I have a UR824, but it's been a while since I tried connecting the balanced outs to an unbalanced input (my current amps have balanced ins). When I did briefly run the Steinberg balanced to unbalanced, I used a conventional TRS to RCA adapter cable like you can purchase from any music supply store. When I took one apart, the ones I had seemed to be wired as shown in number 12 in the Rane paper. In any event, the UR824 operating manual suggests that the outputs are fine for unbalanced output (they're listed as "balanced/unbalanced outputs"), so you should hopefully have no problems on that front.
The bigger concern I would have would be the input sensitivity of your power amps; most power amps with unbalanced inputs are fully driven with 1 or 2 volts of input (i.e. "consumer" line level), but the Steinberg can put out 16 or 18 6 volts (i.e. "pro audio" line level) [edited: got my numbers jumbled, thanks mojave]. That kind of voltage could easily overload the inputs of some power amps leading to distortion or worse. If your amp isn't expecting a "pro audio" line level signal (which, if it has unbalanced ins, it probably isn't), you have a couple options there, but the safest/best (in my view) is an inline passive line-level attenuator, which has the added advantage of lowering the idle noisefloor of the system.