Lecture on the Principle of Virtual Work in Engineering Mechanics

Introduction:
An IITG person promises only what they can deliver and delivers what they promise.

Review from Previous Lecture:

The previous lecture focused on the principle of virtual work as applied to connected systems of
rigid bodies.
We will now define the degree of freedom of a system, which refers to the number of
independent coordinates needed to specify the configuration of a rigid body or a system of
connected rigid bodies.

Equilibrium of Ideal Systems:

Ideal systems do not absorb or dissipate energy due to friction.
The principle of virtual work for such systems states that the work done by external active forces
on an ideal mechanical system in equilibrium is zero for all virtual displacements consistent with
constraints (i.e., δU = 0).
It is not necessary to dismember the connected bodies for analysis.
The relationship between active forces can be determined without needing to find the internal
reactive forces.
This method is useful for establishing equilibrium configurations under known loads.
Friction is neglected, assuming an ideal system. If friction is significant, it must be considered by
dismembering the system, which reduces the advantages of the virtual work method.

Degree of Freedom of a System:

The degree of freedom (DOF) of a system is the number of independent coordinates required to
completely specify the configuration of the system.

Example 1: 1 Degree of Freedom System:

Consider a link BC connected at C, with another link AB connected by a roller at A. External forces
act on the system, causing displacement.
The system undergoes displacement consistent with constraints, where point A can move along
the roller and point B traces a circular path.
By defining a single coordinate (e.g., distance x), the configuration can be fully described, making
it a single degree of freedom system.

Example 2: Piston-Crank Mechanism:

 In an internal combustion engine, a piston undergoes reciprocating motion while a crank
undergoes rotation.
The configuration can be defined by specifying either the position of the piston (coordinate x) or
the angle of rotation of the crank (θ ).
This is also a one degree of freedom system.

Example 3: Four Bar Mechanism:

A four-bar mechanism has four links, with two fixed points (A and D) and two moving links (BC
and AD).
By defining the input link’s angle θ , and the fixed lengths of the links, the configuration of the
system can be described using angles θ1 and θ2 .
​ ​

The four-bar mechanism is a single degree of freedom system as the configuration can be fully
described using these angles.

Example 4: Two Degree of Freedom System:

A system with two links (BC and BA) in an articulated arm setup, such as a robot arm or human
hand.
The position of the end effector (point A) is determined by the rotations of two links.
The configuration can be fully specified by two independent coordinates (e.g., θ1 and θ2 ).
​ ​

This is a two degree of freedom system.

Multiple Degree of Freedom Systems:

In systems with more than two degrees of freedom, the analysis becomes increasingly complex.
As the number of degrees of freedom increases, the analysis becomes more challenging.
Initially, the discussion will focus on single degree of freedom systems and may extend to two
degrees of freedom systems.

Equilibrium of Ideal System of Rigid Bodies:

To solve such problems, the first step is to construct an active force diagram. This diagram only
depicts the forces that do work; internal and reactive forces are not shown.
Next, we define the degree of freedom of the system, the datum, and the virtual displacements
consistent with the constraints.
The principle of virtual work is applied, and the sum of the virtual work is equated to zero.
For Multiple Degree of Freedom Systems:
Each degree of freedom gets a corresponding virtual displacement.
For each displacement (e.g., dθ1 for θ1 and dθ2 for θ2 ), we apply the principle of virtual work and
​ ​ ​ ​

derive equations.
For an n-degree of freedom system, we will get n equations, allowing us to solve for n unknowns.

Example Problem:
In the final part of the lecture, an example is presented involving a collar B that can slide on a rod
AC . The collar is attached to a pin and a block that can slide in a vertical slot.
The objective is to determine the required magnitude of a couple M applied at A to maintain
equilibrium, using the principle of virtual work.
Introduction to the Problem:
In this scenario, we are dealing with a system in which a force P is acting on a block that is attached to
a pin at point B. The goal is to determine the equilibrium position of this block using the method of
virtual work. Here’s how we approach the solution:

Step 1: Define the Degrees of Freedom

The system is a single degree of freedom (DOF) system, where the configuration of the system can
be defined by the angle θ .
The position of point B, where the force P is applied, can be uniquely defined by θ , as the block
moves along the slot with a fixed distance R between points A and B.

Step 2: Virtual Displacement Consistent with Constraints

Virtual displacements must be consistent with the constraints of the system.
We define the active force diagram, showing forces such as P (applied to the block) and any
moment acting on the system. These forces will do work for any virtual displacement consistent
with the constraints.

Step 3: Relating Coordinates

The position of point B can be related to the angle θ through trigonometric relations. Specifically,
the distance yB is related to θ as:
​

R
yB =
tan θ
​ ​

Differentiating this expression gives the virtual displacement δyB in terms of δθ :

​

Rδθ
δyB = −
sin2 θ
​ ​

The negative sign indicates that as the angular displacement θ increases, yB decreases
​

(moves in the negative direction).

Step 4: Applying the Principle of Virtual Work
The total virtual work done by the forces is:

δU = 0

For the active forces P and the moment M , the work done can be expressed as:
1. Work done by the force P :

WP = −P ⋅ δyB
​ ​

2. Work done by the moment M :

WM = −M ⋅ δθ
​

Substituting the virtual displacement δyB , the total virtual work becomes:
​

R
P⋅ δθ − M ⋅ δθ = 0
sin2 θ
​

Canceling δθ (since it's non-zero) yields the relation between the force P and the moment M :

R
P⋅ =M
sin2 θ
​

Step 5: Example with Two Equal-Length Links (AB and BC)

In the next example, we consider a system with two equal-length links, AB and BC, both with mass m.
The goal is to find the equilibrium position θ for a given applied force P .

Active Force Diagram:

The forces acting on the system include the weights of the links AB and BC , which act through
their centers of mass.
The applied force P is acting through the center of mass of the link BC.

Defining Configuration:

The configuration can be defined by the distance x, which is the position of the center of mass of
the link BC, relative to a fixed datum.
The relation between x and θ is given by:
 θ l θ
x = l sin + sin
2 2 2
​ ​ ​

Virtual Displacements:
The virtual displacement δx in the x-direction is related to δθ by:

3l θ
δx = cos ⋅ δθ
2 2
​ ​

The virtual displacement δy in the vertical direction is:

l θ
δy = − sin ⋅ δθ
2 2
​ ​

This negative sign indicates that as θ increases, the center of mass moves upward.

Total Virtual Work:

The total virtual work done by the forces is the sum of the work done by P and the gravitational
forces mg . This is expressed as:

δU = P δx + 2mgδy = 0

Substituting the expressions for δx and δy into this equation and simplifying, we get:

3l θ l θ
P⋅ cos ⋅ δθ + 2mg ⋅ (− sin ⋅ δθ) = 0
2 2 2 2
​ ​ ​ ​

Solving this equation leads to the following relation for θ :

θ 3P
tan =
2 2mg
​ ​

From this, we can determine the equilibrium angle θ as:

3P
θ = 2 tan−1 ( )
2mg
​

Step 6: Example with a Spring Element (Elastic System)

In the next example, we include a spring element that absorbs energy when deformed. The spring
force is governed by Hooke's law, and the system consists of two links (AB and BC), a roller at C, and a
spring with a spring constant k and un-stretched length h.
Strategy:
First, we construct the active force diagram for the system.
We are interested in finding the equilibrium position θ and the spring force in this equilibrium
configuration.
Organized Transcript: Virtual Work Method and Equilibrium of Systems

1. Degree of Freedom and System Configuration

We start by analyzing a single-degree-of-freedom system. The system is defined uniquely by the
position of point C (denoted by yc ) on a mechanism with massless links. The configuration of the
​

system can be fully described by specifying the yc coordinate, which can be treated as the datum
​

point.
Spring Force and Virtual Displacement:

A spring force acts at point C. When the spring is elongated, it pulls point C toward point A.
Conversely, if the spring is compressed, the force is directed downward.
The system configuration is entirely defined by yc , and all other coordinates (like yb ) are
​ ​

related to yc and the angle θ .

​

2. Virtual Displacement and Energy Absorption

Virtual Displacement δyc : ​

Virtual displacement δyc is defined as the change in the vertical position of point C, which is
​

expressed as 2l cos θδθ , where θ is the angle of the link.

Virtual Displacement δyb : ​

Similarly, the virtual displacement δyb of point B is l cos θδθ .

​

Both displacements are positively correlated with δθ , which is an increase in the angle.

3. Spring Elongation and Force

The elongation s of the spring is given by s = yc − h, where h is the unstretched length of the
​

spring.
yc is found to be 2l sin θ, so the elongation s becomes 2l sin θ − h.
​

The spring force F acting at point C is given by F = k × s = k × (2l sin θ − h), where k is the
spring constant.

4. Virtual Work and Equilibrium Condition

The principle of virtual work is applied to find equilibrium conditions.
The total virtual work is the sum of work done by the forces:
Work done by the applied force P : P × δyb . ​

Work done by the spring force F : −F × δyc . ​

By equating the virtual work to zero, we get the equilibrium equation:

P × l cos θδθ − F × 2l cos θδθ = 0

This simplifies to:

P
F =
2
​

5. Finding the Angle θ

From the spring force equation F = k × (2l sin θ − h), we solve for θ:
P + 2kh
sin θ =
4kl
​

Thus, the angle θ that defines the configuration of the system is:

P + 2kh
θ = sin−1 ( )
4kl
​

This illustrates how the method of virtual work can be used to analyze the equilibrium of a system with
ideal rigid bodies and springs, without needing to account for friction.

6. Application to a System with a Hydraulic Cylinder

In a practical example, we analyze a system with an elevator platform supported by a hydraulic
cylinder. The goal is to find the force C exerted by the hydraulic cylinder without knowing the position
of the mass on the platform.
The system is a single-degree-of-freedom system, uniquely defined by the angle θ , and the height
of the platform is 2b sin θ .

7. Virtual Work for Hydraulic System

Virtual Displacement of the Hydraulic Link:

The virtual displacement of the hydraulic link δLc is derived from the geometry of the system:
​

2Lc δ Lc = 2bL sin θδθ

​ ​

Virtual Displacement of the Platform Height:

The virtual displacement of the platform height δh is 2b cos θδθ .

8. Work Done by Forces

The work done by the weight of the platform is negative (since it resists the motion), while the
work done by the hydraulic force is positive.
The equilibrium equation becomes:

−C × δLc + mg × δh = 0
​
Substituting the expressions for δLc and δh, we solve for the force C exerted by the hydraulic
​

cylinder:

2mg cos θ
C=
Lc sin θ
​

The final expression for C is:

2mg cos θ
C=
b2 + L2 − 2bL cos θ
​

This expression provides the force that the hydraulic cylinder must exert to keep the platform at a
certain height.

9. Conclusion
The method of virtual work is shown to be highly effective for analyzing equilibrium problems,
particularly when dealing with systems where not all dimensions are known. The technique simplifies
the problem, focusing on virtual displacements and forces without needing complete details of the
system.
In the next lecture, we will explore systems with friction.