CES 3104

Structural Theory

Lecture 6:
Work-Energy Methods

Engr. Abbey Dale Abellanosa, MSc

Department of Civil Engineering

CES 3104 – Structural Theory Nov 18 – Dec 7, 2020

Lecture Outline
Principle of Virtual Work
Work → Virtual Displacement for Rigid Bodies → Virtual Displacement for
Deformable Bodies → Virtual System → Real System

Deflection of Trusses by Virtual Work Method

Derivation of the Truss Deflection Equation → Application of Virtual
Work Method for Truss Deflections

Deflection of Beams by Virtual Work Method

Derivation of the Beam Deflection Equation → Application of Virtual
Work Method for Beam Deflections

Deflection of Frames by Virtual Work Method

Derivation of the Frame Deflection Equation → Application of Virtual
Work Method for Frame Deflections

Conservation of Energy and Strain Energy

Castigliano’s First Theorem → Castigliano’s Second Theorem →
Applications on Beams and Trusses

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-2
CE 3104 – Structural Theory

Lecture 6.1:
Principle of Virtual Work

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020

Principle of Virtual Work
The Concept of Work in Structures

𝑀
𝐴
𝑀 𝑑𝜃
𝑃

𝜃 𝑑∆ ∆

𝐴′

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-4
Principle of Virtual Work
𝑃
𝑀
𝐴
𝑀 𝑃
𝑑𝜃

𝜃 𝑑∆ ∆

𝐴′

𝑃 𝑃 𝑃

0 ∆ 0 ∆ 0 ∆
∆
𝑃𝑑∆
𝑊 = න 𝑃𝑑∆ 𝑊= 𝑊 = 𝑃𝑑∆
0 2

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-5
Principle of Virtual Work
General force-displacement (𝑃 − ∆) and couple-rotation (𝑀 − 𝜃)
expressions:
∆ 𝜃
𝑊 = න 𝑃𝑑∆ 𝑊 = න 𝑀𝑑𝜃
0 0

For analysis of linearly elastic structures:

1 1
𝑊 = 𝑃∆ 𝑊= 𝑀𝜃
2 2

In situations where the load remains constant while undergoing

displacement

𝑊 = 𝑃∆ 𝑊 = 𝑀𝜃

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-6
Principle of Virtual Work
Principle of Virtual Displacements for Rigid Bodies

𝐴 𝐵 𝐶

𝑎
𝐿

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-7
Principle of Virtual Work
Principle of Virtual Displacements for Rigid Bodies
𝐶′
𝐵′
𝐿𝜃𝑣
𝐴′ 𝜃𝑣

𝑃𝑦
∆𝑣𝑦

𝐴 𝐵 𝑃𝑥
𝐶
𝐴𝑥
𝐴𝑦 𝐶𝑦
∆𝑣𝑥
𝑎
𝐿

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-8
Principle of Virtual Work
The total virtual work, 𝑊𝑣𝑒 , performed by the external forces acting on the beam can
be expressed as
𝑊𝑣𝑒 = 𝑊𝑣𝑥 + 𝑊𝑣𝑦 + 𝑊𝑣𝑟
During the virtual translations ∆𝑣𝑥 and ∆𝑣𝑦 of the beam, the virtual work done by
the forces is given by
𝑊𝑣𝑥 = 𝐴𝑥 ∆𝑣𝑥 − 𝑃𝑥 ∆𝑣𝑥 = 𝐴𝑥 − 𝑃𝑥 ∆𝑣𝑥
𝑊𝑣𝑥 = Σ𝐹𝑥 ∆𝑣𝑥

𝑊𝑣𝑦 = 𝐴𝑦 ∆𝑣𝑦 + 𝐶𝑦 ∆𝑣𝑦 − 𝑃𝑦 ∆𝑣𝑦 = 𝐴𝑦 + 𝐶𝑦 − 𝑃𝑦 ∆𝑣𝑦

𝑊𝑣𝑦 = Σ𝐹𝑦 ∆𝑣𝑦

The virtual work done by the forces during the small virtual rotation 𝜃𝑣 can be
expressed as
𝑊𝑣𝑟 = −𝑃𝑦 𝑎𝜃𝑣 + 𝐶𝑦 𝐿𝜃𝑣 = −𝑎𝑃𝑦 + 𝐿𝐶𝑦 𝜃𝑣
𝑊𝑣𝑟 = Σ𝑀𝐴 𝜃𝑣

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-9
Principle of Virtual Work
We substitute the individual components of virtual work to write the total virtual
work done as
𝑊𝑣𝑒 = 𝑊𝑣𝑥 + 𝑊𝑣𝑦 + 𝑊𝑣𝑟

𝑊𝑣𝑒 = Σ𝐹𝑥 ∆𝑣𝑥 + Σ𝐹𝑦 ∆𝑣𝑦 + Σ𝑀𝐴 𝜃𝑣

Because the beam is in equilibrium, Σ𝐹𝑥 = 0, Σ𝐹𝑦 = 0 and Σ𝑀𝐴 = 0

𝑊𝑣𝑒 = 0

Principle of virtual displacements for rigid bodies states:

“If a rigid body is in equilibrium under a system
of forces and if it is subjected to any small virtual
rigid-body displacement, the virtual work done
by the external forces is zero.”

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-10
Principle of Virtual Work
Principle of Virtual Displacements for Deformable Bodies

𝐶
𝑃𝑣

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-11
Principle of Virtual Work
Principle of Virtual Displacements for Deformable Bodies
𝐹𝑣𝐵𝐶
𝐵
𝜃2
𝑃𝑣
𝜃2 𝜃1
𝐶 𝑃𝑣
𝜃1
∆
𝐹𝑣𝐴𝐶
∆
𝐴

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-12
Principle of Virtual Work
The virtual external and internal forces acting on the structure must satisfy
equilibrium equations, hence
𝐹𝑣𝐵𝐶
෍ 𝐹𝑥 = 0

𝑃𝑣 − 𝐹𝑣𝐴𝐶 cos 𝜃1 − 𝐹𝑣𝐵𝐶 cos 𝜃2 = 0 𝜃2

𝑃𝑣
𝜃1
෍ 𝐹𝑦 = 0

−𝐹𝑣𝐴𝐶 sin 𝜃1 + 𝐹𝑣𝐵𝐶 sin 𝜃2 = 0 𝐹𝑣𝐴𝐶

∆

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-13
Principle of Virtual Work
The total virtual work for the structure (𝑊𝑣 ) is equal to the algebraic sum of the
work of the virtual forces acting at joint 𝐶; that is
𝐹𝑣𝐵𝐶
𝑊𝑣 = 𝑃𝑣 ∆ − 𝐹𝑣𝐴𝐶 ∆ cos 𝜃1 − 𝐹𝑣𝐵𝐶 ∆ cos 𝜃2

𝑊𝑣 = 𝑃𝑣 − 𝐹𝑣𝐴𝐶 cos 𝜃1 − 𝐹𝑣𝐵𝐶 cos 𝜃2 ∆

𝜃2
𝑃𝑣
Since 𝑃𝑣 − 𝐹𝑣𝐴𝐶 cos 𝜃1 − 𝐹𝑣𝐵𝐶 cos 𝜃2 = 0
𝜃1
𝑃𝑣 − 𝐹𝑣𝐴𝐶 cos 𝜃1 − 𝐹𝑣𝐵𝐶 cos 𝜃2 ∆= 0
𝑃𝑣 ∆ = 𝐹𝑣𝐴𝐶 ∆ cos 𝜃1 + 𝐹𝑣𝐵𝐶 ∆ cos 𝜃2
𝐹𝑣𝐴𝐶
∆
Considering 𝑃𝑣 ∆ = 𝑊𝑣𝑒 and
𝐹𝑣𝐴𝐶 ∆ cos 𝜃1 + 𝐹𝑣𝐵𝐶 ∆ cos 𝜃2 = 𝑊𝑣𝑖 , therefore

𝑊𝑣𝑒 = 𝑊𝑣𝑖

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-14
Principle of Virtual Work
Virtual external work = Virtual internal work
𝑊𝑣𝑒 = 𝑊𝑣𝑖

Virtual system
External components

Internal components
virtual external force × virtual internal force ×
෍ =෍
real external displacement real internal displacement

Real system

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-15
CE 3104 – Structural Theory

Lecture 6.2:
Deflection of Trusses
by Virtual Work Method

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020

Virtual Work Method for Trusses
Nodal Deflection in Trusses
𝑃2

𝐷
𝑃1

𝐵
𝐴 𝐶
∆

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-17
Virtual Work Method for Trusses
Nodal Deflection in Trusses
𝑃2

𝐷 𝐷
𝑃1

𝐵 𝐵
𝐴 𝐶 𝐴 𝐶
∆

1.0
Real System Virtual System

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-18
Virtual Work Method for Trusses
We can derive the equation for truss deflection from the general principle of
virtual work, wherein
𝑊𝑣𝑒 = 𝑊𝑣𝑖

From the illustrated real and virtual truss systems, we can draw that
𝑊𝑣𝑒 = virtual external force × real external displacement
𝑊𝑣𝑒 = 1 × ∆

𝑊𝑣𝑖 = virtual internal force × real internal displacement

𝑊𝑣𝑖 = 𝐹𝑣 × 𝛿

Recall that the deformation for axially loaded members (truss members ), is equal
to 𝛿 = 𝐹𝐿/𝐴𝐸, hence
𝐹𝐿
1 ∙ ∆ = ෍ 𝐹𝑣
𝐴𝐸

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-19
Virtual Work Method for Trusses
Temperature Changes and Fabrication Errors
Recall that the axial deformation due to a change in temperature ∆𝑇 is equal to
𝛿 = 𝛼𝐿 ∆𝑇 , hence
𝑊𝑣𝑒 = 1 × ∆
𝑊𝑣𝑖 = virtual internal force × real internal displacement

𝑊𝑣𝑖 = 𝐹𝑣 × 𝛿

1 ∙ ∆ = ෍ 𝐹𝑣 𝛼𝐿 ∆𝑇

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-20
Virtual Work Method for Trusses
Example 1: Determine the horizontal deflection at joint 𝐶 of
the truss shown below by the virtual work method.
𝐶

200 kN

3.6 m

𝐴𝐸 = constant
𝐸 = 70 GPa
𝐵 𝐴 = 40 cm2
𝐴

1.2 m 1.5 m

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-21
The Slope-Deflection Method
Solution:
𝐶 𝐶 1 kN

200 kN

3.6 m 3.6 m

0 𝐴 −187.5 1 𝐴 −1.25
𝐵 𝐵

250 450 3 3
1.2 m 1.5 m 1.2 m 1.5 m

Real System Virtual System

(𝑭 Forces – kN) (𝑭𝒗 Forces – kN)
University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-22
Virtual Work Method for Trusses
Example 2: Determine the horizontal deflection at joint 𝐺 of
the truss shown below by the virtual work method.
𝐸 20 cm2 𝐺
100 kN

30 cm2

30 cm2
3m

20 cm2
200 kN 𝐷
𝐶

30 cm2
30 cm2

3m

30 cm2
𝐴 𝐵

4m
𝐸 = 200 GPa

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-23
The Slope-Deflection Method
Solution:

𝐸 −100 𝐺 𝐸 0 𝐺 1.0 kN
100 kN

0 −75 3 m 0 −0.75 3 m

0 0
200 kN 𝐷 200 kN 𝐷
𝐶 𝐶

+300 −75 3 m 1.5 −0.75 3 m

𝐴 +300 𝐴 1.0
300 𝐵 1.0 𝐵

4m 4m
300 300 1.5 1.5

Real System Virtual System

(𝑭 Forces – kN) (𝑭𝒗 Forces – kN)

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-24
CE 3104 – Structural Theory

Lecture 6.3:
Deflection of Beams
by Virtual Work Method

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020

Virtual Work Method for Beams
Beam Deformations Due to Real Loads

𝑦
𝑤 𝑥
𝑃

𝐵 𝐶 𝐷
𝐴 𝑥
∆ 𝜃
𝑥 𝑑𝑥
𝐿

Real System

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-26
Virtual Work Method for Beams
𝑦 𝑀
𝑑𝜃 = 𝑑𝑥
𝑤 𝑥 𝐸𝐼
𝑃

𝑀𝑣 𝑀𝑣
𝐵 𝐶 𝐷
𝐴 𝑥
∆ 𝜃
𝑥 𝑑𝑥 𝑑𝜃
𝐿
Real System 𝑑𝑥
Deformed Differential Element
1.0
for the Virtual Systems
1.0

𝐶
𝐴 𝐷 𝐴 𝐷
𝐵
𝑥 𝑑𝑥 𝑥 𝑑𝑥
𝐿 𝐿
Virtual System for Determining ∆ Virtual System for Determining 𝜽

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-27
Virtual Work Method for Beam
We can derive the equation for beam deflection from the general principle of
virtual work, wherein
𝑊𝑣𝑒 = 𝑊𝑣𝑖
From the illustrated real and virtual beam systems for determining ∆, we can draw
that
𝑊𝑣𝑒 = virtual external force × real external displacement
𝑊𝑣𝑒 = 1 × ∆

𝑊𝑣𝑖 = virtual internal moment × real internal deformation

𝑑𝑊𝑣𝑖 = 𝑀𝑣 × 𝑑𝜃
𝐿
𝑊𝑣𝑖 = න 𝑀𝑣 × 𝑑𝜃
0
Recall that the real internal deformation for members in flexure (beams), is equal
to 𝑑𝜃 = (𝑀/𝐸𝐼)𝑑𝑥, hence
𝐿
𝑀
1 ∙ ∆ = න 𝑀𝑣 𝑑𝑥
0 𝐸𝐼

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-28
Virtual Work Method for Beam
We can derive the equation for beam point rotation from the general principle of
virtual work, wherein
𝑊𝑣𝑒 = 𝑊𝑣𝑖
From the illustrated real and virtual beam systems for determining 𝜃, we can draw
that
𝑊𝑣𝑒 = virtual external couple × real external rotation
𝑊𝑣𝑒 = 1 × 𝜃

𝑊𝑣𝑖 = virtual internal moment × real internal deformation

𝑑𝑊𝑣𝑖 = 𝑀𝑣 × 𝑑𝜃
𝐿
𝑊𝑣𝑖 = න 𝑀𝑣 × 𝑑𝜃
0
Recall that the real internal deformation for members in flexure (beams), is equal
to 𝑑𝜃 = (𝑀/𝐸𝐼)𝑑𝑥, hence
𝐿
𝑀
1 ∙ 𝜃 = න 𝑀𝑣 𝑑𝑥
0 𝐸𝐼

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-29
CE 3104 – Structural Theory

Lecture 6.4:
Deflection of Frames
by Virtual Work Method

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020

CE 3104 – Structural Theory

Lecture 6.5:
Conservation of Energy
and Strain Energy

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020

References
Textbook:
1. Kassimali, A., 2010, “Structural Analysis”, Fourth Edition,
Cengage Learning, CT, USA

University of San Carlos | Department of Civil Engineering | Nov 18 – Dec 7, 2020 Lecture 6-32