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3. PRINCIPLE OF VIRTUAL WORK

Principle of virtual work states that the algebraic sum of the virtual work done by external active
forces on an ideal mechanical system is zero for any and all virtual displacements consistent with
the constraints.
Work of a force F
Consider a constant force F acing on the body ds
θ
which moves a distance ds. By definition the
work done by the force F on the body
F
U=(F cos θ) ds
θ ds
This will be also equal to
U = F ( ds cos θ)
Any assumed and arbitrary small displacement from the equilibrium position consistent with the
system constraints is known as virtual displacement. The term virtual is used to indicate that the
displacement does not really exists but only is assumed to exist so that we may compare various
equilibrium positions to obtain the correct one.
Consider a small body connected by four springs as shown. The
forces acting on the body are F1, F2, F3, F4 and the body is in
equilibrium.
Σ𝐹𝑥 = 0; Σ𝐹𝑦 = 0, where x-y are two mutually perpendicular axes.
Let this body be given a small virtual displacement ds as shown. If
θ1, θ2, θ3, θ4 are the angles that the forces make with displacement
direction. The virtual work done by the forces over this virtual
displacement is
𝑈 = 𝐹1 cos 𝜃1 𝑑𝑠 + 𝐹2 cos 𝜃2 𝑑𝑠 + 𝐹3 cos 𝜃3 𝑑𝑠 + 𝐹4 cos 𝜃4 𝑑𝑠
= (𝐹1 cos 𝜃1 + 𝐹2 cos 𝜃2 + 𝐹3 cos 𝜃3 + 𝐹4 cos 𝜃4 ) 𝑑𝑠
= (Σ𝐹𝑥 ) 𝑑𝑠 = 0 (Assuming the direction of displacement as x-axis)

One advantage of this method is that we only need to consider the external forces. Though work
is a scalar quantity, it is considered negative if the force and displacement are in opposite
directions.
Q 1. What is the relation between the forces
P and Q for the equilibrium of the frame D E
consisting of two identical rhombuses with
hinged joints? A B F
P θ
Q

Let the side of the rhombus be ‘a’.

C G
xA be the position of joint A and xB the position dxB
dxA xB
of joint B from the fixed wall where A and B
are the points where forces P and Q act. xA

𝑥𝐴 = 4𝑎 cos 𝜃 and 𝑥𝐵 = 2𝑎 cos 𝜃

Let us give a very small virtual displacement to the system. As per the system configuration, there
exist two possibilities. We can move the end A either towards right or towards left, or we can
rotate end A through a very small angle about the end F. For very small rotation about F, the
Engineering Mechanics ……………………Dr. Biju N, Professor in Mechanical Engineering, SOE, CUSAT
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displacements of points A and B will be perpendicular to the forces. Hence the virtual work done
by these forces will be invariably zero. Therefore, we can consider a small virtual displacement to
point A towards right.
Then the differential change in the position of A, 𝑑𝑥𝐴 = −4 a sin 𝜃 𝑑𝜃
The differential change in the position of B, 𝑑𝑥𝐵 = −2 a sin 𝜃 𝑑𝜃
The negative sign shows that 𝑥𝐴 and 𝑥𝐵 are inversely related to θ. That is; when θ increases, both
𝑥𝐴 and 𝑥𝐵 decreases and vice versa.
The magnitude of the virtual displacements 𝑑𝑥𝐴 = 4 a sin 𝜃 𝑑𝜃 and 𝑑𝑥𝐵 = 2 a sin 𝜃 𝑑𝜃.
According to the Principle of Virtual Work, in an equilibrium system the algebraic sum of virtual
work done by the external forces over a virtual displacement is zero.
Virtual work done by P = 𝑃 𝑑𝑥𝐴 = 𝑃 4 a sin 𝜃 𝑑𝜃 (work is positive as P and dxA have same direction)
Virtual work done by Q = −𝑄 𝑑𝑥𝐵 = −𝑄 2 a sin 𝜃 𝑑𝜃 (work is -ve as Q and dxB are opposite)
For equilibrium, the total virtual work done by active forces should be zero.
𝑃 4 a sin 𝜃 𝑑𝜃 − 𝑄 2 a sin 𝜃 𝑑𝜃 = 0
𝑄
𝑃=
2
Q 2. What is the magnitude of force P required to
keep the bar of weight W and length l in equilibrium,
if the floor and wall are smooth? C

Let us give a small virtual displacement to the system.

B
The end A can be moved towards left or right. Then dyB
the position of points A and B (the points of W yB
applications of external forces P and Q) will change. θ P
We need the change in position in the line of the A
xA dxA
forces.
Let xA be the position of point A from the fixed wall and yB the position of point B from the floor.
𝑙
𝑥𝐴 = 𝑙 cos 𝜃 and 𝑦𝐵 = 2 sin 𝜃
Assume that the end A is given a virtual displacement towards right.
Then the differential change in the position of A, 𝑑𝑥𝐴 = −𝑙 sin 𝜃 𝑑𝜃
The negative sign shows that 𝑥𝐴 is inversely related to θ. That is; when θ increases, 𝑥𝐴 decreases
and vice versa.
𝑙
The differential change in the vertical position of B, 𝑑𝑦𝐵 = 2 cos 𝜃 𝑑𝜃
𝑙
The magnitude of the virtual displacements 𝑑𝑥𝐴 = 𝑙 sin 𝜃 𝑑𝜃 and 𝑑𝑦𝐵 = 2 cos 𝜃 𝑑𝜃.
According to the Principle of Virtual Work, in an equilibrium system the algebraic sum of virtual
work done by the external forces over a virtual displacement is zero.
Virtual work done by P = −𝑃 𝑑𝑥𝐴 = −𝑃 𝑙 sin 𝜃 𝑑𝜃 (work is -ve as P and dxA are opposite)
𝑙
Virtual work done by W = 𝑊 𝑑𝑦𝐵 = 𝑊 2
cos 𝜃 𝑑𝜃(work is +ve as W and dyB are in the same direction)
For equilibrium, the total virtual work done by active forces should be zero.
𝑙
= −𝑃 𝑙 sin 𝜃 𝑑𝜃 + 𝑊 cos 𝜃 𝑑𝜃 = 0
2
𝑊
𝑃 = cot 𝜃
2

Engineering Mechanics ……………………Dr. Biju N, Professor in Mechanical Engineering, SOE, CUSAT

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Q 3. Using the principle of virtual work, find the value C

of angle θ defining the equilibrium configuration of the Q

system. The balls D and E can slide freely along the P E

smooth bars Ac and BC. The string DE connecting the L
θ
balls is inextensible. D
600
A B
Let us assume that the ball D is given a virtual displacement downward along the bar AC. Since
the string is inextensible, the ball E will move up. The positions of both the balls D and E will
change.
The position of D from the corner C, 𝑥𝐷 = 𝐿 cos 𝜃
The position of E from the corner C, 𝑥𝐸 = 𝐿 sin 𝜃
The differential change in the position of D,
𝑑𝑥𝐷 = −𝐿 sin 𝜃 𝑑𝜃
θ 300
The negative sign shows that 𝑥𝐷 is inversely related
Q
to θ. That is; when θ increases, 𝑥𝐷 decreases and vice 600
versa. The differential change in the position of E, P
𝑑𝑥𝐸 = 𝐿 cos 𝜃 𝑑𝜃
The magnitudes of the virtual displacements, 𝑑𝑥𝐷 = 𝐿 sin 𝜃 𝑑𝜃, 𝑑𝑥𝐸 = 𝐿 cos 𝜃 𝑑𝜃
The virtual work done by the active external force P = +𝑃 cos 60 𝑑𝑥𝐷 = +𝑃𝑐𝑜𝑠 60 𝐿 sin 𝜃 𝑑𝜃
The virtual work done by the active external force Q = −𝑄 cos 30 𝑑𝑥𝐸 = −𝑄𝑐𝑜𝑠 30 𝐿 cos 𝜃 𝑑𝜃
For equilibrium, the total virtual work done should be zero.
+𝑃𝑐𝑜𝑠 60 𝐿 sin 𝜃 𝑑𝜃 − 𝑄𝑐𝑜𝑠 30 𝐿 cos 𝜃 𝑑𝜃 = 0
√3 𝑄
tan 𝜃 =
𝑃

So far, we have been considering the virtual work done by active external forces. But we can
extend this technique to reactive forces also.
Q 4. Using the principle of virtual work, P
calculate the reaction at the roller support at x
D. A F B
E
The support at D is replaced by the reaction
C
RD. The end C is given a small virtual L D
displacement 𝑑𝑥𝑐 upwards. Then the points of a L
applications of the forces P and RD will also
move.

C C
L RD
a L L
a L

Engineering Mechanics ……………………Dr. Biju N, Professor in Mechanical Engineering, SOE, CUSAT

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From the similar triangles, we can write

𝑃
𝑑𝑥𝑐 𝑑𝑥 𝑥
= 𝐹 𝑑𝑥𝐹 = 𝑑𝑥𝑐
𝐿 𝑥 𝐿
𝑑𝑥𝑐 𝑑𝑥𝐷 𝐿
= 𝐿 𝑑𝑥𝐷 = 𝐿+𝑎 𝑑𝑥𝑐 𝑑𝑥𝐹 𝑑𝑥𝑐 𝑑𝑥𝐷
𝐿+𝑎

𝑅𝐷
𝑥
Virtual work done by P = −𝑃 𝑑𝑥𝐹 = −𝑃 𝐿 𝑑𝑥𝑐
𝐿
Virtual work done by RD = +𝑅𝐷 𝑑𝑥𝐷 = +𝑅𝐷 𝐿+𝑎 𝑑𝑥𝑐
By the principle of virtual work, the total virtual work done is zero if the system is in
equilibrium.
𝑥 𝐿
−𝑃 𝑑𝑥𝑐 + 𝑅𝐷 𝑑𝑥 = 0
𝐿 𝐿+𝑎 𝑐
(𝐿 + 𝑎)𝑥
𝑅𝐷 = 𝑃
𝐿2
Q 5. Using the principle of virtual work, calculate the
reaction at B. The bars form two identical squares. 2P P
The support at B is replaced by the reaction C D
components XB and YB A B
Let the side of the square be ‘a’.
The position of B from the support at A,
𝑥𝐵 = 4𝑎 cos 𝜃
Though we know that θ=450, we will keep it as θ for 2P P
the time being and substitute its vale at the end.
C 𝑑𝑦𝐶 D 𝑑𝑦𝐷
Let us now examine the system and identify the 𝑦𝐷
A 𝑦𝐶 B
possible virtual displacements. We can move the end θ XB
B towards right or left, or we can rotate the frame
with respect to the hinge at A. Let us assume that YB
the end B is given a small virtual displacement towards
dxB
right. xB

The differential change in the position of B,

𝑑𝑥𝐵 = −4𝑎 sin 𝜃 𝑑𝜃
The magnitude of 𝑑𝑥𝐵 = 4𝑎 sin 𝜃 𝑑𝜃
When end B is moved towards right, the points C and D will move down. The vertical distance of
C and D will change. The vertical distance of C and D from the reference line AB is
𝑦𝐶 = 𝑦𝐷 = 𝑎 sin 𝜃
The differential change in the vertical positions of C and D,
𝑑𝑦𝐶 = 𝑑𝑦𝐷 = 𝑎 cos 𝜃 𝑑𝜃
The total virtual work done by the forces = +𝑋𝐵 𝑑𝑥𝐵 + 2𝑃 𝑑𝑦𝐶 + 𝑃 𝑑𝑦𝐷 (The force YB will not do
any work as the force is perpendicular to the displacement 𝑑𝑥𝐵 )
By the principle of virtual work, if a system of forces is in equilibrium the total virtual work
done by the forces is zero
+𝑋𝐵 4𝑎 sin 𝜃 𝑑𝜃 + 2𝑃𝑎 cos 𝜃 𝑑𝜃 + 𝑃 𝑎 cos 𝜃 𝑑𝜃 = 0
3𝑃𝑎 cos 𝜃 3𝑃 cot 45 3𝑃
𝑋𝐵 = − =− =−
4𝑎 sin 𝜃 4 4

Engineering Mechanics ……………………Dr. Biju N, Professor in Mechanical Engineering, SOE, CUSAT

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Now let us give a small virtual rotation 𝑑𝜃 to the frame 2P D

about the hinge at A. Then the entire frame will be rotating
about A through the angle 𝑑𝜃. The point B will rotate about C

A with radius AB, point C will rotate about A with radius AC,A
and point D will rotate about A with radius AD. Since the
rotation is very small, the displacements 𝑧𝐵 , 𝑧𝐶 , 𝑧𝐷 will be
perpendicular to the respective radii AB, AC, and AD.
𝐴𝐵 = 4𝑎 cos 𝜃 = 2√2 𝑎 , 𝐴𝐶 = 𝑎 xB

𝑎 2 𝑎 2 9𝑎2 𝑎2 10𝑎2
𝐴𝐷 2 = (√2 𝑎 + ) +( ) = + = = 5𝑎2 𝑧𝐶 𝑧𝐷
√2 √2 2 2 2
𝐴𝐷 = √5 𝑎
𝑧𝐵
𝑧𝐵 = 𝐴𝐵. 𝑑𝜃 = 2√2 𝑎 𝑑𝜃
𝑧𝐷 = 𝐴𝐷. 𝑑𝜃 = √5 𝑎 𝑑𝜃
𝑧𝐶 = 𝑎 𝑑𝜃
Now for finding the virtual work done by the forces, we need to resolve the forces in the line of
displacements or displacements in the line of forces.
Here, YB is along and XB is perpendicular to the line of 𝑧𝐵
The virtual work done by YB = +𝑌𝐵 . 𝑧𝐵 = +𝑌𝐵 2√2 𝑎 𝑑𝜃 (XB will not do work)
The force at D is resolved parallel and perpendicular to 𝑧𝐷 (or AD).
𝑎
𝑧𝐷
1
The angle that AD makes with horizontal tan 𝛼 = √2
3𝑎 =
√2
3
𝑃 𝑠𝑖𝑛α 𝛼
0 𝛼
𝛼 = 18.4 𝑃 𝑐𝑜𝑠α
The component of P at D along the line 𝑧𝐷 = 𝑃 cos 18.4 = 0.95 𝑃
The virtual work done by 𝑃 cos 18.4 = − 𝑃 cos 18.4 𝑧𝐷 = −0.95𝑃√5𝑎 𝑑𝜃
The perpendicular component 𝑃 sin 18.4 will not do work for the displacement 𝑧𝐷
The force at C is resolved in to components along and perpendicular
to 𝑧𝐶 (or AC). 𝑧𝐶
2𝑃 𝑐𝑜𝑠45
The component of 2P along 𝑧𝐶 = 2𝑃 cos 45 2𝑃 𝑠𝑖𝑛45 45

The virtual work done by this force 45

= −2𝑃 cos 45 𝑧𝐶 = −2𝑃𝑐𝑜𝑠 45 𝑎 𝑑𝜃
The perpendicular component 𝑃 sin 45 will not do any work for this
virtual displacement.
For equilibrium, the algebraic sum of the virtual work done by all forces must be zero. Hence,
+𝑌𝐵 2√2 𝑎 𝑑𝜃 − 0.95𝑃√5𝑎 𝑑𝜃 − 2𝑃𝑐𝑜𝑠 45 𝑎 𝑑𝜃 = 0
0.95√5 + 2 cos 45
𝑌𝐵 = 𝑃 = 1.25 𝑃
2√2

Engineering Mechanics ……………………Dr. Biju N, Professor in Mechanical Engineering, SOE, CUSAT

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#Exercise 1
A rigid bar AB is supported in a vertical plane
by mutually perpendicular smooth surfaces OA
and OB as shown. Using the principle of virtual
work, calculate the angle θ defining the θ
W
configuration of equilibrium.
𝛼

#Exercise 2
P
A beam supported on two rollers, each of
radius ‘r’ is moved up an inclined plane by a
force P which acts parallel to the plane.
Q
Determine the magnitude P necessary to
maintain equilibrium if there is no slipping W
between rollers and the inclined plane or the
beam and the rollers. The weight of the beam 𝛼 W
is Q and the weight of each roller is W.
#Exercise 3
C D
Using the principle of virtual work, find the
force in the bar CD of the truss. Each bar is
of length L.

A E
B
P

Engineering Mechanics ……………………Dr. Biju N, Professor in Mechanical Engineering, SOE, CUSAT

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Engineering Mechanics ……………………Dr. Biju N, Professor in Mechanical Engineering, SOE, CUSAT