Chapter 2 - Vectors

Engineering
Mechanics:
STATICS
Fifth Edition
in SI Units
Chapter 2: Vectors
By: Anthony Bedford and Wallace Fowler
Learning Objective
If an object is subjected to
several forces that have
different magnitudes and act
in different directions, how
can the magnitude and
direction of the resulting total
force on the object be
determined?
This chapter reviews vector operations, express
vectors in terms of components, and present
examples of engineering applications of vectors.
Chapter 2
Copyright 2008 Pearson Education South Asia Pte Ltd
Engineering Mechanics: STATICS

Fifth Edition
Page 2
Chapter Outline
Scalars & Vectors
Components in Two Dimensions
Components in Three Dimensions
Dot Products
Cross Products
Chapter 2

Fifth Edition
Page 3
Scalars & Vectors

Scalar a physical quantity that is completely described
by a real number
E.g. Time, mass
Vector both magnitude (nonnegative real number) &
direction
E.g. Position of a point in space relative to another
point, forces
Represented by boldfaced letters: U, V, W,
Magnitude of vector U = |U|
Chapter 2

Fifth Edition
Page 4
Scalars & Vectors

Graphical representation of vectors: arrows
Direction of arrow = direction of vector
Length of arrow magnitude of vector
Example:
rAB = position of point B relative to point A
Direction of rAB = direction from point A to point
B
Chapter 2

Fifth Edition
Page 5
Scalars & Vectors

|rAB| = distance between 2 points
Chapter 2

Fifth Edition
Page 6
Scalars & Vectors

Vector Addition:
When an object undergoes a displacement (moves
from 1 location in space to another)
Displacement vector: U
Direction of U = direction of displacement
|U| = distance the book moves
Chapter 2

Fifth Edition
Page 7
Scalars & Vectors

2nd displacement V
Final position of book is the same whether we give it
displacement U then V, or vice versa
U and V equivalent to a single displacement W: U +
V=W
Chapter 2

Fifth Edition
Page 8
Scalars & Vectors

Definition of Vector Addition:
Vector from tail of U to head of V
Triangle rule
Sum is independent of the order in which the vectors

are placed head to tail
Parallelogram rule
Chapter 2

Fifth Edition
Page 9
Scalars & Vectors

Vector addition is commutative:
(2.1)
U+V=V+U
Vector addition is associative:
(U + V) + W = U + (V + W)
(2.2)
If the sum of 2 or more vectors = 0, they form a

closed polygon
Chapter 2

Fifth Edition
Page 10
Scalars & Vectors

Example:
Vector rAC from A to C is the sum of rAB & rBC
Chapter 2

Fifth Edition
Page 11
Scalars & Vectors

Product of a Scalar & a Vector:
Product of scalar (real number) a & vector U = vector
aU
Magnitude = |a||U| , where |a| is the absolute value of
the scalar a
Direction of aU is the same as direction of U when a
is positive
Direction of aU is opposite to direction of U when a is
negative
Chapter 2

Fifth Edition
Page 12
Scalars & Vectors

Division of a vector U by a scalar a:
U 1
U
a a
Chapter 2

Fifth Edition
Page 13
Scalars & Vectors

The product is associative with respect to scalar
multiplication:
(2.3)
a(bU) = (ab)U
The product is distributive with respect to scalar
addition:
(2.4)
(a + b)U = aU + bU
The product is distributive with respect to vector
addition:
a(U + V) = aU + aV
Chapter 2
(2.5)

Fifth Edition
Page 14
Scalars & Vectors

Vector Subtraction:
U V = U + (1)V
(2.6)
Unit Vectors:
Magnitude = 1
Specifies a direction
If a unit vector e & a vector U have the
same direction: U = |U|e
Chapter 2

Fifth Edition
Page 15
Example 2.1
Vector Operations
The magnitudes of the vectors shown are |U| = 8 and
|
V| = 3. The vector V is vertical. Graphically determine the
magnitude of the vector U + 2V.
Chapter 2

Fifth Edition
Page 16
Example 2.1 (continued)

Strategy
By drawing the vectors to scale and applying the triangle
rule for addition, we can measure the magnitude of the
vector U + 2V.
Chapter 2

Fifth Edition
Page 17

Solution
Drawing the vectors U and 2V to scale, place them head
to tail.
Chapter 2

Fifth Edition
Page 18

Solution
The measured value of |U + 2V| is 13.0.
Chapter 2

Fifth Edition
Page 19

Practice Problem
The magnitudes of the vectors shown are |U| = 8 and |V| =
3. The vector V is vertical. Graphically determine the
magnitude of the vector U 2V.
Answer: |U 2V| = 5.7
Chapter 2

Fifth Edition
Page 20
Example 2.2
Adding Vectors
(refer to textbook)
Chapter 2

Fifth Edition
Page 21

Vectors are much easier to work with when expressed
in terms of mutually perpendicular vector components:
Consider vector U:
Place a cartesian coordinate system so that the
vector U is parallel to the x-y plane
U = sum of perpendicular vector components Ux & Uy
that are parallel to the x & y axes: U = Ux + Uy
Chapter 2

Fifth Edition
Page 22

Introduce a unit vector i defined to point in the
direction of the positive x axis & a unit vector j
defined to point in the direction of the positive y axis:
(2.7)
U = Uxi + Uyj
where Ux & Uy are scalar components of U
Magnitude of U is given in terms of its components

by the Pythagorean theorem:
U U 2x U 2y
Chapter 2
(2.8)

Fifth Edition
Page 23

Manipulating Vectors in Terms of Components:
Sum of 2 vectors U & V:
U + V = (Uxi + Uyj) + (Vxi + Vyj)
= (Ux + Vx)i + (Uy + Vy)j
(2.9)
Graphically:
Chapter 2

Fifth Edition
Page 24

Manipulating Vectors in Terms of Components:
Product of number a & vector U:
aU = a(Uxi + Uyj) = aUxi + aUyj
Chapter 2

Fifth Edition
Page 25

Position Vectors in Terms of Components:
Consider point A with coordinates (xA, yA) & point B
with coordinates (xB, yB)
Chapter 2

Fifth Edition
Page 26

Let rAB be the vector that specifies the position of B
relative to A:
rAB = (xB xA)i + (yB yA)j
Chapter 2
(2.10)

Fifth Edition
Page 27
Example 2.3
Determining Components
The cable from point A to point B exerts a 900-N force on
the top of the television transmission tower that is
represented by
the vector F.
Express F in
terms of
components
using the
coordinate
system shown.
Chapter 2

Fifth Edition
Page 28

Strategy
We will determine the components of the vector F in two
ways. In the first method, we will determine the angle
between F and the y axis and use trigonometry to
determine the components. In the second method, we will
use the given slope of the cable AB and apply similar
triangles to determine the components of F.
Chapter 2

Fifth Edition
Page 29

Solution
First Method
Determine the angle between F
and the y axis:
40
arctan
26.6
80
Chapter 2

Fifth Edition
Page 30

Solution
Use trigonometry to determine F
in terms of its components:
F F sin i F cos j
900 sin 26.6o i 900 cos 26.6o j N
402i 805 j N
Chapter 2

Fifth Edition
Page 31

Solution
Second Method
Using the given dimensions,
calculate the distance from A to
B:
40 m
80 m 89.4 m
2
Chapter 2

Fifth Edition
Page 32

Solution
Use similar triangles to determine
the components of F:
Fx
40 m
F 89.4 m
and
Fy
80 m
F 89.4 m
so
40
40
900 N i
900 N j
F
89.4
89.4
402i 805 j N
Chapter 2

Fifth Edition
Page 33

Practice Problem
The cable from point A to point B exerts a 900-N force on
the top of the television transmission tower that is
represented by the vector F. Suppose that you change
the placement of point B so that the magnitude of the y
component of F is three times the magnitude of the x
component of F. Express F in terms of its components.
How far along the x axis from the origin of the coordinate
system should B be placed?
Answer:
F = 285i - 854j (N). Place point B at 26.7 m
from the origin.
Chapter 2

Fifth Edition
Page 34
Example 2.4
Determining Components in Terms of
an Angle
(refer to textbook)
Example 2.5
Determining an Unknown Vector
Magnitude
(refer to textbook)
Chapter 2

Fifth Edition
Page 35

Review of drawing objects in 3 dimensions:
(a) A cube viewed with the line of sight
perpendicular to a face
(b) An oblique view of the cube
(c) A cartesian coordinate system aligned with the
edges of the cube
(d) 3-D representation of the coordinate system
Chapter 2

Fifth Edition
Page 36

Right-handed coordinate system:
Express vector U in terms of vector components Ux,

Uy & Uz parallel to the x, y & z axes respectively:
U = Ux + Uy + Uz
Chapter 2
(2.11)
Fifth Edition
Page 37

Introducing unit vectors i, j & k that point in the
positive x, y & z directions, U can be expressed in
terms of scalar components:
U = Uxi + Uyj + Uz k
Chapter 2
(2.12)

Fifth Edition
Page 38

Magnitude of a Vector in Terms of Components:
Consider a vector U & its vector components:
Chapter 2

Fifth Edition
Page 39

From the right triangles formed by vectors Uy, Uz &
their sum Uy + Uz:
(2.13)
|Uy + Uz|2 = |Uy|2 + |Uz|2
The vector U is the sum of the vectors Ux & Uy + Uz.

The 3 vectors form a right triangle:
|U|2 = |Ux|2 + |Uy + Uz|2
Chapter 2

Fifth Edition
Page 40

Substituting Eqn (2.13):
|U|2 = |Ux|2 + |Uy| + |Uz|2 = Ux2 + Uy2 + Uz2
Thus, magnitude of vector U:
U U x2 U y2 U z2
Chapter 2
(2.14)

Fifth Edition
Page 41

Direction Cosines:
One way to describe the direction of a vector is by
specifying the angles x, y & z between the vector &
the positive coordinate axes:
Ux = |U| cos x, Uy = |U| cos y, Uz = |U| cos z
Chapter 2
(2.15)

Fifth Edition
Page 42

Direction Cosines:
Chapter 2

Fifth Edition
Page 43

Direction Cosines:
Direction cosines: cos x, cos y & cos z
Direction cosines satisfy the relation:
cos2 x + cos2 y + cos2 z = 1
(2.16)
Suppose that e is a unit vector with the same

direction as U:
U = |U| e
In terms of components:
Uxi + Uyj + Uzk = |U| (exi + eyj + ezk)
Chapter 2

Fifth Edition
Page 44

Direction Cosines:
Thus:
Ux = |U| ex, Uy = |U| ey, Uz = |U| ez
By comparing these equations to Eqn (2.15):
cos x = ex, cos y = ey, cos z = ez
The direction cosines of a vector U are the
components of a unit vector with the same direction
as U
Chapter 2

Fifth Edition
Page 45

Position Vectors in Terms of
Components:
Consider point A with
coordinates (xA, yA, zA) & point B
with coordinates (xB, yB, zB)
Chapter 2

Fifth Edition
Page 46

The position vector rAB from A to B:
rAB = (xB xA)i + (yB yA)j + (zB zA)k
Chapter 2
(2.17)

Fifth Edition
Page 47

Components of Vector
Parallel to a Given Line:
In 3-D applications, the
direction of a vector U is
often defined by
specifying the coordinates
of 2 points A & B on a line
that is parallel to U
Determine position vector
rAB using Eqn (2.17)
Chapter 2

Fifth Edition
Page 48

Components of Vector Parallel to a Given Line:
Divide rAB by its magnitude unit vector eAB that
points from A to B
eAB has the same direction as U
Determine U as the product of its magnitude & eAB: U
= |U| eAB
Chapter 2

Fifth Edition
Page 49
Example 2.6
Direction Cosines
The coordinates of point C of the truss are xC = 4 m, yC = 0,
zC = 0, and the coordinates of point D are xD = 2 m, yD = 3
m, zD = 1 m.
What are the direction
cosines of the position
vector rCD from point C
to point D?
Chapter 2

Fifth Edition
Page 50

Strategy
Knowing the coordinates of points C and D, we can
determine rCD in terms of its components. Then we
can calculate the magnitude of rCD (the distance from
C to D) and use Eqn (2.15) to obtain the direction
cosines.
Chapter 2

Fifth Edition
Page 51

Solution
Determine the position vector rCD in terms of its
components.
rCD
=
(xD xC)i + (yD
yC)j + (zD zC)k
=
0)j +
(2 4)i + (3
(1 0) k (m)
= 2i + 3j + k (m)
Chapter 2

Fifth Edition
Page 52

Solution
Calculate the magnitude of rCD.
rCD rCD 2x rCD 2y rCD 2z
2 m 2 3 m 2 1 m 2
3.74 m
Chapter 2

Fifth Edition
Page 53

Solution
Determine the direction cosines.
cos x
cos y
cos z
Chapter 2
rCD x
rCD
rCD y
rCD
rCD z
rCD
2m
0.535,
3.74 m
3m
0.802,
3.74 m
1m
0.267
3.74 m
Fifth Edition
Page 54

Practice Problem
The coordinates of point B of the truss are xB = 2.4 m, yB =
0, zB = 3 m. Determine the components of a unit vector eBD
that points from point B toward point D.
Answer: eBD = 0.110i + 0.827j 0.551k
Chapter 2

Fifth Edition
Page 55
Example 2.7, 2.8 & 2.9

Determining Components in Three
Dimensions
(refer to textbook)
Example 2.10
Determining Components of a Force
(refer to textbook)
Chapter 2

Fifth Edition
Page 56
Refer To Textbook Chapter 2

For
Further Details
Chapter 2

Fifth Edition
Page 57

Chapter 2 - Vectors

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Engineering

By: Anthony Bedford and Wallace Fowler

Engineering Mechanics: STATICS

Engineering Mechanics: STATICS

Scalars & Vectors

Engineering Mechanics: STATICS

Scalars & Vectors

Engineering Mechanics: STATICS

Scalars & Vectors

Engineering Mechanics: STATICS

Scalars & Vectors

Engineering Mechanics: STATICS

Scalars & Vectors

Engineering Mechanics: STATICS

Scalars & Vectors

Sum is independent of the order in which the vectors

Engineering Mechanics: STATICS

Scalars & Vectors

If the sum of 2 or more vectors = 0, they form a

Engineering Mechanics: STATICS

Scalars & Vectors

Engineering Mechanics: STATICS

Scalars & Vectors

Engineering Mechanics: STATICS

Scalars & Vectors

Engineering Mechanics: STATICS

Scalars & Vectors

Engineering Mechanics: STATICS

Scalars & Vectors

Engineering Mechanics: STATICS

Engineering Mechanics: STATICS

Example 2.1 (continued)

Engineering Mechanics: STATICS

Example 2.1 (continued)

Engineering Mechanics: STATICS

Example 2.1 (continued)

Engineering Mechanics: STATICS

Example 2.1 (continued)

Engineering Mechanics: STATICS

Engineering Mechanics: STATICS

Components in Two Dimensions

Engineering Mechanics: STATICS

Components in Two Dimensions

Magnitude of U is given in terms of its components

Engineering Mechanics: STATICS

Components in Two Dimensions

Engineering Mechanics: STATICS

Components in Two Dimensions

Engineering Mechanics: STATICS

Components in Two Dimensions

Engineering Mechanics: STATICS

Components in Two Dimensions

Engineering Mechanics: STATICS

Engineering Mechanics: STATICS

Example 2.3 (continued)

Engineering Mechanics: STATICS

Example 2.3 (continued)

Engineering Mechanics: STATICS

Example 2.3 (continued)

Engineering Mechanics: STATICS

Example 2.3 (continued)

Engineering Mechanics: STATICS

Example 2.3 (continued)

Engineering Mechanics: STATICS