ⋅ in.
M = 28.0 lb ⋅ ft W
Assume δθ
δ x A = 10 δθ in.
δ yC = 4 δθ in.
δ yD = δ yC = 4 δθ in.
δ yD 2
δφ = = δθ
6 3
2 
δ xG = 15 δφ = 15  δθ  = 10 δθ in.
3  
Virtual Work: Assume that force P is applied at A.

δ U = 0: δ U = − Pδ x A + 30 δ yC + 60 δ yD + 240 δφ + 80 δ xG = 0
2 
− P (10 δθ in.) + ( 30 lb )( 4 δθ in.) + ( 60 lb )( 4 δθ ) + ( 240 lb ⋅ in.)  δθ 
3 
+ ( 80 lb )(10 δθ in.) = 0
−10P + 120 + 240 + 160 + 800 = 0
10P = 1320 P = 132.0 lb W
Note:
xE = 2 x D δ xE = 2 δ xD
xG = 3xD δ xG = 3δ xD
x H = 4 xD δ xH = 4 δ xD
xI = 5 x D δ x I = 5 δ xD
(a) Virtual Work: δ U = 0: FG δ xG − FSPδ xI = 0
( 90 N )( 3δ xD ) − FSP ( 5δ xD ) = 0
or FSP = 54.0 N W
Now FSP = k ∆xI
54 N = ( 720 N/m ) ∆xI
∆xI = 0.075 m
1 1
and δ xD = δ x H = δ x I
4 5
4 4
∆xH = ∆xI = ( 0.075 m ) = 0.06 m
5 5
or ∆xH = 60.0 mm W
(b) Virtual Work: δ U = 0: FG δ xG + FH δ xH − FSP (δ xI ) = 0
( 90 N )( 3 δ xD ) + ( 90 N )( 4 δ xD ) − FSP ( 5δ xD ) = 0
or FSP = 126.0 N W
Now FSP = k ∆xI
126.0 N = ( 720 N/m ) ∆xI
∆xI = 0.175 m
4 4
From Part (a) ∆xH = ∆xI = ( 0.175 m ) = 0.140 m
5 5
or ∆xH = 140.0 mm W
Note:
xE = 2 x D δ xE = 2 δ xD
xG = 3xD δ xG = 3δ xD
xH = 4 xD δ xH = 4 δ xD
xI = 5 xD δ xI = 5 δ x D
(a) Virtual Work: δ U = 0: FE δ xE − FSP δ xI = 0
( 90 N )( 2 δ xD ) − FSP ( 5δ xD ) = 0
or FSP = 36.0 N
Now FSP = k ∆xI
36 N = ( 720 N/m ) ∆xI
∆xI = 0.050 m
1 1
and δ xD = δ xH = δ xI
4 5
4 4
∆xH = ∆xI = ( 0.050 m ) = 0.04 m
5 5
or ∆xH = 40.0 mm
(b) Virtual Work: δ U = 0: FD δ xD + FEδ xE − FSPδ xI = 0
( 90 N ) δ xD + ( 90 N )( 2 δ xD ) − FSP ( 5 δ xD ) = 0
or FSP = 54.0 N
Now FSP = k ∆xI
54 N = ( 720 N/m ) ∆xI
∆xI = 0.075 m
4 4
From Part (a) ∆xH = ∆xI = ( 0.075 ) = 0.06 m
5 5
or ∆xH = 60.0 mm
Assume δ y A
δ yA δ yC 1
= ; δ yC = δ y A
16 in. 8 in. 2
Bar CFDE moves in translation

1
δ yE = δ yF = δ yC = δ y A
2
Virtual Work:
δ U = 0: − P (δ y A in.) + (100 lb )(δ yE in.) + (150 lb )(δ yF in.) = 0
1  1 
− P δ y A + 100  δ y A  + 150  δ y A  = 0
2  2 
P = 125 lb P = 125 lb W
Have y A = 2l cosθ ; δ y A = −2l sin θ δθ

θ θ
CD = 2l sin ; δ ( CD ) = l cos δθ
2 2
Virtual Work:
δ U = 0: − Pδ y A − Qδ ( CD ) = 0
 θ 
− P ( −2l sin θ δθ ) − Q  l cos δθ  = 0
 2 
sin θ
Q = 2P W
θ 
cos  
2
Virtual Work:
Have x A = 2l sin θ
δ x A = 2l cosθ δθ
and yF = 3l cosθ
δ yF = −3l sin θ δθ
Virtual Work: δ U = 0: Qδ x A + Pδ yF = 0
Q ( 2l cosθ δθ ) + P ( −3l sin θ δθ ) = 0
3
Q= P tan θ
2
Virtual Work:
We note that the virtual work of Ax , Ay and C is zero, since A is fixed and C is ⊥ to δ xC .
δ U = 0: Pδ xD + Qδ yD = 0
xD = 3l cosθ δ xD = − 3l sin θ δθ
yD = l sin θ δ yD = l cosθ δθ
Thus: P ( − 3l sin θ δθ ) + Q ( l cosθ δθ ) = 0
− 3Pl sin θ + Ql cosθ = 0
3P sin θ
Q= = 3P tan θ Q = 3P tan θ W
cosθ
x A = ( a + b ) cosθ δ x A = − ( a + b ) sin θ δθ
yG = a sin θ δ yG = a cosθ δθ
Virtual Work:
The reactions at A and B are perpendicular to the displacements of A and B hence do no work.
δ U = 0: T δ x A + W δ yG = 0
T  − ( a + b ) sin θ δθ  + W ( a cosθ δθ ) = 0
− T ( a + b ) sin θ + Wa cosθ = 0
a a
T = W cot θ T = W cot θ W
a+b a+b
Note: yH = 2l sin θ
Where l = 600 mm ( length of a link )
Then δ yH = 2l cosθ δθ
Also
1
2
1 1
(
W = mg = ( 450 kg ) 9.81 m/s 2
2 2
)
= 2207.3 N
2 2
3  5 
d AF =  l cosθ  +  l sin θ 
4  4 
l
= 9 + 16sin 2 θ
4
l 16sin θ cosθ
δ d AF = δθ
4 9 + 16sin 2 θ
sin θ cosθ
= 4l δθ
9 + 16sin 2 θ
1 
Virtual Work: δ U = 0: Fcyl δ d AF −  W  δ yH = 0
2 
 sin θ cosθ 
Fcyl  4l δθ  − ( 2.2073 kN )( 2l cosθ δθ ) = 0
 9 + 16sin 2 θ 
 
sin θ
Fcyl = 1.10365 kN
9 + 16sin 2 θ
sin 30°
For θ = 30° Fcyl = 1.10365 kN
9 + 16sin 2 30°
or Fcyl = 7.96 kN W
From solution of Problem 10.13:

sin θ
Fcyl = 1.10365 kN
9 + 16sin 2 θ
Then for Fcyl = 35 kN
sin θ
( 35 kN ) = 1.10365 kN
9 + 16sin 2 θ
( 31.713 sin θ )2 = 9 + 16sin 2 θ

9
sin 2 θ =
989.71
or θ = 5.47° W
ABC: yB = a sin θ ⇒ δ yB = a cosθδθ

yC = 2a sin θ ⇒ δ yC = 2a cosθδθ
CDE: Note that as ABC rotates counterclockwise, CDE rotates clockwise

while it moves to the left.
Then δ yC = aδφ
or 2a cosθδθ = aδφ
or δφ = 2 cosθδθ
Virtual Work:
δ U = 0: − Pδ yB − Pδ yC + M δφ = 0
− P ( a cosθδθ ) − P ( 2a cosθδθ ) + M ( 2cosθδθ ) = 0
3
or M = Pa W
2
3
First note l sin θ + l sin φ = l
2
2
or sin φ = (1 − sin θ )
3
2
Then cos φ δφ = − cosθ δθ
3
2 cosθ
or δφ = − δθ
3 cos φ
= 5 + 8sin θ − 4sin 2 θ
3
Now xC = − l cosθ + l cos φ
2
3
Then δ xC = l sin θ δθ − l sin φ δφ
2
 3  − 2 cosθ  
= l sin θ − sin φ    δθ
 2  3 cos φ  
= l ( sin θ + cosθ tan φ ) δθ
 2cosθ (1 − sin θ ) 
= l sin θ +  δθ
 5 + 8sin θ − 4sin θ  2
Virtual Work:
δ U = 0: M δθ − Pδ xC = 0
 2 cosθ (1 − sin θ ) 
M δθ − Pl sin θ +  δθ = 0
 5 + 8sin θ − 4sin 2 θ 
 2cosθ (1 − sin θ ) 
or M = Pl sin θ + 
 5 + 8sin θ − 4sin 2 θ 
Have
xB = l sin θ
δ xB = l cosθδθ
y A = l cosθ
δ y A = − l sin θδθ
Virtual Work:
δ U = 0: M δθ − Pδ xB + Pδ y A = 0
M δθ − P ( l cosθδθ ) + P ( − l sin θδθ ) = 0
M = Pl ( sin θ + cosθ )
Have xD = l cosθ
δ xD = − l sin θδθ
yD = 3l sin θ
δ yD = 3l cosθδθ
Virtual Work: δ U = 0: M δθ − ( P cos β ) δ xD − ( P sin β ) δ yD = 0
M δθ − ( P cos β )( − l sin θδθ ) − ( P sin β )( 3l cosθδθ ) = 0
M = Pl ( 3sin β cosθ − cos β sin θ ) (1)
(a) For P directed along BCD, β = θ
Equation (1): M = Pl ( 3sin θ cosθ − cosθ sin θ )
M = Pl ( 2sin θ cosθ ) M = Pl sin 2θ
(b) For P directed , β = 90°
Equation (1): M = Pl ( 3sin 90° cosθ − cos 90° sin θ )
M = 3Pl cosθ
(c) For P directed , β = 180°
Equation (1): M = Pl ( 3sin180° cosθ − cos180° sin θ )
M = Pl sin θ
Analysis of the geometry:
Law of Sines
sin φ sin θ
=
AB BC
AB
sin φ = sin θ (1)
BC
Now
xC = AB cosθ + BC cos φ
δ xC = − AB sin θδθ − BC sin φδφ (2)
AB
Now, from Equation (1) cos φδφ = cosθδθ
BC
AB cosθ
or δφ = δθ (3)
BC cos φ
From Equation (2)
 AB cosθ 
δ xC = − AB sin θδθ − BC sin φ  δθ 
 BC cos φ 
AB
or δ xC = − ( sin θ cos φ + sin φ cosθ ) δθ
cos φ
AB sin (θ + φ )
Then δ xC = − δθ
cos φ
continued
Virtual Work: δ U = 0: − Pδ xC − M δθ = 0
 AB sin (θ + φ ) 
−P − δθ  − M δθ = 0
 cos φ 
sin (θ + φ )
Thus, M = AB P (4)
cos φ
For the given conditions: P = 1.0 kip = 1000 lb, AB = 2.5 in., and BC = 10 in.:
2.5
(a) When θ = 30°: sin φ = sin 30°, φ = 7.181°
10
sin ( 30° + 7.181° )
M = ( 2.5 in.) (1.0 kip ) = 1.5228 kip ⋅ in.
cos 7.181°
= 0.1269 kip ⋅ ft
or M = 126.9 lb ⋅ ft
2.5
(b) When θ = 150°: sin φ = sin150°, φ = 7.181°
10
sin (150° + 7.181° )
M = ( 2.5 in.) (1.0 kip ) = 0.97722 kip ⋅ in.
cos 7.181°
or M = 81.4 lb ⋅ ft
sin (θ + φ )
From the analysis of Problem 10.19, M = AB P
cos φ
Now, with M = 75 lb ⋅ ft = 900 lb ⋅ in.
(a) For θ = 60°
2.5
sin φ = sin 60°, φ = 12.504°
10
sin ( 60° + 12.504° )
( 900 lb ⋅ in.) = ( 2.5 in.) ( P)
cos12.504°
or P = 368.5 lb
P = 369 lb
(b) For θ = 120°
2.5
sin φ = sin120°, φ = 12.504°
10
sin (120° + 12.504° )
( 900 lb ⋅ in.) = ( 2.5 in.) ( P)
cos12.504°
or P = 476.7 lb
P = 477 lb
Consider a virtual rotation δφ of link AB.
Then δ B = aδφ
Note that δ yB = δ B cosθ = a cosθδφ

Disregarding the second-order rotation of link BC,
δ yC = δ yB = a cosθδφ
δ yC a cosθδφ a
Then δ C = = = δφ
sin θ sin θ tan θ
Virtual Work: δ U = 0: M δφ − Pδ C = 0
 a 
M δφ − P  δφ  = 0
 tan θ 
or M tan θ = Pa
Thus ( 27 N ⋅ m ) tan30° = P ( 0.45 m )
P = 34.6 N
P = 34.6 N 30.0°
Consider a virtual rotation δφ of link AB.
Then δ B = a δφ
Note that δ yB = δ B cosθ = a cosθ δφ

Disregarding the second-order rotation of link BC,
δ yC = δ yB = a cosθ δφ
δ yC a cosθ δφ a
Then δ C = = = δφ
sin θ sin θ tan θ
Virtual Work: δ U = 0: M δφ − Pδ C = 0
 a 
M δφ − P  δφ  = 0
 tan θ 
or M tan θ = Pa
Thus M tan 40° = (135 N )( 0.60 m )
M = 96.53 N ⋅ m
M = 96.5 N ⋅ m
From geometry
y A = 2l cosθ , δ y A = −2l sin θ δθ
θ θ
CD = 2l sin , δ ( CD ) = l cos δθ
2 2
Virtual Work:
δ U = 0: − Pδ y A − Qδ ( CD ) = 0
 θ 
− P ( − 2l sin θ δθ ) − Q  l cos δθ  = 0
 2 
sin θ
or Q = 2P
θ 
cos  
2
With P = 60 lb, Q = 75 lb
sin θ
( 75 lb ) = 2 ( 60 lb )
θ 
cos  
2
sin θ
= 0.625
θ 
cos  
2
θ  θ 
2sin   cos  
or 2  2  = 0.625
θ 
cos  
2
θ = 36.42°
θ = 36.4°
(Additional solutions discarded as not applicable are θ = ± 180°)
From the solution to Problem 10.16

 2cosθ (1 − sin θ ) 
M = Pl sin θ + 
 5 + 8sin θ − 4sin 2 θ 
Substituting
 2 cosθ (1 − sin θ ) 
13.5 N ⋅ m = ( 60 N )( 0.25 m ) sin θ + 
 5 + 8sin θ − 4sin θ  2
2cosθ (1 − sin θ )
or sin θ + = 0.90
5 + 8sin θ − 4sin 2 θ
Solving numerically θ = 57.5°
Geometry OC = r
OC r
cosθ = =
OB xB
r
xB =
cosθ
r sin θ
δ xB = δθ
cos 2 θ
y A = l cosθ ; δ y A = − l sin θ δθ
Virtual Work:
δ U = 0: P ( − δ y A ) − Qδ xB = 0
r sin θ
Pl sin θ δθ − Q δθ = 0
cos 2 θ
Qr
cos 2 θ = (1)
Pl
Then, with l = 15 in., r = 4.5 in., P = 15 lb, and Q = 30 lb
cos 2 θ =
( 30 lb )( 4.5 in.) = 0.6
(15 lb )(15 in.)
or θ = 39.231° θ = 39.2°
Geometry OC = r
OC r
cosθ = =
OB xB
r
xB =
cosθ
r sin θ
δ xB = δθ
cos 2 θ
y A = l cosθ ; δ y A = − l sin θ δθ
Virtual Work:
δ U = 0: P ( − δ y A ) − Qδ xB = 0
r sin θ
Pl sin θ δθ − Q δθ = 0
cos 2 θ
Qr
cos 2 θ = (1)
Pl
Then, with l = 14 in., r = 5 in., P = 75 lb, and Q = 150 lb
cos 2 θ =
(150 lb )( 5 in.) = 0.7143
( 75 lb )(14 in.)
or θ = 32.3115° θ = 32.3°
We have x A = ( a + b ) cosθ δ x A = − ( a + b ) sin θ δθ
yG = a sin θ δ y A = a cosθ δθ
Virtual Work:
The reactions at A and B are perpendicular to the displacements of A and B hence do no work.
δ U = 0: T δ x A + W δ yG = 0
T  − ( a + b ) sin θ δθ  + W ( a cosθ δθ ) = 0
− T ( a + b ) sin θ + Wa cosθ = 0
a
or T = W cot θ
a+b
We have sin θ =
BD
=
BD
=
( 42 in.)
AB a + b ( 42 in.) + ( 28 in.)
sin θ = 0.600
θ = 36.87°
( 42 in.)
Thus T = (160 lb ) cot 36.87°
( 42 in. ) + ( 28 in.)
= 127.99 lb T = 128.0 lb
Note that
y A = − ( 0.15 m ) tan θ
yB = − ( 0.15 m ) tan θ + ( 0.9 m ) sin θ
Then
δ y A = − ( 0.15 m ) sec2 θ δθ
δ yB = − ( 0.15 m ) sec2 θ δθ + ( 0.9 m ) cosθ δθ

Virtual Work:
δ U = 0: Qδ y A + Pδ yB = 0
or (135 N )  − ( 0.15 m ) sec2 θ δθ 
+ ( 75 N )  − ( 0.15 m ) sec2 θ δθ + ( 0.9 m ) cosθ δθ  = 0
or − 20.25 sec2 θ − 11.25sec2 θ + 67.5cosθ = 0
or − 31.5 + 67.5cos3 θ = 0
cos3 θ = 0.4667
or θ = 39.1°
First note
BC = BD ∴ BCD is isosceles
Then ∠BCD = ∠BDC = θ
and BE = l sin θ = 2l sin φ
1
or sin φ = sin θ
2
1
Then cos φ δφ = cosθ δθ
2
1 cosθ
or δφ = δθ
2 cos φ
Now
xC = 2l cos φ − l cosθ xD = 2l cos φ + l cosθ
= l ( 2cos φ − cosθ ) = l ( 2cos φ + cosθ )

Then
δ xC = l ( − 2sin φ δφ + sin θ δθ ) δ xD = l ( − 2sin φ δφ − sin θ δθ )
= l ( sin θ − cosθ tan φ ) δθ = − l ( sin θ + cosθ tan φ ) δθ
Also
FSP = kxSP = k ( 3l − xD )
= kl 3 − ( 2cos φ + cosθ ) 
Virtual Work: δ U = 0: Pδ xC − FSP δ xD = 0
Then P l ( sin θ − cosθ tan φ ) δθ  − kl 3 − ( 2 cos φ + cosθ )  l ( sin θ + cosθ tan φ ) δθ = 0
sin θ + cosθ tan φ

or P = kl 3 − ( 2cos φ + cosθ ) 
sin θ − cosθ tan φ
tan θ + tan φ
= kl 3 − ( 2cos φ + cosθ ) 
tan θ − tan φ
1 1
Now sin φ = sin θ = sin 25°
2 2
or φ = 12.1991°
 N tan 25° + tan12.1991°

∴ P = 1600  ( 0.150 m )( 3 − 2cos12.1991° − cos 25° )
 m  tan 25° − tan12.1991°
or P = 90.9 N
x x x 1
yE = + = ∴ δ yE = δx
3 6 2 2
Linear Spring: FSP = ks = ( 5000 N/m )( x − 0.30 m )
Virtual Work: δ U = 0
δ U = − FSPδ x + Pδ E = 0
1 
− ( 5000 N/m )( x − 0.30 m ) δ x + ( 900 N )  δ x  = 0
2 
− 5000 x + 1500 + 450 = 0
x = 0.390 m or x = 390 mm
x 1
yC = ∴ δ yC = δx
6 6
Linear Spring: FSP = ks = ( 5000 N/m )( x − 0.30 m )
Virtual Work: δU = 0
δ U = − FSPδ x + Pδ yC = 0
1 
− ( 5000 N/m )( x − 0.30 m ) δ x + ( 900 N )  δ x  = 0
6 
− 5000 x + 1500 + 150 = 0
x = 0.330 m or x = 330 mm W
First note: yD = ( 250 mm ) sin θ δ yD = ( 250 mm ) cosθ δθ

x A = 2 ( 300 mm ) cosθ δ x A = − ( 600 mm ) sin θ ( − δθ )
Also, the spring force FSP = k  x A − ( x A )0 
= ( 2.5 N/mm )( 600cosθ − 600 cos 45° )( mm )

= (1500 N )( cosθ − cos 45° )
Virtual Work:
δ U = 0: ( 250 N ) δ yD − FSP δ xA = 0
( 250 N )( 250 mm ) cosθ δθ − (1500 N )( cosθ − cos 45° )( 600 mm ) sin θ δθ = 0
or 5 − 72 tan θ ( cosθ − cos 45° ) = 0
Solving numerically
θ = 15.03° and 36.9° W
From geometry:
xC = 2 (15 in.) cosθ δ xC = − ( 30 in.) sin θ δθ
yB = (15 in.) sin θ δ yB = (15 in.) cosθ (δθ )
s = ( 30 − 30cosθ ) in.
= 30 (1 − cosθ ) in.
Then FSP = ks = (12.5 lb/in.) 30 (1 − cosθ ) in.
= ( 375 lb )(1 − cosθ )
Virtual Work:
δ U = 0: Pδ yB + FSP δ xC = 0
or (150 lb )(15 in.) cosθ δθ + ( 375 lb )(1 − cosθ )   − ( 30in.) sin θ δθ  = 0
or 2250cosθ − 11250 (1 − cosθ ) sin θ = 0
or (1 − cosθ ) tan θ = 0.200
Solving numerically, θ = 40.22°
θ = 40.2° W
From geometry:
xC = 2 (15 in.) cosθ δ xC = − ( 30 in.) sin θ δθ
yB = (15 in.) sin θ δ yB = (15 in.) cosθ δθ
s = ( 30 − 30cosθ ) in.
= 30 (1 − cosθ ) in.
Then FSP = ks = (12.5 lb/in.) 30 (1 − cosθ ) in.
= ( 375 lb )(1 − cosθ )
Virtual Work:
δ U = 0: Pδ yB + FSP δ xC = 0
or P (15 in.)( cos 25° ) δθ  + ( 375 lb )(1 − cos 25° )   − ( 30 in.)( sin 25° ) δθ  = 0
or P = 32.8 lb W
s = rθ
δ s = r δθ
Spring is unstretched at θ = 0°
FSP = ks = k r θ
xC = l sin θ
δ xC = l cosθ δθ
Virtual Work:
δ U = 0: Pδ xC − FSPδ s = 0
P ( l cosθ δθ ) − k r θ ( r δθ ) = 0
Pl θ
or =
kr 2
cosθ
( 40 lb )(12 in.) =
θ
Thus
( 9 lb/in.)( 5 in.)2 cosθ
θ
or = 2.1333
cosθ
θ = 1.054 rad = 60.39°
θ = 60.4° W
y A = l sin θ
δ y A = l cosθδθ
Spring: v = CD
Unstretched when θ =0
so that v0 = 2l
For θ :
 90° + θ 
v = 2l sin  
 2 
 θ
δ v = l cos  45° +  δθ
 2
Stretched length:
 θ
s = v − v0 = 2l sin  45° +  − 2l
 2
  θ 
Then F = ks = kl  2sin  45° +  − 2 
  2  
Virtual Work:
δ U = 0: Pδ y A − F δ v = 0
  θ   θ
Pl cosθ δθ − kl  2sin  45° +  − 2  l cos  45° +  δθ = 0
  2   2
P 1   θ  θ  θ 
or =  2sin  45° +  cos  45° +  − 2 cos  45° +  
kl cosθ   2  2  2 
1   θ  θ  θ 
=  2sin  45° +  cos  45° +  cosθ − 2 cos  45° +  
cosθ   2  2  2 
 θ
cos  45° + 
 2
=1− 2
cosθ
Now, with P = 150 lb, l = 30 in., and k = 40 lb/in.
 θ
cos  45° + 
(150 lb ) =1− 2  2
( 40 lb/in.)( 30 in.) cosθ
 θ
cos  45° + 
 2
or = 0.61872
cosθ
Solving numerically, θ = 17.825° θ = 17.83°
From geometry: y A = l sin θ

δ y A = l cosθ δθ
xC = l cosθ + l sin θ
= l ( cosθ + sin θ )
yC = l sin θ − l cosθ
= l ( sin θ − cosθ )
2
lCD = l ( cosθ + sin θ ) + ( sin θ − cosθ ) − ( −1) 
2
= l 3 + 2sin θ − 2 cosθ
cosθ + sin θ
δ lCD = l δθ
3 + 2sin θ − 2 cosθ
and FSP = k ( lCD − l )
= kl ( 3 + 2sin θ − 2 cosθ − 1 )
δU
Virtual Work: = 0: Pδ y A − FSPδ lCD = 0
δθ
 cosθ + sin θ 
or P ( l cosθ δθ ) − kl ( 3 + 2sin θ − 2cosθ − 1 l )
 3 + 2sin θ − 2cosθ
δθ  = 0

 1  P
or 1 −  (1 + tan θ ) =
 3 + 2sin θ − 2cosθ  kl
600 N
=
( 4000 N/m )( 0.8m )
= 0.1875
Solving numerically θ = 10.77° W
Have yC = ( 375 mm ) tan θ δ yC = ( 375 mm ) sec2 θ δθ
δ S = ( 75 mm ) δθ
FSP = kyC = ( 0.8 N/mm )( 375 mm ) tan θ

= ( 300 N ) tan θ
Virtual Work:
δ U = 0: Pδ S − FSPδ yC = 0
( 480 N )( 75 mm ) δθ − ( 300 N ) tan θ  ( 375 mm ) sec 2 θ δθ = 0
or 3.125 tan θ sec2 θ = 1

Solving numerically, θ = 16.41° W
Have y A = l sin θ δ y A = l cosθ δθ

Virtual Work:
δ U = 0: Pδ y A − M δθ = 0
Pl cosθ δθ − Kθ δθ = 0
θ Pl
or =
cosθ K
Thus
θ
=
( 2000 N )( 0.25 m )
cosθ ( 225 N ⋅ m/rad )
θ
= 2.2222 rad
cosθ
Solving numerically θ = 61.2° W
Have y A = l sin θ δ y A = l cosθ δθ

Virtual Work:
δ U = 0: Pδ y A − M δθ = 0
Pl cosθ δθ − Kθ δθ = 0
θ Pl
or =
cosθ K
Then
θ
=
( 6300 N )( 0.25 m ) = 7 rad
cosθ ( 225 N ⋅ m/rad )
or θ = 7 cosθ
5π
Plotting y = θ and y = 7 cosθ in the range 0 ≤ θ ≤ reveals three points of intersection, and thus
2
three roots:
Then, for each range

 π
0 < θ < 90°  0 < θ <  : θ = 1.37333 rad or θ = 78.7° W
 2
 3π 
270° < θ < 360°  < θ < 2π  : θ = 5.6522 rad or θ = 324° W
 2 
 5π 
360° < θ < 450°  2π < θ < : θ = 6.6160 rad or θ = 379° W
 2
Have d AC = 212 + 7.22 = 22.2 in.

7.2
tan φ = or φ = 18.9246°
21
Now α =θ +φ
By Law of Cosines:
2
d AB = 22.22 + 102 − 2 ( 22.2 )(10 ) cos α
d AB = 592.84 − 444 cos α ( in.)

and
222sin α
δ d AB = δα ( in.)
592.84 − 444cos α
By Virtual Work:
δ U = 0: Pδ yD − Fcyl δ d AB = 0
 222 sin α  
(120 lb )(8 in.) δα − Fcyl   in. δα = 0
 592.84 − 444cos α  
4.3243
Fcyl = 592.84 − 444 cos α ( lb )
sin α
Given data: θ = 60°, α = 60° + 18.9246° = 78.9246°
4.3243
Thus Fcyl = 592.84 − 444cos 78.9246° ( lb )
sin 78.9246°
= 99.270 lb
d AB = 592.84 − 444cos 78.9246° = 22.529 in.
By Law of Sines:
10 22.529
=
sin β sin 78.9246°
or β = 25.824°
Fcyl = 99.3 lb 44.7°
Have d AC = 212 + 7.22 = 22.2 in.

7.2
tan φ = or φ = 18.9246°
21
Now α =θ +φ
By Law of Cosines:
2
d AB = 22.22 + 102 − 2 ( 22.2 )(10 ) cos α
d AB = 592.84 − 444 cos α ( in.)

and
222sin α
δ d AB = δα ( in.)
592.84 − 444cos α
By Virtual Work:
δ U = 0: Pδ yD − Fcyl δ d AB = 0
 222 sin α  
(120 lb )(8 in.) δα − Fcyl   in. δα = 0
 592.84 − 444cos α  
4.3243
Fcyl = 592.84 − 444 cos α ( lb )
sin α
4.3243
Thus 105 lb = 592.84 − 444 cos α ( lb )
sin α
24.28125 sin α = 592.84 − 444cos α
589.5791sin 2 α = 592.84 − 444 cos α
( )
589.5791 1 − cos 2 α = 592.84 − 444 cos α
cos 2 α − 0.75307 cos α + 0.0055309 = 0
Solving α = 41.785° and α = 89.575°
θ = α − φ = α − 18.9246°
Thus θ = 22.9° and θ = 70.7°
First note θ + β = 90°

α + β = 90° ∴α = θ
and s = aθ (length of cord unwound for rotation θ )
Now yO = a (1 − cosθ ) (Distance O moves down for rotation θ )
and yP = s + y
or yP = a θ + a (1 − cosθ ) (Distance P moves down for

rotation θ )
Then δ yP = ( a + a sin θ ) δθ
By the Law of Cosines
= ( 4a ) + ( 2a ) − 2 ( 4a )( 2a ) cosθ
2 2 2
lSP
or lSP = 2a 5 − 4cosθ
4a sin θ
and δ lSP = δθ
5 − 4 cosθ
(
FSP = k lSP − ( lSP )0  = k 2a 5 − 4 cosθ − 2a )
= 2ka ( 5 − 4 cosθ − 1 )
By Virtual Work:
δ U = 0: Pδ yP − FSPδ lSP = 0
 4a sin θ 
P ( a + a sin θ ) δθ − 2ka ( 5 − 4cosθ − 1  )
 5 − 4 cosθ  δθ = 0
 
 P 
or  (1 + sin θ ) − sin θ  5 − 4cosθ + sin θ = 0
 8 ka 
 12 lb 
Then  (1 + sin θ ) − sin θ  5 − 4cosθ + sin θ = 0
 8 (15 lb/in.)( 7.5 in.) 
1 
 75 (1 + sin θ ) − sin θ  5 − 4cosθ + sin θ = 0
 
Solving numerically, θ = 15.27° W
δ yC
For Bar ABC: δα = (where a = 15 in. )
2a
For Bar CD, using Law of Cosines
a 2 = lC2 + lD2 − 2lC lD cos 55°
Then with a = constant, we have
0 = 2lC δ lC + 2lDδ lD − 2 (δ lC ) lD cos 55° − 2lC (δ lD ) cos 55°
Since δ lC = − δ yC :
( lC − lD cos 55° ) δ yC = ( lD − lC cos55° ) δ lD
For the given position of member CD, ∆CDE is isosceles.
Thus lD = a and lC = 2a cos 55°
Then ( 2a cos 55° − a cos 55° ) δ yC (

= a − 2a cos 2 55° δ yD )
cos 55°
or δ lD = δ yC
1 − 2cos 2 55°
By Virtual Work:
δ U = 0: M δα − Pδ lD = 0
δ y   cos 55° 
M  C  − P 2  δ yC = 0
 2a   1 − 2 cos 55° 
M 1 − 2cos 2 55°
or P=
2a cos 55°
Thus for given data
P=
( 320 lb ⋅ in.) 1 − 2cos 2 55°
= 6.3605 lb
2 (15 in.) cos 55°
P = 6.36 lb 35° W
We have
x A = (10 in.) sin θ + ( 24 in.) cosθ
δ x A = (10 cosθ − 24sin θ ) in. δθ
Law of Cosines:
( CD )2 = ( BC )2 + ( BD )2 − 2 ( BC )( BD ) cosθ
= ( 20 in.) + ( 60 in.) − 2 ( 20 in.)( 60 in.) cosθ
2 2
( ) (
= 4000 in 2 − 2400 in 2 cos θ )
=  400 (10 − 6cos θ ) in 2 
Differentiating:
( )
2 ( CD ) δ ( CD ) = 2400 in 2 sin θ δθ
δ ( CD ) =
(1200 in ) 2
sin θ δθ
 20 10 − 6 cos θ in.
 
 60 sin θ 
or δ ( CD ) =  in. δθ
 10 − 6 cosθ 
Virtual Work:
δ U = Pδ x A + FCD δ ( CD ) = 0
 60sin 60° 
( 4000 lb ) (10 cos 60° − 24sin 60° ) in. δθ + FCD  in. δθ = 0
 10 − 6 cos 60° 
or FCD = 3214.9 lb
FCD = 3.21 kips W
Triangle ADE:
tan α =
( 2.7 ft ) = 1.800
(1.5 ft )
α = 60.945°
AD =
( 2.7 ft ) = 3.0887 ft
sin 60.945°
yC = (15 ft ) sin θ δ yC = (15 ft ) cosθ δθ

Law of Cosines: BD 2 = AB 2 + AD 2 − 2 ( AB )( AD ) cos (α + θ )
2 2
= ( 7.2 ft ) + ( 3.0887 ft ) − 2 ( 7.2 ft )( 3.0887 ft ) cos (α + θ )
= 61.38 − 44.4773cos (α + θ )  ft 2
2 ( BD )(δ BD ) = 44.4773 sin (α + θ ) δθ
 44.4773 sin (α + θ ) 
δ BD =  δθ  ft
 2 ( BD ) 
Virtual Work:
δ U = 0: − P δ yC + FBD δ BD = 0
 44.4773sin (α + θ ) 
− ( 500 lb )(15 ft ) cosθ δθ + FBD  δθ  ft = 0

 2 ( BD ) 

 cosθ 
FBD = 337.25 BD  lb
 sin (α + θ ) 
We have θ = 20° BD 2 = 61.38 − 44.4773 cos ( 60.945° + 20° )
BD = 7.3743 ft
cos 20°
Thus FBD = 337.25 ( 7.3743) lb
sin ( 60.945° + 20° )
= 2366.5 lb FBD = 2370 lb
Input work = P δ x
Output work = (W sin α ) δ x
Efficiency:
W sin αδ x W sin α
η= or η= (1)
Pδ x P
ΣFx = 0: P − F − W sin α = 0 or P = W sin α + F (2)
ΣFy = 0: N − W cos α = 0 or N = W cos α
F = µ N = µW cosα
Equation (2): P = W sin α + µW cosα = W ( sin α + µ cosα )
W sin α 1
Equation (1): η= or η=
W ( sin α + µ cos α ) 1 + µ cot α
If block is to remain in place when P = 0, we know (see page 416) that

φ s ≥ α or, since
µ = tan φs , µ ≥ tan α
Multiply by cot α : µ cot α ≥ tan α cot α = 1
Add 1 to each side: 1 + µ cot α ≥ 2
1
Recalling the expression for η, we find η≤
2
Link BC: xB = l cosθ

δ xB = − l sin θ δθ
or δ xB = l sin θ δθ
yC = l sin θ
δ yC = l cosθ δθ
1
Link AB: δ xB = l δφ
2
1
Thus l δφ = l sin θ δθ
2
δφ = 2sin θ δθ
Virtual Work:
δ U = 0: M maxδφ − ( P + µ s N ) δ yC = 0
M max ( 2sin θ δθ ) − ( P + µ s N ) ( l cosθ δθ ) = 0

P + µs N
M max = l
2 tan θ
Link BC Free-Body Diagram:
+ ΣM B = 0:
N ( l sin θ ) − ( P + µ s N ) l cosθ = 0
N tan θ − P − µ s N = 0
P
or N =
tan θ − µ s
Substituting N into relationship for M max :
µs P
P+
tan θ − µ s Pl ( tan θ − µ s + µ s )
M max = l =
2 tan θ 2 tan θ ( tan θ − µ s )
Pl
M max =
 2 ( tan θ − µ s ) 
For µ s ≥ tan θ , we have M max = ∞; the system becomes self-locking.
Largest value of M is obtained from the solution of Problem 10.48
Pl
M max =
 2 ( tan θ − µ s ) 
Thus M max =
( 400 N )( 0.500 m ) = 249.87 N ⋅ m
2 ( tan 35° − 0.30 )
M max = 250 N ⋅ m
Smallest value of M occurs when the friction force in Problem 10.48 is directed upward instead of downward.
The equations obtained in Problem 10.48 may be used if we replace µ s by − µ s . Thus
P − µs N
M min = l
2 tan θ
P
N =
tan θ + µ s
Pl
and M min =
 2 ( tan θ + µ s ) 
Thus M min =
( 400 N )( 0.500 m ) = 99.98 N ⋅ m
2 ( tan 35° + 0.30 )
M min = 100.0 N ⋅ m
For the linkage:

xA P
ΣM B = 0: − x A + P=0 or A=
2 2
P 1
Then: F = µs A = µs = µs P
2 2
Now x A = 2l sin θ
δ x A = 2l cosθ δθ
and yF = 3l cosθ
δ yF = − 3l sin θ δθ
Virtual Work:
δ U = 0: ( Qmax − F ) δ x A + Pδ yF = 0
 1 
 Qmax − µ s P  ( 2l cosθ δθ ) + P ( −3l sin θ δθ ) = 0
 2 
3 1
or Qmax = P tan θ + µ s P
2 2
P
Qmax = ( 3tan θ + µs )
2
For Qmin , motion of A impends to the right and F acts to the left. We
change µ s to − µ s and find
P
Qmin = ( 3tan θ − µ s )
2
Using the results of Problem 10.50 with
θ = 30°, l = 0.2 m, P = 40 N, and µ s = 0.15
P
We have Qmax = ( 3tan θ + µs )
2
( 40 N )
= ( 3tan 30° + 0.15)
2
= 37.64 N
Qmax = 37.6 N
P
and Qmin = ( 3tan θ − µ s )
2
( 40 N )
= ( 3tan 30° − 0.15)
2
= 31.64 N
Qmin = 31.6 N
Recall Figure 8.9a. Draw force triangle
Q = W tan (θ + φs )
y = x tan θ so that δ y = δ x tan θ
Input work = Qδ x = W tan (θ + φs ) δ x
Output work = W δ y = W (δ x ) tan θ
W tan θδ x tan θ
Efficiency: η= ; η=
W tan (θ + φs ) δ x tan (θ + φs )
From page 432, we know the jack is self-locking if
φs ≥ θ
Then θ + φ s ≥ 2θ
so that tan (θ + φ s ) ≥ tan 2θ
tan θ
From above η=
tan (θ + φ s )
tan θ
It then follows that η≤
tan 2θ
2 tan θ
But tan 2θ =
1 − tan 2 θ
Then η≤
(
tan θ 1 − tan 2 θ ) = 1 − tan θ 2
∴ η ≤
1

2 tan θ 2 2
To determine Ay, consider a vertical displacement δ y A :
Note that δ y A = δ yB = δ yC
δ yC δ yE
= or δ yE = 2.5 δ y A
300 mm 750 mm
δ yE δ yG 360
= or δ yG = ( 2.5δ y A ) = 3.75δ y A
240 mm 360 mm 240
Virtual Work:
δ U = 0: Ay δ y A + ( 960 N ) δ yB − ( 240 N ) δ yG = 0
Ay δ y A + ( 960 N ) δ y A − ( 240 N )( 3.75 δ y A ) = 0
Ay = − 60 N or A y = 60 N
To determine A x , consider a horizontal displacement δ x A :
Virtual Work: δ U = 0: Axδ x A = 0, or Ax = 0
Thus the total force reaction is: A = 60.0 N
To determine M A , consider a counterclockwise rotation δθ A :
Note that δ yB = 600 δθ A δ yC = 900 δθ A
δ yC δ yE 750
= or δ yE = ( 900 δθ A ) = 2250 δθ A
300 mm 750 mm 300
δ yE δ yG 360
= or δ yG = ( 2250 δθ A ) = 3375δθ A
240 mm 360 mm 240
Virtual Work:
δ U = 0: M A δθ A + ( 960 N ) δ yB − ( 240 N ) δ yG = 0
M A δθ A + ( 960 N )( 600 δθ A mm ) − ( 240 N )( 3375 δθ A mm ) = 0
M A = 234000 N ⋅ mm,
or M = 234 N ⋅ m
To determine Dy , consider a vertical displacement δ yD :
δ yD δ yE
Note that = or δ yE = 3.5 δ yD
300 mm 1050 mm
δ yE δ yG 360
= or δ yG = ( 3.5δ yD ) = 5.25δ yD
240 mm 360 mm 240
Virtual Work:
δ U = 0: Dy δ yD + ( 240 N ) δ yG = 0
Dy δ yD + ( 240 N )( 5.25 δ yD ) = 0
Dy = −1260 N
or D y = 1.260 kN
From the solution of Problem 10.41
Fcyl = 99.270 lb
By Virtual Work:
δ U = 0: Fcyl ( − δ d AB ) − P δ yD = 0
( 99.270 lb )( − δ d AB ) − (120 lb )(1.2 in.) = 0

δ d AB = −1.45059 in.
or δ d AB = 1.451 in. ( shorter )
From Problem 10.46

FBD = 2370 lb as shown.
By Virtual Work: Assume both δ yC and δ BD increase.
δ U = 0: − ( 500 lb ) δ yC + FBD δ BD = 0
− ( 500 lb )( 2.5 in.) + ( 2370 lb ) δ BD = 0
δ BD = 0.5274 in.
Thus δ BD = 0.527 in. Longer
Apply vertical load P at C:

ΣM B = 0: (12 m ) J y − ( 3 m ) P = 0
P
Jy =
4
ΣFx = 0: J x = 0
P 3
ΣFy = 0: − FFG = 0
4 5
5
FFG = P (T)
12
Virtual Work:
Remove member FG and replace it with forces FFG and − FFG at pins F
and G, respectively. Denoting the virtual displacements of F and G as
δ rF and δ rG , respectively, and noting that P and δ yC have the same
direction, have by virtual work.
δ U = 0: Pδ yC + FFG ⋅δ rF + ( − FFG ) ⋅δ rG = 0
Pδ yC + FFG δ rF cosθ F − FFG δ rG cosθ G = 0
Pδ yC − FFG (δ rG cosθ G − δ rF cosθ F ) = 0
Where (δ rG cosθ G − δ rF cosθ F ) = δ FG , which is the change in length of

member FG. Thus
Pδ yC − FFG δ FG = 0
 5 
Pδ yC −  P  ( 30 mm ) = 0
 12 
δ yC = 12.50 mm
or δ yC = 12.50 mm
Apply a horizontal load P at C:
ΣFx = 0: P − J x = 0 ∴ J x = P
ΣM B = 0: (12 m ) J y − ( 2.25 m ) P = 0
3
Jy = P
16
3 3
ΣFy = 0: P − FFG = 0
16 5
5
FFG = P (T)
16
Virtual Work:
Remove member FG and replace it with forces FFG and − FFG at pins F
and G, respectively. Since P and δ xC have the same direction, and since
FFG tends to decrease the length FG, have by virtual work.
δ U = 0: P δ xC − FFG δ FG = 0
 5 
P δ xC −  P  ( 30 mm ) = 0
 16 
δ xC = 9.375 mm
or δ xC = 9.38 mm
Spring: s = x − 0.3 m
x x x
yE = − − =−
3 6 2
Potential Energy:
1 2
V = ks + WyE
2
1 2 x
= k ( x − 0.3) − W  
2 2
For equilibrium:
dV 1
= k ( x − 0.3) − W = 0
dx 2
1
( 5000 N/m )( x − 0.3) m − ( 900 N ) = 0
2
Solving x = 0.390 m x = 390 mm
Given: ( xSP )0 = 300 mm
k = 5 kN/m
From geometry:
1 x
yC = −  
3 2 
x
=−
6
and sSP = x − ( xSP )0
= ( x − 0.3) m
Potential Energy:
V = VSP + VFC
1 2  1 
= k ( x − 0.3) + FC  − x 
2  6 
For equilibrium:
dV 1
= 0: k ( x − 0.3) − FC = 0
dx 6
1
( 5000 N/m )( x − 0.3) m − ( 900 N ) = 0
6
or x = 0.330 m
x = 330 mm
Given: k = 2.5 kN/m
( SSP )0 = 0 at θ = 45°
From geometry: yD = − ( 0.25 m ) sin θ
( xSP )0 = 2 ( 0.3 m ) cos 45°

S SP = ( xSP )0 − x A
= ( 0.6 m ) cos 45° − 2 ( 0.3 m ) cosθ
= ( 0.6 m )( cos 45° − cosθ )
Potential Energy: V = VSP + VFD

1
k ( 0.6 m ) ( cos 45° − cosθ ) − ( 250 N )  − ( 0.25 m ) sin θ 
2 2
=
2
dV
For equilibrium: = 0:
dθ
k ( 0.36 )( sin θ )( cos 45° − cosθ ) + 62.5cosθ = 0
62.5 N ⋅ m
or tan θ ( cos 45° − cosθ ) = −
( 2500 N/m ) ( 0.36 m 2 )
or tan θ ( cos 45° − cosθ ) = − 0.06944
Solving numerically
and θ = 15.03°
θ = 36.9°
lb
k = 12.5 P = 150 lb
in.
s=0 when θ = 0
From geometry:
yB = − (15 in.) sin θ
s = 30 in. − 2 (15 in.) cosθ
= ( 30 in.)(1 − cosθ )
Potential Energy:
V = VSP + VP
1 2
= ks + P yB
2
1
k ( 30 in.) (1 − cosθ ) + P  − (15 in.) sin θ 
2 2
=
2
For equilibrium
dV
dθ
= 0: ( )
k 900 in 2 (1 − cos θ )( sin θ ) − (15 in.) cos θ P = 0
or
 lb 
( )
12.5  900 in (1 − cos θ )( sin θ ) − (15 in.)(150 lb ) cos θ = 0
in.
2
or 11250 (1 − cosθ )( sin θ ) − 2250 cosθ = 0
or (1 − cosθ ) tan θ = 0.200

θ = 40.2°
lb
k = 12.5 θ = 25°
in.
s=0 when θ = 0°
From geometry:
yB = − (15 in.) sin θ
s = 30 in. − 2 (15 in.) cosθ
= ( 30 in.)(1 − cosθ )
Potential Energy:
V = VSP + VP
1 2
= ks + P yB
2
1
k ( 30 in.) (1 − cosθ ) + P  − (15 in.) sin θ 
2 2
=
2
dV
For equilibrium = 0:
dθ
( )
k 900 in 2 (1 − cos θ )( sin θ ) − (15 in.) cos θ P = 0
or
 lb 
( )
12.5  900 in (1 − cos 25°)( sin 25°) − (15 in.)( cos 25°) P = 0
in.
2
or P = 32.8 lb
 90° + θ 
Spring v = 2l sin  
 2 
 θ
v = 2l sin  45° + 
 2
Unstretched (θ = 0 )
v0 = 2l sin 45° = 2l
 θ
Deflection of spring s = v − v0 = 2l sin  45° +  − 2l
 2
2
1 2 1   θ 
V = ks + Py A = kl 2  2sin  45° +  − 2  + P ( −l sin θ )
2 2   2 
dV   θ   θ
= kl 2  2sin  45° +  − 2  cos  45° +  − Pl cosθ = 0
dθ   2   2
  θ  θ  θ  P
 2sin  45° +  cos  45° +  − 2 cos  45° +   = cosθ
  2  2  2   kl
 θ P
cosθ − 2 cos  45° +  = cosθ
 2  kl
Divide each member by cosθ
 θ
cos  45° + 
 2 P
1− 2 =
cosθ kl
Then with P = 150 lb, l = 30 in. and k = 40 lb/in.
 θ
cos  45° + 
 2 150 lb
1− 2 =
cosθ ( 40 lb/in.)( 30 in.)
= 0.125
 θ
cos  45° + 
 2
or = 0.618718
cosθ
From geometry: y A = − l sin θ

2
lCD = l ( cosθ + sin θ ) + 1 − ( cosθ − sin θ ) 
2
= l 3 + 2sin θ − 2 cosθ
sSP = ( lCD − l )
=l ( 3 + 2sin θ − 2 cosθ − 1 )
Potential Energy: V = VSP + VP
1 2
= ksSP + Py A
2
1
( )
2
= kl 2 3 + 2sin θ − 2cosθ − 1 + P ( − l sin θ )
2
dV
For equilibrium: = 0:
dθ
 cosθ + sin θ 
kl 2 
 (
 3 + 2sin θ − 2cosθ − 1 − P l cosθ = 0
3 + 2sin θ − 2 cosθ 
)

 1  P
or 1 −  (1 + tan θ ) =
 3 + 2sin θ − 2cosθ  kl
600 N
=
( 4000 N/m )( 0.8 m )
= 0.1875
From geometry
yC = d AC tan θ d AC = 375 mm
yP = r θ r = 75 mm
Potential Energy:
1 2
V = VSP + VP = kyC − PyP
2
1 2
= kd AC tan 2 θ − P r θ
2
For equilibrium:
dV 2
= 0: kd AC tan θ sec 2 θ − P r = 0
dθ
( 0.8 N/mm )( 375 mm )2 tan θ sec2 θ − ( 480 N )( 75 mm ) = 0

3.125 tan θ sec2 θ = 1
θ
Since xC = xD , 125θ = 375φ , or φ=
3
 250 
Also xE = ( 250 mm ) φ =  θ  mm
 3 
Potential Energy:
V = − M θ + Q xE − PyG
250 100
= − Mθ + Qθ − Pθ
3 3
For Equilibrium:
dV 250 100
=θ: −M + Q− P=0
dθ 3 3
Thus at equilibrium, V is constant and the equilibrium is neutral.
Q.E.D.
First note y B = yF
For small θ , φ : yB = (10 in.)θ
yF = ( 6 in.) φ
Thus 10θ = 6 φ
5
φ= θ
3
Also y A = (16 in.)θ
yG = (12 in.) φ
= ( 20 in.)θ
h + xD ( h = constant )
= h + ( 8 in.)θ
xD = ( 4.8 in.) φ
= ( 8 in.)θ
Potential Energy:
V = VFA + VP + VW
= − FA y A − PyG + Wyw
= − ( 20 lb )(16 in.)θ − P ( 20 in.)θ + ( 30 lb )  − ( h + 8θ ) in.
= ( − 320 − 20 P − 240 )θ − 30 h  ( lb ⋅ in.)

dV
For equilibrium: =0
dθ
− 320 − 20 P − 240 = 0
V is a constant therefore equilibrium is neutral.
Q.E.D.
Potential Energy:
l  l 
V = − W  cosθ  − W  sin θ 
 2   2 
Wl
=− ( cosθ + sin θ )
2
dV Wl
= ( sin θ − cosθ )
dθ 2
For equilibrium:
dV
= 0: sin θ − cosθ = 0
dθ
tan θ = 1
θ = 45° and θ = −135°
d 2V Wl
Stability: = ( cosθ + sin θ )
dθ 2 2
d 2V Wl
θ = 45°: = ( 0.707 + 0.707 ) > 0 Stable
dθ 2 2
d 2V Wl
θ = −135°: = ( − 0.707 − 0.707 ) < 0 Unstable
dθ 2 2
Potential Energy:
l  l 
V = − WCD  cosθ  − WAB  sin θ 
2  2 
l WAB 
= − WCD  cosθ + sin θ 
2 WCD 
WAB m AB g 300
But = = = 0.6
WCD mCD g 500
l
Thus V = − WCD ( cosθ + 0.6sin θ )
2
dV l
= WCD ( sin θ − 0.6cosθ )
dθ 2
For Equilibrium:
dV
= 0: sin θ − 0.6cosθ = 0
dθ
tan θ = 0.6
θ = 31.0° and θ = −149.0°
d 2V l
Stability: = WCD ( cosθ + 0.6sin θ )
dθ 2
2
d 2V l
θ = 31.0° : = WCD ( cos 31.0° + 0.6sin 31.0° ) > 0
dθ 2
2
Stable
2
d V l
θ = −149.0°: = WCD cos ( −149.0° ) + 0.6sin ( −149.0° ) 
dθ 2
2
l
= WCD  − 0.8572 + 0.6 ( − 0.5150 )  < 0
2
Unstable
Let each rod be of length L and weight W. Then the potential energy V is
L  L 
V = W  sin θ  + W  cos 2θ 
2  2 
Then
dV W
= L cosθ − WL sin 2θ
dθ 2
For equilibrium
dV W
= 0: L cosθ − WL sin 2θ = 0
dθ 2
or cosθ − 2sin 2θ = 0
Solving numerically or using a computer algebra system, such as Maple, gives four solutions:
θ = 1.570796327 rad = 90.0°
θ = −1.570796327 rad = 270°
θ = 0.2526802551 rad = 14.4775°
θ = 2.888912399 rad = 165.522°
Now
d 2V 1
2
= − WL sin θ − 2WL cos 2θ
dθ 2
1 
= −WL  sin θ + 2cos 2θ 
2 
continued
At θ = 14.4775°
d 2V 1 
2
= −WL  sin14.4775° + 2cos  2 (14.4775° )  
dθ  2 
= −1.875WL ( < 0 ) ∴ θ = 14.48°, Unstable
At θ = 90°
d 2V 1 
2
= −WL  sin 90° + 2 cos180°
dθ 2 
= 1.5WL ( > 0 ) ∴ θ = 90°, Stable
At θ = 165.522°
d 2V 1 
2
= −WL  sin165.522° + 2cos ( 2 × 165.522° ) 
dθ 2 
= −1.875WL ( < 0 ) ∴ θ = 165.5°, Unstable
At θ = 270°
d 2V 1 
2
= −WL  sin 270° + 2cos 540° 
dθ 2 
= 2.5WL ( > 0 ) ∴ θ = 270°, Stable
l  l 
Potential energy V = W  cos1.5θ  + W  cosθ  W = mg
2  2 
dV Wl Wl
= ( −1.5sin1.5θ ) + ( − sin θ )
dθ 2 2
Wl
=− (1.5sin1.5θ + sin θ )
2
d 2V Wl
2
= − ( 2.25cos1.5θ + cosθ )
dθ 2
dV
For equilibrium = 0: 1.5sin1.5θ + sin θ = 0
dθ
Solutions: One solution, by inspection, is θ = 0, and a second angle less than 180° can be found numerically:
θ = 2.4042 rad = 137.8°
d 2V Wl
Now = − ( 2.25cos1.5θ + cosθ )
dθ 2 2
d 2V Wl
At θ = 0: = − ( 2.25cos 0° + cos 0° )
dθ 2 2
Wl
=− ( 3.25) ( < 0 ) ∴ θ = 0, Unstable
2
d 2V Wl
At θ = 137.8°: =−  2.25cos (1.5 × 137.8° ) + cos137.8°
dθ 2
2 
Wl
= ( 2.75) ( > 0 ) ∴ θ = 137.8°, Stable
2
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 = 2 kN, l = 250 mm, K = 225 N ⋅ m/rad
225 N ⋅ m/rad
cosθ = θ
( 2000 N )( 0.25 m )
= 0.450θ
Solving numerically, we obtain
θ = 1.06896 rad = 61.247°
θ = 61.2°
Stability
d 2V
= ( 225 N ⋅ m/rad ) + ( 2000 N )( 0.25 m ) sin 61.2° > 0
dθ 2
∴ Stable
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 = 6.3 kN, l = 250 mm, and K = 225 N ⋅ m/rad
225 N ⋅ m/rad
cosθ = θ
( 6300 N )( 0.25 m )
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
Stability At θ = 78.7°: = ( 225 N ⋅ m/rad ) + ( 6300 N )( 0.25 m ) sin 78.7°
dθ 2
= 1769.5 N ⋅ m > 0 ∴ θ = 78.7°, Stable
d 2V
At θ = 323.8°: = ( 225 N ⋅ m/rad ) + ( 6300 N )( 0.25 m ) sin 323.8°
dθ 2
= − 705.2 N ⋅ m < 0 ∴ θ = 324°, Unstable
d 2V
At θ = 379.1°: = ( 225 N ⋅ m/rad ) + ( 6300 N )( 0.25 m ) sin 379.1°
dθ 2
= 740.37 N ⋅ m > 0 ∴ θ = 379°, Stable
π
Have ySP = r (θ − θ 0 ) , r = 4 in., θ 0 = 20° = rad
9
yB = l AB cosθ , l AB = 18 in.
Potential Energy:
1 2
V = kySP + WyB
2
1 2
kr (θ − θ 0 ) + Wl AB cosθ
2
=
2
dV
= kr 2 (θ − θ 0 ) − Wl AB sin θ
dθ
d 2V
= kr 2 − Wl AB cosθ
dθ 2
For equilibrium:
π π π
( 4.5 lb/in.)( 4 in.)2 
dV
= 0: −  − W (18 in.) sin = 0
dθ 4 9 4
W = 2.4683 lb W = 2.47 lb
Stability:
d 2V π
= ( 4.5 lb/in.)( 4 in.) − ( 2.4683 lb )(18 in.) cos
2
dθ 2
4
= 40.6 lb ⋅ in. > 0 ∴ Stable
π
Have ySP = r (θ − θ 0 ) , r = 4 in., θ 0 = 20° = rad
9
yB = l AB cosθ , l AB = 18 in.
Potential Energy:
1 2
V = kySP + WyB
2
1
= kr 2 (θ − θ 0 ) + Wl AB cosθ
2
2
dV
= kr 2 (θ − θ 0 ) − Wl AB sin θ
dθ
d 2V
= kr 2 − Wl AB cosθ
dθ 2
For equilibrium:
π
( 4.5 lb/in.)( 4 in.)2 θ
dV
= 0: −  − ( 6.6 lb )(18 in.) sin θ = 0
dθ  9
 π
θ −  − 1.65sin θ = 0
 9
Solving numerically: θ = 1.90680 rad
= 109.252° θ = 109.3° W
Stability:
d 2V
= ( 4.5 lb/in.)( 4 in.) − ( 6.6 lb )(18 in.) cos109.252°
2
dθ 2
= 111.171 lb ⋅ in. > 0
∴ Stable W
Note:

y =  20 − (11)2 − ( 20 − x )2  in.
 
(
= 20 − − x 2 + 40 x − 279 in. )
Potential Energy:
1 1
k ( x − 7.5 ) + k ( y − 7.5) + WA ( 20 ) + WB y
2 2
V =
2 2
( ) ( )
2
1 1
k ( x − 7.5 ) + k 12.5 − − x 2 + 40 x − 279
2
= + 20WA + WB 20 − − x 2 + 40 x − 279
2 2
Equilibrium Condition:
 
dV
dx
= 0: (
k ( x − 7.5 ) + k 12.5 − − x 2 + 40 x − 279  −

)
40 − 2 x 
 2 − x 2 + 40 x − 279 

40 − 2 x
− WB =0
2
2 − x + 40 x − 279
Simplifying,
12.5 k ( x − 20 ) + 12.5k − x 2 + 40 x − 279 + WB ( x − 20 ) = 0
Substituting k = 1 lb/in., WB = 10 lb:
12.5 (1 lb/in.) ( x − 20 ) in. + 12.5 (1 lb/in.) ( )

− x 2 + 40 x − 279 in. + (10 lb ) ( x − 20 ) in. = 0
or ( x − 20 ) + − x 2 + 40 x − 279 + 0.8 ( x − 20 ) = 0
or − x 2 + 40 x − 279 = 1.8 ( 20 − x )
− x 2 + 40 x − 279 = ( 36 − 1.8 x )
2
or
or 4.24 x 2 − 169.6 x + 1575 = 0
169.6 ± ( −169.6 )2 − 4 ( 4.24 )(1575)

Then x=
2 ( 4.24 )
or x = 14.6579 in. and x = 25.342 in.
Since x ≤ 20 in. x = 14.66 in. W
Deflection of spring = s, where s = l 2 + y2 − l

ds y
=
dy l − y2
2
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
y
l + y 2
−
1
2
W
 l 
= k 1 −  y − 1W
 2 2 
l + y  2

 
Equilibrium
dV
= 0: 1 −
l 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 )
  2 ( 900 N/m )

 ( 0.75 m )2 + y 2 
 0.75 
or 1 −  y = 0.0654
 0.5625 + y 2 

Solving numerically, y = 0.45342 m
y = 453 mm
(a) We note that in U ABC,

1
∠A = ∠B = 180° − ( 90° + θ ) 
2
θ
= 45° −
2
 θ
Thus AB = 2a cos  45° − 
 2
 θ θ
= 2a  cos 45° cos + sin 45° sin 
 2 2
2 θ θ
= 2a  cos + sin 
2  2 2
 θ θ
= 2 a  cos + sin 
 2 2
Elongation of Spring: s = AB − 2 a
 θ θ 
= 2 a  cos + sin − 1
 2 2 
1 2
Potential Energy: V = ks − W ( l sin θ )
2
2
θ θ
V =
1
2
( ) 
 2 2

k 2a 2  cos + sin − 1 − Wl sin θ

 θ θ θ θ θ θ
= ka 2  cos 2 + sin 2 + 1 + 2cos sin − 2cos − 2sin  − Wl sin θ
 2 2 2 2 2 2
 θ θ
= ka 2 1 + 1 + sin θ − 2cos − 2sin  − Wl sin θ
 2 2
 θ θ  Wl 
= 2ka 2 1 − cos − sin  + ka 2 1 − 2  sin θ
 2 2  ka 
continued
dV 1 θ 1 θ  Wl 
= 2ka 2  sin − cos  + ka 2 1 − 2  cosθ
dθ 2 2 2 2  ka 
  θ θ  Wl  
= ka 2  −  cos − sin  + 1 − 2  cosθ 
  2 2  ka  
For Equilibrium:
dV θ θ  Wl 
= 0: cos − sin = 1 − 2  cosθ (1) W
dθ 2 2  ka 
(b) Given data:
k = 75 lb/in., a = 10 in., l = 15 in., and W =100 lb
θ θ  (100 lb )(15 in.)  cosθ

Using equation (1): cos − sin = 1 −
2 2 
 ( 75 lb/in.)(10 in.)2 
θ θ
cos − sin = 0.8 cosθ
2 2
θ θ
Letting cosθ = cos 2 − sin 2 :
2 2
θ θ  θ θ  θ θ
Then cos − sin = 0.8  cos − sin  cos + sin 
2 2  2 2  2 2
Which yields
θ θ θ θ
cos − sin =0 and cos + sin = 1.25
2 2 2 2
θ
The first equation yields = 45°, θ = 90.0° W
2
θ
In the second equation let x = cos and the equation becomes x + 1 − x 2 = 1.25
2
or x 2 − 1.25 x + 0.28125 = 0
Solving x = 0.95572 and x = 0.29428
θ θ
= cos −1 0.95572 and = cos −1 0.29428
2 2
θ = 34.2° and θ = 145.8° W
Stability:
d 2V 1 2  θ θ  Wl  
= ka sin + cos − 2 1 − 2  sin θ 
dθ 2
2  2 2  ka  
1 2 θ θ 
= ka  sin + cos −1.6sin θ 
2  2 2 
d 2V 1 2
θ = 34.2°: = ka ( 0.2940 + 0.9558 − 0.8993) > 0 Stable W
dθ 2 2
d 2V 1 2
θ = 90.0°: = ka ( 0.707 + 0.707 − 1.6 ) < 0 Unstable W
dθ 2 2
d 2V 1 2
θ = 145.8°: = ka ( 0.9558 + 0.2940 − 0.8993) > 0 Stable W
dθ 2 2
Note:
xSPA = rA sin θ
xSPB = xSPA
xSP = xSPA + xSPB
= 2rA sin θ , rA = 150 mm
yBLOCK = rθ , r = 200 mm
1 2
Potential Energy: V = kxSP − mgyBLOCK
2
1
k ( 2rA sin θ ) − mgr θ
2
=
2
= 2krA2 sin 2 θ − mgr θ
dV
= 2krA2 ( 2sin θ cosθ ) − mgr = 2krA2 sin 2θ − mgr
dθ
d 2V
= 4krA2 cos 2θ (1)
dθ 2
dV
= 0: 2krA2 sin 2θ − mgr = 0
dθ
Thus ( )
2 ( 2000 N/m )( 0.15 m ) sin 2θ − m 9.81 m/s 2 ( 0.2 m ) = 0
2
or m = 45.872 sin 2θ ( kg ) (2)
(a) From Eq. (2), with m ≥ 0: 0 ≤ m ≤ 45.9 kg W
d 2V
(b) For Stable equilibrium: >0
dθ 2
Then from Eq. (1) cos 2θ > 0 or 0 ≤ θ ≤ 45.0° W
Note:
xSPA = rA sin θ
xSPB = xSPA
xSP = xSPA + xSPB
= 2rA sin θ , rA = 150 mm
yBLOCK = r θ , r = 200 mm
1 2
Potential Energy: V = kxSP − mgyBLOCK
2
1
k ( 2rA sin θ ) − mgr θ
2
=
2
= 2krA2 sin 2 θ − mgr θ
dV
= 2krA2 ( 2sin θ cosθ ) − mgr = 2krA2 sin 2θ − mgr
dθ
d 2V
= 4krA2 cos 2θ (1)
dθ 2
dV
= 0: 2krA2 sin 2θ − mgr = 0
dθ
Thus ( )
2 ( 2000 N/m )( 0.15 m ) sin 2θ − m 9.81 m/s 2 ( 0.2 m ) = 0
2
or m = 45.872 sin 2θ ( kg ) (2)

20 = 45.872 sin 2θ
Solving θ = 12.9243° and θ = 77.076°
Stability: Using Eq. (1)
d 2V
θ = 12.9243°: = 4krA2 cos ( 2 × 12.9243° ) > 0 ∴ θ = 12.92°, Stable W
dθ 2
d 2V
θ = 77.076°: = 4krA2 cos ( 2 × 77.076° ) < 0 ∴ θ = 77.1°, Unstable W
dθ 2
(a) sSP = l cosθ 0 − l cosθ

= l ( cosθ 0 − cosθ )
Potential Energy:
1 2
V = ksSP − mg ( 2l sin θ )
2
1 2
kl ( cosθ 0 − cosθ ) − 2mgl sin θ
2
=
2
dV
= kl 2 ( cosθ 0 − cosθ ) sin θ − 2mgl cosθ (1)
dθ
Equilibrium:
dV
= 0: kl 2 ( cosθ 0 − cosθ ) sin θ − 2mgl cosθ = 0
dθ
Since cosθ = 0 is not a solution of the equation, we can divide all terms by kl 2 cosθ and write
2mg
( cosθ 0 − cosθ ) tan θ = (2)
kl
The spring is unstretched for θ = 0 thus θ 0 = 0 in Eq. (2) and we have
2mg
(1 − cosθ ) tan θ = W
kl
(b) For the given data
(1 − cosθ ) tan θ =
(
2 ( 5 kg ) 9.81 m/s 2 ) = 0.4905
(800 N/m )( 0.250 m )
Solving by trial and error: θ = 51.96°, θ = 52.0° W
Stability: Differentiating Eq. (1):
d 2V
dθ 2 ( )
= kl 2 sin 2 θ + cosθ 0 cosθ − cos 2 θ + 2mgl sin θ
 2mg 
= kl 2  cosθ 0 cosθ − cos 2θ + sin θ  (3)
 kl 
For θ 0 = 0, θ = 51.96°, and the given data
d 2V
= kl 2 ( cos 51.96° − cos103.92° + 0.4905sin 51.96° )
dθ 2
= 1.2431 kl 2 > 0 θ = 52.0°, Stable W
(1)
yA l
Law of Sines: =
sin ( 90° + β − θ ) sin ( 90° − β )
yA l
=
cos (θ − β ) cos β
cos (θ − β )
yA = l
cos β
cos (θ − β )
From Eq. (1): yB = l − l cosθ
cos β
Potential Energy:
 l cos (θ − β )  cos (θ − β )
V = − PyB − Qy A = − P  − l cosθ  − Ql
 cos β  cos β
dV  sin (θ − β )  sin (θ − β )
= − Pl  − + l sin θ  + Ql
dθ  cos β  cos β
dV
Equilibrium: = 0: ( P + Q ) sin (θ − β ) = P sin θ cos β
dθ
or ( P + Q )( sin θ cos β − cosθ sin β ) = P sin θ cos β
Substracting P ( sin θ cos β ) from each member yields
− ( P + Q ) cosθ sin β + Q sin θ cos β = 0
P+Q
or tan θ = tan β
Q
Given data: β = 30°, P = Q = 400 N
tan θ =
( 400 N ) + ( 400 N ) tan 30°
( 400 N )
tan θ = 2 ( 0.57735 ) = 1.1547
θ = 49.1°
(1)
yA l
Law of Sines: =
sin ( 90° + β − θ ) sin ( 90° − β )
yA l
=
cos (θ − β ) cos β
cos (θ − β )
yA = l
cos β
cos (θ − β )
From Eq. (1): yB = l − l cosθ
cos β
Potential Energy:
 cos (θ − β )  cos (θ − β )
V = − PyB − Qy A = − P l − l cosθ  − Ql
 cos β  cos β
dV  sin (θ − β )  sin (θ − β )
= − Pl  − + l sin θ  + Ql
dθ  cos β  cos β
dV
Equilibrium: = 0: ( P + Q ) sin (θ − β ) = P sin θ cos β
dθ
or ( P + Q )( sin θ cos β − cosθ sin β ) = P sin θ cos β
Substracting P ( sin θ cos β ) from each member yields
− ( P + Q ) cosθ sin β + Q sin θ cos β = 0
P+Q
or tan θ = tan β
Q
Given data: P = 100 N, Q = 25 N, β = 30°
tan θ =
(100 N ) + ( 25 N ) tan 30°
( 25 N )
= 5 ( 0.57735 ) = 2.8868
θ = 70.9°
First note, by Law of Cosines:

2
2  θ  θ θ
d 2 = (16 ) + 16 sin  − 2 (16 )  16 sin  cos
 2  2 2
θ
d = 16 1 + sin 2 − sin θ in.
2
Also note xSP = rA θ
Potential Energy:
1 2
V = kxSP + WD yD
2
1 2
= k ( rAθ ) + WD ( yD )0 − (16 − d ) sin 60°
2
1 2 2   θ  
= krAθ + WD ( yD )0 − 16 − 16 1 + sin 2 − sin θ  sin 60°
2  2
   
Equilibrium condition:
1 θ θ 
 sin cos − cosθ 
dV 2 2 2 
= 0: krA2θ + 16WD sin 60° =0
dθ θ
1 + sin 2 − sin θ
2
sin θ − 2cosθ
krA2θ + 4WD sin 60° =0
2θ
1 + sin − sin θ
2
Substituting,
θ
( 2.5 lb/in.)( 2 in.)2 θ 1 + sin 2 − sin θ + 4 ( 25 lb ) sin 60° ( sin θ − 2cosθ ) = 0
2
θ
or θ 1 + sin 2 − sin θ + 8.6603 ( sin θ − 2 cosθ ) = 0
2
Solving numerically, θ = 1.08572 rad
or θ = 62.2°
First note that cable tension is uniform throughout,

hence
FSP1 = FSP2
k1x1 = k2 x2
k1 6 lb/in.
x2 = x1 = x1
k2 3 lb/in.
x2 = 2 x1
Now, with C midway between the pulleys,
2d = 16 in. + x1 + x2
1
d =8+ ( x1 + x2 )
2
Then y 2 = d 2 − 82
2
 1 
= 8 + ( x1 + x2 )  − 82
 2 
1
= 8 ( x1 + x2 ) + ( x1 + x2 )
2
4
1
= 8 ( x1 + 2 x1 ) + ( x1 + 2 x1 )
2
4
9
= 24 x1 + x12 in 2
4
( )
1
y= 96 x1 + 9 x12
2
Potential Energy:
1 2 1
V = k1x1 + k2 x22 − Wy
2 2
1 2 1 2 1 
= k1x1 + k2 ( 2 x1 ) − W  96 x1 + 9 x12 
2 2  2 
1 1
= ( k1 + 4k2 ) x12 − W  96 x1 + 9 x12 
2 2 
Equilibrium condition:
dV  96 + 18x1 
= 0: ( k1 + 4k2 ) x1 − W  =0
dx1  4 96 x + 9 x 2 
 1 1 
or 6 + 4 ( 3)  lb/in. × ( x1 ) in. 

 ( ) 1
96 x1 + 9 x12 in. − ( 25 lb ) ( 96 + 18 x1 ) in. = 0
 4
or 18x1 96 x1 + 9 x12 − 600 − 112.5x1 = 0
Solving, x1 = 2.7677 in.
1 2
Then y= 96 ( 2.7677 ) + 9 ( 2.7677 )
2
= 9.1466 in. y = 9.15 in.
Stretch of Spring
s = AB − r
s = 2 ( r cosθ ) − r
s = r ( 2cosθ − 1)
1 2
Potential Energy: V = ks − Wr sin 2θ W = mg
2
1 2 2
V = kr ( 2 cos θ − 1) − Wr sin 2θ
2
dV
= −kr 2 ( 2 cosθ − 1) 2sin θ − 2Wr cos 2θ
dθ
Equilibrium
dV
= 0: − kr 2 ( 2cosθ − 1) sin θ − Wr cos 2θ = 0
dθ
( 2cosθ − 1) sin θ
=−
W
cos 2θ kr
Now
W
=
(
( 20 kg ) 9.81 m/s2 )
= 0.36333
kr ( 3000 N/m )( 0.180 m )
Then
( 2cosθ − 1) sin θ
= −0.36333
cos 2θ
Solving numerically, θ = 0.9580 rad = 54.9° θ = 54.9°
Have l AD = 2r sin θ
Then y A = − LAD sin ( 90° − θ ) − 45°
= − 2r sin θ sin ( 45° − θ )
Also for spring

s = l AB − r
= 2r cosθ − r
= r ( 2 cosθ − 1)
Potential Energy: V = VSP + Vm
1 2
= ks + mgy A
2
1 2 2
= kr ( 2 cosθ − 1) − 2mgr sin θ sin ( 45° − θ )
2
For Equilibrium:
dV
= 0:
dθ
kr 2 ( − 2sin θ )( 2cosθ − 1) − 2mgr cosθ sin ( 45° − θ ) − sin θ cos ( 45° − θ )  = 0
or − kr sin θ ( 2 cosθ − 1) − mg sin ( 45° − 2θ ) = 0
or
sin θ ( 2cosθ − 1)
=−
mg
=−
(
( 20 kg ) 9.81 m/s2 )
sin ( 45° − 2θ ) kr ( 3000 N/m )( 0.18 m )
= − 0.36333
Have xC = d sin θ yB = h cosθ
1 
Potential Energy: V = 2  kxC2  + WyB
2 
= kd 2 sin 2 θ + Wh cosθ
dV
Then = 2kd 2 sin θ cosθ − Wh sin θ
dθ
= kd 2 sin 2θ − Wh sin θ
d 2V
and = 2kd 2 cos 2θ − Wh cosθ (1)
dθ 2
For equilibrium position θ = 0 to be stable, we must have
d 2V
= 2kd 2 − Wh > 0
dθ 2
1
or kd 2 > Wh (2)
2
1 d 2V
Note: For kd 2 = Wh, we have = 0, so that we must determine which is the first derivative that is not
2 dθ 2
equal to zero. Differentiating Equation (1), we write
d 3V
= −4kd 2 sin 2θ + Wh sin θ = 0 for θ = 0
dθ 3
d 4V
= −8kd 2 cos 2θ + Wh cosθ
dθ 4
d 4V
For θ = 0: = −8kd 2 + Wh
dθ 4
1 d 4V 1
Since kd 2 = Wh, 4
= −4Wh + Wh < 0, we conclude that the equilibrium is unstable for kd 2 = Wh
2 dθ 2
and the > sign in Equation (2) is correct.
With W = 160 lb, h = 50 in., and d = 24 in.
2 1
Equation (2) gives k ( 24 in.) > (160 lb )( 50 in.)
2
or k > 6.944 lb/in.
k > 6.94 lb/in.
Using Equation (2) of problem 10.89 with

h = 30 in., k = 4 lb/in., and W = 40 lb
1
kd 2 > Wh
2
1
or ( 4 lb/in.) d 2 > ( 40 lb )( 30 in.)
2
d 2 > 150 in 2
or d > 12.247 in.
Smallest d = 12.25 in.
Consider a small clockwise rotation θ of the plate about its center.

Then V = 2VP + 4VSP
a 
where VP = P  cosθ 
2 
1
= ( Pa cosθ )
2
1 2
and VSP = kySP
2
2
a 2
Now d =   +a
2
a
= 5
2
  θ 
and α = 180° − φ +  90° −  
  2 
 θ
= 90° −  φ − 
 2
 a  
Then ySP =  5 θ  sin α
 2  
a   θ 
= θ 5 sin 90° −  φ −  
2   2 
a  θ
= θ 5 cos  φ − 
2  2
continued
2
1 a  θ 
and VSP = k θ 5 cos  φ −  
2  2  2 
5 2 2  θ
= ka θ cos 2  φ − 
8  2
5 2 2  θ
∴ V = Pa cosθ + ka θ cos 2  φ − 
2  2
Then
dV 5   θ
= − Pa sin θ + ka 2  2θ cos 2  φ − 
dθ 8   2
 1  θ  θ 
+ θ 2  −  cos  φ −  sin  φ − 
 2  2  2 
5 2  θ 1 
= − Pa sin θ + ka  2θ cos 2  φ −  + θ 2 sin ( 2φ − θ ) 
2   2 2 
d 2V 5   θ
= − Pa cosθ + ka 2  2 cos 2  φ − 
dθ 2
2   2
 1  θ  θ
− 2θ  −  cos  φ −  sin  φ −  + θ sin ( 2φ − θ )
 2  2  2
1 2 
− θ cos ( 2φ − θ ) 
2 
5 2  θ 3
= − Pa cosθ + ka  2cos 2  φ −  + θ sin ( 2φ − θ )
2   2 2
1 2 
− θ cos ( 2φ − θ ) 
2 
d 3V 5   1  θ  θ 3
= Pa sin θ + ka 2  4  −  cos  φ −  sin  φ −  + sin ( 2φ − θ )
dθ 3
2   2  2  2 2
3 1 
− θ cos ( 2φ − θ ) − θ cos ( 2φ − θ ) + θ 2 sin ( 2φ − θ ) 
2 2 
5 2 1 5
= Pa sin θ + ka  sin ( 2φ − θ ) − θ cos ( 2φ − θ )
2  2 2
1 2 
+ θ sin ( 2φ − θ ) 
2 
dV
When θ = 0, = 0 for all values of P.
dθ
For stable equilibrium when θ = 0, require

d 2V
dθ 2
5
> 0: − Pa + ka 2 2cos 2 φ > 0
2
( )
a
2 1
Now, when θ = 0, cos φ = =
a 5
5
2
1
∴ − Pa + 5ka 2   > 0
5
or P < ka
When P = ka ( for θ = 0 ) :
dV
=0
dθ
d 2V
=0
dθ 2
d 3V 5
= ka 2 sin 2φ > 0 ⇒ unstable
dθ 3
4
∴ Stable equilibrium for 0 ≤ P < ka W
L 2L
Spring: s= sin φ = sin θ
3 3
For small values of φ and θ : φ = 2θ

L 2L  1
V = P  cos φ + cosθ  + ks 2
 3 3  2
2
( cos 2θ + 2cosθ ) + k  sin θ 
PL 1 2L
=
3 2  3 
dV PL 2
= ( −2sin 2θ − 2sin θ ) + kL2 sin θ cosθ
dθ 3 9
PL 2
=− ( 2sin 2θ + 2sin θ ) + kL2 sin 2θ
3 9
d 2V PL 4
=− ( 4 cos 2θ + 2cosθ ) + kL2 cos 2θ
dθ 2
3 9
d 2V 6 PL 4 2
When θ = 0: =− + kL
dθ 2
3 9
d 2V 4
For stability: > 0: − 2PL + kL2 > 0
dθ 2
9
2
0≤ P< kL W
9
From geometry:
xC = − a sin θ = − 2a sin φ
For small values of θ , φ
θ = 2φ
1
or φ = θ
2
y A = a cosθ + 3 a cos φ
 θ
= a  cosθ + 3cos 
 2
For spring:
s = xC = − a sin θ
Potential Energy:
V = VSP + VP
1 2  θ
= k ( − a sin θ ) + Pa  cosθ + 3cos 
2  2
dV  3 θ
= ka 2 cosθ sin θ − Pa  sin θ + sin 
dθ  2 2
d 2V 3 θ
dθ 2
( )

= ka 2 − sin 2 θ + cos 2 θ − Pa  cosθ + cos 
 4 2
d 2V
For stable equilibrium: >0
dθ 2
Then, with θ = 0
 3
ka 2 − Pa 1 +  > 0
 4
4
or P< ka
7
Consider a small disturbance of the system defined by the angle θ .

Have
xC = 2a sin θ = a sin φ
For small θ : 2θ = φ
Now, the Potential Energy is
1 2
V = kxB + PyE
2
where xB = a sin θ
and yE = yC + yE/C
= 2a cosθ + 2a cos φ
= 2a ( cosθ + cos 2θ )
1 2 2
Then V = ka sin θ + 2Pa ( cosθ + cos 2θ )
2
dV 1
and = ka 2 ( 2sin θ cosθ ) − 2Pa ( sin θ + 2sin 2θ )
dθ 2
1 2
= ka sin 2θ − 2Pa ( sin θ + 2sin 2θ )
2
d 2V
= ka 2 cos 2θ − 2Pa ( cosθ + 4 cos 2θ )
dθ 2
For θ = 0 and for stable equilibrium:
d 2V
>0
dθ 2
or ka 2 − 2 Pa (1 + 4 ) > 0
1
or P< ka
10
1
∴ 0≤ P< ka W
10
ka
Check stability for P=
10
d 3V
= −2ka 2 sin 2θ + 2Pa ( sin θ + 8sin 2θ )
dθ 3
d 4V
= −4ka 2 cos 2θ + 2Pa ( cosθ + 16cos 2θ )
dθ 4
ka
Then, with θ =0 and P=
10
dV
=0
dθ
d 2V
=0
dθ 2
d 3V
=0
dθ 3
d 4V  1 
= −4ka 2 + 2  ka  ( a )(1 + 16 )
dθ 4
 10 
= −0.6ka 2 < 0 ⇒ Unstable
Displacements:
xG = xC = a sin θ
xG
tan φ =
a + c − a cosθ
a sin θ
=
a + c − a cosθ
sin θ
=
c
1 + − cosθ
a
Differentiating both sides with respect to θ :
 c 
cosθ 1 + − cosθ  − sin θ ( sin θ )
 1  dφ  a 
 2 
= 2
 cos φ  dθ  c 
 1 + − cos θ 
 a 
c
dφ a
For θ = φ = 0: = a 2 = (1)
dθ  c  c
 
a
Potential Energy:
V = W1 y1 + W2 y2 = m1gb ( cos φ − 1) + m2 ga (1 − cosθ )
dV dφ
= − m1gb sin φ + m2 ga sin θ
dθ dθ
2
d 2V  dφ   d 2φ 
= − m1 gb cos φ   − m1 gb sin φ  2  + m2 ga cosθ
dθ 2  dθ   dθ 
For θ = φ = 0, and recalling Eq. (1),

2
d 2V a
2
= − m1gb   − 0 + m2 ga
dθ c
d 2V ba 2
For stability we need >0 or m1g < m2 ga
dθ 2 c2
c2
Thus m1 < m2
ab
The smallest value of m1 for stable equilibrium is thus
c2
m1 = m2
ab
Note: To determine whether the equilibrium is stable when m1 has the exact value we found, we should
d 3V d 4V m c2
determine the values of the derivatives and for m1 = 2 . In practice, however we shall want to
dθ 3
dθ 4
( ab )
keep m1 below this value.
First note A = a sin θ = b sin φ

For small values of θ and φ : aθ = bφ
a
φ= θ
b
V = P ( a + b ) cos φ − 2Q ( a + b ) cosθ
 a  
= ( a + b )  P cos  θ  − 2Q cos θ 
  b  
dV  a a  
= ( a + b )  − P sin  θ  + 2Q sin θ 
dθ  b  b  
d 2V  a2 a  
2
= ( a + b )  − 2 P cos  θ  + 2Q cosθ 
dθ  b b  
d 2V  a2 
When θ = 0: 2
= ( a + b )  − 2 P + 2Q 
dθ  b 
d 2V a2
Stability: > 0: − P + 2Q > 0
dθ 2 b2
b2
P<2 Q (1)
a2
a2
or Q> P (2)
2b 2
With P = 600 N, a = 480 mm and b = 400 mm
2
1 ( 480 mm )
Q> ( 600 N ) = 432 N
2 ( 400 mm )2
Q > 432 N
Have xB = l sin θ
xC = l sin θ1 + l sin θ 2
yC = l cosθ1 + l cosθ 2
1 2 1 2
V = PyC + kxB + kxC
2 2
1 2 2 2
or V = Pl ( cosθ1 + cosθ 2 ) + kl sin θ1 + ( sin θ1 + sin θ 2 ) 
2  
For small values of θ1 and θ 2 :
1 1 2
sin θ1 ≈ θ1, sin θ 2 ≈ θ 2 , cosθ1 ≈ 1 − θ12 , cos θ 2 ≈ 1 − θ2
2 2
 θ2 θ2  1 2
Then V = Pl 1 − 1 + 1 − 2  + kl 2 θ12 + (θ1 + θ 2 ) 
 2 2  2  
∂V
and = − Plθ1 + kl 2 θ1 + (θ1 + θ 2 ) 
∂θ1
∂V
= − Plθ 2 + kl 2 (θ1 + θ 2 )
∂θ 2
∂ 2V ∂ 2V
= − Pl + 2kl 2 = − Pl + kl 2
∂θ12 ∂θ 22
∂ 2V
= kl 2
∂θ1∂θ 2
continued
Stability Conditions for stability (see page 583).

∂V ∂V
For θ1 = θ 2 = 0: = =0 ( condition satisfied )
∂θ1 ∂θ 2
2
 ∂ 2V  ∂ 2V ∂ 2V
  − <0
 ∂θ1∂θ 2  ∂θ12 ∂θ 22
( kl ) − ( −Pl + 2kl ) ( −Pl + kl ) < 0

2
2 2
Substituting,
k 2l 4 − P 2l 2 + 3Pkl 3 − 2k 2l 4 < 0
P 2 − 3klP + k 2l 2 > 0
3− 5 3+ 5
Solving, P< kl or P > kl
2 2
or P < 0.382kl or P > 2.62kl
∂ 2V
> 0: − Pl + 2kl 2 > 0
∂θ12
1
or P< kl
2
∂ 2V
> 0: − Pl + kl 2 > 0
∂θ 22
or P < kl
Therefore, all conditions for stable equilibrium are satisfied when
0 ≤ P < 0.382kl
From the analysis of Problem 10.97 with

l = 400 mm and k = 1.25 kN/m
P < 0.382kl = 0.382 (1250 N/m )( 0.4 m ) = 191 N
0 ≤ P < 191.0 N
1 2 1 2
Have V = k ( aθ 2 ) + k ( a sin θ1 + a sin θ 2 ) + P ( 2a cosθ1 + a cosθ 2 )
2 2
∂V
Then = ka 2 ( sin θ1 + sin θ 2 ) cosθ1 − 2Pa sin θ1
∂θ1
1 
= ka 2  sin 2θ1 + cosθ1 sin θ 2  − 2 Pa sin θ1
2 
∂ 2V
and = ka 2 ( cos 2θ1 − sin θ1 sin θ 2 ) − 2Pa cosθ1
∂θ12
∂ 2V
= ka 2 cosθ1 cosθ 2
∂θ1∂θ 2
∂V
Also = ka 2θ 2 + ka 2 ( sin θ1 + sin θ 2 ) cosθ 2 − Pa sin θ 2
∂θ 2
 1 
= ka 2θ 2 + ka 2  sin θ1 cosθ 2 + sin 2θ 2  − Pa sin θ 2
 2 
∂ 2V
and = ka 2 + ka 2 ( − sin θ1 sin θ 2 + cos 2θ 2 ) − Pa cosθ 2
∂θ 22
When θ1 = θ 2 = 0
∂V ∂ 2V ∂V
=0 = ka 2 =0
∂θ1 ∂θ1∂θ 2 ∂θ 2
∂ 2V ∂ 2V
= ka 2 − 2Pa = ka 2 + ka 2 − Pa = 2ka 2 − Pa
∂θ12 ∂θ 22
∂V
Apply Equations 10.24 = 0: condition satisfied
∂θ1
∂V
= 0: condition satisfied
∂θ 2
2
 ∂ 2V  ∂ 2V ∂ 2V
( ka ) − ( ka )( )
2
2 2
  − < 0: − 2Pa 2ka 2 − Pa < 0
 ∂θ1∂θ 2  ∂θ12 ∂θ 22
or k 2a 2 − ( ka − 2P )( 2ka − P ) < 0
Expanding k 2a 2 − 2k 2a 2 + 5kaP − 2 P 2 < 0
or 2P 2 − 5kaP + k 2a 2 > 0
5 − 17 5 + 17
or P< ka and P > ka
4 4
or P < 0.21922ka and P > 2.2808ka
δ 2V δ 2V
Also > 0: ka 2 − 2 Pa > 0 or > 0: 2ka 2 − Pa > 0
δθ12 δθ 22
1
or P< ka or P < 2ka
2
∴ For stable equilibrium when θ1 = θ 2 = 0:
0 ≤ P < 0.219ka
Potential Energy:
1 2 1 2
V = kx1 + kx2 + Py
2 2
1 2 1 2
= k ( a sin θ1 + a sin θ 2 ) + k ( a θ 2 ) + P ( 2a cosθ1 + a cosθ 2 )
2 2
∂V
Then = ka 2 ( sin θ1 + sin θ 2 ) cosθ1 − 2P a sin θ1
∂θ1
1 
= ka 2  sin 2θ1 + cosθ1 sin θ 2  − 2Pa sin θ1
2 
∂ 2V
= ka 2 ( cos 2θ1 − sin θ1 sin θ 2 ) − 2Pa cosθ1
∂θ12
∂ 2V
= ka 2 cosθ1 cosθ 2
∂θ1∂θ 2
∂V
= ka 2 ( sin θ1 + sin θ 2 ) cosθ 2 + ka 2θ 2 − Pa sin θ 2
∂θ 2
 1 
= ka 2  sin θ1 cosθ 2 + sin 2θ 2  + ka 2θ 2 − Pa sin θ 2
 2 
∂ 2V
= ka 2 ( − sin θ1 sin θ 2 + cos 2θ 2 ) + ka 2 − Pa cosθ 2
∂θ 22
When θ1 = θ 2 = 0
∂V ∂ 2V ∂V
=0 = ka 2 =0
∂θ1 ∂θ1∂θ 2 ∂θ 2
∂ 2V
2
= ka 2 − 2 Pa
∂θ1
∂ 2V
2
= ka 2 + ka 2 − Pa = 2ka 2 − Pa
∂θ 2
Apply Eq. 10.24:

∂V
= 0: Condition satisfied
∂θ1
∂V
= 0: Condition satisfied
∂θ 2
2
 ∂ 2V  ∂ 2V ∂ 2V
  − < 0:
 ∂θ1∂θ 2  ∂θ12 ∂θ 22
( ka ) − ( ka )( )
2
2 2
− 2Pa 2ka 2 − Pa < 0
k 2a 2 − ( ka − 2P )( 2ka − P ) < 0
k 2a 2 − 2k 2a 2 + 5Pka − 2P 2 < 0
2P 2 − 5P ka + k 2a 2 > 0
5 − 17 5 + 17
P< ka and P> ka
4 4
or P < 0.21922 ka and P > 2.2808 ka
∂ 2V ∂ 2V
>0 or < 0:
∂θ12 ∂θ 22
ka 2 − 2Pa > 0 2ka 2 − Pa > 0
1
or P< ka or P < 2ka
2
continued
Thus, for stable equilibrium when θ1 = θ 2 = 0:

0 ≤ P < 0.21922 ka
with k = 2 kN/m and a = 350 mm
0 ≤ P < 0.21922 ( 2000 N/m )( 0.35 m )
or 0 ≤ P < 153.5 N
From sketch
y A = 4 yC
Thus, δ y A = 4δ yC
(a) Virtual Work:
δ U = 0: Pδ y A − F δ yC = 0
1
P= F
4
1
F = 300 N: P= ( 300 N ) = 75 N
4
P = 75.0 N
(b) Free body: Corkscrew
ΣFy = 0: R+P−F =0
R + 75 N − 300 N = 0
R = 225 N
First note, by the Law of Cosines

2 2
DB 2 = ( 3 ft ) + ( 2 ft ) − 2 ( 3 ft )( 2 ft ) cosθ
= [13 − 12cosθ ] ft 2 ( )
DB = 13 − 12 cosθ
Then
1 (12 )( sin θ )
δ B = δ DB = δθ
2 13 − 12 cosθ
6sin θ
or δB = δθ
13 − 12cosθ
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
Given:
l AB = 3.6 in.
lBC = 1.6 in.
lCD = 1.2 in.
lDE = 1.6 in.
lEF = 1.6 in.
lFG = 4.8 in.
Assume δ y A : δ yC =
(1.6 in.) δ y = 4 δ y
( 3.6 in.) A 9 A
4
δ yD = δ yC = δ y A
9
δ yG =
( 4.8 in.) δ y = ( 4.8 in.)  4 δ y  = 2 δ y
( 3.2 in.) D ( 3.2 in.)  9 A  3 A
δ yD 4
δφ = = δ yA
( 3.2 in.) 9 ( 3.2 in.)
Virtual Work: δ U = 0:
( 20 lb ) δ y A + Pδ yG + (180 lb ⋅ in.) δφ = 0
2  4 
( 20 lb ) δ y A + P  
δ y A  + (180 lb ⋅ in.)  δ yA  = 0
3   9 ( 3.2 in.) 
Solving P = − 67.5 lb
P = 67.5 lb
Given:
l AB = 3.6 in.
lBC = 1.6 in.
lCD = 1.2 in.
lDE = 1.6 in.
lEF = 1.6 in.
lFG = 4.8 in.
Assume δ y A : δ yC =
(1.6 in.) δ y = 4 δ y
( 3.6 in.) A 9 A
4
δ yD = δ yC = δ yA
9
δ yD 4 5
δφ = = δ yA = δy
( 3.2 in.) 9 ( 3.2 in.) ( 36 in.) A
Virtual Work: δ U = 0:
( 20 lb ) δ y A + (180 lb ⋅ in.) δφ + M δ φ = 0
 5   5 
or 20 δ y A + 180  δ y A  + M  δ y A  = 0
 36   36 
Solving M = − 324.0 lb ⋅ in.
or 27.0 lb ⋅ ft W
Have
xB = l cosθ
δ xB = −l sin θδθ (1)
yC = l sin θ
δ yC = l cosθδθ
1
Now δ xB = lδφ
2
Substituting from Equation (1)

1
−l sin θδθ = lδφ
2
or δφ = −2sin θδθ
Virtual Work:
δ U = 0: M δϕ + Pδ yC = 0
M ( −2sin θδθ ) + P ( l cosθδθ ) = 0
1 cosθ
or M = Pl
2 sin θ
Pl
M = W
2 tan θ
yE = l cosθ
δ yE = − l sin θ δθ
Spring: Unstretched length = 2 ( 2 l sin 30° ) = 2 l
x = 2 ( 2l sin θ ) = 4 l sin θ
δ x = 4 l cos θ δ θ
FSP = k ( x − 2l )
= k ( 4 l sin θ − 2 l )
Virtual Work:
δ U = 0: P δ yE − FSP δ x = 0
P ( − l sin θ δθ ) − k ( 4 l sin θ − 2l )( 4l cosθ δθ ) = 0
or − P sin θ − 8kl ( 2sin θ − 1) cosθ = 0
P 1 − 2sin θ
or =
8kl tan θ
We have P = 40 lb, l = 10 in., and k = 1.5 lb/in.
Thus
( 40 lb ) =
1 − 2sin θ
8 (1.5 lb/in.)(10 in.) tan θ
Solving θ = 24.98°
or θ = 25.0° W
1
δ xB = l δφ
2
δ Cx δ xB l δφ
δC = = =
cosθ cosθ 2cosθ
Virtual Work:
δ U = 0: M δφ − Q δ C = 0
 l 
M δφ − Q   δφ = 0
 2cosθ 
Ql
or M =
2cosθ
1 ( 40 lb )(1.8 ft )
Thus M = = 85.18 lb ⋅ ft
2 cos 65°
or M = 85.2 lb ⋅ ft W
Assuming
δ yA
it follows
120
δ yC = δ y A = 1.5δ y A
80
δ yE = δ yC = 1.5δ y A
180
δ yD = δ yE = 3 (1.5δ y A ) = 4.5δ y A
60
100 100
δ yG = δ yE = (1.5δ y A ) = 2.5δ y A
60 60
Then, by Virtual Work
δ U = 0: ( 300 N ) δ y A − (100 N ) δ yD + Pδ yG =0
300δ y A − 100 ( 4.5δ y A ) + P ( 2.5δ y A ) = 0
300 − 450 + 2.5P = 0

P = +60 N P = 60 N
Apply vertical load P at D.
ΣM H = 0: − P (12 m ) + E ( 36 m ) = 0
P
E=
3
3 P
ΣFy = 0: FBF − =0
5 3
5
FBF = P
9
Virtual Work:
We remove member BF and replace it with forces FBF and −FBF at pins
F and B, respectively. Denoting the virtual displacements ofuuu
points
r B and
F as δ rB and δ rF , respectively, and noting that P and δ D have the
same direction, we have
Virtual Work: δ U = 0: Pδ D + FBF ⋅δ rF + ( −FBF ) ⋅δ rB = 0
Pδ D + FBF δ rF cosθ F − FBF δ rB cosθ B = 0
Pδ D − FBF (δ rB cosθ B − δ rF cosθ F ) = 0
where (δ rB cosθ B − δ rF cosθ F ) = δ BF , which is the change in length of

member BF. Thus,
Pδ D − FBF δ BF = 0
5 
Pδ D −  P  ( 75 mm ) = 0
9 
δ D = +41.67 mm
δ D = 41.7 mm
Apply horizontal load P at D.

ΣM H = 0: P ( 9 m ) − E y ( 36 m ) = 0
P
Ey =
4
3 P
ΣFy = 0: FBF − =0
5 4
5
FBF = P
12
We remove member BF and replace it with forces FBF and −FBF at pins
F and B, respectively. Denoting the virtual displacements ofuuu
points
r B and
F as δ rB and δ rF , respectively, and noting that P and δ D have the
same direction, we have
Virtual Work: δ U = 0: Pδ D + FBF ⋅δ rF + ( −FBF ) ⋅δ rB = 0
Pδ D + FBF δ rF cosθ F − FBF δ rB cosθ B = 0
Pδ D − FBF (δ rB cosθ B − δ rF cosθ F ) = 0
where (δ rB cosθ B − δ rF cosθ F ) = δ BF , which is the change in length of

member BF. Thus,
Pδ D − FBF δ BF = 0
 5 
Pδ D −  P  ( 75 mm ) = 0
 12 
δ D = 31.25 mm δ D = 31.3 mm
Potential Energy
 l l
( ) 

( 2

V = 3.5 kg × 9.81 m/s 2  − sin θ  + 1.75 kg × 9.81 m/s2  cosθ 
 2 
)
= ( 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
Elongation of Spring: s = l sin θ + l cosθ − l
= l ( sin θ + cosθ − 1)
Potential Energy:
1 2 l
V = ks − W sin θ
2 2
1 2 2 l
= kl ( sin θ + cosθ − 1) − mg sin θ
2 2
dV 1
= kl 2 ( sin θ + cosθ − 1)( cosθ − sinθ ) − mgl cosθ
dθ 2
dV mg
Equilibrium: = 0: ( sin θ + cosθ − 1)( cosθ − sin θ ) − cosθ = 0
dθ 2kl
 mg 
or 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,
 1226.25 N 
cosθ ( sin θ + cosθ − 1)(1 − tan θ ) − =0
 2 (15000 N/m )( 0.32 m ) 
or cosθ ( sin θ + cosθ − 1)(1 − tan θ ) − 0.12773 = 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
2
= kl 2 ( cosθ − sin θ )( cosθ − sin θ ) + ( sin θ + cosθ − 1)( − sin θ − cosθ )  + mgl sin θ
dθ 2
 mg  
= kl 2 1 +  sin θ + cosθ − 2sin 2θ 
 2kl  
2 
= (15000 N/m )( 0.32 m ) 1 +
(1226.25 N )  
sin θ + cosθ − 2sin 2θ 

 2 (15000 N/m )( 0.32 m )  
= (1536 N ⋅ m ) [1.12773 sin θ + cosθ − 2sin 2θ ]
Thus
d 2V
At θ = 90°: = 1732.2 > 0 ∴ θ = 90.0°, Stable
dθ 2
d 2V
At θ = 9.6883°: = 786.4 > 0 ∴ θ = 9.69°, Stable
dθ 2
d 2V
At θ = 33.8351°: = − 600.6 < 0 ∴ θ = 33.8°, Unstable
dθ 2

Solucionario de Mecanica Vectorial para Ingenieros Edicion 8 Cap 10 Solucionario

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Solucionario de Mecanica Vectorial para Ingenieros Edicion 8 Cap 10 Solucionario

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COSMOS: Complete Online Solutions Manual Organization System

Chapter 10, Solution 1.

Then, for point C

and for point D

and for point E

Link DEFG: δ xD = ( 375 mm ) δφ

Chapter 10, Solution 2.

Link ABC: δ y A = (16 in.) δθ Link BF: δ yF = δ yB

Link DEFG: δ yF = ( 6 in.) δφ = (10 in.) δθ

d ED = ( 5.5 in.)2 + ( 4.8 in.)2 = 7.3 in.

or ( 20 lb ) (16 in.) δθ  + ( 30 lb ) (8 in.) δθ  + P ( 20 in.) δθ  = 0

Chapter 10, Solution 3.

Then, for point C

and for point D

and for point E

Link DEFG: δ xD = ( 375 mm ) δφ

Thus (125 mm ) δθ = ( 375 mm ) δφ

Virtual Work: Assume M acts clockwise on link DEFG

δ U = 0: ( 9000 N ⋅ mm ) δθ − (180 N )(δ xE mm ) + M δφ = 0

Chapter 10, Solution 4.

Link ABC: δ y A = (16 in.) δθ Link BF: δ yF = δ yB

d ED = ( 5.5 in.)2 + ( 4.8 in.)2 = 7.3 in.

( 20 lb ) (16 in.) δθ  + ( 30 lb ) (8 in.) δθ  + M 

Chapter 10, Solution 5.

Virtual Work: Assume that force P is applied at A.

−10P + 120 + 240 + 160 + 800 = 0

10P = 1320 P = 132.0 lb W

Chapter 10, Solution 6.

54 N = ( 720 N/m ) ∆xI

(b) Virtual Work: δ U = 0: FG δ xG + FH δ xH − FSP (δ xI ) = 0

Now FSP = k ∆xI

126.0 N = ( 720 N/m ) ∆xI

Chapter 10, Solution 7.

36 N = ( 720 N/m ) ∆xI

(b) Virtual Work: δ U = 0: FD δ xD + FEδ xE − FSPδ xI = 0

Now FSP = k ∆xI

54 N = ( 720 N/m ) ∆xI

Chapter 10, Solution 8.

Bar CFDE moves in translation

δ U = 0: − P (δ y A in.) + (100 lb )(δ yE in.) + (150 lb )(δ yF in.) = 0

Chapter 10, Solution 9.

Have y A = 2l cosθ ; δ y A = −2l sin θ δθ

Chapter 10, Solution 10.

Q ( 2l cosθ δθ ) + P ( −3l sin θ δθ ) = 0

Chapter 10, Solution 11.

Thus: P ( − 3l sin θ δθ ) + Q ( l cosθ δθ ) = 0

− 3Pl sin θ + Ql cosθ = 0

Chapter 10, Solution 12.

Chapter 10, Solution 13.

Chapter 10, Solution 14.

From solution of Problem 10.13:

Then for Fcyl = 35 kN

( 31.713 sin θ )2 = 9 + 16sin 2 θ

Chapter 10, Solution 15.

ABC: yB = a sin θ ⇒ δ yB = a cosθδθ

CDE: Note that as ABC rotates counterclockwise, CDE rotates clockwise

− P ( a cosθδθ ) − P ( 2a cosθδθ ) + M ( 2cosθδθ ) = 0

Chapter 10, Solution 16.

= l ( sin θ + cosθ tan φ ) δθ

Chapter 10, Solution 17.

M δθ − P ( l cosθδθ ) + P ( − l sin θδθ ) = 0

Chapter 10, Solution 18.

Virtual Work: δ U = 0: M δθ − ( P cos β ) δ xD − ( P sin β ) δ yD = 0