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Principle of Virtual Work

The document discusses the principle of virtual work, which states that if a system in equilibrium is given an imaginary infinitesimal variation in position (virtual displacement), the virtual work done by the forces acting on it will be zero. It provides examples of applying the principle of virtual work to single degree of freedom pendulum and spring systems to derive their natural frequencies of vibration.

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aman mahar
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107 views4 pages

Principle of Virtual Work

The document discusses the principle of virtual work, which states that if a system in equilibrium is given an imaginary infinitesimal variation in position (virtual displacement), the virtual work done by the forces acting on it will be zero. It provides examples of applying the principle of virtual work to single degree of freedom pendulum and spring systems to derive their natural frequencies of vibration.

Uploaded by

aman mahar
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Principle of virtual work:

- Now we complement the energy method by another scalar method based on the
principle of virtual work.

- The principle of virtual work was first formulated by Bernoulli.

- It is especially important for systems of interconnected bodies of higher DoF.

- However, to describe briefly its underlying concepts the principle of virtual work
is introduced here.
- In subsequent lectures it will be elaborate in more detail.
- The principle of virtual work is redated with equilibrium of bodies, and may be
stated as follows:

If a system in equilibrium under the action of a set of forces is given a virtual


displacement, the virtual work done by the forces will be zero.

The terms used in this statement are defined as follows:

(i) A virtual displacement d r is an imaginary infinitesional variation of the coordinate


given instantaneously.
The virtual displacement must be compatible with the constraints of the system.

(ii) Virtual work d W is the work done by all the active forces in a virtual displacement.
Since there is no significant change geometry associated with the virtual
displacement, the force acting on the system are assumed to remain unchanged for the
calculation of d W .

- The principle of virtual work as formulated by Bernoulli is a static procedure.

- Its extension to dynamics was made possible by DAlembert who introduced the
concept of the inertia force.

- The inertia forces are included as active forces when dynamic problems are
considered.

Example:
- Since one coordinate q is necessary to define the motion, hence it represents,
single-DoF system interconnected.
- EOM ? & wn ?
- Fig(b) shows the pendulum at an angle q to the upper pendulum and it also
shown various external forces including inertia forces.
- For a virtual displacement of dq to the coordinate q gives:

Vertical displacement of m1 = ldq sin q


Vertical displacement of m1 = 2ldq sin q

FIG

d2
- The acceleration of m2 will be given as 2 ( 2lq sin q ) = 2l ( q&&sin q - q )
dt
Virtual work done by this inertia 0 as compared to the virtual work towards gravity.

Fig

Virtual work d W
d W = - ( m1lq&
&) ( ldq ) - ( m g ) ( ldq sin q ) - ( m g ) ( 2ldq sin q ) = 0
1 2

= - &+ ( m + 2m ) g sin q
m1lq& ldq = 0
1 2

2m g
Since q is smaller dq is arbitrary: q&&+
1+ 2
q =0
m1 l

2m2 g
\ wn =
1+
m1 l

(1)
FIG

d W = + mgd x - k ( V+ x ) d x - ( mx&
&) d x = 0
( mx&&| kx ) d x = 0

d x is arbitrary
&+ kx = 0
mx&
x&+ wn2 x = 0
\&
km
wn =

Fig

dw = - ( mlq&
&) ( ldq ) - ( mg ) ( ldq sin q ) = 0

or lq&
ml

&+ g sin q
dq = 0

Ans
dq is arbitrary & for small q , sin q q
&+ g q = 0
\ q&
l

wn =
g Ans
l

Natural Frequency (1-DoG)

Energy method:

Fig

1 2 1
kx = k ( rq )
2
U=
2 2
1 &2 1 2 1 2 &2 1 1
( ) ( )
2
T = I Pq + mx& = mr q + m rq& ; I P = mr 2
2 2 4 2 2
angular linear

U + T = Constant

1 2 2 1 2 &2 1 2 &2
kr q + mr J Pq + mr q = Constant
2 4 2

d 1
( U + T ) kr 2qq&+ J P mr 2 qq
&&
&+ mr 2qq
&&
&= 0
dt 2

&+ 2k q = 0
q&
3m

2k 2k
wn = =
3m 3m

By Newtons second law

Fig
F = mx&&
Ext

& -krq + F f = mrq&


- kx + Ff = mx& &

& -krq - 1 mrq&


= I Pq& &= mrq&
&
M 0
2

3 &
- Ff r = I Pq&
& mq&+ krq = 0
2
1 & &+ 2k q = 0
- Ff = mrq& or q&
2 3m
2k
wn =
3m

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