Statics-STA201E

Chapter-10
Method of virtual work

Dr. Oğuzcan İnal

Dept. of Aeronautical Engineering
Faculty of Aeronautics & Astronautics
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Introduction

So far, we studied the equilibrium of rigid bodies on which the external forces are balanced ∑𝐅 = 0 & ∑𝐌 = 0. There is
another method for solving the certain types of equilibrium problems. A method based on the concept of the work done
by a force can provide a direct solution. This method is called method of virtual work & first used by Johann Bernoulli
(1667-1748).

We will study

• work of a force
• principle of virtual work
• application of the principle of virtual work
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Work of a force
The terms “displacement” and “work are used in mechanics. Let’s start with defining the “work”.
Consider a constant force 𝐅 acting on a body or a particle, and moving it from 𝐴 to 𝐴′. The distance between 𝐴 and 𝐴′
is represented by a vector 𝑑𝐫. Then, 𝑑𝐫 is the displacement of the particle under the action of constant load 𝐅.
Now, the work done by the force 𝐅 is defined by the scalar product:

𝑑𝑈 = 𝐅 𝑑𝐫

Denoting the magnitudes of the force and displacement by 𝐹 and 𝑑𝑠; and the
angle formed by 𝐅 and 𝑑𝐫 by 𝛼; by the definition of scalar product; we write:

𝑑𝑈 = 𝐹 𝑑𝑠 cos 𝛼

Being a scalar quantity, work has magnitude and a sign, but no direction. The
unit of the work is Joule (𝐽) that is equal to Newton meter (𝑁 𝑚).

If the angle 𝛼 is acute (i.e. 0 ≤ 𝛼 < 90°) the work is positive,

if the angle 𝛼 is obtuse (i.e. 90° < 𝛼 ≤ 180) the work is negative.

When 𝛼 = 90°, the work is zero.

 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Work of a force
The work done by the force 𝐅 can be considered in a different way. Although the equation is
the same, this approach is particularly helpful when considering the work done by the weight
𝐖 of a body. The component of 𝑑𝐫 parallel to the force 𝐅 and the force itself are multiplied to
obtain the work.

𝑑𝑈 = 𝐹 𝑑𝑠 cos 𝛼

The work done by weight 𝐖 is equal to the weight 𝐖 multiplied by the displacement of the
centre of gravity 𝑑𝑦 in the vertical direction.

There are forces that do no work:

• Forces applied to fixed points (𝑑𝑠 = 0)

• reaction forces at a pin while body rotates about the pin,

• Forces acting perpendicular to the direction of the displacement (cos 𝛼 = 0)

• the reaction at a frictionless surface, when the body is moving along the surface,
• the weight of a body when its centre of gravity is moving horizontally.
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Work of a force
In certain cases, the total work done in the system is zero.

• Two rigid bodies are connected at point 𝐶 with a frictionless pin. Since the
forces at pin 𝐶 is equal and opposite, the work done by the internal forces at 𝐶
cancel out.

• Consider a two blocks connected by an inextensible cord. The forces 𝐓 and 𝐓

are equal and opposite, and the displacement of either of the forces are equal.
In once case, the work is positive, and in the other it is negative. Then, the
total work done by these forces are zero.

• Also, the work done by the internal forces holding a rigid body together is zero.
Consider two particles 𝐴 and 𝐵 of a rigid body, and two equal and opposite
forces they exert on each other. Although the small displacements 𝑑𝑟 and 𝑑𝑟
are essentially different, their components along 𝐴𝐵 must be equal, otherwise
the particles would not remain at the same distance to each other.
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Work of a couple moment

In computing the work of external forces acting on a rigid body, it is often convenient to determine the work of a couple
without considering separately the work of each of the forces forming the couple.

The forces 𝐅 and −𝐅 forming a couple moment 𝐌 acting on the rigid body.
Any small displacement of the rigid body bringing 𝐴 and 𝐵 into 𝐴 and 𝐵 ,
respectively. The movement can be divide into two parts:

1) 𝐴 and 𝐵 goes for equal displacement 𝑑𝐫

2) 𝐴′ remains fixed and 𝐵′ goes to 𝐵 through a displacement of 𝑑𝐫 that is
caused by the rotation and equal to 𝑑𝑠 = 𝑟 𝑑𝜃

In (1) forces are equal and opposite and they move for the same
displacement, hence the sum of the work done is zero.
In (2) only one of the forces (𝐅) do work,
𝑑𝑈 = 𝐹 𝑑𝑠 = 𝐹𝑟 𝑑𝜃
Since the couple moment 𝑀 = 𝐹𝑟, then it can be expressed as the work
done by the couple moment 𝑀 as follows:
𝑑𝑈 = 𝑀 𝑑𝜃
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Principle of virtual work

Consider a particle acted upon by several forces 𝐅 , 𝐅 , 𝐅 , … 𝐅 . We can imagine that
the particle undergoes small displacement from 𝐴 to 𝐴 . The displacement is possible,
but it will not necessarily take place (forces may be balanced). Such a displacement 𝛿𝐫
is called virtual displacement. The symbol 𝛿𝐫 represents a differential of the first order;
it is used to distinguish the virtual displacement from 𝑑𝐫 which would take place under
actual motion.

The work of each of the forces 𝐅 , 𝐅 , 𝐅 , … 𝐅 during the virtual displacement 𝛿𝐫 is

called virtual work. The virtual work of all the forces acting on the particle is

𝛿𝑈 = 𝐅 𝛿𝐫 + 𝐅 𝛿𝐫 + ⋯ + 𝐅 𝛿𝐫
= 𝐅 + 𝐅 + ⋯+ 𝐅 𝛿𝐫
or
𝛿𝑈 = 𝐑 𝛿𝐫

where 𝐑 is the resultant of the given forces.

This can be inferred as: if a particle is in equilibrium, the total virtual work of the
forces acting on the particle is zero for any virtual displacement of the particle.
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Applications of the principle of virtual work

The principle of virtual work is very useful when applied to the solutions of
problems involving machines or mechanisms consisted of several
connected rigid bodies. Let’s examine the following example. Force 𝐏 is
compressing the wooden block by the mechanism 𝐴𝐶𝐵. We wish to
determine the force exerted by the mechanism on the block which is on a
frictionless surface.

• We draw the free body diagram, the reaction of the wooden block on
the mechanism is 𝐐. And we denote the virtual displacement obtained
by a positive increment 𝛿𝜃 on the angle 𝜃.
• It is clear that, 𝑥 increases when 𝑦 decreases. Hence, upon the
increment 𝛿𝜃 of the angle 𝜃, we observe the virtual displacements 𝛿𝑥
on 𝑥 and −𝛿𝑦 on 𝑦 . We defined all the virtual displacements!
• 𝐴 , 𝐴 and 𝑁 will do no work during the virtual displacements. We
need only compute the work of 𝐏 and 𝐐.
• Since 𝐐 and 𝛿𝑥 have opposite senses, the virtual work is
𝛿𝑈 = −(𝑄 𝛿𝑥 )
• Since 𝐏 and 𝛿𝑥 have the same sense, the virtual work is
𝛿𝑈 = + 𝑃 −𝛿𝑥 = −𝑃 𝛿𝑥
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Applications of the principle of virtual work

Let’s define 𝑥 and 𝑦 in terms of angle 𝜃

𝑥 = 2𝑙 sin 𝜃
𝛿𝑥 = 2𝑙 cos 𝜃 𝑑𝜃
𝑦 = 𝑙 cos 𝜃
𝛿𝑦 = −𝑙 sin 𝜃 𝑑𝜃

Then, the virtual works are

𝛿𝑈 = 𝛿𝑈 + 𝛿𝑈 = − 𝑄 𝛿𝑥 − 𝑃 𝛿𝑥
= −2𝑄𝑙 cos 𝜃 𝑑𝜃 + 𝑃𝑙 sin 𝜃 𝑑𝜃

Setting 𝛿𝑈 = 0, we obtain
2𝑄𝑙 cos 𝜃 𝑑𝜃 = 𝑃𝑙 sin 𝜃 𝑑𝜃
1
𝑄 = 𝑃 tan 𝜃
2

The superiority of the method of virtual work is clear. We were able to

eliminate all unknown reactions and directly obtained the relation
between 𝑃 and 𝑄.
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Applications of the principle of virtual work

We can apply principle of virtual work to fully constrained structures too!
Consider the frame shown. If point 𝐴 is kept fixed while 𝐵 is given a horizontal virtual displacement, we only need to
consider 𝐏 and 𝐁 . We can thus determined the in the same way as the previous examples:
1
𝐵 = − 𝑃 tan 𝜃
2
If we keep 𝐵 fixed while giving a horizontal virtual displacement to 𝐴, we can calculate 𝐀 .
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Applications of the principle of virtual work

Example: Using the method of Solution: We set a coordinate system and define the virtual displacements.
virtual work, determined the
magnitude of the couple 𝐌 required It is clear that we can apply a virtual horizontal displacement to the external load
to maintain the equilibrium of the 𝐏, and an angular virtual displacement (𝛿𝜃) to the moment 𝐌.
mechanism shown.
𝑥 = 3𝑙 cos 𝜃

𝛿𝑥 = −3𝑙 sin 𝜃 𝑑𝜃

𝛿𝑈 = 0

+𝑀𝛿𝜃 + 𝑃𝛿𝑥 = 0
+𝑀𝛿𝜃 + 𝑃 −3𝑙 sin 𝜃 𝑑𝜃 = 0

𝑀 = 3𝑃𝑙 sin 𝜃
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Applications of the principle of virtual work

Example: Determine the expression Solution: We set a coordinate system and define the virtual displacements.
for 𝜃 and for the tension on the
spring which correspond to the It is clear that we can apply a virtual vertical displacement to the external load 𝐏,
equilibrium position of the and an angular virtual displacement (𝛿𝜃) to the 𝐴𝐵.
mechanism. The unstretched length
f the spring is ℎ, and the constant of 𝑦 = 𝑙 sin 𝜃
spring is 𝑘. Neglect the weight of the
mechanism. 𝛿𝑦 = 𝑙 cos 𝜃 𝛿𝜃

𝑦 = 2𝑙 sin 𝜃

𝛿𝑦 = 2𝑙 cos 𝜃 𝛿𝜃

Let’s say the elongation of the spring is

𝑠 = 𝑦 − ℎ = 2𝑙 𝑠𝑖𝑛𝜃 − ℎ

Then,

𝐹 = 𝑘𝑠 = 𝑘 2𝑙 𝑠𝑖𝑛𝜃 − ℎ
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Applications of the principle of virtual work

Example: Determine the expression Solution-contd.: Set the virtual work to zero.
for 𝜃 and for the tension on the
spring which correspond to the 𝛿𝑈 = 0;
equilibrium position of the
mechanism. The unstretched length 𝑃𝛿𝑦 − 𝐹𝛿𝑦 = 0
f the spring is ℎ, and the constant of
spring is 𝑘. Neglect the weight of the 𝑃𝑙 cos 𝜃 𝛿𝜃 − 𝑘 2𝑙 𝑠𝑖𝑛𝜃 − ℎ 2𝑙 cos 𝜃 𝛿𝜃 = 0
mechanism.
𝑃 + 2𝑘ℎ
sin 𝜃 =
4𝑘𝑙

and

1
𝐹= 𝑃
2
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Applications of the principle of virtual work

Example: A hydraulic lift table is used to raise a 1000-kg load. It consist of identical linkages on each side (the image
is showing one of two of the identical linkages). Hence, each linkage will carry 500 kg. Member 𝐴𝐷 is pinned to the
midpoint of 𝐸𝐷𝐵. Determine the force exerted in each cylinder in raising the crate for 𝜃 = 60°, 𝑎 = 70 cm, and 𝐿 =
320 cm.
Solution: It is clear that in order to raise the weight, hydraulic cylinder
must extend, and member 𝐸𝐷𝐵, 𝐶𝐺 and 𝐴𝐷 should rotate. Reactions at
𝐸 and 𝐺 do no work. Than we can simply depict the virtual
displacements as follows:
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Applications of the principle of virtual work

Example: A hydraulic lift table is used to raise a W=1000-kg load. It consist of identical linkages on each side (the
image is showing one of two of the identical linkages). Hence, each linkage will carry 500 kg. Member 𝐴𝐷 is pinned to
the midpoint of 𝐸𝐷𝐵. Determine the force exerted in each cylinder in raising the crate for 𝜃 = 60°, 𝑎 = 70 cm, and 𝐿 =
320 cm.
Solution-contd.: Define the virtual displacements.

𝑦 = 2𝑎 sin 𝜃

𝛿𝑦 = 2𝑎 cos 𝜃 𝛿𝜃

We use cosine theorem to determine the length 𝑠

𝑠 = 𝑎 + 𝐿 − 2𝑎𝐿 cos 𝜃

2𝑠𝛿𝑠 = 2𝑎𝐿 sin 𝜃 𝛿𝜃

𝑎𝐿 sin 𝜃
𝛿𝑠 = 𝛿𝜃
𝑠
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Applications of the principle of virtual work

Example: A hydraulic lift table is used to raise a W=1000-kg load. It consist of identical linkages on each side (the
image is showing one of two of the identical linkages). Hence, each linkage will carry 500 kg. Member 𝐴𝐷 is pinned to
the midpoint of 𝐸𝐷𝐵. Determine the force exerted in each cylinder in raising the crate for 𝜃 = 60°, 𝑎 = 70 cm, and 𝐿 =
320 cm.
Solution-contd.: Set the virtual work to zero; 𝛿𝑈 = 0
1
𝐹 𝛿𝑠 − 𝑊𝛿 = 0
2
𝑎𝐿 sin 𝜃 1
𝐹 𝛿𝜃 + − 𝑊 2𝑎 cos 𝜃 𝛿𝜃 = 0
𝑠 2
Rearranging we get,
𝑠
𝐹 = 𝑊 cot 𝜃
𝐿
Substitute 𝑊 = 500 kg × 9.81 m/s and 𝑠 = 𝑎 + 𝐿 − 2𝑎𝐿 cos 𝜃
where 𝑎 = 0.07 m, 𝐿 = 3.2 m and 𝜃 = 60°

∎𝐹 = 5.15 kN
 Dr. Oğuzcan İnal | Statics | STA201E | Chapter-10

Chapter References

• Beer, F.P. and Johnston Jr, E.R; “Vector mechanics for engineers: Statics”, 8th edition, McGraw-Hill, 2007.