ES 11 Formula Sheet and Reviewer

FIRST LONG EXAM
Lecture 1: Overview of Mechanics
Force - Magnitude and Direction
Direction: Line of axis and sense
Rigid Bodies – non-deformable bodies, since
the distance of any two points is constant
regardless of the external force applied
Graphical Methods:
side are the opposite angles of the side (A and
𝛼).
𝐶 = 𝐴2 + 𝐵 2 − 2𝐴𝐵 cos 𝛾
Note: This formula uses the magnitude of
each term. 𝛾 is the opposite angle
corresponding to C.
Rectangular Components and Directional
Cosines 3D

1. Parallelogram Law 𝐹 = √𝐹𝑥 2 + 𝐹𝑦 2 + 𝐹𝑧 2

𝐹𝑦
𝜃𝑥𝑦 = tan−1 ( )
𝐹𝑥
𝐹𝑥 = 𝐹 cos 𝜃𝑥
𝐹𝑦 = 𝐹 cos 𝜃𝑦
𝐹𝑧 = 𝐹 cos 𝜃𝑧
Note: The angle 𝜃𝑥𝑦 is obtained by the
In order to do the parallelogram law, there
formula, but this can be changed so that the
will be a parallel projection of P to Q, and Q to
corresponding angle for the projection at xz,
P.
yz planes can be obtained.
Example:
2. Triangle Law

In order to do the triangle law, the heads and

tails of the vectors are connected. Resultant
will be from the starting point until the last
head of the vector. This can be done in any In the figure, the components are equal to:
order. 𝐹⃑ = 𝐹𝑥 𝑖̂ + 𝐹𝑦 𝑗̂ + 𝐹𝑧 𝑘̂
𝐹𝑥 = 𝐹 sin 𝜃𝑧 sin 𝜃𝑥𝑦
Law of Cosines and Sines
𝐴 𝐵 𝐶 𝐹𝑦 = 𝐹 sin 𝜃𝑧 cos 𝜃𝑥𝑦
= = 𝐹𝑧 = 𝐹 cos 𝜃𝑧
sin 𝛼 sin 𝛽 sin 𝛾
Note: the side adjacent to the angle (not the
Note: The reciprocal of each term is also true.
hypotenuse) uses cosine!
But you should be consistent on what’s above
and below. Also, the angles that represent a
Special Notes:

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Addition of vectors is commutative and  Scalar product is both commutative
associative and associative.
Adding 2 or more vectors follows the polygon  The dot product of two perpendicular
rule vectors is zero!
Concurrent forces pass through at one point
Projections
𝑃𝑂𝐿 = 𝑃 ∙ 𝜆𝑂𝐿
Lecture 2: Equilibrium of a System Note: This equation is alternative to the
∑ 𝐹⃑ = 0 projection formula in Math 54, which is:
𝑃 ∙ 𝑃𝑂𝐿
⃑⃑⃑⃑⃑⃑ =
𝑝𝑟𝑜𝑗𝑃⃑⃑ 𝑂𝐿 ⃑⃑⃑⃑⃑⃑⃑
𝑃
∑ 𝐹𝑥 , 𝐹𝑦 , 𝐹𝑧 = 0 ‖𝑃𝑂𝐿 ‖2 𝑂𝐿
Note: Usually problems involve concurrent Cross Product
forces, which means a Free-Body Diagram can 𝐴⃑ 𝑥 𝐵⃑⃑ = ‖𝐴‖‖𝐵‖ sin 𝜃
be used to visualize the forces and decompose 𝑖̂ 𝑗̂ 𝑘̂
it to components. = [𝐴𝑥 𝐴𝑦 𝐴𝑧 ]
𝐹⃑ = 𝐹𝜆 𝐵𝑥 𝐵𝑦 𝐵𝑧
A force can be decomposed using a unit vector = (𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 )𝑖̂ − (𝐴𝑥 𝐵𝑧 − 𝐴𝑧 𝐵𝑥 )𝑗̂
to where it is directed. + (𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 )𝑘̂
Notes:
Steps in Problems 3D:  The cross product of two parallel
1. Identify the forces present in the vectors is a zero vector!
system.
 Visualization: area of parallelogram,
2. Decompose each force using the unit
or vector perpendicular to both
vector. This unit vector serves as the
crossed vectors.
coefficient of unknowns.
 Cross product is not commutative, but
3. Use ∑ 𝐹𝑥 , 𝐹𝑦 , 𝐹𝑧 = 0 to create
𝐴⃑ 𝑥 𝐵
⃑⃑ = −(𝐵 ⃑⃑ 𝑥𝐴⃑)
equations and to solve missing forces.
(Calculator Solver)  𝑘(𝐴⃑ 𝑥 𝐵 ⃑⃑ ) = (𝑘𝐴⃑)𝑥𝐵 ⃑⃑ = (𝑘𝐵 ⃑⃑ )𝑥𝐴⃑
4. Note that there can be constant  𝐶⃑𝑥(𝐴⃑ + 𝐵 ⃑⃑ ) = 𝐶⃑𝑥𝐴⃑ + 𝐶⃑𝑥𝐵 ⃑⃑
present in the system so watch out as
you complete the equation. Scalar Triple Product
𝐶𝑥 𝐶𝑦 𝐶𝑧
The Laws of Cosines and Sines are useful 𝐶⃑ ∙ 𝐴⃑ 𝑥 𝐵
⃑⃑ = [𝐴𝑥 𝐴𝑦 𝐴𝑧 ]
especially as the vector diagram goes back to 𝐵𝑥 𝐵𝑦 𝐵𝑧
the original point, producing a triangle in the = (𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 )𝐶𝑥 − (𝐴𝑥 𝐵𝑧 − 𝐴𝑧 𝐵𝑥 )𝐶𝑦
process. This method is limited to 2D
+ (𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 )𝐶𝑧
problems.
Notes:
Lecture 3: Vector Operations  Norm = volume of parallelepiped, or
moment about a line (Lec. 4)
Dot Product  Vector triple product is not that useful.
𝐴⃑ ∙ 𝐵
⃑⃑ = ‖𝐴‖‖𝐵‖ cos 𝜃
Lecture 4: Moment of a Force and Couples
𝐴⃑ ∙ 𝐵
⃑⃑ = 𝐴𝑥 𝐵𝑥 + 𝐴𝑦 𝐵𝑦 + 𝐴𝑧 𝐵𝑧
Moment – Tendency to rotate, and it’s also a
Notes: vector

Lapuz, Carlin Drew S. | ES 11 Formula Sheet | cslapuz2015 2

Varignon’s Theorem – moment about a given
point is the sum of the moment contribution
of concurrent forces.

Moment about a Point

⃑⃑⃑ = 𝑟⃑𝑥𝐹⃑
𝑀
𝑀 = 𝐹𝑑

Note:
Two variants of the formula exists, the
vectored form is used to get the vector form of
moment. While the scalar form calculates the
magnitude of the moment, with d as the
perpendicular distance from a point to the
line of action of the force.

To solve for the magnitude of the moment,

find the perpendicular distance d, which can
be solved by geometry.

Moment about a Line

⃑⃑⃑ = ((𝑟⃑𝑥𝐹⃑ ) ∙ ⃑⃑⃑⃑⃑⃑⃑
𝑀 𝜆𝐴𝐵 )𝜆 ⃑⃑⃑⃑⃑⃑⃑
𝐴𝐵

Steps in solving the problem (vector form):

1. From the given, obtain the vector
forms of:
a) the pole or the line where you need
to find the moment, 𝜆𝐴𝐵 .
b) Any vector R from the line to the line
of action of the force.
c) The force Vector F.
2. Afterwards, do the scalar triple
product: M = (RxF) * Uab. This is the
magnitude, and you need to multiply it
with the Uab again to get the vectored
form.

Couples
These are forces with equal magnitude,
parallel LOAs, and opposite in direction. In
any reference point, they produce the same
moment.

Lapuz, Carlin Drew S. | ES 11 Formula Sheet | cslapuz2015 3