Tribhuwan University

Institute of Engineering
Pulchowk Campus

Er. Nipesh Regmi

Department of Mechanical Engineering

November 19, 2016

1. Beer, F. P. et al., 2010. Vector Mechanics for Engineers: Statics & Dynamics. 9th ed. New York,
America: McGraw-Hill.

2. Hibbler, R. C., 2010. Engineering Mechanics- Statics and Dynamics. 12th ed. Upper Saddle River,
New Jersey 07458: Pearson Prentice Hall.

3. Pytel, A. & Kiusalaas, J., 2010. Engineering Mechanics: Statics. 3rd ed. Stamford, CT06902,USA:
CENGAGE Learning.

4. Gujral, I. S., 2012. Engineering Mechanics. New Delhi-110002: University Science Press.

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Determine the horizontal reaction at joint B when when a force = 500 is applied at C for =
45.

3
 Previous methods ( FBD, = 0, = 0 ) are employed for a body whose equilibrium
position is known or specified.

For problems in which bodies are composed of interconnected members that can move

relative to each other,

Various equilibrium configurations are possible and must be examined.

Previous methods can still be used but are not the direct and convenient.

Method of Virtual Work is suitable for analysis of multi-link structures (generally pin-

jointed members) which changes its configuration

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Work of a Force

A force does work when it undergoes a displacement in the direction of its line of action.

= . = cos ,
=
= + + . ( + + )
=
= + + = ,
= , . . ,
Total work done by from to =

= . = + + = F cos 5
Work of a Force

= cos = cos

of the force of the displacement

+ &
.
& 6
Force which do no work

1. Force applied to fixed points ( = 0)

2. Force acting perpendicular to the displacement (cos = 0)

3. Reaction at a frictionless pin due to rotation of a body around the pin

4. The reaction at a frictionless surface when the body in contact moves along the surface

5. The weight of a body when its CG moves horizontally

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6. The friction force acting on a wheel rolling without slipping
Work of a Couple Moment

; &
Work done by during displacement will be equal & opposite to work
= +
done by during displacement
When a body is displaced, =
Total work done is zero
Point A moves and Point B moves

;
Work done by during displacement = . = =

Couple moment , produced by external forces and is, = ()

+ & sense
= &
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Virtual Displacement

- A fictitious displacement of infinitesimal magnitude.

- Displacement is imaginary; it is not experienced or actually occurred, but only assumed.

Representation of virtual displacement

For any point A,

Actual displacement vector

Virtual displacement
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Virtual Work

- The work of the force/moment subjected to a virtual displacement /.

- Virtual work done by force having a virtual displacement is

= cos

- Virtual work of a couple undergoing a virtual rotation in the plane of the couple forces is

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 Principle of Virtual Work

If a body is in equilibrium, then the algebraic sum of the

virtual work done by all the forces and couple moments

acting on the body, is zero for any virtual displacement of

the body.

That is, =
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Procedure for analysis using principle of virtual work Notes:
- A force is +ve if it is directed along
1. Draw the FBD of the system showing all forces before and after the virtual
displacement. +ve co-ordinate axis. A ve force is
therefore, directed along the ve
2. Select some fixed point as origin of the co-ordinate axes.
axis.
3. Select a variable defining the equilibrium of the system. - Co-ordinates x and y are +ve if they
4. Write x coordinates in terms of for horizontal forces and y coordinates in terms of are along +ve axes.
for vertical forces. - A couple or a moment is +ve if it
5. Differentiate x- and y- coordinates of step 4 with respect to the angle and obtain the tends to increase angle .
values of virtual displacement for horizontal forces and for vertical forces.
6. Write down equation of virtual work = 0 for all applied forces.
7. Now using equation = 0, find the required result for given value of or find for
equilibrium of the given system.

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Illustration #1

Bars and of the mechanism are homogeneous with

each of weight . Determine the force required to keep the
mechanism in the position shown.

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Illustration #1 Solution Steps:
Point C is displaced to the right
Step 1: FBD of the system before and after virtual displacement.
Step 2: Select point B (fixed point) as the origin and established the suitable co-ordinate axes.
Step 3: Co-ordinate of point of Questions:
Active Force Virtual displacement
application
1. Why only forces and are
+ = 2 sin = cos
2 2 considered ?

2. Why is + and is ?
= cos = sin
2 2 4 2 3. Why is + and is ve ?

Step 4: Using principle of virtual work:

= 0 + = 0 + cos 2 sin = 0
2 4 2
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= tan
Illustration #2

For the system shown determine the horizontal reaction at B using

method of virtual work.

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Illustration #2 Solution Steps for horizontal reaction at B:
Point B is displaced to the right
Step 1: FBD of the system before and after virtual displacement.
Step 2: Select point (fixed point) as the origin and established the suitable co-ordinate axes.
Step 3: Co-ordinate of point of Questions:
Active Force Virtual displacement
application
1. Why only forces and are
= cos = sin
considered ?
= 2 sin = 2 cos
2. Why is and is + ?
3. Why and is + ?

Step 4: Using principle of virtual work:

= 0 + = 0 sin + 2 cos = 0

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= tan
2
Illustration #3

The four-bar mechanism shown in figure forms a parallelogram. Forces

, and are applied at the mid-points of links. Determine the force
for the equilibrium condition in terms of angle .

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Illustration #3 Solution Steps:
is displaced CCW
Step 1: FBD of the system before and after virtual displacement.
Step 2: Select point (fixed point) as the origin and established the suitable co-ordinate axes.
Step 3: Co-ordinate of point of
Active Force Virtual displacement
application

= sin = cos
2 2

= sin = cos

= + cos = sin
2 2
Step 4: Using principle of virtual work:
= 0 = 0

cos cos sin = 0 = ( + 2) cot 19
2 2
Illustration #4

Find the magnitude of the couple required to maintain

equilibrium of the link shown in figure.

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21
Illustration #4 Solution Steps:
is displaced CW
Step 1: FBD of the system before and after virtual displacement.
Step 2: Select point (fixed point) as the origin and established the suitable co-ordinate axes.
Step 3: Co-ordinate of point of
Active Force Virtual displacement
application
Note:
= sin = cos
sign indicates that the direction
= cos = sin
of moment is opposite to that of the
+ applied originally.

Step 4: Using principle of virtual work:

= 0 + = 0
cos sin = 0 = (cos + sin ) 22
Illustration #5

As shown in Figure, a horizontal force is applied to the end of three identical links smoothly
pinned together. If each link is of weight , find the equilibrium position as defined by angles
1 , 2 and 3 .

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Illustration #4 Solution Steps:
Point C is displaced to the right
Step 1: FBD of the system before and after virtual displacement.
Step 2: Select point (fixed point) as the origin and established the suitable co-ordinate axes.
Step 3:
Active Force Co-ordinate of point of application Virtual displacement

= sin 1 = cos 1 1
2 2

= sin 1 + sin 2 = cos 1 1 cos 2 2
2 2

= cos 1 1 cos 2 2 + cos 3 3
= sin 1 + sin 2 sin 3 2
2

+ = cos 1 + cos 2 + cos 3 = sin 1 1 sin 2 2 sin 3 3

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Step 4: Using principle of virtual work:

= 0 + = 0

cos 1 1 cos 1 1 cos 2 2 cos 1 1 cos 2 2 + cos 3 3
2 2 2

+ sin 1 1 sin 2 2 sin 3 3 = 0

5 3
cos 1 sin 1 1 + cos 2 sin 2 2 + cos 3 sin 3 3 = 0
2 2 2

5 3
On solving, we get; 1 = tan1 , 2 = tan1 and 3 = tan1
2 2 2 25
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