VECTOR MECHANICS FOR ENGINEERS:

STATICS
Ninth Edition
Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Texas Tech University
CHAPTER
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10
Method of Virtual Work
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Contents
10 - 2
Introduction
Work of a Force
Work of a Couple
Principle of Virtual Work
Applications of the Principle of Virtual Work
Real Machines. Mechanical Efficiency
Sample Problem 10.1
Sample Problem 10.2
Sample Problem 10.3
Work of a Force During a Finite Displacement
Potential Energy
Potential Energy and Equilibrium
Stability and Equilibrium
Sample Problems 10.4
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Introduction
10 - 3
Principle of virtual work - if a particle, rigid body, or system of
rigid bodies which is in equilibrium under various forces is given
an arbitrary virtual displacement, the net work done by the external
forces during that displacement is zero.
The principle of virtual work is particularly useful when applied
to the solution of problems involving the equilibrium of
machines or mechanisms consisting of several connected
members.
If a particle, rigid body, or system of rigid bodies is in equilibrium,
then the derivative of its potential energy with respect to a variable
defining its position is zero.
The stability of an equilibrium position can be determined from the
second derivative of the potential energy with respect to the position
variable.
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Work of a Force
10 - 4
r d F dU

= = work of the force corresponding to

the displacement
F

r d

o cos ds F dU =
ds F dU + = = , 0 o 0 ,
2
= = dU
t
o ds F dU = = , t o
Wdy dU =
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Work of a Force
10 - 5
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
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Work of a Couple
10 - 6
( )
u
u
d M
rd F ds F r d F
r d r d F r d F W
=
= = =
+ + =
2 2
2 1 1

Small displacement of a rigid body:

translation to AB
rotation of B about A to B
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Principle of Virtual Work
10 - 7
Imagine the small virtual displacement of particle which
is acted upon by several forces.
The corresponding virtual work,
( )
r R
r F F F r F r F r F U

o
o o o o o
=
+ + = + + =
3 2 1 3 2 1
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.
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Applications of the Principle of Virtual Work
10 - 8
Wish to determine the force of the vice on the
block for a given force P.
Consider the work done by the external forces
for a virtual displacement ou. Only the forces P
and Q produce nonzero work.
C B P Q
y P x Q U U U o o o o o = + = = 0
ou u o
u
cos 2
sin 2
l x
l x
B
B
=
=
ou u o
u
sin
cos
l y
l y
C
C
=
=
u
ou u ou u
tan
sin cos 2 0
2
1
P Q
Pl Ql
=
+ =
If the virtual displacement is consistent with the
constraints imposed by supports and connections,
only the work of loads, applied forces, and
friction forces need be considered.
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Real Machines. Mechanical Efficiency
10 - 9
u
uou
uou
q
cot 1
sin
cos 2
input work
k output wor
=
=
=
Pl
Ql
( ) u
uou uou uou
o o o o
=
+ =
= =
tan
cos sin cos 2 0
0
2
1
P Q
Pl Pl Ql
x F y P x Q U
B C B
When the effect of friction is
considered, the output work is reduced.
machine ideal of k output wor
machine actual of k output wor
efficiency mechanical
=
= q
For an ideal machine without friction, the
output work is equal to the input work.
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Sample Problem 10.1
10 - 10
Determine the magnitude of the couple M required to
maintain the equilibrium of the mechanism.
SOLUTION:
Apply the principle of virtual work
D
P M
x P M
U U U
o ou
o o o
+ =
+ = =
0
0
uou o
u
sin 3
cos 3
l x
l x
D
D
=
=
( ) uou ou sin 3 0 l P M + =
u sin 3Pl M =
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Sample Problem 10.2
10 - 11
Determine the expressions for u and for the tension in the
spring which correspond to the equilibrium position of the
spring. The unstretched length of the spring is h and the
constant of the spring is k. Neglect the weight of the
mechanism.
SOLUTION:
Apply the principle of virtual work
C B
F B
y F y P
U U U
o o
o o o
=
= + =
0
0
uou o
u
cos
sin
l y
l y
B
B
=
=
uou o
u
cos 2
sin 2
l y
l y
C
C
=
=
( )
( ) h l k
h y k
ks F
C
=
=
=
u sin 2
( ) ( )( ) uou u uou cos 2 sin 2 cos 0 l h l k l P =
P F
kl
kh P
2
1
4
2
sin
=
+
= u
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Sample Problem 10.3
10 - 12
A hydraulic lift table consisting of two
identical linkages and hydraulic cylinders
is used to raise a 1000-kg crate. Members
EDB and CG are each of length 2a and
member AD is pinned to the midpoint of
EDB.
Determine the force exerted by each
cylinder in raising the crate for u = 60
o
, a
= 0.70 m, and L = 3.20 m.
DH
F W
Q Q U o o o + = = 0
Apply the principle of virtual work for a
virtual displacement ou recognizing that only
the weight and hydraulic cylinder do work.
Based on the geometry, substitute expressions
for the virtual displacements and solve for the
force in the hydraulic cylinder.
SOLUTION:
Create a free-body diagram for the platform
and linkage.
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Sample Problem 10.3
10 - 13
SOLUTION:
Create a free-body diagram for the platform.
s F y W
Q Q U
DH
F W
DH
o o
o o o
+ =
+ = =
2
1
0
0
Apply the principle of virtual work for a virtual
displacement ou
Based on the geometry, substitute expressions for the
virtual displacements and solve for the force in the
hydraulic cylinder.
uou o
u
cos 2
sin 2
a y
a y
=
=
( )
ou
u
o
ou u o
u
s
aL
s
aL s s
aL L a s
sin
sin 2 2
cos 2
2 2 2
=
=
+ =
( )
u
ou
u
uou
cot
sin
cos 2 0
2
1
L
s
W F
s
aL
F a W
DH
DH
=
+ =
kN 15 . 5 =
DH
F
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Work of a Force During a Finite Displacement
10 - 14
Work of a force corresponding to an
infinitesimal displacement,
o cos ds F
r d F dU
=
=

Work of a force corresponding to a finite

displacement,
( )
}
=

2
1
cos
2 1
s
s
ds F U o
Similarly, for the work of a couple,
( )
1 2 2 1
u u
u
=
=

M U
Md dU
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Work of a Force During a Finite Displacement
10 - 15
Work of a weight,
y W
Wy Wy
Wdy U
Wdy dU
y
y
A =
=
=
=
}
2 1
2 1
2
1
Work of a spring,
( )
2
2
2
1
2
1
2
1
2 1
2
1
kx kx
dx kx U
dx kx Fdx dU
x
x
=
=
= =
}
( ) x F F U A
2 1
2
1
2 1
+ =

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Potential Energy
10 - 16
Work of a weight
2 1 2 1
Wy Wy U =

The work is independent of path and depends only on

potential energy of the body with
respect to the force of gravity W

= =
g
V Wy
( ) ( )
2 1
2 1 g g
V V U =

Work of a spring,
( ) ( )
=
=
=

e
e e
V
V V
kx kx U
2 1
2
2
2
1
2
1
2
1
2 1
potential energy of the body with
respect to the elastic force F

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Potential Energy
10 - 17
When the differential work is a force is given by an
exact differential,
energy potential in change of negative
V V U
dV dU
=
=
=
2 1 2 1
Forces for which the work can be calculated from a change
in potential energy are conservative forces.
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Potential Energy and Equilibrium
10 - 18
When the potential energy of a system is known,
the principle of virtual work becomes
u
ou
u
o o
d
dV
d
dV
V U
=
= = =
0
0
For the structure shown,
( ) ( ) u u cos sin 2
2
2
1
2
2
1
l W l k
Wy kx V V V
C B g e
+ =
+ = + =
At the position of equilibrium,
( ) W kl l
d
dV
= = u u
u
cos 4 sin 0
indicating two positions of equilibrium.
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Stability of Equilibrium
10 - 19
0
2
2
>
u d
V d
0
2
2
>
u d
V d
0 =
u d
dV
Must examine higher
order derivatives.
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Sample Problem 10.4
10 - 20
Knowing that the spring BC is unstretched
when u = 0, determine the position or
positions of equilibrium and state whether
the equilibrium is stable, unstable, or
neutral.
SOLUTION:
Derive an expression for the total potential
energy of the system.
g e
V V V + =
Determine the positions of equilibrium by
setting the derivative of the potential
energy to zero.
0 =
u d
dV
Evaluate the stability of the equilibrium
positions by determining the sign of the
second derivative of the potential energy.
0
2
2
< >
u d
V d
?
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Sample Problem 10.4
10 - 21
SOLUTION:
Derive an expression for the total potential energy of the
system.
( ) ( ) u u cos
2
2
1
2
2
1
b mg a k
mgy ks
V V V
g e
+ =
+ =
+ =
Determine the positions of equilibrium by setting the
derivative of the potential energy to zero.
( )( )
( )( )( )
u
u u u
u u
u
8699 . 0
m 3 . 0 s m 81 . 9 kg 10
m 08 . 0 m kN 4
sin
sin 0
2
2 2
2
=
= =
= =
mgb
ka
mgb ka
d
dV
= = = 7 . 51 rad 902 . 0 0 u u
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Sample Problem 10.4
10 - 22
( ) ( ) u u cos
2
2
1
b mg a k V + =
u u
u
sin 0
2
mgb ka
d
dV
= =
= =
=
7 . 51 rad 902 . 0
0
u
u
Evaluate the stability of the equilibrium positions by
determining the sign of the second derivative of the
potential energy.
( )( ) ( )( )( )
u
u
u
u
cos 43 . 29 6 . 25
cos m 3 . 0 s m 81 . 9 kg 10 m 08 . 0 m kN 4
cos
2 2
2
2
2
=
=
= mgb ka
d
V d
at u = 0: 0 83 . 3
2
2
< =
u d
V d
unstable
at u = 51.7
o
:
0 36 . 7
2
2
> + =
u d
V d
stable