N-ecture Notes on Engg. Mechonics - B.E. I - - Principle of Virtuol Wonk - MVSR Engg College, - Dr.

PA Sostry

PRINCIPLE OF VIRTUAL WORK

Principle of virtual work is useful in determining the forces or torque required to

maintain equilibrium in mechanical systems ie, interconnected rigid bodies.

Principal of virtual work states that virtual work done by external active forces on an
ideal mechanical system in equilibrium is zero for any and all vhtual displacements
consistent with the constraints.

ldeal systems are those composed of two or more rigid members linked together with
mechanical connections which are incapable of absorbing energy through compression
or elongation and have negligible friction.

In interconnected system three types of forces can be identified.

1 Active forces: External forces capable of doing virtual work during possible virtual
.
dis[placements.

2. Reactive forces: Forces that act at fixed supports where virtual displacements are not
possible. They do no work.

3. lnternal forces: Forces in the connection between members. As internal forces act in
pairs in opposite directions, the work by one force canCels the work of other force.

Virtual displacement is an assumed hypothetical arbitrary small displacement away from

a posltion of static equilibrium consistent with constraints. Constraint here means
restriction of motion imposed by the supports.

The virtual work done on the system by all active forces during a virtual displacement is
zero.

lf active forces F1, F2, .. in a system go through virtual displacements 6x1, 6x2, .. as
per constraints, then the total virtual work 6U = 0,

Or 6U = Fr. dx1 + Fz. 6x2+ - 0

Advantages of the method of virtual work:

1. lt is not necessary to dismember the system to obtain relations between the

active forces, as in the force and moment summation method.
2. Relations between active forces can be established without reference to reactive
(fixed supports) forces.

It is only necessary to obtain the constraining mathematicat relation w.r.t. the

mechanism.'

Fotlowing examples will illustrate the utility of the method of PVW.

_, !-
Lecture Notes on Engg. Mechonics - B.E. f - - Principle of Virtuol Work - MVSR Engg College, - Dr.PA Sostry
Example 1 (with explanation of convention or signs to be adapted)
Find the horizontal component of the reaction at the support of the structure shown,
when a force P is applied"

The structure shown has two hingedsupports.

To find out the horizontal component at joint B,
we assume a roller joint at B free to move
A
along AB only, and assume a horizontal force F
acting on B keeping the system in equilibrium. Evaluating F gives the horizontal
component of reaction at B.
? Yl- -.-Av
b
.1,, - lB
To apply PVW, we assume a virtual (vertical) displacement
at P of 6ys downwards, and the associated displacement
of roller at B by dX6 , while maintaining the constraints or
geometric relations. The displaced shape of structure after
virtual displaCements is as shown. A

Now the active forces are P and F as they are the only once that have done the virtual
work. Reaction at support joint A does no work and the internal forces at joint B
between members does no work.

Virtual work due to P is 6Up - P. 6yp and that due to F is 6Ur - F. 6xc.
The total virtuat work = 6U = 6Up +6Ur = 0.

Sign Convention:
lf a force F moving by distance 6s, (ie
Work done = + F. 6s if F and 6s are in the same direction.
= - F. 6s if F and 6s are in opposite directions.
However, dsdepends on the coordinate system chosen. The virtual displacement (6x,
or 6y or 60) has to be assigned +ve or -ve sign as per the sign of the virtual
displacement.

For the example, as per this convention, P and distance moved are in the same
direction. Hence Virtual Work P = 6Up = p. 6s = P. (- 6ya) = - P. dYe
F and displacement dx are in opposite directions, Hence,
Virtual Work by F - - F. 6s = - F. 6xc
Thus the equation of virtual work becomes
6U = - P. 6yr- F. dxs= 0 (1)
Now 6ys anddxc are substituted from differentials of equations for Ye and xc.
Ys= lSin 0 ; OYn= | Cose. de
Xc = 2l Cos0; 6xc = -21Sin0. d0
Substituting in Eqn.(1), we get
- P. dyr - F. dx6= -P. I Cos e. 6e + F. 2l Sin0. A0 = 0

+ p=(Pt2)Cot0
Le;cture Notes on Engg. Mechonics - BE f - Principle of Virtuol Work - MVSR Engg.College - Dr. PA Sostt'y

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Lecture Notes on Engg. Mechonics - BE f - Principle of Virtuol Work - MVSR Engg.College - Dr. PA Sostry

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Lecfure Notes on Engg. Mechonics - BE f - Principle of Virtusl Work - MVSR Engg.College - Dr. PA Sostry

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Lecture Notes on En99. tlltechanics - BE I - Principle of.Virtucl work - lrlvSR Engg. college ' Dr' PA Sostry

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 Lecture Notes on Engg. Mechonics - BE f - Principle of Virtuol Work - MVSR Engg.College - Dr. PA Sostry

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9
Lecture Notes on Engg. Mechonics - BE f - Principle of Virtuol Work - MVSR Engg. College - Dr. PA Sostry

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Lecture Notes on Engg. Mechonics - BE f - Principle of Virtuol Work - MVSR Engg.College - Dr. PA Sostry

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& Lecture Notes on Engg. Mechonics - BE r - Principle of Virtuol Work - ,t VsR Engg.College - Dn. PA Sostry

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 Lecture Noles on Engg. Machonics - BE I - Principle of Virtuol Work - itAV€R Ergg. College - Dr. PA Sastry
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 Lecture Notes on Engg. Mechonics - BE f - Principle of Virtuol Work - MVSR Engg.College - Dr. PA Sostry

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+"*tb M u ^ftd,
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6u = M, 6q) - H,aA, -hJ, 6hr=o
h, ; b <.iV, ) hrnsbs,**f>
3h1- b€asulr,a\b)t Ah,, 3b6EL,*t)

6u + M- '.taas{ofi-?NL6@r=-o
Me 4 d6cospl)
Oa 2 cosd _M-
+vtb
P"oblotn tg
A"od ,+Bis hrry,6[ to^-erta or,e otp"Ll-c h *'otrEnrc8
cb ., alsc)- stiA-s -I M€ olt6'"nnS O, ei';',4 l; {-,.- 6n h.r
Sl;A,,rt, (f), oLo^.a SOr.r{-<c. is ap/,1.5 o,{ B, oY O=eoo,

6u= -5o,6y,-.F,A4= o _*e;

Hg r 2e f; 0 : AYe= Zoo 6eO,6A e9
% ? loo CDIO -P l5O 6sQ
To velo'!tr @ a^,5 Q ,
loo SrLO -'lsoSd..+
cos4 GW
lh'r-s 7o
=- toa @,6 +- /so *'ft- +hffi
6*o = -loo 3t,.^ A'SO - /sd x g/q Su"O e6s0
' 4/1 scnre
|
Fram 9.0), tr € 5Ox 2c,0 es6

S..A=/IW g= zoo, I

In=l_so:tl
llf
Lec,tureNotes on Engg. Mechonics - BE r - Principle of Virtual Work - MVSR En99. College - Dr. PA Sostry

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Ttno Og"<tos
_{ &""Jew >Y<fol'AS
*/

6lr/1 A^o is
ttfi e),v
4+u* - VorDolJa-s-L)1u,r),
^W
elhotce .x- a*d y es^ vavg r^rrt.1 ee.e!/e-b'on ,
^*t- -4
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= ry" a4 -F H;6x',is *l**lo&ns ao vtvl,o) hrdlk.
&"-1,-'€ (6+.,o t*r,""* is *r*h^i*s ,Lr*t!-;7 lr"f a\t^EL
Vo.v)a LJe" 4s tunsta^b '
t

eel(a4 A e b u,- <tiaa- a,\rrQ= q-s s$'6tfit\)1

sSr6ulrt:1
W,,
# -"-,
a,c;) a& caa,nec*.S AJo+@ '
(

l*^5K
S,5Oo N. SF;ry S&$nat>3c Bw N/n,c,,^'stryJd*5
z 6,gsrt', Ae)rwt^^; fr; Uattres ^f o ou^$ J '
(i) Va-9'.13 %,, K*fry g*lz,nh, %*,

6u, = p,E..* Fr,6 L -.O )

t = x>+g-
...- (21

2LbLc 2q-'6ct Lg =ctnslt^l-;

V, 6L = +,6*
L
:n ks= 6ooa */t

! I

trrtl 6er=o (v wns;g, X1qg xo,',s$)

4 5oo = 4,I/, c# C+)
.lAel'*^re Fr? &oo(L-o,g>z@oaL*l@O - 'Cs)

€rev* (q s (4) , flCr?* j- ) : (totr a"f) 13

4 =+8 I N
Fs
wc',.l.Jn, +
5r**, lt^'Cs) (+> | =o'43
rn

Ust"a E9^s' @> au^d

sJt
2L = o,33 wl
9 n
=0'2+5

t5
Lecture Notes on Engg. Mechonics - BE r - Principle of Virtuol Work - l VsR Engg.College - Dr. PA Sostry

fu lht a"\n2 ,-P-^ b* q -1-*o P q.' Ql"..rrr'r,

u, l2-^r$r0r-r,^ Jor
A.)r>chd-4. O, or*5 e:- .

(el K 0, crr,/G.b* a^^5 ua'3 4 ur,

4\
6q'3 -N z(-5 gJ + ?, 6*.\'
-0>
_j
Yn= fa6,+ \s;t,
a"
{1, = \uto?-, 607 Pr: o,b c-^'aF ^})
xe= o- s6,*b6ov
li'u = ?' bS;0t ' 6b?
t4^,(r; +5u24 +
w.',+66r* ?'':6'*
OY

O':
(b) f+A6ru,,*\-,* a^'J
ry'1
6ut z hrr. 5Y,* trz' sYfP 6Lf o

V,z |;re&,', 6Y, = Zc6or'6@'

V>= + Lusl\' 51: @'6e''66'
a-S;O, "
A f%e-= a a3;0,'6'' ^ F^eA...-pa,-s*b,=o'
ceso''
t un --a *, .-^, ? T,' ; ::i
It"^o,-
l-
2?L
t ' *
nn;' P' fitl'
| - llhn
r"/; lhn ',, 12 =
"' ) = 6a 4 =
o

fe^@r= |$
th^ Dr,--' +^, * u'"

-16-