BMCG 1113 STATICS

Dr. Isa Halim

Faculty of Manufacturing Engineering

Learning Objectives
At the end of this chapter, students should be able to:
 Differentiate between scalars and vectors.
 Apply Parallelogram (PG) Law, Scalar Notation, and
Cartesian Vector Notation to perform forces addition.
 Calculate the Resultant Force (FR), its magnitude and
direction.
APPLICATIONS OF FORCE VECTORS
SCALARS AND VECTORS

• Scalar

- A scalar is physical quantity that has a magnitude

and does not depend on direction.
- It does not changed by coordinate system rotations.
- It can be indicated by a positive or negative number.
- Examples of scalar: mass, volume, time and length.
SCALARS AND VECTORS (cont)
• Vector
- A vector is quantity that has both magnitude and
direction. For e.g., position, force and moment.

- Represented by a letter with an arrow over it A

- Magnitude (positive quantity) is designated by A
- In figure below, the vector is shown by an arrow.
- The length of arrow is magnitude.
- The angle (Ө) is direction.
- The arrow head is sense of direction.
VECTOR OPERATIONS

• Multiplication and Division of a Vector by a Scalar

- If vector (A) is multiplied by a positive scalar (a), its
magnitude increase. Magnitude = aA
- If vector (A) is multiplied by a negative scalar (-a), its
sense of direction changed.
VECTOR OPERATIONS (cont)
• Vector Addition (+)
- Addition of two vectors A and B gives a resultant
vector R by the parallelogram law.
- Resultant R can be found by triangle construction.
- Resultant e.g. R = A + B = B + A
- Special case when vectors A and B are collinear (both
have the same line of action).

triangle construction
VECTOR OPERATIONS (cont)

• Vector Subtraction (-)

- Vector subtraction is special case of addition.
- So, the rules of Vector Addition also apply to vector
subtraction.
- Example: R’ = A – B = A + ( - B )
VECTOR ADDITION OF FORCES

Finding a Resultant Force

• Parallelogram law is carried out to find the resultant
force

Problem Parallelogram Triangle construction

• Resultant force, FR
FR = ( F1 + F2 )
 VECTOR ADDITION OF FORCES (cont)

Procedures for Analysis:

• Step 1: Parallelogram Law.
Step 1A: Sketch a thin line from
the arrow head of F1, parallel to F2.
Step 1B: Sketch a thin line from
the arrow head of F2, parallel to F1.
Step 1C: Sketch a diagonal line
from the origin of F1 and F2 to
intersection point of the two thin
lines.
- Resultant force (FR) is shown by
the diagonal of the parallelogram.
VECTOR ADDITION OF FORCES (cont)
Procedures for Analysis:
• Step 2: Trigonometry.
Step 2A: Redraw half portion of the
parallelogram.
Step 2B: Apply the cosines law
to determine the magnitude of the
resultant force (FR) .
Step 2C: Apply the sines law to
determine the direction (angle) of the
resultant force (FR) .
------------------------------------------------
***Step 2D: Apply the sines law to
determine the magnitude of the two
components.
*** : if you want to find other unknown.
EXAMPLE 1

The hook is subjected to two forces,

F1 and F2.
Calculate:
1) The magnitude of resultant
force (FR).
2) The direction(angle) of the
resultant force (FR) measured
counter clockwise from the
positive x-axis.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 1 (cont)

Step 1: Parallelogram Law

Unknown:
1) Magnitude of resultant force, FR .
2) Direction of resultant force, θ x-axis
measured counter clockwise from
the positive x-axis.
Copyright © 2011 Pearson Education South Asia Pte Ltd
EXAMPLE 1 (cont)
Solution
Step 2: Trigonometry
Cosines law
FR  C  100 N 2  150 N 2  2100 N 150 N cos115
 10000  22500  30000 0.4226  212.6 N

Sines law
B C

sin b sin c
B
150 N 212.6 N

sin  sin 115 C
150 N
 234.578
sin 
150 N
sin  
234.578 A
sin   0.639
  39.75 Copyright © 2011 Pearson Education South Asia Pte Ltd
EXAMPLE 1 (cont)

Solution

Trigonometry
Direction ( ) of FR
measured from the
positive x-axis:
  39.75  15
 54.75

Copyright © 2011 Pearson Education South Asia Pte Ltd

ADDITION OF A SYSTEM OF COPLANAR FORCES

• Scalar Notation
– x and y axes are designated positive and negative
– Components of forces expressed as algebraic
scalars
cos   Fx / F
F  Fx  Fy Fx  F cos 
but ,
Sin  Fy / F
Fx  F cos  , and Fy

Fy  F sin  Fy  F sin 
ADDITION OF A SYSTEM OF COPLANAR FORCES
(cont)

• 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 Fx and Fy

F  Fxi  Fy j
ADDITION OF A SYSTEM OF COPLANAR FORCES
(cont)
• Coplanar Force Resultants
To determine resultant of F1  F1x i  F1 y j
several coplanar forces:
– Resolve force into x and y F2   F2 x i  F2 y j
components.
– Addition of the respective
F3  F3 x i  F3 y j
components using scalar
algebra.
– Resultant force is found
using the parallelogram law
– Cartesian vector notation on
top right:
ADDITION OF A SYSTEM OF COPLANAR FORCES
(cont)
• Definition of Coplanar
Coplanar is a set of points, lines, or any other
geometrical shapes that lie on the same plane.
 ADDITION OF SEVERAL VECTORS
Coplanar Force Resultants
• Step 1: Resolve each force into
its components.

• Step 2: Add all the x components

together. Then add all the y
components together. These two
totals become the resultant vector.
• Step 3: Find the magnitude and
direction (angle) of the resultant
vector.
ADDITION OF A SYSTEM OF COPLANAR FORCES
(cont)
• Coplanar Force Resultants
– Vector resultant is therefore:
FR  F1  F2  F3
 FRx i  FRy  j F2 F1

– If scalar notation is used:

FRx  F1x  F2 x  F3 x
FRy  F1 y  F2 y  F3 y
F3
ADDITION OF A SYSTEM OF COPLANAR FORCES
(cont)
• Coplanar Force Resultants
– In all cases we have
FRx   Fx * Take note of sign conventions

FRy   Fy

– Magnitude of FR can be found by Pythagorean Theorem:

FR  FRx2  FRy2

FRy
tan  
FRx
FRy
Therefore,   tan -1

FRx
 EXAMPLE 1
Given: Three concurrent forces
acting on a bracket.
Find: The magnitude and
direction (angle) of the
resultant force.

Solution Steps:
Step 1: Resolve the forces in their x-y components.
Step 2: Add the respective components to get the resultant vector.
Step 3: Find magnitude and angle from the resultant components.
 Solution 1 (using Cartesian vector notation)
Step 1:

Component x - axis y – axis

F1 {15 sin 40° i } kN {15 cos 40° j } kN
= {9.642 i } kN {11.49 j } kN

F2 {-(12/13)26 i } kN {(5/13)26 j } kN
= {-24 i } kN = {10 j } kN

F3 { 36 cos 30° i } kN {– 36 sin 30° j } kN

{ 31.18 i } kN {– 18 j } kN

y
Step 2: FR
Summing up all the i and j components respectively, we get,
FR = { (9.642 – 24 + 31.18) i + (11.49 + 10 – 18) j } kN 3.49

= { 16.82 i + 3.49 j } kN x
16.82
 Solution 2 (using scalar notation)

Component x - axis y – axis

F1 {15 sin 40°} kN {15 cos 40°} kN
= {9.642} kN = {11.49} kN

F2 {-(12/13)26} kN {(5/13)26} kN
= {-24} kN = {10} kN

F3 { 36 cos 30°} kN {– 36 sin 30° } kN

= { 31.18} kN = {– 18 } kN

Summing up all the x axis, we get,

y
FR(x) = { (9.642 – 24 + 31.18) } kN FR
= 16.82 kN
3.49
Summing up all the y axis, we get,
FR(y) = { (11.49 + 10 – 18) } kN x
16.82
= 3.49 kN
Step 3: EXAMPLE (continued)
Formula:

Magnitude, FR  FRx2  FRy2

y
FRy FR
Direction,   tan -1
FRx 3.49

The magnitude: x
16.82
FR = ((16.82)2 + (3.49)2)1/2 = 17.2 kN
The angle:
 = tan-1(3.49/16.82) = 11.7°
EXAMPLE 2

Determine x and y
components of F1 and
F2 acting on the boom.

Express each force as

a Cartesian vector.

Copyright © 2011 Pearson Education South Asia Pte Ltd

 Solution 3 (using scalar notation)
Step 1:

Component x - axis y – axis

F1 {- 200 sin 30°}N {200 cos 30°}N
= -100 N = 173.205 N

F2 {260 (12/13)}N {-260 (5/13)}N

= 240 N = -100 N

Step 2:
Summing up all the x axis, we get,
FR(x) = { (-100 + 240) } N
= 140 N
Summing up all the y axis, we get,
FR(y) = { (173.205 – 100) } N
= 73.205 N
 Solution 3 (using Cartesian vector notation)

Component x - axis y – axis

F1 {- 200 sin 30°i}N {200 cos 30°j}N
= -100i N = 173.205j N

F2 {260 (12/13) i}N {-260 (5/13) j}N

= 240i N = -100j N

Expression of each force in Cartesian vector:

F1 = { (-100 ) i + (173.205 ) j } N
F2 = { 240 i - 100 j } N

Summing up all the i and j components respectively, we get,

FR = { (-100 + 240) i + (173.205 - 100) j } N
= { 140 i + 73.205 j } N
EXAMPLE 2 (cont)
Solution (if you want to solve without table)
(for component F1)
Scalar Notation:
F1x  200 sin 30 N  100 N  100 N 
F1 y  200 cos 30 N  173 N  173 N 

Cartesian Vector Notation:

F1   100i  173 jN

Copyright © 2011 Pearson Education South Asia Pte Ltd

 EXAMPLE 2 (cont)
Solution (if you want to solve without table)
(for component F2)
 F2 x  12 Use triangle ratio.
 
 260 N  13
 12 
F2 x  260 N    240 N
 13 
 F2 y  5
  
Use triangle ratio.

 260 N  13
5
F2 y  260 N    100 N
 13 
F2 x  240 N 
Scalar Notation:
F2 y  100 N  100 N 
Cartesian Vector Notation:  240
F2 Education
Copyright © 2011 Pearson i
South Pte Ltd jN
100
Asia
EXAMPLE 3

The link is subjected to two forces F1

and F2. Determine the magnitude and
orientation of the resultant force.

Copyright © 2011 Pearson Education South Asia Pte Ltd

 Solution 3 (using scalar notation)
Step 1:
Component x - axis y – axis
F1 {600 cos 30°}N {600 sin 30°}N
= 519.615 N = 300 N

F2 {-400 sin 45°}N {400 cos 45°}N

= -282.843 N = 282.843 N

Step 2:
Summing up all the x axis, we get,
FR(x) = { (519.615 – 282.843) } N
= 236.772 N
Summing up all the y axis, we get,
FR(y) = { (300 + 282.843) } N
= 582.843 N
 Solution 3 (using Cartesian vector notation)

Component x - axis y – axis

F1 {600 cos 30° i}N {600 sin 30° j}N
= 519.615 i N = 300 j N

F2 {-400 sin 45° i}N {400 cos 45° j}N

= -282.843 i N = 282.843 j N

Summing up all the i and j components respectively, we get,

FR = { (519.615 – 282.843) i + (300 + 282.843) j } N
= { 236.772 i + 582.843 j } N
 EXAMPLE 3 (cont)
Step 3:
Resultant Force
FR  FRx2  FRy2
FR  236.772 N 2  582.843N 2
 629.1N

Direction angle θ is:

FRy
  tan -1

FRx
 582.843N 
  tan 
1

 236.772 N 
 67.89
Copyright © 2011 Pearson Education South Asia Pte Ltd
CARTESIAN VECTORS (3D)

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.
CARTESIAN VECTORS (cont)

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 applications
of the parallelogram law,
A = A’ + Az
A’ = Ax + Ay
– Combing the equations,
A can be expressed as
A = Ax + Ay + Az
CARTESIAN VECTORS (cont)
Unit Vector

– Direction of A can be
specified using a unit vector.
– Unit vector has a magnitude
of 1.
CARTESIAN VECTORS (cont)

Cartesian Vector Representations

3 components of A act in the positive i, j and k

directions

A = A x i + A y j + A Zk

*Note the magnitude and direction

of each components are separated,
easing vector algebraic operations.
CARTESIAN VECTORS (cont)

1. Magnitude of a Cartesian Vector

– From the colored triangle,
A  A'2  Az2
– From the shaded triangle,
A'  Ax2  Ay2
– Combining the equations
gives magnitude of A

A  Ax2  Ay2  Az2

CARTESIAN VECTORS (cont)

2. Direction of a Cartesian Vector

– Orientation of A is defined as the coordinate direction
angles α, β and γ measured between the tail of A and
the positive x, y and z axes.
– Angle of α, β and γ is between 0°to 180°
– The direction cosines of A are:
Ax Az
cos   cos  
A A

Ay
cos  
A
Note: cos = adjacent / hypotenuse
CARTESIAN VECTORS (cont)

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

CARTESIAN VECTORS (cont)

Direction of a Cartesian Vector

– uA can also be expressed as
uA = cosα i + cosβ j + cosγ k

– Since A  Ax2  Ay2  Az2 and uA = 1, we have

cos 2   cos 2   cos 2   1

– A as expressed in Cartesian vector form is
A = A uA
= A cosαi + A cosβj + A cosγk
= Axi + Ayj + AZk
ADDITION AND SUBTRACTION OF
CARTESIAN VECTORS
Addition and Subtraction of
Forces - Concurrent Force
Systems:

Resultant force (FR ) is the

vector summation of all
the forces in the system

FR = ∑F
= ∑Fxi + ∑Fyj + ∑Fzk
EXAMPLE 4

Question:
Express the force F as Cartesian vector.

Given:
1.F = 200 N
2.   60º
3. γ = 45º
Solution Plan:
1.Find α.
2.Express all forces in
Cartesian notation.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 4 (cont)

Solution

Since two angles are specified, the third angle can be found by:

cos 2   cos 2   cos 2   1

cos 2   cos 2 60   cos 2 45  1
cos   1  0.5  0.707   ±0.5
2 2

Two possibilities of α will exist:

  cos 1 0.5 60 
  cos 1  0.5  120

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EXAMPLE 4 (cont)

Solution

By inspection, α = 60º since Fx must be in the +x direction

Given F = 200N
F = F cos α i + F cos β j + F cos γ k
= (200N cos 60º)i + (200N cos 60º)j + (200N cos 45º)k
= {100.0i + 100.0j + 141.4k}N

Checking:

F  Fx2  Fy2  Fz2

 100.02  100.02  141.42  200 N

Copyright © 2011 Pearson Education South Asia Pte Ltd
POSITION VECTORS

APPLICATIONS

How can we
represent the force
along the wing
strut in a 3-D
Cartesian vector
form?
Wing strut
POSITION VECTORS

x,y,z Coordinates
– Apply right-handed
coordinate system.
– Positive z axis points
upwards and downwards
is negative, measuring the
height of an object or
point.
– Points are measured
relative to the origin, O.
– Example:
Point A = 4xi + 2yj – 6zk
Point B = 6xi – 1yj + 4zk
POSITION VECTORS (cont)

Position Vector (r) – Note: pls. don’t get confuse with resultant force (FR)
– Position vector r is defined as a fixed vector which
locates a point in space relative to another point.
– Example: r = xi + yj + zk
POSITION VECTORS (cont)
Position Vector (r)
– Vector addition gives rA + r = rB
– Solving using the triangle construction:
r = rB – rA = (xB – xA)i + (yB – yA)j + (zB –zA)k
hence,
r = (xB – xA)i + (yB – yA)j + (zB –zA)k
POSITION VECTORS (cont)

• 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 of r represents the length of cable AB.
• Angles, α, β and γ
represent the
direction of the cable.
• Unit vector, u
u = position vector/ magnitude
u = r/r
EXAMPLE 5

An elastic rubber band is

attached to points A and B.
Determine its length and its
direction measured from A
towards B.

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EXAMPLE 5 (cont)

Solution
Step 1: Position vector (r)
r = (xB – xA)i + (yB – yA)j + (zB –zA)k
r = [-2m – 1m]i + [2m – 0]j + [3m – (-3m)]k
= {-3i + 2j + 6k}m

Step 2: Magnitude = length of the rubber band

r  32  22  62  7m

Step 3: Unit vector in the direction of r

u = r /r
= -3/7i + 2/7j + 6/7k

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EXAMPLE 5 (cont)

Solution
Step 4: Direction from A

cos α = xi /r
cos β = yj /r
cos γ = zk /r

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FORCE VECTOR (F) DIRECTED ALONG A LINE

• 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
the unit of force (N)
unlike r, with the
unit of length (m)
FORCE VECTOR DIRECTED ALONG A LINE
(cont)
• 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

*Note: F = in Cartesian vector (i, j, k)

F = magnitude of force (e.g.: 100 N, 30 kN)
EXAMPLE 6

The man pulls on the cord

with a force of 350 N.

Questions:
1) Express the force acting on
the support A, as a Cartesian
vector,
2) Determine its direction.

Copyright © 2011 Pearson Education South Asia Pte Ltd

EXAMPLE 6 (cont)
Solution
End points of the cord are:
At support, A: (0m, 0m, 7.5m) and
At man’s hold, B: (3m, -2m, 1.5m)
Step 1: Position vector (r)
r = (xB – xA)i + (yB – yA)j + (zB –zA)k
r = (3m – 0m)i + (-2m – 0m)j + (1.5m – 7.5m)k
r = {3i – 2j – 6k}m

Step 2: Magnitude = length of cord AB

r 3m2   2m2   6m2  7m

Step 3: Unit vector (u)

u = r /r
= 3/7i - 2/7j - 6/7k
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EXAMPLE 6 (cont)

Solution
Force F has a magnitude of
350 N, direction specified by u.
Step 4: Force vector (F) along the cord
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k}N
Step 5: Direction

α = cos-1(3/7) = 64.6°
β = cos-1(-2/7) = 107°
γ = cos-1(-6/7) = 149°
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