Virtual Work

Work done by a Force (U)

U = work done by the component of the force in the direction of the displacement
times the displacement
or
Since same results are obtained irrespective of the direction in which we resolve
the vectors  Work is a scalar quantity

+U  Force and Disp in same direction

- U  Force and Disp in opposite direction
Virtual Work
Generalized Definition of Work
Work done by F during displacement dr

Expressing F and dr in terms of their

rectangular components

Total work done by F from A1 to A2


Virtual Work: Work done by a Force
Forces which do no work:
• forces applied to fixed points (ds = 0)
• forces acting in a dirn normal to the disp (cosα =
0)
• 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
Virtual Work
Work done by a Couple (U)
Small rotation of a rigid body:
• translation to A’B’
 work done by F during disp AA’ will be equal
and opposite to work done by -F during disp BB’
 total work done is zero

• rotation of A’ about B’ to A”
work done by F during disp AA” :
U = F.drA/B = Fbdθ
Since M = Fb

 +M  M has same sense as θ

- M M has opp sense as θ

Total word done by a couple during a finite rotation in its plane:

Virtual Work
Dimensions and Units of Work
(Force) x (Distance)  Joule (J) = N.m
Work done by a force of 1 Newton moving through a distance of 1
m in the direction of the force
Dimensions of Work of a Force and Moment of a Force are same
though they are entirely different physical quantities.
Work is a scalar given by dot product; involves product of a force
and distance, both measured along the same line
Moment is a vector given by the cross product; involves product
of a force and distance measured at right angles to the force
Units of Work: Joule
Units of Moment: N.m
Virtual Displacement
Virtual Displacement is not experienced but only assumed to
exist so that various possible equilibrium positions may be
compared to determine the correct one
• Imagine the small virtual displacement of
particle (δr) which is acted upon by several
forces.

• The corresponding virtual work,

→ → → → → → → → → →
U  F1  r  F2  r  F3  r  F1  F2  F3  r
→ →
 R  r
Virtual Displacement
Equilibrium of a Particle
Total virtual work done on the particle due to
virtual displacement  r:

Expressing ∑F in terms of scalar sums and δr

in terms of its component virtual displacements in the
coordinate directions:

The sum is zero since ∑F = 0, which gives ∑Fx = 0, ∑Fy = 0, ∑Fz = 0

Alternative Statement of the equilibrium:  U = 0
This condition of zero virtual work for equilibrium is both necessary and
sufficient since we can apply it to the three mutually perpendicular directions
 3 conditions of equilibrium
Virtual Work
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
• 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
• the work of the external forces need be
considered
• since work done by internal forces (equal,
opposite, and collinear) cancels each other.
Example (1) on Virtual Work Principle
Equilibrium of a Rigid Body
Total virtual work done on the entire rigid
body is zero since virtual work done on each
Particle of the body in equilibrium is zero.

Weight of the body is negligible.

Work done by P = -Pa  θ

Work done by R = +Rb  θ

Principle of Virtual Work:  U = 0:

-Pa  θ + Rb  θ = 0

Pa – Rb = 0
Equation of Moment equilibrium @ O.
Nothing gained by using the Principle of Virtual Work for a single
rigid body
Virtual Work
Principle of Virtual Work
Virtual Work done by external active forces on an ideal
mechanical system in equilibrium is zero for any and all virtual
displacements consistent with the constraints

U=0
Three types of forces act on interconnected systems made of rigid members

Active Forces: Work Done Reactive Forces Internal Forces

Active Force Diagram No Work Done No Work Done
Virtual Work
Major Advantages of the Virtual Work Method
- It is not necessary to dismember the systems in order to establish
relations between the active forces.
- Relations between active forces can be determined directly without
reference to the reactive forces.
 The method is particularly useful in determining the position of
equilibrium of a system under known loads (This is in contrast to
determining the forces acting on a body whose equilibrium position is
known – studied earlier).

 The method requires that internal frictional forces do negligible work

during any virtual displacement.

 If internal friction is appreciable, work done by internal frictional forces

must be included in the analysis.
Virtual Work
Degrees of Freedom (DOF)
- Number of independent coordinates needed to specify completely the
configuration of system

Only one coordinate (displacement or rotation) Two independent coordinates are needed to
is needed to establish position of every part of establish position of every part of the system
the system

U = 0 can be applied to each DOF at a time keeping other DOF constant.

ME101  only SDOF systems
Virtual Work
Systems with Friction
- So far, the Principle of virtual work was discussed for “ideal” systems.
- If significant friction is present in the system (“Real” systems), work
done by the external active forces (input work) will be opposed by the
work done by the friction forces.

During a virtual displacement  x:

Work done by the kinetic friction force is: -μkNx

During rolling of a wheel:

the static friction force does no work if the wheel
does not slip as it rolls.
Virtual Work
Mechanical Efficiency (e)
- Output work of a machine is always less than the input work because of
energy loss due to friction.
Output Work For simple machines with SDOF & which
e
Input Work • operates in uniform manner, mechanical efficiency may be
determined using the method of Virtual Work
• For the virtual displacement s: Output Work is that necessary
to elevate the block = mg s sinθ
• Input Work: T s = mg sinθ s + μk mg cosθ s
• The efficiency of the inclined plane is:
mgs sin  1
e 
mg sin    k cos  s 1 k cot 
As friction decreases, Efficiency approaches unity
Work of a Force
  
dU = F  dr = work of the force F corresponding to

the displacement dr
dU = F ds cosα

α= 0, dU =+ F ds α= π , dU = − F ds α=
π
2
, dU = 0

dU = Wdy
Work of a Couple
Small displacement of a rigid body:
• translation to A’B’
• rotation of B’ about A’ to B”

    
W =  F  dr1 + F  dr1 + dr2 
 
F  dr2 = F ds2 = F rdθ
M dθ
Principle of Virtual Work
• Imagine the small virtual displacement of particle which
is acted upon by several forces.
• The corresponding virtual work,
 
         
δU = F1  δr + F2  δr + F3  δr = F1 + F2 + F3  δr
 
R  δr

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.
Work of a Force
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

10 - 18
Virtual Work for a rigid body
Different types of forces
• Forces that do work are called active
force.
• Reactive and internal forces do not
do any work.
• Virtual displacements are to be given
carefully so that the active forces are
only the known forces and the forces
we are interested in obtaining
• Similar to FBD we draw active force
diagram (AFD).
Degrees of Freedom
• DOF in this context is the total number of
independent coordinates required to specify the
complete location of every member of the structure.
• For VW method in this course we will use only 1-DOF
systems.

1 DOF 2 DOF
To summarize
• Principle of virtual work
• The virtual work done by external active forces on an
ideal mechanical system in equilibrium is zero for any all
virtual displacements consistent with the constraints.

• Ideal system:
– All surfaces, joints etc. are frictionless.
– We will deal with ideal system in this course.
• Consistent with constraints:
– The virtual displacement should be such that they
should not do allow the non-active forces to do any
work.
Why principle of Virtual Work
• For complex mechanisms (we will solve some
problems) we do not need to dis-member the system.
• We obtain the active unknown force in one shot
without bothering about the reactive forces.
• Such type of analysis will be a stepping stone to VW
analysis using deformations when you study Solid
Mechanics, Structural Mechanics etc. not to mention
powerful Approximate methods like the Finite
Element Method.
Principle of Virtual Work

u U e  U i

L 1
u ( P1D1 )  1  D   u  dL   U o dV
2
A

P´ = 1
Virtual loadings
Apply virtual load P´ first
1•D  Su • dL
u Real displacements

In a similar manner,
L
u
A Virtual loadings
dL
1•  Su • dL
D
P1 Real displacements
Then apply real load P1.
24
JFTC 25
JFTC IC 442 26
JFTC IC 442 27
JFTC IC 442 28
JFTC IC 442 29
 ARMADURAS

JFTC IC 442 30
Method of Virtual Work : Truss
P1
• External Loading.
n1 N1 P2

n3 n5 N3 N
n7 n8 n9 N7 N8 5 N9
B B
D
1kN nNL
1 D  
AE
Where:
1 = external virtual unit load acting on the truss joint in the stated direction of D
n = internal virtual normal force in a truss member caused by the external virtual
unit load
D = external joint displacement caused by the real load on the truss
N = internal normal force in a truss member caused by the real loads
L = length of a member
A = cross-sectional area of a member
E = modulus of elasticity of a member

31
• Temperature

1  D   n (DT ) L

Where:
D = external joint displacement caused by the temperature change
 = coefficient of thermal expansion of member
DT = change in temperature of member

• Fabrication Errors and Camber

1  D   nDL

Where:
D = external joint displacement caused by the fabrication errors
DL = difference in length of the member from its intended size as
caused by a fabrication error 32
 ARMADURAS- ejemplos

JFTC IC 442 33
Sample Problem 10.1
Determine the magnitude of the couple M required to
maintain the equilibrium of the mechanism.

SOLUTION:
• Apply the principle of virtual work

U  0  U M  U P
0  M  PxD

xD  3l cos
xD  3l sin 

0  M  P 3l sin  

M  3Pl sin
• Note that no support reactions were needed to solve the
problem, nor was it necessary to take apart the machine at
any connection. A clear and accurate FBD is still highly
recommended, however.
10 - 34
Problem 1
• Assuming frictionless contacts, determine the
magnitude of P for equilibrium

This problem will be

referred to as the
Ladder problem
Example 8-15

The cross-sectional area of each member of the truss shown in the figure is
A = 400 mm2 and E = 200 GPa.
(a) Determine the vertical displacement of joint C if a 4-kN force is
applied to the truss at C.
(b) If no loads act on the truss, what would be the vertical displacement
of joint C if member AB were 5 mm too short?
(c) If 4 kN force and fabrication error are both accounted, what would
be the vertical displacement of joint C.

C
4 kN

3m
A B

4m 4m

38
SOLUTION

Part (a)
•Virtual Force n. Since the vertical displacement of joint C is to be
determined, only a vertical 1 kN load is placed at joint C. The n force in
each member is calculated using the method of joint.
•Real Force N. The N force in each member is calculated using the
method of joint.

1 kN
C
4 kN
C

0 A 0.667 4 kN 2
B B
A
n (kN) N(kN)
0.5 kN 0.5 kN
1.5 kN 1.5 kN

39
 1 kN
C
4 kN
C

A 0.667 B A 2 B
C
n (kN) N (kN)

=
A 8 B
C
L (m)

A 10.67 B
nNL
(1kN )( D Cv )   nNL (kN2•m)
AE
1 10.67 kN  m
D C  (10.41  10.41  10.67) 
AE kN
(400 10  6 m 2 )(200 10 6 2 )
m
DCv = 0.133 mm, 40
Part (b): The member AB were 5 mm too short
1 kN

A 0.667 B
n (kN)
5 mm

(1)(D Cv )   n(DL)

D Cv  (0.667 )(0.005)

DCv = -3.33 mm,

Part (c): The 4 kN force and fabrication error are both accounted.

DCv = 0.133 - 3.33 = -3.20 mm

DCv = -3.20 mm,

41
Example 8-16

Determine the vertical displacement of joint C of the steel truss shown. The
cross-section area of each member is A = 400 mm2 and E = 200 GPa.

F E

4m
A D
B C
4m 4m 4m
4 kN 4 kN

42
 SOLUTION

•Virtual Force n. Since the vertical displacement of joint C is to be

determined, only a vertical 1 kN load is placed at joint C. The n force in
each member is calculated using the method of joint.

•Real Force N. The N force in each member is calculated using the

method of joint.

F -0.333 E F -4 E

1
0.333

4m 4 4 4m
0 0.333 0.667 0.667
D 0 4 4 4
D
A A
B C B C
4m 4m 4m 4m 4m 4m
0.333 kN n (kN) 1 kN 0.667 kN 4 kN 4 kN 4 kN 4 kN
N(kN)
43
 F -0.333 E F -4 E

0.333
1 4 4
0.333 0.667 0.667 4 4 4
B C B C 4
A DA D F E
n (kN) 1 kN 4 kN N(kN) 4 kN
4 4
4 4 4

=
B C
F 5.33 E A L(m) D

16

5.33
5.33 10.67 10.67
B C
A D
nNL(kN2•m)
nNL
(1kN )( D Cv )  
AE
1 72.4kN  m
D Cv  [15.07  3(5.33)  2(10.67)  16  30.18)] 
AE kN
(400 10 6 m 2 )(200 10 6 2 )
m
DCv = 1.23 mm, 44
Example 8-17

Determine the vertical displacement of joint C of the steel truss shown. Due to
radiant heating from the wall, members are subjected to a temperature change:
member AD is increase +60oC, member DC is increase +40oC and member AC is
decrease -20oC.Also member DC is fabricated 2 mm too short and member AC
3 mm too long. Take  = 12(10-6) , the cross-section area of each member is A =
400 mm2 and E = 200 GPa.

wall
D C 10 kN

3m

B
A
2m 20 kN

45
 SOLUTION
• Due to loading forces.

1 kN 1 kN 20 kN

0.667 kN D 0.667 C 23.33 kN D 23.33 C 10 kN D 2 C

1 20
3m 0 3m 20 3 3
0 0 2
B B B
0.667 kN A 2m 13.33 kN A 2m A
20 kN
n (kN) N (kN) L (m)

D 31.13 C nNL
(1kN )( D Cv )  
60 AE
0
1
0 D Cv  (60  31.13  104 .12)
B (400 )( 200 )
A
DCv= 2.44 mm,
nNL(kN2•m)
46
 1 kN
D 0.667 C D +40 C D 2 C

1 +60
0 3 3
D -2 C
0 2
B B B
A A A
n (kN) DT (oC) L (m)
B
• Due to temperature change. A
(1kN )( D Cv )   n (DT ) L Fabrication error (mm)

DCv  (12 106 )[(1)(60)(3)  (0.667)(40)(2)  (1.2)(20)(3.61)] = 3.84 mm,

• Due to fabrication error.

(1kN )(D Cv )   n(DL)

DCv  (0.667 )(0.002)  (1.2)(0.003) = -4.93 mm,

• Total displacement .
(D Cv )Total  2.44  3.84  4.93 = 1.35 mm,
47
 VIGAS

JFTC IC 442 48
 Principle of Virtual Work

• The internal work in transversely loaded beams is

taken equal to the strain energy due to bending
moment
• The virtual force Fi in the ith mass element in
∆=F*iei may be taken equal to the bending
moment mij in the ith mass element due to a unit
load at coordinate j
Principle of Virtual Work (Displacement)
• Sometimes referred as the Unit-Load Method
• Generally provides of obtaining the displacement and slope
at a specific point on structure i.e. beam, frame or truss
• In general, the principle states that:
Work of Internal Loads

 PD  uδ

Work of External Loads

Principle of Virtual
Work (Displacement)
• Consider the structure (or body) to be of arbitrary
shape
• Suppose it is necessary to determine the
displacement D of point A on the body caused by
the “real loads” P1, P2 and P3
Principle of Virtual
Work (Displacement)
• Since no external load acts on the body at A and
in the direction of the displacement D, the
displacement can be determined by first placing
on the body a “virtual” load suc that this force
P’ acts in the same direction as D, (see Figure)
Principle of Virtual Work (Displacement)
• We will choose P’ to have a unit magnitude, P’ =1
• Once the virtual loadings are applied, then the body is
subjected to the real loads P1, P2 and P3, (see Figure)
• Point A will be displaced an amount D causing the element to
deform an amount dL
Principle of Virtual Work (Displacement)
• As a result, the external virtual force P’ & internal load u “ride
along” by D and dL and therefore, perform external virtual work
of 1. D on the body and internal virtual work of u.dL on the
element
Virtual loadings

1.D   u.dL
Real displacement

• By choosing P’ = 1, it can be seen from the solution for D follows

directly since D = SudL
 Principle of Virtual Work
(Slope)
• A virtual couple moment M’ having a unit
magnitude is applied at this point
• This couple moment causes a virtual load uθin
one of the elements of the body
 Principle of Virtual Work
(Slope)
• Assuming that the real loads deform the element
an amount dL, the rotation  can be found from
the virtual-work equation
Principle of Virtual Work
(Slope)
Virtual loadings

1.θ   u.dL
Real displacement
PRINCIPLE OF UNIT LOAD METHOD
VIRTUAL LOAD
REAL LOAD

V M

X
• The element deform or rotate dθ = (M / EI) dx
• The external virtual work done by the unit load is 1.
• The internal virtual work done by the moment, m

m dθ = m(M/EI) dx

L
mM
1 .D   EI
dx
0

L
Similarly mM
1 .θ   EI
dx
0
by Saffuan Wan Ahmad
 VIGAS- ejemplos

JFTC IC 442 60
b
y
S Example 1
a
f
f Determine the displacement at point B of the steel beam
u
a shown in figure.
n
W Take E = 200GPa, I = 500x 106 mm4
a
n
A
h
m
a
d
b
y
S Real Moment, M
a
f
f
u
a
n
W
a
n
A
h
m
a
d

LHS RHS

M M

V
V
b
y
S
a
f Real Moment, M
f
u
a
n RHS
M
W
a x  0 (clockwise  ve)
n
A
12 kN/m 12x 2
h
m M M 0
a 2
d
x M  6x 2
b
y
S Virtual Moment, m
a
f
f
u
1 kN
a
n
W
a
n A
A
h
B
m
a
d

LHS RHS
1 kN

M M

V
V
Virtual Moment, m

Considered RHS 0<x<10

1 kN
M x  0 (clockwise  ve)
m 1.x  0
M
m  1.x
x

by Saffuan Wan Ahmad

b
y
S
a
f
Virtual-Work Equation
f
u L mM
a 1kN.D   dx
n 0 EI
W
a
(x)(6x 2 )
10
n
A
 dx
h
0 EI
m
15103 kN.m 3
a
d 
EI
OR
15103 kN.m 3
DB 
200(106 )kN / m 2 (500(106 )mm4 )(1012 m4 / mm4 )
 0.150m  150mm
b
y
S Example 2
a
f
f
u
a
n Determine the displacement at D of the steel beam in
figure. Take E = 200GPa, I = 300E6 mm4
W
a
n
A
h
m
a
d
b
y
S
a
f
f
u
Real Moment, M
a
n
W
a
n
A
h
m
a
d

M1 M2 M3
Determine the reaction at
support…

VA VB

M A  0 (clockwise  ve)
F  0 (upward  ve)
y
120  30(3) VB (6)  0
V A  35  30  0
VB  35kN
V A  5kN

by Saffuan Wan Ahmad

b
y
S
a
Member AB : LHS 0 x3
f
f
120 kN.m
u
a M1 M x  0 (clockwise  ve)
n
W 5 kN  M 1  5(x) 120  0
a x
n
A
M 1  120  5x
h
m
a
d Member BC : RHS 0 x3

M2 M x  0 (clockwise  ve)
M 2  35(x)  0
35 kN
x M 2  35(x)
b
y
S
a
f
f
u
a
n Member CD : RHS 0  x  4.5
W
a

M
n
A M3
x  0 (clockwise  ve)
h
m
a
M3  0
d x
b
y
S Virtual moment, m
a
f
f
u
a
n
W 1 kN
a
n
A
h
m
a
d

m1 m1 m1
Determine the reaction at support
1 kN

VA VB

M A  0 (clockwise  ve) F y  0 (upward  ve)

1(10.5) VB (6)  0 V A 1.75 1  0
VB  1.75kN VA  0.75kN

by Saffuan Wan Ahmad

b
y
S
a
Member AB : LHS 0 x3
f
f
u
a m1 M x  0 (clockwise  ve)
n
W 0.75 kN  m1  0.75(x)  0
a x
n
A
m1  0.75x
h
m
a
d Member BC : RHS 0 x3

M
1 kN
m2 x  0 (clockwise  ve)
m2 1.75(x) 1(x  4.5)  0
1.75 kN
m2  0.75(x)  4.5
x
b
y
S
a
f
f
u
a
n Member CD : RHS 0  x  4.5
W
a
n
A
h
m3
1 kN M x  0 (clockwise  ve)
m3 1.x  0
m
a
d

x m3  x
b
y
S
a
f
Virtual-Work Equation
f
u
a
mM
1kN.D d  
L
n
W
dx
0 EI
a
n
3mM 3m M 4.5 m M
 dx   dx  
A 2 2 3 3
1 1
h dx
m
a
0 EI 0 EI 0 EI
d
3 (0.75x)(120  5x) 3 (0.75x  4.5)(35x)
 dx   dx
0 EI 0 EI
4.5 (x)(0)
 dx
0 EI
b
y
S
a
f
f
u
a
371 .25 472 .5 0
DD    
n
W
a EI EI EI
n 3
843 .75 kN .m
A 
h
m
EI
a
 843 .75 kN .m 3
d DD 
200 (10 6 )kN / m 2 (300 (10 6 )mm 4 )(10 12 m 4 / mm 4 )
 0.0141 m  14 .1mm
b
y
S Example 3
a
f
f
u
a
n Determine the slope at A and deflection at C in the
W
a beam shown below
n
A
h
m
a 9 kN
12 kN/m
d

A B
C D

3m 1m 2m
 Solution
b
y
S
a
12 kN/m 9 kN
f
f
u
• Real
Generalized
Load (M)
coordinates
A B
a C D
n
W 3m 1m 2m
a • 1 unit load

• Virtual Load (m ): Slope

n
A 1
θ 2
h
m
a
• 1 unit load
d

• Virtual Load (m ): Deflection

Δ
 Real Load  M ?
1. Support reaction, 12 kN/m 9 kN
B
A
C D

3m 1m 2m

 M A  0(clockwise ),
 Fy    0,
 RB (6)  9(4) 12(3)   0
3 R A 12(3)  9 15  0
2  R A  30kN
 RB  15kN

by Saffuan Wan Ahmad

b
y
S
a
f
f
u
a 12kN/m
Real Load (M) : 0  x  3(segment AC)

n
W Mx M x  0 (clockwise),
a
30kN
 x2 
n

M x  30x 12 
A x
h
m
 2
a
d
 M x  30x  6x 2 ..........(i)
b
y
S
a
f
f
u
a Real Load (M) : 3  x  4 (segment CD)
n 12kN/m
W
a
n 3m
Mx  M x  0 (clockwise ),
30kN
A
x M x  30x 12(3)(x  3 )
h
m
2
a
d
M x  30x  36x  54
M x  6x  54..........(ii)
b
y
S
a
f
f
u
a
n
Real Load (M) : 0  x  2 (segment BD)

W
a Mx 15 M x  0 (clockwise ),
n
 M x  15x
A x
h

 M x  15 x..........(iii)
m
a
d
 Virtual Load, m for deflection
Apply point load P= 1 1

C D
RA RB
3m 1m 2m

 M A  0 (clockwise ),  Fy    0,
 RB (6) 1(3)  0 R A  RB 1  0
1 1
 RB   RA 
2 2

by Saffuan Wan Ahmad

b
y
S
a
f
f
u
a Virtual Load (m) : 0  x  3(segment AC)
n
W
a 1/2
Mx
 M x  0 (clockwise ),
n
x
1
M x 
A
h x..........(i)
m 2
a
d
 3m 1
Virtual Load (m) : 3  x  4 (segment CD)
Mx
1/2  M x  0 (clockwise ),
x
 M x  0.5x  3..........(ii)

by Saffuan Wan Ahmad

b
y
S
a
f
f
u
a
n
W
Virtual Load (m) : 0  x  2 (segment BD)
a
n
Mx 1/2
 M x  0 (clockwise ),
A
1
h
m
x
Mx   x
a
2
d 1
 M x  x..........(iii)
2
b
y
S
a
f
f
u
Deflection at C, D D :
a
n
W
Mm
a
n
DD   dx
A
EI
h 1 3 1 4
  (30x  6x )(0.5x)dx   (6x  54)(0.5x  3)dx
2
m
a EI 0 EI 3
d
1 2
EI 0
(15x)(0.5x)dx

135.75

EI
 Virtual Load, m for rotation

Apply mθ= 1 1

C D
RA RB
3m 1m 2m

 M A  0 (clockwise ),  Fy    0,
 RB (6) 1  0 RA  RB  0
1
 RB   RA  
1
6 6

by Saffuan Wan Ahmad

b
y
S
a
f
f
u
a
n
W
1 Virtual Load (m) : 0  x  3(segment AC)

a Mx
n
-1/6
M x  0 (clockwise ),
A
h x
1
m
a
 M x  1 x..........(i)
d 6
b
y
S
a
f
f
u
a
n
W
1 Virtual Load (m) : 3  x  4 (segment CD)

a
n
Mx
M x  0 (clockwise ),
A -1/6
h x 1
m  M x  1 x..........(ii)
a 6
d
b
y
S
a
f
f
u
a
n Virtual Load (m) : 0  x  2 (segment BD)
W
a
n
Mx 1/6  M x  0 (clockwise ),
A x
1
h
m
 Mx   x
a
6
d
1
M x  x..........(iii)
6
b
y
S
a
f Slope at A, θA :
f
u
a
n
Mm
W
a
θA   dx
n EI
 x
A
1 1 4 1 x dx
 
3
h
m  (30x  6x )1 dx 
2
(6x  54)  
a EI 0
 6 EI 3
 6
d
1 2  x dx
EI  0
(15x)  
6
76.75

EI
b
y
S Example 4
a
f
f
u DeterminetheslopeanddeflectionatBin thebeamshownbelow.Given
a
n E=200kN/mm2
W
a
n
5 kN/m
A
h A IAB = 4x106 mm4
m
a IBC = 8x106 mm4
d D
B C
8 kN

0.5m 0.5m 2m
Moment equation (deflection):

Segment Condition I mm4 m (deflection) M

AD 0<x<0.5 4 x 106 0 8x

DB 0.5<x<1 4 x 106 0 8x – 2.5 (x – 0.5)2

BC 1<x<3 8 x 106 x–1 8x – 2.5 (x- 0.5)2

by Saffuan Wan Ahmad

b
y
S

Deflection, D B
a
f
f
u
a
n
mM
W
a
DB   dx
n EI
A
3 (x 1)(2.5x 2 10.5x  0.625)
 1
h
m
6 6
dx
a (20010 )(810 )
d


3
 1  2.5x  13x  11.125x  0.625x 
4 3 2

1600  4 3 2 1
 0.012m
 12mm
Moment equation (slope):

Segment Condition I mm4 m (slope) M

AD 0<x<0.5 4 x 106 0 8x

DB 0.5<x<1 4 x 106 0 8x – 2.5 (x – 0.5)2

BC 1<x<3 8 x 106 –1 8x – 2.5 (x- 0.5)2

by Saffuan Wan Ahmad

b
y
S
a
f
Slope,θB
f
u
a
mM
n
W θB   dx
a EI
n
3 (1)(2.5x 2 10.5x  0.625)

A
h 6 6
dx
m
1 (20010 )(810 )
a

3
d
 1   2.5x 3
10.5x 2
   0.625x 
1600  3 2 1
19.1

1600
 0.0119rad
 PORTICOS

JFTC IC 442 99
Principle of Virtual Work
 In general, the principle states that:
 PD   u
Work of Work of
Ext loads Int loads
 Consider the structure (or body)
to be of arbitrary shape
 Suppose it is necessary to determine
the disp D of point A on the body
caused by the “real loads” P1, P2 and P3
Principle of Virtual Work
 It is to be understood that these loads cause no movement
of the supports
 They can strain the material beyond the elastic limit
 Sincenoexternal load acts onthe body at A and in the
direction of D, the disp D, the disp can be determined by
first placing on the body a “virtual” load such that this
force P’ acts in the same direction as D
Principle of Virtual Work
 We will choose P’ to have a unit magnitude, P’ =1
 Once the virtual loadings are applied, then the body is
subjected to the real loads P1, P2 and P3,
 Point A will be displaced an amount D causing the element
to deform an amount dL
Principle of Virtual Work
 As a result, the external virtual force P’ & internal load u
“ride along” by D and dL & therefore, perform external
virtual work of 1. D on the body and internal virtual work
of u.dL on the element
1.D   u.dL
 By choosing P’ = 1, it can be seen from the solution for D
follows directly since D = SudL
 A virtual couple moment M’ having a unit magnitude is
applied at this point
Principle of Virtual Work
 This couple moment causes a virtual load u in one of the
elements of the body
 Assumingthat the real loads deform the element an
amount dL, the rotation  can be found from the virtual –
work eqn

1.   u .dL
Method of virtual work: Beams & Frames
 To compute D a virtual unit load acting in the direction of
D is placed on the beam at A
 The internal virtual moment m
is determined by the method
of sections at an arbitrary
location x from the left support
 When point A is displaced D,
the element dx deforms or
rotates d = (M/EI)dx
Method of virtual work: Beams & Frames

mM
1.D  
L
dx
0 EI
 external virtual unit load acting on the beam or frame in the direction of D
 internal virtual moment in the beam or frame, expressed as a function of x
& caused by the ext virtual unit load
 ext disp of the point caused by real loads acting on the beam or frame
 int moment in the beam or frame, expressed as a function of x & caused
by the real loads
 modulus of elasticity of the material
 moment of inertia of cross - sectional area, computed about the neutral axis
Method of virtual work: Beams & Frames
 If the tangent rotation or slope angle  at a point on the
beam’s elastic curve is to be determined, a unit couple
moment is applied at the point
 The corresponding int moment m have to be determined

L m M
1.   dx
0 EI
Method of virtual work: Beams & Frames

 If concentrated forces or couple moments act on the beam

or the distributed load isdiscontinuous,separate x
coordinates will have to chosen within regions that have no
discontinuity of loading
 Example 9.4
Determine the disp of point B of the steel beam. Take E= 200GPa and I
= 500(106) mm4.
 Solution
Virtual moment m
The vertical disp of point B is obtained
by placing a virtual unit load of 1kN at B.
Using method of sections, the
internal moment m is formulated.

Real moment M
Using the same x coordinate,
M is formulated.
 Solution
Virtual work eqn

(1x)(6x 2 )
 
L mM 10
1kN.D B  dx  dx
0 EI 0 EI
15(10 3 )kN 2 m 3
1kN.D B 
EI
D B  0.150m  150mm
Method of virtual work:
MiMk Table