CE 102: Engineering

Mechanics
Minimum Potential Energy
Work of a Force During a Finite
Displacement
• Work of a force corresponding to an
infinitesimal displacement,
! !
dU = F ⋅ dr
= F ds cos α
• Work of a force corresponding to a finite
displacement,
s2
U1→2 = ∫ (Fcosα )ds
s1

• Similarly, for the work of a couple,

dU = Mdθ
U1→2 = M (θ2 − θ1 )
 Work of a Force During a Finite
Displacement

datum
Work of a weight, Work of a spring,
dU = −Wdy 1
dU = − Fdx = −(kx )dx U 1→ 2 = − (F1 + F2 )Δx
y2 2
U1→2 = − ∫ Wdy x2
y1
U1→2 = − ∫ kx dx
x1
= Wy1 − Wy 2 1 2 1 2
kx1 − kx2
= −WΔy 2 2
Potential Energy
• Work of a weight
U1→2 = Wy1 − Wy2
The work is independent of path and depends only on
Wy = Vg = potential energy of the body with
respect to the force of gravity W!
U1→2 = (Vg )1 − (Vg )2

• Work of a spring,
1 2 1 2
U1→2 = kx1 − kx2
2 2
(Ve )1 − (Ve )2
Ve = potential energy of the body with
!
respect to the elastic force F
 Potential Energy
• When the differential work is a force is given by an
exact differential,
dU = −dV
U1→2 = V1 − V2
negative of change in potential energy
• Forces for which the work can be calculated from a change in
potential energy are conservative forces.

Convention: Work done on a body is negative of change in the

potential energy of the body.
Note: It is very important to chose an appropriate datum and
refer the potential energy consistently with respect to that
datum
Simple Illustration
The potential energy is given by

Plot of V(x) vs. x will look like

 Potential Energy and Equilibrium
• When the potential energy of a system is known,
the principle of virtual work becomes
dV
δU= 0= − δV= − δθ
dθ
dV
0=
dθ

The un-stretched length of the spring • For the structure shown,

is DA
V = Ve + V g = 12 kx B2 + WyC

= 12 k (2l sin θ )2 + W (l cosθ )

• At the position of equilibrium,
dV
= 0 = lsinθ (4klcosθ − W )
dθ
indicating two positions of equilibrium.
 Stability of Equilibrium

dV
=0
dθ

d 2V d 2V Must examine higher

2
>0 2
>0 order derivatives.
dθ dθ
 Energy Landscape

Maxima

Saddle Minima

Minima

Note: If the saddle is wide it is practically neutral equilibrium

Stability in Higher Dimensions

Maxima:
Minima:
Unstable
Stable

Saddle:
Unstable
 Sample Problem
SOLUTION:
• Derive an expression for the total potential
energy of the system.
V=V e +V g

• Determine the positions of equilibrium by

setting the derivative of the potential energy
to zero.
dV
=0
dθ
• Evaluate the stability of the equilibrium
positions by determining the sign of the
Knowing that the spring BC is unstretched
second derivative of the potential energy.
when θ = 0, determine the position or
positions of equilibrium and state whether d 2V ?
the equilibrium is stable, unstable, or 2
>< 0
dθ
neutral.
Sample Problem
SOLUTION:
• Derive an expression for the total potential energy of the
system.
V = Ve + Vg
1
ks 2 + mgy
2
1 2
k (aθ ) + mg (bcosθ )
2
• Determine the positions of equilibrium by setting the
derivative of the potential energy to zero.
dV
= 0 = ka 2θ − mgbsinθ
dθ
2
ka 2 (4kN / m )(0.08m )
sinθ = θ= θ
mgb ( 2
)
(10kg ) 9.81m / s (0.3m )
0.8699 θ
θ = 0 θ = 0.902 rad = 51.7°
Sample Problem
• Evaluate the stability of the equilibrium positions by
determining the sign of the second derivative of the potential
energy.
1 2
V= k (aθ ) + mg (bcosθ )
2
dV
= 0 =ka2 θ− mgbsin θ
dθ θ= 0
d 2V 2
θ= 0. 902 rad = 51 .7 °
2
= ka − mgbcosθ
dθ
( )
(4kN / m )(0.08m )2 − (10kg ) 9.81m / s 2 (0.3m )cosθ
25.6 − 29.43cosθ
d 2V
at θ = 0: 2
= −3.83 < 0 unstable
dθ

at θ = 51.7o:
d 2V
2
= +7.36 > 0 stable
dθ
 Problem 1
• The spring is un-stretched when θ = 30o. At any
position of the pendulum, the spring remains
horizontal. If the spring constant is k = 50 N/m, at
what position will the system be in equilibrium.
This is not required if you are not interested in finding the nature of the
equilibrium solution, i.e, stable or unstable
However, it is useful if you are
solving the first equation by
Newton-Raphson method
Therefore, stability part comes as
a by-product

The solution is: Ɵ=15.842°

 Problem 1
• The spring is un-stretched when θ = 30o. At any
position of the pendulum, the spring remains
horizontal. If the spring constant is k = 50 N/m, at
what position will the system be in equilibrium.
 Problem 2
• If the springs are un-
stretched when θ = θo, find
the angle θ when the
weight W is applied on the
system. Use the method of
minimum potential
energy.
Energy in non-dimensional form
 Problem 2
• Two bars are attached to a single spring of constant k
that is un-stretched when the bars are vertical.
Determine the range of values of P for which the
equilibrium of the system is stable in the position
shown.
Potential Energy :
 Problem 3
• Determine the angle of inclination of each
linkage in the figure shown. The rollers
move without friction on the support.
 Problem 4
• Determine the equilibrium values of θ and the stability
of equilibrium at each point for the unbalanced wheel
on the 10o incline. Static friction is sufficient to prevent
slipping. The mass center is at G.
Problem 5

• A rectangular uniform solid body of mass m and height h

rests on a fixed cylinder with a semicircular section. Set up
criteria for stable and unstable equilibrium for the
rectangular body in terms of h and R for the position shown.
Assume that the rectangular body does not slip on the
cylinder
PE of mass of rectangle w.r.t. datum
plane DD’:
 Problem 6
• The uniform disk of radius R and mass m rolls without slipping
on the fixed cylinder surface of radius 2R. Fastened to the disk is
a lead cylinder also of mass m with its center located a distance b
from the center O of the disk. Determine the minimum value of b
for which the disk will remain in stable equilibrium on the
cylindrical surface.
 Problem-7
The platform of mass m is
supported by equal legs and
braced by the two springs as
shown. If the masses of the legs
and springs are negligible,
design the springs by
determining the minimum
stiffness k of each spring which
will ensure stability of the
platform in the position shown.
Each spring has a tensile preset
deflection of Δ.
Doubts?
 Problem 1
• One of the critical requirements in the design of an artificial leg for an
amputee is to prevent the knee joint from buckling under load when the
leg is straight. As a first approximation, simulate the artificial leg by the
two light links with a torsion spring at their common joint. The spring
develops a torque M = K β, which Is proportional to the angle of the bend β
at the joint. Determine the minimum value of K which will ensure the
stability of the knee joint for β = 0.
 Problem-2
An exploration device, which
unfolds from the body A of an
unmanned space vehicle reseting
on the moon's surface, consists of a
spring-loaded pantograph with
detector head B. It is desired to
select a spring that will limit the
vertical contact force P to 100 N in
the position for which θ = 120 deg.
If the mass of the arms and head is
negligible, specify the necessary
spring stiffness.
 Problem 3
• The uniform plate ABCD of negligible mass is attached to four
springs of constant k and is in equilibrium in the position
shown. Knowing that the springs can act in either tension or
compression and are undeformed in the given position,
determine the range of values of the magnitude P of two equal
and opposite horizontal forces P and for which the equilibrium
position is stable w.r.t small rotation about the center of the
plate.
 Problem 4
• In the mechanism shown the spring of stiffness k is uncompressed
when θ = 60o. Also the masses of the parts are small compared
with the sum m of the masses of the two cylinders. The
mechanism is constructed so that the arms may swing past the
vertical, as seen in the right-hand side view. Determine the
values of θ for equilibrium and investigate the stability of the
mechanism in each position. Neglect friction.