Principle of virtual work:

- Now we complement the energy method by another scalar method based on the
principle of virtual work.

- The principle of virtual work was first formulated by Bernoulli.

- It is especially important for systems of interconnected bodies of higher DoF.

- However, to describe briefly its underlying concepts the principle of virtual work
is introduced here.
- In subsequent lectures it will be elaborate in more detail.
- The principle of virtual work is redated with equilibrium of bodies, and may be
stated as follows:

“ If a system in equilibrium under the action of a set of forces is given a virtual

displacement, the virtual work done by the forces will be zero.”

The terms used in this statement are defined as follows:

(i) A virtual displacement d r is an imaginary infinitesional variation of the coordinate

given instantaneously.
The virtual displacement must be compatible with the constraints of the system.

(ii) Virtual work d W is the work done by all the active forces in a virtual displacement.
Since there is no significant change geometry associated with the virtual
displacement, the force acting on the system are assumed to remain unchanged for the
calculation of d W .

- The principle of virtual work as formulated by Bernoulli is a static procedure.

- Its extension to dynamics was made possible by D’Alembert who introduced the
concept of the inertia force.

- The inertia forces are included as active forces when dynamic problems are
considered.

Example:
- Since one coordinate q is necessary to define the motion, hence it represents,
single-DoF system interconnected.
- EOM ? & wn ?
- Fig(b) shows the pendulum at an angle q to the upper pendulum and it also
shown various external forces including inertia forces.
- For a virtual displacement of dq to the coordinate q gives:

Vertical displacement of m1 = ldq sin q

 Vertical displacement of m1 = 2ldq sin q

FIG

d2
- The acceleration of m2 will be given as 2 ( 2lq sin q ) = 2l ( q&&sin q - q )
dt
Virtual work done by this inertia �0 as compared to the virtual work towards gravity.

Fig

Virtual work d W
d W = - ( m1lq&
&) ( ldq ) - ( m g ) ( ldq sin q ) - ( m g ) ( 2ldq sin q ) = 0
1 2

= -� &+ ( m + 2m ) g sin q �
m1lq& ldq = 0
� 1 2 �

� 2m �g
Since q is smaller dq is arbitrary: q&&+ �
1+ 2
�q =0
� m1 � l

� 2m2 �g
\ wn = �
1+ �
� m1 �l

(1)
FIG

d W = + mgd x - k ( V+ x ) d x - ( mx&
&) d x = 0
( mx&&| kx ) d x = 0

d x is arbitrary
&+ kx = 0
mx&
x&+ wn2 x = 0
\&
km
wn =

Fig

dw = - ( mlq&
&) ( ldq ) - ( mg ) ( ldq sin q ) = 0

or lq&
ml �
�
&+ g sin q �
dq = 0
�
Ans
dq is arbitrary & for small q , sin q �q
 &+ g q = 0
\ q&
l

� wn =
g Ans
l

Natural Frequency (1-DoG)

Energy method:

Fig

1 2 1
kx = k ( rq )
2
U=
2 2
1 &2 1 2 1 2 &2 1 1
( ) ( )
2
T = I Pq + mx& = mr q + m rq& ; I P = mr 2
2 2 4 2 2
angular linear

U + T = Constant

1 2 2 1 2 &2 1 2 &2
kr q + mr J Pq + mr q = Constant
2 4 2

d 1
( U + T ) � kr 2qq&+ J P mr 2 qq
&&
&+ mr 2qq
&&
&= 0
dt 2

&+ 2k q = 0
q&
3m

2k 2k
wn = =
3m 3m

By Newton’s second law

Fig
�F = mx&&
Ext

&� -krq + F f = mrq&

- kx + Ff = mx& &

& � -krq - 1 mrq&

= I Pq& &= mrq&
&
�M 0
2

3 &
- Ff r = I Pq&
& mq&+ krq = 0
2
1 & &+ 2k q = 0
- Ff = mrq& or q&
2 3m
2k
wn =
3m