PROBLEM 10.

91
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 −P for which the
equilibrium position is stable.

SOLUTION

Consider a small clockwise rotation θ of the plate about its center.

Then V = 2VP + 4VSP
a 
where VP = P  cosθ 
2 
1
= ( Pa cosθ )
2
1 2
and VSP = kySP
2
2
a 2
Now d =   +a
2
a
= 5
2
  θ 
and α = 180° − φ +  90° −  
  2 

 θ
= 90° −  φ − 
 2

 a  
Then ySP =  5 θ  sin α
 2  

a   θ 
= θ 5 sin 90° −  φ −  
2   2 

a  θ
= θ 5 cos  φ − 
2  2
PROBLEM 10.91 CONTINUED
2
1 a  θ 
and VSP = k  θ 5 cos  φ −  
2 2  2 

5 2 2  θ
= ka θ cos 2  φ − 
8  2

5 2 2  θ
∴ V = Pa cosθ + ka θ cos 2  φ − 
2  2
Then
dV 5   θ
= − Pa sin θ + ka 2  2θ cos 2  φ − 
dθ 8   2

 1  θ  θ 
+ θ 2  −  cos  φ −  sin  φ − 
 2  2  2 

5 2  θ 1 
= − Pa sin θ + ka  2θ cos 2  φ −  + θ 2 sin ( 2φ − θ ) 
2   2  2 

d 2V 5   θ
= − Pa cosθ + ka 2  2cos 2  φ − 
dθ 2
2   2

 1  θ  θ
−2θ  −  cos  φ −  sin  φ −  + θ sin ( 2φ − θ )
 2  2  2

1 
− θ 2 cos ( 2φ − θ ) 
2 

5 2  θ 3
= − Pa cosθ + ka  2cos 2  φ −  + θ sin ( 2φ − θ )
2   2 2

1 
− θ 2 cos ( 2φ − θ ) 
2 

d 2V 5   1  θ  θ 3
= Pa sin θ + ka 2  4  −  cos  φ −  sin  φ −  + sin ( 2φ − θ )
dθ 3
2   2   2   2 2

3 1 
− θ cos ( 2φ − θ ) − θ cos ( 2φ − θ ) + θ 2 sin ( 2φ − θ ) 
2 2 
5 2 1 5
= Pa sin θ + ka  sin ( 2φ − θ ) − θ cos ( 2φ − θ )
2 2 2

1 
+ θ 2 sin ( 2φ − θ ) 
2 
PROBLEM 10.91 CONTINUED

dV
When θ = 0, = 0 for all values of P.
dθ

For stable equilibrium when θ = 0, require

d 2V
dθ 2
5
(
> 0: − Pa + ka 2 2cos 2 φ > 0
2
)
a
2 1
Now, when θ = 0, cos φ = =
a 5
5
2

1
∴ − Pa + 5ka 2   > 0
5

or P < ka

When P = ka ( for θ = 0 ) :

dV
=0
dθ

d 2V
=0
dθ 2

d 3V 5
= ka 2 sin 2φ > 0 ⇒ unstable
dθ 3
4

∴ Stable equilibrium for 0 ≤ P < ka

 PROBLEM 10.92
Two bars are attached to a single spring of constant k that is unstretched
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.

SOLUTION

L 2L
Spring: s= sin φ = sin θ
3 3

For small values of φ and θ : φ = 2θ

L 2L  1
V = P  cos φ + cosθ  + ks 2
3 3  2

2
( cos 2θ + 2cosθ ) + k  sin θ 
PL 1 2L
=
3 2  3 

dV PL 2
= ( −2sin 2θ − 2sin θ ) + kL2 sin θ cosθ
dθ 3 9

PL 2
=− ( 2sin 2θ + 2sin θ ) + kL2 sin 2θ
3 9

d 2V PL 4
=− ( 4 cos 2θ + 2cosθ ) + kL2 cos 2θ
dθ 2
3 9

d 2V 6 PL 4 2
When θ = 0: =− + kL
dθ 2
3 9

d 2V 4
For stability: > 0: − 2 PL + kL2 > 0
dθ 2
9

2
0≤ P< kL
9
 PROBLEM 10.93
Two bars are attached to a single spring of constant k that is unstretched
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.

SOLUTION

2L L
First note a= sin θ = sin φ
3 3

L
and s= sin θ
3

For small values of φ and θ : φ = 2θ

 2L L  1
V = P cosθ + cos φ  + ks 2
 3 3  2

2
( 2cosθ + cos 2θ ) + k  sin θ 
PL 1 L
=
3 2 3 

dV PL kL2
= ( −2sin θ − 2sin 2θ ) + sin θ cosθ
dθ 3 9

2PL kL2
=− ( sin θ + sin 2θ ) + sin 2θ
3 18

d 2V 2 PL kL2
= − ( cos θ + 2cos 2θ ) + cos 2θ
dθ 2 3 9

d 2V kL2
When θ = 0: = −2 PL +
dθ 2 9

d 2V kL2
For stability: > 0: − 2 PL + >0
dθ 2 9

1
0≤ P< kL
18
 PROBLEM 10.94
Bar AC is attached to a hinge at A and to a spring of constant k that is
undeformed when the bar is vertical. Knowing that the spring can act in
either tension or compression, determine the range of values of P for
which the equilibrium of the system is stable in the position shown.

SOLUTION

Consider a small disturbance of the system defined by the angle θ .

Have
xC = 2a sin θ = a sin φ
For small θ : 2θ = φ
Now, the Potential Energy is
1 2
V = kxB + PyE
2
where xB = a sin θ

and yE = yC + yE/C

= 2a cosθ + 2a cos φ

= 2a ( cosθ + cos 2θ )

1 2 2
Then V = ka sin θ + 2 Pa ( cosθ + cos 2θ )
2
dV 1
and = ka 2 ( 2sin θ cosθ ) − 2Pa ( sin θ + 2sin 2θ )
dθ 2
1 2
= ka sin 2θ − 2 Pa ( sin θ + 2sin 2θ )
2

d 2V
= ka 2 cos 2θ − 2 Pa ( cosθ + 4 cos 2θ )
dθ 2
For θ = 0 and for stable equilibrium:

d 2V
>0
dθ 2

or ka 2 − 2 Pa (1 + 4 ) > 0
PROBLEM 10.94 CONTINUED

1
or P< ka
10
1
∴ 0≤ P< ka
10
ka
Check stability for P=
10

d 3V
= −2ka 2 sin 2θ + 2Pa ( sin θ + 8sin 2θ )
dθ 3
d 4V
= −4ka 2 cos 2θ + 2Pa ( cosθ + 16cos 2θ )
dθ 4
ka
Then, with θ =0 and P=
10
dV
=0
dθ

d 2V
=0
dθ 2
d 3V
=0
dθ 3
d 4V  1 
= −4ka 2 + 2  ka  ( a )(1 + 16 )
dθ 4
 10 

= −0.6ka 2 < 0 ⇒ Unstable

 PROBLEM 10.95
The horizontal bar BEH is connected to three vertical bars. The collar at
E can slide freely on bar DF. Determine the range of values of P for
which the equilibrium of the system is stable in the position shown when
a = 300 mm, b = 400 mm, and Q = 90 N.

SOLUTION

First note A = a sin θ = b sin φ

For small values of θ and φ : aθ = bφ
a
or φ = θ
b
V = P ( a + b ) cos φ − 2Q ( a + b ) cosθ

 a  
= ( a + b )  P cos  θ  − 2Q cosθ 
 b  

dV  a a  
= ( a + b )  − P sin  θ  + 2Q sin θ 
dθ  b b  

d 2V  a2 a  
2
= ( a + b )  − 2 P cos  θ  + 2Q cosθ 
dθ  b b  

d 2V  a2 
When θ = 0: 2
= ( a + b )  − 2 P + 2Q 
dθ  b 

d 2V a2
Stability: > 0: − P + 2Q > 0
dθ 2 b2
b2
P<2 Q (1)
a2
a2
or Q> P (2)
2b 2
With Q = 90 N, a = 300 mm, and b = 400 mm

( 400 mm )
2
Equation (1): P<2 ( 90 N ) = 320 N
( 300 mm )2
For stability 0 ≤ P < 320 N
 PROBLEM 10.96
The horizontal bar BEH is connected to three vertical bars. The collar at
E can slide freely on bar DF. Determine the range of values of Q for
which the equilibrium of the system is stable in the position shown when
a = 480 mm, b = 400 mm, and P = 600 N.

SOLUTION

Using Equation (2) of Problem 10.95 with P = 600 N, a = 480 mm, and b = 400 mm

1 ( 480 mm )
2
Equation (2) Q> ( 600 N ) = 432 N
2 ( 400 mm )2

For stability Q > 432 N

 PROBLEM 10.97
Bars AB and BC, each of length l and of negligible weight, are attached to
two springs, each of constant k. The springs are undeformed and the
system is in equilibrium when θ1 = θ 2 = 0. Determine the range of
values of P for which the equilibrium position is stable.

SOLUTION

Have xB = l sin θ

xC = l sin θ1 + l sin θ 2

yC = l cosθ1 + l cosθ 2

1 2 1 2
V = PyC + kxB + kxC
2 2

1 2 2
V = Pl ( cosθ1 + cosθ 2 ) + kl sin θ1 + ( sin θ1 + sin θ 2 ) 
2
or
2  

For small values of θ1 and θ 2 :

1 2 1 2
sin θ1 ≈ θ1, sin θ 2 ≈ θ 2 , cosθ1 ≈ 1 − θ1 , cosθ 2 ≈ 1 − θ2
2 2

 θ2 θ2  1
V = Pl 1 − 1 + 1 − 2  + kl 2 θ12 + (θ1 + θ 2 ) 
2
Then
 2 2  2  

∂V
and = − Plθ1 + kl 2 θ1 + (θ1 + θ 2 ) 
∂θ1

∂V
= − Plθ 2 + kl 2 (θ1 + θ 2 )
∂θ 2

∂ 2V ∂ 2V
= − Pl + 2kl 2 = − Pl + kl 2
∂θ12 ∂θ 22

∂ 2V
= kl 2
∂θ1∂θ 2
 PROBLEM 10.97 CONTINUED

Stability Conditions for stability (see page 583).

∂V ∂V
For θ1 = θ 2 = 0: = =0 ( condition satisfied )
∂θ1 ∂θ 2

2
 ∂ 2V  ∂ 2V ∂ 2V
  − <0
 ∂θ1∂θ 2  ∂θ12 ∂θ 22

( kl ) − ( −Pl + 2kl ) ( −Pl + kl ) < 0

2
2 2
Substituting,

k 2l 4 − P 2l 2 + 3Pkl 3 − 2k 2l 4 < 0

P 2 − 3klP + k 2l 2 > 0

3− 5 3+ 5
Solving, P< kl or P> kl
2 2

or P < 0.382kl or P > 2.62kl

∂ 2V
> 0: − Pl + 2kl 2 > 0
∂θ12

1
or P< kl
2

∂ 2V
> 0: − Pl + kl 2 > 0
∂θ 22

or P < kl

Therefore, all conditions for stable equilibrium are satisfied when

0 ≤ P < 0.382kl
 PROBLEM 10.98
Solve Problem 10.97 knowing that l = 400 mm and k = 1.25 kN/m.

SOLUTION

From the analysis of Problem 10.98 with

l = 400 mm and k = 1.25 kN/m

P < 0.382kl = 0.382 (1250 N/m )( 0.4 m ) = 191 N

0 ≤ P < 191.0 N
 PROBLEM 10.99
Bar ABC of length 2a and negligible weight is hinged at C to a drum of
radius a as shown. Knowing that the constant of each spring is k and that
the springs are undeformed when θ1 = θ 2 = 0, determine the range of
values of P for which the equilibrium position θ1 = θ 2 = 0 is stable.

SOLUTION

1 1
k ( aθ 2 ) + k ( a sin θ1 + a sin θ 2 ) + P ( 2a cosθ1 + a cosθ 2 )
2 2
Have V =
2 2

∂V
Then = ka 2 ( sin θ1 + sin θ 2 ) cosθ1 − 2Pa sin θ1
∂θ1

1 
= ka 2  sin 2θ1 + cosθ1 sin θ 2  − 2Pa sin θ1
 2 

∂ 2V
and = ka 2 ( cos 2θ1 − sin θ1 sin θ 2 ) − 2Pa cosθ1
∂θ12

∂ 2V
= ka 2 cosθ1 cosθ 2
∂θ1∂θ 2

∂V
Also = ka 2θ 2 + ka 2 ( sin θ1 + sin θ 2 ) cosθ 2 − Pa sin θ 2
∂θ 2

 1 
= ka 2θ 2 + ka 2  sin θ1 cosθ 2 + sin 2θ 2  − Pa sin θ 2
 2 

∂ 2V
and = ka 2 + ka 2 ( − sin θ1 sin θ 2 + cos 2θ 2 ) − Pa cosθ 2
∂θ 22

When θ1 = θ 2 = 0

∂V ∂ 2V ∂V
=0 = ka 2 =0
∂θ1 ∂θ1∂θ 2 ∂θ 2

∂ 2V ∂ 2V
= ka 2 − 2 Pa = ka 2 + ka 2 − Pa = 2ka 2 − Pa
∂θ12 ∂θ 22
 PROBLEM 10.99 CONTINUED

∂V
Apply Equations 10.24 = 0: condition satisfied
∂θ1

∂V
= 0: condition satisfied
∂θ 2

2
 ∂ 2V  ∂ 2V ∂ 2V
( ka ) − ( ka )( )
2
2 2
  − < 0: − 2 Pa 2ka 2 − Pa < 0
 ∂θ1∂θ 2  ∂θ12 ∂θ 22

or k 2a 2 − ( ka − 2P )( 2ka − P ) < 0

Expanding k 2a 2 − 2ka 2 + 5kaP − 2 P 2 < 0

or 2P 2 − 5kaP + k 2a 2 > 0

5 − 17 5 + 17
or P< ka and P> ka
4 4

or P < 0.21922ka and P > 2.2808ka

δ 2V δ 2V
Also > 0: ka 2 − 2Pa > 0 or > 0: 2ka 2 − Pa > 0
δθ12
δθ 2
2

1
or P< ka or P < 2ka
2

∴ For stable equilibrium when θ1 = θ 2 = 0:

0 ≤ P < 0.219ka
 PROBLEM 10.100
Solve Problem 10.99 knowing that k = 10 lb/in. and a = 14 in.

SOLUTION

From the solution to Problem 10.99, with k = 10 lb/in. and a = 14 in.

0 ≤ P < 0.21922ka

or 0 ≤ P < 0.21922 (10 lb/in.)(14 in.)

or 0 ≤ P < 30.7 lb