Level – 2/Term – 1 ME 231 Engineering Mechanics –

I (Statics)
Chapter 10
Method of Virtual Work
Work Done:
− Work done by a force F is equal to F × S cosθ
S
S
θ
F F

− Work done by a couple M is equal to M × θ

θ θ

r
F

CHAPTER 10 Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 1

 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)
− Work done can be positive or negative

m h h
g

m
g

− Work done can be also be zero

i. for forces applied to a fixed point, since S = 0
ii. for forces acting perpendicular to the
displacement, since
The below forces do no work:
❑ Reactions at supports and frictionless surface
❑ Internal forces at connections
❑ Forces exerted by inextensible cords and cables
CHAPTER 10 Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 2
 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)
Work of a force during a Finite A2
Displacement:
We have,
S1 dS
We can write for a differential θ
A1 A
displacement (dS),
F
S2
Therefore,
O
Similarly, work for a couple during a finite

rotation of a body,
Work of a Weight: m
g
For a differential lift (dy), we can write

Therefore,

CHAPTER 10 Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 3

 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)
Work of the Force Exerted by a Spring:
We know,

where, k is the spring constant

in N/m
Now, the work done (dW) for the force F
exerted on the spring during a differential
displacement (dx) is

Again, we can write

Therefore,

CHAPTER 10 Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 4

 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)
Virtual Displacement:
− It is an imaginary displacement of a particle or a rigid body in
equilibrium
− Since it does not actually occur, such a displacement is called a
virtual displacement
Virtual Work (U):
− The work done by a force or a couple required for a virtual
displacement
Principle of Virtual Work:
If a particle or a rigid body is in equilibrium, the total virtual
work of the external forces acting on the particle or the rigid
body is zero for any virtual displacement. F2
F1

Aʹ
A δr
Since the resultant ( ) is zero for a particle or a
rigid body in equilibrium, the virtual work (δU) is
zero for the virtual displacement (δr). Fn
CHAPTER 10 Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 5
 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)
Applications of the Principle of Virtual work:

CHAPTER 10 Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 6

 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)
A load W of magnitude 600 N is applied to the linkage at B. The
constant of the spring is k=2.5 kN/m, and the spring is unstretched
when AB and BC are horizontal. Neglecting the weight of the
linkage and knowing that l=300 mm, determine the value of θ
corresponding to equilibrium.

CHAPTER 10 Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 7

 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)

A load W of magnitude 72 lb is applied to the mechanism at

point C. Neglecting the weight of the mechanism,
determine the value of θ corresponding to equilibrium. The
spring constant is k=20 lb/in., and the spring is unstretched
when θ=0

CHAPTER 10 Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 8

 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)
Potential Energy:
mg
P. E. at position 1, V1= m g
y1
P. E. at position 2, V2= m g
y2

This expresses that the work of the force is

independent of the path followed and is equal
to minus the change in potential energy.
CHAPTER 10 Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 9
 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)
Potential Energy and Equilibrium:
The change in virtual work of a system
for any virtual displacement is:
→ Considering a system
of single degree of
→ Since the total virtual work of a system
freedom
in equilibrium is zero for any virtual
Therefore, the principle of virtual work states that if
displacement
a system is in equilibrium, the derivative of its total

ApotentialLenergy
AB is Bzero. A xB Δ
B x
θ θ
l l yC

C C
m
CHAPTER 10 g
Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 10
 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)
Potential Energy for spring force, xB Δ
A B x
Ax
Potential Energy for gravity force, Bx
θ θ
yC A y By
Total Potential Energy,

C
m
g

Now, the positions of equilibrium of the system can be obtained

from

CHAPTER 10 Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 11

 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)
Stability of Equilibrium:
B A
A
a
θ
2a C
2a
θ y=a
y y
A mg θ
mg
B B

When θ ↑ , When θ ↑ , When θ ↑ ↓ , PE =

PE ↑ PE ↓ C
PE = PE = PE = constant
minimum maximum
Stable Unstable Neutral
Equilibrium
V Equilibrium
V Equilibrium
V

θ θ θ
CHAPTER 10 Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 12
 Level – 2/Term – 1 ME 231 Engineering Mechanics –
I (Statics)
❑ From calculus, a function is minimum or maximum
according to whether its second derivative is positive or
negative
❑ The conditions for the equilibrium of a system with single
degree of freedom are

Note:
❑ It first and second derivative is zero, check for higher derivatives.
The system is neutral, if all derivatives are zero.
❑ If first derivative is not zero but positive and even order, the
system is stable.
❑ In all other cases, the system is unstable.
Example-2:
A 10 kg block is attached to the rim of a 300 mm radius disk

as shown. Knowing that spring BC is upstretched when θ = 0,

determine the positions of equilibrium, and state in each

case whether the equilibrium

CHAPTER 10
is stable, unstable, or neutral.
Compiled by: Prof. Dr. Kazi Afzalur Rahman, ME, 13