Virtual Work PDF

11.
1 Virtual Work
11.1 Virtual Work Example 1, page 1 of 5
1. Determine the force P required to keep the two rods in
equilibrium when the angle = 30 and weight W is 50 lb.
The rods are each of length L and of negligible weight.
They are prevented from moving out of the plane of the
figure by supports not shown.
L L
W
C
A
P
Smooth surface
B
1 The system has one degree of freedom,
L L because specifying the value of a single
W coordinate, , completely determines the
C configuration (shape) of the system.
A
P Consider a free-body diagram and identify
the active forces those forces that would
do work if were increased slightly.
Free-body diagram (The dashed line shows the position

of the system after has been increased a small amount.)
2 The force W does work because point B

4 The force P does work as B moves up, so W is an active force.
point A moves to the right,
so P is an active force.
P A W C
Cx
3 The reactions Cx and Cy do no

N Cy work because point C does not
5 The normal force N does no work move. Thus Cx and Cy are not
because it is perpendicular to the active forces.
displacement of point A. Thus N
is not an active force.
6 Introduce coordinates measured from a fixed point, 7 Compute the work done when the coordinates are
point C in the figure, to the point of application of the increased positive infinitesimal amounts, xA and xB
active forces. (The custom followed by textbook writers is to use the
Greek letter rather than simply writing dxA and dyB
B yB
because the infinitesimals represent hypothetical
motions motions that are possible but are not
yB necessarily motions that actually occur). The principle
of virtual work says that the total work must add to zero
P A W C for all possible motions, real or hypothetical that is,
"virtual."
Cx
U = 0: P xA W yB = 0 (1)
N Cy
A negative sign is present because the force P and
xA displacement xA are in opposite directions. That is, P
xA does negative work (absorbs work from the system
rather than adding work to the system). Similarly, the
force W does negative work because W points down
and yB is directed up.
8 Relate the differentials xA and yB through the change B
in the angle, : From the figure, it follows that
L L
yB = L sin (2) yB
To relate yB to , use the ordinary formula from A C
calculus for calculating a differential: if y = f( ), then the
differential is
xA
dy = ddf d
Applying this formula to Eq. 2 and using rather than d

gives
yB = L cos (3)
9 or,
Similarly
(2P sin W cos )(L )=0
xA = 2L cos
Because L 0, it follows that
xA = 2L sin (4)
2P sin W cos =0
Substitute Eqs. 3 and 4 for yB and xA into the
virtual-work equation: Substituting the given values = 30 and W = 50 lb
and solving gives
2L sin
P = 43.3 lb Ans.
P xA W yB = 0 (Eq. 1 repeated)
L cos
10 Observation: the forces acting between the rods at pin B never 11 Often virtual work is easier to use than equilibrium
occurred in the virtual-work equation because the work done equations for problems involving connected rigid
by the equal-and-opposite force pairs acting between the parts bodies (typically machines and mechanisms), but
of the body cancel out for example the work done by Bx this advantage exists only if the relation between
acting on rod AB has the opposite sign of the work done by Bx displacements can be found easily. If the geometry
acting on rod BC. Forces such as Bx and By would have had to is difficult, then using equilibrium equations is
be considered if equilibrium equations rather than virtual work probably the better approach.
had been used.
Free body of AB Free body of BC plus pin at B

By By
B B
Bx Bx
P A 50 lb C
Cx
N Cy
2. Determine the value of moment M required to
maintain the mechanism in the position shown,
if = 35 and W = 200 lb.
A C
2 ft
2 ft
W
B D
A C
2 ft 2 ft 1 The system has one degree of freedom: specifying the

value of the single coordinate, , completely
W determines the configuration of the system. Consider a
free-body diagram and identify the active forces,
B D
Free-body diagram (The dashed line shows the position of

the system after has been increased a small amount.)
2 The reactions at A and
C do no work because
points A and C do not A Cx C 3 Couple-moment M does
Ax work because member CD
move. Thus the
M rotates, so M is an active
reactions are not active
forces. W "force" (better said, "an
active moment" or "active
Ay Cy generalized force")
B D
4 The weight W of the
block does work because
the center of gravity of
the block moves
vertically; thus the
weight is an active force.
5 Introduce a coordinate y measured from the fixed Ax A C
point A to the point of application of the force W. Cx
M
Compute the work done when y and are increased a W y
positive infinitesimal amount.
Ay Cy
U= M +W y=0 (1)
B D
Note that the work done by a moment equals moment y
times angle of rotation. Here the work is negative
because M and have opposite senses.
C
Next use geometry to relate the y and :
y = (2 ft) sin y
2 ft
Differentiating gives
D
y = 2 cos (2)
Substitute Eq. 2 for y into Eq. 1. 6 Substituting the given values W = 200 lb and
= 35 into Eq. 3 and noting 0 gives
M +W y=0 (Eq. 1 repeated)
M 2(200 lb) cos 35 = 0
2 cos
Solving gives
Thus
M = 328 lb ft Ans.
( M + 2W cos ) =0 (3)
3. Determine the value of the weight W
required to maintain the mechanism in the
position shown, if P = 50 N.
2m
3m 3m 3m
D
E F
A
B C
W
1 The system has one degree of freedom because if the D
displacement of one end of a bar is known, the E F
displacement of the other bars can be found by similar
triangles (as will be shown below). Consider a free-body
diagram and identify the active forces corresponding to a P
small change in configuration of the system.
A
B C
Free-body diagram (The dashed line shows the
position of the system after the bars have been
displaced a small amount.) W
D E
Ex
F
3 The force P does work as point F moves
vertically, so P is an active force.
Ey P
B
A
Bx C
W By 4 The reaction forces at B and E

do no work because B and E do
2 The force W does work not move; thus the reactions are
if A moves vertically, so not active forces.
W is an active force.
5 Introduce coordinates measured from a fixed point to
the point of application of the active forces. yF
D yF
E F
yA
P
yA
A B C
7 Now relate the differentials yA and yF. By
yF similar triangles
W D 2m
yD E 3m F yD/2 = yF/3 (2)
and
yA/3 = yC/3 (3)

yA B 3m C
A 3m yC Member DC does not change length so ends C
and D move down the same amount, that is,
6 Compute the work done when the coordinates
are increased a positive infinitesimal amount. yC = yD (4)
U = W yA + P yF = 0 (1) Eqs. 2, 3, and 4 imply
The force W does negative work because it is yA= (2/3) yF (5)

directed down, while the displacement is up.
8 Substitute Eq. 5 into the virtual-work equation, Eq. 1:
W yA + P yF = 0 (Eq. 1 repeated)
(2/3) yF
Thus
W(2/3) + P yF = 0
or, since yF 0 and P is given as 50 N,
W(2/3) + 50 N = 0
Solving gives
W = 75 N Ans.
4. Determine the force Q necessary to maintain
equilibrium when force P = 400 N.
A
P
300 mm
250 mm C
B 150 mm
250 mm
D E
Q
300 mm
400 mm
G
F
A 1 The system has one degree of freedom because if member ABC is
P
rotated about point B a small amount, then the position of CD and
300 mm DEFG can be determined. Consider a free-body diagram and identify
the active forces corresponding to the displacements shown.
B 250 mm C
Free-body diagram (The dashed line shows the position of the
150 mm system after the bars have been displaced a small amount.)
250 mm
A
D E P
Q 2 P does work so
300 mm is an active
force.
400 mm Ey
B C
Bx
F G
D E
Ex
By Q
3 Points B and E do not

move, so the reactions at F G
these points do no work. 4 Q does
work so is an
active force.
5 Introduce coordinates measured from a fixed point
to the point of application of the forces.
xA
xA
P A
Bx C Ey 6 Compute the work done when the coordinates are

increased a positive infinitesimal amount.
B
U = 0: P xA + Q yG = 0 (1)
D E
By Ex Q
yG
F G yG
7 Relate the differentials xA and yG. Begin by 8 Member ABC is a rigid body, and all parts
noting that because A is a small angle, the tangent must rotate the same amount. Thus
of A can be replaced by the angle itself:
xA C = A
A= 300 mm
(2)
Substituting for A from Eq. 2 then gives
A xA xA
C = 300 mm
A
9 Again using the small angle approximation for
300 the tangent gives
yC = (250 mm) C
B 250 C
yC
C
xA
= (250 mm) 300 mm
150
D 250 E = (5/6) xA
yD
D 10 Member CD is a rigid body and thus doesn't
shorten or lengthen. It follows that
300
All dimensions are in mm.
yD = yC
yG
Thus
F 400 G
yD = (5/6) xA (3)
A xA 11 Using the small angle approximation for the
tangent gives
yD
300 D = 250 mm
[(5/6) xA], by Eq. 3
B 250 C xA
= 300 mm
yC
150
Member DEFG is a rigid body and so all parts
D 250 E
yD must rotate the same amount. Thus
D =
F D
300 12 Thus
All dimensions are in mm. F
yG xA
F = 300 mm (4)
F 400 G
13 The remaining step is to relate yG to F. We can do
this in two ways, by geometry or by calculus. Let's begin
with the geometric approach. First consider a rotation of
line EG by an amount F.
E 14 Length = (300 mm)2 + (400 mm)2 = 500 mm

F
15 (500 mm) F
300 mm
F 400 mm G
16 yG is the vertical distance that point G moves up.
So, considering the small triangle gives
400 mm 4
=
500 mm 5
| yG| = (500 F) sin

xA
, by Eq. 4
300
or,
4 xA
yG = 3 (5)
(Insert a minus sign, because yG was originally

defined as positive down)
17 Consider an alternative solution for yG,
based on calculus: 19 Note that we can't write
E
yG = 300 mm
500 mm yG and then differentiate to get yG (which would give yG = 0).

300 mm The equation for yG must define a continuous and differentiable
function, not a relationship that is only valid at a single value
F 400 mm G of .
18 yG = (500 mm) cos
yG = 500 sin
= F because both angles 20 Substitute for yG from Eq. 5 into the virtual work equation:
measure the rotation of line EG)
400 mm P xA + Q yG =0 (Eq. 1 repeated)
= 500(
500 mm ) F
4 xA , by Eq. 5
xA , by Eq. 4
or, 3
400 xA 300
=
300
[P + ( 4/3)Q] xA = 0
4 xA
= (Same as Eq. 5) Dividing through by xA and using the given value P = 400 N
3
yields
Q = 300 N Ans.
5. Link AB is connected to collar A, which can slide
with negligible friction on horizontal rod EF. Determine
the value of force Q necessary to maintain equilibrium
when = 50, L = 300 mm, and P = 100 N.
A
E F
Q
P
L L/2 L/2
D
B C
A
E F
Q
P
L L/2 L/2
D
B C
1 Free-body diagram showing active forces

corresponding to a small increase in
Ay
The force from the rod acting on
A the collar is not an active force.
Q
Active force
Active force Dy
P
Forces from pin D are
not active forces.
B C D
Dx
2 Introduce coordinates measured from the fixed point D 4 Relate the differential xA to
to the point of application of the active forces. the change in angle,
Ay A
Q A
P Dy B L/2 C L/2 D
Dx xA
B C D
yC L L
yC 5 xA = L cos + 2 + 2
L L
xA xA = L sin + 2 + 2 (2)
xA
0 0
(Length L does not change)
3 Compute the work done when the coordinates are
U = 0: Q xA + P yC = 0 (1)
A 7 Substitute Eqs. 2 and 3 for xA and yC into the virtual
work equation, Eq. 1:
L sin , by Eq. 2
yB
L
Q xA + P yC = 0 (Eq. 1 repeated)
L/2 C L/2 L cos
B D , by Eq. 3
2
yC Thus
yB
( Q sin + P cos )(L )=0
6 Relate the differential yC to the change in 2
angle From the figure, we have Because L 0, it follow that
yB = L sin Q sin + P cos =0

2
yB = L cos Substituting = 50 and P = 100 N and solving for Q
gives
By similar triangles,
Q = 42.0 N Ans.
L cos
yB yC
=
L/2 + L/2 L/2
Thus
L cos
yC = (3)
2
6. Rotating the threaded rod AC of the automobile jack causes
joints A and C to move closer together, thus raising the weight W.
Determine the axial force in the rod, if = 30 and W = 2 kN.
B
150 mm 150 mm
A C
150 mm 150 mm
D
1 The system has one degree of freedom because once
is specified, the location of all parts of the jack can be
determined. Consider a free-body diagram of the jack
and identify the active forces corresponding to a small
change in .
Free-body diagram 2 To get a virtual-work equation that contains the

axial force in the rod, it is necessary to exclude the
W rod from the free-body diagram. The effect of the
rod is then represented by the two forces Fr. W and
B the two Fr forces are the active forces.
A Fr C
Fr
D
3 Introduce coordinates measured from fixed points to
the points of application of the active forces.
yB B
4 Calculate the work done.
U = 0: W yB Fr xA Fr xC = 0 (1)
yB
A C
Fr Fr
D
xA xC
xA xC
5 Relate yB, xA, and xC through the angle
change, d . 6 Distance "a," from the intersection of the two sloping
B members, point E, to point B, does not change as
changes. Thus when "a" is differentiated, the result is
E a
zero: a = 0.
150 mm 150 mm
W B
yB A C a
150 mm 150 mm
A C
D
xA xC
7 xA = (150 mm) cos
xA = 150 sin (2) D

xC = (150 mm) cos
xC = 150 sin (3)
yB = 2(150 mm) sin +a
yB = 300 cos + a (4)

0
8 Substituting the expressions for yB, xA, and xC and into the
virtual work equation, Eq. 1, gives
300 cos by Eq. 4 150 sin by Eq. 3
W yB Fr xA Fr xC = 0 (Eq. 1 repeated)
150 sin by Eq. 2
or,
[ 300W cos + 2(150)Fr sin ] =0
Dividing through by , substituting the given values W = 2 kN

and = 30, and solving gives
Fr = 3.46 kN Ans.
7. The original length of the spring is L. Determine the
angle for equilibrium if L = 3 m and P = 300 N.
A B
L L
L L
Spring constant,
k = 200 N/m
D E
k
L L
P
A B 1 The system can be described by a single coordinate,
Consider a free-body diagram and identify the active
forces corresponding to a small change in
L L
A B 2 Reactions Ay and By do
Free-body diagram no work because they
are perpendicular to the
C displacement of points
Ay By A and B.
L L
C
D E
k
3 The spring is not part of the
free-body; the effect of the
L L Fs Fs spring is represented by the
D
E forces Fs.
4 Forces P and Fs are

F active forces because
their points of
P application move in
the direction of the
forces. F
P
5 Introduce coordinates measured from the point O directly A B
above pin C to the point of application of the active O
forces.
6 Compute the work done when the coordinates are Ay By

U = P yF + Fs xD + Fs xE = 0 (1) C
yF
D Fs Fs E
yF F
xD xE xE
xD
7 Relate the differentials yF, xD, and xE to the angle A O B
change From the figure, we see that
yF = 3L sin
L L
xE = L cos
xD = L cos
C
yF = 3L cos (2) yF L L
xE = L sin (3)
xD = L sin (4) D E
We can use the same figure to calculate the length of the

spring, L , say: L L
L = distance DE
= 2L cos (5) F
xD xE
8 The force in the spring is, then,
Fs = k compression of spring
=k (original length final length)
L (given) L = 2L cos , by Eq. 5
= kL(1 2 cos ) (6)
Substitute from Eqs. 2, 3, 4, and 6 into the virtual

work equation, Eq. 1:
kL(1 2 cos ), by Eq. 6
P yF + Fs xD + Fs xE = 0 (Eq. 1 repeated)
3L cos by Eq. 2 L sin by Eq. 3 L sin by Eq. 4
Thus
3P cos 2kL(1 2 cos ) sin (L )=0

9 Substituting the given values P = 300 N,
or, since L 0, k = 200 N/m, and L = 3 m into Eq. 7 and
solving numerically gives
3P cos 2kL(1 2 cos ) sin =0 (7)
= 69.1 Ans.
8. Collars A and B can slide freely on rods CD and CE. Determine the
values of x and y, given that forces P = 900 N and Q = 800 N. The
unstretched length of the spring is 0.2 m, and the weight of the collars is
negligible.
x
P
C A
D
y k 9 kN/m
E
x 1 The system has two degree of freedom since both x and
y coordinates must be known if the configuration of the
P system is to be determined. Consider a free-body
C A diagram and identify the active forces corresponding to
D a small change in x, while y is held fixed.
Free-body diagram
y k 9 kN/m 2 The forces acting on 900 N

collar A, Fs (the spring A
force) and the 900-N
force, are the only active
Fs
forces.
B NA (Force from rod CD)
Fs
3 Because y is fixed,
collar B does not B
Q move, and so none NB (Force from rod CE)
of the forces acting
E on B is an active
force.
800 N
4 The coordinate x locates the position of the 5 Compute the work done:
700-N force. Introduce an additional
coordinate, L, that locates the point of U = 0: (900 N) x Fs L = 0 (1)
application of the spring force, Fs.
x Relate x and L:
x
L2 = x2 + y2 (2)
900 N Differentiating gives

A
C
2L L = 2x x + 2y y
L
Fs 0 (Because y is fixed)
Thus
NA
y L = x/L x
Introduce the latter equation into Eq. 1:

Fs
L
(900 N) x Fs L = 0 (Eq. 1 repeated)
B
NB
y 0 x/L x
(y held fixed) Thus
(900 Fsx/L) x = 0
Dividing through by x and re-arranging gives

800 N
Fsx = 900L (3)
x(fixed) 6 Next, hold x fixed and compute the work done when
collar B moves an amount y. Following the same
steps as were used for x leads to
A
C Fsy = 800L (4)
900 N
The spring force, Fs, is related to L:
Fs
Fs = k extension of the spring
NA
y = (9000 N/m) (L original length)
Fs 0.2 m
L Thus
B
NB Fs = 9000L 1800 (5)
y
We now have four simultaneous nonlinear equations
to solve:
L2 = x2 + y2 (2)
L
800 N Fsx = 900L (3)
Fsy = 800L (4)
Fs = 9000L 1800 (5)

7 These equations can be solved directly if a calculator that 8 Distance x can now be found from Eq. 3:
is able to handle such systems is available.
Fsx = 900L (Eq. 3 repeated)
Alternatively, proceed as follows: square both sides of
Eqs. 3 and 4 and add the results to get 1204 N 0.3338 m
(Fsx)2 + (Fsy)2 = (900L)2 + (800L)2. Solving gives
or x = 0.250 m Ans.
Fs2(x2+ y2) = L2(9002 + 8002) Distance y can be found from Eq. 4:
L2, by Eq. 2 Fsy = 800L (Eq. 4 repeated)
Solving gives 1204 N 0.3338 m
Fs = 1204 N Solving gives
Using this result in Eq. 5 gives y = 0.222 m Ans.
Fs = 9000L 1800 (Eq. 5 repeated)
1204 N
Solving gives
L = 0.3338 m
.
9. Determine the moment M applied to the crankshaft that 1 The system can be described by a single coordinate, .
will keep the piston motionless when a pressure p = 400 psi Consider a free-body diagram and identify the active
acts on the top of the piston and = 25. The diameter of forces corresponding a small change in .
the piston is 3 in., and the piston slides with negligible
friction in the cylinder.
2 The resultant of the pressure is an active force:
p (400 psi)( )(3 in./2)2 = 2827 lb
C
Free-body diagram
C
N
9 in.
3 Since friction is negligible, only
the normal force N acts on the
side of the piston. The normal
force does no work since it acts
B perpendicular to the motion of
the piston.
M
4 in.
B
A M
Ax 4 The reaction forces Ax and Ay
A
do no work, because point A
does not move. The moment M
Ay does work as link AB rotates.
5 Introduce coordinates measured from
a fixed reference at point A.
6 Compute the work done when the coordinates are increased
2827 lb a positive infinitesimal amount.
U = (2827 lb) yC M =0 (1)

C yC
yC
d
B
Ax
A
Ay
7 Relate yC to Distance "a" does not
change as is
yC = (4 in.) cos + (9 in.) cos +a changed so a = 0. 2827 lb
yC = 4 sin 9 sin + a (2) C C
0 a N
8 Relate to by the law of sines,
sin sin
= (3)
4 in. 9 in. yC 9 in.
B
cos cos
= 4 in.
4 9
Thus Ax A
A
4 cos (4)
=
9 cos
Ay
9 Using Eq. 4 in Eq. 2 gives 10 Using = 25 and = 10.83 in Eq. 6 produces
yC = 4 sin 9 sin (Eq. 2 repeated) M= 0 lb in Ans.

4 cos
, by Eq. 4
9 cos
11 Observation: this problem may be more easily
= ( 4 sin 4 tan cos ) (5) solved by using equations of equilibrium.
Virtual work is superior to using equations of
Substituting Eq. 5 in the virtual work equation gives equilibrium provided that the relation between
displacements can be easily obtained. In the
(2827) yC M =0 (Eq. 1 repeated) present problem, deriving the relation between
and yC, Eq. 5, was more complicated than
( 4 sin 4 tan cos ) by Eq. 5 simply writing equations of equilibrium.
or
[4(2827)(sin + tan cos ) M =0
Dividing through by and solving gives
M = 4(2827)(sin tan cos ) (6)
Substituting the given value = 25 into Eq. 3 yields

sin sin (Eq. 3 repeated)
=
4 in. 9 in.
which can be solved to give = 10.83.

10. Pin B is rigidly attached to member AC and moves in the smooth
quarter-circle slot EF. Determine the value of force Q necessary to
keep the system in equilibrium, if = 30, L = 400 mm, a = 120 mm, C
and P = 200 N.
L/2
E
B P
L/2
a
F
A
Q D
C
L/2
E
B P
1 The system configuration can be
defined by the single coordinate, .
Consider a free-body diagram
L/2
showing the active forces
corresponding to a small increase in
a
F
A C
Q D
Free-body diagram
2 Pin B must move in the slot, that is, in a direction tangent to P (active)
the quarter circle and thus perpendicular to radius DB . B
Thus the force R from the slot does no work because R is 4 Point C moves both
perpendicular to the motion of the pin. horizontallly and vertically.
Motion of pin B It is difficult to tell if C
3 Point A must move R moves vertically up or
is perpendicular
horizontally. It is difficult vertically down, but it
to BD.
to tell if A moves to the makes no difference. All
right or left, but fortunately Q (active) A we need to note is that
it makes no difference. The D force P is an active force.
important thing is to note
that force Ay from the
rollers does no work so is
not an active force. Ay
C yC
5 Introduce coordinates measured from
the fixed point D to the point of
application of the active forces P and Q.
P
B
yC
Q A
D
6 Compute the work done when the coordinate are

Ay increased a positive infinitesimal amount.
xA
xA U = 0: Q xA + P yC = 0 (1)
C 7 Relate the differentials xA and yC to the angles and
Begin with yC.
yC = L sin
L/2
yC = L cos (2)
B
yC
Note that this equation shows yC is positive if is
positive, that is, point C moves up as increases.
L/2
a
A 9 Relate and through the law of sines:
D sin (180 ) sin

= a
L/2
xA
8 xA = (L/2) cos a cos Because sin (180 ) = sin , the last equation can
be written as
xA = (L/2) sin + a sin (3)
a sin = (L/2) sin (4)
10 Using Eq. 5 in Eq. 3 gives Differentiating gives
xA = (L/2) sin + a sin (Eq. 3 repeated) a cos = (L/2) cos
L cos , by Eq. 5
2a cos so
L cos
= (5)
= ( sin + cos tan )(L/2) (6) 2a cos
11 The angle in Eq. 6 can be calculated by substituting the given 12 Substituting Eqs. 2 and 7 for yC and xA into the
values = 30, L = 400 mm, and a = 120 mm into Eq. 4: virtual-work equation, Eq. 1, gives
a sin = L/2 sin (Eq. 4 repeated) (0.8054)(L/2) , by Eq. 7
and solving to get = 56.44. Q xA + P yC = 0 (Eq. 1 repeated)
Although it is not necessary for solving the problem, we can L cos , by Eq. 2
now determine whether point A moves to the left or to the
right. From Eq. 6 we have so
xA = ( sin + cos tan )(L/2) Eq. 6 repeated) Q(0.8054)/2 + P cos (L )=0
Substituting = 30 and = 56.44 into this equation gives Because L 0, it follows that
xA = (0.8054)(L/2) Q(0.8054)/2 + P cos =0
That is, xA is positive when is positive, so xA increases, Substituting = 30 and P = 200 N and solving gives
that is, point A moves to the left for the particular values of
a, and L of our problem. Q = 430 N Ans.
11. A scissors lift is used to raise a weight W = 800 lb.
Determine the force exerted on pin F by the hydraulic
cylinder AF when = 35. Each linkage member is 2-ft
long and pin connected at its midpoint and endpoints. The
lift consists of two identical linkages and cylinders the one
shown and one directly behind it.
K I J
H G
F
E D
C
B A
1 Consider a free-body diagram and identify the active
forces associated with a small change in
2 Each side of the lift carries half of
W/2 the load. The W/2 load does work,
Free-body diagram so it is an active force.
3 The force FFA of the hydraulic

cylinder acting on pin F does
F FFA work as pin F moves.
4 The force FFA of the hydraulic

cylinder acting on pin A does no
A work because pin A does not
B Ax move. For the same reason, the
5 The reaction force at B does no reaction forces Ax and Ay from the
work because it is vertical while support do no work.
the motion of point B is
horizontal. By Ay
W/2
yJ
J
sF
6 Introduce coordinates yJ and sF measured from the fixed point A
F to the point of application of the active forces.
yJ
sF Compute the work done when the coordinates are increased a
positive infinitesimal amount:
FFA
U = (W/2) yJ + FFA sF = 0 (1)
A
K J
(1 ft) sin
1 ft
I
1 ft (1 ft) sin
H G 7 Relate the coordinate yJ to the angle
1 ft (1 ft) sin yJ = (6 ft) sin
F yJ
1 ft (1 ft) sin yJ = 6 cos (2)
E D
1 ft (1 ft) sin
C
(1 ft) sin
A
B
O
1 ft
(1 ft) cos F 9 Use the Pythagorean Theorem and then differentiate to get sF.
8 To relate sF to , sF = (3 sin )2 + (1 cos )2

consider triangle AFCO. sF
(3 ft) sin 1 2(3 sin )(3 cos ) + 2(cos )( sin )
C sF =
2 (3 sin )2 + (1 cos )2
O A 8 sin cos
= (3)
2 2
9 sin + cos
(1 ft) cos
10 Substituting for sF and yJ from Eqs. 2 and 3 in the 11 Observation: Solving this problem by using
virtual-work equation, Eq. 1, gives the equations of equilibrium would have
required drawing several free-body diagrams
6 cos , by Eq. 2
and writing equations for each diagram.
Solving the problem by virtual work is much
(W/2) yJ + FFA sF = 0 (Eq. 1 repeated) easier because we don't have to calculate the
forces acting between the various links. In
8 sin cos , by Eq. 3 general, problems involving connected rigid
2 2
9 sin + cos bodies can be solved more easily by virtual
Thus work than by equilibrium equations provided
8FFA sin that the relations between displacements can
3W + ] cos =0 be easily obtained.
9 sin2 + cos2
This implies, since cos 0, that
8FFA sin
3W + =0
2 2
9 sin + cos
Substituting the given values = 35 and W = 800 lb and

solving gives
FFA = 997 lb Ans.

12. The unstretched length of the spring is 1 m. Determine
the value of for equilibrium when force P = 2 kN. 1 The system can be described by a single
coordinate, . Consider a free-body
3m diagram and identify the active forces
corresponding to a small change in .
A
Free-body diagram
1.5 m By
B
k 1.5 kN/m B
Fs Bx
2 The spring is not part of
2m the free-body; the effect of
C the spring is represented
by the force Fs, which is an C
active force.
4m
D
D
P 3 Force P is an active force.

P
4 Introduce coordinates measured from the fixed points A
and B to the point of application of the forces.
A By
Bx
5 Compute the work done when the coordinates are
Fs B
sC increased a positive infinitesimal amount.
U = P yD Fs sC = 0 (1)
C
yD
sC
D
yD
P
6 Relate the differentials sC and yD to the angle 8 Law of cosines applied to triangle ABC:
change
sC2 = (2 m)2 + (sB)2 2(2 m)(sB) cos ( + ) (3)
A 3m
Here
1.5 m sB = (3 m)2 + (1.5 m)2 = 3.354 m (4)

sB
B and
sC = tan-1 1.5 m = 26.565 (5)
3m
2m To avoid having to write equations containing several four and

five-digit numbers, introduce intermediate variables a and b:
C
sC2 = (22 + sB2) 2(2)(sB) cos ( + ) (Eq. 3 repeated)
yD
4m a b
Thus
sC2 = a b cos ( + ) (6)

D
where
3.354 m by Eq. 4
yD = (2 m + 4 m) sin a = 22 + (sB)2
7
yD = 6 cos (2) = 4 + 3.3542
= 15.249 m (7)
9 The parameter b can also be evaluated, for later 10 The spring force Fs can be expressed in terms of sC:
use:
Fs = k (extension of the spring)
3.354 m, by Eq. 4
b = 2(2)(sB) =k (stretched length unstretched length)
= 4(3.354) =k (sC 1 m) (11)
= 13.416 m (8) Substituting for yD, sC, and Fs from Eqs 2, 9, and 11 into
the virtual-work equation, Eq. 1, gives
sC can be related to by differentiating Eq. 6:
k(sC 1), by Eq. 11
sC2 =a b cos ( + ) (Eq. 6 repeated)
P yD Fs sC = 0 (Eq. 1 repeated)
2sC sC = b sin ( + ) b sin ( + )
6 cos , by Eq. 2 , by Eq. 9
2sC
so
or
b sin ( + )
sC = (9) b sin ( + )
2sC [(6P) cos k(sC 1) =0
2sC
Taking the square root of both sides of Eq. 6
gives an equation for sC.
Since 0, the expression in brackets must equal to
sC = a b cos ( + ) (10) zero.
b sin ( + )
(6P) cos k(sC 1) =0 (12)
2sC
11 Eq. 12 contains the distance sC, which can be calculated by using Eq. 10:
b sin ( + )
(6P) cos k(sC 1) =0 (Eq. 12 repeated)
2sC
a b cos ( + ) , by Eq. 10
or
b sin ( + )
(6P) cos k( a b cos ( + ) 1) =0
2 a b cos ( + )
Substituting in the latter equation the values
P = 2 kN (Given)
k = 1.5 kN/m (Given)
a = 15.249 m (Eq. 7 repeated)
b = 13.416 m (Eq. 8 repeated)
= 26.565 (Eq. 5 repeated)
and solving numerically gives
= 53.4 Ans.
13. a) Determine the moment reaction at the wall F.
b) Determine the force reaction at the roller D.
In both cases P = 60 lb.
Hinges
P
D
A B C E F
5 ft 5 ft 5 ft 5 ft 10 ft
P 1 Part a. Replace the wall at F by a moment

couple MF and a pin support.
D F
A B C E MF
2 Consider a free-body diagram and identify the active forces
associated with a small rotation of the segments of the beam
Free-body diagram
P Dy
F
A B E MF
Fx
C D
By 3 The active "forces" are the force Fy

P and the couple moment MF.
4 Introduce coordinates yA and for calculating the work. U = 0: P yA MF =0 (1)
P Dy
F
A B C E MF
Fx
yA D
yA
By Fy
5 Relate the differentials yA and
yC
A 5 ft 5 ft E 10 ft F
B 5 ft C 5 ft D
yA yE
6 By similar triangles, 7 For small angles, yE is given by
yE = yC and yC = yA yE = (10 ft)
so But this becomes, after using the relation yE = yA,
yE = yA yA = 10 (2)
Substitute this result in the virtual-work equation to get
P yA MF =0 (Eq. 1 repeated)
10
Dividing through by , substituting the known value P = 60 lb,

and then solving for MF gives,
MF = 600 lb ft Ans.
8 Part b. Replace the roller at D by a vertical force, Dy.
60 lb Dy
A B
C D E F
9 Draw a free-body diagram and show a 10 Segment EF of the beam does

small rotation of segments AC and CE. not move because the wall
support prevents both rotation
60 lb Dy and vertical displacement.
Thus MF and Fy do no work.
A B
MF
C D E F
11 The active forces are Fy
By the 60-lb force and Dy.
12 Introduce coordinates yA and yD for calculating the work. U = 0: (60 lb) yA Dy yD = 0 (3)
60 lb Dy
yD yD
A B
yA y C D E F
A
13 Relate the differentials yA and yD.
yC
yD
A 5 ft
B 5 ft C 5 ft D 5 ft E F
yA
14 By similar triangles,
yA = yC
and
yC yD
=
5+5 5
Eliminating yC gives
yA
yD =
2
Use this equation to replace yD in the virtual-work equation:
(60) yA Dy yD = 0 (Eq. 3 repeated)

yA
2
Dividing through by yA and solving gives
Dy = 120 lb Ans.
15 Comment: Let's extend the discussion. If we were asked to
calculate the vertical reaction force at the wall, we would
replace the wall by a support that prevents rotation but permits
vertical displacement.
Fy
60 lb
D
A B C E F
18 Observation: The method applied in this

beam example can be generalized.
Virtual work can be used to calculate a
force of constraint (a reaction) by
considering displacements which violate
16 Corresponding displacements
the constraints and then accounting for
Fy the work done by the force of constraint.
This procedure is equivalent to
converting a rigid structure into a
60 lb
mechanism, as was done at the
D beginning of the present example.
A B C E F
17 Segment EF translates but does not rotate. Thus the reaction

moment at the support does no work. The reaction force, Fy,
however, does work and is thus an active force.
14. Determine the vertical reaction at
support C, if P = 2 kN. 1 Convert the structure
into a mechanism with
one degree of freedom
by replacing the pin Cy
support at C by a roller
C support and a vertical
P force, Cy.
3m
C
P
B
B
4m
A
3m
A
Cy Cy
Cx Cx
C yC
P C
P
2 Cy and P are active
forces for the
displacements
shown. yB
B
B yC
Ay
yB Ay
Ax Ax
A
A
3 Define coordinates yB and yC locating the point of

application of the active forces, and compute the work.
U = 0: P yB + Cy yC = 0 (1)
4 Relate the differentials yB and yC through the angles and C
Begin by computing the lengths of bars BC and BA (Note that
these lengths do not change, as the angles and change).
3 2 m
C
B
5 BC = (3 m)2 + (3 m)2 3 2 m
3m yC
B yB
3m 5m
A
6 AB = (3 m)2 + (4 m)2 5m 4m
7 From the above figure,
A yB = (5 m) cos
yB = 5 sin (2)
yC = (5 m) cos + (3 2 m) cos
yC = 5 sin (3 2 ) sin (3)
Use the law of sines to relate and

sin sin (4)
=
5m 3 2 m
8 Differentiating Eq. 4 gives 9 Thus
cos cos P sin Cy (sin + tan cos ) (5 )=0

=
5 3 2
Dividing by 5 gives
Thus
5 cos P sin Cy (sin + tan cos ) = 0 (7)
= (5)
3 2 cos
The equation relating and , Eq. 5, can be used in Eq. 3

to express yC in terms of alone:
yC = 5 sin 3 2 sin (Eq. 3 repeated)
5 cos
3 2 cos
= ( 5 sin 5 tan cos ) (6)
Substituting Eqs. 2 and 6 for yB and yC into the virtual

work equation gives
5 sin , by Eq. 2
P yB + Cy yC = 0 (Eq. 1 repeated)
( 5 sin 5 tan cos ) , by Eq. 6

C
10 Evaluating the functions of and in Eq. 7, substituting the given
3 value P = 2 kN, and then solving gives
3m tan = =1
3 3 3 4
1
5 5 5
3
sin = P sin Cy (sin + tan cos ) = 0 (Eq. 7 repeated)
3m 5
B
4 Cy = 0.857 kN Ans.
cos =
5
4m
5m
A
11 Observation: This example demonstrates that virtual
work can be used to calculate the reaction forces
from the supports acting on a structure. The example
also demonstrates that just because virtual work can
be used doesn't necessarily mean that it should be
used the reaction at support C could have been
found much more easily by employing equilibrium
equations. The usefulness of virtual work depends
on how easy it is to express relations between
coordinates.
15. Determine the vertical reaction at
support I of the truss, if P = 10 kip = Q.
P Q
I
A B C D E F G H
5 ft 5 ft 5 ft 5 ft 5 ft 5 ft 5 ft 5 ft
1 Convert the structure to a mechanism with one degree of

freedom by replacing the pin support at I by a vertical force Iy
and a roller.
P Q Iy
A B C D E F G H I
2 Identify the active forces corresponding to a set of
displacements compatible with the constraints.
P Q Iy
A Ix
B C D F G H I
E
By Dy Fy Hy
P Q Iy
A Ix
yA B C D yE E F G H yI I
yA By Dy yE Fy Hy yI
3 Introduce coordinates measured from fixed points to the

points of application of the applied forces.
Calculate the work done.
U = 0: P yA + Q yE Iy yI = 0 (1)
4 Relate yA, yE, and yI yC yG
A 5 ft 5 ft E 5 ft 5 ft I
by geometry (similar
triangles). B 5 ft C 5 ft D F 5 ft G 5 ft H
yA yE yI
yA = yC (2)
Similarly,
yC = yE, yE = yG, and yG = yI
These equations imply
yA = yI and yE = yI
Substituting the latter pair of equations into the

virtual-work equation, Eq. 1, gives
P yA + Q yE I yI = 0 (Eq. 1 repeated)
yI yI
or
(P + Q Iy) yI = 0
Dividing through by yI, substituting the given values P

= 10 kip = Q, and solving gives
Iy = 20 kip Ans.
16. Determine the tension in the cord. The pulleys are
frictionless and m = 90 kg.
A B T
C
A B
C
1 Convert the pulley-cord
system into a mechanism
with one degree of
freedom by replacing the
support B by a tensile
force T acting on the end
of the cord.
D
m
Weight = mg
2 The tension T and the weight do work (are active
forces) if end B of the cord moves up a small
amount.
3 Introduce the coordinates yB and yD.

T
A yB
B yB
C
4 Calculate the work done:
yD U = 0: T yB + mg yD = 0 (1)
D
yD
mg
Diameter dC 5 Relate yB to yD by first expressing the length, say L, of the cord
in terms of yB and yD:
yB
A B L = (yD t) yB
s
C + (yD t) u s
+ (yD t) s
+ dD/2
yD Half circumference of pulleys
u + dC/2
Thus
t Diameter dD
L = 3yD 3t yB u 2s + dD/2 + dC/2
D Now differentiate, taking into account that because L, t, u, s, dD,
and dC do not vary as yD and yB vary, we have L = 0 = t = u = s
= dD = dC; the result of the differentiation is, then,
0 = 3 yD yB
Thus
yB = 3 yD (2)
6 Substituting this result in the virtual work equation, Eq. 1, gives
T yB + mg yD = 0 (Eq. 1 repeated)
3 yD, by Eq. 2
Thus
( 3T + mg) yD = 0
Dividing through by yD, substituting m = 90 kg, g = 9.81 m/s2

and solving gives
T = 294 N Ans.
17. Determine the equilibrium values of and for the
two-bar linkage. The couple moment M = 5 N m; each bar is
uniform and has a mass m of 5 kg; the length L = 400 mm; and
the unstretched length of the spring is 250 mm.
500 mm
L
2
k = 0.2 kN/m
B
D
L 1
M
C
1 The system has two degrees of freedom because two
coordinates and must be specified to define the position
of the linkage. Consider a free-body diagram, and identify the
active forces corresponding to a small change in while
is held fixed .
Ay
A
Ax
2 Because point A does not move and is
fixed, the reactions Ax and Ay, the weight
2 mg, and the spring force Fs do no work
when 1 is varied a small amount. Thus
Fs they are not active forces.
(spring force) mg
3 The couple moment M and the weight

M mg of the lower bar BC do work when 1
C is varied, so M and mg are active forces.
mg
4 In addition to the coordinate 1, introduce a vertical
coordinate yE measured downward from point A.
Ay
A
A
Ax
L/2
L
yE 2
2
yE L/2
B
mg L/2
Fs
B E 1
yE E L/2
L/2 6 Relate the differential yE to the angle change, 1, by
writing
C mg
M
yE = L cos + (L/2) cos 1
5 Compute the work done when the coordinates and then differentiating with respect to 1, while holding
are increased a positive infinitesimal amount. fixed. That is, take the partial derivative with respect to 1
to obtain
dU = 0: M 1+ mg yE = 0 (1)
yE = (L/2) sin 1 1 (2)
7 Substitute Eq. 2 for yE into the virtual-work equation:
M 1+ mg yE = 0 (Eq. 1 repeated)
(L/2) sin 1 1, by Eq. 2

Thus
[M (mgL/2) sin 1] 1= 0
Since 1 0, it follows that
M (mgL/2) sin 1= 0 (4)
Substituting the following values into Eq. 4
M = 5 N m = 5 000 N mm
L = 400 mm
m = 5 kg
g = 9.81 kg m/s2
and solving gives
1= 30.6 Ans.
8 Next identify the active forces corresponding to
a small change in 2 while 1 is held fixed . Ay 9 Because point A does not
move, Ax and Ay do no work
and thus are not active forces.
A Ax
2
10 Because 1 is fixed, link BC
does not rotate. That is, the mg
dashed line representing the new Fs
position of link BC is parallel B
to BC. Hence couple moment
M does no work, and M is not 1 11 Active forces
an active force.
M mg
C
12 Introduce coordinates measured from a fixed point to
the point of application of the active forces.
xB
xB
Ay 13 Compute the work done.
U = 0: mg yE + mg yF + Fs xB = 0 (5)
A Ax
yF
2
L/2 F yF
yE
mg
Fs
L/2 B
1
E yE
C mg
14 Relate the differentials yE, yF, and yF to the change in angle
xB xB = L sin
A
yF = (L/2) cos
L/2 yF yE = L cos (L/2) cos
F Differentiating each equation with respect to with held fixed,

L/2 gives
2 yE
xB = L cos (6)
B
yF = (L/2) sin (7)
L/2
1 yE = L sin (8)
L/2 E
C
15 Substituting Eqs. 6-8 for the differentials into the virtual-work
equation, Eq. 5, gives
500 mm
L sin by Eq. 8
A
mg yF + mg yE + Fs xB = 0 (Eq. 5 repeated)
L/2) sin by Eq. 7 L cos by Eq. 6

L
Thus 500 mm L sin 2
2
[ 3mg/2) sin + Fs cos ]L =0
B
Since L 0, it follows that
D
3mg/2) sin + Fs cos =0 (9)
1
C
16 The force Fs in the spring can be related to 2:
Fs = k extension of spring
=k (current length unstretched length)
=k [(500 mm L sin 2) 250 mm]
= k(250 L sin 2) (10)

17 Substituting for Fs from Eq. 10 into the virtual-work equation, Eq. 9, gives
3mg/2) sin + Fs cos =0 (Eq. 9 repeated)
k(250 L sin 2), by Eq. 10

or,
(3mg/2) sin + k(250 L sin ) cos =0 (11)
Substituting the following values into Eq. 11
L = 400 mm
m = 5 kg
k = 0.2 kN/m = 0.2 N/mm
g = 9.81 kg m/s2
and solving numerically gives
= 18.50 Ans.

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11.

Free-body diagram (The dashed line shows the position

2 The force W does work because point B

3 The reactions Cx and Cy do no

Applying this formula to Eq. 2 and using rather than d

Free body of AB Free body of BC plus pin at B

2 ft 2 ft 1 The system has one degree of freedom: specifying the

Free-body diagram (The dashed line shows the position of

W By 4 The reaction forces at B and E

yA/3 = yC/3 (3)

U = W yA + P yF = 0 (1) Eqs. 2, 3, and 4 imply

The force W does negative work because it is yA= (2/3) yF (5)

or, since yF 0 and P is given as 50 N,

3 Points B and E do not

Bx C Ey 6 Compute the work done when the coordinates are

[(5/6) xA], by Eq. 3

E 14 Length = (300 mm)2 + (400 mm)2 = 500 mm

| yG| = (500 F) sin

(Insert a minus sign, because yG was originally

500 mm yG and then differentiate to get yG (which would give yG = 0).

18 yG = (500 mm) cos

1 Free-body diagram showing active forces

yB = L sin Q sin + P cos =0

Free-body diagram 2 To get a virtual-work equation that contains the

7 xA = (150 mm) cos

xA = 150 sin (2) D

xC = 150 sin (3)

yB = 2(150 mm) sin +a

yB = 300 cos + a (4)

300 cos by Eq. 4 150 sin by Eq. 3

150 sin by Eq. 2

[ 300W cos + 2(150)Fr sin ] =0

Dividing through by , substituting the given values W = 2 kN

4 Forces P and Fs are

6 Compute the work done when the coordinates are Ay By

We can use the same figure to calculate the length of the

=k (original length final length)

L (given) L = 2L cos , by Eq. 5

= kL(1 2 cos ) (6)

Substitute from Eqs. 2, 3, 4, and 6 into the virtual

kL(1 2 cos ), by Eq. 6

3L cos by Eq. 2 L sin by Eq. 3 L sin by Eq. 4

3P cos 2kL(1 2 cos ) sin (L )=0

y k 9 kN/m 2 The forces acting on 900 N

900 N Differentiating gives

Introduce the latter equation into Eq. 1:

Dividing through by x and re-arranging gives

Fsy = 800L (4)

Fs = 9000L 1800 (5)

(Fsx)2 + (Fsy)2 = (900L)2 + (800L)2. Solving gives

Fs2(x2+ y2) = L2(9002 + 8002) Distance y can be found from Eq. 4:

L2, by Eq. 2 Fsy = 800L (Eq. 4 repeated)

Solving gives 1204 N 0.3338 m

Fs = 1204 N Solving gives

Using this result in Eq. 5 gives y = 0.222 m Ans.

Fs = 9000L 1800 (Eq. 5 repeated)

U = (2827 lb) yC M =0 (1)

yC = 4 sin 9 sin + a (2) C C

8 Relate to by the law of sines,

yC = 4 sin 9 sin (Eq. 2 repeated) M= 0 lb in Ans.

[4(2827)(sin + tan cos ) M =0

Dividing through by and solving gives

M = 4(2827)(sin tan cos ) (6)