6.

Virtual Work
2142111 Statics,
S i
2011/2
Department of Mechanical
Engineering Chulalongkorn University
Engineering,

Objectives Students must be able to #1

Course Objective
Use virtual work and energy methods in analyses of
frictionless bodies/structures in equilibrium
Chapter Objectives
For virtual work
Describe and determine virtual works and virtual motion
(displacement/rotation) by forces and couples
Determine active forces that maintain systems in
equilibrium and draw the Active Force Diagram (AFD)
Determine possible virtual motions and draw the Virtual
Motion Diagram (VMD)
Determine the degree
g
of freedom ((DoF)) and virtual motion
in terms of independent coordinates
2

Objectives Students must be able to #2

For virtual work
Use the principle of virtual work with AFD and VMD to
analyze for unknown active loads or equilibrium position
for systems in equilibrium
For potential energy
Relate the work done with potential energy
Describe and determine the potential energy, potential
function and independent coordinates in a system
Describe the conditions for stable/neutral/unstable stability
of a system in equilibrium by the potential function
Determine from p
potential function the stability
y of 1 DoF
systems in equilibrium
3

Contents

Virtual Work
Definition of Work
Principle of Virtual Work
Types
yp of Forces
Degree of Freedom
Potential
P
t ti l Energy
E
Applications

Virtual Work

Work By a Force

dU = F dr
= F dr cos

dU = work

F = force that done the work

dr = displacement
5

Virtual Work

Work By a Couple

r
r
dU = F ( d ) + F ( d ) = (Fr )d
2
2

dU = M d

M = magnitude of couple that do the work

d = small angle of rotation
6

Virtual Work

Virtual Work Utilization

Utilize the principle of virtual work

To determine active forces that maintain the system in
equilibrium,
To determine the equilibrium positions,
To relate the work done by conservative forces with
potential energy.

Virtual Work

Virtual Work Virtual Movements

Imaginary or virtual movements is assumed and does not

actually exist.
Virtual displacement r
Virtual rotation
Virtual movements are infinitesimally small and does not
violate physical constraints.

Principle of virtual work is an alternative form of

Newtons laws that can analyze the system in
equilibrium under work and energy concepts.

Virtual Work

Virtual Work Constraints of Movements

U = F r

U = M

Virtual Work

Virtual Work Principle of Virtual Work

Consider an object in equilibrium

Th virtual
The
i t l workk done
d
by
b allll forces
f
to
t move the
th object
bj t with
ith
a virtual displacement

U = (F r )

= (F1 + F2 + F3 ) r

In equilibrium, U = 0

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10

Virtual Work

Types of Forces Active and Reaction

Active forces generate virtual work.

External forces applied forces
forces, gravitational forces
Internal forces spring forces, viscous forces
Reaction and constrain forces do not create virtual work

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Virtual Work

Conservative Forces Descriptions #1

Conservative forces generate virtual work that depends

only on the initial and final locations
locations, but not on is the
path.
Conservative forces are active forces.
Example: weight, elastic spring

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Virtual Work

Conservative Forces Descriptions #2

U = Wy
W
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13

Virtual Work

Conservative Forces Descriptions #3

1
1
U = ( ks22 ks12 )
2
2

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Virtual Work

Conservative System
y

A conservative system is a system in which work done by

a force is
Independent of path, i.e. work done by conservative
force,
Equal to the difference between the final and initial
values of the energy function,
Completely
p
y reversible,, i.e. no loss.

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Virtual Work

Frictional Force

Friction exerts on a body by surface due to relative motion

Work done depends on the path; the longer the path, the
greater the work.
Friction is not conservative.
conservative
Work done is dissipated from the body in the form of heat.

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Virtual Work

Virtual Work Advantages

Work done by reaction forces are always zero

zero.
Only active forces cause virtual works.
If the structure is in equilibrium, or U = 0, sum of virtual works
d
done
b
by allll active
ti fforces are zero.
For complex structures, all unknown reaction and constraint
g
forces are ignored.
Use the principle of virtual work to determine
Active forces that maintain the system in equilibrium,
Equilibrium
E ilib i
positions.
iti

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Virtual Work

AFD Active Force Diagrams

g

An AFD shows only active forces in the system.

AFD

FBD
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Virtual Work

DOF Degrees of Freedom

DOFs are independent coordinates used to describe

positions of the system
system.
Virtual displacements can be derived in terms of DOFs.

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Virtual Work

Example Boresi 12
12-35
35 #1

AFD

Apply the principle of virtual work to

derive a formula in terms of a, b,
and W for the magnitude P of the
force required for equilibrium of the
bell crank ABC. The pin at B is
frictionless. Neglect the weight of
the bell crank.

AFD off the

h rod
d
1 DOF system

Procedure
Active force diagram
Geometric relations of
virtual movements
Virtual
Vi
l work
k equation
i
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Virtual Work

Example Boresi 12
12-35
35 #2

Virtual Motion
Virtual Work

Virtual movements
rC = b

rA = a
Virtual Work

[ U = 0]
P rA W rC = 0
Pa Wb = 0
P = bW a

Ans

DIY: Check by FBD

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Virtual Work

Example Hibbeler 11
11-13
13 #1

AFD

The thin rod of weight W rest against the smooth wall and floor.
Determine
ete
e the
t e magnitude
ag tude o
of force
o ce P needed
eeded to hold
o d itt in equ
equilibrium
b u
for a given angle .

AFD of the rod

1 DOF system
y

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Virtual Work

Example Hibbeler 11
11-13
13 #2

Virtual Motion

Virtual movements:
l
yC + yC = sin( + )
2
l
l
yC + sin
i = ((sin
i cos + cos sin
i )
2
2
cos 1, sin
l
2

yC = cos
x A + x A = l cos( + )
x A = l (cos cos sin sin cos )
cos 1, sin
x A = l sin (as increase, x A decrease)

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Virtual Work

Example Hibbeler 11
11-13
13 #3

Virtual Work

[ U = 0]
P x A W y C = 0
Pl sin
i W
1 cos
P= W
2
sin
i

l
cos = 0
2
Ans

DIY: Check by FBD

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Virtual Work

Example Hibbeler 11
11-13
13 #4

Virtual Motion

Virtual movements: Alternative method

1
y C = l sin
2

x A = l cos

dy C 1

= l cos
d
2
1
y C = l cos
2
dx A

= l sin
d
x A = l sin

Be careful of the sign!

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Virtual Work

Example Boresi 12
12-38
38 #1
Using the principle of virtual work,
determine the relationship between
the force P and Q, in terms of a, b,
c, and d, for the frictionless
mechanism that is in equilibrium in
the position shown. Neglect the
weights of the bars.

AFD of the system

1 DOF system
t
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Virtual Work

Example Boresi 12
12-38
38 #2
1 = d , 2 = c , 3 = 2 = c ,
3

a+b
= 4
4 =
c
a

a+b

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Virtual Work

Example Boresi 12
12-38
38 #3
[ U = 0]

P1 + Q 4 = 0
P 4 a + b c
=
=
Q 1
a d
P c
b
= (1 + )
Q d
a

Ans

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Virtual Work

Example Boresi 12
12-36
36 #1
A pulley-crank mechanism is
used to raise the 400 lb weight
weight.
Using the principle of virtual
work, determine the force P.
Neglect the weight of the pulley

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Virtual Work

Example Boresi 12
12-36
36 #2
1 = (2 ft)
2 = (1 ft)
3 = 4
3 = 2 / 2 = (0.5 ft)

[ U = 0]
P1 (400 lb) 4 = 0
(0.5 ft)
(2 ft)
P = 100 lb
Ans
P = (400 lb)
AFD of the system
1 DOF system
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Virtual Work

Example Frame & Machine 1 #1

For P = 150 N squeeze on the handles of the pliers,
determine the force F applied by each jaw
jaw.

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Virtual Work

Example
p Frame & Machine 1 #2

1 DOF system:

1
180 mm

2
60 mm

2
30 mm

3
20 mm

2 =
3 =

1
6

2
3

1
18

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Virtual Work

Example Frame & Machine 1 #3

Symmetry about the horizontal centerline

[ U = 0]

2P1 2F 3 = 0
F = 18P = 2.25 kN

Ans
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Virtual Work

Example
p Frame & Machine 2 #1
The mechanism is used to weigh
mail A package placed at A causes
mail.
the weighted pointer to rotate through
an angle . Neglect the weights of
the members except for the
counterweight at B, which has a mass
of 4 kg. If a = 20, what is the mass of
the package at A?

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Virtual Work

Example
p Frame & Machine 2 #2
1 DOF system
B rotates CCW by .

2 = (100 mm) ( cos(20 ) cos 20 )

2 = (100 mm) sin 20
1 = (100 mm) ( sin(10 + ) sin10 )
1 = (100 mm)cos10

[ U = 0]
4g 2 W 1 = 0
W = 4g

sin 20
, mA = 1
1.39
39 kkg
cos10

A
Ans
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Virtual Work

Virtual Work Systems with Friction

Friction forces causes the virtual work on the systems.

As the advantage of virtual work method is in the analysis
of the entire system, appreciable friction in the system
requires the dismembering and negates this advantage.

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Virtual Work

Mechanical Efficiency
y
e=

1=

output work
input work

output work + loss

input work

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Virtual Work

Example Friction 1 #1

Find the mechanical efficiency in

moving the block off weight W up the
incline with coefficient of kinetic
friction k.
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Virtual Work

Example Friction 1 #2

The block moves upwards.

By equilibrium of force
F = k W cos
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Virtual Work

Example Friction 1 #3

[ U = 0]
T s F s W s sin = 0
T = W ( k cos + sin )
e=

W s sin
sin
=
T s
k cos + sin
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Potential Energy

Potential Energy

Potential energy
Capacity to do work
Generated by conservative forces
Example of potential energy
Gravitational
Vg = mgh
Elastic
El ti spring
i
Ve = 0.5ks
0 5k 2
Torsional spring
Ve = 0.5K 2
Potential function V = Vg + Ve

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Potential Energy

Equilibrium 1 DOF

Position from datum is defined by independent

coordinate q
The displacement of frictionless system is dq
V = V(q)
dU = V(q) V(q + dq)
In equilibrium dU = dV = 0

dV
=0
dq

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Potential Energy

Equilibrium n DOFs

Positions defined by q1, q2, q3, , qn

The displacement of frictionless system is q1, q2, q3,
, qn
V = V(q1, q2, q3, , qn )
dU = V(q1, , qn ) V(q1 + dq1, , qn + dqn)
In equilibrium dU = dV
dV = 0

V =

V
V
V
q1 +
q2 + ... +
qn
q1
q2
qn

V
V
V
= 0,
= 0, ...,
= 0,
q1
q2
qn
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Potential Energy

Stability

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Potential Energy

Stability 1 DOF #1

Stable Equilibrium

dV
d 2V
= 0,
>0
2
dq
dq

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Potential Energy

Stability 1 DOF #2

Neutral Equilibrium

dV
d 2V
= 0,
=0
2
dq
dq

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Potential Energy

Stability 1 DOF #3

Unstable Equilibrium

dV
d 2V
= 0,
<0
2
dq
dq

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Potential Energy

Example Hibbeler 11
11-31
31 #1
Determine the equilibrium position s
for the 5-lb block and investigate the
stability at this position. The spring
is unstretched when s = 2 in. and
the inclined plane is smooth
smooth.

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Potential Energy

Example Hibbeler 11
11-31
31 #2

Unstretched position

Equilibrium position

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Potential Energy

Example Hibbeler 11
11-31
31 #3
Potential function
V = Ve + Vg =

1 2
ks + mgh
2

1
(3 lb/in.)(s 2 in.)2
2
V = (5 lb)(s 2 in.) sin 30
1
V = (3 lb/in
lb/in.)(
)(s 2 in
in.))2
2
(5 lb)
V =
(s 2 in.)
2
At equilibrium, [dV / ds = 0 ]
V=

(3 lb/in
lb/in.)(
)(s 2 in
in.))
s = 2.8333 in.

((5 lb))
=0
2
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Potential Energy

Example Hibbeler 11
11-31
31 #4

Stability consideration:

d 2V
= (3 lb/in.) stable
2
ds

Stable equilibrium position s = 2.83 in.

Ans

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Potential Energy

Example Hibbeler 11
11-45
45 #1
The 2-lb semi-cylinder supports the block which has a specific
weight of = 80 lb/ft3. Determine the height h of the block
which will produce neutral equilibrium in the position shown.

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Potential Energy

Example Hibbeler 11
11-45
45 #2

V = Vg 1 + Vg 2 = V1hG1 + W2 hG 2
80
16 in.
h
3
cos )
V = ( 3 lb/in. )(8 in.)(10 in.)h(4 in. + cos ) + (2 lb)(4 in.
12
2
3
V = (14.816 lb)h + (1.8549 lb / in.)h 2 cos + (8 3.3953 cos )lb in.

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Potential Energy

Example Hibbeler 11
11-45
45 #3
dV
= (1.8549
(1 8549 lb / in.)
in )h 2 sin + (3.3953
(3 3953 lb in.)
in ) sin
d
d 2V
2
(1.8549
lb
/
in.)
cos + (3.3953 lb in.)cos
=

h
2
d
At equilibrium
dV

2
=
0

(1.8549
(1
8549
lb
/
in.)
i
)
h
sin
i + (3.3953
(3 3953 lb in.)
i ) sin
i =0
d

= 0 or h = 1.3529 in.
At neutral stability
d 2V

2
0
(1.8549
lb
/
in.)
h
cos + (3.3953 lb in.)cos = 0
=

= 90 or h = 1.3529 = 1.35 in.

Ans

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Potential Energy

Example Boresi 12
12-44
44 #1
The uniform slender rods of equal
length are hinged together
together. They
rest against a 45 inclined plane and
are constrained to remain in a
vertical plane
plane.
Neglect friction, determine the
smallest nonzero angle for
which
hi h equilibrium
ilib i
iis possible.
ibl
Determine whether or not the
equilibrium
q
state is stable for this
configuration.

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Potential Energy

Example Boresi 12
12-44
44 #2
AFD of the system
1 DOF
O system
h1 = a sin
h2 = 2a sin + a cos

= 45 +
V = Wh1 + Wh2
V = 3Wa sin + Wa cos
dV
= Wa(3 cos sin )
d
d 2V
= Wa( 3 sin cos )
2
d
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Potential Energy

Example
p Boresi 12-44 #3
In equilibrium
dV
= Wa((3 cos sin ) = 0
d
= 71.565, = 26.6
Ans
Stability at = 71.565
d 2V
= Wa( 3 sin cos )
2
d
= 3.1623Wa
System is unstable

Ans
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Review

Concepts

The virtual work done by all forces to move the object with
a virtual displacement. If the structure is in equilibrium
equilibrium,
sum of virtual works done by all active forces are
equal to zero.
Type of the system equilibrium stable, neutral and
unstable, can be determined by the second derivation of
potential function with the independent coordinate.

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