Work: does distance HAVE to be linear?

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The concept of "work" does not have to be defined strictly as a force applied over a linear distance. For instance, the operation of an electric garage door closer demonstrates that work can occur along a non-linear path, such as a bent rail. The mathematical representation of work, W = ∫ F · ds, supports this broader definition, indicating that work can be calculated using integrals of force over any path. Additionally, torque can also be integrated with respect to angle, further illustrating that work encompasses various forms of movement. Therefore, work can be defined in more versatile terms beyond linear distance.
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In the defining the concept of "work", does it have to a defined as a force being applied to an object over a LINEAR distance?

Take, for example, the work produced by an electric garage door closer. If you happen to have an overhead folding garage door, the motor applies the force to the drive mechanism, which in turn opens or closes the door, however, the door does simply travel vertically or horizontally; it travels along a rail which has a bend of approximately 90 deg. Is this not considered work?
 
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No, it doesn't have to be linear. You can have any kind of path.

W = \int F \cdot ds

See the PF library entry: work done
 
The integral of torque with respect to angle turned is work just as much as the integral of force with respect to distance is work.
 
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