Chapte

2.1 Sca

Scalar:
luminosi
Vector:
law. Exa

There ar

i.
ii.
iii.

2.2 Vec
2.2.1 Ve
Vector a
vectors
We also
of A to th
If vector
vectors t
er 2: Force
alars and
parameters
ity, length, et
parameters
amples: disp
re three vect
Free vector
Sliding vec
analysis.
Fixed or bo
without affec
ctor opera
ector additio
addition obey
resultant vec
o can added t
he head of B
r A and B a
to an algebra
e Vector
vectors
possessing
tc.
s possessing
placements,
tor classificat
rs may be fre
ctors may b
ound vecto
cting an anal
ations
on
y the parallel
ctor R (R = A
Figu
two vectors B
B, whereby R
F
are collinear,
aic or scalar
magnitude b
g magnitude
velocities, a
tions:
eely moved in
be applied a
rs have we
lysis.
ogram law. L
A+B).
ure 2.1 Vector
B and A usin
R = A+B =B+A
Figure 2.2 Vect
, and both h
addition (R =
but not direct
e and directio
accelerations
n space with
anywhere alo
ll defined po
Let two vecto
addition using
ng the triangl
A.
tor addition us
have the sam
= A+B).
tion. Examp
on which add
.
hout changing
ong their lin
oints of app
ors A and B a
g parallelogram
e rule. The r
sing triangle ru
me linear of
ples: mass, v
d according
g their effect
e of action
plication that
as figure belo
m law
resultant R ex
ule
f action. We
volume, tem
to the paral
t on an analy
without affe
cannot be
ow, adding t

xtends from

can adding
perature,
llelogram
ysis.
ecting an
changed
he two
the tail
g the two
2.2.2 Ve
Vector s
= A-B or
2.3 Vec
2.3.1 Re
The two
This for
parallelo
represen
This is
experim
For mult
ector subtra
subtraction is
r R=A+(-B))
ctor addit
esultant forc
component
rce is called
ogram, using
nts the result
known as t
ental eviden
tiple forces a
ction
s the resultan
ion of forc
ce
of forces F
P

the resulta
g P and Q a
tant.
the parallelo
ce; it cannot
action on a po
Figure 2.3 A
nt of the diffe
Figure 2
ces
and F
Q
can
Figure
nt of the fo
s two sides
ogram law
t be proved o
oint, the forc
Addition of coll
erence betwe
2.3 Vector sub
be added tog
e 2.4 Resultan
rces P and
of the paral
for the add
or derived ma
ces can be br

linear vectors
een two vecto
btraction
gether and fo

nt force
Q and may
lelogram. T
dition of two
athematically
roken into th
ors A and B
orm F
R
= F
P
+
y be obtaine
The diagonal
forces. Th
y.
e componen
of the same

+ F
Q
.
ed by constr
that pass th
his law is b
nts of x and y
type (R
ructing a
hrough A
based on
y.
Procedu
1.
2.
ure for analys
The two com
yielding F
R
.
Redraw a h
the compon
resultant for
the law of si
F
sis the proble
mponent forc
alf portion o
nents is calle
ce can be de
nes.The form
Figure 2.5 Mu
em involve th
ces F
1
and F
Figure
of the paralle
ed trigonom
etermined us
mulas are giv
Figu
ultiple forces a
he addition o
F
2
in Figure
2.6 Parallelog
elogram to ill
metry metho
sing the law
ven in Figure
re 2.7 Triangle
ction on a poi
of two forces
2.6 add is a

gram law
lustrate the t
od. From this
of cosines a
e 2.7.
e rule
int
can be solve
according to
triangular he
s triangle, th
and its directi


e as follows:
o parallelogr
ead to tail ad
he magnitud
ion is determ
ram law,
ddition of
de of the
mine from
Exampl

The scre
direction
Solution
















Parallel

The para
line from
intersect

Trigono
From the

Apply th


Thus, th

e 1
ew eye in Fig
n of the resul
n:

ogram law
allelogram is
m the head o
t at point A. F
ometric law
e parallelogr
he law of sine
he direction
g. 2-8 is subj
tant force.
Figure 2.9
s formed by
of F
2
that is
Fig. 2.9. The
ram law, the
100
1
=
= ( F
R
es to determi
of F
R
meas
ected to two
Figu
Using paralle
drawing a li
parallel to
e two unknow
vector triang
22500 000
150 00
2
+
+( N)
ine the :
=
=
39
sin
sin
150

N
sured from th
+ = 8 39.
o forces F
1
an
ure 2.8 Examp

elogram law
ne from the
F
1
. The resu
wns are the m
gle is constru
0 30000
100 2 0
2


. (
( N)

=

=
8 9
sin
6 212
150
115 sin
6 212
.
(
N .
N
N .
he horizontal
= + 54 0 15.

nd F
2
. Determ

ple 1

head of F
1
t
ultant force
magnitude of
ucted in Fig. 2
212 4226
co 150 0
= ) .
N) N)(
115 n )

is:
8 4.
answer
mine the ma
Figure 2.10 T
that is parall
F
R
extends
f F
R
and the
2.10. Using t
213 6 2
115 os
=

N .

r
agnitude and
Triangle rule
el to F
2
. and
to where the
angle (thet
the law of co
d another
ese lines
ta).
osines.
Exampl

Determi
force F
R


Solution
Apply th

Exercis
The log
and F
B
if
axis. Se









e 2
ne the magn
R
if F
R
is direc
n:
he rule of sine
e:
is being towe
f it is require
t = 15.
nitude of the
cted along th
es;
ed by two tra
d that the res
component f
he positive y
Figu
F
F
F
F
R
R
2
75 sin
24
60 sin
=

=

actors A and
sultant force

force F in Fig
axis.
ure 2.11 Exam
lb
lb
lb
lb
273
45 sin
200
45
45 sin
200

B. Determin
have a mag
g. 2.11 and th
mple 2
answer
ne the magni
gnitude F
R
= 1
he magnitud
tudes of the
10 kN and be
e of the resu
two towing f
e directed alo
ultant

forces F
A

ong the x
2.4 Ad

Scalar n
F
x
=Fcos
Cartesia
of Carte

We can
sum of a
Once the
Also the

dition of s
notation; refe
s and F
y
=Fs
an vector not
sian unit vec
represents
algebraically
ese compon
e angle, is d
system of
r to Fig 2.12
sin.
tation; It is al
ctors i and j.
the compon
x and y.
ents are dete
determined b
a coplana
the rectangu
Figure
so possible t
From the fig
Figure 2.13
nent of the re
F
F
ermined, the
Rx
F
by:

ar force
ular compon
e 2.12 Coplana
to represent
ure below F
3 Cartesian ve
esultant forc
=
=
y
F
Ry
F
x
F
Rx
F
e resultant fo
2
Rx
F
x
+ =
R
R
F
F
1
tan

=




ents of force

ar force
the x and y c
= F
x
i+F
y
j.

ector i and j
ces of any n
y
x

rce can be a
2
Ry
F

Rx
Ry

e F shown is
components
umber of co
added from v
F = F
x
+F
y
. T
of a force in
oplanar force
ector additio
Thus,
n terms
es as the
on.
Exampl

The link
the resu
Solution
Resolve

The resu
Thus, th




e 1
in Figure 2.
ltant force.
n:
e each vector
ultant force c
he vector add
13 is subject
r into its x an
F
F
can be added
R
F
dition will be:
ted to two fo
Figur
nd y compone
.
Ry
F
.
Rx
F
8 582
s 600
8 236
c 600
=
=
=
=
d from vecto
(
Rx
236 =
=

tan
rces F
1
and
re 2.13 Link exa
ents.

N
N
N
N
4 30 sin
8
4 30 cos
+

r addition:
( ) . 582 8 6
2
+

8 236
8 582
1
N .
N .
F
2
. Determin
ample
N
N
45 cos 400
45 sin 400

) . 629 8 2
2
=
= 9 67.

ne the magn


N
N

N 9

itude and dirrection of
Exercis
Determi
2.5 Cart
The ope
coordina
A vector
In three
and z ax
e:
ne the magn
tesian Vecto
erations for
ate system.
r A may have
dimension,
xes. In Figure
nitude and dir
Figu
or
3D operatio
Fi
e three recta
the set of C
e 2.16, we ca
F
rection of the
ure 2.14 Exam
on can be
igure 2.15 Rig
ngular comp
A
Cartesian uni
an represent
Figure 2.16 Ca
e resultant fo
mple a system
solve in Ca
ght handed co
ponents along
A = A
x
+A
y
+A
t vector i, j,
t A in Cartes
artesian vector
orce for Figur

of coplanar fo
artesian vect
ordinate syste
g x, y, and z
A
z
k is used to
ian vector fo

r representatio
re 2.14 below
orces
tor which re
em
coordinates
o designate t
rm as:
on
w.
efer to right
s axes.
the directions
t handed
s of x, y,

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

The magnitude of Cartesian vector can be obtain by:
2 2 2
z y x
A A A A + + =

The direction of a Cartesian vector will be define as:
A
A
,
A
A
,
A
A

z
y
x
= = = cos cos cos

An easy way of obtaining these direction cosines is to form a unit vector:
k
A
A
j
A
A
i
A
A
u
z
y
x
A
+ + =

Where,
u
A
=cosi+cosj+cosk
And,
cos
2
+cos
2
+cos
2
=1

k A j A i A
k A j A i A
u A A
z y x
A
'
+ + =
+ + =
=
cos cos cos

2.6 Addition of Cartesian Vectors
The addition (or subtraction) of two or mare vectors are greatly simplified if the vectors are expressed
in terms of their Cartesian components, if A=A
x
i+A
y
j+A
z
k, and B=B
x
i+B
y
j+B
z
k:

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

Thus,


+ + = = k F j F i F F F
z y x R










Exampl

Express t

Solution
Since,
Therefor
Since it
By inspe

Exampl
Determi
Figure 2

Solution
e 1

he force F sho
n:
re, cos
2
+co
has two poss
ection, =60
0
e 2
ne the magn
2.18
n:
own in Fig. 2.17
os
2
60+cos
2
45
sibilities:
=

cos
0
and let F;
{ i
F F
100
co 200 (
cos
+ =
=
= o
nitude and co
Figur
{
F
magni The
i
F F
R
R
50
50
2
=
'
=
=

as a Cartesian
Figure
cos
2

5=1
1 cos =
=

60 ) 5 . 0 (
1
j
i N
j F i
. 141 100
( ) 60 os
cos
+ +
+
+ | o
oordinate dire
re 2.18 Examp
}
will F tude
l k j
F F F
R
) 40 (
180 40
2 2
2 1
+ +
+
= + =
n vector.
2.17 Cartesia
+cos
2
+cos
7 . 0 ( ) 5 . 0 (
2

= o and
}N k
k F j
1 .
60 cos 200 (
cos

+
ection angles
ple additions o
{ }
be l
lb
k j
19 ) 180 (
:
80 60
2
=
+ =
n vector
s
2
=1
5 . 0 ) 707
2
=
=

5 . 0 ( cos
1
j N 200 ( ) +
s of the resu
of Cartesian ve
} {
lb
i
1
100 50 +
5

=120 ) 5

k N) 45 cos
ltant force ac
ectors
}lb k j 100 0 +

k

cting on the rring in
The coo

2.7 Pos
A positio
From Fig
If we ref



ordinate direc
ition Vector
on vector is d
gure 2.19, r =
fer to Figure
ction angle
rs
defined as a
= xi+yj+zk
2.20, solving
r r r
B
=
r r
B
=
,, and will
u
i u
A
A
267 . 0
191
50
=
=
=
=
=
cos
cos
cos

|
o
fixed vector
Figure
g r and expre
Figure 2.20 A
( i x r
B A
+ =
x x r
B A
( =
l be;
j i
j
2094 . 0 71
19
18
191
40

9422 . 0
2094 . 0
2671 . 0

|
o
which locate
e 2.19 Position
essing r
A
and
Additional of p
) k z j y
B B
+
or
y i x
B A
( ) +
k j
k
9422 . 0
91
80
+
=
=
=
6 . 19
102
8 . 74

|
o

es a point in s

n vector
d r
B
will be:
position vector
( ) y i x
A A
+
z j y
A
( ) +
space relativ

r
) k z j
A A
+

k z z
A B
)

ve to anotherr point.
Exampl
An elast
its direct
Solution
The leng
Formula
2.8 Dot
The dot
magnitu
between
Laws of
1.
2.
3.
e 1
tic rubber ba
tion measure
n:
gth of the rub
ating the unit
Product
product of v
des of A and
n 0 and 180
0
operation:
Commutativ
Multiplication
Distributive L
nd is attache
ed from A tow
r = [-2m
bber band wi
r
vector in the
ectors A and
d B and the c
. Dot produc
e Law; A.B=
n by scalar; a
Law; A.(B+D
ed to points A
ward B.
Figure 2.21
m-1m]i+[2m-
ill be;
m) 3 (
2
=
e direction of
r
r
r
'
=
=
=
=
co
co
co

|
o
d B is written
cosine of ang
ct is refer as s
=B.A
a(A.B)= a(A)
D)=(A.B)+(A.
A and B as s
1 Position vect
-0]j+[3m-(-3
m) 2 (
2 2
+ +
f r will be,
i
7
2
7
3
+ =
= |
.
|

\
|
= |
.
|

\
|
= |
.
|

\
|

3
7
6
os
7
2
os
7
3
os
1
1
1
A.B and rea
gle betwee
scalar quanti
).B= A.(aB)
.D)
shown in Fig.

tor problems
m)]k={-3i+2
m 7 ) 6 (
2
= +
k j
7
6
+

=
0 . 31
4 . 73
115

ad as A dot B
n their tails.
ity and not a
2.21. Deter
2j+6k}m
m

B, is defined
A.B = AB co
vector.
mine its leng
as the produ
os . Where
gth and
uct of the
is