PROBLEM 10.

21
For the linkage shown, determine the force P required for equilibrium
when a = 18 in., M = 240 lb ⋅ in., and θ = 30°.

SOLUTION

Consider a virtual counterclockwise rotation δφ of link AB.

Then δ B = aδφ
Note that
δ yB = δ B cosθ
= a cosθ δφ

If the incline were removed, point C would move down δ yC as a result of the virtual rotation, where

δ yC = δ yB = a cosθ δφ
For the roller to remain on the incline, the vertical link BC would then have to rotate counterclockwise. Thus,
to first order:

(δ yC )total ≈ δ yC

(δ yC )total
Then δ SC =
sin θ
a cosθ δφ
=
sin θ
a
= δφ
tan θ
Now, by Virtual Work: δ U = 0: M δφ − Pδ SC = 0

 a 
or M δφ − P  δφ  = 0
 tan θ 
or M tan θ = Pa
With M = 240 lb ⋅ in., a = 18 in., and θ = 30°

( 240 lb ⋅ in.) tan 30° = P (18 in.) or P = 7.70 lb 30.0°

 PROBLEM 10.22
For the linkage shown, determine the couple M required for equilibrium
when a = 2 ft, P = 30 lb, and θ = 40°.

SOLUTION

From the analysis of Problem 10.21, M tan θ = Pa

Now, with P = 30 lb, a = 2 ft, and θ = 40°, we have

M tan 40° = ( 30 lb )( 2 ft )

or M = 71.5 lb ⋅ ft
 PROBLEM 10.23
Determine the value of θ corresponding to the equilibrium position of
the mechanism of Problem 10.10 when P = 60 lb and Q = 75 lb.

SOLUTION

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
cos (θ /2 )

With P = 60 lb, Q = 75 lb

sin θ
( 75 lb ) = 2 ( 60 lb )
cos (θ /2 )

sin θ
= 0.625
cos (θ /2 )

2sin (θ /2 ) cos (θ /2 )
or = 0.625
cos (θ /2 )

θ = 36.42°

θ = 36.4°

(Additional solutions discarded as not applicable are θ = ± 180°)

 PROBLEM 10.24
Determine the value of θ corresponding to the equilibrium position of
the mechanism of Problem 10.11 when P = 20 lb and Q = 25 lb.

SOLUTION

x A = 2l sin θ

δ x A = 2l cosθ δθ

θ
CD = 2l sin
2

θ
δ ( CD ) = l cos δθ
2

Virtual Work:

δ U = 0: Pδ x A − Qδ ( CD ) = 0

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

cosθ
or Q = 2P
cos (θ /2 )

With P = 20 lb and Q = 25 lb

cosθ
( 25 lb ) = 2 ( 20 lb )
cos (θ /2 )

cosθ
or = 0.625
cos (θ /2 )

Solving numerically, θ = 56.615° θ = 56.6°

 PROBLEM 10.25
A slender rod of length l is attached to a collar at B and rests on a portion
of a circular cylinder of radius r. Neglecting the effect of friction,
determine the value of θ corresponding to the equilibrium position of the
mechanism when l = 300 mm, r = 90 mm, P = 60 N, and Q = 120 N.

SOLUTION

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 θδθ

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 = 300 mm, r = 90 mm, P = 60 N, and Q = 120 N

cos 2 θ =
(120 N )( 90 mm ) = 0.6
( 60 N )( 300 mm )
or θ = 39.231° θ = 39.2°
 PROBLEM 10.26
A slender rod of length l is attached to a collar at B and rests on a portion
of a circular cylinder of radius r. Neglecting the effect of friction,
determine the value of θ corresponding to the equilibrium position of
the mechanism when l = 280 mm, r = 100 mm, P = 300 N, and
Q = 600 N.

SOLUTION

From the analysis of Problem 10.25

Qr
cos 2 θ =
Pl

Then with l = 280 mm, r = 100 mm, P = 300 N, and Q = 600 N

cos 2 θ =
( 600 N )(100 mm ) = 0.71429
( 300 N )( 280 mm )
or θ = 32.311° θ = 32.3°
 PROBLEM 10.27
Determine the value of θ corresponding to the equilibrium position
of the mechanism of Problem 10.12 when l = 600 mm,
a = 100 mm, P = 100 N, and Q = 160 N.

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 cosθ δθ − δθ
cos 2 θ
Virtual Work:
δ U = 0: − Qδ y A − Pδ yB = 0

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

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

l 
or Q = P  cos3 θ − 1
a 
With l = 600 mm, a = 100 mm, P = 100 N, and Q = 160 N

(160 N ) = (100 N )  
600 mm
cos3 θ − 1
 100 mm 

or cos3 θ = 0.4333
θ = 40.82° θ = 40.8°
 PROBLEM 10.28
Determine the value of θ corresponding to the equilibrium position of
the mechanism of Problem 10.13 when l = 900 mm, a = 150 mm
P = 75 N, and Q = 135 N.

SOLUTION

For ∆AA′C : A′C = a tan θ

y A = − ( A′C ) = −a tan θ

a
δ yA = − δθ
cos 2 θ
For ∆BB′C :
B′C = l sin θ − A′C
= l sin θ − a tan θ
B′C l sin θ − a tan θ
BB′ = =
tan θ tan θ
xB = BB′ = l cosθ − a

δ xB = −l sin θ δθ
Virtual Work:
δ U = 0: Pδ xB − Qδ y A = 0

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

Pl sin θ cos 2 θ = Qa

l
or Q = P sin θ cos 2 θ
a
With l = 900 mm, a = 150 mm, P = 75 N, and Q = 135 N

900 mm
135 N = ( 75 N ) sin θ cos 2 θ
150 mm

or sin θ cos 2 θ = 0.300

Solving numerically, θ = 19.81° and 51.9°
 PROBLEM 10.29
Two rods AC and CE are connected by a pin at C and by a spring AE. The
constant of the spring is k, and the spring is unstretched when θ = 30°.
For the loading shown, derive an equation in P, θ , l, and k that must be
satisfied when the system is in equilibrium.

SOLUTION

yE = l cosθ

δ yE = −l sin θ δθ
Spring:
Unstretched length = 2l

x = 2 ( 2l sin θ ) = 4l sin θ

δ x = 4l cosθ δθ

F = k ( x − 2l )

F = k ( 4l sin θ − 2l )

Virtual Work:
δ U = 0: Pδ yE − F δ x = 0

P ( −l sin θ δθ ) − k ( 4l sin θ − 2l )( 4l cosθ δθ ) = 0

− P sin θ − 8kl ( 2sin θ − 1) cosθ = 0

P cosθ P 1 − 2sin θ
or = (1 − 2sin θ ) =
8kl sin θ 8kl tan θ
 PROBLEM 10.30
Two rods AC and CE are connected by a pin at C and by a spring AE. The
constant of the spring is 300 N/m, and the spring is unstretched when
θ = 30°. Knowing that l = 200 mm and neglecting the mass of the rods,
determine the value of θ corresponding to equilibrium when P = 160 N.

SOLUTION

P 1 − 2sin θ
From the analysis of Problem 10.29, =
8kl tan θ
Then with P = 160 N, l = 0.2 m, and k = 300 N/m
160 N 1 − 2sin θ
=
8 ( 300 N/m )( 0.2 m ) tan θ

1 − 2sin θ 1
or = = 0.3333
tan θ 3
Solving numerically,
θ = 24.98° θ = 25.0°