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Virtual Mork Method Cec305

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91 views26 pages

Virtual Mork Method Cec305

Cec 305 material

Uploaded by

Hardex Star kid
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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8.

1: Virtual Work Method


The virtual work method, also referred to as the method of virtual force or unit-load method, uses the law of conservation of energy
to obtain the deflection and slope at a point in a structure. This method was developed in 1717 by John Bernoulli. To illustrate the
principle of virtual work, consider the deformable body shown in Figure 8.1. First, applying a virtual or fictitious unit load P = 1V

at a point Q, where the deflection parallel to the applied load is desired, will create an internal virtual or imaginary load f and will
cause point Q to displace by a certain small amount. Then, placing the real external loads P , P , and M on the same body will
1 2

cause an internal deformation, dS , and an external deflection of point Q to Q by an amount Δ.


F ig. 8.1. Deformable body.


Upon placement of the real load, the point of application of the virtual load also displaces by Δ, and the applied unit load performs
work by traveling the distance Δ. The work done by the virtual forces are as follows:
External work done by the unit load P V

= Pv × Displacement
(8.1.1)
= 1 ×Δ

Internal work done by the virtual load f

= f × dS (8.1.2)

Applying the principle of conservation of energy by equating equation 8.1 and equation 8.2 suggests the following:
External work done = Internal work done

where
PV = 1 = external virtual unit load.
f= internal virtual load.
Δ = external displacement caused by real loads.

dS = internal deformation caused by real loads.

Similarly, to obtain the slope at a point on a structure, apply a unit virtual moment M at the specified point where the slope is
V

desired, and apply the following equation derived via the principle of conservation of energy:

where
MV = 1 = external virtual unit moment.
f = internal virtual load.
θ = external rotational displacement caused by real loads.

dS = internal deformation caused by real loads.

8.1.1 https://eng.libretexts.org/@go/page/42978
Virtual Work Formulation for the Deflection and Slope of Beams and Frames
To develop the equations for the computation of deflection of beams and frames using the virtual work principles, consider the
beam loaded as shown in Figure 8.2a. The deflection at point C due to the applied external loads is required. First, removing the
loads P and W and applying a virtual unit load P = 1 will cause elementary forces and deformations to develop in the bar, and a
V

small deflection to occur at C , as follows:

F ig. 8.2 . Loaded beam.


The stress acting on the differential cross-sectional area dA at a distance x from the left-end support due to a virtual unit load is as
follows:
my

σ = (8.1.3)
I

where m is the internal virtual moment at the section at a distance xe from the left-end support due to the virtual unit load and I is
the moment of inertia of the section.
The force acting on the differential area due to the virtual unit load is written as follows:
my

f = σ dA = ( ) dA (8.1.4)
I

The stress due to the external loads P and P on the beam is written as follows:
1 2

My
σ = (8.1.5)
I

The deformation of a differential beam length dx at a distance x from the left-end support is as follows:
σ My
δ = εdx = ( ) dx = ( ) dx (8.1.6)
E EI

The work done by the force f acting on the differential area due to the deformation of the differential beam length dx is as follows:
my My
dW = f δ = ( ) dA × ( ) dx
I EI

2
(8.1.7)
Mmy
=( 2
) dAdx
EI

The internal work done by the total force in the entire cross-sectional area of the beam due to the applied virtual unit load when the
differential length of the beam dx deforms by δ can be obtained by integrating with respect to dA , as follows:

8.1.2 https://eng.libretexts.org/@go/page/42978
An 2
M my
∫ dW = [ ∫ ( ) dA] dx
A A1
EI

Mm 2
Wi = ( ∫ y dA) dx
2
EI

Mm
= [( ) I ] dx
2
EI

Mm
=( ) dx
EI

The internal work done W in the entire length of the beam due to the applied virtual unit load can now be obtained by integrating
i

with respect to dx, which is written as follows:


L
Mm
Wi = ∫ ( ) dx (8.1.8)
0
EI

The external work done W by the virtual unit load due to the deflection Δ at point C of the beam caused by the external loads is
e

as follows:
We = 1 × Δ (8.1.9)

The principle of conservation of energy is applied to obtain the expression for the computation of the deflection at any point in a
beam or frame, which is written as follows:
We = Wi
L
Mm
1 ×Δ = ∫ ( ) dx
0
EI

L
Mm
Δ =∫ ( ) dx
0
EI

where
1 = external virtual or imaginary unit load on the beam or frame in the direction of the required deflection Δ.
Δ = external displacement at the specified point on a beam or frame caused by the real loads.
M = internal moment in the beam or frame caused by the real load, expressed in terms of the horizontal distance x.

m = internal virtual moment in the beam or frame caused by the external virtual unit load, expressed with respect to the

horizontal distance x.
E = modulus of elasticity of the material of the beam or frame.

I = moment of inertia of the cross-sectional area of the beam or frame about its neutral axis.

Similarly, the following expression can be obtained for the computation of the slope at a point in a beam or frame:
L
M mθ
θ =∫ dx (8.1.10)
0
EI

where
θ = slope or tangent rotation at a point on a beam or frame.
mθ = internal virtual moment in the beam or frame, expressed with respect to the horizontal distance x, caused by the external
virtual unit moment applied at the point where the rotation is required.
Procedure for Determination of Deflection in Beams and Frames by the Virtual Work Method
Determine the support reactions in the real system using the equations of static equilibrium.
Write an expression for the moment in the real structure as a function of the horizontal distance x. The number of the equations
will depend on the number of regions of the beam due to discontinuous loading.
Create a virtual system by removing all the loads acting on the beam and applying a unit load or a unit moment at the point
where the deflection or slope is desired.
Write the moment expression for the virtual system in terms of the distance x.

8.1.3 https://eng.libretexts.org/@go/page/42978
Substitute the moment expressions into equation 8.1 and integrate to obtain the value of deflection or slope at the point
considered.

Virtual Work Formulation for the Deflection of Trusses


Consider the truss shown in Figure 8.3 for the development of the virtual work expression for the determination of the deflection of
trusses. The truss is subjected to the loads P , P , and P , and the vertical deflection Δ at joint F is desired. First, remove the
1 2 3

loads P , P , and P , and apply a vertical virtual unit load P = 1 at joint F , as shown in Figure 8.3b. The virtual unit load will
1 2 3 v

cause the virtual internal axial load n to act on each member of the truss. Applying the forces P , P , and P will cause the
i 1 2 3

deflection Δ at joint F and the internal deformation δL in each member of the truss.
i

F ig. 8.3 . Sample truss.


Using the law of conservation of energy, the work by the virtual unit load at joint F and the virtual internal axial loads on the
members of the truss can be written as follows:
External work = internal work
n

1 × Δ = ∑ ni (δLi ) (8.1.11)

i=1

But, for a member with length L , area A , and material Young’s modulus E , the deformation is written as follows:
i i i

Ni Li
δLi = (8.1.12)
Ai Ei

Thus, the virtual work expression for the deflection of a truss can be written as follows:
n
Ni Li
Δ = ∑ ni ( ) (8.1.13)
Ai Ei
i=1

where
1 = external vertical virtual unit load applied at joint F .
n = internal axial virtual force in each truss member due to the virtual unit load, P v =1 .
N = axial force in each truss member due to the real loads P , P , and P .
1 2 3

Δ = external joint displacement caused by the real loads.


δL = deformation of each truss member caused by the real loads.
Procedure for Determination of Deflection in Trusses by the Virtual Work Method
Determine the support reactions in the real system with the applied loads using the equations of equilibrium.
Determine the internal forces N in truss members caused by the external loads on the real system.
Remove all the external loads on the real system and apply a virtual unit load on the joint in the truss in the direction of required
deflection.
Determine the internal virtual forces n in the members of the truss caused by the external virtual unit load placed in the joint
where the deflection is desired.
Calculate the deflection Δ in the joint of the truss caused by the real loads using equation 8.17.

8.1.4 https://eng.libretexts.org/@go/page/42978
Example 8.1
Using the virtual work method, determine the deflection and the slope at a point B of the cantilever beam shown in Figure 8.4a.
E = 29 × 10 ksi, I = 600 in .
3 4

. Cantilever beam.
F ig. 8.4

Solution
Real and virtual systems. The real and virtual systems are shown in Figure 8.4a, Figure 8.4c, and Figure 8.4e, respectively. Notice
that the real system consists of the external loading carried by the beam, as specified in the problem. The virtual system consists of
a unit 1-k load applied at B , where the deflection is required, and 1-k-ft moment applied at the same point where the slope is
determined. The bending moments at each portion of the beam, with respect to the horizontal axis, are presented in Table 8.1.
Notice that the origin of the horizontal distance, x, for both the real and virtual system is at the free end, as shown in Figure 8.4b,
Figure 8.4d, and Figure 8.4f.
T able8.1 . Bending moments at portions of the beam.

X-Coordinate Deflection Slope


Portion
Origin Limit (ft) M M M mθ

AB A 0-3 0 0 0 0

BC A 3-9 -3(x-3)2 1(x-3) -3(x-3)2 -1

Deflection at B . The deflection at the free end of the beam is determined by using equation 8.1, as follows:

8.1.5 https://eng.libretexts.org/@go/page/42978
2
L mM 3 (0)(0)dx 9 −3(x−3 ) (x−3)dx
1kip. ΔB = ∫ dx = ∫ +∫
0 EI 0 EI 3 EI

3
−972k⋅f t
1kip. ΔB =
EI

Therefore,
3 3 3 3
−972k ⋅ f t (12 ) in / f t
ΔB =
3 2 4
(29 × 10 k/ in ) (600 in )

= −0.097in. ΔB = 0.097in. ↑

Slope at B . The slope at the free end of the beam is determined by using equation 8.2, as follows:
2
L mθ M 3 (0)(0)dx 9 −3(x−3 ) (−1)dx
(1kN. m). θB = ∫ dx = ∫ +∫
0 EI 0 EI 3 EI
2 3 2 3
216 k . f t 216 k ⋅ f t
(1k. f t). θB = = 3 2 4
EI (29×10 k/ in )(600 in )

Therefore,
2
2
216k⋅f t 216(12)
θB = = = 0.0018rad
3 2 4 3 2 4
(29×10 k/ in )(600 in ) (29×10 k/ in )(600 in )

Example 8.2
Using the virtual work method, determine the deflection at B and the slope at C for the simply supported beam subjected to a
concentrated load, as shown in Figure 8.5a. EI = constant. E = 29 × 10 ksi. I = 24in . 3 4

8.1.6 https://eng.libretexts.org/@go/page/42978
F ig. 8.5 . Simply supported beam.
Solution
Real and virtual systems. The real and virtual systems are shown in Figure 8.5a, Figure 8.5c, and Figure 8.5e, respectively. The
bending moments at each portion of the beam, with respect to the horizontal axis, are presented in Table 8.2. The origin of the
horizontal distances for both the real and virtual system are shown in Figure 8.5b, Figure 8.5d, and Figure 8.5f.
T able8.2 . Bending moments at portions of the beam.

x Coordinate Deflection Slope


Portion
Origin Limit (ft) M m M mθ

AB A 0-6 4x x

3
4x −
x

CB C 0-3 8x 2x

3
8x x

9
−1

Deflection at B . The deflection at B can be determined by using equation 8.1, as follows:


x 2x
(4x)( )dx 3(8x)( )dx
L mM 6 3 3
1kip. ΔB = ∫ dx = ∫ +∫ EI
0 EI 0 EI 0

3
144k,f t
1 kip. ΔB =
FI

Therefore,
3 3 3 3
144k⋅ f t (12 ) in / f t
ΔB = 3 2 4
= 0.36 in ΔB = 0.36in. ↓
(29×10 k/ in )(24 in )

The positive value indicates deflection in the direction of the applied virtual load.
Slope at C . The slope at C can be determined by using equation 8.2, as follows:
x x
(4x)(− )dx (8x)( −1)dx
L mθ M 6 9 3 9

(1k. f t). θC = ∫ dx = ∫ +∫
0 EI 0 EI 0 EI
2 3 2 3
60 k ⋅ f t 60 k ⋅ f t
(1k. f t). θC = − =− 3 2 4
EI (29×10 k/ in )(24 in )

Therefore,

8.1.7 https://eng.libretexts.org/@go/page/42978
2 2
60k. f t 60(12)
θC = − =−
3 3 2 4
10 k 4 (29 × 10 k/ in ) (24 in )
(29 × 2
) (24 in )
in

= −0.012rad

Example 8.3
Using the virtual work method, determine the deflection at B and the slope at D for the compound beam shown in Figure 8.6a.
E = 200 GPa and I = 250 × 10 mm . 6 4

F ig. 8.6 . Compound beam.


Solution
Real and virtual systems. The real and virtual systems are shown in Figure 8.6a, Figure 8.6b, and Figure 8.6c, respectively. The
bending moment at each portion of the beam, with respect to the horizontal axis, are presented in Table 8.3.
T able8.3 . Bending moments at portions of the beam.

X-Coordinate Deflection Slope


Portion
Origin Limit (ft) M m M mθ

x
DC D 0-7 70x − 10x
2
0 70x − 10x
2
7
−1

x
CB C 0-2 −70x 0 −70x
7

x
BA C 2-4 −70x − 18(x − 2) −x −70x − 18(x − 2)
7

Deflection at B . The deflection at B can be determined using equation 8.1, as follows:


L 7 2 2 4
mM (0) (70x − 10 x ) dx (0)(−70x)dx (−x)[−70x − 18(x − 2)]dx
1kN.ΔB = ∫ dx = ∫ +∫ +∫
0
EI 0
EI 0
EI 2
EI

2 3
1426.67 kN ⋅m
1kN. ΔB =
EI

Therefore,
3
1426.67kN⋅m
ΔB = 6 6 −12
= 0.0285 m ΔB = 28.5 mm ↓
2 4 4 4
(200×10 kN/ m )(250×10 mm )(10 m / mm )

8.1.8 https://eng.libretexts.org/@go/page/42978
Slope at D. The slope at D can be determined using equation 8.2, as follows:
x x x
2
( −1)(70x−10 x )dx ( )(−70x)dx ( )[−70x−18(x−2)]dx
L mθ M 7 7 2 7 4 7

(1kN ⋅ m) ⋅ θD = ∫ dx = ∫ +∫ +∫
0 EI 0 EI 0 EI 2 EI

2 3
516.31 kN ⋅ m
(1kN ⋅ m) ⋅ θD = −
EI

Therefore,
3
−516.31kN⋅m
θD = 6 6 −12
= −0.0103rad
2 4 4 4
(200×10 kN/ m )(250×10 mm )(10 m / mm )

The negative sign indicates that the rotation at point D is in the direction opposite to the applied virtual moment.
Example 8.4
Using the virtual work method, determine the slope at joint A of the frame shown in Figure 8.7a.
3
E = 29 × 10 ksi and EI = 700 in . 4

F ig. 8.7 . Frame.


Solution
Real and virtual systems. The real and virtual systems are shown in Figure 8.7a and Figure 8.7c, respectively. The bending moment
at each segment of the beam and column of the frame are presented in Table 8.4, and their origins are shown in Figure 8.7b and
Figure 8.7d.
T able8.4 . Bending moments at portions of the beam.

X-Coordinate Deflection
Portion
Origin Limit M m

AB 0 0-12 48x − 2x
2
1
x
CB 0 0-12 24x
12

Slope at A . The slope at A can be determined by using equation 8.2, as follows:

8.1.9 https://eng.libretexts.org/@go/page/42978
2 x
L 12 12
mθ M (1) (48x − 2 x ) dx (24x) ( ) dx
12
(1k ⋅ f t) ⋅ θA =∫ dx = ∫ +∫
0 EI 0 EI 0 ET
2 3
3456 k ⋅ ft
(1k. f t) ⋅ θA =
EI

Therefore,
2
2
3456k.f t 3456(12)
θA = 3 2 4
= 3 2 4
= 0.0245rad
(29×10 k/ in )(700 in ) (29×10 k/ in )(700 in )

Example 8.5
Using the virtual work method, determine the vertical deflection at A of the frame shown in Figure 8.8a.
E = 200 GPa and I = 250 × 10 mm . 6 4

F ig. 8.8. Frame.


Solution
Real and virtual systems. The real and virtual systems are shown in Figure 8.8a and Figure 8.8c, respectively. The bending moment
at each segment of the beam and column of the frame are presented in Table 8.5, and their origins are shown in Figure 8.8b and
Figure 8.8d.
T able8.5 . Bending moments at portions of the beam.

X-Coordinate Deflection
Portion
Origin Limit M m

AB A 0-4 0 -x

BC A 4-8 −16(x − 4) -x

CE C 0-10 -64 -8

8.1.10 https://eng.libretexts.org/@go/page/42978
Deflection at A . The deflection at A can be determined by using equation 8.1, as follows:
L mM 4 (0)(−x)dx 8 (−16(x−4))(−x)dx 10 (−8)(−64)dx
1kN. ΔA = ∫ dx = ∫ +∫ +∫
0 EI 0 EI 4 EI 0 EI

2 3
853.33 kN ⋅ m
kN. ΔA =
EI

Therefore,
3
853.33kN⋅m
ΔA = 6 6 −12
= 0.017 m ΔA = 17 mm ↓
2 4 4 4
(200×10 kN/ m )(250×10 mm )(10 m / mm )

Example 8.6
Using the virtual work method, determine the horizontal deflection at joint B of the truss shown in Figure 8.9a.
E = 12000ksi and A = 3in .
2

F ig. 8.9 . Truss.


Solution
Real and virtual systems. The real and virtual systems are shown in Figure 8.9. Notice that the real system consists of the external
loading carried by the truss, as specified in the problem. The virtual system consists of a unit 1-k load applied at B , where the
deflection is desired, and a 1-k-ft moment applied also at B , where the slope is required.
Truss analysis. The analysis of the real system used to obtain the forces in members is presented below. The forces in members in
the virtual system are obtained by dividing the forces in the real system by the applied external load, as the deflection is desired for
the same joint where the deflection is required.
Support reactions. The reactions are computed by the application of the equations of equilibrium, as follows:
+ ↶ ∑ MD = 0

6 Ay − 90(4) = 0

Ay = 60 kips Ay = 60 kips ↓

+ → ∑ Fx = 0

−Ax + 90 = 0

Ax = 90 kips Ax = 90 kips ←

+ ↑ ∑ Fy = 0

Dy − 60 = 0

Dy = 60kN Dy = 60 kips ↑

Joint A .
+ ↑ ∑ Fy = 0

FAB − 60 = 0

FAB = 60kips

8.1.11 https://eng.libretexts.org/@go/page/42978
+ → Σ Fx = 0

FAE − 90 = 0

FAE = 90kips

Joint B .
+ ↑ ∑ Fy = 0


−FBE sin 53.13 − FBA = 0

FBA 60
FBE = − ∘
=− ∘
= −75kips
sin 53.13 sin 53.13

+ → ∑ Fx = 0


FBE cos 53.13 + 90 + FBC = 0
∘ ∘
FBC = −FBE cos 53.13 − 90 = −(−75) cos 53.13 − 90 = −45kips

Joint C .
+ → ∑ Fx = 0


FC D sin 36.87 − FC B = 0

FC B 45
FC D = ∘ =− = −75kips
sin 36.87 sin 36.87

+ ↑ ∑ Fy = 0


−FC E − FC D cos 36.87 =0
∘ ∘
FC E = −FC D cos 36.87 = −(−75) cos 36.87 = 60kips

Joint D.

+ → ∑ Fx = 0


−FDC cos 36.87 − FDE = 0
∘ ∘
FDE = −FDC cos 36.87 = −(−75) cos 36.87 = 60kips

8.1.12 https://eng.libretexts.org/@go/page/42978
Horizontal deflection at B . The desired horizontal deflection at joint B is computed using equation 8.17, as presented in Table 8.6.
T able8.6 . Horizontal deflections.

Member Length (ft) N (kip) N (kip) NnL (k2. ft)

AB 4 60 0.67 160.8

AE 3 90 1 270

BC 3 45 0.5 67.5

BE 5 75 0.83 311.25

CD 5 75 0.83 311.25

CE 4 60 0.67 160.8

DE 3 60 0.67 120.6

∑ N nL = 1401.4

1
1 (ΔB ) = ∑ NnL
EA

1401.4
(1k)ΔB = 2 −2
12000(12 )(3)(12 )

ΔB = 0.039f t = 0.47in ΔB = 0.47in ↓

Example 8.7
Using the virtual work method, determine the vertical deflection at joint D of the truss shown in Figure 8.10a.
E = 200GPa and A = 5 cm .
2

. Truss.
F ig. 8.10

Solution

8.1.13 https://eng.libretexts.org/@go/page/42978
Real and virtual systems. The real and virtual systems are shown in Figure 8.10. Notice that the real system consists of the external
loading carried by the beam, as specified in the problem. The reactions in both supports in the real system are the same by reason of
symmetry in loading and equal 60 kN. The virtual system consists of a unit 1-k load applied at B , where the deflection is required,
and a 1-k-ft moment applied at the same point, where the slope is to be determined. The bending moment at each portion of the
beam with respect to the horizontal axis is presented in Table 8.7. Notice that the origin of the horizontal distance x for both the
real and virtual system is at the free end, as shown in Figure 8.10.
Real system-truss analysis.
Joint A .
+ ↑ ∑ Fy = 0


FAB sin 38.66 + 60 = 0

FAB = −96.05kN

+ → ∑ Fx = 0


FAB cos 38.66 + FAD = 0

FAD = −FAB cos 38.66


= −(−96.05) cos 38.66 = 75kN

Joint D.

+ ↑ ∑ Fy = 0

FDB = 0

+ → ∑ Fx = 0

−FDA + FDC = 0

FDC = FDA = 75kN

Virtual system truss analysis.


Joint A .
+ ↑ ∑ Fy = 0


FAB sin 38.66 + 0.5 = 0

FAB = −0.08kN

8.1.14 https://eng.libretexts.org/@go/page/42978
+ → ∑ Fx = 0


FAB cos 38.66 + FAD = 0

FAD = −FAB cos 38.66


= −(−0.08) cos 38.66 = 0.062kN

Joint D.
+ ↑ ∑ Fy = 0

FDB − 1 = 0

FDB = 1kN

+ → ∑ Fx = 0

−FDA + FDC = 0

FDC = FDA = 0.062kN

Vertical deflection at D. The desired vertical deflection at joint D is calculated using equation 8.17, as presented in Table 8.7.
T able8.7 . Vertical deflections.

Member Length (m) N n NnL (kN2.m)

AB 6.4 -96.05 -0.08 49.18

AD 5 75 0.062 23.25

BC 6.4 -96.05 -0.08 49.18

BD 4 0 1 0

DC 5 75 0.062 23.25

∑ N nL = 144.86

1
1 (ΔD ) = ∑ N nL
EA

144.86
(1kN )ΔD = 6
kN . m
200(10 )(0.0005)

−3
ΔD = 1.45 × 10 m = 1.45 mm ΔD = 1.45 mm ↓

This page titled 8.1: Virtual Work Method is shared under a CC BY-NC-SA 4.0 license and was authored, remixed, and/or curated by René
Alderliesten (TU Delft Open) via source content that was edited to the style and standards of the LibreTexts platform; a detailed edit history is
available upon request.

8.1.15 https://eng.libretexts.org/@go/page/42978
8.2: Energy Methods
The energy method for the determination of deflection is based on Alberto Castigliano’s second theorem, which was published in 1879.
The theorem states the following:
The deflection or rotation in a specified direction and at a specified point in a linear elastic, statically determinate structure subjected to a
given force or couple is equal to the partial derivative of the total external work or the total internal energy, with respect to the applied
force or couple in the direction of the force or couple.
Castigliano’s second theorem, with respect to the applied force, can be expressed mathematically, as follows:
∂W ∂U
Δ = = (8.2.1)
∂P ∂P

where
Δ = deflection at the point of application of the load P in the direction of the load P .
W = work done.
U = strain energy.

Energy Method Formulation for Beams and Frames


Equation 8.18 can be mathematically manipulated to include moment and is written as follows:
∂U ∂U ∂M
Δ = = × (8.2.2)
∂P ∂M ∂P

The total internal work done or strain energy stored in a beam or frame due to gradually applied real loads can be expressed as follows:
2
M
W =U =∫ dx (8.2.3)
2EI

The partial derivative of equation 8.20, with respect to the moment, is as follows:
∂U 2M M
=∫ ( ) dx = ∫ ( ) dx (8.2.4)
∂M 2EI EI

Substituting equation 8.21 into equation 8.19 yields the following equation for the computation of deflection for beams and frames by the
energy method:
M ∂M
Δ =∫ ( )( ) dx (8.2.5)
EI ∂P

With respect to the applied couple, Castigliano’s second theorem can be expressed mathematically as follows:
∂W ∂U
θ = = (8.2.6)
′ ′
∂M ∂M

where θ = rotation at the point of application and direction of the couple M . ′

Equation 8.23 can be mathematically manipulated to include the moment, as follows:


∂U ∂U ∂M
θ = = × (8.2.7)
′ ′
∂M ∂M ∂M

Substituting equation 8.21 into equation 8.24 suggests the following equation for the computation of slopes for beams and frames by the
energy method:
M ∂M
θ =∫ ( )( ) dx (8.2.8)

EI ∂M

Example 8.8
Using Castigliano’s second theorem, determine the deflection and the slope at the free end of the cantilever beam shown in Figure 8.11a.

8.2.1 https://eng.libretexts.org/@go/page/42979
. Cantilever beam.
F ig. 8.11

Solution
Placement of imaginary force P and couple M . The force P and the moment ′
M

are placed at point A , where the deflection and slope
are desired, as shown in Figure 8.11b and Figure 8.11c, respectively.
Bending moment. To determine the deflection, write the bending moment equation for the beam as a function of the force P . To determine
the slope, write the bending moment equation for the beam as a function of M . The x coordinates for the moment equations are also

shown in Figure 8.11b and Figure 8.11c. Compute the partial derivatives and , and then apply Castigliano’s equation 8.22 and
∂M

∂P
∂M

∂M

equation 8.25 to determine the deflection and slope.


Deflection at A .
2
M = −16 − P x − x

∂M
= −x
∂P

Setting P =0 and applying Castigliano’s theorem suggests the following:


L
M ∂M
ΔA = ∫ ( )( ) dx
0
EI ∂P

12 2
−16 − x
ΔA = ∫ ( ) (−x)dx
0
EI

3 3 3
6336k ⋅ f t 6336(12 ) k ⋅ f t
= = = 0.252in ΔA = 0.252in ↓
EI (29000)(1500)

Slope at A .
′ 2
M = −M −x

∂M

= −1
∂M

Setting M ′
= 16 k. ft and applying Castigliano’s theorem suggests the following:
L M ∂M
θA = ∫ ( )( ′
) dx
0 EI ∂M

2
12 −16−x
θA = s ∫ ( ) (−1)dx
0 EI

2
2
768k⋅f t 768(12)
= = = 0.0025rad
EI (29000)(1500)

Example 8.9
Using Castigliano’s second theorem, determine the deflection at point A of the beam with the overhang shown in Figure 8.12a.

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F ig. 8.12 . Beam with overhang.
Solution
Placement of imaginary force P . The force P is placed at point A , where the deflection is desired, as shown in Figure 8.12b. The x

coordinates for the moment equations are also shown in this figure.
Bending moment. Compute the support reactions and write the bending moment equations for segments AB and BC of the beam as a
function of the force P . The x coordinates for the moment equations are also shown in Figure 8.12b. Compute the partial derivatives ∂M

∂P

and then apply Castigliano’s equation 8.22 to compute the deflection.


Segment AB. (0 < x 1 < 4)

M1 = −P x1

∂M1
= −x1
∂P

Segment BC . (0 < x 2 < 8)

2
M2 = (80 − 0.5P )x2 − 10 x
2

∂M2
= −0.5 x2
∂P

Setting P = 40 kN and applying Castigliano’s theorem suggests the following:


L
M ∂M
ΔA = ∫ ( )( ) dx
0
EI ∂P

4 8 2
−40x1 100 x2 − 10 x
2
ΔA = ∫ ( ) (−x1 ) dx + ∫ ( ) (−0.5 x2 ) dx
0
EI 0
EI

3 3
−2560kN ⋅ m −2560kN ⋅ m
= = = −0.016 m
6 2 6 4 −12 4 4
EI (200 × 10 kN/ m ) (800 × 10 mm ) (10 m / mm )

ΔA = 16 mm ↑

Example 8.10
Using Castigliano’s second theorem, determine the rotation of joint C of the frame shown in Figure 8.13a.

F ig. 8.13 . Frame.


Solution

8.2.3 https://eng.libretexts.org/@go/page/42979
Placement of imaginary couple M . The couple force M is placed at point C , where the rotation is desired, as shown in Figure 8.13b.
′ ′

Bending moment. Compute the support reactions and write the bending moment equations for the columns AB and DC and the beam BC
of the frame as a function of the couple M . Compute the partial derivatives

and then apply Castigliano’s equation 8.25 for the
∂M

∂M

computation of rotation.
Column AB. (0 < x 1 < 10)

M1 = −20 x1

∂M1

=0
∂M

Beam BC . (0 < x 2 < 8)

′ 2
M2 = (28.5 + 0.125 M ) x2 − 2 x
2

∂M2

= 0.125 x2
∂M

Column DC . (0 < x 3 < 10)

2
M3 = −x
3

∂M3


=0
∂M

Setting M ′
= 16 k. ft and applying Castigliano’s theorem suggests the following:
L
M ∂M
θA = ∫ ( )( ) dx

0
EI ∂M

10 8 2 10 2
−20x1 28.5 x2 − 2 x −x
2 3
θA = ∫ ( ) (0)dx + ∫ ( ) (0.125 x2 ) dx + ∫ ( ) (0)dx
0
EI 0
EI 0
EI

2 2
351.57k. f t 351.57(12)
= = = 0.017rad
EI (29000)(100)

Energy Method Formulation for Trusses


Equation 8.18 can be mathematically manipulated to include axial force, as follows:
∂U ∂U ∂N
Δ = = × (8.2.9)
∂P ∂N ∂P

The total internal work done or strain energy stored in members of a truss due to gradually applied external loads is as follows:
2
N L
W =U =∑ (8.2.10)
2AE

The partial derivative of equation 8.27, with respect to the axial load, is as follows:
∂U 2N L NL
=∑ =∑ (8.2.11)
∂N 2AE AE

To determine the deflection at any joint of a truss, use the energy method by substituting equation 8.28 into equation 8.26 to obtain the
following equation:
NL ∂N
Δ = ∑( )( ) (8.2.12)
AE ∂P

where
N = internal axial force in each member due to external load.
∂N

∂P
= axial force in each member due to unit load applied at the joint and in the direction of the required deflection.
L = length of member.
A = area of a member.
E = modulus of elasticity of a member.

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Example 8.11
Using Castigliano’s second theorem, determine the horizontal deflection at joint C of the truss shown in Figure 8.14a.

F ig. 8.14. Truss.


Solution
Placement of imaginary force P . The force P is placed as a replacement for the 30k force at point C , where the horizontal deflection is
desired, as shown in Figure 8.14b.
Member axial forces. Compute the support reactions and obtain the member-axial forces in terms of the imaginary force P . Member-axial
forces are determined by using the method of joint, as shown below. To find the horizontal deflection at C , compute the partial derivatives
∂M

∂P
and apply Castigliano’s equation 8.22. Member lengths, axial forces, and partial derivatives with respect to the fictitious force P are
shown in Table 8.8.
Analysis of truss (fig. 8.14b).
Joint A .
+ ↑ ∑ Fy = 0

NAB − P = 0

NAB = P

+ → ∑ Fx = 0

NAD − P = 0

NAD = P

Joint B .
+ ↑ ∑ Fy = 0


−NBA − NBD cos 45 =0

NBA P
NBD = − ∘
=− ∘
= −1.41P
cos 45 cos 45

+ → ∑ Fx = 0


NBC + NBD cos 45 =0
∘ ∘
NBC = −NBD cos 45 = −(−1.41P ) cos 45 =P

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Joint C .
+ ↑ ∑ Fy = 0

NC D = 0

+ → ∑ Fx = 0

−NC B + P = 0

NC B = P

T able8.8 . Member lengths, axial forces, and partial derivatives with respect to the fictitious force P.

∂N
L (ft) N (kip) N (P=30k) N (∂N /∂P )L
Member ∂P
(ft) (kip) (kip)
(kip/kip) (kip. ft)

AB 10 P 1 30 300

AD 10 P 1 30 300

BC 10 P 1 30 300

BD 14.14 -1.14P -1.14 -34.2 551.29

CD 10 0 0 0 0
∂N
∑N( )L = 1451.29
∂P

1 ∂N 1451.29 1451.29(12)
Δc = ∑N ( )L = k. f t = = 0.083f t = 1in Δc = 1in →
EA ∂P EA (29,000)(0.6)

Example 8.12
Using Castigliano’s second theorem, determine the vertical deflection at joint F of the truss shown in Figure 8.15a.. Members have the
same cross-sectional area of 600 mm2 and E = 200 GPa.

. Truss.
F ig. 8.15

Solution
Placement of imaginary force P . The force P is placed at joint F , where the vertical deflection is desired, as shown in Figure 8.15b.
Member axial forces. Compute support reactions and obtain member-axial forces in terms of the imaginary force P . Member-axial forces
are determined by using the method of joint, as shown below. To find the vertical deflection at F , compute the partial derivatives and ∂M

∂P

apply Castigliano’s equation 8.22. Member lengths, axial forces, and partial derivatives with respect to the fictitious force P are shown in
Table 8.9.
Analysis of truss (fig. 8.15b).
Joint A .

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+ ↑ ∑ Fy = 0

NAB + 50 + 0.5P = 0

NAB = −50 − 0.5P

+→ ∑ Fx = 0
NAF

Joint B .
+ ↑ ∑ Fy = 0


−NBA − NBF cos 45 =0

NBA (−50−0.5P )
NBF = − ∘
=− ∘
= 70.71 + 0.7071P
cos 45 cos 45

+ → ∑ Fx = 0

NBC + NBF cos 45 =0

NBC = −NBF cos 45 = −(70.71 + 0.7071P )

Joint C .
+ ↑ ∑ Fy = 0

−NC F − 100 = 0

NC F = −100kN

+ → ∑ Fx = 0

−NC B + NC D = 0

NC D = NC B = −(70.71 + 0.7071P )

T able8.9 . Member lengths, axial forces, and partial derivatives with respect to the fictitious force P .

∂N
L N N(P=0)
(8.2.13) N (∂N /∂P )L (8
Member ∂P
(m) (kN) (kN)
(kN.m)
(kN/kN)

AB 3 -50-0.5P -0.5 -50 75

AF 3 0 0 0 0

BC 3 -70.71-0.7071P -0.7071 -70.71 150

BF 4.24 70.71+0.7071P 0.7071 70.71 212

CF 3 100 0 100 0

CD 3 -70.71-0.7071P -0.7071 -70.71 150

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DF 4.24 70.71+0.7071P 0.7071 70.71 212

DE 3 -50-0.5P -0.5 -50 75

EF 3 0 0 0 0
∂N
∑N( )L = 874
∂P

1 ∂N 874 1451.29(12)
Δc = ∑N ( )L = kN ⋅ m = = 0.083f t = 1 in Δc = 1 in →
EA ∂P EA (29,000)(0.6)

Chapter Summary
Principle of virtual work: The principle of virtual work states that if a body acted upon by several external forces is in a state of
equilibrium and is subjected to a small virtual displacement, the virtual work done by the externally applied forces is zero. This principle
can be expressed mathematically, as follows:
We = Wi

The expressions for the determination of deflection by virtual work method for beams and trusses are as follows:
L Mmv
Beams and Frames: 1(Δ) = ∫ dx
0 ET

Ni Li
Trusses: 1(Δ) = ∑ ni ( )
Ai Ei

Principle of conservation of energy: The principle of conservation of energy states that the work done by external forces acting on an
elastic body in equilibrium are equal to the strain energy stored in the body. This principle can be expressed mathematically, as follows:
W ( or Ue ) = Ui

The energy method for the determination of deflection is based on Alberto Castigliano’s second theorem. The theorem states that the
deflection in a specified direction and at a specified point in a linear elastic structure subjected to a given force is equal to the partial
derivative of the total external work or the total internal energy with respect to the applied force. The expressions for the determination of
deflection by Castigliano’s second theorem for beams and trusses are as follows:
M ∂M
Beams and Frames: Δ =∫ ( )( ) dx
EI ∂P

NL ∂N
Trusses: Δ = ∑( )( )
AE ∂P

Practice Problems
8.1 Using the virtual work method, determine the slope and deflection at point A of the cantilever beams shown in Figure P8.1 and Figure
P8.2.

. Cantilever beam.
F ig. P 8.1

. Cantilever beam.
F ig. P 8.2

8.2 Determine the deflection at point D of the beams shown in Figure P8.3 and Figure P8.4.

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. Beam.
F ig. P 8.3

. Beam.
F ig. P 8.4

8.3 Using the energy method, determine the slope at support B of the beams shown in Figure P8.5 and Figure P8.6.

. Beam.
F ig. P 8.5

. Beam.
F ig. P 8.6

8.4 Using the virtual work method, determine the deflection at point H of the trusses shown in Figure P8.7 through Figure P8.10.

. Truss.
F ig. P 8.7

8.2.9 https://eng.libretexts.org/@go/page/42979
. Truss.
F ig. P 8.8

. Truss.
F ig. P 8.9

F ig. P 8.10 . Truss.


8.5 Using the energy method, determine the deflection at point F of the trusses shown in Figure P8.11 and Figure P8.12.

F ig. P 8.11 . Truss.

8.2.10 https://eng.libretexts.org/@go/page/42979
F ig. P 8.12 . Truss.
8.6 Using the virtual work method, determine the horizontal deflection at joint C of the trusses shown in Figure P8.13 and Figure P8.14.

F ig. P 8.13 . Truss.

F ig. P 8.14 . Truss.

This page titled 8.2: Energy Methods is shared under a CC BY-NC-SA 4.0 license and was authored, remixed, and/or curated by René Alderliesten (TU
Delft Open) via source content that was edited to the style and standards of the LibreTexts platform; a detailed edit history is available upon request.

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