Principle of Virtual Work and its Application

The principle of virtual work states that in equilibrium the virtual work of the forces applied to a
system is zero. Newton's laws state that at equilibrium the applied forces are equal and opposite
of the reaction, or constraint forces. This means the virtual work of the constraint forces must be
zero.
When anybody is deformed under external forces, then the work done by these forces on body is
stored inside the body in the form of strain energy. Such strain energy is recoverable, when
realizing forces, if the deformation is elastic.
Principal of virtual work is considered as very important tool to solve many problems in
structural analysis and solid mechanics. This method can solve indeterminate structures and
frames with strain compatibility conditions. Principle of virtual work is applicable to solve the
deformation condition of whole body with action of all internal and external forces as well as
reactions on body.

Hook’s Law and Point of Superposition

Hook’s law relates all system of forces on body with its deformation and states that the
deflection of the body is proportional to the total forces applied on it.
Let F1, F2 and F3 forces are acting at point 1, 2 and 3 points respectively and it produces the
displacement d4 at point 4 along the direction as shown in Fig.

Fd214
32134

Then the net displacement towards specified direction of d4 at point 4 can be given as
d 4 =a 41 F1 +a 42 F 2+ a43 F 3 … … … … … …(3.13 .1)

Here,a ij is the constant where subscript i represent the position where the displacement is to be
determined and j represents the displacement made by the force acting at specified position. And,
this equation represents the principal of super position.
Hibbeler states this as "The total displacement or internal loadings (stress) at a point in a
structure subjected to several external loads, which can be determined by adding together the
displacements or internal loadings (stress) caused by each external load acting separately." 
In other words, for a linearly elastic structure, the effect of several loads acting on a member is
equal to the summation of the loads acting separately.
Corresponding Forces and Displacement

F1 δ3
F3

F2 1 D3
3

2 4
5
6
R5 F4
R6
In order to materialize the principle of super position, let the body, as shown in Fig., is imposed
with external forces F1, F2, F3, F4 and reaction forces R5 and R6. And, let D3 be the actual
displacement at point 3 with its specified direction as shown in figure. The net displacement d
towards any direction can be determined with equation (3.13.1).
Here, let δ 3 be the component of actual displacement D3 towards the direction of the force F3.
Such a displacement component towards the direction of any force is called as corresponding
displacement at that point. So, δ 3 is called as corresponding displacement at point 3 due to
action of all imposed external forces and reactions which is along the direction of the force F3.
Corresponding displacement at point 3,δ 3 can be determined using Hook’s Law as.
δ 3=a 31 F1 +a 32 F2 +a 33 F3 + a34 F 4 +a 35 R5 +a 36 R6 +… … … … … … (3.13.2)

Similarly, corresponding displacement at point 4 can be determined as:

δ 4 =a41 F 1 +a 42 F2 +a 43 F 3+ a44 F 4 +a 45 R5 +a 46 R6 +… … … … … …(3.13 .3)

Here note that the corresponding displacements at points 5 and 6 are zero until the reactions at
these points do not reach to yield point.
The corresponding displacement at any point is also called as Work-absorbing Component of
the displacement.

Work Done by Forces and Elastic Energy Strain Stored

As we know all external forces imposed to the body are with zero values, then the net
displacement of any point is zero. While increasing forces to the certain proportion, then the
displacement also increases with same proportion and it takes full magnitude when all forces are
increased to their full magnitude.
When, the forces are gradually increased with constant proportion, the work done by certain
force, let’s say F 3, at that point, 3, can be defined as:
1 1
W 3 = F 3 δ 3 = F 3 ( a31 F 1+ a32 F 2+ a33 F 3 +a34 F 4 +a35 R 5+ a36 R 6+ … . ) … …(3.13 .4)
2 2
Then total work done by all forces on the body can be expressed as
1
W =W 1 +W 2 +W 3 +… ..= ( F 1 δ 1 + F 2 δ 2+ F 3 δ 3 + … ) … … … … … ..(3.13.5)
2
Note that no displacement is occurred at supports until they do not cross their yield point, i.e.
elastic limit. Then, when all forces are decreased from certain level towards zero level
(unloading), then negative work will be done and the work done will be zero, when all forces
decreased to zero and the body is recovered to original with zero displacement. In this condition,
it can be understood that all forces have potential to have work done at any point of body. It
means the work done is stored as potential energy. Such potential energy stored in a body as the
consequences of displacement of any elastic body is called as Elastic Strain Energy. Elastic
strain energy, i.e. potential of work done, can be expressed as:
1
U = ( F 1 δ 1 + F 2 δ 2+ F 3 δ 3 + … ) … … … … ..(3.13.5)
2
Here, U is the elastic strain energy. F1, F2, F3,.are imposed forces and δ 1,δ 2,δ 3,……..their
corresponding displacements. Superposition principal dictates that the elastic strain energy is
independent of the forces on what manner or order they are acting on the body.

Reciprocal Relation
Reciprocal relation states that the constant of the corresponding displacement at point 1 by force
F2 should be equal to the constant of corresponding displacement at point 2 by force F1 should
be equal. It meansa 12=a21.
Let forces F1 and F2 are acting at point 1 and 2. δ 1andδ 2 are their corresponding displacements

respectively. If F1 and F2 are single forces acting on the body, then the elastic strain energy due
to each single force is:
1 1 1
U 1= F 1 δ 1= F1 × a11 F 1= a 11 F 12
2 2 2
Similarly
1
U 2= a22 F 22
2
Here, potential work done at point 1 due to F2 is

1 1
U 12= F 1 ( a 12 F2 ) = a12 F 1 F 2
2 2
Here, total potential of work at point 1, due to F1 and F2 is

1
U =U 1+ U 2+ U 12= (a F 2+ a22 F 22+ a12 F 1 F 2) … … … …..( 3.13.6)
2 11 1
Similarly strain energy stored to work done at point 2 due to these two forces is:
1
U ' =U 1+U 2+U 21= ( a F 2 +a 22 F22 +a 21 F1 F2 ) … … … … ..(3.13 .7)
2 11 1
Since the elastic strain energy is independent of the forces on what manner or order they are
acting on the body, then U =U ' which verifies that a 12=a21 and in general:

a ij=a ji … … … … ..( 3.13.8)

Therefore, total elastic energy stored in the body, can be expressed, in general by:
1
U= ( ∑ aii F i2 + ∑ a jj F j2 + ∑ aij F i F j ) … … … … ..(3.13.9)
2
Let’s assumei=1 and j=2, the above equation becomes
1
U= ( a11 F 12+ a22 F 22 +2 a12 F 1 F 2 ) … … … … ..(3.13 .9)
2

Maxwell-Betti-Reighlei Reciprocal Theorem

This theorem states that “The forces of first system (i.e. F1, F2, F3…….) acting through the
corresponding displacement produced by second system of forces (i.e. F1’, F2’, F3’…….) do the
same amount of work as done by second system of forces acting through the corresponding
displacement produced by first system of forces. It means
1 1 1 1 1 1
F δ ' + F δ ' +… ..+ Fn δ n' = F 1' δ 1 + F 2' δ 2 +… …+ F n' δ n … … … …..(3.13 .10)
2 1 1 2 2 2 2 2 2 2

Numerical Examples:
Unit force is acting at middle span and end of cantilever beam as shown in (a) and (b) of
following figure. Determine the deflection at point 1 of mid span and at 2 of end.

Solution:
Here, in (a), a21 is the deflection of point 2 due to F1 = 1 at point 1. And in (b), a12 is the
deflection at point to due to F1 = 1 at point 2. Reciprocal relation states that theses two
deflections should be equal i.e. a21 = a12. Let’s verify it.

Analysis of deflection at end due to unit load at mid-span (Fig. a)

Here deflection at point 2 due to unit force F1 is

l 2
P x2 () 2 l 5 l3
δ 2F=
6 EI (
( 3 x−a ) [ for a< x <l ] ∨, δ 2 F =
6 EI )
3l− ∴ δ 2 F=
2 48 EI
Again deflection at point 2 due to slope is

l 2
δ 2 θ=θ . a=
P a2
. a=
()2 l
. =
l3
2 EI 2 EI 2 16 EI
Thus total deflection at point 2 due to unit load at half span is:
 5 l3 l3
a 21=δ 2 F +δ 2θ = + … … … … ….( 1)
48 EI 48 EI
Analysis of deflection at mid-span due to load at end (Fig. b)
Deflection due to unit force F2 is:

l 2
P x2 ()
2 l 5 l3
δ 1F=
6 EI
( 3 l−x )∨,δ 1 F =
6 EI ( 2 )
3 l− ∴ δ 1 F =
48 EI
Deflection due to bending moment at point 1 is:
Pl l
M= =
2 2
Then deflection due to bending moment at point 1 is:

l l 2
δ 1M=
M x2
=
2 2
.( )( )=
l3
2 EI 2 EI 16 EI
Thus, total deflection at point 1 due to unit load at end is:

5 l3 l3
a 12=δ 1 F +δ 1 M = + … … … … … … … … …(2)
48 EI 48 EI
From above (1) and (2), a 12=a21. It verifies the reciprocal theorem.
Then, principal shear strains are:
1 1
γ 1= τ1= × 45=5.85 ×10−4
G 7.69 ×10 4

1 1
γ 2= τ2= ×130=16.91× 10−4
G 7.69 ×10 4

1 1
γ 3= τ = × 70=9.10 ×10−4
G 3 7.69 ×10 4

Octahedral shear stress can be calculated by:

1 1
τ 0= (√( σ 1−σ 2) 2+ ( σ 2−σ 3 )2+ ( σ 3 −σ 1 )2 )= ( √( 150−10 )2+ ( 10+80 )2 + (−80−150 )2 )=94.6 MPa
3 3
Thus, octahedral strain is:
1 1
γ 0= τ 0= × 94.6=12.3× 10−4
G 7.69× 10 4