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Chapter 2 Force Vectors

Scalars and Vectors


Procedures for Analysis
(Fall 2015)

Instructor: Dr. Ben Shiau


Associate Professor
Mewbourne School of Petroleum & Geological
Engineering
(Tel: 5-6817, SEC 1346, bshiau@ou.edu)

Objectives
To show how to add forces and resolve them into
components using the Parallelogram Law
To express force and position in Cartesian Vector
form and explain how to determine the vectors
magnitude and direction
To introduce the DOT PRODUCT in order to
determine the angle between vectors or the
projection of one vector onto another.
2

2.1 Scalars and Vectors


Scalar is a quantity characterized by a positive
or negative number. That is, it has magnitude
but no direction. Generally written in italic (not
boldface).
Examples are mass, volume, length, speed, and
time

Vector has magnitude as well as direction.


Written with an arrow on top (or boldface).
Examples are displacement, acceleration,
weight, force, and velocity

2.2 Vector Operations


Multiplication and Division of a Vector by a Scalar
The product or division of a vector (by a scalar) is also a vector. However,
the magnitude will change and the sense will change if the scalar is
negative.
A special case: if the vectors are collinear (that is, on the same straight
line), the resultant is formed by algebraic or scalar addition.
Vector Addition
The addition of vectors A and B results in a resultant R = A + B. This can
be achieved using the Parallelogram Law.
Vector Subtraction
The resultant difference between vectors A and B results in a resultant R
= A B.
Resolution of Vector
A vector may be resolved into two components having known lines of
action by using the parallelogram law.
4

2.3 Vector Addition of Forces


Since force is a vector, it adds according to the
parallelogram law.
Two common problems in statics involve either finding
resultant of force, knowing its components or resolving a
known force into two components.
If more than two forces are to be added, successive
application of the parallelogram law is carried out in order
to obtain the resultant force.
Using the parallelogram law requires extensive geometric
and trigonometric calculations (basically sine, cosine, and
Pythagoras laws). Instead problems of this type are easily
(best) solved by using the rectangular-component
method.
5

Procedure for Analysis of Vector Addition of Two Forces


Problems that involve the addition of two forces can be solved as follows:
Parallelogram Law
Make a sketch placing the vectors together at their tails and then showing the
vector addition using the parallelogram law.
Two component forces add according to the parallelogram law, yielding a result
force that forms the diagonal of the parallelogram
If a force is to be resolved into components along 2 axes directed from the tail of
the force, then start at the head of the force and construct lines parallel to the
axes, thereby forming the parallelogram. The sides of the parallelogram represent
the components.
Label all the known and unknown force magnitudes and the angles on the sketch
and identify the two unknowns.
Trigonometry
Redraw a half portion of the // to illustrate the head-to-tail addition of the
components
The magnitude of the resultant force can be determined from the law of cosines,
and its direction is determined from the sine law.
6
The magnitude of the two force components are determined from sine law.

Ch 2.3

EXAMPLE 2.2

EXAMPLE 2.2 (continued)

EXAMPLE 2.2 (continued)

Class Exercise: Fundamental Problems* F2-4. (p. 27)

Ch. 2.4 Addition of a System of Coplanar Forces

EXAMPLE 2.6

EXAMPLE 2.6 (continued)

EXAMPLE 2.6 (continued)

Ch. 2.4 Addition of a System of Coplanar Forces


(Cont.)

EXAMPLE 2.7

EXAMPLE 2.7 (continued)

EXAMPLE 2.7 (continued)

Class Exercise: Problem 2-50

2.5 Cartesian Vector Notation


The operation of vector algebra, when applied to
solving problems in 3-D, are greatly simplified if the
vectors are first represented in Cartesian vector form.
Right-Handed Coordinate System: The RHR is used
to develop the theory of vector algebra as follows:
A rectangular or Cartesian coordinate system is said to be
R-H provided the thumb of the right hand points in the
direction of the positive (+) z axis when the right hand
fingers are curled about this axis and directed from the +ve
x towards the +ve y axis. According to this rule, the z-axis
for a 2-D problem would be directed outward,
16
perpendicular to the page.

Cartesian Vector Notation


Rectangular Components of a Vector
A vector A may have 1, 2, or 3 rectangular
components along the x, y, and z coordinate
axes, depending on how the vector is oriented
relative to the axes. In general, though, when A
is directed within an octant of the x, y, z frames,
it can be represented by the sum of its 3
rectangular
components
as
follows:

A = Axi + Ayj + Azk


17

Cartesian Vector Notation


Cartesian Unit Vectors: In 3-D, the set of Cartesian unit vectors, i, j, and
k is used to designate the directions of the x, y, and z axes respectively.
Cartesian Vector Representation: A = Axi + Ayj + Azk
Magnitude of a Cartesian Vector

Direction of Cartesian Vector

A
cos

(see Fig. 2-26, Hibbeler for , , & )

AX2
AX
; cos
A

AY2 AZ2
AY
; cos
A

AZ
A

Since the magnitude of a vector is equal to the +ve square root of the
sum of the squares of the magnitudes of its components, and uA has a
magnitude of 1, then an important relation between the direction
cosines can be derived as follows:
cos2 + cos2 +cos2 = 1
18
Question: Show the relationship cos2 + cos2 +cos2 = 1

Cartesian Vector Notation


An easy way of obtaining the direction cosines is to form a unit vector
uA in the direction of A. If A is expressed in Cartesian vector form,
A = Axi + Ayj + Azk , then uA will have a magnitude of one and be
dimensionless provided A is divided by its magnitude, i.e.
uA = A/A = (Ax/A)i + (Ay/A)j + (Az/A)k
Thus, uA = cos i + cos j +cos k
If the magnitude and coordinate direction angles of A are known, then
A may be expressed in Cartesian vector form as
A = AuA
A = Acos i + Acos j +Acos k

A = A xi + A yj + A zk

cos

AX
; cos
A

AY
; cos
A

AZ
A

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Ch. 2.6 Addition of Cartesian Vectors

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EXAMPLE 2.8

EXAMPLE 2.9

EXAMPLE 2.9 (continued)

EXAMPLE 2.9 (continued)

Class Exercise: F2-17

**Ch. 2.7 & 2.8 Position and Force Vectors


A position vector r is defined as a fixed vector which locates
a point in space relative to another point.
The easiest way to formulate the components of a position
vector is to determine the distance and direction that one
must travel along the x, y, and z directions going from the
tail to the head of the vector. That is
r = (xB xA)i + (yB yA)j + (zB zA)k
Thus, the i, j, k components of the position vector r may be
formed by taking the coordinates of the tail of the vector A
(xA, yA, zA) and subtracting them from the corresponding
coordinates of the head B (xB, yB, zB)
25

EXAMPLE 2.12

EXAMPLE 2.12
(continued)

EXAMPLE 2.12
(continued)

Exercise: Problem 2-99

29

Ch 2.9 Dot Product


In two dimensions, it is easy to find the angle between two
lines or the components of a force parallel or perpendicular
to a line. This is by using trigonometry.
In 3-D, however, this is often difficult, and hence vector
methods is employed to solve the problem. The dot product
defines a particular method for multiplying two vectors and
is used to solve the 3-D problems.
The DOT product of vector A and B, written as AB, and
reads A dot B is defined as the product of the magnitudes
of A and B and the cosine of the angle between their tails.
AB = ABcos (0o 180o), and it is a scalar. Hence, the
dot product is also called a scalar product.
30

Laws of Operation of a DOT Product


1. Commutative law:
AB = BA
2. Multiplication law: a(AB) = (a A)B = A(aB) = (AB)a
3. Distributive law: A(B + D) = (AB) + (AD)
Cartesian Vector Formulation
The dot product can be used to find the dot product for
each of the Cartesian unit vectors
ii = 1
jj = 1
kk = 1
ij = 0
ik = 0
kj = 0
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Dot Product of Two General Vectors A and B


If A = Axi + Ayj + Azk and B = Bxi + Byj + Bzk ,
then
AB = AxBx + AyBy + AzBz
Thus, to determine the dot product of two
Cartesian vectors, multiply their corresponding x,
y, z components and sum their products
algebraically.
Note: Since the result is a scalar, we must be
careful not to include any unit vectors in the final
result.

32

Applications of Dot Product


The dot product has two important applications in
mechanics:
To determine the angle formed between two vectors
or intersecting lines (i.e. the angle between the tails of
vector A and B)
= cos-1(AB/AB) 0o 180o

To determine the components of a vector parallel and


perpendicular to a line

33

EXAMPLE 2.16

EXAMPLE 2.16
(continued)

EXAMPLE 2.17

EXAMPLE 2.17
(continued)

EXAMPLE 2.17
(continued)

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