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• Vector Addition
- Addition of two vectors A and B gives a resultant
vector R by the parallelogram law
- Result R can be found by triangle construction
- Communicative
Eg: R = A + B = B + A
2.2 Vector Operations
• Vector Addition
2.2 Vector Operations
• Vector Addition
- Special case: Vectors A and B are collinear
(both have the same line of action)
2.2 Vector Operations
• Vector Subtraction
- Special case of addition
Eg: R´ = A – B = A + ( - B )
- Rules of Vector Addition Applies
2.2 Vector Operations
• Resolution of Vector
- Any vector can be resolved into two components by
the parallelogram law
- The two components A and B are drawn such that
they extend from the tail or R to points of
intersection
2.3 Vector Addition of Forces
• When two or more forces are added,
successive applications of the parallelogram
law is carried out to find the resultant
Eg: Forces F1, F2 and F3 acts at a point O
- First, find resultant of
F 1 + F2
- Resultant,
FR = ( F1 + F2 ) + F3
2.3 Vector Addition of Forces
Example
Fa and Fb are forces exerting on the hook.
Example 2.1
The screw eye is subjected to two forces F1
and F2. Determine the
magnitude and direction
of the resultant force.
2.3 Vector Addition of Forces
Solution
Parallelogram Law
Unknown: magnitude of
FR and angle θ
2.3 Vector Addition of Forces
Solution
Trigonometry
Law of Cosines
150 N 212.6 N
sin sin 115
sin
150 N
0.9063
212.6 N
sin 39.8
2.3 Vector Addition of Forces
Solution
Trigonometry
Direction Φ of FR measured from the horizontal
39.8 15
54.8
2.3 Vector Addition of Forces
Example 2.2
Resolve the 1000 N ( ≈ 100kg) force
acting on the pipe into the components in
the
(a) x and y directions,
(b) x’ and y directions.
2.3 Vector Addition of Forces
Solution
Law of Sines
400 N 500 N
sin sin 60
400 N
sin sin 60
500 N
sin 0.6928
43.9
2.3 Vector Addition of Forces
Solution
Hence,
180 60 43.9 76.1
By Law of Cosines or
Law of Sines
Hence, show that FAB
has a magnitude of 561N
2.3 Vector Addition of Forces
Solution
F can be directed at an angle θ above the horizontal to
produce the component FAC. Hence, show that
θ = 16.1° and FAB = 161N
2.3 Vector Addition of Forces
Example 2.4
The ring is subjected to two forces
F1 and F2. If it is required that the
resultant force have a magnitude of
1kN and be directed vertically
downward, determine
(a) magnitude of F1 and F2 provided θ
= 30°, and
(b) the magnitudes of F1 and F2 if F2 is
to be a minimum.
2.3 Vector Addition of Forces
Solution
(a) Parallelogram Law
Unknown: Forces F1 and F2
2.3 Vector Addition of Forces
Solution
Law of Sines
F1 1000 N
sin 30 sin 130
F1 643N
F2 1000 N
sin 20 sin 130
F2 446 N
2.3 Vector Addition of Forces
Solution
(b) Minimum length of F2 occur
when its line of action is
perpendicular to F1. Hence
when
90 20 70
F2 is a minimum
2.3 Vector Addition of Forces
Solution
(b) From the vector diagram
• Scalar Notation
- Head of a vector arrow = sense of the vector
graphically (algebraic signs not used)
- Vectors are designated using boldface notations
- Magnitudes (always a positive quantity) are
designated using italic symbols
2.4 Addition of a System of Coplanar Forces
• Cartesian Vector Notation
- Cartesian unit vectors i and j are used to designate
the x and y directions
- Unit vectors i and j have dimensionless magnitude
of unity ( = 1 )
- Their sense are indicated by a positive or negative
sign (pointing in the positive or negative x or y axis)
- Magnitude is always a positive quantity, represented
by scalars Fx and Fy
2.4 Addition of a System of Coplanar Forces
In all cases,
FRx = ∑Fx
FRy = ∑Fy
* Take note of sign conventions
2.4 Addition of a System of Coplanar Forces
FRy
tan 1
FRx
2.4 Addition of a System of Coplanar Forces
Solution
Scalar Notation
5
tan
1
12
2.4 Addition of a System of Coplanar Forces
Solution
Alt, by similar triangles
F2 x 12
260 N 13
12
F2 x 260 N 240 N
13
Similarly,
5
F2 y 260 N 100 N
13
2.4 Addition of a System of Coplanar Forces
Solution
Scalar Notation
F2 x 240 N 240 N
F2 y 100 N 100 N
Solution
Scalar Notation
FRx Fx :
FRx 600 cos 30 N 400 sin 45 N
236.8 N
FRy Fy :
FRy 600 sin 30 N 400 cos 45 N
582.8 N
2.4 Addition of a System of Coplanar Forces
Solution
Resultant Force
FR 236.8N 2 582.8N 2
629 N
Example 2.7
The end of the boom O is subjected to three
concurrent and coplanar forces. Determine
the magnitude and orientation of the
resultant force.
2.4 Addition of a System of Coplanar Forces
Solution
Cartesian Vector Notation
F1 = { 600cos30°i + 600sin30°j } N
F2 = { -400sin45°i + 400cos45°j } N
Thus,
FR = F1 + F2
= (600cos30°N - 400sin45°N)i + (600sin30°N +
400cos45°N)j
= {236.8i + 582.8j}N
2.4 Addition of a System of Coplanar Forces
Example 2.7
The end of the boom O is subjected to three
concurrent and coplanar forces. Determine
the magnitude and orientation of the
resultant force.
2.4 Addition of a System of Coplanar Forces
Solution
Scalar Notation
FRx Fx :
4
FRx 400 N 250 sin 45 N 200 N
5
383.2 N 383.2 N
FRy Fy :
3
FRy 250 cos 45 N 200 N
5
296.8 N
2.4 Addition of a System of Coplanar Forces
Solution
Resultant Force
FR 383.2 N 2 296.8N 2
485N
296.8 N
tan
1
383.2 N
37.8
2.5 Cartesian Vectors
• Right-Handed Coordinate System
A rectangular or Cartesian coordinate system is
said to be right-handed provided:
- Thumb of 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
positive x towards the positive y axis
2.5 Cartesian Vectors
• Right-Handed Coordinate System
- z-axis for the 2D problem would be
perpendicular, directed out of the page.
2.5 Cartesian Vectors
• Rectangular Components of a Vector
- A vector A may have one, two or three rectangular
components along the x, y and z axes, depending on
orientation
- By two successive application of the parallelogram
law
A = A’ + Az
A’ = Ax + Ay
- Combing the equations, A can be
expressed as
A = Ax + Ay + Az
2.5 Cartesian Vectors
• Unit Vector
- Direction of A can be specified using a unit vector
- Unit vector has a magnitude of 1
- If A is a vector having a magnitude of A ≠ 0, unit
vector having the same direction as A is expressed by
uA = A / A
So that
A = A uA
2.5 Cartesian Vectors
• Unit Vector
- Since A is of a certain type, like force vector, a
proper set of units are used for the description
- Magnitude A has the same sets of units, hence unit
vector is dimensionless
- A ( a positive scalar)
defines magnitude of A
- uA defines the direction
and sense of A
2.5 Cartesian Vectors
Ax
cos
A
2.5 Cartesian Vectors
• Direction of a Cartesian Vector
- For angles α, β and γ (blue colored triangles),
we calculate the direction cosines of A
Ay
cos
A
2.5 Cartesian Vectors
• Direction of a Cartesian Vector
- For angles α, β and γ (blue colored triangles),
we calculate the direction cosines of A
Az
cos
A
2.5 Cartesian Vectors
• Direction of a Cartesian Vector
- Angles α, β and γ can be determined by the inverse cosines
- Given
A = Axi + Ayj + AZk
- then,
uA = A /A
= (Ax/A)i + (Ay/A)j + (AZ/A)k
where
A Ax2 Ay2 Az2
2.5 Cartesian Vectors
• Direction of a Cartesian Vector
- uA can also be expressed as
uA = cosαi + cosβj + cosγk
Example
Given: A = Axi + Ayj + AZk
and B = Bxi + Byj + BZk
Vector Addition
Resultant R = A + B
= (Ax + Bx)i + (Ay + By )j + (AZ + BZ) k
Vector Substraction
Resultant R = A - B
= (Ax - Bx)i + (Ay - By )j + (AZ - BZ) k
2.6 Addition and Subtraction of Cartesian Vectors
Example 2.8
Express the force F as Cartesian vector
2.6 Addition and Subtraction of Cartesian Vectors
Solution
Since two angles are specified, the third
angle is found by
Example 2.9
Determine the magnitude and coordinate
direction angles of resultant force acting on the
ring
2.6 Addition and Subtraction of Cartesian Vectors
Solution
Resultant force
FR = ∑F
= F1 + F2
= {60j + 80k}kN
+ {50i - 100j + 100k}kN
= {50i -40j + 180k}kN
Magnitude of FR is found by
191.0 191kN
2.6 Addition and Subtraction of Cartesian Vectors
Solution
Unit vector acting in the direction of FR
uFR = FR /FR
= (50/191.0)i + (40/191.0)j + (180/191.0)k
= 0.2617i - 0.2094j + 0.9422k
So that
cosα = 0.2617 α = 74.8°
cos β = -0.2094 β = 102°
cosγ = 0.9422 γ = 19.6°
*Note β > 90° since j component of uFR is negative
2.6 Addition and Subtraction of Cartesian Vectors
Example 2.10
Express the force F1 as a Cartesian vector.
2.6 Addition and Subtraction of Cartesian Vectors
Solution
The angles of 60° and 45° are not coordinate
direction angles.
Solution
Checking:
Solution
Cartesian vector form
F R = F1 + F 2
F1 = F1cosα1i + F1cosβ1j + F1cosγ1k
= (300cos45°N)i + (300cos60°N)j
+ (300cos120°N)k
= {212.1i + 150j - 150k}N
F2 = F2xi + F2yj + F2zk
2.6 Addition and Subtraction of Cartesian Vectors
Solution
Since FR has a magnitude of 800N and acts
in the +j direction
FR = F1 + F 2
800j = 212.1i + 150j - 150k + F2xi + F2yj + F2zk
800j = (212.1 + F2x)i + (150 + F2y)j + (- 50 + F2z)k
To satisfy the equation, the corresponding
components on left and right sides must be equal
2.6 Addition and Subtraction of Cartesian Vectors
Solution
Hence,
0 = 212.1 + F2x F2x = -212.1N
800 = 150 + F2y F2y = 650N
0 = -150 + F2z F2z = 150N
Since magnitude of F2 and its components
are known,
α1 = cos-1(-212.1/700) = 108°
β1 = cos-1(650/700) = 21.8°
γ1 = cos-1(150/700) = 77.6°
2.7 Position Vectors
• x,y,z Coordinates
- Right-handed coordinate system
- Positive z axis points upwards, measuring the
height of an object or the altitude of a point
- Points are measured relative to the origin, O.
2.7 Position Vectors
• x,y,z Coordinates
Eg: For Point A, xA = +4m along the x axis, yA = -
6m along the y axis and zA = -6m
along the z axis. Thus, A (4, 2, -6)
Similarly, B (0, 2, 0) and C (6, -1, 4)
2.7 Position Vectors
• Position Vector
- Position vector r is defined as a fixed vector which
locates a point in space relative to another point.
Eg: If r extends from the
origin, O to point P (x, y, z)
then, in Cartesian vector
form
r = xi + yj + zk
2.7 Position Vectors
• Position Vector
Note the head to tail vector addition of the
three components
• Angles, α, β and γ
represent the direction of
the cable
• Unit vector, u = r/r
2.7 Position Vectors
Example 2.12
An elastic rubber band is
attached to points A and B.
Determine its length and its
direction measured from A
towards B.
2.7 Position Vectors
View Free Body Diagram
Solution
Position vector
r = [-2m – 1m]i + [2m – 0]j + [3m – (-3m)]k
= {-3i + 2j + 6k}m
Magnitude = length of the rubber band
r 32 22 62 7m
Unit vector in the director of r
u = r /r
= -3/7i + 2/7j + 6/7k
2.7 Position Vectors
Solution
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
Solution
End points of the cord are A (0m, 0m, 7.5m)
and B (3m, -2m, 1.5m)
r = (3m – 0m)i + (-2m – 0m)j + (1.5m – 7.5m)k
= {3i – 2j – 6k}m
Magnitude = length of cord AB
𝑟 = (3)2 + (−2)2 + (−6)2 = 7𝑚
Unit vector, u = r /r
= 3/7i - 2/7j - 6/7k
2.8 Force Vector Directed along a Line
Solution
Force F has a magnitude of 350N, direction
specified by u
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k} N
α = cos-1(3/7) = 64.6°
β = cos-1(-2/7) = 107°
γ = cos-1(-6/7) = 149°
2.8 Force Vector Directed along a Line
Example 2.14
The circular plate is
partially supported by
the cable AB. If the
force of the cable on the
hook at A is F = 500N,
express F as a
Cartesian vector.
2.8 Force Vector Directed along a Line
Solution
End points of the cable are (0m, 0m, 2m) and B
(1.707m, 0.707m, 0m)
r = (1.707m – 0m)i + (0.707m – 0m)j
+ (0m – 2m)k
= {1.707i + 0.707j - 2k}m
Magnitude = length of cable AB
Solution
rAB = (4m – 0m)i + (0m – 0m)j + (0m – 4m)k
= {4i – 4k}m
rAB 4m2 4m2 5.66m
A A2 A||2
2.9 Dot Product
• For angle θ between the
rope and the beam A,
- Unit vectors along the
beams, uA = rA/rA
- Unit vectors along the
ropes, ur=rr/rr
- Angle θ = cos-1 (rA.rr/rArr)
= cos-1 (uA· ur)
2.9 Dot Product
• For projection of the force along
the beam A
- Define direction of the beam
uA = rA/rA
- Force as a Cartesian vector
F = F(rr/rr) = Fur
- Dot product
F║ = F║·uA
2.9 Dot Product
Example 2.16
The frame is subjected to a horizontal force
F = {300j} N. Determine the components of
this force parallel and perpendicular to the
member AB.
2.9 Dot Product
Solution
Since
rB 2i 6 j 3k
uB
rB 22 62 32
0.286i 0.857 j 0.429k
Then
FAB F cos
F .u B 300 j 0.286i 0.857 j 0.429k
(0)(0.286) (300)(0.857) (0)(0.429)
257.1N
2.9 Dot Product
Solution
Since result is a positive scalar,
FAB has the same sense of
direction as uB. Express in
Cartesian form
FAB FAB u AB
257.1N 0.286i 0.857 j 0.429k
{73.5i 220 j 110k }N
Perpendicular component
F F FAB 300 j (73.5i 220 j 110k ) {73.5i 80 j 110k }N
2.9 Dot Product
Solution
Magnitude can be determined
From F┴ or from Pythagorean
Theorem
2 2
F F FAB
Solution
For angle θ
rBA = {-2i - 2j + 1k}m
rBC = {- 3j + 1k}m
Thus,
r r
cos BA BC
20 2 3 11
rBA rBC 3 10
0.7379
42.5
2.9 Dot Product
Solution
Components of F
rAB (2i 2 j 1k )
u AB
rAB 3
2 2 1
i j k
3 3 3
FAB F .u B
2 2 1
758.9 j 253.0k i j k
3 3 3
0 506.0 84.3
590 N
2.9 Dot Product
Solution
Checking from trigonometry,
FAB F cos
800 cos 42.5 N
540 N
Magnitude can be determined
From F┴
F F sin 800 sin 42.5 540 N
2.9 Dot Product
Solution
Magnitude can be determined from F┴ or from
Pythagorean Theorem
2 2
F F FAB
8002 5902
540 N
Chapter Review
Chapter Review
Chapter Review
Chapter Review
Chapter Review
Chapter Review