Mech Chapter 02

Force Vectors 2
Engineering Mechanics:
Statics in SI Units, 12e
Copyright 2010 Pearson Education South Asia Pte Ltd
Chapter Outline
2.1 Scalars and Vectors
2.2 Vector Operations
2.3 Vector Addition of Forces
2.4 Addition of a System of Coplanar Forces
2.5 Cartesian Vectors
2.6 Addition and Subtraction of Cartesian Vectors
2.7 Position Vectors
2.8 Force Vector Directed along a Line
2.9 Dot Product
2.1 Scalars and Vectors (1/2)
Scalar
A quantity characterized by a positive or negative
number
Indicated by letters in italic such as A
e.g. Mass, volume and length

2.1 Scalars and Vectors (2/2)
Vector
A quantity that has magnitude and direction
e.g. Position, force and moment
Represent by a letter with an arrow over it,
Magnitude is designated as
In this subject, vector is presented as A and its
magnitude (positive quantity) as A

A

2.2 Vector Operations (1/3)
Multiplication and Division of a Vector by a Scalar
- Product of vector A and scalar a = aA
- Magnitude =
- Law of multiplication applies e.g. A/a = ( 1/a ) A, a0
aA
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 e.g. R = A + B = B + A
- Special case: Vectors A and B are collinear (both
have the same line of action)

Vector Subtraction
- Special case of addition
e.g. R = A B = A + ( - B )
- Rules of Vector Addition Applies

2.3 Vector Addition of Forces (1/3)
Finding a Resultant Force
Parallelogram law is carried out to find the resultant
force

Resultant,
F
R
= ( F
1
+ F
2
)

Procedure for Analysis
Parallelogram Law
Make a sketch using the parallelogram law
2 components forces add to form the resultant force
Resultant force is shown by the diagonal of the
parallelogram
The components is shown by the sides of the
parallelogram

Procedure for Analysis
Trigonometry
Redraw half portion of the parallelogram
Magnitude of the resultant force can be determined
by the law of cosines
Direction if the resultant force can be determined by
the law of sines
Magnitude of the two components can be determined by
the law of sines

Example 2.1
The screw eye is subjected to two forces, F
1
and F
2
.
Determine the magnitude and direction of the resultant
force.

Solution
Parallelogram Law
Unknown: magnitude of F
R
and angle

Solution
Trigonometry
Law of Cosines

Law of Sines
( ) ( ) ( )( )
( ) N N
N N N N F
R
213 6 . 212 4226 . 0 30000 22500 10000
115 cos 150 100 2 150 100
2 2
= = + =
+ =

( )
8 . 39
9063 . 0
6 . 212
150
sin
115 sin
6 . 212
sin
150
=
=
=
u
u
u
N
N
N N
Solution
Trigonometry
Direction of F
R
measured from the horizontal
|
|
Z =
+ =

8 . 54
15 8 . 39
TEST (2-1, 2-2, 2-3)
Resolve the force (F=450 N acting on the frame) into
components acting along members AB and AC, and
determine the magnitude of each component.
N
Force Vectors 2
Chapter Outline
2.9 Dot Product

Scalar Notation
x and y axes are designated positive and negative
Components of forces expressed as algebraic
scalars
u u sin and cos F F F F
F F F
y x
y x
= =
+ =
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 )
Magnitude is always a positive quantity,
represented by scalars F
x
and F
y

j F i F F
y x
+ =
Example (2-4)
Determine x and y components of F
1
and F
2
acting on the
boom. Express each force as a Cartesian vector.

Solution (1) -- Scalar Notation
Scalar Notation

| = = =
= = =
N N N F
N N N F
y
x
173 173 30 cos 200
100 100 30 sin 200
1
1

Solution
By similar triangles we have

Scalar Notation:

N 100
13
5
260
N 240
13
12
260
2
2
=
|
.
|
\
|
=
=
|
.
|
\
|
=
y
x
F
F
+ = =
=
N N F
N F
y
x
100 100
240
2
2
Solution (2) -- Cartesian Vector Notation

Cartesian Vector Notation:

{ }
{ }N j i F
N j i F
100 240
173 100
2
1
=
+ =
Coplanar Force Resultants
To determine resultant of several coplanar forces:
Resolve force into x and y components
Addition of the respective components using scalar
algebra
Resultant force is found using the parallelogram
law
Cartesian vector notation:

j F i F F
j F i F F
j F i F F
y x
y x
y x
3 3 3
2 2 2
1 1 1
=
+ =
+ =
Vector resultant () is therefore

If scalar notation are used

( ) ( )j F i F
F F F F
Ry Rx
R
+ =
+ + =

3 2 1
y y y Ry
x x x Rx
F F F F
F F F F
3 2 1
3 2 1
+ =
+ =
In all cases we have

Magnitude of F
R
can be found by Pythagorean Theorem

=
=
y Ry
x Rx
F F
F F
Rx
Ry
Ry Rx R
F
F
F F F
1 - 2 2
tan and = + = u
* Take note of sign conventions
Example (2-4)
The link is subjected to two forces F
1
and F
2
. Determine
the magnitude and orientation of the resultant force.

Solution I (Scalar Notation)
Scalar Notation:

| =
+ =
E =
=
=
E =
N
N N F
F F
N
N N F
F F
Ry
y Ry
Rx
x Rx
8 . 582
45 cos 400 30 sin 600
:
8 . 236
45 sin 400 30 cos 600
:

Solution I (Scalar Notation)
Resultant Force

From vector addition, direction angle is

( ) ( )
N
N N F
R
629
8 . 582 8 . 236
2 2
=
+ =
9 . 67
8 . 236
8 . 582
tan
1
=
|
.
|
\
|
=

N
N
u
Solution II (Cartesian Vector Notation)
Cartesian Vector Notation
F
1
= { 600cos30i + 600sin30j } N
F
2
= { -400sin45i + 400cos45j } N

Thus,
F
R
= F
1
+ F
2

= (600cos30N - 400sin45N)i
+ (600sin30N + 400cos45N)j
= {236.8i + 582.8j}N
The magnitude and direction of F
R
are determined in the
same manner as before.

TEST (2-4)
If the magnitude of the resultant force acting on the
bracket is to be 400 N directed along the u axis,
determine the magnitude of F and its direction
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
z-axis for the 2D problem would be perpendicular,
directed out of the page.

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 + A
z
A = A
x
+ A
y
Combing the equations,
A can be expressed as
A = A
x
+ A
y
+ A
z

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 u
A
= A / A. So that

A = A u
A

Cartesian Vector Representations
3 components of A act in the positive i, j and k
directions

A = A
x
i + A
y
j + A
Z
k

*Note the magnitude and direction
of each components are separated,
easing vector algebraic operations.
Magnitude of a Cartesian Vector
From the colored triangle,

From the shaded triangle,

Combining the equations
gives magnitude of A

2 2 2
z y x
A A A A
+ + =
2 2
'
y x
A A A
+ =
2 2
'
z
A A A
+ =
Direction of a Cartesian Vector
Orientation of A is defined as the coordinate
direction angles , and measured between the
tail of A and the positive x, y and z axes
0 , and 180
The direction cosines of A is
A
A
x
= o cos
A
A
y
= | cos
A
A
z
= cos
Angles , and can be determined by the
inverse cosines
Given
A = A
x
i + A
y
j + A
Z
k

then,
u
A
= A /A = (A
x
/A)i + (A
y
/A)j + (A
Z
/A)k

where
2 2 2
z y x
A A A A + + =
u
A
can also be expressed as
u
A
= cosi + cosj + cosk

Since and u
A
= 1, we have

A as expressed in Cartesian vector form is
A = Au
A

= Acosi + Acosj + Acosk
= A
x
i + A
y
j + A
Z
k

2 2 2
z y x
A A A A + + =
1 cos cos cos
2 2 2
= + + | o
Example (2-5)
Express the force F as Cartesian vector.
Solution
Since two angles are specified, the third angle is found by

Two possibilities exit, namely
( )

120 5 . 0 cos
1
= =

o
( )

60 5 . 0 cos
1
= =

o
( ) ( )

5 . 0 707 . 0 5 . 0 1 cos
1 45 cos 60 cos cos
1 cos cos cos
2 2
2 2 2
2 2 2
= =
= + +
= + +
o
o
| o
Solution
By inspection, = 60 since F
x
is in the +x direction
Given F = 200N
F = Fcosi + Fcosj + Fcosk
= (200cos60N)i + (200cos60N)j
+ (200cos45N)k
= {100.0i + 100.0j + 141.4k}N
Checking:
( ) ( ) ( ) N
F F F F
z y x
200 4 . 141 0 . 100 0 . 100
2 2 2
2 2 2
= + + =
+ + =
Concurrent Force Systems
Force resultant is the vector sum of all the forces in
the system

F
R
= F = F
x
i + F
y
j + F
z
k
TEST (2-5, 2-6)
Three force act on the ring. If the resultant force F
R
has a
magnitude and direction as shown, determine the
magnitude and the coordinate direction angles of
force F
3
.

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.
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
Position Vector
Vector addition gives r
A
+ r = r
B

Solving
r = r
B

r
A

r = (x
B
x
A
)i + (y
B
y
A
)j + (z
B
z
A
)k
Length and direction of cable AB can be found by
measuring A and B using the x, y, z axes
Position vector r can be established
Magnitude r represent the length of cable
Angles, , and represent the direction of the cable
Unit vector, u = r/r
Example (2-7)
An elastic rubber band is attached to points A and B.
Determine its length and its direction measured from A
towards B.
Solution
Position vector
r = [-2m 1m]i + [2m 0]j + [3m (-3m)]k
= {-3i + 2j + 6k} m

Magnitude = length of the rubber band

Unit vector in the director of r
u = r /r
= -3/7i + 2/7j + 6/7k
( ) ( ) ( ) m r 7 6 2 3
2 2 2
= + + =
Solution

= cos
-1
(-3/7) = 115
= cos
-1
(2/7) = 73.4
= cos
-1
(6/7) = 31.0
TEST (2-7)
Determine the length of the rod and the position
vector directed from A to B. What is the angle ?


In 3D problems, direction of F is specified by 2 points,
through which its line of action lies
F can be formulated as a Cartesian vector
F = F u = F (r/r)

Note that F has units of forces (N)
unlike r, with units of length (m)
Force F acting along the chain can be presented as a
Cartesian vector by
- Establish x, y, z axes
- Form a position vector r along length of chain
Unit vector, u = r/r that defines the direction of both
the chain and the force
We get F = Fu

Example (2-8)
The man pulls on the cord with a force of 350N.
Represent this force acting on the support A, as a
Cartesian vector and determine its direction.

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

Unit vector,
u = r /r
= 3/7i - 2/7j - 6/7k
( ) ( ) ( ) m m m m r 7 6 2 3
2 2 2
= + + =
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

= cos
-1
(3/7) = 64.6
= cos
-1
(-2/7) = 107
= cos
-1
(-6/7) = 149
TEST (2-8)
Determine the magnitude of the resultant force at A.

Force Vectors 2
Chapter Outline
2.9 Dot Product
2.9 Dot Product
Dot product of vectors A and B is written as AB
(Read A dot B)
Define the magnitudes of A and B and the angle
between their tails
AB = AB cos where 0 180

Referred to as scalar product of vectors (
) as result is a scalar
2.9 Dot Product
Laws of Operation
1. Commutative law
AB = BA

2. Multiplication by a scalar
a(AB) = (aA)B = A(aB) = (AB)a

3. Distribution law
A(B + D) = (AB) + (AD)
2.9 Dot Product
Cartesian Vector Formulation
- Dot product of Cartesian unit vectors
ii = (1)(1)cos0 = 1
ij = (1)(1)cos90 = 0

- Similarly
ii = 1 jj = 1 kk = 1
ij = 0 ik = 1 jk = 1

2.9 Dot Product
Cartesian Vector Formulation
Dot product of 2 vectors A and B

AB = (A
x
i

+ A
y
j + A
z
k) (B
x
i + B
y
j + B
z
k)

= A
x
B
x
(ii) + A
x
B
y
(ij) + A
x
B
z
(ik)

+ .
+ .

AB = A
x
B
x
+ A
y
B
y
+ A
z
B
z
2.9 Dot Product
Applications
The angle formed between two vectors or
intersecting lines.

= cos
-1
[(AB)/(AB)] 0 180

The components of a vector parallel and
perpendicular to a line.

A
a
= A cos = Au
TEST (2-9)
Determine the angle between the force (r
AC
) and the
line AB (r
AB
)

= cos
-1
[(AB)/(AB)]
AB = AB cos
Example (2-9)
The frame is subjected to a horizontal force F = {300j} N.
Determine the components of this force parallel and
perpendicular to the member AB.
Solution
Since

Thus
( ) ( ) ( )
( ) ( )
N
k j i j u F
F F
k j i
k j i
r
r
u
B
AB
B
B
B
1 . 257
) 429 . 0 )( 0 ( ) 857 . 0 )( 300 ( ) 286 . 0 )( 0 (
429 . 0 857 . 0 286 . 0 300 .
cos
429 . 0 857 . 0 286 . 0
3 6 2
3 6 2
2 2 2
=
+ + =
+ + = =
=
+ + =
+ +
+ +
= =
u
Solution
Since result is a positive scalar, F
AB
has the same sense
of direction as u
B
. Express in Cartesian form

( )( )
N k j i
k j i N
u F F
AB AB AB
} 110 220 5 . 73 {
429 . 0 857 . 0 286 . 0 1 . 257

+ + =
+ + =
=
Solution
Perpendicular component

Magnitude can be determined
from F

or from Pythagorean
Theorem,
( ) ( )
N
N N
F F F
AB
155
1 . 257 300
2 2
2 2
=
=
=

N k j i
k j i j F F F
AB
} 110 80 5 . 73 {
) 110 220 5 . 73 ( 300

+ =
+ + = =
TEST (2-9)
Determine the components of the force acting parallel
and perpendicular to the axis of the pole.

END OF CHAPTER 2

Mech Chapter 02

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Force Vectors 2

Copyright 2010 Pearson Education South Asia Pte Ltd

Copyright 2010 Pearson Education South Asia Pte Ltd

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