Problem 11.1 Determine the reactions at A.

y
300 N
Strategy: Subject the beam to three virtual motions: 800 N-m
(1) a horizontal displacement υx; (2) a vertical displace- A
x
ment υy; and (3) a rotation υ about A.
2m 2m

Solution:
υU D Ax υx D 0 ) Ax D 0

υU D 300 N C Ay υy D 0 ) Ay D
300 N

υU D MA
800 N-mυ C 300 N4 m υ D 0
) MA D 400 N-m

Problem 11.2 2 kN
2.4 kN-m 30°
(a) Determine the virtual work done by the 2-kN force B
A
and the 2.4 kN-m couple when the beam is rotated
through a counterclockwise angle υ about point A.
(b) Use the result of (a) to determine the reaction at B.
400 mm 800 mm 400 mm

Solution: 2 kN
2.4 kN-m
Ax
(a) The virtual work done by the 2-kN force and the 2.4 kN-m couple
B
is Ay
0.4 m 0.8 m 0.4 m 30°
υU D
20.4υ
2.4υ.

(b) The virtual work done by the reaction B is δθ

1.6 δθ m
υU D B cos 30° 1.6υ,
0.4 δθ m
so

20.4υ
2.4υ C B cos 30° 1.6υ D 0.

Solving, B D 2.31 kN.

Problem 11.3 Determine the tension in the cable. Solution: When the beam rotates through a counterclockwise
angle υ, the virtual work is

υU D 2001.6υ
T sin 60° 0.8υ D 0,

so
200 N
60° A 2001.6
TD D 462 N.
0.8 sin 60°

0.8 m 1.6 m T 200 N

60°

0.8 m 1.6 m

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867
 Problem 11.4 The L-shaped bar is in equilibrium. F
Determine F.
600 mm
Solution: Perform a virtual rotation about the pinned support: 60 N

υU D 100υ C 0.560υ
0.6Fυ D 0, 100 N-m

from which 100 C 600.5
0.6Fυ D 0,

500 mm 500 mm
100 C 0.560
or F D D 216.7 N
0.6

Problem 11.5 The dimension L D 4 m and w0 D

300 N /m . Determine the reactions at A and B.
Strategy: To determine the virtual work done by the A
distributed load, represent it by an equivalent force. B

L /2 L /2

Solution: We have L D 4 m, w 0 D 300 N/m 600 N

To find B we do a virtual rotation about point A

υU D B2 m υ
600 N2.67 m υ

D B[2 m]
[600 N][2.67 m]υ D 0

) B D 800 N Ax

To find Ay we do a virtual rotation about B

2m 2m
υU D
Ay 2 m υ
600 N 0.667 m υ

Ay B
D 
Ay [2 m]
600 N[0.667 m]υ D 0

) Ay D
200 N

To find Ax we do a virtual displacement in the x direction

υU D Ax υx D 0 ) Ax D 0

In summary Ax D 0, Ay D
200 N , B D 800 N

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868
 Problem 11.6 Determine the reactions at A and B. y

300 N/m
600 N
100 N/m
x
A B

3m 3m 2m

Solution: To find Ax we do a virtual displacement in the x direc- 200 N

tion. 900 N
υU D Ax υx D 0 ) Ax D 0
600 N 200 N
To find B we do a virtual rotation about point A.

υU D
600 N3 m υ
900 N1.5 m υ
200 N3.67 m υ

200 N 4 m υ C B5 m υ

Ax
D [
600 N 3
900 N1.5
200 N3.67
B

200 N4 C B5] m υ D 0 Ay

) B D 937 N

To find Ay we do a virtual rotation about point B.

υU D
600 N8 m υ
A y 5 m υ C 900 N3.5 m υ

C 200 N1.33 m υ C 200 N1 m υ

D [
600 N8
Ay 5 C 900 N3.5 C 200 N1.33

C 200 N1] m υ D 0

) Ay D
237 N

In summary Ax D 0, Ay D
237 N , B D 937 N

Problem 11.7 The mechanism is in equilibrium. F F

Determine the force R in terms of F.
B D
60°
Solution: For brevity, define ˛ D 60° . Suppose that a virtual R
rotation of elements AB and CD occur: the virtual work is

υU D
L cos ˛Fυ
L C L cos ˛Fυ 60° 60°

A
C
C RL C L cos ˛ sin ˛υ C RL sin ˛ cos ˛υ D 0,

from which


1 C 2 cos ˛F C R sin ˛1 C 2 cos ˛υ D 0,

or

F
RD D 1.155F
sin ˛

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869
 Problem 11.8 Determine the reaction at the roller 200 N
support. A F

1m
1.5 m
E

B
1.5 m
1m
C D

1.5 m

Solution: Assume that B and E remain fixed, and give bar ABC a 200 N F
clockwise virtual rotation υ:
A 1m
Notice that (1) υ D 1.5υˇ. 1.5 m δβ
δθ

υU D 2001.5υ
F1υˇ D 0, E

so
B 1.5 m
2001.5υ
FD 1m
υˇ
C D
D 2001.51.5

D 450 N. (1) δθ (1.5) δβ

Problem 11.9 Determine the couple M necessary for

0.5 m
the mechanism to be in equilibrium.

0.3 m

0.4 m
0.9 m

600 N/m
Solution: Notice that 0.3υ D 0.4υˇ.
0.3 m
υU D 2700.6υ
Mυˇ D 0, 2 (0.9) = 0.6 m
3
so
0.4 m δβ
2700.6υ 1 (600)(0.9)
MD M 2
υˇ = 270 N

2700.60.4 δθ
D
0.3

D 216 N-m.

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870
 Problem 11.10 The system is in equilibrium. The total
mass of the suspended load and assembly A is 120 kg.

(a) By using equilibrium, determine the force F.

(b) Using the result of (a) and the principle of virtual
F
work, determine the distance the suspended load
rises if the cable is pulled upward 300 mm at B. B

Solution: The weight of assembly and load is W D 1177.2 N.

(a) The sum of the forces is

A
FY D F
W C 2R D 0,

where R is the tension in the cable. The tension in the cable is

F if the pulleys have no bearing losses. Thus

W
FD D 392.4 N.
3

(b) Do a virtual translation of the assembly A in the vertical direction.

The work done is υU D
Wυy C Fυx D 0, from which the ratio

υx W
D .
υy F

The ratio of translations of the assembly A and the point B is

300 W
D D 3,
yA F

using the result of Part (a) for F. The assembly A rises

300
yA D D 100 mm
3

when point B is moved upward 300 mm.

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871
 Problem 11.11 Determine the force P necessary for
the mechanism to be in equilibrium. P

200 mm
400 mm
Solution: Denote axial forces in the left horizontal member by R1
and the right horizontal member by R2 . Do a virtual rotation of the
leftmost vertical member about the pin support: 400 mm

F M
υU D 400F
800R1 υ D 0,
600 mm
from which
400 mm
F
R1 D .
2

Do a virtual rotation of the middle vertical member about the pin

support:
400 mm 400 mm
υU D 
200R1
M C 1000R2 υ D 0,

from which

M C 200R1 M C 100F
R2 D D .
1000 1000

Do a virtual rotation of the right vertical member about the pin support:

υU D C400P
600R2 υ D 0,

from which


3 3 M C 100F 3M 3F
PD R2 D D C .
2 2 1000 2000 20

Problem 11.12* Show that υx is related to υ˛ by

L1
υx D L1 tan ˇυ˛. L2
b

Solution: The distance x can be written

x D L1 cos ˛ C L2 cos ˇ

υx D
L1 sin ˛ υ˛
L2 sin ˇ υˇ da

We also have the constraint

L1 sin ˛ C L2 sin ˇ D constant


L1 cos ˛
L1 cos ˛ υ˛ C L2 cos ˇ υˇ D 0 ) υˇ D
υ˛
L2 cos ˇ

Putting these together

dx


L1 cos ˛
υx D
L1 sin ˛ υ˛ C L2 sin ˇ υ˛
L2 cos ˇ

D L1 tan ˇ cos ˛
sin ˛ υ˛

This is a general expression, good for any angle ˛

For this problem we set ˛ D 0 and obtain the desired relationship

υx D L1 tan ˇ υ˛

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872
 Problem 11.13 The horizontal surface is smooth.
9 cm
Determine the horizontal force F necessary for the
system to be in equilibrium. (See Active Example 11.1.) 6 cm
400 N-m 50⬚
Solution: Use the results of 11.12
υU D 400 N-cmυ˛
Fυx F

From 11.12

υx D L1 tan ˇυ˛

D 400 N-cmυ˛
F9 cm tan 50° υ˛

D 400 N-cm
F[9 cm tan 50° ]υ˛ D 0

Thus F D 37.3 N

Problem 11.14* Show that υx is related to υ˛ by

L1 x sin ˛ L1 L2
υx D υ˛.
x
L1 cos ˛
α
Strategy: Write the law of cosines in terms of ˛ and
take the derivative of the resulting equation with respect
to ˛. (See Active Example 11.2)
x

Solution: Denote the horizontal distance from the pin support to

δα
the roller support by x. The law of cosines:

L22 D x2 C L12
2xL1 cos ˛,

from which

x 2
2xL1 cos ˛ C L12
L22  D 0.

δx
Take the variation with respect to x and, ˛,

dx2x
2L1 cos ˛ C 2xL1 sin ˛ d˛ D 0,

from which

L1 x sin ˛
dx D
d˛.
x
L1 cos ˛

The negative sign for the differential indicates that as ˛ increases, x

decreases, as expected. However, the virtual rotation υ˛ is a decrease
in ˛, (See Active Example 11.1) so that the virtual rotation has the
opposite sign to the variation,

L1 x sin ˛
υx D υ˛
x
L1 cos ˛

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873
 Problem 11.15 The linkage is in equilibrium. What is F
the force F? (See Active Example 11.1.)

Solution: Use the result of the solution to Problem 11.14. Perform 200 mm
a virtual rotation about the pin support of the left member. The virtual
work is υU D 200Fυ˛
2υx D 0, from which 2 kN

1 υx
FD .
100 υ˛
200 mm 400 mm
Use the result obtained in Problem 11.14,


1 xL1 sin ˛
FD .
100 x
L1 cos ˛
p p
From the dimensions given: L1 D 2002 C 2002 D 2200 mm, and
x D 600 mm and the interior angle is ˛ D 45° . From which F D 3 kN

Problem 11.16 The linkage is in equilibrium. What is 4000 N F

the force F? (See Active Example 11.1.)
3m

4m 6m 4m 8m
Solution: Denote the horizontal reaction at the roller support by From the dimensions given,
RH . Perform a virtual rotation about the left pinned support: υU D
p
40004υ˛
RH υx, from which L1 D 82 C 32 D 8.54 m,

υ˛
RH D 16,000 . x D 12 m,
υx


3
Use the result of the solution to Problem 11.14, and  D tan
1 D 20.56° .
8


x
L1 cos ˛
RH D 16,000 . From which the force is F D 360 0 N
xL1 sin ˛
p
From the dimensions given, L1 D 32 C 42 D 5 m , x D 10 m , and the
interior angle is


3
˛ D tan
1 D 36.9° ,
4

from which RH D 3200 N. Perform a virtual rotation about the right

pin support: υU D C8Fυ
RH υx D 0, from which

RHO υx
FD .
8 υ

Use the result from Problem 11.14:


RH xL1 sin 
FD .
8 x
L1 cos 

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874
 Problem 11.17 Bar AC is connected to bar BD by a D
pin that fits in the smooth vertical slot. The masses of
the bars are negligible. If MA D 30 N-m, what couple
MB is necessary for the system to be in equilibrium?
C

Solution:
0.4 m
x2 C y2 D L2 D
0.72 C
0.42 . MB
A MA B
2x dx C 2y dy D 0.

The υy shown is a decrease in y, so

0.7 m

υx D dx,
The virtual work is

υy D
dy
υU D MA υ
MB υˇ D 0.

x 0.7 Substituting Eqs. (1) and (2), we obtain

and υy D υx D υx.
y 0.4

MA
MB υx D 0,
υx 1
υˇ D D υx. (1)
y 0.4
so MA D MB D 30 N-m.

  2
υx 2 C υy 2 1 υy
υ D D 1C υx
L L υx

  2 δy
1 0.7 y
D
1C υx. (2) L

0.72 C
0.42 0.4 δθ δx
MA
δβ

MB
x

Problem 11.18 The angle ˛ D 20° , and the force 240

exerted on the stationary piston by pressure is 4 kN 130 mm
mm
toward the left. What couple M is necessary to keep
the system in equilibrium? α
M

Solution: Perform a virtual rotation of the crank: υU D Mυ˛ C

Fυx D 0, from which

υx
MDF .
υ˛

Use the results of the solution to Problem 11.14,

 
xL1 sin ˛
MDF .
x
L1 cos ˛

From the dimensions given, L1 D 130 mm, and from the cosine law,
2402 D x2 C 1302
2
x
130 cos ˛, from which x2
2
122.16x

40700 D 0, which has the solutions x D 358,
113.7 mm. Since
a negative x has no meaning here, x D 358 mm. Substituting and
reducing:

M D 269.97 D 270 kN

mm D 270 N m

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875
 Problem 11.19 The structure is subjected to a 400-N 400 N
load and is held in place by a horizontal cable. Determine
the tension in the cable.
2m

60° 60°
2m

Solution: Perform a virtual rotation about the pin supports. The and
load can only move vertically, since the structure is a parallelogram.


In virtual motion, the point of attachment of the cable will move hori- 2 2
TDF D 400 D 461.88 D 462 N
zontally. The virtual work is υU D Fυy
Tυx D 0, from which tan ˛ 1.732

υy
TDF .
υx

Note that for a virtual rotation,

υy
D L cos ˛,
υ˛

υx L
and D sin ˛,
υ˛ 2

where L is the length of a pin supported member. Thus

υy 2
D ,
υx tan ˛

Problem 11.20 If the load on the car jack is L D

6.5 kN, what is the tension in the threaded shaft between L
A and B?

65 mm B
A

65 mm

120
mm

Solution: We have the constraint

 x 2  y 2 b
C D b2 ) xυx C yυy D 0
2 2 y


x
υy D
υx
y

From virtual work we know see x


x
υU D
Pυx
Lυy D
P C L υy D 0
y


x 240 mm
PDL D 6.5 kN D 12.0 kN
y 130 mm

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876
 Problem 11.21 Determine the reactions at A and B.
(Use the equilibrium equations to determine the hori- A
zontal components of the reactions, and use the proce-
dure described in Example 11.12 to determine the vertical 60°
components.)

300 N

Solution: Denote the angle ˛ D 60° and the distance AC by L.

The sum of the moments about A is



 60°
12 12
MA D 300 C Bx D 0,
2 tan ˛ tan ˛
B
from which Bx D
150 N. The sum of the forces: 12 cm 6 cm


Fx D Ax C Bx C 300 D 0,

from which Ax D
Bx
300 D
150 N. The sum of the forces in the
vertical direction is

Fy D Ay C By D 0,

from which Ay D
By . Denote the distance between A and B by y

and the distance from the wall to the point of application of the force
as x. Then


3  2
xD L
y2 .
2

Take the variation of both sides,



3
yυy 1
υx D  D 
yυy,
2 2
L
y 2 8

y D 12 tan ˛, from which


υx 1
D
12 tan ˛.
υy 8

Perform a virtual elongation of the mechanism in the x-direction. The

virtual work is

υy υy
υU D 300υx
Ay C By D 0,
2 2

from which


1 υx
Ay
By  D 300 D Ay .
2 υy

The vertical reaction is


3
Ay D 300 tan ˛ D 779.4 N,
2

and By D
Ay D
779.4 N

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877
 Problem 11.22 This device raises a load W by ex-
tending the hydraulic actuator DE. The bars AD and
BC are each 2 m long, and the distances b D 1.4 m and
h D 0.8 m. If W D 4 kN, what force must the actuator
exert to hold the load in equilibrium?

A B

D E
C

Solution: Perform a virtual vertical displacement of the load.

Denote the distance CD by x. The virtual work is υU D
Wυh C
Dυx D 0, from which

υh
DDW .
υx
p
The distances are related: h D L 2
x 2 , where L is the length of bar
BC, from which

υh x x
D
p D
.
υx L2
x2 h

Thus
p
x L 2
h2
D D
W D
W .
h h

Substitute numerical values:

p
4
0.82
D D
4 D
9.165 D
9.17 kN,
0.8

where the negative sign implies that the force is directed parallel to
the negative x axis.

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878
 Problem 11.23 Determine the force P necessary for P
the mechanism to be in equilibrium.
F

600 mm
Solution: The height of pt. C is
F
yc D 2LAB sin .

From
600 mm
dyc
D 2LAB cos ,
d

we obtain
800 mm 400 mm 400 mm

υyc D 2LAB cos υ. C

The height of pt. D is

D

yD D LAD sin .

From
E
B
dyD
D LAD cos ,
d y

we obtain
θ
υyD D LAD cos υ.
x
The horizontal position of pt E is A

xE D LAB C 2LBD  cos .

From

dxE
D
LAB C 2LBD  sin ,
d

we see that

υxE D
LAB C 2LBD  sin υ.

The virtual work resulting from a virtual rotation υ is

υU D
Pυyc C FυyD
FυxE

D
P2LAB cos υ

C FLAD cos υ

C FLAB C 2LBD  sin υ D 0.

Solving,

[LAD cos  C LAB C 2LBD  sin ]F

PD .
2LAB cos 

Substituting the lengths and  D arctan600/800, we obtain

P D 1.5 F.

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879
 Problem 11.24 The collar A slides on the smooth
0.25 m
vertical bar. The masses are mA D 20 kg and mB D
10 kg.

(a) If the collar A is given an upward virtual

displacement υy, what is the resulting downward 0.2 m
displacement of the mass B?
(b) Use virtual work to determine the tension in A
the spring.
B

Solution: The motion is constrained by the constant length L of d = 0.25 m

the string.

LD yA 2 C d2 C yB yA yB
A
yA υyA yA υyA
0D  C υyB ) υyB D

yA 2 C d2 yA 2 C d2
B
(a) If the motion of a is υy D
υyA then we have

0.2 m
υyB D
 
υy D 0.625υy
0.2 m2 C 0.25 m2

Where positive means down

(b) υU D
20 kg9.81 m/s2 υy

C [10 kg9.81 m/s2 
Fspring ]0.625υy

D [
196.2 N C 98.1 N0.625
Fspring 0.625]υy D 0

Fspring D 216 N

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880
 Problem 11.25 The potential energy of a conservative
system is given by V D 2x 3 C 3x 2
12x.

(a) For what values of x is the system in equilibrium?

(b) Determine whether the equilibrium positions you
found in (a) are stable or unstable.

Solution: (b) The stable and unstable positions are determined by the sign of
the second derivative:
(a) The system is in equilibrium when
d2 V
dV D 12x C 6.
D 6x2 C 6x
12 D 0. d2 x
dx

d2 V
This is a quadratic equation in x: it is put into canonical form by For x D 1, D 18 > 0,
d2 x
dividing by 6, x2 C 2bx C c D 0, from which xD1

1
and the equilibrium is stable at x D 1. For
bD 2

d2 V
and c D
2. The solutions are x D
2, D
18 < 0,
d2 x xD
2
p
x D
b š b2
c and the equilibrium is unstable at x D
2.

x D 1 or x D
2.

Problem 11.26 The potential energy of a conservative

system is given by V D 2q3
21q2 C 72q.

(a) For what values of q is the system in equilibrium?

(b) Determine whether the equilibrium positions you
found in (a) are stable or unstable.

Solution:
(a) The equilibrium positions are given by

dV
D 6q2
42q C 72 D 0.
dx

In canonical form: q2 C 2bq C c D 0, where

b D
27 ,

and c D 12.
p
The solutions: q D
b š b2
c
q D 4 or q D 3.
(b) The second derivative is

d2 V
D 12q
42.
dq2

For q D 4,

d2 V
D 6 > 0,
dq2 qD4

and the equilibrium is stable. For q D 3,


d2 V
D
6 < 0,
dq2 qD3

and the equilibrium is unstable.

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881
 Problem 11.27 The mass m D 2 kg and the spring
constant k D 100 N/m. The spring is unstretched when
x D 0.
(a) Determine the value of x for which the mass is in k
equilibrium.
(b) In the equilibrium position stable or unstable?
(See Example 11.3.)
m

Solution: x

(a) The potential energy is

V D 12 kx 2
mgx.

Setting

dV
D kx
mg D 0,
dx

we obtain

mg 29.81
xD D D 0.196 m.
k 100

d2 V
(b) D k > 0, so the equilibrium position is stable.
dx 2

Problem 11.28 The nonlinear spring exerts a force x

kx C εx 3 on the mass, where k and ε are constants.
Determine the potential energy V associated with
the force exerted on the mass by the spring. (See
Example 11.3.)

Solution: The potential energy of the spring is

1 2 εx 4
Vx D

kx C εx3  dx C C D kx
C C.
2 4

Choose x D 0 as the datum point, V0 D 0, hence C D 0, and the

potential energy associated with the force is

1 2 εx 4
Vx D kx

2 4

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882
 Problem 11.29 The 1-kg mass is suspended from
the nonlinear spring described in Problem 11.28. The
constants k D 10 and ε D 1, where x is in meters.

(a) Show that the mass is in equilibrium when x D

1.12 m and when x D 2.45 m.
(b) Determine whether the equilibrium positions are
stable or unstable.
(See Example 11.3.)
x

Solution: In Problem 11.28 the potential energy of the spring is

shown to be Zero crossings
3
1 2 εx 4
Vx D kx
.
2 4 2

The potential energy of the mass is 1

Vx D
W dx D
Wx, f(x) 0

1.122 2.448
–1
where the datum is x D 0. The total potential energy is
–2
1 εx 4
Vtotal x D
Wx C kx 2
.
2 4 –3
1 1.2 1.4 1.6 1.8 2 2.2 2.4 2.6
The equilibrium points are determined from X, meters

dV
D
W C kx
εx 3 D 0.
dx

This cubic may be solved by iteration or by graphing the function

fx D
W C kx
εx3

to find the zero crossings. Both methods were used here: the graph
was used to get approximate values, and these values were then
refined by iteration (using TK Solver Plus). The results: x D 1.12 m,
and x D 2.45 m. (b) The second derivative of the potential energy at
x D 1.12 m is

d2 V
D [10
3x2 ]xD1.12 D 6.2 > 0,
dx 2 xD1.12

and the system is stable. For x D 2.45 m,


d2 V
D [10
3x2 ]xD2.45 D
7.98 < 0,
dx 2 xD2.45

and the system is unstable.

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883
 Problem 11.30 The two straight segments of the bar
are each of weight W and length L. Determine whether
the equilibrium position shown is stable if (a) 0 < ˛0 <
90° ; (b) 90° < ˛0 < 180° .
α0 α0

Solution: From a heuristic argument, if the bars hang straight

down (˛0 D 0) they are equivalent to one bar suspended at one end,
and they should be stable in this position. If the bars are straight out L sin α
0
(˛0 D 90° ) they are equivalent to a bar suspended at its midpoint, 2
θ
and as a balanced bar they should be neutrally stable. If the bars
are positioned upward (90° < ˛0 < 180° ), the bars will be unbalanced
everywhere, and the system will be unstable in every position. This 2W
heuristic reasoning suggests the strategy to treat the composite bar as
if it were a mass point suspended (supported) at the pin support. The
mass point will be located at the center of weight of the composite. It
will behave like a pendulum under the action of gravity.

Choose a coordinate system with origin at the pin support with the x
axis positive downward. Denote the right and left bars by the subscripts
R and L. The center of weight of each bar has the coordinates:

L
xR D cos ˛0 ,
2

L
yR D sin ˛0 ;
2

L
xL D cos ˛0 ,
2

L
yL D
sin ˛0 .
2

The coordinates of the center of weight of the composite is

WxR C WxL L
xD D cos ˛0 ,
2W 2

WyR C WyL
and y D D 0.
2W

Suppose that a small angular displacement  occurs. The potential

energy of the equivalent system under this displacement is


L
V D
2W cos ˛0 cos  D
WL cos ˛0 cos .
2

The equilibrium points are determined by

dV
D WL cos ˛0 sin  D 0,
d

from which  D 0, and  D . The stability of the equilibrium points

is determined from

d2 V
D [WL cos ˛0 cos ]D0 D WL cos ˛0 .
d 2 D0

The stability depends upon the value of ˛0 : (a) in the interval

0 < ˛0 < 90° , WL cos ˛0 > 0, and the system is stable. (b) At the
point ˛0 D 0, WL > 0, and the system is stable. (c) In the interval
90° < ˛0 < 180° , WL cos ˛0 < 0, and the system is unstable. If the
mechanical constraints permit the system to reach the equilibrium point
at  D , the results above are reversed: (a) is unstable, (b) is unstable,
and (c) is stable.

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884
 Problem 11.31 The homogeneous composite object
consists of a hemisphere and a cylinder. It is at rest on L
the plane surface. Show
p that this equilibrium position is R
stable only if L < R/ 2. (See Example 11.4.)

Solution: An angular disturbance will cause the composite system Retain only the numerator, since the denominator must be positive
to rock about the radial center of the hemisphere. The change in always: The condition for stability is
potential energy, if it occurs, must be a change in the height of the
composite mass caused by motion about the radial center. This suggests 3 2 L2
the pendulum analogy: a point mass at the composite mass center, R > .
12 2
suspended (supported) from the radial center.
Take the positive square root:
Choose a coordinate system with the y axis along the axis of the
cylinder, positive upward, the x axis parallel to the floor, and the p
R> 2L,
origin at the point of contact with the floor.
R
The center of mass of the cylinder is located on the axis of the cylinder or L < p .
2
at

L
yD C R.
2

The center of mass of the hemisphere is located at

5R
yD .
8

The mass of the cylinder is mcyl D R2 L, where  is the mass density
in kg/m3 . The mass of the hemisphere is

2 3
3 R .

The location of the mass centroid of the composite is




L 2 5R L 5 2
R2 L C R C R3 L CR C R
2 3 8 2 12
yD
 D .
2 2
R2 L C R3 LC R
3 3

Suppose that the system is subjected to a small angular rotation about

the point of contact with the floor. The length of the equivalent
pendulum is R
y. The potential energy due to this rotation is
V D
R
yW cos . The point of equilibrium is

dV
D R
yW sin  D 0,
d

from which  D 0 is a point of equilibrium. The stability is determined

by


d2 V
D R
yW cos  D0
D R
yW.
d 2 D0

Note that R and y are both positive numbers, from which, if R > y, the
system is stable; if R < y, the system is unstable. Reduce algebraically:


 
L 5 2
L CR C R
2 12
R
yDR

2
LC R
3

2 2 L2 5 2 3 2 L2
RL C R

RL
R R

D 3 2 12 D 12 2 .
2 2
LC R LC R
3 3

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885
 Problem 11.32 The homogeneous composite object
consists of a half-cylinder and a triangular prism. It is
at rest on the plane surface. Show
p that this equilibrium
position is stable only if h < 2R. (See Example 11.4.)

h
R

Solution: The center of mas is located


1
 4R  h
2 R
2
 12 h[2R] h/3
3 4R2
2h2
yD 1
D
R 2 C  1 h[2R] 6h C 3R
2 2

When the object rotates through an angle , the potential energy is y

V D mgR
mgy cos  R

dV
To be stable we must have D mgy sin  > 0 ) y > 0
d

Imposing this condition we find that stability requires

p
4R2
2h2 > 0 ) h < 2R

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886
 Problem 11.33 The homogenous bar has weight W, k
and the spring is unstretched when the bar is vertical
(˛ D 0).

(a) Use potential energy to show that the bar is in equi- α

librium when ˛ D 0.
(b) Show that the equilibrium position ˛ D 0 is stable
only if 2kL > W. L

Solution:
(a) The potential energy of the spring is

1 2
Vspring D ks ds D ks ,
2

where the datum is ˛ D 0. Noting s D L˛, then

k 2 2
Vspring D L ˛ .
2

The height of the center of the bar relative to the pinned end is

L
cos ˛;
2

using the pinned end as the datum:

WL
Vbar D cos ˛,
2

from which

k 2 2 WL
Vtot D L ˛ C cos ˛.
2 2

The equilibrium point is

dVtot WL
D kL 2 ˛
sin ˛ D 0,
d˛ 2

from which

2kL
˛
sin ˛ D 0.
W

This is a transcendental equation in ˛, with at least one solution

˛ D 0.
(b) Stability is determined by

 
d2 Vtot 2kL 2kL
D
cos ˛ D
1,
d˛2 ˛D0 W ˛D0 W

from which if

2kL

1 > 0,
W

the system is stable. Thus the condition for stability at ˛ D 0 is

2kL > W

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887
 Problem 11.34 Suppose that the bar in Problem 11.33
is in equilibrium when ˛ D 20° .

W
(a) Show that the spring constant k D 0.490 .
L
(b) Determine whether the equilibrium position is
stable.
Solution: Use the results of the solution to Problem 11.33. The (2) If 2kL > W, a second set of conditions apply: the ˛ D 0 position
equilibrium condition is is stable (see Problem 11.33), and this is the only equilibrium position
since
2kL
˛
sin ˛ D 0, 2kL
W ˛
sin ˛ D 0
W
from which, for ˛ 6D 0, divide by:
has no solution except ˛ D 0 for
2kL sin ˛
D , 2kL
W ˛ > 1.
W



W sin ˛ W
or k D D 0.490 check.
L 2˛ L

(where ˛ is in radians.) (b) The condition for stability is


2kL

cos ˛ > 0,
W ˛D20°

from which 20.4899
0.9397 > 0, which is satisfied. The system

is stable. Check: From a heuristic argument, two sets of equilib-
rium conditions apply: If the spring force is weaker than the gravity
force in the neighborhood of ˛ D 0, the bar should rotate under the
action of gravity until this tendency is balanced by the increased
spring force, at which point by analogy with the mass-spring system
(see Problem 11.29) the system should be in stable equilibrium. If,
however, the spring force is greater that the gravity force in the neigh-
borhood of ˛ D 0, the system should remain close to ˛ D 0, which
will be a position of stable equilibrium. This heuristic argument is
supported as follows: (1) The equilibrium condition

2kL
˛
sin ˛ D 0,
W

for ˛ 6D 0, is satisfied if

2kL sin ˛
D ,
W ˛

0 < ˛ < 90° , which is the first set of equilibrium conditions. The
condition for stability is

sin ˛

cos ˛ > 0,
˛

which is satisfied for all 0 < ˛ < 90° , and the system is stable for
˛ > 0. Taking the limit as ˛ goes to zero, the equilibrium position at
˛ D 0 is neutrally stable if

2kL sin ˛
D .
W ˛

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888
 Problem 11.35 The bar AB has mass m and length
L. The spring is unstretched when the bar is vertical
(˛ D 0). The light collar C slides on the smooth vertical
bar so that the spring remains horizontal. Show that the k
C
equilibrium position ˛ D 0 is stable only if 2kL > mg. B

Solution: The potential energy is

α
1 L
V D kL sin ˛2 C mg cos ˛,
2 2 A

dV L
so D kL 2 sin ˛ cos ˛
mg sin ˛ (1)
d˛ 2
L sin α
d2 V L
and D kL 2 cos2 ˛
sin2 ˛
mg cos ˛
d˛2 2

L
D kL 2 2 cos2 ˛
1
mg cos ˛. (2)
2

Notice that dV/d˛ D 0 at ˛ D 0. Substituting ˛ D 0 into Eq. (2) yields

d2 V L
D kL 2
mg .
d˛2 2 α L cos α
2
Therefore

d2 V
>0
d˛2

only if 2kL > mg.

Problem 11.36 The bar AB in Problem 11.35 has mass

m D 4 kg, length 2 m, and the spring constant is k D
12 N/m.
(a) Determine the value of ˛ in the range 0 < ˛ < 90°
for which the bar is in equilibrium.
(b) Is the equilibrium position determined in part (a)
stable?
Solution: (b) From Eq. (2) of the solution of Problem 11.35,

(a) From Eq. (1) at the solution of Problem 11.35,

d2 V L
D kL 2 2 cos2 ˛
1
mg cos ˛.

 d˛2 2
dV L
D kL 2 cos ˛
mg sin ˛.
d˛ 2 Substituting ˛ D 35.2° ,

Setting d2 V
D 1222 2 cos2 35.2°
1
d˛2
L
kL 2 cos ˛
mg D 0,
2
49.811 cos 35.2°
we obtain
D
15.9 N-m.
 mg 
˛ D arccos This equilibrium position is unstable.
2kL

49.81
D arccos
2122

D 35.2° .

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889
 Problem 11.37 The bar AB has weight W and length C
L. The spring is unstretched when the bar is vertical (˛ D
0). The light collar C slides on the smooth horizontal
bar so that the spring remains vertical. Show that the k
equilibrium position ˛ D 0 is unstable.
B

Solution: The potential energy of the spring is

Vspring D ks ds D 12 ks2 , α

where the datum is ˛ D 0. Noting s D L1
cos ˛, then 1m

A
k 2
Vspring D L 1
cos ˛2 .
2

The height of the center of the bar above the pin joint is

L
cos ˛.
2

With the pin joint as the datum, the potential energy of the bar is

WL
Vbar D cos ˛,
2

k 2 WL
from which Vtot D L 1
cos ˛2 C cos ˛.
2 2

The equilibrium point is

dVtot WL
D kL 2 1
cos ˛ sin ˛
sin ˛ D 0,
d˛ 2

from which


2kL
1
cos ˛
1 sin ˛ D 0,
W

which has at least one solution: ˛ D 0. Stability is determined by

 

d2 V 2kL
D sin2 ˛
d˛2 ˛D0 W


2kL
C 1
cos ˛
1 cos ˛ D
1.
W ˛D0


d2 V
Since D
1 < 0,
d˛2 ˛D0

the system is unstable at the equilibrium position ˛ D 0.

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890
 Problem 11.38 The bar AB described in Problem 11.37
has a mass of 2 kg, and the spring constant is k D 80 N/m.

(a) Determine the value of ˛ in the range 0 < ˛ < 90°

for which the bar is in equilibrium.
(b) Is the equilibrium position determined in (a) stable?

Solution: Use the solution to Problem 11.37. The condition for

equilibrium is


2kL
1
cos ˛
1 sin ˛ D 0,
W

from which the non-zero position of equilibrium is determined by


2kL
1
cos ˛
1 D 0.
W

Substitute numerical values to obtain

2kL
D 8.1549.
W

The zero crossing of a graph of


2kL
f˛ D 1
cos ˛
1
W

was determined approximately over the interval 0 < ˛ < 90° , and this
crossing value was then refined by iteration (using TK Solver Plus).

The equilibrium point occurs at: ˛ D 28.67 D 28.7° . The condition for
stability is

 

d2 V 2kL
D sin2 ˛
d˛2 ˛D˛i W


2kL
C 1
cos ˛
1 cos ˛ .
W ˛D˛i

For ˛ D 28.7° ,

d2 V
D 1.88 > 0,
d˛2 ˛D28.7

so the system is stable at this equilibrium point

f(α) vs α
1.5
1
.5
f(α) 0
–.5 28.67°

–1
–1.5
0 20 40 60 80 100
α , deg

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891
 Problem 11.39 Each homogenous bar is of mass m
and length L. The spring is unstretched when ˛ D 0. If
mg D kL, determine the value of ˛ in the range 0 < ˛ <
90° for which the system is in equilibrium. k

Solution: The potential energy of the spring is The non zero position of equilibrium is, when W D kL, 21
cos ˛

1 D 0. Reduce:
V D 12 ks2 .
1
cos ˛ D 12 ,
Noting that
from which
s D 2L1
cos ˛,
cos ˛ D 12 ,
V D 2kL2 1
cos ˛2 .
˛ D cos
1  12  D 60°
The potential energy of the bars is

WL WL
Vbars D cos ˛ C WL cos ˛ C cos ˛ D 2WL cos ˛,
2 2

where the datum point is the lower pin joint. The total energy is

V D 2kL2 1
cos ˛2 C 2WL cos ˛.

The equilibrium condition is


dV 2kL
D 1
cos ˛
1 sin ˛ D 0.
d˛ W

Problem 11.40 Determine whether the equilibrium

position found in Problem 11.39 is stable or unstable.

Solution: Use the solution to Problem 11.39. The condition for an

equilibrium point is


dV 2kL
D 1
cos ˛
1 sin ˛ D 0.
d˛ W

The condition for stability is

 
d2 V 2kL
D sin2 ˛
cos2 ˛
d˛2 ˛D60° W


2kL
C
1 cos ˛ D 1.5 > 0,
W ˛D60°

so the position is stable.

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892
 Problem 11.41 The pinned bars are held in place by
the linear spring. Each bar has weight W and length L
L. The spring is unstretched when ˛ D 90° . Determine
the value of ˛ in the range 0 < ˛ < 90° for which the a a k
system is in equilibrium. (See Example 11.5.)

Solution: The potential energy is


L 1
V D 2 W sin ˛ C k2L cos ˛2
2 2

dV
For equilibrium we must have D WL cos ˛
4kL2 cos ˛ sin ˛ D 0
d˛


W
Solving we find ˛ D sin
1
4kL

Problem 11.42 Determine whether the equilibrium

position found in Problem 11.41 is stable or unstable.
(See Example 11.5.)

Solution: See 11.41

d2 V
D
WL sin ˛
4kL2 cos2 ˛ C 4kL2 sin2 ˛
d˛2

D
WL sin ˛ C 8kL2 sin2
4kL2

We need to evaluate this expression at the equilibrium position (given

in problem 11.41)


2
d2 V W W W2
D
WL C 8kL2
4kL2 D
4kL2 > 0
d˛2 4kL 4kL 4k

For stability we therefore need W > 4kL

Assuming that an equilibrium position exists (Problem 11.41) then this

condition cannot be met.

We conclude that the equilibrium position is unstable

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893
 Problem 11.43 The bar weighs 150 N. The spring is
unstretched when ˛ D 0. The bar is in equilibrium when
˛ D 30° . Determine the spring constant k.

Solution: From the cosine law, the length of the spring is k

d2 D 22 C 42
16 cos ˛,
p
from which d D 2 5
4 cos ˛.
4m
The spring extension is α
p
 D d
2 D 2 5
4 cos ˛
1.

The potential energy of the spring is 2m

k2
VD .
2

The potential energy of the bar is Vbar D W cos ˛. The total potential
energy is

k2
Vtot D C W cos ˛.
2

Noting

d 4 sin ˛
D p ,
d˛ 5
4 cos ˛

the equilibrium condition is

p
dV k8 sin ˛ 5
4 cos ˛
1
D p
W sin ˛ D 0.
d˛ 5
4 cos ˛

Solve for the spring constant:

p
W 5
4 cos ˛
kD p .
8 5
4 cos ˛
1

Substitute values:
p
5
4 cos ˛ D 1.2393,

1501.2393
kD
80.2393

D 97.1 N/m

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894
 Problem 11.44 Determine whether the equilibrium
positions of the bar in Problem 11.43 are stable or
unstable.
Solution: Use the solution to Problem 11.43. The condition for
equilibrium is
p
dV k8 sin ˛ 5
4 cos ˛
1
D p
W sin ˛ D 0.
d˛ 5
4 cos ˛
p
For brevity write L D 5
4 cos ˛. The derivative is



dV 8kL
1 8k
D
W sin ˛ D 8k
W
sin ˛,
d˛ L L

from which the second derivative is


d2 V 16k 2 8k
D sin ˛ C 8k
W
cos ˛.
d˛2 L3 L

The condition for stability is determined from


d2 V
.
d˛2 ˛D˛i

For ˛ D 0,

d2 V
D
W D
150 < 0,
d˛2 ˛D0

so that the equilibrium position is unstable. For ˛ D 30° ,


d2 V
D 204 > 0,
d˛2 ˛D30°

so that the equilibrium point is stable.

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895
 Problem 11.45
200 N-m 100 N
(a) Determine the couple exerted on the beam at A. A 30°
(b) Determine the vertical force exerted on the beam
at A.

2m

Solution:
(a) Perform a virtual rotation about A:

υU D MA υ
200υ C 2100 sin 30° υ D 0,

from which

MA
200 C 2100 sin 30° υ D 0,

from which

MA D 200
250 D 100 N m.

(b) Perform a virtual translation of the bar in the y-direction:

υU D Ay υy C 100sin 30° υy D 0,

from which

Ay C 50υy D 0,

or Ay D
50 N

Problem 11.46 The structure is subjected to a 20 kN- y B

m couple. Determine the horizontal reaction at C.
20 kN-m
2m
Solution: The interior angle at B is 100° . Denote the axial force
in BC by RBC . Do a virtual rotation of member AB about A:
40° 40°
A C x
υU D 
20 C 2RBC sin 100° υ D 0,

from which

20
RBC D D 10.15 kN.
2 cos 10°

The horizontal component of the axial force is

Rx D RBC cos 40° D 7.778 D
7.8 kN

(directed parallel to the negative x axis.)

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896
 Problem 11.47 The “rack and pinion” mechanism is Solution: Perform a virtual rotation of the handle. The virtual work
used to exert a vertical force on a sample at A for a is υU D 8Fυ C Aυx D 0, from which
stamping operation. If a force F D 30 N is exerted on
the handle, use the principle of virtual work to determine υ
A D
8F .
the force exerted on the sample. υx

The angular rotation is related to the vertical translation by 2υ D
υx,

from which

υ 1
D
,
υx 2

and A D 4F D 120 N

2 cm

8 cm

A
F

Problem 11.48 If you were assigned to calculate the

force exerted on the bolt by the pliers when the grips F
are subjected to forces F as shown in Fig. a, you
could carefully measure the dimensions, draw free-body
diagrams, and use the equilibrium equations. But another
approach would be to measure the change in the distance
between the jaws when the distance between the handles
is changed by a small amount. If your measurements
indicate that the distance d in Fig. b decreases by 1 mm F
when D is decreased 8 mm, what is the approximate
value of the force exerted on the bolt by each jaw when (a)
the forces F are applied?

Solution: Let L be the distance between the points of application d

of the forces F and the point of application of the gripping force at D
the jaw. The ratio of the motions indicates that the “effective” axis
of rotation of a jaw is located 89 L from the point of application of F.
Perform a virtual rotation about this axis:
(b)
υU D  89 LFυ
 19 Lfυ D 0,

from which 8F
fυ D 0, or f D 8F. This result is approximate

because some work is done by the mechanism as the handle is closed.
In addition, the closure of the handles produces a translation of one
handle relative to the other in the direction required to close the jaws,
and this translation does work since it is associated with moment about
the effective axis; hence not all of the virtual work due to a virtual
rotation is included in the above expression.

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897
 Problem 11.49 The system is in equilibrium. The total
weight of the suspended load and assembly A is 300 N.

(a) By using equilibrium, determine the force F.

(b) Using the result of (a) and the principle of virtual
work, determine the distance the suspended load
rises if the cable is pulled downward 1 m at B.
B
Solution:
(a) Isolate the assembly A. The sum of the forces: F

Fy D
W
3F D 0,

where F is the tension in the cable, from which A

W
FD D 100 N.
3

(b) Perform a virtual translation of the assembly A in the vertical

direction. The virtual work: υU D
Wυy C Fυx D 0, from which

υx W
D D 3.
υy F

The ratio of translations of the assembly A and the point B is

1
D 3, from which yA D 13 m
yA

Problem 11.50 The system is in equilibrium. 200

200 mm
N-m M
(a)By drawing free-body diagrams and using
equilibrium equations, determine the couple M. 100 mm
(b) Using the result of (a) and the principle of virtual 100
A
work, determine the angle through which pulley B mm 200
rotates if pulley A rotates through an angle ˛. B mm

Solution: The pulleys are frictionless and the belts do not slip.
200
Denote the left pulley by A and the right pulley by B. Denote the mm T3 T1 T1
upper and lower tensions in the belts at pulley A by T3 , T4 , at B by 200 T 3 M
T 1 , T2 . Nm
100 A
mm B 200
(a)For pulley A: (1) T3
T4 0.1 D 200 N m, For pulley T 4 100 mm
T4 T2 T2
B (2) M D T1
T2 0.2. For the center pulley, (3) T1
mm
T2 0.1 D T3
T4 0.2. Combine and solve: M D 4200 D
800 N m
(b) Perform a virtual rotation of the pulley A. The virtual work of
the system is υU D M1 υ˛
Mυ D 0, from which

υ M1 200 1
D D D ,
υ˛ M 800 4
˛
from which  D
4

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898
 Problem 11.51 The mechanism is in equilibrium.
Neglect friction between the horizontal bar and the 2L
L
collar. Determine M in terms of F, ˛, and L.
α
M
F

Solution: Perform a virtual rotation about the left pin support. Substitute into the expression for the moment, and reduce:
υU D Mυ˛
Fυx D 0, from which


cos ˛
υx M D FL sin ˛ 1 C p .
MDF . cos2 ˛ C 3
υ˛
From the identity, cos2 ˛ D 1
sin2 ˛, an alternate form of the solution
Using the results of the solution to Problem 11.14,
is

  
xL sin ˛
MDF . cos ˛
x
L cos ˛ M D FL sin ˛ 1 C 
4
sin2 ˛
From the dimensions given and the cosine law, 4L2 D x 2 C L 2

2Lx cos ˛, from which x2
2xL cos ˛
3L2 D 0, which has the
solution
p p
x D L cos ˛ š L 2 cos2 ˛ C 3L2 D Lcos ˛ š cos2 ˛ C 3.

Since a negative value of x has no meaning here,

p
x D Lcos ˛ C cos2 ˛ C 3.

Problem 11.52 In an injection casting machine, a

couple M applied to arm AB exerts a force on
the injection piston at C. Given that the horizontal B
350 mm
component of the force exerted at C is 4 kN, use the 300 mm
principle of virtual work to determine M.
45°
A
M C

Solution: Perform a virtual rotation of the crank. The virtual work The distance AC is
is
x 0.35
D ,
υU D Mυ C Fυx D 0, sin ˛ sin 45°

from which from which x D 0.490 m. From the solution to Problem 11.14,

υx υx 0.30.49 sin 45°

M D
F . D D 0.374.
υ υ 0.49
0.3 cos 45°

Denote the interior angle ACB by ˇ, and the interior angle ABC by ˛. The moment is M D
0.374F D
0.3744 D
1.5 kN m
From the sine law,

0.35 0.3
D ,
sin 45° sin ˇ

from which


0.3
ˇ D sin
1 sin 45° D 37.3° ,
0.35

and ˛ D 180°
45°
37.3° D 97.69° .

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899
 Problem 11.53 Show that if bar AB is subjected to B
a clockwise virtual rotation υ˛, bar CD undergoes a
counterclockwise virtual rotation b/aυ˛.
400 mm F
6 kN-m C D
A

a b 600 mm

Solution: The coordinates of pts B and C are y

Bx D 400 sin ˛, B

By D 400 cos ˛, α

Cx D a C b
b cos ˇ,

x
Cy D
b sin ˇ. A β
We know that C

Cx
Bx 2 C Cy
By 2 D constant.

The derivative of this equation with respect to ˛ is



dCx dBx dCy dBy
2Cx
Bx 
C 2Cy
By 

d˛ d˛ d˛ d˛


dˇ
D 2a C b
b cos ˇ
400 sin ˛ b sin ˇ
400 cos ˛
d˛


dˇ
C 2
b sin ˇ
400 cos ˛
b cos ˇ C 400 sin ˛ D 0.
d˛

At ˛ D 0, ˇ D 0, this equation is


dˇ
2a
400 C 2
400
b D 0,
d˛

from which we obtain

a
υˇ D υ˛.
b

Problem 11.54 The system in Problem 11.53 is in

equilibrium, a D 800 mm, and b D 400 mm. Use the
principle of virtual work to determine the force F.

Solution: See the solution of Problem 11.53. When bar AB

undergoes a clockwise virtual rotation υ˛, the virtual work is

υU D 6υ˛
F0.6υˇ
 a 
D 6υ˛
F 0.6 υ˛ D 0,
b
so

6b
FD D 5 kN.
0.6a

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900
 Problem 11.55 Show that if bar AB is subjected to C
a clockwise virtual rotation υ˛, bar CD undergoes a
clockwise virtual rotation [ad/ac C bc
bd]υ˛.

B
c

d 24 N-m
A M D

a b

Solution: Denote the interior acute angle formed by BC with the Substitute:
horizontal by ˇ, the obtuse interior angle at C by , and the interior  a 
acute angle at D by . Perform a virtual translation υX parallel to d
υ BC ad
the bar BC. (Note: This is often a useful step where cranks- and D
 D
connecting-rod-like mechanisms are involved.) Then υ˛ a c b c
d ac C bc
bd
CD ð C ð
BC CD CD BC
υX cos ˇ D dυ˛,

and υX sin D CDυ,

from which

υ d cos ˇ
D .
υ˛ CD sin

Noting that

sin D sin90°
ˇ C 90°


D sinˇ C  D sin ˇ cos C sin cos ˇ,

a
and cos ˇ D ,
BC

c
sin D ,
CD

c
d
sin ˇ D ,
BC

b
cos D .
CD

Problem 11.56 The system in Problem 11.55 is in Solution: Perform a virtual rotation of the crank at A. The virtual
equilibrium, a D 300 mm, b D 350 mm, c D 350 mm, work is
and d D 200 mm. Use the principle of virtual work to
determine the couple M. υU D
M1 υ˛ C Mυ D 0,

υ M1
from which D .
υ˛ M

From the solution Problem 11.55,

υ ad
D ,
υ˛ ac C bc
bd

from which

M1 ac C bc
bd
MD D 242.625 D 63 N m
ad

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901
 Problem 11.57 The mass of the bar is 10 kg, and it is
1 m in length. Neglect the masses of the two collars. The
spring is unstretched when the bar is vertical (˛ D 0), k
and the spring constant is k D 100 N/m. Determine the
values of ˛ at which the bar is in equilibrium.

Solution: The potential energy of the spring is Substitute numerical values:

V D 12 ks2 . cos ˛ D 0.5095,

Noting that s D L1
cos ˛, then or ˛ D cos
1 0.5095 D 59.369 D 59.4°

V D 12 kL 2 1
cos ˛2 .

The potential energy of the bar is

WL
Vbar D cos ˛,
2

where the datum point is the lower pin joint. From which

kL 2 WL
Vtot D 1
cos ˛2 C cos ˛.
2 2

The condition for equilibrium is


dV 2kL
D 1
cos ˛
1 sin ˛ D 0.
d˛ W

The equilibrium points are ˛ D 0, and the value of ˛ determined by

2kL
1
cos ˛
1 D 0,
W

from which

W
cos ˛ D 1
.
2kL

Problem 11.58 Determine whether the equilibrium

positions of the bar in Problem 11.57 are stable or
unstable.
Solution: Use the solution to Problem 11.57. The equilibrium For ˛ D 0,
condition is


 d2 V
dV 2kL D
1 < 0,
D 1
cos ˛
1 sin ˛ D 0. d˛2 ˛D0
d˛ W
so the equilibrium point is unstable. For ˛ D 59.4° ,
The stability condition is determined by

 
 d2 V
d2 V 2kL D 1.51 > 0,
D 2
sin ˛
cos2 ˛ d˛2 ˛D59.4°
d˛2 ˛D˛i W
so the equilibrium point is stable.


2kL
C
1 cos ˛ .
W ˛D˛i

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902
 Problem 11.59 The spring is unstretched when ˛ D
90° . Determine the value of ˛ in the range 0 < ˛ < 90°
for which the system is in equilibrium. 1_
L
2

1_ 1_
L L
2 2

α
k

Solution: Choose a coordinate system such that the equilibrium

position of the spring occurs at x D 0 and at y D L. The potential
energy is

kx2
V D mgy C .
2

Noting that

y D L sin ˛

and x D L cos ˛,

then

kL2
V D mgL sin ˛ C cos2 ˛.
2

The equilibrium condition is

dV
D 0 D mg
kL sin ˛ cos ˛ D 0.
d˛

This has two solutions:

cos ˛ D 0,

mg
and sin ˛ D .
kL

In the interval 0 < ˛ < 90° , only one solution exists,

 mg 
˛ D sin
1
kL

Problem 11.60 Determine whether the equilibrium

position found in Problem 11.59 is stable or unstable.

Solution: Use the solution to Problem 11.59. The stability

condition is

d2 V
D
mg sin ˛ C kLsin2 ˛
cos2 ˛ D kLsin2 ˛
1 < 0.
d˛2

The system is unstable.

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903
 Problem 11.61 The hydraulic cylinder C exerts a
horizontal force at A, raising the weight W. Determine
the magnitude of the force the hydraulic cylinder must
exert to support the weight in terms of W and ˛. W

A C

1–
b b 2
b

Solution: The distance x D 2.5b, so υx D 2.5υb. y

Notice that y 2 C b2 D constant. Taking the derivative of this equation

with respect to y, W

db
2y C 2b D 0,
dy

we obtain y F

b α
υy D
υb. x
y

The virtual work is x

υU D
Wυy
Fυx


b
D
W
υb
F2.5υb D 0,
y

so

b W
FD WD .
2.5y 2.5 tan ˛

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904
 Problem 11.62 The homogenous composite object
consists of a hemisphere and a cone. It is at rest on h
the plane surface. Show
p that this equilibrium position is
stable only if h < 3 R. R

Solution: Use the same strategy used to solve Problem 11.31: a

point mass at the composite mass center, suspended (supported) at the
radial center. Choose a coordinate system with the y axis along the
axis of the cone, positive upward, the x axis parallel to the floor, and
the origin at the point of contact with the floor. The mass of the cone
is

mcyl D 13 R2 h,

where  is the mass density. The center of mass of the cone is

h
yD C R.
4

The mass of the hemisphere is

2 3
3 R .

5R
The center of mass of the hemisphere is located at y D .
8

The location of the mass centroid of the composite is




h h 2 5R h h 5 2
R2 C R C R3 CR C R
3 4 3 8 3 4 12
yD
 D .
h 2 h 2
R2 C R3 C R
3 3 3 3

For a small angular rotation  the length of the equivalent pendulum

is R
y. The potential energy due to this rotation is V D
R

yW cos . The point of equilibrium is

dV
D R
yW sin  D 0,
d

from which  D 0 is a point of equilibrium. The stability is determined

by


d2 V
D [R
yW cos ]D0 D R
yW,
d 2 D0

from which, if R > y, the system is stable; if R < y, the system is

unstable. Reduce:

Rh 2 h2 Rh 5 2 R2 h2
C R2


R

R
yD 3 3 12 3 12 D 4 12 ,
h 2 h 2R
C R C
3 3 3 3

from which, (since the denominator is always positive) if

R2 h2

> 0,
4 12

the system is stable. Thus

h2
R2 > ,
3
p
or, taking the positive square root: 3R > h

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905