Principle of virtual work:

- Now we complement the energy method by another scalar method based on the
principle of virtual work.

- The principle of virtual work was first formulated by Bernoulli.

- It is especially important for systems of interconnected bodies of higher DoF.

- However, to describe briefly its underlying concepts the principle of virtual work
is introduced here.
- In subsequent lectures it will be elaborate in more detail.
- The principle of virtual work is redated with equilibrium of bodies, and may be
stated as follows:

“ If a system in equilibrium under the action of a set of forces is given a virtual

displacement, the virtual work done by the forces will be zero.”

The terms used in this statement are defined as follows:

(i) A virtual displacement  r is an imaginary infinitesional variation of the coordinate

given instantaneously.
The virtual displacement must be compatible with the constraints of the system.

(ii) Virtual work  W is the work done by all the active forces in a virtual displacement.
Since there is no significant change geometry associated with the virtual
displacement, the force acting on the system are assumed to remain unchanged for the
calculation of  W .

- The principle of virtual work as formulated by Bernoulli is a static procedure.

- Its extension to dynamics was made possible by D’Alembert who introduced the
concept of the inertia force.

- The inertia forces are included as active forces when dynamic problems are
considered.

Example:
- Since one coordinate  is necessary to define the motion, hence it represents,
single-DoF system interconnected.
- EOM ? & wn ?
- Fig(b) shows the pendulum at an angle  to the upper pendulum and it also
shown various external forces including inertia forces.
- For a virtual displacement of  to the coordinate  gives:

Vertical displacement of m1  l sin 

 Vertical displacement of m1  2l sin 

FIG

d2
- The acceleration of m2 will be given as 2  2l sin    2l   sin    
dt
Virtual work done by this inertia  0 as compared to the virtual work towards gravity.

Fig

Virtual work  W
 W    m1l   l    m1 g   l sin     m2 g   2l sin    0
   m1l   m1  2m2  g sin   l  0

 2m  g
Since  is smaller  is arbitrary:   1  m 2  l   0
 1 

 2m  g
 n   1  2 
 m1  l

(1)
FIG

 W   mg x  k   x   x   mx   x  0
 mx | kx   x  0

 x is arbitrary
mx  kx  0
 x  n2 x  0
km
n 

Fig

    ml   l    mg   l sin    0

or ml l  g sin     0
 is arbitrary & for small  , sin    Ans
 g
     0
l
g Ans
 n 
l

Natural Frequency (1-DoG)

Energy method:

Fig

1 2 1
kx  k  r 
2
U
2 2
1 2 1 2 1 2  1 1
   
2 2
T  I P  mx  mr   m r ; I P  mr 2
2 2 4 2 2
angular linear

U  T  Constant

1 2 2 1 2 2 1 2 2
kr   mr J P  mr   Constant
2 4 2

d 1
 U  T   kr 2  J P mr 2 
   mr 2
   0
dt 2

2k
   0
3m

2k 2k
n  
3m 3m

By Newton’s second law

Fig
 F  mx
Ext

kx  F f  mx  kr  F f  mr

1
M 0  I P  kr  mr  mr
2

3 
 Ff r  I P m  kr  0
2
1  2k
 Ff  mr or    0
2 3m
2k
n 
3m