52. Principle of Virtual Work for a System of Coplanar Forces ‘The principle of virtual work states that : [fa system of co-planar {forces acting on a rigid body be in equilibrium and the body undergo a slight displacement consistent with the geometrical conditions of the system, the algebraic sum of the virtual works is zero ; and conversely, if this algebraic sum be zero, the forces are in equilibrium. Proof. Let a system of co-planar forces A, P;+--be acting at different points A\(x1.y1). 4o(x2,y2)s- having components (%., %), (%2, 4)s-> parallel to co-ordinate axes Ox and Oy. If (r, 8) be the polar co-ordainates of A,(x, y1), then x, =rcos®, y; =rsin8. Ai(xt, vf)ST os" displ the body receives a small virtual displacement o, bien ical conditions of the system, the point 4 ne * yi) by two type of motion : one due yt’ the 60 and other due to translation through i Now, with the geomet new position 4i(¥ ie though 9 mt orale to co-ordinate axes. distances .cos(0 +58) + 8a = {cos 8 cos 58— sin 8 sin 50} + 84 and yf =rsin(@ +88) + 8a =r{sin®cos60 + cos sind) +4, «= 80 is very small, so, by first approximation, we have eat cos60 = Land sin5@ = 68 rcos@—r80-sin8 +a am = x) - 8), +84 and yf =rsin8-+rB0cos0+ & = 480-2) +8. Hence displacement of along x-axis = xj —x, a8 Similarly displacement of ‘4, along y-axis= yf — yy = 86+ 2,30 Now the virtual work done by the force A = Sum of the works done by its components and ¥ = X;-displacement of 4, along x-axis +; -displacement of 4,aong axis, =X (xin) +KOI-) = (8 — 88) +4 (+88) = Bak) + 3b} +56(x1% — Xi) Similarly, we can find work done by other forces A, Ay a, 8 and 9 remain the same for each force. Hence total virtual work done by the forces A, Py---.is Doe +864 + 80(00% —714)} = 80 H+ K+ 80 (mk 1a) ~ 0 a, &b, 88 being the same for all the points of the body.Let the body be in equilibrium under the system of given co-planar forces then, DA = DK =0, Dah -y.%)=0 Q) Using (2) in (1), we get, Algebraic sum of the virtual works is zero. Conversely, let the algebraic sum of the virtual works be zero, ie, YX +85 YK +80) (mH —y.X)=0-- ) forall arbitrary small values of 8, 8, and 9, Since the displacement is perfectly arbitrary, 82, 8,80 are all independent of one another, ie., the above equations is true for any positive or negative independent values of 2, 85,and §9.. Hence we must have D1 =0 YH =0and Yih -%1)=0. These are the conditions of equilibrium for a system of co-planar forces, therefore the body is in equilibrium. Note 1. Principle of virtual work is also necessary as well as sufficient conditions. 5.3. Forces which may be omitted in the equation of virtual work Ifa body is in equilibrium under the action of a system of forces and if the body is given a small displacement, then the work done by the following forces is zero. 3 (1) The tensions of an inextensible string or rod. (2) The reaction of any smooth surface with which the body is in contact. Because, the reaction is always normal to the surface and therefore at right angles to the direction of the displacement of its point of action, (3) The reaction at any point of contact with a fixed surface on which the body rools without sliding. Because, the point of contact is instantaneously at rest, hence the normal reaction and the friction at this point have zero displacement. (4) The reactions between any two bodies of the system considered. Because, the action and reaction are equal and opposite. (5) The reaction at a fixed point or a fixed axis of rotation. Because, the displacement of the point of application of the force is zero.Forees which may be considered in the equatio, 54. Fo i work ents which do not violate the ke virtual displacem For virtual ve system, the following forces may be crn conditions oF the equation ofthe Virtual work ofthc ovate trey rhe tensions at the ends of a string when the displacemer is IFT be tension and / be the length of the sting the ile done is (~ ‘ (The drass a the ends of rod when diplacemen gi, length. If Te the thrust and /be the length ofthe od, then you ie is ToL . G) Weight of a body or weight of a system of bodies, Ifwbe the weight and z be the depth ofc. g ofthe some fixed plane, then the work done is we and if be ee i above soe ied plane, then the work done is “eA doesnot move vertically upwards or downwards te went do any work Note that other than above three forces if there acts any exten force then it will be considered in the equation of virtual work. 5.5. An Important Note Wa body or a system of bodies are under the action of no oy ‘forces than the weights of the bodies and the natural actions and acon between them, the positions of equilibrium correspond to the matinun and minimum values of the height of centre of gravity (cg) of te system above a fixed horizontal level, If W be the weight of the system and z the depth / height ofcg of the system below / above fixed horizontal level and § the virul displacement of the c.g. then the equation of virtual work is Wee =0 or -Wez = Since the mutual action and reaction do not appear in the equation! the virtual work. Hence 0 Which => that z is a maximum or minimum. 5.6. Procedure of solving the Problems () Draw the diagram showing the directions ofthe given 08——————— (ii) Replace the string by two forces T and T acting inwards and virtual work done by the tension is —T6/, where / is the length of the string. (iii) Replace the rod by two forces T and T acting outwards and virtual work done by the thrust is 76/ , where / is the length of the rod. (iv) Calculate the distance of the points of applications of various forces from a fixed point or a fixed line. If x be the distance of the point of application of a force F from a fixed point, then the virtual work is Fox and this work will be tive or —ive according as the distance is measured in the direction of F or in a direction opposite to F.