Prepared by : Dr. Oscar Victor M. Antonio, Jr.

O.V.M.Antonio,Jr.

Introduction General definition

Virtual Work
- is a fundamental theory in the mechanics of bodies
which allows us to solve determinate and indeterminate
structures and to calculate their deflections
- it states that “If a body is in equilibrium, the virtual work of
all forces acting on the body is zero.”
dW = 0
- the word ‘virtual’ means ‘having the effect of, but not the
actual form of, what is specified’
- thus we can imagine ways in which to impose virtual work,
without worrying about how it might be achieved in the
physical world
 O.V.M.Antonio,Jr.

Introduction Background concepts and theories

Strain Energy and Work Done

Strain energy is the amount of energy stored in a structural

member due to deformation caused by an external load

For example, consider a simple spring:

F F

y
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Introduction Background concepts and theories

Strain Energy and Work Done

We can see that as it is loaded by a gradually increasing

force, F, it elongates. We can graph this as:

Load
F+dF
F

W dW

Displacement
y y +dy
 O.V.M.Antonio,Jr.

Introduction Background concepts and theories

Strain Energy and Work Done

An increase in the force of a small amount, dF results in

a small increase in deflection, dy

The work done during this movement is the average

force during the course of the movement, times the
displacement undergone
 O.V.M.Antonio,Jr.

Introduction Background concepts and theories

Strain Energy and Work Done

Thus, the increase in work associated with this

movement is:

dW

As δ y → 0 , we get:

dW → F ⋅ dy
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Introduction Background concepts and theories

Strain Energy and Work Done

The total work done when a load is gradually applied

from 0 up to a force F is the summation of all such small
increases in work, i.e.:

This represents the work done during the elongation of the spring

This work is stored in the spring and is called strain energy which
is denoted U
 O.V.M.Antonio,Jr.

Introduction Background concepts and theories

Strain Energy and Work Done

As we know that the work done is the area under this

graph, then the work done by the load in moving through
the displacement

– the External Work Done, We - is given by:

 O.V.M.Antonio,Jr.

Introduction Background concepts and theories

Strain Energy and Work Done

We can also calculate the strain energy, or Internal Work

Done, WI , by:
 O.V.M.Antonio,Jr.

Introduction Background concepts and theories

Strain Energy and Work Done

Also, since F = ky , we then have:

But this is the external work done, We . Hence we have:

The external work done by external forces moving through

external displacements is equal to the strain energy stored
in the material
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Virtual Work Principles

Includes two distinct principles:

1. Principle of Virtual Displacements:

Virtual work is the work done by the actual forces acting

on the body moving through a virtual displacement.

This means we solve an equilibrium problem through

geometry

→ Important in the formulation of stiffness equations,

which imply deformable behavior
 O.V.M.Antonio,Jr.

Virtual Work Principles

Includes two distinct principles:

2. Principle of Virtual Forces:

Virtual work is the work done by a virtual force acting on

the body moving through the actual displacements.

This means we solve a geometry problem through

equilibrium

→ Basis of the direct formulation of element flexibility

relationships
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Virtual Displacement
Work done

dF

change in work done

since the second term is very small

compared to the first term, the change
in work can be approximated as
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Virtual Displacement

dF

The same form of relationship is obtained if it is imagined that the displacement

increment occurs without the action of a corresponding force increment

were dD → virtual displacement

→ virtual work
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Virtual Displacement
A virtual displacement is a displacement that is only
imagined to occur.

Requirements:

• virtual displacements must be small enough such that

the force directions are maintained (unchanged)

• virtual displacements within a body must be geometrically

compatible with the original structure.
- geometrical constraints (i.e. supports) and member
continuity must be maintained
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Virtual Displacement
Application of the principle to deformable bodies requires
that the total virtual work of a system be clearly defined.
→ distinction between external and internal work
Example

FBD of joints and elements

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Virtual Displacement
The forces on a joint and the counterpart member force
must be equal and opposite in direction.

Equilibrium condition of element 12

or
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Virtual Displacement
Equilibrium conditions of joints 1 and 2

Consider the effect of virtual displacements du1 and du2 of

joints 1 and 2. The total virtual work is
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Virtual Displacement
The first term represents the virtual work of the applied
loads

The second term represents the virtual work of the

internal forces acting on the joints

Thus
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Virtual Displacement
From the equilibrium conditions of joints 1 and 2

therefore

δW = δWext - δWint = 0

For a deformable structure in equilibrium under the action

of a system of applied forces, the external work due to an
admissible virtual displaced state is equal to the internal
work due to the same virtual displacements.
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Virtual Displacement
Axial behavior

=
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Virtual Displacement
Axial behavior

since δWext = δWint

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Virtual Displacement
Torsional behavior

torsional strain

real

virtual
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Virtual Displacement
Torsional behavior
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Virtual Displacement
Flexural behavior

flexural strain

real

virtual
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Virtual Displacement
Flexural behavior
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Virtual Displacement
General formula for Internal Work ì
ì sx ü ex ü
ï ï ï ï
ï sy ï ï ey ï
ï ï ï ï
ï sz ï ï ez ï
{ } í
s = ý {} í
e = ý
ï t xy ï ï g xy ï
ï t yz ï ï g yz ï
ï ï ï ï
ï t zx ï ï g zx ïþ
î þ î

[de] = éêë dex dey dez dg xy dg yz dg zx ù

úû

General formula for External Work

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Virtual Force

The virtual force system produces external complementary

virtual work, dW*ext, and internal complementary virtual work,
dW*int.
were dF → virtual force
dW*ext = dFD0 → virtual work
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Virtual Force
A virtual force is a force imagined to be applied and is then
moved through the actual deformations of the body, thus
causing virtual work.

Requirement:

virtual forces must form an equilibrium set of their own

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Virtual Force
Equations of Equilibrium
Axial

→
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Virtual Force
Equations of Equilibrium
Torsion

→
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Virtual Force
Equations of Equilibrium
Flexure
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Virtual Force
Equations of Equilibrium
Flexure

→
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Virtual Force
The general expression for the internal complementary
virtual work dW*int can be established by referring to the
stress strain diagram

The internal complementary virtual work in a complete

body of volume (vol) is

→
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Virtual Force

Axial member

Torsional member
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Virtual Force

Flexural member
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Reference:
Matrix Structural Analysis, William McGuire et al.

Structural Analysis, Dr. C. Caprani