208221 Engineering Mechanics: Statics Page 7-1

Outline

Chapter 7
Virtual Work

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-2
Outline

Outline

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-3
Outline

Introduction
◮ Previously, the equilibrium of a body have been analyzed by isolating
it with a free-body diagram and writing the zero force and
zero-moment summation equations.
◮ For problems in which bodies are composed of interconnected
members, the force- and moment-equilibrium equations are often
not the most direct and convenient approach.
◮ A method of virtual work which is based on the concept of the
work done by a force is more direct.
◮ The method provides a deeper insight into the behavior of
mechanical systems and enables us to examine the stability of
systems in equilibrium.

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-4
Outline

Work of a Force
◮ Consider the constant force F~ acting on
the body whose movement along the plane
from A to A′ is represented by the vector
∆~s, called the displacement of the body.

◮ By definition the work U done by the force

F~ on the body during this displacement is

U = (F cos α) ∆s

or
U = F (∆s cos α)
◮ The work U is a scalar quantity because
the same result is obtained regardless of
the direction in which the vectors are
resolved.

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-5
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7/2
Work of a Force 7/2
◮ Consider a force F~ acting on a body at a
point A which moves along the path from
A1 to A2 .
◮ Point A is located by its position vector ~r.
◮ The infinitesimal displacement in the motion
from A to A′ is given by the differential
change d~r of the position vector.
◮ The work done by the force F~ during the
displacement d~r is defined as

dU = F~ · d~r

◮ Using the definition of the dot product yields

dU = F ds cos α
P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND
208221 Engineering Mechanics: Statics Page 7-6
Outline
7/2

Work of a Force 7/2

◮ In terms of their rectangular components

dU = (~iFx + ~jFy + ~
kFz )·(~idx + ~jdy + ~
kdz)

= Fx dx + Fy dy + Fz dz

◮ The total work U is obtained by

~ ·d~
R R
U = F r = (Fx dx + Fy dy + Fz dz)

or Z
U = F cos α ds

◮ In the case of concurrent forces, the work

done by their resultant equals the total work
done by the several forces.

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-7
Outline

Work of a couple
◮ Couple M acts on the body and changes its
angular position by an amount dθ.
◮ The work done by the couple is

dU = M dθ

◮ There is no work done by a couple during a

translation.
◮ The work of the couple is positive if M has the
same sense as dθ.
◮ The total work of a couple during a finite
rotation in its plane becomes
Z
U = M dθ

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-8
Outline

Virtual Work
◮ Consider a particle whose static equilibrium position is determined
by the forces which act on it.
◮ Virtual work δU is the work done by any force F~ acting on the
particle during the virtual displacement δ~r

δU = F~ · δ~r or δU = F δs cos α

where α is the angle between F~ and δr, and δs is the magnitude of

δ~r.
◮ The term virtual is used to indicate that the displacement does not
really exit but only is assumed to exist so that we may compare
various possible equilibrium positions to determine the correct one.
◮ A virtual work done by a couple M during a virtual angular
displacement δθ is δU = M δθ.

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-9
Outline

Equilibrium of a Particle
◮ Consider the particle which attains an equilibrium
position as a result of the forces in the attached
springs.
◮ The total virtual work done on the particle is

~1 ·δ~
δU = F ~2 ·δ~
r+F ~3 ·δ~
r+F r + ··· =
P ~
F ·δ~
r

◮ In term of rectangular components,

Fy + ~ Fz )·(~iδx + ~jδy + ~
P ~
r = (~i Fx + ~j
P P P
δU = F ·δ~ k kδz)

P P P
= Fx δx + Fy δy + Fz δz

◮ The equation
δU = 0
is a statement of the equilibrium conditions for a particle.

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-10
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Equilibrium of a Rigid Body

◮ The virtual work done by external forces
appears in the evaluation of δU = 0 for
the entire body.
◮ For a given example, the work done by P is
−P a δθ, and the work done by R is +Rb δθ.
◮ The principle δU = 0 gives

−P a δθ + Rb δθ = 0

◮ Canceling δθ leaves

P a − Rb = 0

which is simply the equation of moment

equilibrium about O.

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-11
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Principle of Virtual Work

◮ The external active forces do work during
any possible movement of the system, we
may state the principle of virtual work as
follows:
The virtual work done by the external ac-
tive forces on an ideal mechanical system in
equilibrium is zero for any and all virtual dis-
placements consistent with the constraints.

◮ By equation

δU = 0
where δU stands for the total virtual work
done on the system by all active forces
during a virtual displacement.

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-12
Outline

Example 7.1
Each of the two uniform hinged bars has a mass m
and a length l, and is supported and loaded as
shown. For a given force P determine the angle θ
for equilibrium.
Solution
◮ The principle of virtual work requires
[δU = 0] P δx + 2mg δh = 0
◮ Expressing δx and δh in terms of the variable θ
θ θ
x = 2l sin 2 and δx = l cos 2 δθ
l θ
h = 2 cos 2 and δh = − 4l sin θ
2 δθ

◮ Substitution into the equation gives

θ l θ
P l cos 2 δθ − 2mg 4 sin 2 δθ = 0

for which we get tan θ

2 = 2P
mg or θ = 2 tan−1 2P
mg

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-13
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Example 7.2
The mass m is brought to an equilibrium position by
the application of the couple M to the end of one of
the two parallel links which are hinged as shown. The
links have negligible mass, and all friction is assumed to
be absent. Determine the expression for the equilibrium
angle θ assumed by the link with the vertical for a given
value of M . Consider the alternative of a solution by
force and moment equilibrium.
Solution
◮ The work done by mg during a movement δh
in the direction of mg is

+mg δh = mg δ(b cos θ + c)

= mg δ(−b sin θ δθ + 0)

= −mgb sin θ δθ

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-14
Outline

Example 7.2
Determine the expression for the equilibrium angle θ
assumed by the link with the vertical for a given value
of M .
Solution
◮ The work done by the clockwise couple M is
M δθ.
◮ The virtual-work equation gives

[δU = 0] M δθ + mg δh = 0

which yields
M δθ = mgb sin θ δθ
M
θ = sin−1 mgb

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-15
Outline

Example 7.3
For link OA in the horizontal position shown, determine
the force P on the sliding collar which will prevent OA
from rotating under the action of the couple M .
Neglect the mass of the moving parts.
Solution
◮ The virtual-work equation gives
[δU = 0] M δθ + P δx
◮ The virtual displacement δx in term of variable
θ
b2 = x 2 + y 2 δ(b2 ) = δ(x2 ) + δ(y 2 )
y y
0 = 2xδx + 2yδy δx = − x δy δx = − x a δθ

◮ The virtual-work equation becomes

[δU = 0] y
M δθ + P (− x a δθ ) = 0 P = Mx
ya = Mx
ha

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-16

-
Outline

Elastic Potential Energy

~ n c o m ~ r e s s elength
d
◮ The work done on an elastic member is stored
in the member in the form of elastic
potential energy Ve
Rx Rx
Ve = 0
F dx = 0
kx dx

or Ve = 1
2 kx
2

◮ During an increase in the compression of the

spring from x1 to x2 , the work done on the
spring
Rx 1 2 2
∆Ve = 2
x1
kx dx = 2 k(x2 −x1 )

◮ During a virtual displacement δx of the spring,

the virtual work done on the spring is
δVe = F δx = kx δx

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-17

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Outline

Elastic Potential Energy

◮ During a decrease in the compression of the ~ n c o m ~ r e s s elength
d

spring as it is relaxed from x = x2 to x = x1 ,

the change in the potential energy of the
spring is negative.
◮ Consequently, if δx is negative, δVe is also
negative.
◮ When we have a spring in tension rather than
compression, the work and energy relations are
the same as those for compression.
◮ A torsional spring, which resists the rotation
of a shaft or another element, can also store
and release potential energy.
◮ The potential energy of the torsional spring for
a angle of twist θ is Ve = 12 Kθ2 .
P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND
208221 Engineering Mechanics: Statics Page 7-18
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Gravitational Potential Energy

◮ The gravitational potential energy Vg of a
body is defined as the work done on the
body by a force equal and opposite to the
weight in bringing the body to the position
under consideration from some arbitrary
datum plane where the potential energy is
defined to zero.
◮ If Vg is taken to be zero at h = 0, then at a
height h above the datum plane, the
gravitational potential energy of the body is
Vg = mgh
◮ If the body is a distance h below the datum plane, its gravitational
potential energy is −mgh.
◮ The virtual change in gravitational potential energy is
δVg = mg δh
P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND
208221 Engineering Mechanics: Statics Page 7-19
Outline
i'
Energy Equation Smooth i'
◮ The total virtual work δU can be written as
the sum of the work δU ′ done by all active
forces, other than spring forces and weight
forces, and the work −(δVe + δVg ) done by the
i'
spring and weight forces

δU ′ − (δVe + δVg ) = 0

or
δU ′ = δV
where V = Ve + Vg stands for the total
potential energy of the system. 713: 6U 716
(b)
713: 6U 716: 6 U ' = 6 x +6Vg = 6 V
◮ With this formulation a spring becomes (b) (c)
internal to the system, and the work of spring
and gravitational forces is accounted for in the
δV term.
713: 6U 716: 6 U ' = 6 x +6Vg = 6 V
P. Kunthong: Department of Mechanical Engineering,
(b) Kasetsart University, Bangkok,
(c) THAILAND
208221 Engineering Mechanics: Statics Page 7-20
Outline
i'
Active-Force Diagrams Smooth i'
◮ Consider a particle which is in equilibrium
under the action of the applied forces F1 and
F2 , the gravitational force mg, the spring force i'
kx, and a normal reaction force.

◮ When the particle alone is isolated, δU

includes the virtual work of all forces.

δU = 0

◮ When the spring is included in the system, δU ′

is the virtual work of only F1 and F2 , which 713: 6U 716
(b)
are the only external forces whose work is not 713: 6U 716: 6 U ' = 6 x +6Vg = 6 V
accounted for in the potential-energy terms. (b) (c)

δU ′ = δVe + δVg = δV
713: 6U 716: 6 U ' = 6 x +6Vg = 6 V
P. Kunthong: (b)
Department of Mechanical Engineering, (c)
Kasetsart University, Bangkok, THAILAND
208221 Engineering Mechanics: Statics Page 7-21
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Principle of Virtual Work

The virtual work done by all external active forces (other than gravita-
tional and spring forces accounted for in the potential energy terms) on
a mechanical system in equilibrium equals the corresponding change
in the total elastic and gravitational potential energy of the system for
any and all virtual displacements consistent with the constraints.

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-22
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Stability of Equilibrium
◮ The mechanical system is in equilibrium when the derivative of its
total potential energy is zero.
dV
= 0
dx

Stable Unstable Neutral

◮ The stability of a system are:
d2 V
Stable > 0
dx2
2
d V
Unstable < 0
dx2
P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND
208221 Engineering Mechanics: Statics Page 7-23
Outline

Example 7.4
The 10-kg cylinder is suspended by the spring,
which has a stiffness of 2kN/m. Plot the potential
energy V of the system and show that it is
minimum at the equilibrium position.
Solution
◮ The total potential energy is
[V = Ve + Vg ]
1 2 1 2
V = 2 kx − mgx = 2 (2000)x − 10(9.81)x
◮ Equilibrium occurs where
[ dV
dx = 0]
dV
dx = kx − mg = 0 x = mg/k

◮ The equilibrium value of x is

x = 10(9.81)/2000 = 0.0490 m or 49.0 mm
2 2
◮ d V /dx = k, which is positive, proving that
the equilibrium is stable.
P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND
208221 Engineering Mechanics: Statics Page 7-24
Outline

Example 7.5
The two uniform links, each of mass m, are in the vertical plane and are connected and
constrained as shown. As the angle θ between the links increases with the application of the
horizontal force P , the light rod, which is connected at A and passes through a provide collar at
B, compresses the spring of stiffness k. If the spring is uncompressed in the position where
θ = 0, determine the force P which will produce equilibrium at the angle θ.

Solution
◮ The elastic potential energy of the spring is
2
[Ve = 1 2
2 kx ] Ve = 1
2k (2b sin θ2 ) = 2kb2 sin2 θ
2

◮ The gravitational potential energy of the

spring is
[Vg = mgh] Vg = 2mg (−b cos θ
2 )
◮ The virtual work done by P is
δU ′ = P δ (4b sin θ
2 ) = 2P b cos θ
2 δθ

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-25
Outline

Example 7.5
The two uniform links, each of mass m, are in the vertical plane and are connected and
constrained as shown. As the angle θ between the links increases with the application of the
horizontal force P , the light rod, which is connected at A and passes through a provide collar at
B, compresses the spring of stiffness k. If the spring is uncompressed in the position where
θ = 0, determine the force P which will produce equilibrium at the angle θ.

Solution
◮ The virtual-work equation gives
[δU ′ = δVe + δVg ]

2P b cos θ
2 δθ = δ (2kb2 sin2 θ
2 ) + δ (−2mgb cos θ2 )
= 2kb2 sin θ
2 cos θ
2 δθ + mgb sin θ
2 δθ

◮ Simplifying gives finally

θ 1 θ
P = kb sin 2 + 2 mg tan−1 2

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-26
Outline

Example 7.6
The ends of the uniform bar of mass m slide freely in the horizontal
and vertical guides. Examine the stability conditions for the position
of equilibrium. The spring of stiffness k is undeformed when x = 0.

Solution
◮ In the displaced position the total potential
energy is
2 2
V = Ve + Vg = 1
2 kx + mg 2b cos θ = 1
2 kb sin2 θ + 1
2 mgb cos θ

◮ Equilibrium occurs for dV /dθ = 0 so that

dV
dθ = kb2 sin θ cos θ − 1
2 mgb sin θ = (kb2 cos θ − 1
2 mgb) sin θ = 0

◮ The two solutions to this equation are given by

sin θ = 0 and cos θ = mg

2kb

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-27
Outline

Example 7.6
The ends of the uniform bar of mass m slide freely in the horizontal
and vertical guides. Examine the stability conditions for the position
of equilibrium. The spring of stiffness k is undeformed when x = 0.

Solution
◮ The second derivative is
d2 V
dθ 2
= kb2 (cos2 θ − sin2 θ)− 12 mgb cos θ

= kb2 (2 cos2 θ − 1) − 1
2 mgb cos θ

Case I sin θ = 0, θ = 0
d2 V
dθ 2
= kb2 (2−1) − 1
2 mgb
mg
= kb2 (1− 2kb )
= positive (stable) if k>mg/2b

= negative (unstable) if k<mg/2b

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-28
Outline

Example 7.6
The ends of the uniform bar of mass m slide freely in the horizontal
and vertical guides. Examine the stability conditions for the position
of equilibrium. The spring of stiffness k is undeformed when x = 0.

Solution
Case II cos θ = mg
2kb , θ = cos−1 2kb mg

d2 V
h i
mg 2
dθ 2
2 mg
= kb 2( 2kb ) −1 − 21 mgb( 2kb )
h 2
i
mg
= kb2 ( 2kb ) −1

◮ Since this solution is limited to

cos θ≤1
k>mg/2b, which make the second derivative of
V negative.
◮ Thus, the equilibrium for Case II is never
stable.

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-29
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Exercises ◮ The spring of constant k is unstretched when

◮ The mass of the uniform bar of length l is m
θ = 0. Derive an expression for the force P
while that of the uniform bar of length 2l is 2m.
required to deflect the system to an angle θ. The
For a given force P , determine the angle θ for
mass of the bar is negligible.
equilibrium.

◮ Determine the couple M required to maintain

equilibrium at an angle θ. Each of the two
uniform bars has mass m and length l.

◮ The upper jaw D of the toggle press slides with

negligible frictional resistance along the fixed
vertical column. Determine the required force F
on the handle to produce a compression R on
the roller for any given value of θ.

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND

208221 Engineering Mechanics: Statics Page 7-30
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Exercises
◮ The portable car hoist is operated by the ◮ Determine the couple M which must be applied
hydraulic cylinder which controls the horizontal at O in order to support the mechanism in the
movement of end A of the link in the horizontal position θ = 30◦ . The masses of the disk at C,
slot. Determine the compression C in the piston bar OA, and bar BC are m0 , m, and 2m,
rod of the cylinder to supprot the load P at a respectively.
height h.

P. Kunthong: Department of Mechanical Engineering, Kasetsart University, Bangkok, THAILAND