On virtual displacement and virtual work in Lagrangian dynamics

Abstract

The confusion and ambiguity encountered by students in understanding virtual displacement and virtual work is discussed in this paper. A definition of virtual displacement is presented that allows one to express them explicitly for holonomic (velocity independent), non-holonomic (velocity dependent), scleronomous (time independent) and rheonomous (time dependent) constraints. It is observed that for holonomic, scleronomous constraints, the virtual displacements are the displacements allowed by the constraints. However, this is not so for a general class of constraints. For simple physical systems, it is shown that the work done by the constraint forces on virtual displacements is zero. This motivates Lagrange's extension of d'Alembert's principle to a system of particles in constrained motion. However, a similar zero work principle does not hold for the allowed displacements. It is also demonstrated that d'Alembert's principle of zero virtual work is necessary for the solvability of a constrained mechanical problem. We identify this special class of constraints, physically realized and solvable, as the ideal constraints. The concept of virtual displacement and the principle of zero virtual work by constraint forces are central to both Lagrange's method of undetermined multipliers and Lagrange's equations in generalized coordinates.