Virtual Work

Virtual Work Method

EXTERNAL WORK AND STRAIN ENERGY

• The semi-graphical methods presented earlier are very effective for

finding the displacement and slope at a point in beams subjected to rather
simple loadings.

• For more complicated loadings or for structures such as trusses and

frames, it is suggested that energy methods be used for the
calculations.

• Most energy methods are based on the conservation of energy, which

states that the work 𝑼𝒆 done by all the external forces acting on a
structure is transformed into internal work or strain energy 𝑼𝒊 , which
occurs when the structure deforms.

• If the material’s elastic limit is not exceeded, this internal elastic strain
energy will return the structure to its undeformed state when the loads
are removed.

External Work—Force.

• Consider the effect caused by an axial force applied to the end of a bar as
shown in Fig. As the magnitude of F is gradually increased from zero to
some limiting value F = P, the final elongation of the bar becomes ∆.

𝐹 = 𝑥
∆
• If the material has a linear elastic response, then 𝐹 = ⎯ 𝑥 .
∆

• After integration:

• Another way to look at this is to state that as a force is gradually applied

to the bar, and its magnitude builds linearly from zero to some value P,
the work done is equal to the average force magnitude (⎯) times the
displacement (∆).

• Suppose now that P is already applied to the bar and that another force F′
is then applied, so the bar deflects further by an amount ∆′, see Fig. The
work done by P (not F′) when the bar undergoes the further deflection ∆′
is then:
• In summary, then, when a force P is applied to the bar, followed by
application of the force F′, the total work done by both forces is
represented by the triangular area ACE in Fig.

• The triangular area ABG represents the work of P that is caused by its
displacement ∆, the triangular area BCD represents the work of F′ since
this force causes a displacement ∆′, and lastly,

• The shaded rectangular area BDEG represents the additional work of P

when it is displaced ∆′.
External Work—Moment.

• The work of a moment is defined by the product of the magnitude of the

moment M and the angle 𝑑𝜃 through which it rotates, that is, 𝑑𝑈 = 𝑀𝑑𝜃.

• If the total angle of rotation is u radians, the work becomes

• As in the case of a force, if the moment is applied gradually to a structure

having linear elastic response from zero to M, the work is then

• However, if the moment is already applied to the structure and other

• However, if the moment is already applied to the structure and other
loadings further rotate the structure by an amount 𝜃 , then M rotates 𝜃′,
and the work is

Strain Energy—Axial Force.

When a force is applied gradually to the bar as in Fig, and increased from
zero to N, then it will strain the material such that the external work done
will be converted into internal strain energy that is stored in the bar:

Show that:

Strain Energy—Bending.

• External Work:

𝑑𝑈 = ⎯𝑀 𝑑𝜃

• The internal strain energy, or work stored in the element

• Show that:
 The strain energy for the beam

PRINCIPLE OF WORK AND ENERGY

• Let us illustrate how the conservation of energy can be applied to

determine the displacement at a point on a structure.

• Find displacement ∆ below point load P?

The external work is 𝑈 = ⎯𝑃Δ.

• If more than one load were applied, there would be an unknown

displacement under each load.

• Unfortunately only the one conservation of energy equation is available

for the solution.

• Furthermore, only the displacement under the force can be obtained,

since the external work depends upon both the force and its
corresponding displacement.

• One way to circumvent these limitations is to use the method of virtual

• One way to circumvent these limitations is to use the method of virtual
work

Principle of Virtual Work

• Consider a deformable structure of any shape or size and apply a series

of external loads P to it, it will cause internal loads u at points throughout
the structure.

• It is necessary that the external and internal loads be related by the

equations of equilibrium.

• As a consequence of these loadings, external displacements Δ will occur

at the P loads and internal displacements 𝛿 will occur at each point of
internal load u.

• If the external displacements are known, the corresponding internal

displacements are uniquely defined.

• The external and internal displacements must be related by the

compatibility of the displacements.

• In general, the principle of work and energy states:

• Using this concept, the principle of virtual work can be developed.

•

• Suppose we want to determine the displacement Δ of point A on the body

caused by the “real loads” 𝑷𝟏 , 𝑷𝟐 , 𝑷𝟑 .

• Since no external load acts on the body at A and in the direction of Δ, the
displacement Δ can be determined by first placing on the body a “virtual”
load such that this force P acts in the same direction as Δ.

• Let 𝑃 = 1.

• The term “virtual” is used to describe the load, since it is imaginary and
does not actually exist as part of the real loading.

• The unit load does, however, create an internal virtual load u in a

representative element or fiber of the body, as shown in Fig.

• Once the virtual loadings are applied, then the body is subjected to the
real loads 𝑃 , 𝑃 , 𝑃 .
• Point A will be displaced an amount Δ, causing the element to deform an
amount 𝛿𝐿.

• As a result, the external virtual force 𝑃 = 1 and internal virtual load u “ride
along” by Δ and 𝛿𝐿, respectively, and therefore perform external virtual
work of 𝑃 . Δ = 1. 𝛥 on the body and internal virtual work 𝑢 𝛿𝐿 of on the
element.

• External virtual work is equal to the internal virtual work

This is virtual work equation.

• In other words, by choosing 𝑃 = 1, the solution for Δ follows directly, i.e.,

To find slope

• In a similar manner, if the rotational displacement or slope of the tangent

at a point on a structure is to be determined, a virtual couple moment 𝑀
having a “unit” magnitude is applied at the point.
• As a consequence, this couple moment causes a virtual load 𝑢 in one of
the elements of the body.

• Assuming that the real loads deform the element an amount 𝛿𝐿, the
rotation 𝜃 can be found from the virtual-work equation

• This method for applying the principle of virtual work is often referred to as
the method of virtual forces, since a virtual force is applied resulting in
the calculation of a real displacement.

• The equation of virtual work in this case represents a compatibility

requirement for the structure.

• We can also apply the principle of virtual work as a method of virtual

displacements.

• In this case virtual displacement is imposed on the structure while the

structure is subjected to real loadings.

• This method can be used to determine a force on or in a structure,

so that the equation of virtual work is then expressed as an equilibrium
requirement.
 Method of Virtual Work: Trusses

• We can use the method of virtual work to determine the displacement of a

truss joint when the truss is subjected to an external loading, temperature
change, or fabrication errors.

External Loading

Let us consider vertical displacement Δ of joint B:

• If the applied loadings 𝑃 and 𝑃 cause a linear elastic material response,

then this element deforms an amount

𝑁𝐿
Δ𝐿 = ⎯⎯⎯
𝐴𝐸

where N is the axial force in the member, caused by the loads and L is the
length.

• The virtual-work equation

Example:

Notes
Notes
Temperature
• In some cases, truss members may change their length due to
temperature.

• If 𝛼 is the coefficient of thermal expansion for a member and Δ𝑇 is the

change in its temperature, the change in length of a member is δ𝐿 =
𝛼Δ𝑇𝐿.

• Hence, we can determine the displacement of a selected truss joint due to

this temperature change:

Fabrication Errors and Camber.

• Occasionally, errors in fabricating the lengths of the members of a truss

may occur.

• Also, in some cases truss members must be made slightly longer or

shorter in order to give the truss a camber.

• Camber is often built into a bridge truss so that the bottom cord will curve
upward by an amount equivalent to the downward deflection of the cord
when subjected to the bridge’s full dead weight.
Example

Notes
Notes

Notes
Example
 \

Notes
 Notes

Method of Virtual Work: Beams and Frames