CivE 205 Mechanics of Solids II

Part 9:
The Principle of Virtual Work

Department of Civil & Environmental Engineering

University of Waterloo

A. Al-Mayah
Spring 2014

p. 9.2

Part 9: The Principle of Virtual Work

F1

Developed by John Bernoulli 1717, later

formalized by J.C. Maxwell 1864, O. Mohr 1874.
Based on the conservation of energy.
Used in several mechanics applications.
Applied to calculate displacement and slope at
any points on a structure.

F2

1. Consider a particle under the action of three forces,

F1, F2, and F3.
2. Conservation of energy cannot be applied to calculate
deformation at any points where load is not applied.
3. Therefore, to calculate the displacement () of point
A, an imaginary (virtual) load is applied at A in the
direction of the displacement.
4. This external virtual load results in internal virtual load
f in an element of the body.
5. In order for the system to be in equilibrium: External
virtual work must equal internal work i.e.

F3

f
f

A
Q=1
(Virtual external force real external displacement= virtual internal load
real internal displacement)

1=external virtual load (Q)

=external displacement caused by actual load
f= internal virtual load
dL=internal real displacement caused by internal real load
If a structure is in equilibrium under the action of a set of external forces and is
subjected to a set of displacements compatible with the constraints of the structure,
the total work done by the external and internal forces during the displacements
must be zero.

Department of Civil & Environmental Engineering

University of Waterloo

CivE 205 Mechanics of Solids II

Part 9: The Principle of Virtual Work

p. 9.3

Notes:
The forces can be in a form of moment to calculate the deformation in a form
of rotation.
The set of forces need not be related to the set of displacements as cause-andeffect and either set can be real while the other is imaginary.
Beam Example:
Self-equilibrated forces are applied to the structure in its undeflected position.
Then the real deflections due to the real load are allowed to take place. These real
deflections are (x) and () at distance (a) and (c) from the hinge, respectively)
Q is virtual external force at a distance (c) from the hinge.
Apply: (Virtual external force Q real external displacement = virtual
internal load f real internal displacement x)
Q = fx This is a compatibility
condition

P
F

x
For a linear system

L
Force system + Real displacements

F=Kx (where K=spring stiffness)

Or

x=F/K (deflection due to real load)

If Q is a unit load, and f corresponds to

this value of Q:

Virtual forces f and Q satisfy (fa=Qc)

Force F
1
f = the internal virtual spring force due to unit
virtual applied load.
F = the internal real spring force due to real applied
load.

Displacement x

= the required real deflection due to real loads.

Department of Civil & Environmental Engineering
University of Waterloo

CivE 205 Mechanics of Solids II

p. 9.4

Part 9: The Principle of Virtual Work

The more general form is

Where x is a real displacement caused by:
a)
b)
c)
d)

External real forces

Temperature changes
Misfit of component parts
Support settlements etc.

This general form is valid also for nonlinear system.

Note: If a rotation at a point on a linear structure is required, is an angle and Q is
a torque (of unit value) applied in the direction of .
TENSILE OR COMPRESSION STRUCTURAL MEMBERS:

Since

(real

and F)

Let f= virtual member force in equilibrium with external virtual applied load:
L

F
F
To determine the displacement of
truss joints:

Where,
Fi= real internal force in truss member caused by applied real loads
fi= virtual internal force in truss member caused by external virtual load
Li=length of a member
Ai= area of a member
Ei= modulus of elasticity of a member
Department of Civil & Environmental Engineering
University of Waterloo

CivE 205 Mechanics of Solids II

Part 9: The Principle of Virtual Work

p. 9.5

Example 9.1 Deflection of Trusses_

load P is applied to 4-bars truss with
given areas and lengths. Find vertical
deflections at B and C.
To find

Apply unit vertical force applied at C

Calculate the internal virtual member
forces (fCi) caused by the applied unit
load at C.

A, L/

To find

o Apply unit vertical force applied at B

o Calculate the internal virtual member
forces (fB) caused by the applied unit
load at B.

Member

Fi

fCi

AB

BD

Li

Ai

1.5A

CD

fBi

BC

Sum

Department of Civil & Environmental Engineering

University of Waterloo

CivE 205 Mechanics of Solids II

p. 9.6

Part 9: The Principle of Virtual Work

Areas: Compression members =10 in2

-4

Example 9.2 A concentrated load of 9

kips is applied at point E in the truss.
The internal forces are calculated using
statics. E=30x103 kips/in2

-5
E

Tension members =5 in

9 kips

Find the deflection at F.

Solution:

+4
18ft

+8
18ft

+8
18ft

-5

+3

+9

-4/9

Apply unit load at F

+5/9
A

+2/3

0
E
+4/9

-10/9

F
+4/9

+8/9

1
Fi
(kips)

fi

Li (in)

Ai (in2)

AC

-10

-5/9

270

10

+150

CD

-4

-4/9

216

10

+38.4

BD

-5

-10/9

270

10

+150

CE

+9

CF

-5

+5/9

270

10

-75

DF

+3

+2/3

162

+64.8

AE

+8

+4/9

216

+153.6

EF

+8

+4/9

216

+153.6

FB

+4

+8/9

216

+153.6

Member

Sum

By virtual work

Department of Civil & Environmental Engineering

University of Waterloo

CivE 205 Mechanics of Solids II

Part 9: The Principle of Virtual Work

p. 9.7

BENDING MOMENT OF BEAMS:

Let m= virtual internal moment due to virtual

external load (I.V.W.)
(

for an element

Example 9.3 Find the rotation at A due to the concentrated load P applied at C.
I.V.W=E.V.W

2EI
2L

Since, the rotation is required at point A,

a virtual unit moment is required at A.
Draw the bending moment for real and
virtual loads to identify the regions of no
virtual moment to simplify the virtual
load calculations.
In this example, the effect of virtual
bending moment is limited to the
segment AB.

PL

m=1

M(x)= RAx=-Px/2

EI
L

)
1

is negative (counter clockwise) i.e. opposite from that assumed.

Note: Bending deformations are taken into account here but not shear deformation.
Department of Civil & Environmental Engineering
University of Waterloo

CivE 205 Mechanics of Solids II

p. 9.8

Part 9: The Principle of Virtual Work

Example9.4: Find the deflection at the mid span of the cantilever beam. EI is
constant.
o

L
/

L/2

Department of Civil & Environmental Engineering

University of Waterloo

CivE 205 Mechanics of Solids II

Part 9: The Principle of Virtual Work

p. 9.9

Torsion of Shafts
Let t= internal virtual torque due to external load
(

)
(

And for a uniform shaft:

System

Load

Uniaxial loading
(e.g. Rod)

Bending Moment
(e.g. beam)

Torque (e.g.
Shaft)

Strain Energy U

Department of Civil & Environmental Engineering

University of Waterloo

Internal Virtual
Wok

CivE 205 Mechanics of Solids II

p. 9.10

Part 9: The Principle of Virtual Work

OTHER APPLICATIONS OF THE VIRTUAL WORK METHOD

TO FIND DEFLECTIONS
1) Deflection due to temperature:
Example 9.5 Determine the deflection
due to temperature for the cantilever
beams. Temperature at the top of the
beam is T+T, and the temperature
in Coefficient of linear expansion =

Temperature = T+T
dx

d
Temperature = T
L

T+T

Deformation due to temperature gradient

Linear temperature change through depth of beam:
(Real element deformation)
d

dx
T
dx..T
To find the total vertical deflection at the tip of the cantilever due to thermal
effects, apply a unit virtual load at
the tip
A
1

By virtual work principle

L
-1.L

m(x)=- x
(Internal Virtual Bending Moment)

Downward deflection (as assumed).

Department of Civil & Environmental Engineering

University of Waterloo

CivE 205 Mechanics of Solids II

Part 9: The Principle of Virtual Work

p. 9.11

2) Discrepancies in member lengths:

Example 9.6: Suppose some members of a truss were made too long or too short.
What is the resulting joint displacement at A.
+ ve sign longer than intended
-0.3
in

- ve sign shorter than intended

+0.2
in

20

A is the real displacements

+0.4
in

Apply a unit load at A

Virtual internal forces will be as shown

-0.75

-1.5

By virtual principle:
Virtual deflection at A

-1.0

+0.75

e= real length discrepancies

A
1

f= virtual internal forces

(

)(

)(

)(

Positive result is referring to the upward deflection (as assumed).

Department of Civil & Environmental Engineering

University of Waterloo

CivE 205 Mechanics of Solids II

p. 9.12

Part 9: The Principle of Virtual Work

3) Arch Deformation:
Example 9.7 Consider bending deformations only (EI is constant)
( )

ds=Rd

( )

d
Rsin

P
( )

( )

By prinicple of virtual work

Rsin
1

Compare this method with the method of Castiglianos.

Department of Civil & Environmental Engineering

University of Waterloo

CivE 205 Mechanics of Solids II

Part 9: The Principle of Virtual Work

p. 9.13

METHOD OF VIRTUAL WORK APPLIED TO STATICALLY

INDETERMINATE STRUCTURES:
Redundancy can be either a support reaction or an internal force.
A statically determinate structure is formed by removing the redundancy:
Take away the extra support; OR
Cut the redundant member.
Then the primary structure (the statically determinate structure) is analysed bearing
in mind the compatibility situation.
w

Example 9.8 Find the reaction at A

(RA)?
A

B
L

( )

RA x
A
)(

)
1

m(x)=- x
(Internal Virtual Bending Moment)

)
|

Department of Civil & Environmental Engineering

University of Waterloo

CivE 205 Mechanics of Solids II

p. 9.14

Part 9: The Principle of Virtual Work

Example 9.9

Find the forces in the pin-jointed steel structure.

A=0.1 in2
36 in

L=40 in
B
3 kips

36 in
C
To make the truss a statically determinate structure, cut
one of the members (say BD) and calculate the internal
forces.

48 in
A

0 kips

The statically determinate structure with actual forces (Fi)

caused by actual applied force. Each force causes
elongation
in each member.

B
3 kips

In the statically determinate structure, d must be found

by applying virtual vertical unit force at D. This unit
tension causes forces fi.
Member

Fi

fi

Li
(in)

AB

2.5

BC

-2.5

BD

C
A

Ai
(in2)

0.15

-833

60

0.25

-500

40

0.1

-1333

Department of Civil & Environmental Engineering

University of Waterloo

CivE 205 Mechanics of Solids II

Part 9: The Principle of Virtual Work

p. 9.15

But the actual displacement at D is zero in the statically indeterminate structure

(provided there is no initial lack of fit (i.e. BD bar is not too long or short).
Therefore, a force must be applied at D to return it to its original location.
Assume the actual force in BD is R. This redundant force gives rise to internal
forces R.f in the remaining members. The additional elongations in the members
due to R are given by

Apply virtual work method:

External virtual work=Internal virtual work

Then

Member

fi

Li
(in)

AB

Ai
(in2)
0.15

277.56

BC

60

0.25

166.54

BD

40

0.1

400
845

Based on the calculated R, all other forces can be calculated.

Force at AB=1.18 kips
Force at BC=-1.18 kips

Department of Civil & Environmental Engineering

University of Waterloo

CivE 205 Mechanics of Solids II