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Force Vectors
Scalar
– A quantity characterized by a positive or
negative number
– Indicated by letters in italic such as A
Eg: Mass, volume and length
2.1 Scalars and Vectors
Vector
– A quantity that has both magnitude and
direction
Eg: Position, force and moment
– Represent
by a letter with an arrow over it
such as A or A
– Magnitude is designated as A or simply A
– In this subject, vector is presented as A and its
magnitude (positive quantity) as A
2.1 Scalars and Vectors
Vector
– Represented graphically as an arrow
– Length of arrow = Magnitude of
Vector
– Angle between the reference axis
and arrow’s line of action = Direction of
Vector
– Arrowhead = Sense of Vector
2.1 Scalars and Vectors
Example
Magnitude of Vector = 4 units
Direction of Vector = 20° measured
counterclockwise from the horizontal axis
Sense of Vector = Upward and to the right
Multiplication
and Division of a
Vector by a Scalar
- Negative of a vector is found by multiplying
the vector by ( -1 )
- Law of multiplication applies
Eg: A/a = ( 1/a ) A, a≠0
2.2 Vector Operations
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
F1 + F2
- Resultant,
FR = ( F1 + F2 ) + F3
2.3 Vector Addition of Forces
Example
Fa and Fb are forces exerting on the hook.
Solution
Trigonometry
Law of Cosines
FR 100 N 2 150 N 2 2100 N 150 N cos115
10000 22500 30000 0.4226
212.6 N
213N
2.3 Vector Addition of Forces
Solution
Trigonometry
Law of Sines
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) and (b) x’ and y
directions.
2.3 Vector Addition of Forces
Solution
(a) Parallelogram Law
F Fx Fy
From the vector diagram,
Solution
(b) Parallelogram Law
F Fx Fy '
2.3 Vector Addition of Forces
Solution
(b) Law of Sines
Fx ' 1000 N
sin 50 sin 60
sin 50
Fx ' 1000 N 884.6 N
sin 60
Fy 1000 N
sin 70 sin 60
sin 70
Fy 1000 N 1085 N
sin 60
NOTE: A rough sketch drawn to scale will give some idea of the
relative magnitude of the components, as calculated here.
2.3 Vector Addition of Forces
Example 2.3
The force F acting on the frame
has a magnitude of 500N and is
to be resolved into two components
acting along the members AB and
AC. Determine the angle θ,
measured below the horizontal,
so that components FAC is directed
from A towards C and has a
magnitude of 400N.
2.3 Vector Addition of Forces
Solution
Parallelogram Law
500 N FAB FAC
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
View Free Body Diagram
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
F2 is a minimum
2.3 Vector Addition of Forces
Solution
(b) From the vector
diagram
F Fx Fy
2.4 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
Eg: F Fx Fy
Sense of direction
along positive x and
y axes
2.4 Addition of a System
of Coplanar Forces
Scalar Notation
Eg: F ' F ' x F ' y
Sense of direction
along positive x and
negative y axes
2.4 Addition of a System
of Coplanar Forces
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
Cartesian Vector Notation
F = Fxi + Fyj F’ = F’xi + F’y(-j)
F’ = F’xi – F’yj
2.4 Addition of a System
of Coplanar Forces
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
2.4 Addition of a System
of Coplanar Forces
Coplanar Force Resultants
Example: Consider three coplanar
forces
In all cases,
FRx = ∑Fx
FRy = ∑Fy
* Take note of sign conventions
2.4 Addition of a System
of Coplanar Forces
Coplanar Force Resultants
- Positive scalars = sense of direction
along the positive coordinate axes
- Negative scalars = sense of direction
along the negative coordinate axes
- Magnitude of FR can be found by
Pythagorean Theorem
FR F 2
Rx F 2
Ry
2.4 Addition of a System
of Coplanar Forces
Coplanar Force Resultants
- Direction angle θ (orientation of the
force) can be found by trigonometry
FRy
tan 1
FRx
2.4 Addition of a System
of Coplanar Forces
Example 2.5
Determine x and y components of F1 and F2
acting on the boom. Express each force as a
Cartesian vector
2.4 Addition of a System
of Coplanar Forces
Solution
Scalar Notation
F1x 200 sin 30 N 100 N 100 N
F1 y 200 cos 30 N 173 N 173 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
View Free Body Diagram
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 296.8N
2 2
485 N
From vector addition,
Direction angle θ is
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
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