Dr. Kazi M.A.

Sohel
Chapter 9
Computation of Displacements in Statically
Determinate Structures by Energy method
Objectives:
Objective of this chapter is to show how to apply energy methods to solve problems for
slope and deflection..

 External Work and Strain Energy

These three are
 Principal of Work and energy introductory

 Principal of virtual Work

 Method of Virtual Work for Trusses
Method of Virtual Work for Beams
Method of Virtual Work for frames
 Dr. Kazi M.A. Sohel

External Work and Strain Energy

Most energy methods are based on the conservation of energy principle, which states
that the work done by all the external forces acting on a structure, Ue, is transformed
into internal work or strain energy, Ui.

i.e. External work (Ue ) = Internal Work (Ui )

External Work-Force: When a force F undergoes a displacement dx in the

same direction as the force, the work done is
F P
dU e  F dx F x

x
 U e   F dx ..........(1) P
Eigen work
0 F
As the magnitude of F is gradually
Ue
increased from zero to some limiting x
dx
value F = P, the final elongation of the

bar becomes . Then the equation of
Fig. (a)
the elastic curve is, F=(P/)x.

P 
Substituting into eqn (1), and integrate from 0 to , U e    x  dx
0
  2
 Dr. Kazi M.A. Sohel

P
U e   ( x)dx
0
 Eigen work

 P 2 1
Ue   x   P
 2  0 2

Suppose P is already applied to the bar & that another force F/ is now
applied, so that the bar deflects further by an amount /, Fig (b)
F
F´+P
P
L Displacement work

x
 
(a) The work done by P when the bar undergoes the further
deflection (due to another applied load) is then,
(b) U e  P
3
 Dr. Kazi M.A. Sohel

External Work—Moment.
The work of a moment = magnitude of the moment (M)  the angle
(d) through which it rotates
 dU e  M d
If the total angle of rotation is  radian, the work becomes

U e   M d
0

As in the case of force, if the moment is applied gradually to a structure

having linear elastic response from zero to M, the work is then
1
Ue  M 
2
However, if the moment, M is already applied to the structure & other
loadings further distort the structure an amount /, then the work done by M
due to  is
U e  M  
4
 Dr. Kazi M.A. Sohel

Strain Energy—Axial Force

Due to applied axial load N, the deformation is 


The strain is,   ....(i)
L
N
The normal stress is,   .....(ii)
A
For linear elastic material,   E ....(iii)
N
From (ii) & (iii)  E
A Substituting into energy equation,
N  1
U  P with P=N, the strain
or, E 2
A L energy in the bar is therefore,
NL
 Deflection,   N 2L
AE Ui 
2 AE
In mechanics of materials, =PL/AE
5
 Dr. Kazi M.A. Sohel

Strain Energy—Bending
The loads create an internal moment M in
the beam at a section located a distance x
from the left support. we have,

d2y M d M M
2
=  =  d  dx
dx EI dx EI EI

For differential length element, strain energy

stored would be
1 M  M  M2
dU i  M d   dx   dx
2 2  EI  2 EI

For Entire member,

M2
L
Ui   dx
0
2 EI
6
 Dr. Kazi M.A. Sohel

9.2 Principle of Work and Energy P

Consider finding the displacement at a

point where the force P is applied to the L
cantilever beam. The external work: M diagram
1
U e  P
2
In this case, M = - Px, so that the P
internal energy for the beam is -PL M

L M 2 dx L ( Px) 2 dx 1 P 2 L3
 
x
Ui    V
0 2 EI 0 2 EI 6 EI
M = - Px
external work (Ue) = internal strain energy (Ui)
1 1 P 2 L3
P 
2 6 EI Limitations
It will be noted that only one load may be applied to the structure
PL3
 Only the displacement under the force can be obtained.
3EI
7
 Dr. Kazi M.A. Sohel
9.3 Principle of Virtual Work
The principle of virtual work was developed by John Bernoulli in
1717 and is sometimes referred to as the unit-load method.
 If we apply a series of external loads P on a deformable
body, it will cause internal loads u at points throughout the u2
structure.
u3 u1
 It is necessary that the external & internal loads be related
by the equation of equilibrium.
 As a consequence of these loadings, external displacement 
 will occur at the P loads & internal displacement  will P
occur at each point of internal loads u.

In general, the principle of work & energy states,

 P   u
Work of external loads Work of Internal loads

Based on this concept, the principle of virtual work will now be developed
8
 Dr. Kazi M.A. Sohel

Suppose it is necessary to determine the displacement  of point A on

the body caused by the “real loads” P1, P2 and P3 (Fig b).
Since no external load acts on the body at A and
in the direction of , the displacement  can be
determined by first placing on the body a
“virtual” load such that this force P/ acts in the
same direction as , Fig (a).
We will choose P/ to have a unit magnitude,
P/ =1
Once the virtual loadings are applied, then
the body is subjected to the real loads P1, P2
and P3, Fig 9.6(b)
Point A will be displaced an amount 
causing the element to deform an amount L

Fig. 9.6
9
 Dr. Kazi M.A. Sohel

 As a result, the external virtual force P/ & internal load u “ride

along” by  and L & therefore, perform external virtual work of
1.  on the body and internal virtual work of u.L on the element
Virtual loadings

1.   u. L Where:

P/ = 1= External virtual unit load
acting in the direction of 
Real displacements

 By choosing P/ = 1, it can be seen from the solution for  follows

directly since  = u.L
 A virtual couple moment M/ having a unit magnitude is applied at
this point. This couple moment causes a virtual load u in one of
the elements of the body. Assuming that the real loads deform the
element an amount L, the rotation  can be found from the
virtual –work eqn
1.   u . L
10
 Dr. Kazi M.A. Sohel

9.4 Method of Virtual Work: Trusses

Method of virtual work cab be used to determine the displacement of a
truss joint for external loading, temperature change, or fabrication errors
External loading
Consider the vertical displacement  of
joint B in Fig.(a) for the applied load P1
& P2. If the applied loadings P1 & P2
cause a linear elastic material response,
the element will deform
 L  NL / AE
Applying the virtual-work eqn for
the truss is therefore,
nNL
1.  
AE
11
 Dr. Kazi M.A. Sohel

nNL
1.  
AE
1  ext virtual unit load acting on the truss joint in the stated direction
of 
n  internal virtual normal force in a truss member caused by the ext
virtual unit load (in previous slides it is 'u ')
  external joint disp caused by the real loads on the truss
N  internal normal force in a truss member caused by the real load
L  length of the member
A  cross-sectional area of member
E  modulus elasticity of a member
 The external virtual load creates internal virtual forces n in each of the members
 The real loads caused the truss joints to be displaced in the same direction as the
virtual unit load
 Each member is displaced NL/AE in the same direction as its respective n force
 Hence, external virtual work = sum of internal (virtual) strain energy stored in
truss members

12
 Dr. Kazi M.A. Sohel

Temperature
In some cases, truss members may change their length due to
temperature
 L   (T ) L
The displacement of a selected truss joint may be written as
1.   n (T ) L
  external joint displacement caused by temperature change
  coefficient of thermal expansion of member
T  change in temperature of a member

13
 Dr. Kazi M.A. Sohel
Fabrication errors & camber
 Errors in fabricating the lengths of the members of a truss may occur
 Truss members may also be made slightly longer or shorter in order
to give the truss a camber (slightly arched shape)
 Camber is often built into bridge truss so that the bottom cord will
curve upward by the same amount equivalent to the downward
deflection when subjected to the bridge’s full dead weight.

The disp. of a truss joint from its expected position can be written as:

1.   n( L )
  ext joint disp caused by fabrication errors
 L  difference in length of the member from its intended
size as caused by fabrication error
14
 Dr. Kazi M.A. Sohel

EXAMPLE 9.1: Determine the vertical displacement of joint C of

the steel truss shown in Fig (a). The cross-sectional area of each
member = 300mm2 and E = 200GPa.

F E

3m
A B C D
3m 3m 3m
20 kN 20 kN Fig (b): Virtual forces n
Fig (a)
Solution:
Virtual force: Only a vertical 1kN load is
placed at joint C. The force in each
member is calculated as shown in Fig (b)
Real forces: The real forces are
calculated. Results are shown in Fig.(c) Fig (c): Real forces N
15
 Dr. Kazi M.A. Sohel

Arranging the data in tabular form, we have

Member n (kN) N (kN) L (m) n NL Virtual work equation
(kN2.m)
nNL
AB 0.333 20 3 20 1. cv  
AE
BC 0.667 20 3 40
369.6
CD 0.667 20 3 40 
AE
DE -0.943 -28.3 4.24 113
FE -0.333 -20 3 20 369.6 kN.m
  cv 
EB -0.471 0 4.24 0 AE
BF 0.333 20 3 20
AF -0.471 -28.3 4.24 56.6 369.6
 cv 
CE 1 20 3 60  300  10 6
 200  10 6

369.6
 6.16 103 m

 cv  6.16 mm
16
 Dr. Kazi M.A. Sohel

EXAMPLE 9.2: The cross-sectional area of each member shown in Fig.(a) is

A = 400 mm2; E = 200 GPa. (a) Determine the vertical displacement of joint C ;
(b) If no loads act on the truss, what would be the vertical displacement of joint C
if member AB is 5 mm too short.

Solution:

(a)
Virtual force: Vertical 1kN load is placed at joint
C. The force in each member is shown in Fig (b)
(For ‘n’)
Real forces: The real forces are shown in Fig.(c)
Member n (kN) N (kN) L (m) n NL (kN2.m)
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 (For ‘N’)
17
 Dr. Kazi M.A. Sohel
Thus,
nNL 10.67
1. cv   
AE AE
10.67 kN 2 .m
 1(kN).  cv 
AE
10.67 kN.m 3
  cv   0.133  10 m
 400 10 m  200 10 kN/m 
6 2 6 2

 0.133 mm
(b)
Here we must apply Equation for fabrication error. Since the vertical
displacement of C is to be determined, we can use the results of unit
load in (a). Only member AB undergoes a change in length, namely,
of L = -5 mm= 0.005m. Thus,
1.   n  L
(1kN).  cv  (0.667 kN)(0.005 m)
 cv  0.00333 m  3.33 mm
18
 Dr. Kazi M.A. Sohel

EXAMPLE 9.3: Determine the vertical displacement of joint C of

the steel truss shown in figure due to load and radiant heating from
the wall, member AD is subjected to increase in temp = +60oC. Take
 = 1.08(10-5)/oC and E = 200GPa. The cross-sectional area of each
member is indicated in the figure.

(a) (b) virtual forces n (c) real forces N

19
 Dr. Kazi M.A. Sohel

Virtual forces n: The forces in members are computed, Fig (b)

Real forces N: Since n forces in AB & BC are zero, N forces in AB &
BC need not be computed. Other member forces are shown in Fig (c).
Virtual work eqn: Both loads & temp affect the deformation.
Therefore, Eqns for loads and Temperature are need to be combined
Member n (kN) N (kN) L (m) A(mm2) n NL/A (kN2.m/mm2)
AC -1.25 -500 3 900 2.083
CD 0.75 600 1.8 1200 0.675
AD 1 400 2.4 1200 0.8
= 3.5583 kN2.m/mm2
nNL/A = 3.5583 106 kN2.m/m2
nNL
1.     nTL
AE
3.5583  106 kN 2 .m/m 2 5
 1. cv   (1 kN)[1.08(10 )](60)(2.4 m)
200 10 kN/m
6 2

 cv  0.0193 m  19.3 mm
20
 Dr. Kazi M.A. Sohel

Example 4. Compute the horizontal component of the deflection of

joint E due to the load shown. E= 207 GPa. Cross sectional areas in
cm2 as shown in parentheses.

Solution:

Virtual force: Horizontal 1kN load is placed at joint E. The force in

each member is shown Table.
Real forces: The real forces due to applied forces are shown in Table.

21
 Dr. Kazi M.A. Sohel
Member n N L A nNL
(kN) (kN) (m) (cm2) A
(kN2.m/cm2)
AH 0.5 37.5 1.5 10 2.813
HG 0.5 37.5 1.5 10 2.813
AB 0.83 -62.5 2.5 12.5 -10.417
BG -0.83 -62.5 2.5 12.5 10.417
BH 0 100 2 5 0
BC 1 0 1.5 10 0
CG 0 0 2 5 0
CD 1 0 1.5 10 0
GD 0 0 2.5 12.5 0
GF 0 0 1.5 10 0
DF 0 0 2 5 0
DE 1 0 1.5 10 0
EF 0 0 2.5 12.5 0
= 5.625 kN2.m/cm2
22
 Dr. Kazi M.A. Sohel

Unit load (1 kN) applied at E in horizontal direction

Virtual work equation

nNL
1(kN). c  horizontal  
AE
5.625 kN 2 .m/cm 2 5.625  1002 kN 2 .m/m 2
 1 kN  . c  horizontal  
 207  10 6
kN/m 2
  207  10 6
kN/m 2

  c  horizontal  0.27174 103 m
 0.27174 mm
23
 Dr. Kazi M.A. Sohel

9.5 Method of Virtual Work: Beams and Frames

The method of virtual work can also be applied to deflection problems involving
beams and frames. Since strains due to bending are the primary cause of beam or
frame deflections, we will discuss their effects first.
(Deflections due to shear, axial and torsional loadings, and temperature are
considered in Sec. 9.6. of the test book)

(a) Beam under virtual unit load

(b) Beam under real load
Fig. 9-11

Here the vertical displacement of point A is to be determined.

(a) A virtual unit load (1 N or 1 kN) should be applied at A along the direction of
deflection and the internal virtual moment m is determined by the method of
sections at an arbitrary location x from the left support.
24
 Dr. Kazi M.A. Sohel

When the real loads act on the beam, Fig. 9–11b, point A is displaced . Provided these
loads cause linear elastic material response, then from Eq. 8–2, the element dx
deforms or rotates d = (M  EI ) dx. Here M is the internal moment at x caused by the
real loads.
 External work done by the virtual unit load = 1.
 Internal virtual work done by the moment m = m.d =m (M/EI) dx

L mM
Summing the effects on all the elements
dx along the beam requires an integration
1.   dx (9-18)
0 EI

where
1 = external virtual unit load acting on the beam or frame in the direction of .
m = internal virtual moment in the beam or frame, expressed as a function of x and caused by
the external virtual (dummy) unit load.
 = external displacement of the point caused by the real loads acting on the beam or frame.
M = internal moment in the beam or frame, expressed as a function of x and caused by the real
loads.
E = modulus of elasticity of the material.
I = moment of inertia of cross-sectional area, computed about the neutral axis.
25
 Dr. Kazi M.A. Sohel

In a similar manner, if the tangent rotation or slope angle  at a point A on the

beam’s elastic curve is to be determined, a unit couple moment is first applied at the
point (see following figures), and the corresponding internal moments m have to be
determined. Since the work of the unit couple is 1., then

L m M
1.   dx
0 EI

26
 Dr. Kazi M.A. Sohel

EXAMPLE 9.4: Determine the

displacement of point B of the steel
beam shown in the figure below.
Take E =200 GPa, I=500(106) mm4.
Solution:
•Virtual Moment m •Real Moment M

x is valid from B to A
x is valid from B to A

27
 Dr. Kazi M.A. Sohel

Virtual-Work Equation: The vertical displacement of B is thus

10  1x   6 x  dx
2
mM
1 kN  . B  0
L
dx  
EI 0 EI
10
 6x4  15 103 kN 2 .m3
 1 kN  . B    
 4 EI  0 EI

15 103 kN 2 .m3
 B 
 200 106 kN/m2  500 106 1012 m4  1 kN) 
 0.150 m =150 mm  Ans.
A B
Alternate solution (using moment diagrams)
mM
1 kN  . B  0
L
dx M
EI
1 1  1 600 kN.m
 B   m1M L   (10  600)(10)
EI  4  4 EI
(10  600)(10) m
 B   0.15 m  150 mm 10 kN.m
4  200  10  500  10  10 
6 6 12

28
 Dr. Kazi M.A. Sohel
EXAMPLE 9.6: Determine the slope  at
point B of the steel beam shown in Fig. 9–
15a. Take E = 200 GPa, I = 60(106) mm4.

Solution:
•Real Moment M
•Virtual Moment m

29
 Dr. Kazi M.A. Sohel

Virtual-Work Equation: The slope at B is thus given by

L m M
1. B   dx
0 EI
m M m M
 AB EI dx  BC EI dx


5  0  3x1  dx1  5 1  3  5  x2   dx2
0 EI 0 EI

112.5 kN.m 2
 B 
EI
112.5 kN.m 2
 B 
 200 106 kN/m2  60 106 1012 m4 
 B  0.00938 rad Ans.

The negative sign indicates B is opposite to the direction of the virtual

couple moment shown in Fig.
30
 Dr. Kazi M.A. Sohel
EXAMPLE 9.7: Determine the
displacement of point D of the steel
beam shown in the figure below. Take E
=200 GPa, I=300(106) mm4.

Solution:

Virtual Moments m.

m3 = 0.75x3 m2 =0.75x2  4.5

31
 Dr. Kazi M.A. Sohel

Real
Moments M.

M 2  35 x2
M 3  120  5 x3

Real load

Virtual-Work Equation: Applying the equation of virtual work to

the beam using the data in Figs., we have
mM
1 kN  . D  
L
dx
0 EI


4.5  1x1  0  dx1  3  0.75 x2  4.5 35 x2  dx2  3  0.75 x3 120  5 x3  dx3
0 EI 0 EI 
0 EI
32
 Dr. Kazi M.A. Sohel
2 3
0 472.5 371.25 843.75 kN .m
1 kN  .  D    
EI EI EI EI
843.75 kN.m3 843.75 kN.m3
 D   
EI  200 106 kN/m2  300 106 1012 m4 
 D  0.0141 m  14.1 mm  The negative sign indicates the displacement is
upward, opposite to the downward unit load.

Alternate solution (using moment diagrams)

mM
1 kN  . D  0
L
dx
EI
120 105
mM C mM D mM +
 1 kN  . D   M
B
dx   dx   dx
A EI B EI C EI
1 kN
1
 1 kN  . D   2.25120  2 105  3
6 EI
1
 105  2  2.25  4.5   3  0
6 EI m
3 
843.75 kN.m
 D    0.0141 m  14.1 mm  4.5
EI 33
 Dr. Kazi M.A. Sohel

EXAMPLE 9.8: Determine the horizontal displacement of point C on the frame

shown in Fig. 9–17a. Take E = 200 GPa and I = 235106 mm4 for both members.

Solution:
Virtual Moments m: A horizontal unit load is applied at C, Fig. 9–20b. Why?
The support reactions and internal virtual moments are computed as shown.

34
 Dr. Kazi M.A. Sohel

B
C B
C

Cy=

A
A

Ay=

Virtual-Work Equation. Using the data in Figs., we have

3 1x1  180 x1  30 x1  dx1 2.4 1.25 x 112.5 x  dx
2
mM
1 kN  .C ,h  0
L
dx    2 2 2

EI 0 EI 0 EI
1012.5 648 1660.5 kN.m3 1660.5 kN.m3
C ,h     = 0.0353 m
EI EI EI  200  10 6
kN/m 2
 235  10 6
 10 12
m 4
 35
 Dr. Kazi M.A. Sohel
Alternate solution (using moment
diagragms & table)

270
270 +
3
+
+
3
+

Virtual or
M diagram dummy load
Real load and
support reactions m diagram

mM LAB mM LBC mM
1 kN  .C ,h  
L
dx   dx   dx
0 EI 0 EI 0 EI
1 5 1 1 1660.5
 1 kN  .C ,h   270  3  3   270  3  2.4 
EI 12 EI 3 EI
C ,h  0.0353 m  35.3 mm 

36
 Dr. Kazi M.A. Sohel
EXAMPLE 9.9: Determine the tangential rotation at point C of the frame shown
in Fig. 9–18a. Take E = 200 GPa and I = 15106 mm4.

1. Apply unit moment at C

C
1 kN.m

(a)
2. Determine m equations
Fig. 9–18 for all members A

Fig. 9–18
37
 Dr. Kazi M.A. Sohel
Solution
Virtual Moments The coordinates and shown in Fig. 9–18a will be
used. A unit couple moment is applied at C and the internal moments
are calculated, Fig. 9–18b
Real Moments M. In a similar manner, the real moments M are
calculated as shown in Fig. 9–18c.
Virtual-Work Equation. Using the data in Fig. 9–18b and 9–
18c, we have
L m M
1.C   dx
0 EI


3  1 2.5 x1  dx1  2 1 7.5 dx2
0 EI 0 EI
11.25 15 26.25 kN.m 2
 C   
EI EI EI

26.25 kN.m 2
 C 
 200 106 kN/m2 15 106 1012 m4 
(M equations)
 0.00875 rad
Fig. 9–18
Ans.
38
 Dr. Kazi M.A. Sohel
9-74. Use the method of virtual work and determine the horizontal deflection at C. EI is
constant. There is a pin at A. Assume C is a roller and B is a fixed (rigid) joint.
1 kN
x
M1 x
0.54097 kN
x x
M2 450
8.32124 kN 1 kN
0.54097 kN
2.47876 kN
x 0.54097 x
m1  (1sin 45 ) x  (0.54097 cos 45 ) x 
0
0
Solution: 2.47876 x 2 2
M1  ;
2  0.45903 x 2
6x2 m2  0.54097 x
M 2  8.32124 x 
2

mM 3mM 1.8 m M
1 kN  .C ,h  0
L
dx   1 1
dx   2 2
dx
EI 0 EI 0 EI
1  6x2 
1  2.47876 x 
 
3 1.8
 1 kN  . C ,h     0.45903x 2 dx    8.32124 x    0.54097 x  dx
0 EI  2  0 EI  2 

5.1202 4.4918 9.612 ()

 C ,h   
EI EI EI
39
 Dr. Kazi M.A. Sohel

Solve all selected problems from the text book 40

Dr. Kazi M.A. Sohel

41