Virtual work principle states: [tex] δW = \sum^{N}_{i=1}\vec{F}_{i}\centerdot δ\vec{r}_{i}[/tex]
And from this, we can see that if a system is to be in equilibrium we have
[tex]δW = (\sum^{N}_{i=1}\vec{F}_{1} \centerdot \frac{\partial \vec{r}_{1}}{\partial q_{1}})δq_{1} + \cdots = 0[/tex]
Where did q come from? It's the rate of change of r with respect to a generalized coordinate?
[tex]\sum_{i} (\vec{F}_{i} - m_{i} \vec{a}_i ) \centerdot δ \vec{r}_{i} = 0[/tex]
Fapplied-ma = F constraint
the applied force, subtracted by the total acceleration of the system, doted with the virtual displacement in the r direction equals zero? This would mean that the force applied would have to be equal to zero in the direction of the displacement. What does this equation actually tell us?
And from this, we can see that if a system is to be in equilibrium we have
[tex]δW = (\sum^{N}_{i=1}\vec{F}_{1} \centerdot \frac{\partial \vec{r}_{1}}{\partial q_{1}})δq_{1} + \cdots = 0[/tex]
Where did q come from? It's the rate of change of r with respect to a generalized coordinate?
[tex]\sum_{i} (\vec{F}_{i} - m_{i} \vec{a}_i ) \centerdot δ \vec{r}_{i} = 0[/tex]
Fapplied-ma = F constraint
the applied force, subtracted by the total acceleration of the system, doted with the virtual displacement in the r direction equals zero? This would mean that the force applied would have to be equal to zero in the direction of the displacement. What does this equation actually tell us?