Virtual Work By: Dr.

Nauman KHURRAM

Virtual Work

Introduction
Principle of equilibrium employs for a body whose equilibrium position is known or specified
and where one or more unknown external forces are determined by isolating by free body
diagram.
Principle of virtual work applies to determining the equilibrium configuration of a series of pin-
connected members which can move relative to each other. The force and moment equilibrium
equations are still valid in such case but solution if often not direct (lengthy) and inconvenient
Objective
• Establish the potential energy function and use the potential energy method

Work of a Force
Work (U) done by the force (F) on the body during any displacement is the dot product of the
force and the displacement (Δs).
Consider the constant force F acting on the body shown in Fig., whose movement along the
plane from A to A’ is represented by the vector Δs, called the displacement of the body.
By definition the work done by the force can be calculated as following
Component of the force in the direction of the displacement times the displacement
( )
Or, Component of the displacement in the direction of the force times the force
( )

Work U is a scalar quantity. Work is positive when the working component of the force is in the
same direction as the displacement. When the working component is in the direction opposite to
the displacement as in the figure below, the work done is negative.
( ) ( )

1
Virtual Work By: Dr. Nauman KHURRAM

Work done along a continuous path (direction and magnitude of force and displacement are
variable)
As shown in Fig. a force F acting on a body at a point A which moves along the path shown from
A1 to A2. Point A is located by its position vector r measured from some arbitrary but convenient
origin O. The infinitesimal displacement in the motion from A1 to A2 is given by the differential
change dr of the position vector. The work done by the force F during the displacement dr is
defined as

If we express F and dr in terms of their rectangular components, we have

( )( )

Integrating the above equation, to obtain the total work U done by F during a finite movement of
point A from A1 to A2.

∫ ∫( ) ∫

Work of a Couple

2
Virtual Work By: Dr. Nauman KHURRAM

In Fig the couple M acts on the body and changes its angular position by an amount dθ. The
work done by the couple is easily determined from the combined work of the two forces which
constitute the couple. In part b of the figure we represent the couple by two equal and opposite
forces F and -F acting at two arbitrary points A and B such that F = M/b. During the infinitesimal
movement in the plane of the figure, line AB moves to A”B’. We now take the displacement of A
in two steps, first, a displacement drB equal to that of B and, second, a displacement drA/B (read
as the displacement of A with respect to B) due to the rotation about B. Thus the work done by F
during the displacement from A to A’ is equal and opposite in sign to that due to -F acting
through the equal displacement from B to B’. We therefore conclude that no work is done by a
couple during a translation (movement without rotation).
During the rotation, however, F does work equal to F. rA/B = Fb dθ, where drA/B = b dθ and
where dθ is the infinitesimal angle of rotation in radians. Since M = Fb, we have

The work of the couple is positive if M has the same sense as dθ (clockwise in this illustration),
and negative if M has a sense opposite to that of the rotation. The total work of a couple during a
finite rotation in its plane becomes

Dimensions of Work
Work has the dimensions of (force) x (distance). In SI units the unit of work is the joule (J),
which is the work done by a force of one newton moving through a distance of one meter in the
direction of the force (J = N.m ). In the U.S. customary system the unit of work is the foot-pound
(ft-lb), which is the work done by a one-pound force moving through a distance of one foot in
the direction of the force.
Forces which do no work:
• reaction at a frictionless pin due to rotation of a body around the pin
• reaction at a frictionless surface due to motion of a body along the surface

3
Virtual Work By: Dr. Nauman KHURRAM

• weight of a body with cg moving horizontally

• friction force on a wheel moving without slipping
Sum of work done by several forces may be zero:
• bodies connected by a frictionless pin
• bodies connected by an inextensible cord
• internal forces holding together parts of a rigid body
Virtual Work
The work done by any force F acting on the particle during the virtual displacement δr is called
virtual work and is given as
δU = F. δr or δU = F cosα δs
Where, α is the angle between F and δr, and δs is the magnitude of δr.
When a couple undergoes a virtual rotation in the plane of the couple forces, for virtual work,
δU = M δθ
EQUILIBRIUM
We now express the equilibrium conditions in terms of virtual work, first for a particle, then for a
single rigid body, and then for a system of connected rigid bodies.
Equilibrium of particle
Consider the particle or small body as shown in Fig below, which attains an equilibrium position
as a result of the forces in the attached springs. If the mass of the particle were significant, then
the weight mg would also be included as one of the forces.

For an assumed virtual displacement δr of the particle away from its equilibrium position, the
total virtual work done on the particle is
δU = F1. δr + F2. Δr + F3. δr +….. = (F1 + F2 + F3+…).δr = ΣF. Δr
δU = ΣF. δr = (i ΣFx + j ΣFy + k ΣFz).(i δx + j δy + k δz)
δU = ΣFx δx + ΣFy δy + ΣFz δz = 0
The sum is zero, since ΣF = 0, which gives ΣFx = 0, ΣFy = 0, and ΣFz = 0. The equation δU= 0
is therefore an alternative statement of the equilibrium conditions for a particle.

4
Virtual Work By: Dr. Nauman KHURRAM

(Although the virtual displacement is not zero but the body in in equilibrium as work done by all
the forces is zero.)
Equilibrium of Rigid body
This condition is illustrated in Fig. 7/6, where we want to determine the reaction R under the
roller for the hinged plate of negligible weight under the action of a given force P. A small
assumed rotation δθ of the plate about O is consistent with the hinge constraint at O and is taken
as the virtual displacement. The work done by P is -Pa δθ, and the work done by R is +Rb δθ.
Therefore, the principle δU = 0 gives
δU = -Pa δθ + Rb δθ = 0
cacelling the δθ,
Pa - Rb = 0
which is simply the equation of moment equilibrium about O. Therefore, nothing is gained by
using the virtual-work principle for a single rigid body. The principle is, however, decidedly
advantageous for interconnected bodies, as discussed next.

Equilibrium of Ideal Systems of Rigid Bodies

These are systems composed of two or more rigid members linked together by mechanical
connections which are incapable of absorbing energy through elongation or compression, and in
which friction is small enough to be neglected. Figure (a) shown below a simple example of an
ideal system where relative motion between its two parts is possible and where the equilibrium
position is determined by the applied external forces P and F. (In reality there is no ideal system
exist but for the computation of unknown forced we often ignore small deformations) We can
identify three types of forces which act in such an interconnected system. They are as follows:\
1) Active forces are external forces capable of doing virtual work during possible virtual
displacements. In Fig. (a), forces P and F are active forces because they would do work as the
links move.

5
Virtual Work By: Dr. Nauman KHURRAM

(2) Reactive forces are forces which act at fixed support positions where no virtual displacement
takes place in the direction of the force. Reactive forces do no work during a virtual
displacement. In Fig. (b), the horizontal force FB exerted on the roller end of the member by the
vertical guide can do no work because there can be no horizontal displacement of the roller. The
reactive force FO exerted on the system by the fixed support at O also does no work because O
cannot move.
(3) Internal forces are forces in the connections between members. During any possible
movement of the system or its parts, the net work done by the internal forces at the connections
is zero. This is so because the internal forces always exist in pairs of equal and opposite forces,
as indicated for the internal forces FA and -FA at joint A in Fig. (b). The work of one force
therefore necessarily cancels the work of the other force during their identical displacements.

PRINCIPLE OF VIRTUAL WORK

The virtual work done by external active forces on an ideal mechanical system in equilibrium is
zero for any and all virtual displacements consistent with the constraints.
Mathematically, δU = 0
By constraint we mean restriction of the motion by the supports. And δU is total virtual work
done on a system.
OR
Principle of virtual work - if a particle, rigid body, or system of rigid bodies which is in
equilibrium under various forces is given an arbitrary virtual displacement, the net work done by
the external forces during that displacement is zero.
 The principle of virtual work is particularly useful when applied to the solution of
problems involving the equilibrium of machines or mechanisms consisting of several
connected members.
 If a particle, rigid body, or system of rigid bodies is in equilibrium, then the derivative of
its potential energy with respect to a variable defining its position is zero.

6
Virtual Work By: Dr. Nauman KHURRAM

Degrees of Freedom
The number of degrees of freedom of a mechanical system is the number of independent
coordinates needed to specify completely the configuration of the system. Figure (a) shows three
examples of one-degree-of-freedom systems. Only one coordinate is needed to establish the
position of every part of the system. The coordinate can be a distance or an angle. Figure (b)
shows three examples of two-degree-of-freedom systems where two independent coordinates are
needed to determine the configuration of the system. By the addition of more links to the
mechanism in the right-hand figure, there is no limit to the number of degrees of freedom which
can be introduced.
The principle of virtual work δU = 0 may be applied as many times as there are degrees of
freedom. With each application, we allow only one independent coordinate to change at a time
while holding the others constant. (Number of Virtual Work Equation= Number of degree of
freedoms).

Procedure for Analysis

Free body diagram
 Drew the free-body diagram of the entire system connected bodies and define coordinate
(i.e., q).
 Sketch the “deflected position” of the system on the free-body diagram when the system
undergoes a positive virtual displacement (δq).
Virtual displacements
 Indicate position coordinates (s) each measured from fixed point on the free body
diagram. These coordinates are directed to the forces that do work.
 Each of these coordinate axes should be parallel to the line of action of the force to which
it is directed, so that the virtual work along the coordinate axis can be calculated.
 Relate each of the position coordinates (s) to the coordinate (q) then differentiate these
expressions in order to express in virtual δs in term of δq.

7
Virtual Work By: Dr. Nauman KHURRAM

Virtual work equation

 Write the virtual-work equation for the system assuming that (whether possible or not),
each position coordinate s undergoes a positive virtual displacement δs. If a force or
couple moment is in the same direction as the positive virtual displacement, the work is
positive, otherwise, it is negative.
 Express the work of each force and couple moment in the equation in term of δq.
 Factor put this common displacement from all the terms, and solve the unknown force,
couple or equilibrium position q.

Applications of the Principle of Virtual Work

Problem 7/1. (Engg. Mech by J.L. Mariam)
The mass of the uniform bar of length l is m while that of the uniform bar of length 2l is 2m. For
a given force P, determine the angle for equilibrium.

Solution
1. First, we draw all the active forces on the diagram. This includes mg and P. Note that 2mg is
acting through the support, hence it can produce no virtual work and is neglected.
2. Define a coordinate system to determine the virtual displacements and virtual work.
 Let x be the horizontal distance between the fixed support and the roller, so that the
virtual work done by force P is given by − Pδx. It is negative because the direction of x is
opposite to that of force P.
 Let y be the vertical distance between the midpoint of the right hand side bar and the
roller support. The virtual work done by force mg is given by − mgδy.
3. The two quantities of virtual work must be written using a common variable. In this case we
will use the angle θ. After some geometry manipulation, the coordinates x and y and their
corresponding virtual displacements are transformed as shown below.

8
Virtual Work By: Dr. Nauman KHURRAM

Coordinates Virtual Displacement

 
x  2l sin x  l cos 
2 2
l  l 
y  cos y   sin 
2 2 4 2

4. Applying principal of Virtual Work (δU = 0)

U   Px  mgy  0
    l  
0   P l cos    mg  sin  
 2   4 2 
 4P 
  2 tan 1  
 mg 

Example 11.1. (Engg. Mech by RC Hibbeler)

Determine the angle θ for equilibrium of the two-member linkage. Each member has a mass of
10 kg.

FBD
One degree of freedom since location of both links may be specified by a single independent
coordinate. θ undergoes a positive (CW) virtual rotation δθ, only the active forces, F and the two
98.1N weights do work.

9
Virtual Work By: Dr. Nauman KHURRAM

Coordinates Virtual Displacement

x B  2(1cos  )m x B  2 sin  m
1 1
y w  (1sin  )m y w  cos  m
2 2
Virtual Work Equation
If δxB and δyw were both positive, forces W and F would do positive work. For virtual work
equation for displacement δθ,
δU = 0; Wδyw + Wδyw + FδxB = 0
Relating virtual displacements to common δθ,
98.1(0.5cosθ δθ) + 98.1(0.5cosθ δθ) + 25(-2sinθ δθ) = 0
Since δθ ≠ 0,
(98.1cosθ -50 sinθ) δθ = 0
θ = tan-1(9.81/50) = 63.0°
Problem 7/2. (Engg. Mech by J.L. Mariam)
Determine the couple M required to maintain equilibrium at an angle θ. Each of the two uniform
bars has mass m and length l.

Solution h
Coordinates Virtual Displacement θ/2
l  l 
h  (cos ) h   sin 
2 2 4 2

 
U  0  M  
2 Free Body Diagram
  l  
M  2mg  sin  
2  4 2 

M  mgl sin
2

10