Question

condition under which force does no work

Answer 1

When there is equal force from both directions from which the force is being applied from
Also when the force is less than the frictional force

Answer 2

Work = FS cosθ

For zero work
1. S should be zero. This will happen if limiting frictional force is much larger than applied force. Body will not move => S = 0.
2. cosθ should be equal to zero. This will happen if θ = 90°. When Force is acting perpendicular to direction of motion of body then work done by force is zero.