1
Energy Methods in
Structural Analysis
Version 2 CE IIT, Kharagpur
Lesson
4
Theorem of Least Work
Version 2 CE IIT, Kharagpur
Instructional Objectives
After reading this lesson, the reader will be able to:
1. State and prove theorem of Least Work.
2. Analyse statically indeterminate structure.
3. State and prove Maxwell-Betti’s Reciprocal theorem.
4.1 Introduction
In the last chapter the Castigliano’s theorems were discussed. In this chapter
theorem of least work and reciprocal theorems are presented along with few
selected problems. We know that for the statically determinate structure, the
partial derivative of strain energy with respect to external force is equal to the
displacement in the direction of that load at the point of application of load. This
theorem when applied to the statically indeterminate structure results in the
theorem of least work.
1 1 1 1
US = P1u1 + P2 u 2 + .......... + Pn u n + Qu a (4.1)
2 2 2 2
where, aij is the flexibility coefficient at i due to unit force applied at j . Similar
equations may be written for u2 , u3 ,...., un and ua . Substituting for u2 , u3 ,...., un and ua
in equation (4.1) from equation (4.2), we get,
1 1
US = P1[a11 P1 + a12 P2 + ... + a1n Pn + a1a Q ] + P2 [a21 P1 + a22 P2 + ...a2 n Pn + a2 a Q ] + .......
2 2 (4.3)
1 1
+ Pn [an1 P1 + an 2 P2 + ...ann Pn + ana Q] + Q[aa1 P1 + aa 2 P2 + .... + aan Pn + aaa Q]
2 2
∂U s
= aa1 P1 + aa 2 P2 + ........ + aan Pn + aaa Q (4.4)
∂Q
∂U s
= ua = aa1 P1 + aa 2 P2 + ........ + aan Pn (4.5)
∂Q
Now the strain energy stored in the beam due to redundant reaction RA is,
Ra2 L3
Ur = (4.6)
6 EI
∂U r R L3
= −ua = a (4.7)
∂Ra 3EI
∂Us ∂U
= ua = − r (4.8)
∂Q ∂Ra
or,
∂U
=0 (4.10)
∂Ra
This is the statement of theorem of least work. Where U is the total strain energy
of the beam due to superimposed loads P1 , P2 ,...., Pn and redundant reaction Ra .
Example 4.1
Find the reactions of a propped cantilever beam uniformly loaded as shown in Fig.
4.3a. Assume the flexural rigidity of the beam EI to be constant throughout its
length.
L
M2
U =∫ dx (1)
0
2 EI
∂M
=x (4)
∂Rb
Hence,
∂U ( R x − wx 2 / 2) x
L
=∫ b dx (5)
∂Rb 0 EI
∂U ⎡ RB L3 wL4 ⎤ 1
=⎢ − ⎥ =0 (6)
∂Rb ⎣ 3 8 ⎦ EI
3
RB = wL
8
5 wL2
Ra = wL − Rb = wL and M a = − (7)
8 8
Example 4.2
A ring of radius R is loaded as shown in figure. Determine increase in the
diameter AB of the ring. Young’s modulus of the material is E and second
moment of the area is I about an axis perpendicular to the page through the
centroid of the cross section.
PR
M = M0 − (1 − cos θ ) (1)
2
Now strain energy stored in the ring due to bending deformations is,
2π
M 2R
U = ∫0 2 EI dθ (2)
Due to symmetry, one could consider one quarter of the ring. According to
theorem of least work,
∂U 2π M ∂M
=0=∫ Rdθ (3)
∂M 0 0 EI ∂M
0
∂M
=1
∂M 0
2π
∂U M
∂M 0
= ∫ EI Rdθ
0
(4)
4R 2 PR
0= ∫
EI 0
[M 0 −
2
(1 − cosθ )] dθ (5)
⎛1 1⎞
M 0 = PR ⎜ − ⎟ (6)
⎝2 π ⎠
M 0 = 0.182 PR
Now, increase in diameter Δ , may be obtained by taking the first partial derivative
of strain energy with respect to P . Thus,
∂U
Δ=
∂P
π /2
2R PR 2 PR
U=
EI ∫{ 2
0
( − 1) −
π 2
(1 − cosθ )}2 dθ (7)
π /2
∂U 2 R PR 2 PR R 2 R
=
∂P EI ∫ 2{ 2
0
( − 1) −
π 2
(1 − cosθ )}{ ( − 1) − (1 − cosθ )}dθ
2 π 2
(8)
After integrating,
PR 3 π 2 PR 3
Δ= { − ) = 0.149 (9)
EI 4 π EI
P1 × u12 = P2 × u 21 (4.11)
Now, u12 and u 21 can be calculated using Castiglinao’s first theorem. Substituting
the values of u12 and u 21 in equation (4.27) we get,
5 P2 L3 5 P L3
P1 × = P2 × 1 (4.12)
48 EI 48 EI
Hence it is proved. This is also valid even when the first system of forces is
P1 , P2 ,...., Pn and the second system of forces is given by Q1 , Q2 ,...., Qn . Let
u1 , u 2 ,...., u n be the displacements caused by the forces P1 , P2 ,...., Pn only and
δ 1 , δ 2 ,...., δ n be the displacements due to system of forces Q1 , Q2 ,...., Qn only acting
on the beam as shown in Fig. 4.6.
Pi δ i = Qi u i i = 1,2,...., n (4.13)
Summary
In lesson 3, the Castigliano’s first theorem has been stated and proved. For
statically determinate structure, the partial derivative of strain energy with respect
to external force is equal to the displacement in the direction of that load at the
point of application of the load. This theorem when applied to the statically
indeterminate structure results in the theorem of Least work. In this chapter the
theorem of Least Work has been stated and proved. Couple of problems is solved
to illustrate the procedure of analysing statically indeterminate structures. In the