Virtual work [ch-3, (2)]:

When a body is acted on by a system of force, the work done depends on the displacement
actually made. If the body is in equilibrium there is no motion and therefore there is no
displacement. But it is found convenient in many investigations to allow the body to receive an
imaginary displacement. Such a displacement is called virtual displacement and the work done
by the system of forces during the virtual displacement is called virtual work.

Or, if a set of particles or a body is in equilibrium under the action of forces then there is no
motion and consequently there is no actual displacement. Suppose that the set of particles or the
body receives an imaginary displacement, the forces acting thereon being regarded as constant
during the displacement. Then such a displacement is called virtual displacement and work done
by the forces during such a displacement is called virtual work.

It may be noted that a virtual displacement is only a hypothetical displacement involving no

passage of time and is quite different from actual displacement of a moving body taking place in
the course of time.

Principle of virtual works for a number of coplanar forces acting at different points of a
rigid body: The necessary and sufficient condition that a rigid body acted upon by a number of
coplanar forces be in equilibrium is that the algebraic sum of the virtual work done by the forces
in any small displacement consistent with the geometrical condition of the system is zero.

Proof: Take any two straight lines at right angles to one another in the plane of forces. If a body
undergoes a slight displacement, it acquires a new position by two types of motions,

i) A motion of rotation about O.

ii) Motion of translation parallel to OX and OY (being perpendicular to OX)

Let the body be rotated through an angle about O, the origin. Then the body be given a motion
of translation ‘ ’ parallel to OX and ‘ ’ parallel to OY.

Let a number of forces . . . . etc be act at different points

of the body and their resolved parts . . . and .
. . . in two directions OX and OY respectively .
Let be the point of application of any force whose components are and . If
be the polar coordinate of P. then,

When the small displacement is given to P then P first rotates through a small angle and takes
position , then it moves to ‘M’ parallel to OX and finally to parallel to OY.
Now,

( – )

and,

Thus,

Now the virtual work done by the force = Sum of the virtual work done by the resolved points
and .

For all the forces of the system and being same.

Hence the algebraic sum of the virtual works done by the forces ....

∑ ∑ ∑

The condition is necessary:

Since the body is in equilibrium, we must have,

∑ , ∑ , ∑
The algebraic sum of the virtual works done is zero, i.e.

∑ ∑ ∑

The condition is sufficient:

Conversely, if the algebraic sum of the virtual works done by the system of forces be zero for
any displacement, the forces are in equilibrium.

i.e, we have, ∑ ∑ ∑ . . . . . (1)

Here, and are independent of each other.

Let the body be displaced through a distance,

i) parallel to -axis only, and remain unchanged.

ii) parallel to -axis only, and remain unchanged.

iii) simple rotation about O, and remain unchanged.

Then we have,

∑ ∑ ∑ . . . . . (2)

∑ ∑ ∑ . . . . . (3)

∑ ∑ ∑ . . . . . (4)

Subtracting (2) from (1); (3) from (1); (4) from (1), we get,

But, ∑ ∑ ∑ are the conditions of equilibrium. Hence, the body

will be in equilibrium.
The tension in string or thrust in a rod:

If the string is inextensible or the rod is rigid, it is not possible to make a displacement in the
distance AB.

For string:

Let be the tension in the string AB. In displaced position makes an angle with AB.
Draw perpendicular and from and to AB. The equation of the surrounding bodies
are unaltered if we replace the string by two equal tensions one acting at A along AB and the
other at B along BA.

Now we can make virtual displacement of the system

to .

Virtual work done –

– Conversion of sign:

–  Work done is positive if

displacement is in the
–
direction of force acting.
 Work done is negative if
displacement is in the
opposite direction of force
Tension increase in the length of the string
acting.
For a rod:

Similarly for a rod AB can be replaced by two forces T at A and T at B acting outwardly. By the
above, the work done by the thrust is,
 Tension increase in the length of the rod

Exercise:

(1) Four equal heavy uniform rods are freely jointed so as to form a Rhombus which is freely
suspended by one angular point and the middle points of the two upper rods are connected by a
light rod so that the Rhombus cannot collapse. Prove that the tension of this light rod is
, where is the weight of each rod 2 is the angle of the Rhombus at the point of
suspension.

Solution: Let ABCD be the Rhombus suspended from A . The weight of each rod is and MN
is the light rod. Let be the side of the rhombus at O. The resultant weight is acting at O,
the intersection of two diagonal. Let AC makes an angle with AB.

Now, if the Rhombus is slightly displaced virtual work done by the

thrust of the rod = T

Virtual work done by the weights = 4w

The equation of the virtual work,

(2) A string of length , forms the shorter diagonal of a Rhombus formed of four uniform rods,
each of length and weight W, which are hinged together . If one of rods be supported in a

horizontal position, prove that the tension of the string is .

√

Solution: The weight 4W will act at G, the C.G of the rods. The depth of G from AB is MG. let
the diagonal BD make an angle with AB.

Then, ∠ABG=∠AGM= θ

AB=b, AC=a.

ATQ, ∠

Also,

Let T be the tension of the string. If the Rhombus is slightly displaced, the equation of the virtual
work is,

√
 √

(Proved)
√

(3) A regular hexagon is composed of six equal heavy rods freely joined together and two
opposite angles are connected by a string which is horizontal. One rod is being in contact with a
horizontal plane. At the middle point of the opposite rod is placed a weight .if W be the

weight of each rod, show that the tension of the string is

√

Solution: Let ABCDEF be the hexagon. The weight 6W is acting at G, the C.G of the rods each
weight W. The rod AB is on the horizontal plane.

FC is the horizontal string whose tension is T. A weight is placed at

M, the middle point of ED.

Let the rod AF makes an angle with the horizon. If the hexagon be
given a slight displacement and the distances are measured from AB,
then the equation of the virtual work is,

N)

Since,

Since,

T=(3W+

In equilibrium position,

T (Proved)
√
(4) A smoothly joined frame work of light rods farms quadrilateral ABCD , the middle points P,R
of an opposite pair of rods are connected by a string in the state if tension T, and the middle
points Q,S of the other pair by a light rod in state of thrust X, show that

Solution: The quadrilateral is given slight displacement which alters the angles of the
quadrilateral.

The equation of the virtual work,

BD and CD are the diagonal of ABCD join PQ,PS,QR,RS . therefore PQRS is a parallelogram
and PR and QS are bisected at O. OQ is the median of BOA , OS id the median of COD.

. . . . (2)

. . . . (3)

From (2) and (3) we have,

2(

Similarly from

2(

From (4) and (5) we have,

From (6) we have, . . . . . . (7)

From (1) & (7) we have, (Proved)