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CHAPTER 2: FORCE VECTORS (Week 3) Continue
Cartesian Vector (3D)
Position Vector (3D)
Force Vector (3D)
Dot Product (3D)
Intro to Cross Product
(3D)
Chapter Outline
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Learning Outcome (s)
14 June 2018 4
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2.5 Cartesian Vectors
A = Ax + Ay + Az
2.5 Cartesian Vectors (i,j,k)
Az
cos =
A
2.5 Cartesian Vectors
where
A = vector quantities
A = Ax2 + Ay2 + Az2 A = magnitude
2.5 Cartesian Vectors cos =
Ax
cos =
Ay
A A
– Since A = Ax + Ay + Az
2 2 2
and uA = 1, we have
Relation:
cos + cos + cos = 1
2 2 2
Ax
cos =
A
Ay
cos =
A
Az
cos =
A
So,
= cos -1 (0.5)= 60 o
Solution
Position Vector
– Position vector r is defined as a fixed vector which
locates a point in space relative to another point.
– E.g. r = xi + yj + zk
2.7 Position Vectors
Position Vector
– Vector addition gives rA + r = rB
– Solving (Vector Subtraction)
r = rB – rA = (xBi + yBj + zBk) – (xAi + yAj + zAk)
or r = (xB – xA)i + (yB – yA)j + (zB –zA)k
2.7 Position Vectors
Coordinate A & B:
A = {1i + 0j – 3k} m
B = {–2i + 2j + 3k} m
r = rB – r A
= {(–2i + 2j + 3k) – (1i + 0j – 3k)} m
Solution (Similar with Cartesian Eq.)
Position vector
r = [–2m – 1m]i + [2m – 0]j + [3m – (–3m)]k
= {–3i + 2j + 6k}m
r= (- 3) + (2) + (6)
2 2 2
= 7m
Unit vector in the director of r
u = r /r (in fraction for calculate θ)
= –3/7i + 2/7j + 6/7k
Solution (Similar with Cartesian Eq.)
Ax Ay
cos = cos =
A A
Az
cos =
A
α = cos-1(-3/7) = 115°
β = cos-1(2/7) = 73.4°
γ = cos-1(6/7) = 31.0°
2.8 Force Vector Directed along a Line
We are interested with
Force Vector!
Position Vector > Unit
Vector > Force Vector
Force Vector = Force
acting along X,Y&Z axis!
F = F u = F (r/r)
Coordinate:
A (0m, 0m, 7.5m)
B (3m, -2m, 1.5m)
Solution
Direction:
α = cos-1(3/7) = 64.6°
β = cos-1(-2/7) = 107°
γ = cos-1(-6/7) = 149° Ax Ay Az
cos = cos = cos =
A A A
2.9 Dot Product
- If A·B in 3D cartesian:
A·B = (Axi + Ayj + Azk) · (Bxi + Byj + Bzk)
= AxBx (i·i) + AxBy (i·j) + AxBz (i·k)
+ AyBx (j·i) + AyBy (j·j) + AyBz (j·k)
+ AzBx (k·i) + AzBy (k·j) + AzBz (k·k)
2.9 Dot Product
= (300N )2 - (257.1N )2
= 155N
2.10 Cross Product (Intro)
C = AB sinθ
2.10 Cross Product (Intro)
Direction
• Vector C has a direction that is perpendicular to the
plane containing A and B such that C is specified by
the right hand rule
• Expressing vector C when magnitude and direction are
known as:
Unit vector of C
C = A X B = (AB sinθ)uC direction
Scalar for
magnitude of C
2.10 Cross Product (Intro)
Laws of Operations
1. Commutative law is not valid
AXB≠BXA
Rather,
A X B = −B X A
• Cross product A X B yields a
vector opposite in direction to C
B X A = −C
2.10 Cross Product (Intro)
Laws of Operations
2. Multiplication by a Scalar
a( A X B ) = (aA) X B = A X (aB) = ( A X B )a
3. Distributive Law
AX(B+D)=(AXB)+(AXD)
• Proper order of the cross product must be maintained
since they are not commutative
2.10 Cross Product (Intro)
i j k
A B = Ax Ay Az
Bx By Bz
• Definitions:
• Miscellaneous relations:
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Last Updated:14 June 2018
Reference
• Law of Sines:
• Law of Cosiness:
51
Last Updated:14 June 2018
Key terms: 14 June 2018
Term Definition
Force A vector quantity that tends to produce an
acceleration of a body in the direction of its
application.
Resolve To convert / express a vector quantity in a specific
axis.
Resultant A single vector that is the equivalent of a set of
vectors.