© Pearson Education Limited 2017. 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.

11–2. Determine the force F acting on the cord which is

required to maintain equlibrium of the horizontal 10-kg bar
AB. Hint: Express the total constant vertical length l of the
cord in terms of position coordinates s1 and s2. The derivative s2
of this equation yields a relationship between d1 and d2. F
s1

A B

Solution
Free—Body Diagram: Only force F and the weight of link AB (98.1 N) do work.

Virtual Displacements: Force F and the weight of link AB (98.1 N) are located from
the top of the fixed link using position coordinates s2 and s1. Since the cord has a
constant length, l, then

4s1 - s2 = l 4ds1 - ds2 = 0 [1]

Virtual—Work Equation: When s1 and s2 undergo positive virtual displacements

ds1 and ds2, the weight of link AB (98.1 N) and force F do positive work and negative
work, respectively.

dU = 0; 98.11 - ds1 2 - F 1 -ds2 2 = 0 [2]

Substituting into Eq. [2] into [1] yields

1 -98.1 + 4F 2ds1 = 0

Since ds1 ≠ 0, then

- 98.1 + 4F = 0

F = 24.5 N Ans.

Ans:
F = 24.5 N

1129
 © Pearson Education Limited 2017. 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.

11–5. The machine shown is used for forming metal plates.

It consists of two toggles ABC and DEF, which are operated
by hydraulic cylinder BE. The toggles push the moveable bar D θ = 30° F
FC forward, pressing the plate p into the cavity. If the force 200 mm E 200 mm
which the plate exerts on the head is P = 8 kN, determine
F
the force F in the hydraulic cylinder when u = 30. P
F
200 mm 200 mm
B
P
A = 30° C

Solution
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
forces F and P do work.

Virtual Displacements: The spring force F acting on joints E and B and force P are
located from the fixed points D and A using position coordinates yE and yB, respec-
tively. The location for force P is measured from the fixed point A using position
coordinate xa.

yE = 0.2 sin u dyE = 0.2 cos udu [1]

yB = 0.2 sin u dyB = 0.2 cos udu [2]

xG = 210.2 cos u 2 + l dxG = -0.4 sin udu [3]

Virtual – Work Equation: When points E, B and G undergo positive virtual dis-
placements dyE, dyB and dyG, force F and P do negative work.

dU = 0; - FdyE - FdyB - PdxG = 0 [4]

Substituting Eqs. [1], [2] and [3] into [4] yields

10.4P sin u - 0.4F cos u 2du = 0

Since du ≠ 0, then
0.4P sin u - 0.4F cos u = 0 F = P tan u

At equilibrium position u = 30° set P = 8 kN, we have

F = 8 tan 30° = 4.62 kN Ans.

Ans:
F = 4.62 kN

1132
 © Pearson Education Limited 2017. 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.

*11–8.
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

1136
 © Pearson Education Limited 2017. 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.

11–11.

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

1139
 © Pearson Education Limited 2017. 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.

11–14.

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

1142
 © Pearson Education Limited 2017. 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.

11–14. 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°

1143
 © Pearson Education Limited 2017. 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.

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 k
the mass of the links. C

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°

1146
 © Pearson Education Limited 2017. 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.
k ⫽ 300 N⭈m/rad
If the spring has a torsional stiffness of k = 300 N # m>rad
and it is unstretched when u = 90°, determine the angle u B
when the frame is in equilibrium.
0.5 m
0.5 m
M ⫽ 600 N⭈m
u
A C

SOLUTION
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
couple moment M and the torque M sp developed in the torsional spring do work
when the virtual displacement takes place. The magnitude of M sp can be computed
using the spring force formula,

p
Msp = k(2a) = 300 c 2 a - u b d = 300(p - 2u)
2

p
Virtual Displacement: Since a = - u, then
2
da = - du (1)

Virtual–Work Equation: Since M and M sp act towards the negative sense of their
corresponding angular virtual displacements, their work is negative. Thus,

dU = 0; - Mdu + 2( -Mspda) = 0 (2)

Substituting M = 600 N # m, Msp = 300(p - 2u), and Eq. (1) into Eq. (2), we have

-600du - 2[300(p - 2u)]( - du) = 0

du[-600 + 600(p - 2u)] = 0

Since du Z 0, then

-600 + 600(p - 2u) = 0

u = 1.071 rad = 61.4° Ans.

Ans:
u = 61.4°

1149
 © Pearson Education Limited 2017. 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. C

The spring has an unstretched length of 0.3 m. Determine

the angle u for equilibrium if the uniform links each have a
mass of 5 kg.
0.6 m
θ θ

SOLUTION
B
Free Body Diagram: The system has only one degree of freedom defined by the 0.1 m D
independent coordinate u. When u undergoes a positive displacement du, only the k = 400 N/m
A E
spring force Fsp and the weights of the links (49.05 N) do work.

Virtual Displacements: The position of points B, D and G are measured from the
fixed point A using position coordinates xB , xD and yG , respectively.

xB = 0.1 sin u dxB = 0.1 cos udu (1)

xD = 210.7 sin u2 - 0.1 sin u = 1.3 sin u dxD = 1.3 cos udu (2)

yG = 0.35 cos u dyG = - 0.35 sin udu (3)

Virtual–Work Equation: When points B, D and G undergo positive virtual

displacements dxB , dxD and dyG , the spring force Fsp that acts at point B does
positive work while the spring force Fsp that acts at point D and the weight of link
AC and CE (49.05 N) do negative work.

dU = 0; 21- 49.05dyG2 + Fsp1dxB - dxD2 = 0 (4)

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

134.335 sin u - 1.2Fsp cos u2 du = 0 (5)

However, from the spring formula, Fsp = kx = 4003210.6 sin u2 - 0.34

= 480 sin u - 120. Substituting this value into Eq. (5) yields

134.335 sin u - 576 sin u cos u + 144 cos u2 du = 0

Since du Z 0, then

34.335 sin u - 576 sin u cos u + 144 cos u = 0

u = 15.5° Ans.

and u = 85.4° Ans.

Ans:
u = 15.5
u = 85.4

1152