Virtual Work Principle For A Rigid Body
If the principle of virtual work for applied forces is used on individual particles of a rigid body, the principle can be generalized for a rigid body: When a rigid body that is in equilibrium is subject to virtual compatible displacements, the total virtual work of all external forces is zero; and conversely, if the total virtual work of all external forces acting on a rigid body is zero then the body is in equilibrium.
The expression compatible displacements means that the particles remain in contact and displace together so that the work done by pairs of action/reaction inter-particle forces cancel out. Various forms of this principle have been credited to Johann (Jean) Bernoulli (1667-1748) and Daniel Bernoulli (1700-1782).
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