EP 222: Classical Mechanics - Lecture 6

Dipan K. Ghosh
Indian Institute of Technology Bombay dipan.ghosh@gmail.com

Dipan K. Ghosh

EP 222: Classical Mechanics - Lecture 6

Review of Lecture 5: Principle of Virtual Work

We discussed different types of constraints that limit the degrees of
freedom of a many particle system.
The Holonomic constraints are those which result in algebraic
relations between the generalized coordinates which reduce the
number of generalized coordinates required to describe the dynamic
state of a system.
Constraints, both holonomic and non-holonomic are either
scleronomic or time independent or rheonomic or time dependent.
We defined virtual displacements and enunciated the principle of
virtual work.
Today, we will illustrate the principle of virtual work and attempt to
re-derive the Euler Lagrange Equations using this.

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

1 / 17

Principle of Virtual Work

The work done by applied forces in a virtual displacement of a body is

zero.
~ i = 0 = P F
~ i ~ri = 0
F
i

Fi = Fia + Fic but the constraint forces (reaction, tension etc.) do not
do any work.
P ~a
Thus
F ri = 0
i

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

2 / 17

Principle of Virtual Work- Illustration

The work done by applied forces in a virtual displacement of a body is zero.

X

~ a ~ri = 0
F
i

Two particles joined by a taut string, constrained to move along a

straight line. If F1 and F2 are applied forces acting on the two
particles, F1 x1 + F2 x2 = 0. We have x1 = x2 . Thus F1 + F2 = 0
(The individual applied forces need not be zero)

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

3 / 17

Principle of Virtual Work- Illustration

The work done by applied forces in a virtual displacement of a body is zero.
X

~ a ~ri = 0
F
i

Consider a rigid body. It has six degrees of freedom, three rotations

and two translations. Each of the six different types of displacements
can be independently varied.
for a rigid body, the magnitude of each ~ri must be the same. Thus
each
P ofPthe six
PtypesPof terms
P
P
Fx , Fy , Fz , Mx , My , Mz must vanish.
No net force or torque on a rigid body in equilibrium.

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

4 / 17

Constraint Forces do not do work

Constraint forces do not do any work because they work to restrict

motion along a surface which is perpendicular to the direction of such
forces.
Two bodies joined by a taut string: The constraint forces (tension)
are equal and opposite and the displacement is the same. Hence no
work.
Rigid body: For any pair of particles j and k,
~f c ~rj + ~f c ~rk = (~f c + ~f c ) rj = 0
kj
jk
kj
jk

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

5 / 17

Virtual work - Examples

In the pulley system shown, when m1 moves by an amount x to
right, m2 moves by 2x downward, so that the lengths of two ropes
remain constant.
The only external forces are gravity and friction.
Virtual work = mg x + mg (2x) = 0 so that m2 = m1 /2

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

6 / 17

Virtual work - Examples

In the pulley system shown, y1 + y2 = constant is the constraint, so
that y1 = y2 .
The only external forces are m1 g and m2 g
Virtual work = m1 g y1 + m2 g y2 = (m1 m2 )g y1 = 0 so that
m1 = m2 .

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

7 / 17

Virtual work - Examples

The block on the vertical track has downward displacement of x1 ,
the block on the horizontal plane has a vertical displacement x2 to
the right.
Constraint which keeps the length of the rod constant:
x1 sin = x2 cos .
Gravity does mg x1 , the applied force does F x2 .
Virtual work = mg x1 + F x2 = 0, so that F = mg cot

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

8 / 17

Generalized Force
Express the expression for Virtual work in terms of the set of d
generalized coordinates,
X
~ a ~ri
W =
F
i
i

d
XX
i =1
d
X

~ a ~ri q
F
i
q

Q q

=1

The Generalized force Q is defined by

~ a ~ri
Q = F
i
q
Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

9 / 17

Generalized Force - Example

A bead sliding down an elliptical bead. Motion in x-z plane, but
degrees of freedom is one as
x = a cos ; y = b sin ;

x2 y2
+ 2 =1
a2
b

(
x a cos + zb sin ) = mgb cos

A disk rolling on a horizontal plane without slipping

Q = mg z

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

10 / 17

Generalized Force - Example

A disk rolling down the incline without slipping, a force applied at C
(which provides a torque). One degree of freedom : x the distance
moves along the incline or the angle by which the disk rotates.
Generalized force corresponding to x coordinate
~rc = xi, = Qx = F
Generalized force corresponding to
~rc = Ri, = Q = RF
Generalized force need not have the dimension of force.

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

11 / 17

d Alemberts Principle

~ i = ~p i
Force results in rate of change of momentum F
The body can be brought to equilibrium by applying a pseudo force
~p i
~i = F
~c +F
~a
F
i
i
P ~a ~c
~ i ) ~ri = 0
Virtual work = i (F
i + Fi p
Constraint forces do not do any work
X

~ a ~p i ) ~ri = 0
(F
i

(we henceforth drop the superscript a)

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

12 / 17

d Alemberts Principle- consequence

In case the displacements are real, ~ri = d~ri = ~ri dt

If, in addition, the force is conservative,
X
X
~ i ~p i ) ~ri =
(F
[i V m~ri ] ~ri dt
i

[i V d~ri

= d(V +

d 1
( (mri2 )dt]
dt 2

(Ti )) = d(T + V ) = 0

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

13 / 17

d Alemberts Principle- Example

In case the displacements are real, ~ri = d~ri = ~ri dt

If, in addition, the force is conservative,
X
X
~ i ~p i ) ~ri =
(F
[i V m~ri ] ~ri dt
i

[i V d~ri

= d(V +

d 1
( (mri2 )dt]
dt 2

(Ti )) = d(T + V ) = 0

Dipan Ghosh (I.I.T. Bombay)

Class. Mech. -6

August 13, 2014

14 / 17