Energy Methods

• Employ concept of generalized coordinates (x1,x2,…,xn)

• Assumption: Plane cross sections of the members remain plane after
loading. So, changes of the generalized coordinates denote translation and
rotation of the cross section.
• Applications :
• Finite dof = no. of generalized coordinates ( to specify the
configuration of the system)
 Generalized forces and displacements
• Any set of independent coordinates are called
generalized co-ordinates, q1 , q2 ……qn
• Lengths, angles or any other set of numbers that define
the configuration of the system at any time uniquely.
• Generalized co-ordinates are independent of constraints

• Triple pendulum
• Configuration can be specified by six coordinates, (xj,yj ),
j=1,2,3, not independent but are constrained
=
-)2 + -)2 =
-)2 + -)2 = (9)
 Principle of Stationary Potential Energy
• Consider system with finite number of dof with equilibrium configuration (x1,x2,
…,xn)
• A virtual /imagined displacement is imposed such that the new configuration is
(x1 + ,x2 +,… ,xn +)
• The virtual work W = Q1+ Q2+…+Qn (1)
• Qi---components of generalized load, functions of generalised coordinates,
defined for a given cross section of the structure:
– Qi –force if of cross section
• Moment / torque if is rotation of cross section
• For deformable body, virtual work W = We + Wi (2)

External forces Internal forces

Principle of Stationary Potential Energy For elastic U-total strain energy
system
Pi- functions of the
generalized coordinates , xi
By analogy to Qi, functions Pi
Let virtual displacement takes the system completely around a closed path
are called the components
of generalized external load.
closed path
If xi –displacement / rotation
occurring in a system, then
Pi denotes components of
the prescribed external
 Virtual work vanishes around a closed path. forces / couples acting on
 System is conservative. The work and force are path independent.
 This condition is called principle of stationary potential energy. system
 Castigliano’s First Theorem
For a conservative system,

Or,

For any system with finite dof, if components Qi

vanish, system is in equilibrium
Example 5.1
 N1,N2-tension in Strain energy of the Bar AB Strain energy of the Bar BC
bars, P1=P,P2=Q

Total strain energy

of the structure

Equilibrium
equations

e1,e2-elongation of AB &BC
 Obtained from geometry
of deformation

Small displacement

Binomial expansion
to linear terms in u
and v
 Elasticity andElastic and Complimentary
Complementary Internal Energy Density

U0 depends on ε and for

Energy Density

given temperature
depends on σ
,  
,0
C0  = Uo + Co
U 0   σdε (12)
U0
C0   εdσ
(13) 0,   
 Castigliano’s Second Theorem

• Based on complimentary strain energy, C

• C is function of generalized forces Fi
• C depends on distributed loads that act on the beam, as well as self weight of
beam.

qi =
 Castigliano’s Second Theorem
Castigliano’s Theory on deflection:

Small displacement assumption

 Rigid supports.
 Ignore distributed forces, weight of the
beam and temperature effects.

Complementary energy of a structure,

Compute the rotation of line elements in a system

subjected to couples.
 Rotation due to couple
Consider a beam that is supported on rigid supports and subjected to external concentrated forces of magnitudes
F1, F2,…, Fp (Fig. 5.3). Let two of the concentrated forces (F1, F2) be parallel, lie in a principal plane of the cross
section, have opposite senses and act perpendicular to the ends of a line element of length b in the beam (Fig.
5.3a). Then rotation of line segment due to the deformations is given by the relation,

The chain rule of partial differentiation of the

complementary energy function C with respect to
a scalar variable S 1 1

F1 and F2 to be functions of S
Let’s take

Couple of magnitude
Sense of is same as Mi

• Restricted to small displacement

• Can be applied to nonlinear elastic materials
Example 5.2

Equilibrium equations
Another approach,
By geometric relation,
 Castigliano’s Theorem on Deflection
For linear Load-Deflection relations
 Linear elastic material behavior and small displacement.
 Isotropic and homogeneous materials.

Used to obtain displacements at the points of

application of the concentrated forces or the
rotations in the direction of concentrated
moments.
dV-elemental volume
Strain energy for Axial loading:
Strain energy for Axially loaded springs:

For spring, C = U, hence,

F is internal tension force and Q is external force. For equilibrium Q = F and hence,
 Mx cause plane D*F* to
Strain energy for Beams: x,y-principal axes of
rotate through angle dϕ

(Part A) Strain energy from pure bending: cross section

• Similar expression is valid for bending about

the y axis for load lying in the (x, z) plane.
The strain energy resulting from • Abrupt change in E, Mx, Ix , changes UM , can
pure bending about the x-axis be handled similar to UN
Strain energy for Beams:
(Part B) Strain energy from shear loading of a beam:

Shear stress due to shear force Vy is

Shear strain energy for the beam resulting from shear Vy is

k is correction coefficient

The strain energy for shear loading

of a beam

Strain energy US is often smaller than UM and

hence need for exact value of US is not critical
 Section D*F* is rotated relative to
Strain energy for Torsion: section B*C* through the angle dβ

The strain energy for torsion member for circular cross section

From geometry after rotation,

And also,

Torsional Strain energy is

Unit angle of twist for circular cross section is

For any Structure
(Q1)

Solution:

and
(Q2)
Solution:

Also,

k = 1.2 for rectangular cs

 Also, L = 5 x h

We have,
(Q3)
Solution:

Pin reaction at C and H have same magnitude but opposite direction. Hence, moment
equilibrium yields
(Q4)

4
 (Q5)

Solution:
(a)
(b)
(Q6)
(Q7) The end of the semi-circular member shown in Figure, is subjected
to torque T. What is the twist of end A? The member is circular in
section.
Solution:
The energy due to torque is,

The energy due to bending is,

The total energy is

and

The twist is
(Q8) Find the vertical deflection of point E in the truss shown in Figure.
All members have the same cross section and are made of the same
material.
Solution:
(Q9)
Figure

Solution:
(T1) For the structure shown in Figure, (T2) Determine the vertical displacement of
what is the vertical deflection at point E for the structure shown in
end A? Figure. All members have the same cross-
section and the same rigidity
EA.
(T1) For the structure shown in Figure, what is the vertical deflection at
end A?
Solution:
The moment at any section θ of the curved part is
Pr (1 - cos θ). The bending moment for the vertical
part of the structure is a constant equal to 2Pr. The
bending energy therefore is
(T2) Determine the vertical displacement of point E for the structure shown in
Figure. All members have the same cross-section and the same rigidity
EA.
Solution:
(Q10)
(a)

(b)
Solution:
(a)
(b)
END