The work done of any object is defined by
Here, F is the force acting on the object.
d is the displacement of the object due to the force applied.
is the angle between force and displacement.
For work done to become zero, the applied force can be zero, or displacement can be zero, or cosine angle is zero.
Cosine angle can be zero if force and displacement are perpendicular to each other.
Thus, if the force acts perpendicular to the direction of the object's motion, no work is done..