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STRUCTURAL ANALYSIS 1
Principle of Virtual Work
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Energy Methods
Calculate Slope and Deflection

Double Integration Method Beams

Moment Area Theorems Simple Loadings
Conjugate Beam Method
Complicated Loadings
Energy Methods Trusses
Frames
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External Work

Gradually Applied Force F

x
We = ∫ Fdx
0

1
We = P∆
2
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External Work
Due to Another Force F’

x
We = ∫ Fdx
0

Work done due to P:

We = P∆ '
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External Work
θ
Moment We = ∫ M dθ
0
Gradually Applied Due to Another Moment

1 We = Mθ '
We = Mθ
2
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Principle of Virtual Work

Bernoulli 1717

External and Internal Loads are Related through

Equations of Equilibrium

External and Internal Displacements are Related through

Equations of Compatibility
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Principle of Virtual Work

• When we apply a series of external loads P to a deformable body,

these loadings will cause internal loadings u within the body.
• The external loads will be displaced ∆, and internal loadings will
undergo displacements δ.
• Conservation of energy states that
We = Wi ; ∑ P∆ = ∑ uδ
• Based on this concept, we now develop the principle of virtual
work to be used to determine the displacement and slope at any pt
on a body.
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Principle of Virtual Work

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Principle of Virtual Work

• Consider a body or arbitrary shape acted upon by “real loads” P1,
P2 and P3.
• There is no force acting on A, so
unknown displacement ∆ will not be
included as an external “work term” in
the eqn.
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Principle of Virtual Work

• Place and imaginary or “virtual” force
P’ on body at A, such that it acts in the
same direction as ∆.
• For convenience, choose P’ = 1.
• This external virtual load cause an
internal virtual load u in a
representative element of fiber of body.
• P’ and u is related by the eqns of
equilibrium.
• Apply real loads - pt A displaced by ∆,
which causes element to be displaced
dL.
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Principle of Virtual Work

• Thus, external virtual force P’ and internal virtual load u “ride

along” by ∆ and dL respectively; these loads perform external
virtual work of 1·∆ on the body and internal virtual work of u·dL
on the element.
• Consider only the conservation of virtual energy, we write the
virtual-work eqn as

Virtual loadings

1⋅ ∆ = ∑ u ⋅ dL (1)

Real displacements
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Principle of Virtual Work

P’ = 1 = external virtual unit load acting in direction of ∆.

u = internal virtual load acting on the element.
∆ = external displacement caused by real loads.
dL = internal displacement of element in direction of u, caused by
real loads.

Virtual loadings

1 ⋅ ∆ = ∑ u ⋅ dL
Real displacements
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Virtual Work for Trusses - External Loads

Virtual

1 ⋅ ∆ = ∑udL
Loads

Real
Displ.
NL
1. ∆ = ∑ n .
AE
1 = external virtual unit load acting on the truss joint in the stated direction of
n = internal virtual normal force in a truss member caused by the external
virtual unit load
∆ = external joint displacement caused by the real load on the truss
N = internal normal force in a truss member caused by the real load
L = length of member
A = cross-sectional area of a member
E = modulus of elasticity of a member
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Virtual Work for Trusses - Temperature change

Temperature change:
• Truss members can change their length due to a change in
temperature.
• Thus, we determine the displacement of a selected truss joint due
to temperature change from Eqn 1,
1 ⋅ ∆ = ∑ nα ∆TL
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Virtual Work for Trusses - Temperature change

Temperature change:
1 = external virtual unit load acting on the truss joint in the stated
direction of ∆.
n = internal virtual force in a truss member caused by the external
virtual unit load.
∆ = external joint displacement caused by the temperature change
α = coefficient of thermal expansion of member.
∆T = change in temperature of member.
L = length of member

1 ⋅ ∆ = ∑ nα ∆TL
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Virtual Work for Trusses – Fabrication errors

Fabrication errors.
• Displacement in a particular direction of a truss joint from its
expected position can be determined from direct application of
Eqn 1,
1⋅ ∆ = ∑ n ∆L
1 = external virtual unit load acting on the truss joint in stated
direction of ∆.
n = internal virtual force in a truss member caused by the external
virtual unit load.
∆ = external joint displacement caused by the fabrication errors.
∆L = difference in length of the member from its intended length
caused by fabrication error.
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Virtual Work for Trusses - Combined

Effects

nNL
1⋅ ∆ = ∑ + ∑ nα∆T L + ∑ n∆L
AE
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Example 1

Determine the vertical displacement of joint C of steel truss. X-sectional

area of each member is A = 400 mm2 and Est = 200 GPa. [12.1 mm ↓]
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Virtual forces n
We only place a vertical 1-kN virtual load at C; and the force in each
member is calculated using the method of joints. Results are shown below.
Using sign convention of +ve numbers for tensile forces and –ve numbers
indicate compressive forces.
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Real forces N
Applied load of 100 kN causes forces in members that can be calculated
using method of joints. Results are shown below.
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Virtual-work Equation
Arranging data in the table below:

Member n N L nNL
AB 0 −100 4 0
BC 0 141.4 2.828 0
AC −1.414 −141.4 2.828 565.7
CD 1 200 2 400
∑ 965.7 kN2—m
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Virtual-work Equation
Thus
nNL 965.7 kN 2 ⋅ m
1 kN ⋅ ∆ Cv =∑ =
AE AE
Substituting the numerical values for A and E, we have

965.7 kN 2 ⋅ m
1 kN ⋅ ∆ Cv =
[ ( ) ] ( )
400 10 −6 m 2 200 106 kN/m 2
∆ C v = 0.01207 m = 12.1 mm
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Example 2

X-sectional area of each member of the steel truss is A = 300 mm2, and
the modulus of elasticity for the steel members is Est = 210(103) MPa. (a)
Determine the horizontal displacement of joint C if a force of
60 kN is applied to the truss at B. (b) If no external loads act on the truss,
what is the horizontal displacement of joint C if member AC is fabricated
6 mm too short?
[a)4.524 mm → b)7.5 mm ←]
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Example 3

Determine the horizontal displacement of joint B of truss. Due to radiant

heating, member AB is subjected to an increase in temperature ∆T =
+60°C. The members are made of steel, for which αst = 12(10-6)/°C and Est
= 200 GPa. The x-sectional area of each member is 250 mm2.
[2.22 mm →]
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Example 4
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Virtual Work for Beams

• Consider a beam subjected to an arbitrary loading as
shown below:

• What is the vertical deflection ∆ at B?

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Virtual Work for Beams

• Applying a virtual unit load at B in the direction of the
desired displacement:

• The virtual external work performed by the virtual unit load

as it goes through real deflection ∆ is
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Virtual Work for Beams

• Consider an element dx located at a distance x from A.
The virtual internal bending moment Mv acting on the
element performs virtual internal work as it undergoes
real rotation dθ.
• The virtual internal work done on the element is:

• The rate of change of slope dθ over length dx is

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Virtual Work for Beams

• Therefore, the virtual internal work done becomes:

• The total virtual internal work done on the entire beam:

• Hence, since Wve = Wvi, the Virtual-Work equation is

given by:
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Virtual Work for Beams

Virtual
Loads
1⋅ ∆ = ∑u dL
Real
Displ.

M
u=Mv dL = dθ = dx
EI

L MvM
1⋅ ∆ = ∫ dx
0 EI
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Virtual Work for Beams

• For deflection of beams:
L MvM
1⋅ ∆ = ∫ dx
0 EI
1 = external virtual unit load acting on the beam in direction of ∆.
∆ = displacement caused by the real loads acting on the beam.
Mv = internal virtual moment in the beam, expressed as a function of
x and caused by the external virtual unit load.
M = internal moment in the beam, expressed as a function of x and
caused by the real loads.
E = modulus of elasticity of material.
I = moment of inertia of x-sectional area, computed about the neutral
axis.
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Virtual Work for Beams

• A similar approach can be used to determine the slope at C by
applying a virtual unit couple at C. The Virtual-Work equation for
beam slope is:

L M vM
1⋅θ = ∫ dx
0 EI

1 = external virtual unit couple acting on the beam.

θ = rotation caused by the real loads acting on the beam.
Mv = internal virtual moment in the beam, expressed as a function of
x and caused by the external virtual unit couple.
M, E, and I – as defined previously.
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Example 5
Determine the displacement at point B of a steel beam
E = 200 GPa , I = 500(106) mm4
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M = -6x2
Mv = -1x

10
(−1x) × (−6 x )dx 6 x dx  6 x 
L 10 2 10 3 4
M vM
1.∆ B = ∫ dx = ∫ =∫ = 
0
EI 0
EI 0
EI  4 EI 0
15(103 ) 15(103 )
∆B = = −12
= 0.15m
EI 200(10 ) × 500(10 )(10 )
6 6
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Example 6
Determine the slope θ and displacement at point B of a steel
beam
E = 200 GPa , I = 60(106) mm4

[0.0094 rad, 0.026 m]

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Example 7
Determine the deflection at point D of the beam shown in
the figure below by the virtual work method.
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Example 8
Determine the displacement of pt A of the steel beam
shown.
I = 175.8(10-6) m4, Est = 200 GPa.

[0.0196 m ↑]
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Virtual Work for Frames

• The application of the virtual work method for frames is
similar to that for beams.
• Portions of frame may undergo real axial deformations in
addition to real bending deformations when subjected to
real loads.
• Therefore, the total virtual internal work done on the frame
is equal to the sum of the internal virtual work due to
bending and that due to axial deformations i.e.

Wvi = Wvia + Wvib

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Virtual Work for Frames

• From previous sections, the virtual internal work due to

axial deformation is given by (assuming AE is constant):
nNL
W via = ∑
AE
• And the virtual internal work due to bending deformation
is given by (assuming EI is constant):
M vM
W vib = ∑ ∫ dx
EI
• Therefore, the total virtual internal work for a frame due to
both bending and axial deformation is given by
nNL M vM
W vi = ∑ AE
+∑∫
EI
dx
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Virtual Work for Frames

• By equating the virtual external work to the virtual internal

work, the virtual work equation for deflections and
rotations of frames, respectively, are as follows:
nNL M vM
1(∆ ) = ∑ +∑∫ dx
AE EI

nNL M vM
1(θ ) = ∑ +∑∫ dx
AE EI
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Virtual Work for Frames

• The axial deformations in the members of frames

composed of common engineering materials are generally
smaller than the bending deformations. Therefore, they
are usually neglected in the analysis.
• Unless otherwise stated, the axial deformation can be
omitted and the virtual work equation for frames reduces
to the following:
M vM
1(∆ ) = ∑∫ dx
EI

M vM
1(θ ) = ∑∫ dx
EI
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Example 9
Determine the rotation of joint C of the frame shown in in
the figure below by the virtual work method.
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Example 10
Use the virtual work method to determine the vertical
deflection at joint C of the frame shown in the figure below.
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Example 11
Determine the horizontal deflection at joint C of the frame shown in
the figure below including the effect of axial deformations, by the
virtual work method.
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Tutorial
• 7.1 to 7.44, pp 328 - 336