Deflection - Energy Method

External Work

When a force F undergoes a displacement dx in the same direction as the

force, the work done is dU  F dx
e

 If the material has a linear elastic response, then

The force F applied gradually
𝑥
 If the total displacement is x the work become: 1
𝑈 𝑒=∫ 𝐹 𝑑𝑥= 𝑃∆
0 2
The work of a moment is defined by the product of the magnitude of
the moment M and the angle thendU  M d
e

 If the total angle of rotation is , the work become:

𝜃
1
𝑈 𝑒 =∫ 𝑀 𝑑 𝜃 = 𝑀𝜃
0 2
The moment applied gradually
External Work

If is already applied to the bar and that another force is now applied; the work
done by when the bar undergoes the further deflection is then:

𝑼 𝒆′= 𝑷 ∆ ′
 Strain Energy – Axial Force
and

PN N = internal normal force in a truss member caused

by the real load
U  12 P
L = length of member
N 2L A = cross-sectional area of a member
Ui  E = modulus of elasticity of a member
2 AE

Strain Energy – Bending

M M 2 dx
d  dx dU i 
EI 2 EI
U  12 M L
M 2 dx
Ui  
0
2 EI
Principle of Virtual Work
To illustrate the principle of virtual work, consider the
deformable body shown in figure.
First, applying a virtual or fictitious unit load at a point A,
where the deflection parallel to the applied load is desired, will
create an internal virtual or imaginary load u and will cause
point A to displace by a certain small amount.
Then, placing the real external loads , and on the same
body will cause an internal deformation, dL, and an external
deflection of point A by an amount ∆
Upon placement of the real load, the point of application of
the virtual load also displaces by ∆, and the applied unit load
performs work by traveling the distance ∆. The work done by the
virtual forces are as follows:

 External work done by the unit load P’:

 Internal work done by the virtual load u:

 Applying the principle of conservation of energy by equation suggests the following:
External work done = Internal work done
Virtual loads

Real displacement
where:
 P’ 1 = external virtual unit load.  ∆ external displacement caused by real loads.
 u :internal virtual load.  dL internal deformation caused by real loads.

Similarly, to obtain the slope at a point on a structure, apply a unit virtual moment Mv
at the specified point where the slope is desired, and apply the following equation derived
via the principle of conservation of energy: Virtual loads

𝟏 × 𝜽=𝒖 × 𝒅𝑳
                                                            
𝜽
Real displacement
where:
 Mv 1 = external virtual unit moment.  dL internal deformation caused by real loads.
 θ external rotational displacement caused by real loads.  internal virtual load.

Work of external loads = Work of internal loads

Virtual loads

 P   u 1.   u.dL
Real displacement
 Method of Virtual Work: Trusses
The truss is subjected to the loads P1, P2, and
P3, and the vertical deflection ∆ at joint F is
desired.
First, remove the loads P1, P2, and P3, and
apply a vertical virtual unit load Pv = 1 at joint F.
The virtual unit load will cause the virtual
Applying
internal the forces
axial load ni to actP1on
, Peach
2, andmember
P3 will cause
of thethe deflection ∆ at joint F and the internal deformation
δL i in each member of the truss.
truss.

 Using the law of conservation of energy, :External work = internal work

      
But, for a member with length Li, area Ai, and material Young’s modulus Ei, the deformation is written
as follows:

 Thus, the virtual work expression for the deflection of a truss can be written as follows:
         
where
 external vertical virtual unit load applied at joint F in the stated direction of
 n : internal axial virtual force in each truss member due to the virtual unit load
 N : axial force in each truss member due to the real loads and.
 ∆ : external joint displacement caused by the real loads.
 δL : deformation of each truss member caused by the real loads.
 L : Length of member A: cross-sectional area of a member E: modulus of elasticity of member
Example I: The cross sectional area of each member of
the truss show, is & .
1. Determine the vertical displacement of joint C if a
force is applied to the truss at C.

( )
𝒏
𝑵 𝒊 𝑳𝒊
𝟏 . ∆=∑ 𝒏𝒊
𝒊=𝟏 𝑨𝒊 𝑬 𝒊
 A virtual force of 1 kN is applied at C in the vertical direction

Virtual forces n

Real forces N
 Member

( )
𝒏
𝑵 𝒊 𝑳 𝒊 𝟏𝟎 . 𝟔𝟕 𝟏𝟎 . 𝟔𝟕
𝟏 . ∆=∑ 𝒏𝒊 = = =𝟎 .𝟎𝟎𝟎𝟏𝟑𝟑 𝒎=𝟎 ,𝟏𝟑𝟑 𝒎𝒎
𝒊=𝟏 𝑨𝒊 𝑬 𝒊 𝑨𝑬 −𝟔
𝟒𝟎𝟎 ×𝟏𝟎 × 𝟐𝟎𝟎 ×𝟏𝟎
𝟔
Example II: The cross sectional area of each member
of the truss show, is & .
1. Determine the vertical displacement of joint C
Method of Virtual Work: Trusses – Changing in Temperature of member
𝒏
𝟏 . ∆ =∑ 𝒏𝒊 𝜶 𝒊 ∆ 𝑻 𝒊 𝑳 𝒊
𝒊=𝟏
 1 : external 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 external virtual unit load
 Δ : external joint displacement caused by the temperature change.
 α : coefficient of thermal expansion of member
 ΔT : change in temperature of member
 L : length of member
Example III: Determine the vertical displacement of joint of steel truss
shown in figure; due to radiant heating from the wall, member is
subjected to an increase of . Take and . The cross-sectional area of each
member is indicated in the figure
 Exercise I: Using the virtual work method, determine the horizontal deflection at joint B of the
truss shown in figure. and
Support reactions: The reactions are computed by the 90𝑘𝑁
application of the equations of equilibrium, as follows: 4𝑚
:
90𝑘𝑁 3𝑚 3𝑚
: 4𝑚
𝐴𝑥
: 3𝑚 3𝑚
𝐴𝑦 𝐷𝑦

FBD joint A: FBD joint B: FBD joint C:

: : :

:
: :

90𝑘𝑁 90𝑘𝑁
60𝑘𝑁
 FBD joint D:
:
𝑫

60 𝑘𝑁

1 𝑘𝑁
4𝑚
3𝑚 3 𝑚
 A virtual force of 1 kN is applied at C in the horizontal direction:
 Divisons par 90 kN

1 𝑘𝑁
4𝑚
𝐴𝑥
𝐴 𝑦 3𝑚 3 𝑚 𝐷𝑦
Table: Horizontal deflection

∑ 𝑵𝒏𝑳=𝟏𝟒𝟎𝟏.𝟒
Member Length N (kN) n (kN) NnL
(m)
AB
AE
BC
BE
CD
CE
DE
𝒏𝑵𝑳 𝟏𝟒𝟎𝟏. 𝟒×𝟏𝟎 𝟔
𝟏 . ∆=∑ = =𝟑 .𝟗𝒎
𝑨𝑬 𝟏𝟐𝟎× 𝟏𝟎 ×𝟑
𝟔
Method of Virtual Work: Beam

L
M
1.   m dx
0
EI
 1 : external virtual unit load acting on the truss joint in the stated direction of
 m : internal virtual moment in a truss member caused by the external virtual unit load
 : external joint displacement caused by the real load on the truss
 M : internal moment in a beam caused by the real load
 L : length of member
 I : moment of inertia of cross-sectional
 E : modulus of elasticity of a member
Similarly the rotation angle at any point on the beam can be determine, a unit couple
moment is applied at the point and the corresponding internal moment have to be determine
L
m M
1( KN .m ).   dx
0
EI
Example IV: Determine the displacement at point B of a steel beam.
,

𝐵
𝐵

L 10 2 10 3 4 10
M (1x)  (6 x )dx 6 x dx  6 x 
1.   m dx     
0
EI 0
EI 0
EI  4 EI 0
15(103 ) 15(103 )
  6 6 12
 0.15m
EI 200(10 )  500(10 )(10 )
Example V: Determine the tangential rotation at point A of a steel beam.
,
Example VI: Determine the tangential rotation (slope)
and displacement at point B of a steel beam.
,

Real Load

Virtual Load

L 5 10 10 10
M (0)  (3 x)dx (1)  (3 x)dx 3 x dx  3 x  2
1.   m dx      
0
EI 0
EI 5
EI 5
EI  2 EI 5
3(10 2 )  3(52 )
B  6 6
 0.0094 rad
2  200(10 )  60(10 )
Example VII: Determine the displacement at point D of a steel beam.
,
Example VIII: Determine the displacement at point C on the frame of a steel beam.
For both members: ,
Example IX: Determine the tangential rotation at point C on the frame of a steel beam.
,

Virtual Load
Real Load
Virtual Strain Energy caused by: Axial Load
𝒏𝑵𝑳
𝑼 𝒏=
𝑨𝑬
 n : internal virtual axial load caused by the external virtual unit load
 N : internal normal force in the member caused by the real load
 L : length of member
 A : cross-sectional area of the member
 E : modulus of elasticity of the material

Virtual Strain Energy caused by: Shear

𝑳
𝒗𝑽
𝑼 𝒔 =∫ 𝑲 𝒅𝒙
𝟎 𝑮𝑨
 v : internal virtual shear in the member caused by the external virtual unit load
 V : internal shear in the member caused by the real load
 G : shear modulus of elasticity for the material
 A : cross-sectional area of the member
 K : form factor for the cross-sectional area
 K=1.2 for rectangular cross sections
 K=10/9 for circular cross sections
 K=1.0 for wide-flange and I-beams where A is the area of the web.
Virtual Strain Energy caused by: Torsion
𝒕𝑻𝑳
𝑼 𝒕=
𝑮𝑱
 t : internal virtual torque caused by the external virtual unit load
 T : internal shear in the member caused by the real load
 G : shear modulus of elasticity for the material
 J : polar moment of inertia of the cross-sectional
 L : member length

Virtual Strain Energy caused by: Temperature

𝑳
𝒎𝜶 ∆𝑻𝒎
𝑼 𝒕𝒆𝒎𝒑 =∫ 𝒅𝒙
𝟎 𝒄
 m : internal virtual moment in beam caused by the external virtual unit load or unit moment
 α : coefficient of thermal expansion
 : change in temperature between the mean temperature and the temperature at the top or the
bottom of the beam
 c : mid-depth of the beam
Example X: Determine the horizontal displacement at point C on
the frame of a steel beam.
For both members: the cross-sectional rectangular area
,
Include the internal strain energy due to axial load and shear.
 Bending:

Axial load:

Shear:

540 ×12
¿ 3
= 0 . 00675 𝑖𝑛 .(∗𝑘 )
12 ×10 × 80

 Applying the equation of virtual work, we have:

Example XI: The beam is used in a building subjected to two different thermal environments. If
the temperature at the top surface of the beam is and the bottom surface is , determine the
vertical deflection of the beam at its midpoint due to the temperature gradient.
Take
Exercise II: The truss supports concentrated forces of
Assuming all members are of the same cross-section and material,
using Castigliano’s theorem, find the vertical deflection of point in
terms of . Take
Support reactions: Since we have symmetry in geometry
and load:
FBD joint A:
:
𝐹 𝐴𝐸 √2 𝐿
√2 𝐿
√2 𝐿
2 2

45 °
𝐴𝑥 =0 2
A
:
𝐹 𝐴𝐵
𝐴𝑦 𝐶𝑦
FBD joint A:
𝐴𝑦
: Using symmetry:
E 2 𝐴𝑦 D

: √ 2 𝐴𝑦 √ 2 𝐴𝑦 √ 2 𝐴𝑦
A C
E
𝐹 𝐸𝐷 𝐴𝑦 B 𝐴𝑦
𝐹 𝐸𝐴 45 °
𝐹 𝐸𝐵
Exercise III: The moments of inertia of the tapered and constant area segments of the cantilever
beam are given by and respectively. Using Castigliano’s theorem, find the deflection o

 1st Free-Body Diagram:

𝑉 1=𝑃 𝑃
𝑁 1 =0 𝐷

𝑀 1=𝑃𝑥 𝑥

 2nd Free-Body Diagram: Using Castigliano’s theorem:

The vertical deflection:
𝑃 𝑉 2=𝑃
0 𝑁 2 =0 +

2𝑃𝑎 𝑥 𝑀 2=𝑃 (2 𝑎− 𝑥 )
Exercise IV: Determine the vertical deflection and slope at the point of cantilever loaded, using
Castigliano’s theorem.
Neglect the effect of shear forces:

 1st Free-Body Diagram:

𝑃 𝑉 1=𝑃 Using Castigliano’s theorem:

𝑁 1 =0 The vertical deflection:
𝐴
𝑥 +
𝑀 1=𝑃𝑥
Angular rotation :
We need to apply a moment C at A:
 2nd Free-Body Diagram:
The angular rotation:

𝑃 𝑉 1=𝑃 + (Set )
𝑁 1 =0
𝐴
𝐶 𝑥 𝑀 1=𝐶+𝑃𝑥
Exercise V: Determine the vertical deflection and slope at the point of cantilever which
uniformly distributed load of intensity is applied to the beam, using Castigliano’s theorem.

Using Castigliano’s theorem: 𝑃

The vertical deflection:

𝑉 1=𝑤0 𝑥+𝑃
𝑃
𝑁 1 =0
Angular rotation :
We need to apply a moment C at A: 𝑥
𝑤 0 𝑥2
𝑀 1=𝑃𝑥+
𝑉 1=𝑤0 𝑥+ 𝑃 2
𝑃
𝑁 1 =0
𝑥
𝐶 𝑤0 𝑥 2
𝑀 1=𝐶 + 𝑃𝑥+
2
The angular rotation:

+ (Set )
Exercise VI: Determine the vertical deflection and slope at the point of stepped cantilever,
using Castigliano’s theorem.
Neglect the effect of shear forces:

 1st Free-Body Diagram:  2nd Free-Body Diagram:

𝑃 𝑉 1=𝑃 𝑃 𝐵 𝑉 2=𝑃
𝑁 1 =0 𝑁 2 =0
𝐴 𝐴
𝑥 𝑀 1=𝑃𝑥 𝑥 𝑀 2=𝑃𝑥
The vertical deflection:

+
 Angular rotation :
We need to apply a moment C at A:
 1st Free-Body Diagram:  2nd Free-Body Diagram:

𝑃 𝑉 1=𝑃 𝑃 𝐵 𝑉 2=𝑃
𝑁 1 =0 𝑁 2 =0
𝐴 𝐴
𝐶 𝑥 𝑀 1=𝑃𝑥+𝐶 𝐶 𝑥 𝑀 2=𝐶 + 𝑃𝑥

The angular rotation:

(Set ) and integrate

• Note that and C must be in same direction

Exercise VII: A cantilever beam of length subject to a linearly
varying loading per unit length, having the value zero at the
free end and at the fixed end, is supported on a roller at its free
end. Find the reactions, using Castigliano’s theorem.
 Overall Free-Body Diagram:
𝑃0 •Number of unknowns = 4
𝐿
𝑀𝐴 2 •Number of equations of equilibrium = 3
𝐴 𝐵 •Therefore this system is a statically indeterminate
𝐴𝑥
•Beam of degree 1 (4-3=1)
𝐵𝑦 •An additional equation is required
𝐴𝑦 •Since can be considered as redundant reaction:
:
: :

 1st Free-Body Diagram:

:
𝑃0 2
𝑉 1 2𝐿
𝑥

𝑁 1 =0 𝐵

𝑥 𝐵𝑦
𝑀1
Using Castigliano’s theorem:
=0

𝑃0 2 𝑃0 2
𝑀 𝐴= 𝐿 − 𝐵 𝐿= 𝐿
6 𝑦 15
Exercise VIII: Using Castigliano’s theorem, find the slope of deflection curve at mid-length C of
a beam due to applied couple moment
First of all we need to determine the reactions of the beam
which represents a statically indeterminate beam of degree 1.
 Since can be considered as redundant reaction:
𝑀𝐴 𝑀0
𝐴 𝐶 𝐵
: 𝐴𝑥
: 𝐵𝑦
𝐴𝑦
:

 1st Free-Body Diagram:  2nd Free-Body Diagram:

𝑉 1 𝑉 2
𝑀0
𝐵 𝐶 𝐵
𝑁 1 =0 𝑁 2 =0

𝑀1 𝑥 𝐵𝑦 𝑀2 𝑥 𝐵𝑦
: :
 Using Castigliano’s theorem:
=0

The angular rotation at point C:

Exercise IX: Member in the following figure is fixed at and supported by a roller at . It has a
constant symmetrical cross area where is also a constant. Using Castigliano’s theorem and
neglecting the effect of the shear forces, if length is large compared with the depth of the
member, determine: 𝑀 𝑃
𝐴
𝐴 𝐶
1) The horizontal displacement at . 𝐴𝑥
𝐵
 Overall Free-Body Diagram:
𝐴𝑦
The beam represents a statically 𝐷
indeterminate beam of degree 1 𝐷𝑦
 Since can be considered as redundant reaction:

 1st Free-Body Diagram:  2nd Free-Body Diagram:  3rd Free-Body Diagram:

𝑁 1 =− 𝐷 𝑦 𝑥
𝑉 2=− 𝐷 𝑦 𝑥𝐶 𝑀3 𝑃
𝑀 1=0 𝑉 1=0 𝐶
𝑁 2 =0 𝑁 3 =0
𝐵
𝑥 𝑀 2=𝐷 𝑦 𝑥 𝑉 3=𝑃 − 𝐷 𝑦
𝐷 𝐷
𝐷𝑦 𝐷𝑦
𝐷𝑦
)
 Using Castigliano’s theorem:
=0

 The length is large compared with the depth of the member:

81 𝑃
𝐷𝑦=
128
 The horizontal displacement at
We need to apply a force Q at D:
 1st Free-Body Diagram:  2nd Free-Body Diagram:  3rd Free-Body Diagram:

𝑁 1 =− 𝐷 𝑦 𝑥
𝑉 2=− 𝐷 𝑦 𝑥𝐶 𝑀3 𝑃
𝑀 1=−𝑄𝑥 𝑉 1=−𝑄 𝐶
𝑁 2 =𝑄 𝑁 3 =𝑄
𝐵
𝑥 𝑀 2=𝐷 𝑦 𝑥+𝑄𝐿 𝑉 3=𝑃 − 𝐷 𝑦
𝐷 𝑄 𝐷
𝑄
𝑄 𝐷𝑦
𝐷𝑦 𝐷𝑦
)
and integrate ) Set(
External Work 𝑃

 Work done by a concentrated force:

 Work done by a distributed load: : equation of the distributed load

 Work done by a torque: : displacement

Exercise X: A shaft is attached to the beam as shown in the following figure. A torque of is
applied to the end of the shaft. Determine, using the principle pf virtual work, the rotation of
section . The shaft and beam are made of an aluminum for which and . Assume that the hub is
rigid.
Principle of virtual work:
The external work is given by:

The total strain energy is given by:

(neglect the effect of shear force)
( rigid hub – no strain energy)
 Due to symmetry:

0 .8 2 2
𝑇 2 ×0.8
𝑈 𝐴𝐵 = ∫ 𝑑𝑥= = 0 . 04657 𝑘𝐽
2 𝐺𝐽 6 𝜋 4
0
2 × 27 × 10 × × 0 . 03
2
 Taking overall FBD and moment about the yield (CD) to:
and
0. 4 2 3
𝑀 0 .4 ×4
𝑈 𝐶𝐷 = ∫ 𝑑𝑥= =0 . 003703 𝑘𝐽
2 𝐸𝐼 6 1 3
0
2 ×3 ×27 ×10 × × 0 . 04 × 0 . 03
12
𝑾 𝒆𝒙𝒕 =𝜃 𝐵 =2 ×0 . 003703+ 0 . 04657=0 . 054 𝑟𝑎𝑑