D'Alembert's principle suggests that the work done by the internal forces for a virtual displacement of a mechanical system in harmony with the constraints is zero.
This is obviously true for the constraint of a rigid body where all the particles maintain a constant distance from one another. It's also true for constraining force where the virtual displacement is normal to it.
Can anyone think of a case where the virtual displacements are in harmony with the constraints of a mechanical system, yet the total work done by the internal forces is non-zero, making D'Alembert's principle false?
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