6.

Virtual Work
2142111 Statics, S i 2011/2 Department of Mechanical Engineering Chulalongkorn University Engineering,

Objectives Students must be able to #1

Course Objective Use virtual work and energy methods in analyses of frictionless bodies/structures in equilibrium Chapter Objectives For virtual work Describe and determine virtual works and virtual motion (displacement/rotation) by forces and couples Determine active forces that maintain systems in equilibrium and draw the Active Force Diagram (AFD) Determine possible virtual motions and draw the Virtual Motion Diagram (VMD) Determine the degree g of freedom ( (DoF) ) and virtual motion in terms of independent coordinates
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Objectives Students must be able to #2

For virtual work Use the principle of virtual work with AFD and VMD to analyze for unknown active loads or equilibrium position for systems in equilibrium For potential energy Relate the work done with potential energy Describe and determine the potential energy, potential function and independent coordinates in a system Describe the conditions for stable/neutral/unstable stability of a system in equilibrium by the potential function Determine from p potential function the stability y of 1 DoF systems in equilibrium
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Contents

Virtual Work Definition of Work Principle of Virtual Work Types yp of Forces Degree of Freedom Potential P t ti l Energy E Applications

Virtual Work

Work By a Force
dU = F dr = F dr cos

dU = work F = force that done the work dr = displacement

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Virtual Work

Work By a Couple

r r dU = F ( d ) + F ( d ) = (Fr )d 2 2
M = magnitude of couple that do the work d = small angle of rotation
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dU = M d

Virtual Work

Virtual Work Utilization

Utilize the principle of virtual work To determine active forces that maintain the system in equilibrium, To determine the equilibrium positions, To relate the work done by conservative forces with potential energy.

Virtual Work

Virtual Work Virtual Movements

Imaginary or virtual movements is assumed and does not actually exist. Virtual displacement r Virtual rotation Virtual movements are infinitesimally small and does not violate physical constraints.

Principle of virtual work is an alternative form of Newtons laws that can analyze the system in equilibrium under work and energy concepts.

Virtual Work

Virtual Work Constraints of Movements

U = F r

U = M

Virtual Work

Virtual Work Principle of Virtual Work

Consider an object in equilibrium Th virtual The i t l work k done d by b all ll forces f to t move the th object bj t with ith a virtual displacement

U = (F r ) = (F1 + F2 + F3 ) r

In equilibrium, U = 0

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Virtual Work

Types of Forces Active and Reaction

Active forces generate virtual work. External forces applied forces forces, gravitational forces Internal forces spring forces, viscous forces Reaction and constrain forces do not create virtual work

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Virtual Work

Conservative Forces Descriptions #1

Conservative forces generate virtual work that depends only on the initial and final locations locations, but not on is the path. Conservative forces are active forces. Example: weight, elastic spring

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Virtual Work

Conservative Forces Descriptions #2

U = Wy W
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Virtual Work

Conservative Forces Descriptions #3

1 2 1 2 U = ( ks2 ks1 ) 2 2

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Virtual Work

Conservative System y

A conservative system is a system in which work done by a force is Independent of path, i.e. work done by conservative force, Equal to the difference between the final and initial values of the energy function, Completely p y reversible, , i.e. no loss.

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Virtual Work

Frictional Force

Friction exerts on a body by surface due to relative motion Work done depends on the path; the longer the path, the greater the work. Friction is not conservative. conservative Work done is dissipated from the body in the form of heat.

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Virtual Work

Virtual Work Advantages

Work done by reaction forces are always zero zero. Only active forces cause virtual works. If the structure is in equilibrium, or U = 0, sum of virtual works d done b by all ll active ti f forces are zero. For complex structures, all unknown reaction and constraint g forces are ignored. Use the principle of virtual work to determine Active forces that maintain the system in equilibrium, Equilibrium E ilib i positions. iti

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Virtual Work

AFD Active Force Diagrams g

An AFD shows only active forces in the system.

AFD

FBD
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Virtual Work

DOF Degrees of Freedom

DOFs are independent coordinates used to describe positions of the system system. Virtual displacements can be derived in terms of DOFs.

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Virtual Work

Example Boresi 12 12-35 35 #1

AFD

Apply the principle of virtual work to derive a formula in terms of a, b, and W for the magnitude P of the force required for equilibrium of the bell crank ABC. The pin at B is frictionless. Neglect the weight of the bell crank.

AFD of f the h rod d 1 DOF system

Procedure Active force diagram Geometric relations of virtual movements Virtual Vi l work k equation i
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Virtual Work

Example Boresi 12 12-35 35 #2

Virtual Motion Virtual Work

Virtual movements rC = b

rA = a
Virtual Work

[ U = 0]
P rA W rC = 0 Pa Wb = 0 P = bW a DIY: Check by FBD
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Ans

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Virtual Work

Example Hibbeler 11 11-13 13 #1

AFD

The thin rod of weight W rest against the smooth wall and floor. Determine ete e the t e magnitude ag tude o of force o ce P needed eeded to hold o d it t in equ equilibrium b u for a given angle .

AFD of the rod 1 DOF system y

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Virtual Work

Example Hibbeler 11 11-13 13 #2

Virtual movements: l yC + yC = sin( + ) 2 l l yC + sin i = ( (sin i cos + cos sin i ) 2 2 cos 1, sin

Virtual Motion

yC = cos x A + x A = l cos( + ) x A = l (cos cos sin sin cos ) cos 1, sin x A = l sin (as increase, x A decrease)

l 2

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Virtual Work

Example Hibbeler 11 11-13 13 #3

[ U = 0]
P x A W y C = 0 Pl sin i W 1 cos P= W 2 sin i l cos = 0 2 Ans

Virtual Work

DIY: Check by FBD

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Virtual Work

Example Hibbeler 11 11-13 13 #4

Virtual movements: Alternative method 1 y C = l sin 2 dy C 1 = l cos d 2 1 y C = l cos 2 dx A = l sin d x A = l sin

Virtual Motion

x A = l cos

Be careful of the sign!

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Virtual Work

Example Boresi 12 12-38 38 #1

Using the principle of virtual work, determine the relationship between the force P and Q, in terms of a, b, c, and d, for the frictionless mechanism that is in equilibrium in the position shown. Neglect the weights of the bars.

AFD of the system 1 DOF system t

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Virtual Work

Example Boresi 12 12-38 38 #2

1 = d , 2 = c , 3 = 2 = c , 3 a+b = 4 4 = c
a a+b a

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Virtual Work

Example Boresi 12 12-38 38 #3

[ U = 0]
P1 + Q 4 = 0 P 4 a + b c = = Q 1 a d P c b = (1 + ) Q d a Ans

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Virtual Work

Example Boresi 12 12-36 36 #1

A pulley-crank mechanism is used to raise the 400 lb weight weight. Using the principle of virtual work, determine the force P. Neglect the weight of the pulley

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Virtual Work

Example Boresi 12 12-36 36 #2

1 = (2 ft) 2 = (1 ft) 3 = 4 3 = 2 / 2 = (0.5 ft)

[ U = 0]
P1 (400 lb) 4 = 0 (0.5 ft) (2 ft) P = 100 lb Ans P = (400 lb)
AFD of the system 1 DOF system
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Virtual Work

Example Frame & Machine 1 #1

For P = 150 N squeeze on the handles of the pliers, determine the force F applied by each jaw jaw.

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Virtual Work

Example p Frame & Machine 1 #2

1 DOF system:

1
180 mm

2
30 mm

2 = 3 =

1
6

2
60 mm

3
20 mm

2
3

1
18
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Virtual Work

Example Frame & Machine 1 #3

Symmetry about the horizontal centerline

[ U = 0]

2P1 2F 3 = 0 F = 18P = 2.25 kN Ans

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Virtual Work

Example p Frame & Machine 2 #1

The mechanism is used to weigh mail A package placed at A causes mail. the weighted pointer to rotate through an angle . Neglect the weights of the members except for the counterweight at B, which has a mass of 4 kg. If a = 20, what is the mass of the package at A?

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Virtual Work

Example p Frame & Machine 2 #2

1 DOF system B rotates CCW by .

2 = (100 mm) ( cos(20 ) cos 20 ) 2 = (100 mm) sin 20 1 = (100 mm) ( sin(10 + ) sin10 ) 1 = (100 mm)cos10

[ U = 0]
4g 2 W 1 = 0 W = 4g sin 20 , mA = 1 1.39 39 k kg cos10 A Ans
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Virtual Work

Virtual Work Systems with Friction

Friction forces causes the virtual work on the systems. As the advantage of virtual work method is in the analysis of the entire system, appreciable friction in the system requires the dismembering and negates this advantage.

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Virtual Work

Mechanical Efficiency y
e= output work input work

1=

output work + loss input work

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Virtual Work

Example Friction 1 #1

Find the mechanical efficiency in moving the block of f weight W up the incline with coefficient of kinetic friction k.
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Virtual Work

Example Friction 1 #2

The block moves upwards. By equilibrium of force F = k W cos

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Virtual Work

Example Friction 1 #3

[ U = 0]
T s F s W s sin = 0 T = W ( k cos + sin ) e= W s sin sin = T s k cos + sin
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Potential Energy

Potential Energy

Potential energy Capacity to do work Generated by conservative forces Example of potential energy Gravitational Vg = mgh Elastic El ti spring i Ve = 0.5 0 5ks k 2 Torsional spring Ve = 0.5K 2 Potential function V = Vg + Ve

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Potential Energy

Equilibrium 1 DOF

Position from datum is defined by independent coordinate q The displacement of frictionless system is dq V = V(q) dU = V(q) V(q + dq) In equilibrium dU = dV = 0

dV =0 dq

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Potential Energy

Equilibrium n DOFs

Positions defined by q1, q2, q3, , qn The displacement of frictionless system is q1, q2, q3, , qn V = V(q1, q2, q3, , qn ) dU = V(q1, , qn ) V(q1 + dq1, , qn + dqn) In equilibrium dU = dV = 0

V =

V V V q1 + q2 + ... + qn q1 q2 qn

V V V = 0, = 0, ..., = 0, q1 q2 qn
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Potential Energy

Stability

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Potential Energy

Stability 1 DOF #1

Stable Equilibrium

dV d 2V = 0, >0 2 dq dq

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Potential Energy

Stability 1 DOF #2

Neutral Equilibrium

dV d 2V = 0, =0 2 dq dq

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Potential Energy

Stability 1 DOF #3

Unstable Equilibrium

dV d 2V = 0, <0 2 dq dq

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Potential Energy

Example Hibbeler 11 11-31 31 #1

Determine the equilibrium position s for the 5-lb block and investigate the stability at this position. The spring is unstretched when s = 2 in. and the inclined plane is smooth smooth.

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Potential Energy

Example Hibbeler 11 11-31 31 #2

Unstretched position

Equilibrium position

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Potential Energy

Example Hibbeler 11 11-31 31 #3

Potential function V = Ve + Vg = V= 1 2 ks + mgh 2

1 (3 lb/in.)(s 2 in.)2 2 V = (5 lb)(s 2 in.) sin 30 1 V = (3 lb/in lb/in.)( )(s 2 in in.) )2 2 (5 lb) V = (s 2 in.) 2 At equilibrium, [dV / ds = 0 ] (3 lb/in lb/in.)( )(s 2 in in.) ) s = 2.8333 in. (5 lb) ( ) =0 2
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Potential Energy

Example Hibbeler 11 11-31 31 #4

Stability consideration:

d 2V = (3 lb/in.) stable 2 ds Ans

Stable equilibrium position s = 2.83 in.

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Potential Energy

Example Hibbeler 11 11-45 45 #1

The 2-lb semi-cylinder supports the block which has a specific weight of = 80 lb/ft3. Determine the height h of the block which will produce neutral equilibrium in the position shown.

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Potential Energy

Example Hibbeler 11 11-45 45 #2

V = Vg 1 + Vg 2 = V1hG1 + W2 hG 2 80 16 in. h 3 cos ) V = ( 3 lb/in. )(8 in.)(10 in.)h(4 in. + cos ) + (2 lb)(4 in. 12 2 3 V = (14.816 lb)h + (1.8549 lb / in.)h 2 cos + (8 3.3953 cos )lb in.

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Potential Energy

Example Hibbeler 11 11-45 45 #3

dV = (1.8549 (1 8549 lb / in.) in )h 2 sin + (3.3953 (3 3953 lb in.) in ) sin d d 2V 2 (1.8549 lb / in.) cos + (3.3953 lb in.)cos = h 2 d At equilibrium dV 2 = 0 (1.8549 (1 8549 lb / in.) i ) h sin i + (3.3953 (3 3953 lb in.) i ) sin i =0 d = 0 or h = 1.3529 in. At neutral stability d 2V 2 0 (1.8549 lb / in.) h cos + (3.3953 lb in.)cos = 0 = 2 d = 90 or h = 1.3529 = 1.35 in. Ans

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Potential Energy

Example Boresi 12 12-44 44 #1

The uniform slender rods of equal length are hinged together together. They rest against a 45 inclined plane and are constrained to remain in a vertical plane plane. Neglect friction, determine the smallest nonzero angle for which hi h equilibrium ilib i i is possible. ibl Determine whether or not the equilibrium q state is stable for this configuration.

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Potential Energy

Example Boresi 12 12-44 44 #2

AFD of the system 1 DOF O system h1 = a sin h2 = 2a sin + a cos

= 45 +
V = Wh1 + Wh2 V = 3Wa sin + Wa cos dV = Wa(3 cos sin ) d d 2V = Wa( 3 sin cos ) 2 d
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Potential Energy

Example p Boresi 12-44 #3

In equilibrium dV = Wa( (3 cos sin ) = 0 d = 71.565, = 26.6 Ans Stability at = 71.565 d 2V = Wa( 3 sin cos ) 2 d = 3.1623Wa System is unstable Ans
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Review

Concepts

The virtual work done by all forces to move the object with a virtual displacement. If the structure is in equilibrium equilibrium, sum of virtual works done by all active forces are equal to zero. Type of the system equilibrium stable, neutral and unstable, can be determined by the second derivation of potential function with the independent coordinate.

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