Lecture 02 - Vectors

ENGINEERING MECHANICS (CE-108)
LECTURE # 02
VECTORS
NUST Institute of Civil Engineering, NICE
National University of Sciences and Technology, NUST
Chapter Outline
Scalars & Vectors

Rules for Manipulating Vectors
Components in 2 Dimensions
Components in 3 Dimensions
Dot Products
Cross Products
Mixed Triple Products
(C) 2005 Pearson Education South Asia Pte Ltd
2.1 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
2.1 Scalars & Vectors

Graphical
representation of vectors: arrows

Direction of arrow = direction of vector
Length of arrow magnitude of vector
(a)
Example:
rAB = position of point B relative
to point A
Direction of rAB = direction from
point A to point B
|rAB| = distance between 2 points
(b)
2.2 Rules for Manipulating 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

2nd
displacement V
Final
position of book is the same whether we

give it displacement U then V, or vice versa
and V equivalent to a single displacement
W: U + V = W
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

Vector
addition is commutative:
U+V=V+U
(2.1)
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
Example:
Vector
rAC from A to C is the

of rAB & rBC
sum
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
Division
of a vector U by
a scalar a: U 1
U
a a

The
product is associative with respect to

scalar multiplication:
a(bU) = (ab)U
(2.3)
The product is distributive with respect to
scalar addition:
(a + b)U = aU + bU
(2.4)
The product is distributive with respect to
vector addition:
a(U + V) = aU + aV
(2.5)
10
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
Unit Vector
Vector Subtraction
11
Example 2.1 Adding Vectors

Fig. 2.11 is an initial design sketch of part of the roof of
a sports stadium to be supported by the cables AB &
AC. The forces the cables exert on the pylon to which
they are attached are represented by the vectors FAB &
FAC. The magnitude of the forces are |FAB| = 100 kN & |
FAC| = 60 kN. Determine the magnitude & direction of the
sum of the forces exerted on the pylon by the cables (a)
graphically & (b) using trigonometry.
Figure 2.11
12

Strategy
(a) By drawing the parallelogram rule for adding the
2 forces with the vectors drawn to scale, we can
measure the magnitude & direction of their sum.
(b) We will calculate the magnitude & direction of
the sum of the forces by applying the laws of
sines & cosines to the triangles formed by the
parallelogram rule.
13

Solution
(a) Graphically construct the parallelogram rule with
FAB & FAC proportional to their magnitudes:
By measuring the figure, we estimate the

magnitude of the vector FAB + FAC to be 155 kN
& its direction to be 19 above the horizontal.
14

Solution
(b) Consider the parallelogram rule:
Since + 30 = 180, = 150
Applying law of cosines to shaded triangle:
2
FAB FAC FAB FAC 2 FAB FAC cos

100 60 2100 60 cos150
2
Magnitude |FAB + FAC| = 155 kN

15

Solution
(b) To determine the angle between FAB + FAC
& the horizontal, apply law of sines to shaded
triangle: sin
sin
FAB
FAB FAC
The solution is
FAB sin
arcsin
FAB FAC
100 sin 150
arcsin
155
18.8
16

Critical Thinking
In engineering applications, vector operations

are nearly always done analytically
However, graphical methods enhances your
intuition about vectors & helps you understand
vector operations
Also, sketching out a graphical solution can often
help you to formulate an analytical solution
17
2.3 Components in 2 Dimensions
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
18

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:
U = Uxi + Uyj
(2.7)
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
(2.8)
19
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:
20
Manipulating Vectors in Terms of

Components:
Product
of number a & vector U:

aU = a(Uxi + Uyj) = aUxi + aUyj
21
Position Vectors in Terms of Components:

Consider
point A with coordinates (xA, yA) & point

B with coordinates (xB, yB)
22
Position Vectors in Terms of Components:

Let
rAB be the vector that specifies the position

of B relative to A:
rAB = (xB xA)i + (yB yA)j
(2.10)
23
2.5 Dot Products
Definition:
Consider
2 vectors U & V:
Denoted by UV
Defined to be the product of the
magnitude of U, the magnitude
of V & the cosine of the angle
between U & V when they are
placed tail to tail
UV = |U||V| cos
(2.18)
24
2.5 Dot Products
Definition:
Result
is a scalar
sometimes called
scalar product
Unit = product of the
units of the 2 vectors
25
2.5 Dot Products

Notice
that the dot product of two nonzero

vectors = 0 if & only if the vectors are
perpendicular
The dot product is commutative:
UV = VU
(2.19)
26
2.5 Dot Products

The
dot product is associative with respect to

scalar multiplication:
a(UV) = (aU)V = U (aV)
(2.20)
The
dot product is associative with respect to

vector addition:
U (V + W) = UV + UW
(2.21)
27
2.5 Dot Products
Dot Products in Terms of Components:

Determine
the dot products formed from the

unit vectors i, j & k:
ii = |i||i| cos (0) = (1)(1)(1) = 1
ij = |i||j| cos (90) = (1)(1)(0) = 0

Continuing this way:
ii = 1, ij = 0, ik = 0,
ji = 0, jj = 1, jk = 0,
ki = 0, kj = 0, kk = 1.
(2.22)
28
2.5 Dot Products

Dot
product of U & V expressed in terms of

their components:
UV = (Uxi + Uyj + Uzk) (Vxi + Vyj + Vzk)
= UxVx(ii) + UxVy(ij) + UxVz(ik)
+ UyVx(ji) + UyVy(jj) + UyVz(jk)
+ UzVx(ki) + UzVy(kj) + UzVz(kk)
Substituting
Eqs. (2.22):
UV = UxVx + UyVy + UzVz

(2.23)
29
2.5 Dot Products

Equate
the expression for dor product given by

Eq. (2.23) to the definition of dot product, Eq.
(2.18) to solve for cos :
U V U xVx U yV y U zVz
cos
(2.24)
UV
UV
30
2.5 Dot Products
Vector Components Parallel & Normal to a

Line:
Projection
of vector : component of vector

parallel to a line
Consider a vector U & a straight line L :
Express U as the sum of vector components Up
& Un that are parallel & normal to L
31
2.5 Dot Products
Parallel Component:
Magnitude
of Up is:
|Up| = |U| cos

Let
(2.25)
e be a unit vector parallel to L:

eU = |e||U| cos = |U| cos
32
2.5 Dot Products
Parallel Component:
Comparing
with Eq. (2.25):

|Up| = eU
Therefore,
the parallel vector or

projection of U onto L is:
Up = (eU) e
(2.26)
(This equation holds even if e doesnt point in the

direction of Up. In that case, >90 & eU is
negative.)
33
2.5 Dot Products
Normal Component:
Once
the parallel component has been

determined, we can obtain the normal vector
component:
U = Up + Un
Un = U Up
(2.27)
34
Example 2.12 Using the Dot Product to

Determine an Angle
What is the angle between the lines AB & AC
in Fig. 2.35?
Fig. 2.35
Strategy
Coordinates of A, B & C components of

vector rAB & rAC
Use Eq. (2.24) to determine
35

Determine an Angle
Solution
Vectors rAB & rAC :
rAB = (6 4) i + (1 3)j + (2 2)k
= 2i 2j 4k (m)
rAC = (8 4) i + (8 3)j + (4 2)k
= 4i + 5j + 2k (m)
Magnitudes:
rAB 2 m 2 2 m 2 4 m 2 4.90 m
rAC
4 m 2 5 m 2 2 m 2 6.71 m
36

Determine an Angle
Solution
Dot product of rAB & rAC :
rABrAC = (2 m) (4 m) + (2 m) (5 m) + (4 m) (2 m)
= 10 m2
Therefore,
2
rAB rAB
10 m
cos
0.304
rAB rAC 4.90 m 6.71 m
arccos 0.304 107.7
37

Determine an Angle
Critical Thinking
What does it mean if the dot product of 2

vectors is negative?
From Eq. (2.18) & graph:
Dot product is negative
only if the enclosed
angle between
the 2 vectors > 90
38
2.6 Cross Products
Definition:
Consider
2 vectors U & V:
Denoted by U V
Defined by:
U V = |U||V| sin e
(2.28)
where = angle between U & V

e = unit vector defined to be
perpendicular to both U & V
39
2.6 Cross Products
Definition:
U,V &
e are defined to be a righthanded system

Right-hand rule
Result is a vector sometimes called
vector product
40
2.6 Cross Products

Unit
= product of the units of the 2 vectors

Notice that the cross product
of 2 nonzero vectors = 0 if &
only if the vectors are parallel
The dot product is not
commutative:
U V = V U
(2.29)
41
2.6 Cross Products
The dot product is associative

with respect to scalar multiplication:
a(U V) = (aU) V = U (aV)
(2.30)
The dot product is distributive

with respect to vector addition:
U (V + W) = (U V) + (U W) (2.31)
42
2.6 Cross Products
Cross Products in Terms of Components:

Determine
the cross products formed from the

unit vectors i, j & k:
i i = |i||i| sin (0) e = 0
i j = |i||j| sin (90) e = e
e = unit vector perpendicular to i & j
e = k or e = k
Applying right-hand rule, e = k
ij=k
43
2.6 Cross Products

Continuing
this way:
i i = 0, i j = k, i k = j,
j i = k, j j = 0, j k = i,
k i = j, k j = i, k k = 0. (2.32)
These results can be easily remembered
by arranging the unit vectors in a circle:
44
2.6 Cross Products

Cross
product of U & V expressed in terms of

their components:
U V = (Uxi + Uyj + Uzk) (Vxi + Vyj + Vzk)
= UxVx(i i) + UxVy(i j) + UxVz(i k)
+ UyVx(j i) + UyVy(j j) + UyVz(j k)
+ UzVx(k i) + UzVy(k j) + UzVz(k k)
45
2.6 Cross Products

Substituting
Eqs. (2.32):
U V = (UyVz UzVy)i (UxVz UzVx)j
+ (UxVy UyVx)k
(2.33)
This result can be compactly written as the
determinant:
Ux Uy Uz
UV V x V y V z
Wx Wy Wz
(2.34)
46
2.6 Cross Products
Evaluating a 3 3 Determinant:
Repeat
its first 2 columns & evaluate the

products of the terms along the 6 diagonal
lines
i
j k i
j
Ux Uy UzUx Uy
Vx Vy Vz Vx Vy
()
()
()
(+) (+)
(+)
47
2.6 Cross Products

Value
of the determinant:
i
j
k
U yV zi U zV xj U xV yk
Ux Uy Uz
U yV xk U zV yi U xV zj
Vx Vy Vz
48
2.6 Cross Products

Alternatively:
i
j
k
Uy Uz
Ux Uy
Ux Uz
Ux Uy Uz i
j
k
Vy Vz
Vx Vy
Vx Vz
Vx Vy Vz
U yV zU zV y i U xV zU zV x j
U xV yU yV x k
49
2.7 Mixed Triple Products
Definition: U (V W)
In
(2.35)
terms of scalar components:

i
U V W U x i U y j U z k V x
Vy
Vz
Wx Wy Wz
U x i U y j U z k [V yWz VzWy i
VxWz VzWx j VxW y V yWx k ]
U x V yWz VzWy U y VxWz VzWx

U z VxW y V yWx
50

This
result can be expressed as the

determinant:
Ux Uy Uz
U V W V x V y V z
Wx Wy Wz
(2.36)
Interchanging
any 2 vectors in the mixed

triple product changes the sign but not the
absolute value of the result
E.g. U (V W) = W (V U)
51

If
the vectors U, V & W form a right-handed

system
Volume of the parallelepiped = U (V W)
52
Example 2.14 Calculating the Cross

Product
The magnitude of the force F in Fig. 2.42 is 100
N. The magnitude of the vector r from point O to
point A is 8 m.
(a) Use the definition of the cross product to
determine r F.
(b) Use Eq. (2.34) to determine r F.
Fig. 2.42
53

Product
Strategy
(a) The magnitudes of r & F & the angle between
them when placed tail to tail are known. Since
both vectors r & F lie in the x-y plane, the unit
vector is perpendicular to both r & F.
(b) Determine the components of r & F & use
Eq. (2.34) to determine r F.
54

Product
Solution
(a) Using the definition of cross product:
r F = | r || F | sin e
= (8 m) (100 N) sin 60e
= 693e (N-m)
Since e is defined to be perpendicular to r & F,
e = k or e = k.
Right-hand rule indicates that e = k.
r F = 693k (N-m)
55

Product
Solution
(b) The vector r = 8i (m).
F in terms of scalar components:
F = 100 cos 60i + 100 sin 60j (N)
From Eq. (2.34):
i
j
k
i
j
k
r F rx ry rz
8
0
0
F x F y F z 100 cos 60 100 sin 60 0
8 m 100sin60 N k 693k (N - m)
56

Product
Critical Thinking
This example was designed so that the cross

product of r & F could be evaluated by applying
the definition & using Eq. (2.34) to demonstrate
that they yield the same result
In most applications of the cross product, it is
not practical to use the definition:
Eq. (2.34) must be used
57

Lecture 02 - Vectors

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ENGINEERING MECHANICS (CE-108)

Scalars & Vectors

(C) 2005 Pearson Education South Asia Pte Ltd

2.1 Scalars & Vectors

Scalar a physical quantity that is

Vector both magnitude (nonnegative real

Position of a point in space relative to

2.1 Scalars & Vectors

representation of vectors: arrows

(C) 2005 Pearson Education South Asia Pte Ltd

2.2 Rules for Manipulating Vectors

an object undergoes a displacement

2.2 Rules for Manipulating Vectors

position of book is the same whether we

(C) 2005 Pearson Education South Asia Pte Ltd

2.2 Rules for Manipulating Vectors

Definition of Vector Addition:

from tail of U to head of V

is independent of the order in which the

(C) 2005 Pearson Education South Asia Pte Ltd

2.2 Rules for Manipulating Vectors

the sum of 2 or more vectors = 0,

rAC from A to C is the

(C) 2005 Pearson Education South Asia Pte Ltd

2.2 Rules for Manipulating Vectors

Product of a Scalar & a Vector:

of scalar (real number) a & vector

2.2 Rules for Manipulating Vectors

product is associative with respect to

2.2 Rules for Manipulating Vectors

Example 2.1 Adding Vectors

Example 2.1 Adding Vectors

(C) 2005 Pearson Education South Asia Pte Ltd

Example 2.1 Adding Vectors

By measuring the figure, we estimate the

Example 2.1 Adding Vectors

FAB FAC FAB FAC 2 FAB FAC cos

Magnitude |FAB + FAC| = 155 kN

Example 2.1 Adding Vectors

100 sin 150

Example 2.1 Adding Vectors

In engineering applications, vector operations

(C) 2005 Pearson Education South Asia Pte Ltd

2.3 Components in 2 Dimensions

Vectors are much easier to work with when

(C) 2005 Pearson Education South Asia Pte Ltd

2.3 Components in 2 Dimensions

a unit vector i defined to point in the

of U is given in terms of its

(C) 2005 Pearson Education South Asia Pte Ltd

2.3 Components in 2 Dimensions

Manipulating Vectors in Terms of

(C) 2005 Pearson Education South Asia Pte Ltd

2.3 Components in 2 Dimensions

Manipulating Vectors in Terms of

of number a & vector U:

(C) 2005 Pearson Education South Asia Pte Ltd

2.3 Components in 2 Dimensions

Position Vectors in Terms of Components:

point A with coordinates (xA, yA) & point

(C) 2005 Pearson Education South Asia Pte Ltd

2.3 Components in 2 Dimensions

Position Vectors in Terms of Components:

rAB be the vector that specifies the position