11.

1 Virtual Work

11.1 Virtual Work Example 1, page 1 of 5

1. Determine the force P required to keep the two rods in
equilibrium when the angle = 30 and weight W is 50 lb.
The rods are each of length L and of negligible weight.
They are prevented from moving out of the plane of the
figure by supports not shown.
B
L

L
W

A
Smooth surface

11.1 Virtual Work Example 1, page 2 of 5

B
1
L

L
W

The system has one degree of freedom,

because specifying the value of a single
coordinate, , completely determines the
configuration (shape) of the system.
Consider a free-body diagram and identify
the active forces those forces that would
do work if were increased slightly.

Free-body diagram (The dashed line shows the position

of the system after has been increased a small amount.)

4 The force P does work as

point A moves to the right,
so P is an active force.
P
A

B
W

2 The force W does work because point B

moves up, so W is an active force.
C
Cx

N
5 The normal force N does no work
because it is perpendicular to the
displacement of point A. Thus N
is not an active force.

Cy

3 The reactions Cx and Cy do no

work because point C does not
move. Thus Cx and Cy are not
active forces.

11.1 Virtual Work Example 1, page 3 of 5

6

Introduce coordinates measured from a fixed point,

point C in the figure, to the point of application of the
active forces.

yB

yB
P

C
Cx

Compute the work done when the coordinates are

increased positive infinitesimal amounts, xA and xB
(The custom followed by textbook writers is to use the
Greek letter rather than simply writing dxA and dyB
because the infinitesimals represent hypothetical
motions motions that are possible but are not
necessarily motions that actually occur). The principle
of virtual work says that the total work must add to zero
for all possible motions, real or hypothetical that is,
"virtual."
U = 0:

N
xA

Cy
xA

P xA

W yB = 0

(1)

A negative sign is present because the force P and

displacement xA are in opposite directions. That is, P
does negative work (absorbs work from the system
rather than adding work to the system). Similarly, the
force W does negative work because W points down
and yB is directed up.

11.1 Virtual Work Example 1, page 4 of 5

8 Relate the differentials xA and yB through the change
in the angle, : From the figure, it follows that
yB = L sin

B
L

(2)

To relate yB to , use the ordinary formula from

calculus for calculating a differential: if y = f( ), then the
differential is

L
C

A
xA

dy = ddf d
Applying this formula to Eq. 2 and using
gives
yB = L cos

rather than d

(3)
9 or,

Similarly

(2P sin

xA = 2L cos
xA = 2L sin

(4)

Substitute Eqs. 3 and 4 for yB and xA into the

virtual-work equation:
2L sin
P xA

yB

W yB = 0
L cos

(Eq. 1 repeated)

Because L
2P sin

W cos )(L

)=0

0, it follows that
W cos

=0

Substituting the given values

and solving gives
P = 43.3 lb

= 30 and W = 50 lb

Ans.

11.1 Virtual Work Example 1, page 5 of 5

10 Observation: the forces acting between the rods at pin B never
occurred in the virtual-work equation because the work done
by the equal-and-opposite force pairs acting between the parts
of the body cancel out for example the work done by Bx
acting on rod AB has the opposite sign of the work done by Bx
acting on rod BC. Forces such as Bx and By would have had to
be considered if equilibrium equations rather than virtual work
had been used.

Free body of AB
By

11 Often virtual work is easier to use than equilibrium

equations for problems involving connected rigid
bodies (typically machines and mechanisms), but
this advantage exists only if the relation between
displacements can be found easily. If the geometry
is difficult, then using equilibrium equations is
probably the better approach.

Free body of BC plus pin at B

By

Bx

Bx

50 lb

Cy

Cx

11.1 Virtual Work Example 2, page 1 of 3

2. Determine the value of moment M required to
maintain the mechanism in the position shown,
if = 35 and W = 200 lb.
A

C
M

2 ft
2 ft
W
B

11.1 Virtual Work Example 2, page 2 of 3

A

C
M
2 ft

2 ft

1 The system has one degree of freedom: specifying the

value of the single coordinate, , completely
determines the configuration of the system. Consider a
free-body diagram and identify the active forces,

W
B

Free-body diagram (The dashed line shows the position of

the system after has been increased a small amount.)

2 The reactions at A and

C do no work because
points A and C do not
move. Thus the
reactions are not active
forces.

Ax

Cx

C
M

W
Ay
B

D
4 The weight W of the
block does work because
the center of gravity of
the block moves
vertically; thus the
weight is an active force.

Cy

Couple-moment M does
work because member CD
rotates, so M is an active
"force" (better said, "an
active moment" or "active
generalized force")

11.1 Virtual Work Example 2, page 3 of 3

5

Introduce a coordinate y measured from the fixed

point A to the point of application of the force W.
Compute the work done when y and
positive infinitesimal amount.

Ax

Cx

are increased a

y
Ay

U=

+W y=0

Cy

(1)
B

Note that the work done by a moment equals moment

times angle of rotation. Here the work is negative
because M and
have opposite senses.

y
C

Next use geometry to relate the y and :

y = (2 ft) sin

y
2 ft

Differentiating gives
y = 2 cos

(2)

Substitute Eq. 2 for y into Eq. 1.

M

+W y=0

D
6

(Eq. 1 repeated)

Substituting the given values W = 200 lb and

= 35 into Eq. 3 and noting
0 gives
M

2 cos

2(200 lb) cos 35 = 0

Solving gives

Thus
( M + 2W cos )

=0

(3)

M = 328 lb ft

Ans.

11.1 Virtual Work Example 3, page 1 of 4

3. Determine the value of the weight W
required to maintain the mechanism in the
position shown, if P = 50 N.
3m

2m

3m

3m

D
E

P
A
B
W

11.1 Virtual Work Example 3, page 2 of 4

1

The system has one degree of freedom because if the

displacement of one end of a bar is known, the
displacement of the other bars can be found by similar
triangles (as will be shown below). Consider a free-body
diagram and identify the active forces corresponding to a
small change in configuration of the system.

D
E

P
A
B

Free-body diagram (The dashed line shows the

position of the system after the bars have been
displaced a small amount.)
Ex

E
F
3
Ey

Bx

The force P does work as point F moves

vertically, so P is an active force.

By

2 The force W does work

if A moves vertically, so
W is an active force.

4 The reaction forces at B and E

do no work because B and E do
not move; thus the reactions are
not active forces.

11.1 Virtual Work Example 3, page 3 of 4

5 Introduce coordinates measured from a fixed point to
yF
the point of application of the active forces.
D

yF
F

E
yA

yA
A

7
yF

D 2m

yD

3m

Now relate the differentials yA and yF. By

similar triangles

yD/2 = yF/3

(2)

yA/3 = yC/3

(3)

and
yA
A
6

B
3m

3m

C
yC

Member DC does not change length so ends C

and D move down the same amount, that is,

Compute the work done when the coordinates

are increased a positive infinitesimal amount.
U = W yA + P yF = 0

(1)

The force W does negative work because it is

directed down, while the displacement is up.

yC = yD

(4)

Eqs. 2, 3, and 4 imply

yA= (2/3) yF

(5)

11.1 Virtual Work Example 3, page 4 of 4

8

Substitute Eq. 5 into the virtual-work equation, Eq. 1:

W yA + P yF = 0

(Eq. 1 repeated)

(2/3) yF
Thus
W(2/3) + P
or, since yF

yF = 0

0 and P is given as 50 N,

W(2/3) + 50 N = 0
Solving gives
W = 75 N

Ans.

11.1 Virtual Work Example 4, page 1 of 7

4. Determine the force Q necessary to maintain
equilibrium when force P = 400 N.
A
P
300 mm
250 mm C
B

150 mm
250 mm
E

300 mm
400 mm
F

11.1 Virtual Work Example 4, page 2 of 7

A

300 mm
B

The system has one degree of freedom because if member ABC is

rotated about point B a small amount, then the position of CD and
DEFG can be determined. Consider a free-body diagram and identify
the active forces corresponding to the displacements shown.

250 mm C
Free-body diagram (The dashed line shows the position of the
system after the bars have been displaced a small amount.)
A
P

150 mm
250 mm
E

Q
300 mm
400 mm
F

P does work so
is an active
force.
Bx

Ey

By

Points B and E do not

move, so the reactions at
these points do no work.

Ex

F
4

Q does
work so is an
active force.

11.1 Virtual Work Example 4, page 3 of 7

5

Introduce coordinates measured from a fixed point

to the point of application of the forces.
xA
xA

Bx

Ey

B
D

U = 0: P xA + Q yG = 0

E
Ex

By

Q
yG

Compute the work done when the coordinates are

increased a positive infinitesimal amount.

yG

(1)

11.1 Virtual Work Example 4, page 4 of 7

7

Relate the differentials xA and yG. Begin by

noting that because A is a small angle, the tangent
of A can be replaced by the angle itself:
A=

xA
300 mm

Member ABC is a rigid body, and all parts

must rotate the same amount. Thus
C

(2)

C
A

300

Substituting for

A xA

250

from Eq. 2 then gives

xA
= 300 mm

Again using the small angle approximation for

the tangent gives
yC = (250 mm)

C
yC

xA
= (250 mm) 300 mm

150
D
yD

250

= (5/6) xA
10 Member CD is a rigid body and thus doesn't
shorten or lengthen. It follows that

All dimensions are in mm.

300

yD = yC

yG
F

400

Thus
yD = (5/6) xA

(3)

11.1 Virtual Work Example 4, page 5 of 7

A xA

11 Using the small angle approximation for the

tangent gives

300

yD
= 250 mm
[(5/6) xA], by Eq. 3

250

xA
= 300 mm

C
yC
150
D
yD

Member DEFG is a rigid body and so all parts

must rotate the same amount. Thus

250
D

All dimensions are in mm.

300

xA
= 300 mm

12 Thus

yG
F

400

(4)

11.1 Virtual Work Example 4, page 6 of 7

13 The remaining step is to relate yG to F. We can do
this in two ways, by geometry or by calculus. Let's begin
with the geometric approach. First consider a rotation of
line EG by an amount F.
14 Length =

(300 mm)2 + (400 mm)2 = 500 mm

15 (500 mm)

300 mm

400 mm G

16

yG is the vertical distance that point G moves up.

So, considering the small triangle gives
400 mm
4
=
5
500 mm
| yG| = (500

F)

sin

xA
, by Eq. 4
300
or,
yG =

4 xA
3

(5)

(Insert a minus sign, because yG was originally

defined as positive down)

11.1 Virtual Work Example 4, page 7 of 7

17 Consider an alternative solution for yG,
based on calculus:
E

19 Note that we can't write

yG = 300 mm

yG

500 mm

300 mm
F

400 mm

and then differentiate to get yG (which would give yG = 0).

The equation for yG must define a continuous and differentiable
function, not a relationship that is only valid at a single value
of .

18 yG = (500 mm) cos

yG = 500 sin
= 500(

= F because both angles

measure the rotation of line EG)

400 mm
500 mm )

400 xA
300
4 xA
3

20 Substitute for yG from Eq. 5 into the virtual work equation:

P xA + Q yG

=0

(Eq. 1 repeated)

xA , by Eq. 4
300

4 xA , by Eq. 5
3

or,

[P + ( 4/3)Q] xA = 0
(Same as Eq. 5)

Dividing through by xA and using the given value P = 400 N

yields
Q = 300 N

Ans.

11.1 Virtual Work Example 5, page 1 of 4

5. Link AB is connected to collar A, which can slide
with negligible friction on horizontal rod EF. Determine
the value of force Q necessary to maintain equilibrium
when = 50, L = 300 mm, and P = 100 N.

A
E

Q
P
L

L/2
B

L/2
C

11.1 Virtual Work Example 5, page 2 of 4

A
E

Q
P
L

L/2
B

1
Ay
Q

L/2
D

Free-body diagram showing active forces

corresponding to a small increase in

The force from the rod acting on

the collar is not an active force.

Active force
Active force
P
B

Dy
Forces from pin D are
not active forces.
D

Dx

11.1 Virtual Work Example 5, page 3 of 4

2

Introduce coordinates measured from the fixed point D

to the point of application of the active forces.

4 Relate the differential xA to

the change in angle,
A

Ay
Q

A
L
P

yC

xA

Dy

B
Dx

xA

L/2

xA
5

yC

L/2

L
L
+ 2 + 2
L
L
xA = L sin
+ 2 + 2

xA = L cos

(2)

0
0
(Length L does not change)
3

Compute the work done when the coordinates are

increased a positive infinitesimal amount.
U = 0: Q xA + P yC = 0

(1)

11.1 Virtual Work Example 5, page 4 of 4

A

Substitute Eqs. 2 and 3 for xA and yC into the virtual

work equation, Eq. 1:
L sin

yB

Q xA + P yC = 0
B

L/2

L/2

(Eq. 1 repeated)

L cos
2

yC

yB

, by Eq. 3

Thus
( Q sin

, by Eq. 2

Relate the differential yC to the change in

angle
From the figure, we have
yB = L sin

Because L
Q sin

yB = L cos

Substituting
gives

+ P cos
2

)(L

)=0

0, it follow that
+ P cos
2

=0

= 50 and P = 100 N and solving for Q

By similar triangles,
Q = 42.0 N
L cos
yB
L/2 + L/2

yC
L/2

Thus
yC =

L cos
2

(3)

Ans.

11.1 Virtual Work Example 6, page 1 of 5

6. Rotating the threaded rod AC of the automobile jack causes
joints A and C to move closer together, thus raising the weight W.
Determine the axial force in the rod, if = 30 and W = 2 kN.
W
B
150 mm

150 mm
C

150 mm

150 mm
D

11.1 Virtual Work Example 6, page 2 of 5

1

The system has one degree of freedom because once

is specified, the location of all parts of the jack can be
determined. Consider a free-body diagram of the jack
and identify the active forces corresponding to a small
change in .
Free-body diagram

2 To get a virtual-work equation that contains the

axial force in the rod, it is necessary to exclude the
rod from the free-body diagram. The effect of the
rod is then represented by the two forces Fr. W and
the two Fr forces are the active forces.

W
B

Fr

Fr

11.1 Virtual Work Example 6, page 3 of 5

3

Introduce coordinates measured from fixed points to

the points of application of the active forces.
W
B

yB

Calculate the work done.

U = 0:

yB

Fr

Fr

D
xA

xA

xC

xC

W yB

Fr xA

Fr xC = 0

(1)

11.1 Virtual Work Example 6, page 4 of 5

Relate yB, xA, and xC through the angle
change, d .

B
a

E
150 mm

Distance "a," from the intersection of the two sloping

members, point E, to point B, does not change as
changes. Thus when "a" is differentiated, the result is
zero: a = 0.

150 mm
W

yB

C
150 mm

150 mm
C

A
D
xA
7

xC

xA = (150 mm) cos

xA = 150 sin

(2)

xC = (150 mm) cos

xC = 150 sin

(3)

yB = 2(150 mm) sin

yB = 300 cos

+a

+ a

(4)
0

11.1 Virtual Work Example 6, page 5 of 5

8

Substituting the expressions for yB, xA, and xC and into the
virtual work equation, Eq. 1, gives
300 cos

by Eq. 4

W yB

Fr xA

150 sin

150 sin
Fr xC = 0

by Eq. 3
(Eq. 1 repeated)

by Eq. 2

or,
[ 300W cos

+ 2(150)Fr sin ]

=0

Dividing through by , substituting the given values W = 2 kN

and = 30, and solving gives
Fr = 3.46 kN

Ans.

11.1 Virtual Work Example 7, page 1 of 5

7. The original length of the spring is L. Determine the
angle for equilibrium if L = 3 m and P = 300 N.
A

C
L

L
Spring constant,
k = 200 N/m
E

D
k
L

F
P

11.1 Virtual Work Example 7, page 2 of 5

A

The system can be described by a single coordinate,

Consider a free-body diagram and identify the active
forces corresponding to a small change in

L
A

Free-body diagram
C
Ay
L

By

Reactions Ay and By do
no work because they
are perpendicular to the
displacement of points
A and B.

L
C
E

D
k
L

D
4

F
P

Forces P and Fs are

active forces because
their points of
application move in
the direction of the
forces.

Fs Fs

F
P

3 The spring is not part of the

free-body; the effect of the
spring is represented by the
E
forces Fs.

11.1 Virtual Work Example 7, page 3 of 5

5

Introduce coordinates measured from the point O directly

above pin C to the point of application of the active
forces.

B
O

Compute the work done when the coordinates are

increased a positive infinitesimal amount.
U = P yF + Fs xD + Fs xE = 0

Ay

By

(1)

yF

Fs Fs

yF

P
xD

xD

xE

xE

11.1 Virtual Work Example 7, page 4 of 5

7

Relate the differentials yF, xD, and xE to the angle

change
From the figure, we see that
yF = 3L sin

xE = L cos
xD = L cos

Differentiating gives
yF = 3L cos

(2)

xE = L sin

(3)

xD = L sin

(4)

We can use the same figure to calculate the length of the

spring, L , say:

yF

L = distance DE
= 2L cos

(5)

F
xD

xE

11.1 Virtual Work Example 7, page 5 of 5

8 The force in the spring is, then,
Fs = k

compression of spring

=k

(original length
L (given)

= kL(1

final length)

L = 2L cos , by Eq. 5

2 cos )

(6)

Substitute from Eqs. 2, 3, 4, and 6 into the virtual

work equation, Eq. 1:
kL(1 2 cos ), by Eq. 6
P yF + Fs xD + Fs xE = 0
3L cos

by Eq. 2

L sin

(Eq. 1 repeated)

by Eq. 3

L sin

by Eq. 4

Thus
3P cos
or, since L
3P cos

2kL(1

2 cos ) sin

(L

)=0
9

0,
2kL(1 2 cos ) sin

=0

(7)

Substituting the given values P = 300 N,

k = 200 N/m, and L = 3 m into Eq. 7 and
solving numerically gives
= 69.1

Ans.

11.1 Virtual Work Example 8, page 1 of 5

8. Collars A and B can slide freely on rods CD and CE. Determine the
values of x and y, given that forces P = 900 N and Q = 800 N. The
unstretched length of the spring is 0.2 m, and the weight of the collars is
negligible.
x
P
A

Q
E

9 kN/m

11.1 Virtual Work Example 8, page 2 of 5

1

x
P
A

The system has two degree of freedom since both x and

y coordinates must be known if the configuration of the
system is to be determined. Consider a free-body
diagram and identify the active forces corresponding to
a small change in x, while y is held fixed.

Free-body diagram
y

9 kN/m

The forces acting on

collar A, Fs (the spring
force) and the 900-N
force, are the only active
forces.

900 N
A
Fs
NA (Force from rod CD)

Fs
3
Q
E

Because y is fixed,
collar B does not
move, and so none
of the forces acting
on B is an active
force.

NB (Force from rod CE)

800 N

11.1 Virtual Work Example 8, page 3 of 5

4 The coordinate x locates the position of the
700-N force. Introduce an additional
coordinate, L, that locates the point of
application of the spring force, Fs.

Compute the work done:

U = 0: (900 N) x

Fs L = 0

Relate x and L:

x
x

L2 = x2 + y2
A

(1)

900 N

(2)

Differentiating gives
2L L = 2x x + 2y y

L
Fs

0 (Because y is fixed)
Thus
NA
L = x/L x

Introduce the latter equation into Eq. 1:

Fs
L
B

(900 N) x

Fs L = 0

(Eq. 1 repeated)

NB
x/L x

y 0
(y held fixed)

Thus
(900

Fsx/L) x = 0

Dividing through by x and re-arranging gives

800 N

Fsx = 900L

(3)

11.1 Virtual Work Example 8, page 4 of 5

x(fixed)

Next, hold x fixed and compute the work done when

collar B moves an amount y. Following the same
steps as were used for x leads to

Fsy = 800L

900 N

(4)

The spring force, Fs, is related to L:

Fs

Fs = k

NA
y

extension of the spring

= (9000 N/m)

original length)
0.2 m

Fs
L
B

(L

NB

Thus
Fs = 9000L

1800

(5)

y
We now have four simultaneous nonlinear equations
to solve:
L
800 N

L2 = x2 + y2

(2)

Fsx = 900L

(3)

Fsy = 800L

(4)

Fs = 9000L

1800

(5)

11.1 Virtual Work Example 8, page 5 of 5

7 These equations can be solved directly if a calculator that
is able to handle such systems is available.

Distance x can now be found from Eq. 3:

Fsx = 900L

Alternatively, proceed as follows: square both sides of

Eqs. 3 and 4 and add the results to get
(Fsx)2 + (Fsy)2 = (900L)2 + (800L)2.

0.3338 m

Solving gives
x = 0.250 m

or
Fs2(x2+ y2) = L2(9002 + 8002)

Fsy = 800L
1204 N

Solving gives

y = 0.222 m

Using this result in Eq. 5 gives

1204 N
Solving gives
L = 0.3338 m

(Eq. 4 repeated)
0.3338 m

Solving gives

Fs = 1204 N

Fs = 9000L

Ans.

Distance y can be found from Eq. 4:

L2, by Eq. 2

1204 N

(Eq. 3 repeated)

1800

(Eq. 5 repeated)

Ans.

11.1 Virtual Work Example 9, page 1 of 4

9. Determine the moment M applied to the crankshaft that
will keep the piston motionless when a pressure p = 400 psi
acts on the top of the piston and = 25. The diameter of
the piston is 3 in., and the piston slides with negligible
friction in the cylinder.

1 The system can be described by a single coordinate, .

Consider a free-body diagram and identify the active
forces corresponding a small change in .
2 The resultant of the pressure is an active force:

(400 psi)( )(3 in./2)2 = 2827 lb

C
Free-body diagram
C
N

9 in.
3

B
4 in.

Since friction is negligible, only

the normal force N acts on the
side of the piston. The normal
force does no work since it acts
perpendicular to the motion of
the piston.

B
A

M
Ax
A
Ay

The reaction forces Ax and Ay

do no work, because point A
does not move. The moment M
does work as link AB rotates.

11.1 Virtual Work Example 9, page 2 of 4

5

Introduce coordinates measured from

a fixed reference at point A.
6

2827 lb

Compute the work done when the coordinates are increased

a positive infinitesimal amount.
U = (2827 lb) yC

yC
N

yC
d
B
M
Ax

Ay

=0

(1)

11.1 Virtual Work Example 9, page 3 of 4

7

Distance "a" does not

change as is
changed so a = 0.

Relate yC to
yC = (4 in.) cos
yC = 4 sin

+ (9 in.) cos
9 sin

+a
+ a

(2)

Relate

to

2827 lb

by the law of sines,

sin
4 in.

sin
(3)

9 in.

yC

9 in.

Differentiating gives
B
cos

cos
4 in.

Thus

Ax
=

4 cos

A
(4)

9 cos
Ay

11.1 Virtual Work Example 9, page 4 of 4

9

Using Eq. 4 in Eq. 2 gives

yC = 4 sin

10 Using
9 sin

(Eq. 2 repeated)
4 cos
9 cos

= ( 4 sin

4 tan

cos )

=0

( 4 sin

(5)

(Eq. 1 repeated)

4 tan

cos )

by Eq. 5

or
[4(2827)(sin

+ tan

Dividing through by

cos )

=0

and solving gives

M = 4(2827)(sin
Substituting the given value

tan

cos )

which can be solved to give

(6)

= 25 into Eq. 3 yields

sin
sin
=
9 in.
4 in.

(Eq. 3 repeated)

= 10.83.

M=

= 10.83 in Eq. 6 produces

0 lb in

Ans.

, by Eq. 4

Substituting Eq. 5 in the virtual work equation gives

(2827) yC

= 25 and

11 Observation: this problem may be more easily

solved by using equations of equilibrium.
Virtual work is superior to using equations of
equilibrium provided that the relation between
displacements can be easily obtained. In the
present problem, deriving the relation between
and yC, Eq. 5, was more complicated than
simply writing equations of equilibrium.

11.1 Virtual Work Example 10, page 1 of 5

10. Pin B is rigidly attached to member AC and moves in the smooth
quarter-circle slot EF. Determine the value of force Q necessary to
keep the system in equilibrium, if = 30, L = 400 mm, a = 120 mm,
and P = 200 N.

L/2
E

L/2
a
Q

11.1 Virtual Work Example 10, page 2 of 5

C
L/2
E

1 The system configuration can be

defined by the single coordinate, .
Consider a free-body diagram
showing the active forces
corresponding to a small increase in

L/2
a
A

F
C

D
Free-body diagram

Pin B must move in the slot, that is, in a direction tangent to

the quarter circle and thus perpendicular to radius DB .
Thus the force R from the slot does no work because R is
perpendicular to the motion of the pin.

Point A must move

horizontally. It is difficult
to tell if A moves to the
right or left, but fortunately Q (active) A
it makes no difference. The
important thing is to note
that force Ay from the
rollers does no work so is
Ay
not an active force.

P (active)
B

4 Point C moves both

horizontallly and vertically.
It is difficult to tell if C
Motion of pin B
R
moves vertically up or
is perpendicular
vertically down, but it
to BD.
makes no difference. All
we need to note is that
force P is an active force.

11.1 Virtual Work Example 10, page 3 of 5

C
5

yC

Introduce coordinates measured from

the fixed point D to the point of
application of the active forces P and Q.
P
B
yC
R

A
D
6 Compute the work done when the coordinate are
increased a positive infinitesimal amount.

Ay
xA
xA

U = 0:

Q xA + P yC = 0

(1)

11.1 Virtual Work Example 10, page 4 of 5

C

7 Relate the differentials xA and yC to the angles

Begin with yC.

and

yC = L sin

L/2

yC = L cos

yC

(2)

Note that this equation shows yC is positive if

is
positive, that is, point C moves up as increases.

L/2
a
9

Relate

xA = (L/2) cos
xA = (L/2) sin

+ a sin

xA = (L/2) sin

(3)

a sin

sin
a
) = sin , the last equation can

= (L/2) sin

(4)

Differentiating gives
+ a sin

(Eq. 3 repeated)
L cos
2a cos

+ cos

Because sin (180

be written as

a cos

10 Using Eq. 5 in Eq. 3 gives

= ( sin

through the law of sines:

sin (180
L/2

xA
8

and

tan )(L/2)

, by Eq. 5

(6)

a cos

= (L/2) cos

so
=

L cos
2a cos

(5)

11.1 Virtual Work Example 10, page 5 of 5

11 The angle in Eq. 6 can be calculated by substituting the given
values = 30, L = 400 mm, and a = 120 mm into Eq. 4:
a sin

= L/2 sin

and solving to get

Substituting

(0.8054)(L/2)

(Eq. 4 repeated)

= 56.44.

+ cos

= 30 and

tan )(L/2)

, by Eq. 7

Q xA + P yC = 0

Although it is not necessary for solving the problem, we can

now determine whether point A moves to the left or to the
right. From Eq. 6 we have
xA = ( sin

12 Substituting Eqs. 2 and 7 for yC and xA into the

virtual-work equation, Eq. 1, gives

Eq. 6 repeated)

= 56.44 into this equation gives

xA = (0.8054)(L/2)
That is, xA is positive when
is positive, so xA increases,
that is, point A moves to the left for the particular values of
a, and L of our problem.

(Eq. 1 repeated)

L cos

, by Eq. 2

so
Q(0.8054)/2 + P cos
Because L

)=0

0, it follows that

Q(0.8054)/2 + P cos
Substituting

(L

=0

= 30 and P = 200 N and solving gives

Q = 430 N

Ans.

11.1 Virtual Work Example 11, page 1 of 5

11. A scissors lift is used to raise a weight W = 800 lb.
Determine the force exerted on pin F by the hydraulic
cylinder AF when = 35. Each linkage member is 2-ft
long and pin connected at its midpoint and endpoints. The
lift consists of two identical linkages and cylinders the one
shown and one directly behind it.

W
K

G
F

D
C

11.1 Virtual Work Example 11, page 2 of 5

1

Consider a free-body diagram and identify the active

forces associated with a small change in
2

Each side of the lift carries half of

the load. The W/2 load does work,
so it is an active force.

W/2
Free-body diagram

FFA

B
5 The reaction force at B does no
work because it is vertical while
the motion of point B is
By
horizontal.

3 The force FFA of the hydraulic

cylinder acting on pin F does
work as pin F moves.

Ay

Ax

4 The force FFA of the hydraulic

cylinder acting on pin A does no
work because pin A does not
move. For the same reason, the
reaction forces Ax and Ay from the
support do no work.

11.1 Virtual Work Example 11, page 3 of 5

W/2

yJ
J
sF
6
F
sF
FFA

yJ

Introduce coordinates yJ and sF measured from the fixed point A

to the point of application of the active forces.
Compute the work done when the coordinates are increased a
positive infinitesimal amount:
U = (W/2) yJ + FFA sF = 0

(1)

11.1 Virtual Work Example 11, page 4 of 5

J

(1 ft) sin

1 ft

1 ft

(1 ft) sin

H
1 ft
F

(1 ft) sin

yJ = (6 ft) sin

yJ
1 ft

(1 ft) sin

Relate the coordinate yJ to the angle

yJ = 6 cos

(2)

(1 ft) sin

1 ft
C

(1 ft) sin

O
1 ft
(1 ft) cos

8 To relate sF to ,
consider triangle AFCO.

sF

Use the Pythagorean Theorem and then differentiate to get sF.

sF = (3 sin )2 + (1 cos )2

(3 ft) sin
sF =

A
=
(1 ft) cos

+ 2(cos )( sin )
1 2(3 sin )(3 cos )
2
(3 sin )2 + (1 cos )2
8 sin

cos
2

9 sin

(3)
2

+ cos

11.1 Virtual Work Example 11, page 5 of 5

10 Substituting for sF and yJ from Eqs. 2 and 3 in the
virtual-work equation, Eq. 1, gives
6 cos

, by Eq. 2

(W/2) yJ + FFA sF = 0

(Eq. 1 repeated)

8 sin

cos
2

9 sin

, by Eq. 3
2

+ cos

Thus
3W +

8FFA sin

] cos

=0

9 sin2 + cos2
This implies, since cos

3W +

0, that

8FFA sin
2

9 sin

=0

+ cos

Substituting the given values

solving gives
FFA = 997 lb

= 35 and W = 800 lb and

Ans.

11 Observation: Solving this problem by using

the equations of equilibrium would have
required drawing several free-body diagrams
and writing equations for each diagram.
Solving the problem by virtual work is much
easier because we don't have to calculate the
forces acting between the various links. In
general, problems involving connected rigid
bodies can be solved more easily by virtual
work than by equilibrium equations provided
that the relations between displacements can
be easily obtained.

11.1 Virtual Work Example 12, page 1 of 5

12. The unstretched length of the spring is 1 m. Determine
the value of for equilibrium when force P = 2 kN.
3m

1 The system can be described by a single

coordinate, . Consider a free-body
diagram and identify the active forces
corresponding to a small change in .

Free-body diagram
1.5 m

By
B

1.5 kN/m

2m

2 The spring is not part of

the free-body; the effect of
the spring is represented
by the force Fs, which is an
active force.

Fs

Bx

4m
D
D
P

3 Force P is an active force.

P

11.1 Virtual Work Example 12, page 2 of 5

4 Introduce coordinates measured from the fixed points A
and B to the point of application of the forces.

By

Bx
sC

Fs

Compute the work done when the coordinates are

increased a positive infinitesimal amount.
U = P yD

C
yD
sC

D
yD
P

Fs sC = 0

(1)

11.1 Virtual Work Example 12, page 3 of 5

6 Relate the differentials sC and yD to the angle
change
3m

Law of cosines applied to triangle ABC:

sC2 = (2 m)2 + (sB)2

2(2 m)(sB) cos ( + )

(3)

Here
1.5 m

sB

sC

and

= tan-1 1.5 m = 26.565

3m

(4)

(5)

To avoid having to write equations containing several four and

five-digit numbers, introduce intermediate variables a and b:

2m
C
4m

sB = (3 m)2 + (1.5 m)2 = 3.354 m

sC2 = (22 + sB2)

yD

2(2)(sB) cos ( + ) (Eq. 3 repeated)

Thus
sC2 = a
D

b cos ( + )

(6)

where
3.354 m by Eq. 4
7

a = 22 + (sB)2

yD = (2 m + 4 m) sin
yD = 6 cos

(2)

= 4 + 3.3542
= 15.249 m

(7)

11.1 Virtual Work Example 12, page 4 of 5

9 The parameter b can also be evaluated, for later
use:

10 The spring force Fs can be expressed in terms of sC:

Fs = k

(extension of the spring)

3.354 m, by Eq. 4
b = 2(2)(sB)

=k

(stretched length

= 4(3.354)

=k

(sC

= 13.416 m
sC can be related to
sC2

=a

(8)

1 m)

(11)

Substituting for yD, sC, and Fs from Eqs 2, 9, and 11 into

the virtual-work equation, Eq. 1, gives

by differentiating Eq. 6:

b cos ( + )

k(sC

1), by Eq. 11

(Eq. 6 repeated)
P yD

2sC sC = b sin ( + )

6 cos

Fs sC = 0

(Eq. 1 repeated)
b sin ( + )
2sC

, by Eq. 2

so
b sin ( + )
sC =
2sC

b cos ( + )

, by Eq. 9

or
(9)
[(6P) cos

Taking the square root of both sides of Eq. 6

gives an equation for sC.
sC = a

unstretched length)

(10)

Since
zero.

k(sC

1)

b sin ( + )
2sC

=0

0, the expression in brackets must equal to

(6P) cos

k(sC

1)

b sin ( + )
=0
2sC

(12)

11.1 Virtual Work Example 12, page 5 of 5

11 Eq. 12 contains the distance sC, which can be calculated by using Eq. 10:
(6P) cos

k(sC
a

1)

b sin ( + )
=0
2sC

(Eq. 12 repeated)

b cos ( + ) , by Eq. 10

or
(6P) cos

k( a

b cos ( + )

1)

b sin ( + )
2 a

=0

b cos ( + )

Substituting in the latter equation the values

P = 2 kN

(Given)

k = 1.5 kN/m

(Given)

a = 15.249 m

(Eq. 7 repeated)

b = 13.416 m

(Eq. 8 repeated)

= 26.565

(Eq. 5 repeated)

and solving numerically gives

= 53.4

Ans.

11.1 Virtual Work Example 13, page 1 of 6

13. a) Determine the moment reaction at the wall F.
b) Determine the force reaction at the roller D.
In both cases P = 60 lb.
Hinges

D
A

5 ft

5 ft

5 ft

5 ft

10 ft

1
D

Part a. Replace the wall at F by a moment

couple MF and a pin support.
F

MF

11.1 Virtual Work Example 13, page 2 of 6

2

Consider a free-body diagram and identify the active forces

associated with a small rotation of the segments of the beam
Free-body diagram
P

Dy
F

MF

Fx
C
By

Introduce coordinates yA and

D
The active "forces" are the force
P and the couple moment MF.

Fy

U = 0: P yA MF

for calculating the work.

=0

(1)

Dy

F
A

MF

Fx
yA

D
yA
By

Fy

11.1 Virtual Work Example 13, page 3 of 6

5

Relate the differentials yA and

yC
A

5 ft

5 ft
B

5 ft

5 ft

10 ft

D
yE

yA
6

By similar triangles,
yE = yC and yC = yA

7 For small angles, yE is given by

yE = (10 ft)
But this becomes, after using the relation yE = yA,

so
yE = yA

yA = 10

(2)

Substitute this result in the virtual-work equation to get

P yA

MF

=0

(Eq. 1 repeated)

10
Dividing through by , substituting the known value P = 60 lb,
and then solving for MF gives,
MF = 600 lb ft

Ans.

11.1 Virtual Work Example 13, page 4 of 6

8

Part b. Replace the roller at D by a vertical force, Dy.

Dy

60 lb
A

B
C

9 Draw a free-body diagram and show a

small rotation of segments AC and CE.
60 lb
A

10 Segment EF of the beam does

not move because the wall
support prevents both rotation
and vertical displacement.
Thus MF and Fy do no work.

Dy
B
C
By

11 The active forces are

the 60-lb force and Dy.

12 Introduce coordinates yA and yD for calculating the work.

60 lb
A
yA y
A

Fy

U = 0: (60 lb) yA Dy yD = 0

Dy
yD

yD

B
C

MF

(3)

11.1 Virtual Work Example 13, page 5 of 6

13 Relate the differentials yA and yD.
yC
A

yD

5 ft
B

5 ft

5 ft

5 ft

yA
14 By similar triangles,
yA = yC
and
yC
yD
=
5
5+5
Eliminating yC gives
yD =

yA
2

Use this equation to replace yD in the virtual-work equation:

(60) yA Dy yD = 0

(Eq. 3 repeated)

yA
2
Dividing through by yA and solving gives
Dy = 120 lb

Ans.

11.1 Virtual Work Example 13, page 6 of 6

15 Comment: Let's extend the discussion. If we were asked to
calculate the vertical reaction force at the wall, we would
replace the wall by a support that prevents rotation but permits
vertical displacement.
Fy
60 lb
D
A

16 Corresponding displacements
Fy
60 lb
D
A

17 Segment EF translates but does not rotate. Thus the reaction

moment at the support does no work. The reaction force, Fy,
however, does work and is thus an active force.

18 Observation: The method applied in this

beam example can be generalized.
Virtual work can be used to calculate a
force of constraint (a reaction) by
considering displacements which violate
the constraints and then accounting for
the work done by the force of constraint.
This procedure is equivalent to
converting a rigid structure into a
mechanism, as was done at the
beginning of the present example.

11.1 Virtual Work Example 14, page 1 of 5

14. Determine the vertical reaction at
support C, if P = 2 kN.

C
P

Convert the structure

into a mechanism with
one degree of freedom
by replacing the pin
support at C by a roller
support and a vertical
force, Cy.

Cy

3m
P

B
B
4m

A
3m
A

11.1 Virtual Work Example 14, page 2 of 5

Cy

Cy

Cx

Cx

yC

P
2

Cy and P are active

forces for the
displacements
shown.

yB
yC

B
Ay
yB

Ay

Ax

Ax

A
A
3

Define coordinates yB and yC locating the point of

application of the active forces, and compute the work.
U = 0:

P yB + Cy yC = 0

(1)

11.1 Virtual Work Example 14, page 3 of 5

4 Relate the differentials yB and yC through the angles and
Begin by computing the lengths of bars BC and BA (Note that
these lengths do not change, as the angles and change).

C
3 2 m

C
5

BC =

(3 m)2 + (3 m)2

B
3 2 m

yC

3m
B

AB =

(3 m)2 + (4 m)2

yB

3m

5m

5m

4m
7
A

From the above figure,

yB = (5 m) cos
yB = 5 sin
yC = (5 m) cos
yC = 5 sin

(2)
+ (3 2 m) cos
(3 2 ) sin

Use the law of sines to relate

sin
sin
=
5m
3 2 m

(3)

and
(4)

11.1 Virtual Work Example 14, page 4 of 5

8

Differentiating Eq. 4 gives

cos
5

9 Thus

cos
3 2

P sin
Dividing by 5

Thus
=

5 cos

(5)

3 2 cos

The equation relating

and , Eq. 5, can be used in Eq. 3
to express yC in terms of
alone:
yC = 5 sin

3 2 sin

(Eq. 3 repeated)

5 cos
3 2 cos
= ( 5 sin

5 tan

cos )

(6)

Substituting Eqs. 2 and 6 for yB and yC into the virtual

work equation gives
5 sin

, by Eq. 2

P yB + Cy yC = 0
( 5 sin

(Eq. 1 repeated)
5 tan

cos )

, by Eq. 6

P sin

Cy (sin

+ tan

cos ) (5

)=0

gives
Cy (sin

+ tan

cos ) = 0

(7)

11.1 Virtual Work Example 14, page 5 of 5

C
3m

3m

5m

4m

tan

3
=1
3

sin

3
5

cos

4
5

10 Evaluating the functions of and in Eq. 7, substituting the given

value P = 2 kN, and then solving gives
3
5
P sin

Cy (sin

3
5
+ tan

4
5

cos ) = 0

(Eq. 7 repeated)

Cy = 0.857 kN

11 Observation: This example demonstrates that virtual

work can be used to calculate the reaction forces
from the supports acting on a structure. The example
also demonstrates that just because virtual work can
be used doesn't necessarily mean that it should be
used the reaction at support C could have been
found much more easily by employing equilibrium
equations. The usefulness of virtual work depends
on how easy it is to express relations between
coordinates.

Ans.

11.1 Virtual Work Example 15, page 1 of 3

15. Determine the vertical reaction at
support I of the truss, if P = 10 kip = Q.

P
A

Q
B
5 ft

C
5 ft

D
5 ft

5 ft

F
5 ft

G
5 ft

H
5 ft

5 ft

Convert the structure to a mechanism with one degree of

freedom by replacing the pin support at I by a vertical force Iy
and a roller.

P
A

Iy
F

11.1 Virtual Work Example 15, page 2 of 3

2

Identify the active forces corresponding to a set of

displacements compatible with the constraints.
P
A

By

Iy

E
Dy

Fy

H
Hy

Iy

A
yA

yA

By

yE
Dy

yE

Fy

Calculate the work done.

Iy yI = 0

Introduce coordinates measured from fixed points to the

points of application of the applied forces.

U = 0: P yA + Q yE

Ix

(1)

yI
Hy

I
yI

Ix

11.1 Virtual Work Example 15, page 3 of 3

4 Relate yA, yE, and yI
by geometry (similar
triangles).

yC

A 5 ft

yA = yC

yA

5 ft

C 5 ft

(2)

Similarly,
yC = yE, yE = yG, and yG = yI
These equations imply
yA = yI and yE = yI
Substituting the latter pair of equations into the
virtual-work equation, Eq. 1, gives
P yA + Q yE I yI = 0
yI
yI

(Eq. 1 repeated)

or
(P + Q

Iy) yI = 0

Dividing through by yI, substituting the given values P

= 10 kip = Q, and solving gives
Iy = 20 kip

Ans.

5 ft
D

E
yE

yG

5 ft
F

5 ft G

5 ft
5 ft

I
yI

11.1 Virtual Work Example 16, page 1 of 4

16. Determine the tension in the cord. The pulleys are
frictionless and m = 90 kg.

C
A
1

Convert the pulley-cord

system into a mechanism
with one degree of
freedom by replacing the
support B by a tensile
force T acting on the end
of the cord.

D
m
D
Weight = mg

11.1 Virtual Work Example 16, page 2 of 4

2

The tension T and the weight do work (are active

forces) if end B of the cord moves up a small
amount.

Introduce the coordinates yB and yD.

T
A

yB
yB

4
yD

yD

Calculate the work done:

U = 0:

mg

T yB + mg yD = 0

(1)

11.1 Virtual Work Example 16, page 3 of 4

5 Relate yB to yD by first expressing the length, say L, of the cord
in terms of yB and yD:

Diameter dC
A

yB

L = (yD

t)

yB

+ (yD

t)

+ (yD

t)

+ dD/2

yD

Half circumference of pulleys

+ dC/2

u
Thus
Diameter dD

t
D

L = 3yD

3t

yB

2s + dD/2 + dC/2

Now differentiate, taking into account that because L, t, u, s, dD,

and dC do not vary as yD and yB vary, we have L = 0 = t = u = s
= dD = dC; the result of the differentiation is, then,
0 = 3 yD

yB

Thus
yB = 3 yD

(2)

11.1 Virtual Work Example 16, page 4 of 4

6

Substituting this result in the virtual work equation, Eq. 1, gives

T yB + mg yD = 0

(Eq. 1 repeated)

3 yD, by Eq. 2
Thus
( 3T + mg) yD = 0
Dividing through by yD, substituting m = 90 kg, g = 9.81 m/s2
and solving gives
T = 294 N

Ans.

11.1 Virtual Work Example 17, page 1 of 9

17. Determine the equilibrium values of and for the
two-bar linkage. The couple moment M = 5 N m; each bar is
uniform and has a mass m of 5 kg; the length L = 400 mm; and
the unstretched length of the spring is 250 mm.
500 mm
A

L
2

k = 0.2 kN/m
B
D
L
M
C

11.1 Virtual Work Example 17, page 2 of 9

1 The system has two degrees of freedom because two
coordinates and must be specified to define the position
of the linkage. Consider a free-body diagram, and identify the
active forces corresponding to a small change in
while
is held fixed .
Ay
A
Ax
2
2

Fs
(spring force)

Because point A does not move and is

fixed, the reactions Ax and Ay, the weight
mg, and the spring force Fs do no work
when 1 is varied a small amount. Thus
they are not active forces.

mg
B

3
M
C

mg

The couple moment M and the weight

mg of the lower bar BC do work when 1
is varied, so M and mg are active forces.

11.1 Virtual Work Example 17, page 3 of 9

4

In addition to the coordinate 1, introduce a vertical

coordinate yE measured downward from point A.
Ay
A
A
Ax
L/2
L

yE

yE

L/2
B

mg

Fs

L/2

B
yE

E
L/2

E
L/2

Relate the differential yE to the angle change,

writing

1,

by

mg
yE = L cos

Compute the work done when the coordinates

are increased a positive infinitesimal amount.
dU = 0: M

1+

mg yE = 0

+ (L/2) cos

and then differentiating with respect to 1, while holding

fixed. That is, take the partial derivative with respect to
to obtain

(1)
yE = (L/2) sin

(2)

11.1 Virtual Work Example 17, page 4 of 9

7

Substitute Eq. 2 for yE into the virtual-work equation:

M

1+

mg yE = 0

(Eq. 1 repeated)

(L/2) sin

1,

by Eq. 2

Thus

Since

[M

(mgL/2) sin 1]

0, it follows that

(mgL/2) sin

1=

1=

(4)

Substituting the following values into Eq. 4

M = 5 N m = 5 000 N mm
L = 400 mm
m = 5 kg
g = 9.81 kg m/s2
and solving gives
1=

30.6

Ans.

11.1 Virtual Work Example 17, page 5 of 9

8

Next identify the active forces corresponding to

a small change in 2 while 1 is held fixed .

Ay
A

9 Because point A does not

move, Ax and Ay do no work
and thus are not active forces.
Ax

10 Because 1 is fixed, link BC

does not rotate. That is, the
dashed line representing the new
position of link BC is parallel
to BC. Hence couple moment
M does no work, and M is not
an active force.
M
C

mg

Fs
B
1

mg

11 Active forces

11.1 Virtual Work Example 17, page 6 of 9

12 Introduce coordinates measured from a fixed point to
the point of application of the active forces.
xB
xB
13 Compute the work done.

Ay

U = 0: mg yE + mg yF + Fs xB = 0
A

Ax
yF

L/2

yF
yE

mg

Fs
B

L/2
1

E
C

mg

yE

(5)

11.1 Virtual Work Example 17, page 7 of 9

14 Relate the differentials yE, yF, and yF to the change in angle
xB

xB = L sin

yF = (L/2) cos
L/2
F
L/2

yF

yE = L cos

(L/2) cos

Differentiating each equation with respect to

gives
2

yE

with

held fixed,

xB = L cos

(6)

yF = (L/2) sin

(7)

yE = L sin

(8)

L/2
1

L/2
C

11.1 Virtual Work Example 17, page 8 of 9

15 Substituting Eqs. 6-8 for the differentials into the virtual-work
equation, Eq. 5, gives
L sin

500 mm

by Eq. 8
A

mg yF + mg yE + Fs xB = 0
L/2) sin

by Eq. 7

(Eq. 5 repeated)

L cos

by Eq. 6
500 mm

Thus

L sin

L
2
2

[ 3mg/2) sin
Since L

+ Fs cos

]L

=0
B

0, it follows that
D
3mg/2) sin

+ Fs cos

=0

(9)

C
16 The force Fs in the spring can be related to
Fs = k

2:

extension of spring

=k

(current length

=k

[(500 mm

= k(250

L sin

unstretched length)

L sin
2)

2)

250 mm]
(10)

11.1 Virtual Work Example 17, page 9 of 9

17 Substituting for Fs from Eq. 10 into the virtual-work equation, Eq. 9, gives
3mg/2) sin

+ Fs cos
k(250

=0
L sin

(Eq. 9 repeated)
2),

by Eq. 10

or,
(3mg/2) sin

+ k(250

L sin

) cos

=0

(11)

Substituting the following values into Eq. 11

L = 400 mm
m = 5 kg
k = 0.2 kN/m = 0.2 N/mm
g = 9.81 kg m/s2
and solving numerically gives
= 18.50

Ans.