11/26/2013

Engineers Mechanics- Review of Vector Algebra/Applications

Vectors
Vector classifications:
- Fixed or bound vectors have well defined points of
application that cannot be changed without affecting
an analysis.
- Free vectors may be freely moved in space without
changing their effect on an analysis.

Equal vectors have the same magnitude and direction.

Negative vector of a given vector has the same magnitude
and the opposite direction.

Engineers Mechanics- Review of Vector Algebra/Applications

Addition of Vectors
Parallelogram rule for vector addition
Triangle rule for vector addition
Law of cosines,
C
B
C

R 2 P 2 Q 2 2 PQ cos B

R PQ

Law of sines,
B

sin A sin B sin C

Q
R
P

Vector addition is commutative,

PQ Q P
Vector subtraction

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Engineers Mechanics- Review of Vector Algebra/Applications

Addition of Vectors
Addition of three or more vectors through
repeated application of the triangle rule

The polygon rule for the addition of three or

more vectors.
Vector addition is associative,


P Q S P Q S P Q S

Multiplication of a vector by a scalar

Engineers Mechanics- Review of Vector Algebra/Applications

Addition of Vectors
A quantity which has magnitude and
direction, but doesnt follow parallelogram
law, cannot be a vector.
Can you name such a quantity?
Think in terms of commutative property!!
Answer: Finite Rotation

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Engineers Mechanics- Review of Vector Algebra/Applications

Application: Resultant of Several Concurrent Forces

Concurrent forces: set of forces which all
pass through the same point.
A set of concurrent forces applied to a
particle may be replaced by a single
resultant force which is the vector sum of the
applied forces.
Vector force components: two or more force
vectors which, together, have the same effect
as a single force vector.

Engineers Mechanics- Review of Vector Algebra/Applications

Rectangular Components of a Vector

May resolve a vector into perpendicular components
so

that the resulting parallelogram is a rectangle. Fx and Fy

are referred to as rectangular vector components and

F Fx F y

Define perpendicular unit vectors i and j which are

parallel to the x and y axes.

Vector components may be expressed as products of

the unit vectors with the scalar magnitudes of the
vector components.

F Fx i Fy j

Fx F cos
Fy F sin

Fx and Fy are referred to as the scalar components of F

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Engineers Mechanics- Review of Vector Algebra/Applications

Application: Addition of Concurrent Forces

Wish to find the resultant of 3 or more
concurrent forces,

R P Q S
Resolve each force into rectangular components

R x i R y j Px i Py j Q x i Q y j S x i S y j

Px Q x S x i Py Q y S y j
The scalar components of the resultant are
equal to the sum of the corresponding scalar
components of the given forces.
R x Px Qx S x
R y Py Q y S y
Fx
Fy
To find the resultant magnitude and direction,
Ry
R R x2 R y2
tan 1
Rx

Engineers Mechanics- Review of Vector Algebra/Applications

Example
Two structural members A and B are bolted to
a bracket as shown. Knowing that both
members are in compression and that the force
is 20 kN in member A and 30 kN in member B,
determine, using trigonometry, the magnitude
and direction of the resultant of the forces
applied to the bracket by members A and B.

SOLUTION KEY
o Construct the force triangle
and apply the sine and
cosine rules.
Example of a timber truss joint

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Engineers Mechanics- Review of Vector Algebra/Applications

Example
SOLUTION

Engineers Mechanics- Review of Vector Algebra/Applications

Example
A collar that can slide on a vertical rod is subjected to
the three forces shown. Determine (a) the value of the
angle for which the resultant of the three forces is
horizontal, (b) the corresponding magnitude of the
resultant.

SOLUTION KEY
o Since the resultant (R) is to be
horizontal, sum of the vertical
comp. of the forces, i.e., Ry = 0.

Example of an Umbrella

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Engineers Mechanics- Review of Vector Algebra/Applications

Example
SOLUTION
(a)

Since R is to be horizontal, Ry = 0

Then,
Ry Fy 0
90 lb 70 lb sin 130 lb cos 0

13 cos 7 sin 9
13 1 sin 2 7 sin
Squaring both sides:

169 1 sin 2 49 sin 2 126 sin 81

218 sin

Solving by quadratic formula:

126 sin 88 0

sin 0.40899
or,

24 .1
1 - 11

Engineers Mechanics- Review of Vector Algebra/Applications

Example-2

or, R 117.0 lb
1 - 12

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Engineers Mechanics- Review of Vector Algebra/Applications

Rectangular Components of a Vector in Space

Components of the vector F

Fx F cos x F y F cos y Fz F cos z

F Fx i F y j Fz k

F cos x i cos y j cos z k

cos x i cos y j cos z k

is a unit vector along the line of action of F

and cos x , cos
y , and cos z are the direction
cosines for F

cos 2 x cos 2 y cos 2 z 1

F Fx2 Fy2 Fz2

Engineers Mechanics- Review of Vector Algebra/Applications

Application: Rectangular Components of a Force Vector in Space
The magnitude of the force vector is
F and the direction of the force is
defined by the location of two
points,
M x1 , y1 , z1 and N x 2 , y 2 , z 2

d vector joining M and N

d xi d y j d zk
d x x2 x1 d y y 2 y1 d z z 2 z1

F F

d xi d y j d z k
d
Fd y
Fd x
Fd z
Fx
Fy
Fz
d
d
d

d d x2 d y2 d z2
cos x

d
dx
d
; cos y y ; cos z z
d
d
d

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Engineers Mechanics- Review of Vector Algebra/Applications

Example
SOLUTION:
Based on the relative locations of the
points A and B, determine the unit
vector pointing from A towards B.
Apply the unit vector to determine the
components of the force acting on A.

The tension in the guy wire is 2500 N.

Determine:

Noting that the components of the unit

vector are the direction cosines for the
vector, calculate the corresponding
angles.

a) components Fx, Fy, Fz of the force

acting on the bolt at A,
b) the angles qx, qy, qz defining the
direction of the force (the direction
cosines)
2 - 15

Engineers Mechanics- Review of Vector Algebra/Applications

Example
SOLUTION:
Determine the unit vector pointing from A
towards B.

AB 40m i 80m j 30m k

AB 40m 2 80m 2 30m 2
94.3 m

40 80 30

i
j
k
94.3 94.3 94.3
0.424 i 0.848j 0.318k
Determine the components of the force.

FF
2500 N 0.424 i 0.848j 0.318 k
1060N i 2120 N j 795 N k
2 - 16

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Engineers Mechanics- Review of Vector Algebra/Applications

Example
Noting that the components of the unit vector are
the direction cosines for the vector, calculate the
corresponding angles.

cos x i cos y j cos zk

0.424 i 0.848 j 0.318 k
x 115.1
y 32.0
z 71.5

2 - 17

Engineers Mechanics- Review of Vector Algebra/Applications

Example
SOLUTION:
FBA

FAB

Since the force in the guy wire must be

the same throughout its length, the force
at B (and acting toward A) must be the
same magnitude but opposite in
direction to the force at A.

FBA FAB
1060N i 2120 N j 795 N k
What are the components of the
force in the wire at point B? Can
you find it without doing any
calculations?

2 - 18

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Engineers Mechanics- Review of Vector Algebra/Applications

Scalar Product of Two Vectors

The scalar product or dot product between
two vectors P and Q is defined as

P Q PQ cos scalar result
Scalar products:
- are commutative,
- are distributive,
- are not associative,

P Q Q P

P Q1 Q2 P Q1 P Q2

P Q S undefined

Scalar products with Cartesian unit components,

P Q Px i Py j Pz k Qx i Q y j Qz k

i i 1 j j 1 k k 1 i j 0

j k 0 k i 0

P Q Px Qx Py Q y Pz Qz

P P Px2 Py2 Pz2 P 2

Engineers Mechanics- Review of Vector Algebra/Applications

Applications: Scalar Product of Two Force Vectors

Angle between two force vectors:

P Q PQ cos Px Qx Py Q y Pz Qz
cos

Px Qx Py Q y Pz Qz
PQ

Projection of a force vector on a given axis:

POL P cos projection of P along OL

P Q PQ cos

P Q
P cos POL
Q
Note:

- For an axis defined by a unit vector (): Q

Q
POL P

Px cos x Py cos y Pz cos z

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Engineers Mechanics- Review of Vector Algebra/Applications

Vector Product of Two Vectors

Vector product of two vectors P and Q is defined
as the vector V which satisfies the following
conditions:
1. Line of action of V is perpendicular to plane
containing P and Q.
2. Magnitude of V is V PQ sin
3. Direction of V is obtained from the right-hand
rule.

Vector products:
- are not commutative, Q P P Q
- are distributive,
P Q1 Q2 P Q1 P Q2
- are not associative, P Q S P Q S

Engineers Mechanics- Review of Vector Algebra/Applications

Vector Products: Rectangular Components

Vector products of Cartesian unit vectors,



i i 0
j i k k i j

i j k
j j 0
k j i



i k j j k i
k k 0
Vector products in terms of rectangular
coordinates

V Px i Py j Pz k Qx i Q y j Qz k

Py Qz Pz Q y i Pz Qx Px Qz j

Px Q y Py Qx k

i
j
k
Px Py Pz
Q x Q y Qz

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Engineers Mechanics- Review of Vector Algebra/Applications

Application: Moment of a Force About a Point

Moment of a force produces a turning action on a
rigid body
The moment of a force F about O is defined as

MO r F
r is the position vector of A from O
The moment vector MO is perpendicular to the
plane containing O and the force F.
Magnitude of MO measures the tendency of the force
to cause rotation of the body about an axis along MO.
M O rF sin Fd
d is the perpendicular distance of the line of action
of Force F from O. The sense of the moment may be
determined by the right-hand rule.

Engineers Mechanics- Review of Vector Algebra/Applications

Moment of a Force About a Point

Two-dimensional structures have length and breadth but
negligible depth and are subjected to forces contained
only in the plane of the structure.
The plane of the structure contains the point O and the
force F. MO, the moment of the force about O, is
perpendicular to the plane.
If the force tends to rotate the structure clockwise, the
sense of the moment vector is out of the plane of the
structure and the magnitude of the moment is positive.
If the force tends to rotate the structure counterclockwise,
the sense of the moment vector is into the plane of the
structure and the magnitude of the moment is negative.
3 - 24

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Engineers Mechanics- Review of Vector Algebra/Applications

Examples: Application of moments

Engineers Mechanics- Review of Vector Algebra/Applications

Varignons Theorem
The moment about a give point O of the
resultant of several concurrent forces is equal
to the sum of the moments of the various
forces about the same point O.
r F1 F2 r F1 r F2

Varignons Theorem makes it possible to

replace the direct determination of the
moment of a force F by the moments of two
or more component forces of F.

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Engineers Mechanics- Review of Vector Algebra/Applications

Application: Rectangular Components of the Moment of a Force about origin

The moment of force F applied at A about O,

M O r F , r xi yj z k

F Fx i Fy j Fz k

M O M xi M y j M zk

x
Fx

y
Fy

z
Fz

yFz zF y i zFx xFz j xFy yFx k

Engineers Mechanics- Review of Vector Algebra/Applications

Application: Rectangular Components of the Moment of a Force about an
Arbitrary Point

The moment of force F applied at A about B,

M B rA / B F

rA / B rA rB

x A xB i y A yB j z A z B k

F Fx i Fy j Fz k

M B x A xB
Fx

j
y A yB

k
z A zB

Fy

Fz

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Engineers Mechanics- Review of Vector Algebra/Applications

Rectangular Components of the Moment of a Force

For two-dimensional structures,
M O xFy yFx k
MO MZ
xFy yFx

M B x A x B Fy y A y B Fx k
MB MZ
x A x B Fy y A y B Fx

Engineers Mechanics- Review of Vector Algebra/Applications

Example
A 500-N vertical force is applied to the end of a lever
which is attached to a shaft (not shown) at O.
Determine:
0.6 m
500 N

a) the moment about O,

b) the horizontal force at A which creates the same
moment,
c) the smallest force at A which produces the same
moment,
d) the location for a 1200-N vertical force to
produce the same moment

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11/26/2013

Engineers Mechanics- Review of Vector Algebra/Applications

Example

0.6 m
500 N

a) Moment about O is equal to the product of the

force and the perpendicular distance between the
line of action of the force and O. Since the force
tends to rotate the lever clockwise, the moment
vector is into the plane of the paper which, by our
sign convention, would be negative or
counterclockwise.
M O Fd
d 0.6 m cos 60 0.3 m
M O 500 N 0.3 m 150 N.m

M O 150 N m

Engineers Mechanics- Review of Vector Algebra/Applications

Example
b) Horizontal force at A that produces the same
moment,
0.6 m

d 0.6 m sin 60 0.52 m

M O Fd
150 N m F 0.52 m
150 N m
F 288.5 N
F
0.52 m

Why must the direction of this F be to the right?

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Engineers Mechanics- Review of Vector Algebra/Applications

Example
F(min) ?
What is the smallest force at A which produces
the same moment?
0.6 m
c) The smallest force at A to produce the same
moment occurs when the perpendicular distance is
a maximum or when F is perpendicular to OA.
M O Fd
150 N m F 0.6 m
150 N m
F
0.6 m
F 250 N

30o

Engineers Mechanics- Review of Vector Algebra/Applications

Example
d) To determine the point of application of a 1200 N
force to produce the same moment,
1200 N

M O Fd
150 N m 1200 N d
150 N m
d
0.125 m
1200 N
d OB cos 60

OB 0.25 m

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Engineers Mechanics- Review of Vector Algebra/Applications

Example
A 36-N force is applied to a wrench to
tighten a showerhead. Knowing that the
centerline of the wrench is parallel to the x
axis. Determine the moment of the force
about A.
SOLUTION KEY
o Find out the position vector of the
point C .
o Get the components of the applied
force (F) along X, Y and Z directions.

Engineers Mechanics- Review of Vector Algebra/Applications

Example
SOLUTION

M A rC/ A F

where rC / A 215 mm i 50 mm j 140 mm k

Fx 36 N cos 45 sin12, Fy 36 N sin 45 ,

Fz 36 N cos 45 cos12
F 5.2926 N i 25.456 N j 24.900 N k

and M A

0.215

0.050

0.140

N m

5.2926 25.456 24.900

4.8088 N m i 4.6125 N m j 5.7377 N m k

M A 4.81 N m i 4.61 N m j 5.74 N m k

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Engineers Mechanics- Review of Vector Algebra/Applications

Mixed Triple Product of Three Vectors

Mixed triple product of three vectors,

S P Q scalar result = volume of parallelepiped
The six mixed triple products formed from S, P, and
Q have equal magnitudes but not the same sign,



S P Q P Q S Q S P



S Q P P S Q Q P S
Evaluating the mixed triple product,

S P Q S x Py Q z Pz Q y S y Pz Q x Px Q z

S Q
P

S z Px Q y Py Qx
Sx

Sy

Sz

Px
Qx

Py
Qy

Pz
Qz

Engineers Mechanics- Review of Vector Algebra/Applications

Application: Moment of a Force About an Axis Passing Through the Origin
Moment MO of a force F applied at the point A
about a point O,

MO r F
Scalar moment MOL about an axis OL is the
projection of the moment vector MO onto the
axis,


M OL M O r F
Moments of F about
the coordinate axes
(components of M O )
M x yFz zFy

r xi y j zk

M y zFx xFz
M z xFy yFx

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Engineers Mechanics- Review of Vector Algebra/Applications

Application: Moment of a Force About an Arbitrary Axis

Moment of a force about an arbitrary axis,

M BL M B

rA B F

rA B rA rB
The result is independent of the location
of point B along the given axis!!

Engineers Mechanics- Review of Vector Algebra/Applications

Example
The frame ACD is hinged at A and D and is supported by a cable that
passes through a ring at B and is attached to hooks at G and H. Knowing
that the tension in the cable is 1125 N, determine the moment about the
diagonal AD of the force exerted on the frame by portion BH of the cable.
SOLUTION KEY
o Find unit vector along AD.
o Find the force vector BH.
o Choose either point A or D , get the
position vector AB or DB

M AD AD rB/ A TBH

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Engineers Mechanics- Review of Vector Algebra/Applications

Example

M AD AD rB/ A TBH

AD

0.8 m i 0.6 m k
0.8 m 2 0.6 m 2

0.8 i 0.6 k

rB/ A 0.4 m i

TBH TBH

0.3 m i 0.6 m j 0.6 m k

BH
1125 N
2
2
2
BH
0.3 0.6 0.6 m

0.8

0.6

M AD 0.4

180 N m

375 750 750

M AD 180.0 N m

Engineers Mechanics- Review of Vector Algebra/Applications

Moment of a Couple Couple Moment

Two forces F and -F having the same magnitude,
parallel lines of action, and opposite sense are said
to form a couple.
Moment of the couple,

M rA F rB F

rA rB F

Special Notation
r F C

M rF sin Fd C
The moment vector of the couple is
independent of the choice of the origin of the
coordinate axes, i.e., it is a free vector that can
be applied at any point with the same effect.

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Engineers Mechanics- Review of Vector Algebra/Applications

Moment of a Couple
Two couples will have equal moments if
F1d1 F2 d 2
the two couples lie in parallel planes, and
the two couples have the same sense or
the tendency to cause rotation in the same
direction.

Engineers Mechanics- Review of Vector Algebra/Applications

Addition of Couples
Consider two intersecting planes P1 and
P2 with each containing a couple

M 1 r F1 in plane P1

M 2 r F2 in plane P2
Resultants of the vectors also form a
couple

M r R r F1 F2
Sum of two couples is also a couple that is equal
to the vector sum of the two couples

M r F1 r F2

M1 M 2

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Engineers Mechanics- Review of Vector Algebra/Applications

Summary Couple

A couple can be represented by a vector with magnitude

and direction equal to the moment of the couple.
Couple vectors obey the law of addition of vectors.
Couple vectors are free vectors, i.e., the point of application
is not significant.
Couple vectors may be resolved into component vectors.

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