VENROCK ASSOCIATES
SC 13G, 1999-02-12
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<PAGE>
 
                      SECURITIES AND EXCHANGE COMMISSION

                             WASHINGTON, D.C. 20549

                                  SCHEDULE 13G
                                 (Rule 13d-102)

            INFORMATION TO BE INCLUDED IN STATEMENTS FILED PURSUANT
          TO RULES 13d-1(b) (c), AND (d) AND AMENDMENTS THERETO FILED
                           PURSUANT TO RULE 13d-2(b)
                                        

                             Visual Networks, Inc.
- --------------------------------------------------------------------------------
                                (Name of Issuer)

                                  Common Stock
- --------------------------------------------------------------------------------
                         (Title of Class of Securities)

                                    928444108
                                ---------------
                                 (CUSIP Number)

                               September 1, 1998
- --------------------------------------------------------------------------------
            (Date of Event Which Requires Filing of this Statement)

Check the appropriate box to designate the rule pursuant to which this Schedule
                                   is filed:

     [_]    Rule 13d-1(b)

     [_]    Rule 13d-(c)

     [X]    Rule 13d-1(d)

          *The remainder of this cover page shall be filled out for a reporting
person's initial filing on this form with respect to the subject class of
securities, and for any subsequent amendment containing information which would
alter the disclosures provided in a prior cover page.

          The information required in the remainder of this cover page shall not
be deemed to be "filed" for the purpose of Section 18 of the Securities Exchange
Act of 1934 ("Act") or otherwise subject to the liabilities of that section of
the Act but shall be subject to all other provisions of the Act (however, see
the Notes).
<PAGE>
 
- -----------------------                                  ---------------------
  CUSIP NO.  928444108                13G                 PAGE 2 OF 16 PAGES
- -----------------------                                  ---------------------
 
- ------------------------------------------------------------------------------
      NAME OF REPORTING PERSON
 1    S.S. or I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
                                                                                
      Venrock Associates
      I.R.S. #13-6300995 
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]
                                                 
- ------------------------------------------------------------------------------
      SEC USE ONLY
 3
 

- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4                                 
      New York, U.S.A.

- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5                                                       
     NUMBER OF            0  
 
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6       
                          1,003,618
     OWNED BY
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7       
    REPORTING             0
 
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8       
                          1,003,618
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9                           
      1,003,618 
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10           
                                                                    [_]
 
- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11           
      4.47%                                                                   

- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12           
      PN

- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 2 of 16 pages
 
<PAGE>
 
- -----------------------                                  ---------------------
  CUSIP NO. 928444108               13G                    PAGE 3 OF 16 PAGES
- -----------------------                                  ---------------------
 
- ------------------------------------------------------------------------------
      NAME OF REPORTING PERSON
 1    S.S. or I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
                                                                                
      Venrock Associates II, L.P.
      I.R.S. #13-3844754
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]
                                                 
- ------------------------------------------------------------------------------
      SEC USE ONLY
 3
 

- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4                                 
      New York, U.S.A.    

- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5                                                       
     NUMBER OF            0
 
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6       
                          617,221
     OWNED BY
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7       
    REPORTING             0
 
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8       
                          617,221
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9                           
      617,221 
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10           
                                                                    [_]
 
- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11           
      2.75%                                                                   

- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12           
      PN

- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!
 

                              Page 3 of 16 pages
<PAGE>
 
- -----------------------                                  ---------------------
  CUSIP NO. 928444108                13G                    PAGE 4 OF 16 PAGES
- -----------------------                                  ---------------------
 
- ------------------------------------------------------------------------------
      NAME OF REPORTING PERSON
 1    S.S. or I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
                                                                                
      Anthony B. Evnin
      ###-##-####
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]
                                                 
- ------------------------------------------------------------------------------
      SEC USE ONLY
 3
 

- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4                                 
      U.S.A

- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5                                                       
     NUMBER OF            46,804             
 
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6       
                          1,620,839
     OWNED BY
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7       
    REPORTING             46,804
 
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8       
                          1,620,839
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9                           
      1,667,643
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10           
                                                                    [_]
 
- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11           
                                                                         
      7.43%  
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12           
      
      IN 
- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!


                              Page 4 of 16 pages
<PAGE>
 
- -----------------------                                  ---------------------
  CUSIP NO.  928444108               13G                    PAGE 5 OF 16 PAGES
- -----------------------                                  ---------------------
 
- ------------------------------------------------------------------------------
      NAME OF REPORTING PERSON
 1    S.S. or I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
                                                                                
      David R. Hathaway
      ###-##-####
                          
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]
                                                 
- ------------------------------------------------------------------------------
      SEC USE ONLY
 3
 

- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4                                 

      U.S.A. 
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5                                                       
     NUMBER OF            43,769
 
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6       
                          1,620,839
     OWNED BY
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7       
    REPORTING             43,769
 
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8       
                          1,620,839
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9                           
      1,664,608
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10           
                                                                    [_]
 
- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11           
      7.41%                                                                   
      
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12           
      IN

- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!


                              Page 5 of 16 pages
<PAGE>
 
- -----------------------                                  ---------------------
  CUSIP NO. 928444108               13G                    PAGE 6 OF 16 PAGES
- -----------------------                                  ---------------------
 
- ------------------------------------------------------------------------------
      NAME OF REPORTING PERSON
 1    S.S. or I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
                                                                                
      Patrick F. Latterell
      ###-##-####
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]
                                                 
- ------------------------------------------------------------------------------
      SEC USE ONLY
 3
 

- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4                                 
      U.S.A.

- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5                                                       
     NUMBER OF            41,761     
 
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6       
                          1,620,839
     OWNED BY
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7       
    REPORTING             41,761
 
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8       
                          1,620,839
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9                           
      1,662,600
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10           
                                                                    [_]
 
- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11           
      7.41%                                                                   

- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12           
      IN

- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 6 of 16 pages
<PAGE>
 
- -----------------------                                  ---------------------
  CUSIP NO. 928444108                13G                    PAGE 7 OF 16 PAGES
- -----------------------                                  ---------------------
 
- ------------------------------------------------------------------------------
      NAME OF REPORTING PERSON
 1    S.S. or I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
                                                                                
      Ted H. McCourtney
      ###-##-####
                          
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]
                                                 
- ------------------------------------------------------------------------------
      SEC USE ONLY
 3
 

- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4                                 
      U.S.A.

- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5                                                       
     NUMBER OF            56,126      

      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6       
                          1,620,839
     OWNED BY
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7       
    REPORTING             56,126
 
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8       
                          1,620,839
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9                           
      1,676,965
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10           
                                                                    [_]
 
- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11           
      7.47% 
 
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12           
      IN

- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 7 of 16 pages
 
<PAGE>
 
- -----------------------                                  ---------------------
  CUSIP NO. 928444108                  13G                PAGE 8 OF 16 PAGES
- -----------------------                                  ---------------------
 
- ------------------------------------------------------------------------------
      NAME OF REPORTING PERSON
 1    S.S. or I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
                                                                                
      Ray A. Rothrock
      ###-##-####
                          
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]
                                                 
- ------------------------------------------------------------------------------
      SEC USE ONLY
 3
 

- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4                                 

      U.S.A.
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5                                                       
     NUMBER OF            28,760            
 
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6       
                          1,620,839
     OWNED BY
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7       
    REPORTING             28,760
 
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8       
                          1,620,839
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9                           
      1,649,599
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10           
                                                                    [_]
 
- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11           
      7.35%                                                                   

- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12           
      IN

- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 8 of 16 pages
<PAGE>
 
- -----------------------                                  ---------------------
  CUSIP NO.  928444108                13G                  PAGE 9 OF 16 PAGES
- -----------------------                                  ---------------------
 
- ------------------------------------------------------------------------------
      NAME OF REPORTING PERSON
 1    S.S. or I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
                                                                                
      Kimberley A. Rummelsburg
      ###-##-####
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]
                                                 
- ------------------------------------------------------------------------------
      SEC USE ONLY
 3
 

- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4                                 

      U.S.A.
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5                                                       
     NUMBER OF            0             
 
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6       
                          1,627,517         
     OWNED BY     
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7       
    REPORTING             0
 
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8       
                          1,627,517
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9                           
      1,627,517
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10           
                                                                    [_]
 
- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11           
      7.24%                                                                   

- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12           
      IN

- ------------------------------------------------------------------------------

                     *SEE INSTRUCTIONS BEFORE FILLING OUT!

                              Page 9 of 16 pages
<PAGE>
 
- -----------------------                                  ---------------------
  CUSIP NO.  928444108             13G                    PAGE 10 OF 16 PAGES
- -----------------------                                  ---------------------
 
- ------------------------------------------------------------------------------
      NAME OF REPORTING PERSON
 1    S.S. or I.R.S. IDENTIFICATION NO. OF ABOVE PERSON
                                                                                
      Anthony Sun 
      ###-##-####                                                      
                          
- ------------------------------------------------------------------------------
      CHECK THE APPROPRIATE BOX IF A MEMBER OF A GROUP*
 2                                                              (a) [X]
                                                                (b) [_]
                                                 
- ------------------------------------------------------------------------------
      SEC USE ONLY
 3
 

- ------------------------------------------------------------------------------
      CITIZENSHIP OR PLACE OF ORGANIZATION
 4                                 

      U.S.A.
- ------------------------------------------------------------------------------
                          SOLE VOTING POWER
                     5                                                       
     NUMBER OF            52,200            
 
      SHARES       -----------------------------------------------------------
                          SHARED VOTING POWER
   BENEFICIALLY      6       
                          1,620,839
     OWNED BY
                   -----------------------------------------------------------
       EACH               SOLE DISPOSITIVE POWER
                     7       
    REPORTING             52,200
 
      PERSON       -----------------------------------------------------------
                          SHARED DISPOSITIVE POWER
       WITH          8       
                          1,620,839
- ------------------------------------------------------------------------------
      AGGREGATE AMOUNT BENEFICIALLY OWNED BY EACH REPORTING PERSON
 9                           
      1,673,039 
- ------------------------------------------------------------------------------
      CHECK BOX IF THE AGGREGATE AMOUNT IN ROW (9) EXCLUDES CERTAIN SHARES*
10           
                                                                    [_]
 
- ------------------------------------------------------------------------------
      PERCENT OF CLASS REPRESENTED BY AMOUNT IN ROW (9)
11           
      7.45%                                                                   
      
- ------------------------------------------------------------------------------
      TYPE OF REPORTING PERSON*
12           
      IN

- ------------------------------------------------------------------------------

                              Page 10 of 16 pages
<PAGE>
 
          Introductory Note:  This Statement on Schedule 13G is filed on behalf
of Venrock Associates, a limited partnership organized under the laws of the
State of New York, Venrock Associates II, L.P., a limited partnership organized
under the laws of the State of New York, Anthony B. Evnin, David R. Hathaway,
Patrick F. Latterell, Ted H. McCourtney, Ray A. Rothrock, Kimberley A.
Rummelsburg and Anthony Sun in respect of shares of Common Stock of Visual
Networks, Inc.

Item 1(a)  Name of Issuer
- ---------  --------------

           Visual Networks, Inc.

Item 1(b)  Address of Issuer's Principal Executive Offices
- ---------  -----------------------------------------------

           2092 Gaither Road
           Rockville, MD 20850

Item 2(a)  Name of Person Filing
- ---------  ---------------------

           Venrock Associates ("Venrock")
           Venrock Associates II, L.P. ("Venrock II")
           Anthony B. Evnin
           David R. Hathaway
           Patrick F. Latterell
           Ted H. McCourtney
           Ray A. Rothrock
           Kimberley A. Rummelsburg
           Anthony Sun

Item 2(b)  Address of Principal Business Office or, if none, Residence
- ---------  -----------------------------------------------------------

           New York Office:                         Menlo Park Office:
           30 Rockefeller Plaza                     2494 Sand Hill Road
           Room 5508                                Suite 200
           New York, NY 10112                       Menlo Park, CA 94025

Item 2(c)  Citizenship
- ---------  -----------

           Venrock and Venrock II are limited partnerships organized in the
           State of New York. Anthony B. Evnin, David R. Hathaway, Patrick F.
           Latterell, Ted H. McCourtney, Ray A. Rothrock, Kimberley A.
           Rummelsburg and Anthony Sun are General Partners of Venrock and
           Venrock II and all are citizens of the United States of America.

Item 2(d)  Title of Class of Securities
- ---------  ---------------------------- 

           Common Stock

Item 2(e)  CUSIP Number
- ---------  ------------

           928444108

Item 3     Not applicable.
- ------                          


Item 4     Ownership
- ------     ---------

           (a) and (b)


                              Page 11 of 16 pages
<PAGE>
 
          Venrock owns 1,003,618 shares or 4.47% of the outstanding shares of
          common stock.  Venrock II owns 617,221 shares or 2.75% of the
          outstanding shares of common stock.

          Anthony B. Evnin beneficially owns 1,667,643 shares or 7.34% of the
          outstanding shares of common stock.  David R. Hathaway beneficially
          owns 1,664,608 shares or 7.41% of the outstanding shares of common
          stock.  Patrick F. Latterell beneficially owns 1,662,600 shares or
          7.41% of the outstanding shares of common stock.  Ted H. McCourtney
          beneficially owns 1,676,965 shares or 7.47% of the outstanding shares
          of common stock.  Ray A. Rothrock beneficially owns 1,649,599 shares
          or 7.35% of the outstanding shares of common stock.  Kimberley A.
          Rummelsburg beneficially owns 1,627,517 shares or 7.24% of the
          outstanding shares of common stock.  Anthony Sun beneficially owns
          1,673,039 shares or 7.45% of the outstanding shares of common stock.

          (c)

          Anthony B. Evnin has sole voting and dispositive power over 46,804
          shares of common stock and shared voting and dispositive power over
          1,620,839 shares of common stock.  David R. Hathaway has sole voting
          and dispositive power over 43,769 shares of common stock and shared
          voting and dispositive power over 1,620,839 shares of common stock.
          Patrick F. Latterall has sole voting and dispositive power over 41,761
          shares of common stock and shared voting and dispositive power over
          1,620,839 shares of common stock.  Ted H. McCourtney has sole voting
          and dispositive power over 56,126 shares of common stock and shared
          voting and dispositive power over 1,620,839 shares of common stock.
          Ray A. Rothrock has sole voting and dispositive power over 28,760
          shares of common stock and shared voting and dispositive power over
          1,620,839 shares of common stock.  Kimberly A. Rummelsburg has sole
          voting and dispositive power over no shares of common stock and shared
          voting and dispositive power over 1,627,517 shares of common stock.
          Anthony Sun has sole voting and dispositive power over 52,200 shares
          of common stock and shared voting and dispositive powers over
          1,620,839 shares of common stock.

Item 5    Ownership of Five Percent or Less of a Class
- ------    --------------------------------------------

          If this statement is being filed to report the fact that as of the
          date hereof the reporting person has ceased to be the beneficial owner
          of more than five percent of the class of securities, check the
          following [   ].

Item 6    Ownership of More than Five Percent of Behalf of Another Person
- ------    ---------------------------------------------------------------

          No person, other than the General Partners of Venrock and Venrock II,
          has the right to receive or the power to direct the receipt of
          dividends from, or the proceeds from the sale of, the shares of common
          stock owned by Venrock and Venrock II.

Item 7    Identification and Classification of the Subsidiary which Acquired the
- ------    ----------------------------------------------------------------------
          Security Being Reported on by the Parent Holding Company
          --------------------------------------------------------

          Not applicable.

Item 8    Identification and Classification of Members of the Group
- ------    ---------------------------------------------------------

          This schedule is being filed pursuant to Rule 13d-1(d).  The
          identities of the seven General Partners of Venrock and Venrock II are
          stated in Item 2.

Item 9    Notice of Dissolution of Group
- ------    ------------------------------

          Not applicable.

Item 10   Certification
- -------   -------------

          Not applicable.

                              Page 12 of 16 pages
<PAGE>
 
                                   SIGNATURE

          After reasonable inquiry and to the best of my knowledge and belief, I
certify that the information set forth in this Statement is true, complete and
correct.

February 9, 1999        VENROCK ASSOCIATES

                         By:  /s/ Ted H. McCourtney
                              --------------------------
                                Ted H. McCourtney
                                General Partner


February 9, 1999      VENROCK ASSOCIATES II, L.P.


                         By:  /s/ Ted H. McCourtney
                              --------------------------
                                Ted H. McCourtney
                                General Partner


February 9, 1999    GENERAL PARTNERS


                         /s/ Anthony B. Evnin
                         -------------------------------
                         Anthony B. Evnin

                         /s/ David R. Hathaway
                         -------------------------------
                         David R. Hathaway

                         /s/ Patrick F. Latterell
                         -------------------------------
                         Patrick F. Latterell

                         /s/ Ted H. McCourtney
                         -------------------------------
                         Ted H. McCourtney

                         /s/ Ray A. Rothrock
                         -------------------------------
                         Ray A. Rothrock

                         /s/ Kimberley A. Rummelsburg
                         -------------------------------
                         Kimberley A. Rummelsburg

                         /s/ Anthony Sun
                         -------------------------------
                         Anthony Sun


         

                              Page 13 of 16 pages
<PAGE>
 
                                 Exhibit Index

                                                            Page No.
24.1   Power of Attorney dated as of February 9, 1999         15
       granted by the General Partners in favor of
       Mr. Ted H. McCourtney

99.1   Agreement pursuant to 13d-1(k)(1) among Venrock        16
       Associates, Venrock Associates II, L.P. and the
       General Partners thereof
 
                              Page 14 of 16 pages

<PAGE>

                                                                    Exhibit 24.1
 

                               POWER OF ATTORNEY

  KNOWN ALL MEN BY THESE PRESENTS that each person whose signature appears below
constitutes and appoints Ted H. McCourtney his or her true and lawful attorney-
in-fact and agent, acting alone, with full power of substitution and
resubstitution, for him or her and in his or her name, place and stead, in any
and all capacities, to sign the Schedule 13G, and all amendments thereto, with
all exhibits thereto, and all documents in connection therewith, with respect to
the beneficial ownership by the undersigned of the equity securities of Visual
Networks, Inc., and to file the same, with the Securities and Exchange
Commission and any other person, granting unto the attorney-in-fact and agent
full power and authority to do and perform each and every act and thing
requisite and necessary to be done in and about the premises, as fully to all
intents and purposes as he or she might or could do in person, and hereby
ratifies and confirms all that said attorney-in-fact and agent or his substitute
or substitutes, may lawfully do or cause to be done.



February 9, 1999       
                                          /s/ Anthony B. Evnin
                                       --------------------------------
                                               Anthony B. Evnin 
                                               General Partner
       
                                          /s/ David R. Hathaway
                                       --------------------------------
                                              David R. Hathaway
                                              General Partner

                                          /s/ Ted H. McCourtney
                                       --------------------------------
                                              Ted H. McCourtney
                                              General Partner

                                          /s/ Ray A. Rothrock
                                       --------------------------------
                                              Ray A. Rothrock
                                              General Partner
                  
                                         /s/ Kimberley A. Rummelsburg
                                       ---------------------------------
                                             Kimberley A. Rummelsburg
                                             General Partner

                                         /s/ Patrick F. Latterell
                                       ---------------------------------
                                             Patrick F. Latterell 
                                             General Partner

                                         /s/ Anthony Sun
                                       ---------------------------------
                                             Anthony Sun
                                             General Partner

                              Page 15 of 16 pages

<PAGE>
 
                                                                    Exhibit 99.1
                                                                    ------------

                                   AGREEMENT

          Pursuant to Rule 13d-1(k)(1) promulgated pursuant to the Securities
Exchange Act of 1934, as amended, the undersigned agree that the attached
Schedule 13G is being filed on behalf of each of the undersigned.

February 9, 1999              VENROCK ASSOCIATES


                         By:  /s/ Ted H. McCourtney
                              --------------------------
                                Ted H. McCourtney
                                General Partner

February 9, 1999      VENROCK ASSOCIATES II, L.P.


                         By:  /s/ Ted H. McCourtney
                              --------------------------
                                Ted H. McCourtney
                                General Partner


February 9, 1999    GENERAL PARTNERS


                          /s/ Anthony B. Evnin
                         -------------------------------
                         Anthony B. Evnin

                         /s/ David R. Hathaway
                         -------------------------------
                         David R. Hathaway

                         /s/ Patrick F. Latterell
                         -------------------------------
                         Patrick F. Latterell

                         /s/ Ted H. McCourtney
                         -------------------------------
                         Ted H. McCourtney

                         /s/ Ray A. Rothrock
                         -------------------------------
                         Ray A. Rothrock

                         /s/ Kimberley A. Rummelsburg
                         -------------------------------
                         Kimberley A. Rummelsburg

                         /s/ Anthony Sun
                         -------------------------------
                         Anthony Sun

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