TOPIC 4:

PRINCIPLE OF VIRTUAL WORK

1 Structural Analysis Eighth Edition l © 2012 Pearson Education South Asia Pte Ltd
4
4.1 External Work and Strain Energy
• Most energy methods are based on the conservation of energy
principle.
• Work done (such as displacement or rotation at a location) by all
external forces acting on a structure, Ue is transformed into
internal work or strain energy Ui:
Ue = Ui
4.1.1 External Work - Force
• When a force F pulling off from a bar, the bar
undergoes a displacement, called dx, in the same
direction of the force. Hence, the work done is
• dUe = F dx
 • If the total displacement is x, then the work
becomes:
x
U e   Fdx
0

• When F is gradually increased from 0 to some

limiting value, where F = P, the final elongation
of the bar becomes Δ.

• Every material has a linear elastic response, then:

P
F   x

• Hence:
x x Px
U e   Fdx   dx
0 0 
• By integrating from 0 to Δ, we will get:

 Px  Px 
2
P2
Ue   dx    
0   2 0 2
1
U e  P
2

• If another tensile force F’ is further applied on the bar, causes the

bar deflects further by an amount Δ’.
 1
• Work done by F’ is F ' '
2
• Work done by P when the bar undergoes further deflection is Ue’
= PΔ’
• Therefore, the work done can be calculated by obtaining the area
below the ABC line, as shown in the graph below.

• Hence, Work = force magnitude (F) × disp. (Δ)

• In summary, force P applied to the bar, followed by an
application of the force F’, ∑ work done by both forces is rep. by
the triangular area ACE.
a) The triangular area ABG represents the work done by P with
disp Δ.
b) The triangular area BCD represents the work done by F’ with
disp Δ’.
c) Lastly, the shaded area BDEG represents the additional work
done by P.
4.1.2 External Work - Moment
• The work of a moment = magnitude of the moment (M) × the
angle (dθ) through which it rotates.
• Hence,
dUe = M dθ
• If the total angle of rotation is θ rad, the work becomes:

U e   Md
0
• If the moment is applied gradually to a structure having a linear
elastic response from 0 to M, then the work done is:
1
U e  M
• However, if the moment is already
2 applied to the structure &
other loadings further moment distorts the structure by an amount
θ’, then M rotates θ’ & the work done is:

U e '  M '
4.1.3 Strain Energy – elongation / shortening
Example in axially loaded member:
• When an axial force P is applied gradually to the bar, it will strain
the material, such that the external work done by P will be
converted into strain energy.
• We know that, σ = Eε; where σ = P/A; ε = Δ/L
Consequently, P/A = E(Δ/L)

PL

AE
• Hence, strain energy in the bar:

1 P2L
U i  P 
2 2 AE
P
4.1.4 Strain Energy – Bending
• Consider the P & w are gradually applied on a beam.
• These loads create an internal moment M in the beam at a section
located at a distance x from the left support.
• Consequently, the strain energy or work stored in the element can
be determined since the internal moment is
gradually developed.
• Hence, M 2 dx
dU i 
2 EI
• The strain energy for the beam is determined by
integrating this result over the beam’s length.
L Px 
2
L M2 P 2 L3
Ui   dx   dx 
0 2 EI 0 2 EI 6 EI
4.2 Principle of Work & Energy
Consider a beam subjected to a point load on it:
• Equating the external work (moment) to internal strain energy
(bending), then solve for the unknown displacement, we have:

Ue  Ui
1 P 2 L3
P 
2 6 EI
For a point load PL3

causes bending 3EI
on a beam
• Limitations:
 Only for one load applied to the structure.
 Only the displacement under the force can be obtained.
• Solutions for multiple of load applied:
 Write one “work” equation for the beam.
 Use virtual work method or Castigliano’s theorem.
4.3 Principle of Virtual Work
• Consider a deformable structure of any shape or size & being
applied a series of external loads P to it, it will cause internal
loads u at points throughout the structure.
• Consequently, external displacement Δ will occur at the P loads
& internal displacement δ will occur at each point of internal
loads u.
• Hence,

Work of Ext Loads  Work of Int Loads

 P   u
• Consider the structure (or body) to be of arbitrary shape, you
need to determine the disp. Δ of point A on the body caused by
the “real loads” P1, P2 and P3.

Note:
a) Loads don’t cause any movement to the supports.
b) Loads can strain the material beyond the elastic limit.
• The disp. Δ can be determined by placing a “virtual” load, P’ = 1
kN, and act in the same direction as Δ on the object.
• Once the virtual load is applied, then the body is subjected to the
real loads P1, P2 and P3, point A will displace an amount of Δ
causing the element to deform an amount dL.
• As a result, the external virtual force P’ & internal load u “ride
along” by Δ and dL & therefore, perform external virtual work of
1.Δ on the body and internal virtual work of u•dL on the element.

real disp.

1 •    u • dL

• By choosing P’ = 1, it can be load

virtual seen from the solution for Δ follows
directly since Δ = ∑udL
• A virtual couple moment M’ having a unit magnitude is applied
at this point.
• This couple moment causes a virtual load in one of the elements
of the body, uθ.
• Assuming that the real loads deform the element an amount dL,
the rotation θ can be found from the virtual-work eqn:
real disp.

1 •    u • dL

virtual load
4.4 Method of Virtual Work: Axially Loaded Member

4.4.1 Displacement due to external loadings

• Consider an external loadings cause vertical disp. Δ of joint B.

• As a result, members in this structure undergone axially loaded

condition.
• Hence, the virtual work equation for axially loaded structure is:

nNL
1•   
AE
where,
1 = 1 kN of external virtual load acts on the considered point for
obtaining its Δ in that direction
n = internal virtual normal (axial) force in each member caused
by the external virtual load
Δ = disp. on the considered point caused by real loads
N = internal normal (axial) force in each member caused by real
loadings
L = member’s length
A = cross sectional area of the respective member
E = elastic modulus of the respective member
4.4.2 Displacement due to thermal changes
• In some cases of axially loaded member, particularly truss
members, may change their length due to temperature variation.
• Hence, the disp of the axially loaded member due to temperature
variation under virtual work load principle is:

where, 1. t   n T L

Δt = disp. on the considered point due to temperature changes
α = coefficient of thermal expansion of the member
ΔT = temperature changes of that particular member

Do not confuse with Δt & ΔT!

4.4.3 Displacement due to fabrication errors
• The displacement due to fabrication errors of a joint in axially
loaded member, from its expected position can be written as:

1 •  fab   n L 
where,
Δfab = joint displacement caused by fabrication errors
ΔL = difference in length of the member from its intended length
Example 4.1
Use virtual work method, calculate the vertical displacement of joint
C of the steel truss. Consider the cross-sectional area of each
member, A = 300 mm2 and Young’s modulus, E = 200 GPa.
Solution:

 Real forces: Use real forces and calculate the internal force in each member:

 Virtual forces: Place 1 kN unit of virtual work load at joint C, and calculate the
internal forces due to that virtual load:
 Arrange the data in tabular form:

nNL
1   Cy 
AE
369.6 3
 Cy   6 . 16  10 m  6.16mm
 6

300  10 200  10 6

Example 4.2
The cross-sectional area of each member is 400 mm 2 and E = 200
GPa. Determine the vertical displacement of joint C using principle
of virtual work:

a) If 4 kN is applied on the truss at point C, as shown in Figure

below.
b) If no loads act on the truss and member AB is 5 mm too short.
c) Combination effects of external load and shortening of member
AB.
Solution:

a) Real loads: b) Virtual load:

Member n (kN) N (kN) L (m) nNL (kN2m)

AB 0.667 2 8 10.67
AC -0.833 2.5 5 -10.41
CB -0.833 -2.5 5 10.41
∑10.67
 nNL
1   Cy  
AE
10.67 3
 Cy   0 . 13  10 m  0.13mm
 6

400  10 200  10 6

b) 5 mm short in member AB:

1   Cy   nL 
 Cy  0.667 0.005  3.33  10 3 m  3.33mm

-ve sign of disp means the actual disp direction is opposite to the virtual load
direction that we applied.

c) Combination effects:

 Cy  0.13  3.33  3.2mm

 3.2mm ( )
Example 4.3
The truss structure is subject to the loads as shown below.
Meanwhile, members AB and BC experience a temperature increase
of ΔT = 50°C, and member AE is fabricated 12 mm too short.
Determine the vertical displacement of joint A. Assume the
members are pin connected at their end points. Take A = 1200 mm2,
E = 200 GPa, and α = 12.0 (10–6)/°C.
Solution:

Assume -ve is compression, +ve is tension for internal forces.

 Real loading:
 Virtual load:
Displacement due to external loading:

Member n (kN) N (kN) L (m) nNL (kN2m)

AB -2 -10 2.4 48
BC -2 -10 2.4 48
EA 2.24 11.18 2.68 67.12
EB 0 2.5 1.2 0
EC 0 -2.80 2.68 0
ED 2.24 13.98 2.68 83.92
∑= 247.04

nNL
1   Ay ,1 
AE
247.04 103
 Ay ,1 
 
1200  10 6 200  106   1.03mm 
Displacement due to thermal changes:
Temperature increment cause dimension to expand  +ve for temperature
increase, -ve for temperature reduce.

1   Ay ,t   n T L
 Ay ,t  ( 2  50  12  106  2.4)  ( 2  50  12  106  2.4)
 5.76  103 m  5.76mm
Displacement due to shorter length:

1   Ay , fab   n L 
 Ay , fab  2.24  ( 12)
 26.88mm

Total vertical displacement at point A,

A y  1.03  5.76  26.88  31.61mm

 31.61mm ()