Virtual work will be zero.
From here find the value of P.
Virtual displacement and virtual work
During the virtual displacement time had fixed. It is a mathematical trick to describe a system
without changing the condition of constraint. Virtual displacement is represented by δr .
With the help of virtual displacement we remove the vectorial nature of force. Work corresponding
to the virtual displacement is called virtual work.
This describe the equilibrium of the system.
It is analogous to the newton’s first law of motion.
This state that “Net virtual work done by a non
constraint force is zero when the system is in
equilibrium.”
=0
At equilibrium
D'Alembert's Principle
Let us assume now the system is not in the equilibrium. We would like to reformulate
the mechanical problem to include the constraint forces such that they “disappear”.
This is the basis for the D’Alembert’s Principle AND by additionally choosing a set of
proper generalized coordinates.
In deriving the Principle of Virtual Work, the system was in equilibrium.
In extending it to include dynamics , we will begin with Newton’s 2nd law,
for the i-th particle in the system.
D'Alembert's Principle
We again consider a virtual infinitesimal displacement consistent with the given constraint.
Since we have for all particles,
Again, we separate out the applied and constraint forces,
D'Alembert's Principle
a system of rigid bodies is in dynamic equilibrium when the virtual work of the sum of the applied forces
and the inertial forces is zero for any virtual displacement of the system.
Generalized Force
Virtual Displacement: only involves the
displacements of the coordinates.
In terms of generalized coordinates, the virtual work of the Fi becomes
where, the Qj are called the components of the generalized force, defined as
Generalized Force
Qr is the component of the force in the r-direction and Qθ
is the torque acting on the particle to increase θ. Thus Qr
has a dimension of MLT-2 and Qθ has a dimension of
ML2T-2. But the products θQθ and rQr always have the
dimensions of work.
Further Discussion
Further Discussion
Further Discussion: Euler-Lagrange Equation
K.E. = T K.E. = T
Further Discussion: Euler-Lagrange Equation
Thus far no restriction has been made on the nature of the constraints other than that they be workless in
a virtual displacement.
There are 3N-K of these differential equations and the solution of these equations gives the equations of
motion in terms of the generalized coordinates without explicitly needing to know the constraint forces.
If the system is Conservative
If V is a conservative
potential then it doesn’t
depend on the velocity
L = T – V = Lagrangian of the system
Lagrangian
L = T – V = Lagrangian of the system
Joseph-Louis Lagrange (1736–1813)
L is a smooth function of q, v, t
L = T – V = Lagrangian of the system. If the system is conservative,
