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1. A mechanism consisting of particles and rigid bodies has four degrees of freedom. What does this
mean?
2. The generalized forces corresponding to a given applied force on a mechanism and relative to some
chart are all zero. What does this mean?
3. What is the relationship between the rate of change of a potential energy function with respect to a
coordinate function and the virtual work performed by the corresponding force during a small change
in the coordinate function?
4. Suppose the generalized forces corresponding to a potential energy function are zero relative to some
chart. Does this mean that the potential energy is constant for all possible con¯guration? Is it constant
for all allowable con¯gurations? Explain your answer!
5. All curves in the collection of con¯gurations of a mechanism that belong to the same tangent vector
are equivalent. What does this mean?
6. Give an example of two curves in the collection of allowable con¯gurations for some mechanism that
intersect but are not equivalent!
7. Consider a tangent vector on the collection of allowable con¯gurations of some mechanism. Is this a
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 Spring '08
 Weaver

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