PROBLEM 10.

11
Solve Problem 10.10 assuming that the force P applied at point A acts
horizontally to the left.

SOLUTION

Have x A = 2l sin θ ; δ x A = 2l cosθδθ

θ θ
CD = 2l sin ; δ ( CD ) = l cos δθ
2 2

Virtual Work: δ U = 0: Pδ x A − Qδ ( CD ) = 0

 θ 
P ( 2l cosθδθ ) − Q  l cos δθ  = 0
 2 

cosθ
Q = 2P
cos (θ /2 )
 PROBLEM 10.12
The slender rod AB is attached to a collar A and rests on a small wheel at
C. Neglecting the radius of the wheel and the effect of friction, derive an
expression for the magnitude of the force Q required to maintain the
equilibrium of the rod.

SOLUTION

For ∆AA′C :

A′C = a tan θ

y A = − ( A′C ) = −a tan θ

a
δ yA = − δθ
cos 2 θ

For ∆CC′B :

BC′ = l sin θ − A′C

= l sin θ − a tan θ

yB = BC′ = l sin θ − a tan θ

a
δ yB = l cosθδθ − δθ
cos 2 θ

Virtual Work:

δ U = 0: Qδ y A − Pδ yB = 0

 a   a 
−Q  − 2 
δθ − P  l cosθ −  δθ = 0
 cos θ   cos 2 θ 

 a   a 
Q 2 
= P  l cosθ − 
 cos θ   cos 2 θ 

l 
Q = P  cos3 θ − 1
 a 
 PROBLEM 10.13
A double scissor lift table is used to raise a 1000-lb machine component.
The table consists of a platform and two identical linkages on which
hydraulic cylinders exert equal forces. (Only one linkage and one
cylinder are shown.) Each member of the linkage is of length 24 in., and
pins C and G are at the midpoints of their respective members. The
hydraulic cylinder is pinned at A to the base of the table and at F which is
6 in. from E. If the component is placed on the table so that half of its
weight is supported by the system shown, determine the force exerted by
each cylinder when θ = 30°.

SOLUTION

First note yH = 2L sin θ L = 24 in. (length of link)

Then δ yH = 2L cosθδθ

2 2
3  5 
Now d AF =  L cosθ  +  L sin θ 
4  4 

1
= L 9 + 16sin 2 θ
4

L 2 (16sin θ cosθ )
Then δ d AF = δθ
4 2 9 + 16sin 2 θ

sin θ cosθ
= 4L δθ
9 + 16sin 2 θ

Virtual Work:

1 
δ U = 0: Fcylδ d AF −  W  δ yH = 0
2 

 sin θ cosθ 
or Fcyl  4L
  δθ − ( 500 lb )( 2L cosθδθ ) = 0
 9 + 16sin 2 θ 

sin θ
and Fcyl = 250 lb
9 + 16sin 2 θ

sin 30°
Finally, Fcyl = 250 lb
9 + 16sin 2 30°

or Fcyl = 1803 lb
 PROBLEM 10.14
A double scissor lift table is used to raise a 1000-lb machine component.
The table consists of a platform and two identical linkages on which
hydraulic cylinders exert equal forces. (Only one linkage and one
cylinder are shown.) Each member of the linkage is of length 24 in., and
pins C and G are at the midpoints of their respective members. The
hydraulic cylinder is pinned at A to the base of the table and at F which is
6 in. from E. If the component is placed on the table so that half of its
weight is supported by the system shown, determine the smallest
allowable value of θ knowing that the maximum force each cylinder can
exert is 8 kips.

SOLUTION

From the results of the Problem 10.13

sin θ
Fcyl = 250 lb
9 + 16sin 2 θ
sin θ
Then (8000 lb ) = 250 lb
9 + 16sin 2 θ

or ( 32sin θ )2 = 9 + 16sin 2 θ

9
Thus, sin 2 θ =
1008

θ = 5.42°
 PROBLEM 10.15
Derive an expression for the magnitude of the couple M required to
maintain the equilibrium of the linkage shown.

SOLUTION

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
2
 PROBLEM 10.16
Derive an expression for the magnitude of the couple M required to
maintain the equilibrium of the linkage shown.

SOLUTION

Have

xB = l cosθ

δ xB = −l sin θδθ (1)

yC = l sin θ

δ yC = l cosθδθ

1
Now δ xB = lδθ
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 =
2 tan θ
 PROBLEM 10.17
Derive an expression for the magnitude of the couple M required to
maintain the equilibrium of the linkage shown.

SOLUTION

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 )
 PROBLEM 10.18
The pin at C is attached to member BCD and can slide along a slot cut in
the fixed plate shown. Neglecting the effect of friction, derive an
expression for the magnitude of the couple M required to maintain
equilibrium when the force P which acts at D is directed (a) as shown, (b)
vertically downward, (c) horizontally to the right.

SOLUTION

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
 PROBLEM 10.19
A 1-kip force P is applied as shown to the piston of the engine system.
Knowing that AB = 2.5 in. and BC = 10 in. , determine the couple M
required to maintain the equilibrium of the system when (a) θ = 30°,
(b) θ = 150°.

SOLUTION

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
 PROBLEM 10.19 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
 PROBLEM 10.20
A couple M of magnitude 75 lb ⋅ ft is applied as shown to the crank of
the engine system. Knowing that AB = 2.5 in. and BC = 10 in. ,
determine the force P required to maintain the equilibrium of the system
when (a) θ = 60°, (b) θ = 120°.

SOLUTION

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