Principle of Virtual Work

CE 102: Engineering
Mechanics
Principle of Virtual Work
Work of a Force
! ! !
dU = F ⋅ dr = work of the force F corresponding to
!
the displacement dr
dU = F ds cosα
α= 0, dU =+ F ds α= π , dU = − F ds α=
π
2
, dU = 0
dU = Wdy
Work of a Couple
Small displacement of a rigid body:
•  translation to A’B’
•  rotation of B’ about A’ to B”
! ! ! ! !
W = − F ⋅ dr1 + F ⋅ (dr1 + dr2 )
! !
F ⋅ dr2 = F ds 2 = F rdθ
M dθ
Principle of Virtual Work
•  Imagine the small virtual displacement of particle which
is acted upon by several forces.
•  The corresponding virtual work,
! ! ! ! ! ! ! ! ! !
( )
δU = F1 ⋅ δr + F2 ⋅ δr + F3 ⋅ δr = F1 + F2 + F3 ⋅ δr
! !
R ⋅ δr
Principle of Virtual Work:

•  If a particle is in equilibrium, the total virtual work of forces
acting on the particle is zero for any virtual displacement.
•  If a rigid body is in equilibrium, the total virtual work
of external forces acting on the body is zero for any
virtual displacement of the body.
•  If a system of connected rigid bodies remains connected
during the virtual displacement, only the work of the
external forces need be considered.
Work of a 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
•  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
10 - 5
Virtual Work for a rigid body
Different types of forces
•  Forces that do work are called
active force.
•  Reactive and internal forces do
not do any work.
•  Virtual displacements are to be
given carefully so that the
active forces are only the
known forces and the forces we
are interested in obtaining
•  Similar to FBD we draw active
force diagram (AFD).
Degrees of Freedom
• DOF in this context is the total number
of independent coordinates required to
specify the complete location of every
member of the structure.
• For VW method in this course we will
use only 1-DOF systems.
1 DOF 2 DOF
To summarize
•  Principle of virtual work
–  The virtual work done by external active
forces on an ideal mechanical system in
equilibrium is zero for any all virtual
displacements consistent with the
constraints.
•  Ideal system:
–  All surfaces, joints etc. are frictionless.
–  We will deal with ideal system in this course.
•  Consistent with constraints:
–  The virtual displacement should be such that they
should not do allow the non-active forces to do any
work.
Why principle of Virtual Work
•  For complex mechanisms (we will solve some
problems) we do not need to dis-member the
system.
•  We obtain the active unknown force in one
shot without bothering about the reactive
forces.
•  Such type of analysis will be a stepping stone
to VW analysis using deformations when you
study Solid Mechanics, Structural Mechanics
etc. not to mention powerful Approximate
methods like the Finite Element Method.
Sample Problem 10.1
Determine the magnitude of the couple M required to
maintain the equilibrium of the mechanism.
SOLUTION:
•  Apply the principle of virtual work
δU = 0 = δU M + δU P
0 = Mδθ + PδxD
xD = 3l cosθ
δxD = −3l sinθδθ
0 = Mδθ + P(− 3l sinθδθ )
M = 3Pl sinθ
•  Note that no support reactions were needed to solve the
problem, nor was it necessary to take apart the machine at
any connection. A clear and accurate FBD is still highly
10 - 11 recommended, however.
Problem 1
• Assuming frictionless contacts,
determine the magnitude of P for
equilibrium
This problem will be

referred to as the
Ladder problem
Problem 2
•  The pressure p driving a piston of diameter
100 mm is 1 N/mm2. At the configuration
shown, what weight W will the system hold if
friction is neglected
This along with the ladder

problem forms a framework
for many other problems
Problem 3
•  A hydraulic lift platform for loading trucks supports a weight W of
5000N. Only one side of the system has been shown; the other side is
identical. If the diameter of the piston in the cylinder (two) is 40 mm,
what pressure p is needed to support W when θ = 60o. Assume l = 240
mm, d = 600 mm, and e = 100 mm. Neglect friction everywhere
Problem 4
•  A power-operated loading platform designed for the back of a truck is
shown. The position of the platform is controlled by the hydraulic
cylinder, which applies force at C. The links are pivoted to the truck
frame at A, B, and F. Determine the force P supplied by the cylinder in
order to support the platform in the position shown. The mass of the
platform and the links may be neglected compared with that of the 250
kg crate with center of mass at G.
Problem 5
•  A force P is applied to slider C as shown. The constant of the
spring is 1.6 kN/m, and the spring is un-stretched when member
BD is horizontal. Neglecting friction between the slider and the
guide rod and knowing that BC = BD = 150 mm, determine the
magnitude of P so that when the system is in equilibrium.
Pliers problem
•  The toggle pliers are used for a variety of clamping
purposes. For the handle position given by α= 10deg and
for a handle grip P = 150N, calculate the clamping force C
produced. Note that pins A and D are symmetric about the
horizontal centerline of the tool
Problem 6
•  Determine Q for equilibrium for the system
shown. The pulleys are frictionless and have
masses W1 and W2. The sliding body has mass
W3.
Problem 7
• Find the force Q required to maintain
the system in equilibrium.
Problem 8
•  Determine the couple M which must be
applied at O in order to support the
mechanism in the position θ = 30o. The
masses of the disk at C, bar OA, and bar BC
are mo, m, and 2m respectively.
Problem 9
• Determine force in member CD by using
the method of virtual work.
Additional Problems
Problem 1
• Find reaction at E by using method of
virtual work
Problem 2
•  The elevation of the platform of mass m supported by the four
identical links is controlled by the hydraulic cylinders AB and AC
which are pivoted at point A. Determine the compression P in
each of the cylinders required to support the platform for the
specified angle θ
Problem 3
• Determine the vertical movement of
joint C, if the member FG is lengthened
by 50 mm
Problem 4
•  Find the force delivered
at C in the horizontal
direction to crush the
rock. Pressure p1= 100
M-Pa and p2= 60 M-Pa
(measured above
atmospheric pressure).
The diameters of
pistons are 100mm
each. Neglect the
weight of the rods.
Extra Problem
• Find the moment M
required to hold the
system in equilibrium.
• Take P = 135 N, a =
600mm, and θ = 40 deg.
Problem 11
•  The two-bar linkage shown is supported by a

pin and bracket at B and a collar at D that
slides freely on a vertical rod. Determine the
force P required to maintain the equilibrium of
the linkage.
Problem 12
•  The claw of the remote-action actuator

develops a clamping force C as a result of
the tension P in the control rod. Express C
in terms of P for the configuration shown
where the jaws are parallel.

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CE 102: Engineering