1

NOTE ON THE PRINCIPLE OF VIRTUAL WORK

In order to demonstrate this principle we will need a property of vector fields called the
Gauss Theorem. Suppose we have a volume V, enclosed by a surface , and that with
each point P inside the volume there is an associated vector v(x,y,z). Then, if n is a unit
vector normal to the surface , pointing outwards, Gausss theorem says that

[1]

v. n d = div (v) dV

where the first integral is taken over the entire surface and the integrand is the dot
product of the vector v with the vector n; the second integral is taken over the entire
volume V and the integrand is the divergence of the vector v, which is defined as
[2]

div(v) =

v x v y v z
+
+
x
y
z

Here, for example, vx is the x-component of the vector v. The dot product is, of course,
[3]

v.n = v x n x + v y n y + v z n z

where nx , ny and nz are, respectively, the components in the x, y and z directions of the
unit normal vector n.
Now, consider the following figure representing a body of volume V under a system of
applied forces p over its surface.

Let us assume that the system is in equilibrium and that each point P inside the body has
displacements u, v and w in, respectively, the x, y and z directions. In correspondence
with these displacements, the body has normal strains x , y, and z ; shear strains xy ,

2
xz , and yz ; normal stresses x , y, and z and shear stresses xy ,xz , and yz . All
these quantities vary from point to point, that is, they are all functions of x, y and z. They
provide the solution to the problem of finding what happens to the body when the loads p
are applied. The strains and the displacements are related by kinematical equations:

x =

u
x

y =

v
y

z =

w
z

[4]

xy =

u v
+
y x

xz =

u w
+
z x

yz =

v w
+
z y

while the stresses obey the equilibrium equations:

x xy xz
+
+
=0 ,
x
y
z

[5]

xy
x

y
y

yz
z

=0 ,

xz yz z
+
+
=0
z
y
z

On the other hand, at the surface , the stresses must achieve equilibrium with the
applied loads p. If the components of the vector p are px , py and pz , then, at the
boundary,
p x = x n x + xy n y + xz n z
[6]

p y = xy n x + y n y + yz n z
p z = xz n x + yz n y + z n z

Assume that now we introduce a perturbation to this solution, in the form of changes u,
v, and w to the functions u, v and w. These changes, all functions of x, y and z, must
satisfy the support conditions for the body (as u, v and w do) but, otherwise, can be
arbitrary. Let us call these perturbations virtual displacements.

Let us consider the following expression, called the external virtual work, which gives
the work done by the applied forces p along the virtual displacements:

[7]

We = (p x u + p y v + p z w) d

Introducing Eqs. [6] into [7] and collecting terms, we can write
[8]:

We = {( x u + xy v + xz w)n x + ( xy u + y v + yz w)n y + ( xz u + yz v + z w)n z }d

Comparing this expression to the left-hand side of Eq.(1), and taking Eq.(3) into account,
one can apply Gauss Theorem and write that
[9]:
( x u + xy v + xz w) ( xy u + y v + yz w) ( xz u + yz v + z w)
+
+
We =
dV
x
y
z

From here we can proceed and differentiate by the chain rule, obtaining

[10]:

xy xz
y yz

z
u + xy +
v + xz + yz +
wdV +
We = x +
+
+

V
u
u v
v w
v
w
u w

dV

+
+

+
+

x
y
z
xy
xz
yz
y

y
x
y
z
x
x
z

z
V

Now we can see, from Eq.(5), that if the virtual displacements are perturbations of the
correct solution to the problem the stresses satisfy equilibrium and, therefore, the first
integral of Eq.(10) is equal to zero. The second part, from Eq.(4), can be written in terms
of the strains associated with the virtual displacements (i.e., the virtual strains). Thus,
finally, we can say that the external virtual work We can be written as

[11]

We = ( x x + y y + z z + xy xy + xz xz + yz yz )dV = Wi
V

The expression on the right can be interpreted as the work done by the stresses along the
virtual strains, and it is called the internal virtual work Wi.
The Principle of Virtual Work can be then stated as follows:
If the displacements corresponding to the exact solution to the problem, with the stresses
satisfying the equations of equilibrium, is perturbed by adding arbitrary virtual
displacements, then the work done by the external forces along these virtual
displacements equals the work done by the stresses along the corresponding virtual
strains. Or,
[12]

We = Wi

The virtual displacements can be arbitrary with the only constraint that they have to be
compatible with the support conditions of the body.
Notice a very important point: in the derivation the only requirement is that the stresses
satisfy equilibrium. Nothing has been required regarding the properties of the material,
that is, whether it is elastic or non-elastic. Thus, the Principle of Virtual Work can be
used either in elasticity or in non-elastic problems.

The theorem associated with minimum total potential energy does require that the body
be elastic. Thus, the Principle of Virtual Work is more general and more useful.