Chapter 2:

Force Vectors

Engineering Mechanics: Statics

Objectives
To show how to add forces and resolve them
into components using the Parallelogram Law.
To express force and position in Cartesian
vector form and explain how to determine the
vectors magnitude and direction.
To introduce the dot product in order to
determine the angle between two vectors or
the projection of one vector onto another.

Chapter Outline
1.
2.
3.
4.

Scalars and Vectors

Vector Operations
Vector Addition of Forces
Addition of a System of Coplanar
Forces
5. Cartesian Vectors

Chapter Outline
6. Addition and Subtraction of
Cartesian Vectors
7. Position Vectors
8. Force Vector Directed along a
Line
9. Dot Product

2.1 Scalars and 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 arrows 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
The point O is called tail
of the vector and the point
P is called the tip or head

2.2 Vector Operations

Multiplication

by a Scalar

and Division of a Vector

- Product of vector A and scalar a = aA

- Magnitude = aA
- If a is positive, sense of aA is the same as
sense of A
- If a is negative sense of
aA, it is opposite to the
sense of A

2.2 Vector Operations

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, a0

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.

Resultant, Fc can be found using the

parallelogram law

Lines parallel to a and b

from the heads of Fa and Fb are
drawn to form a parallelogram
Similarly, given Fc, Fa and Fb
can be found

2.3 Vector Addition of Forces

Procedure for Analysis
Parallelogram Law
- Make a sketch using the parallelogram law
- Two components forces add to form the
resultant force
- Resultant force is shown by the diagonal of the
parallelogram
- The components is shown by the sides of the
parallelogram

2.3 Vector Addition of Forces

Procedure for Analysis

Parallelogram

Law

To resolve a force into components along

two axes directed from the tail of the force
- Start at the head, constructing lines
parallel to the axes
- Label all the known and unknown force
magnitudes and angles
- Identify the two unknown components

2.3 Vector Addition of Forces

Procedure for Analysis
Trigonometry
- Redraw half portion of the parallelogram
- Magnitude of the resultant force can be
determined by the law of cosines
- Direction if the resultant force can be
determined by the law of sines

2.3 Vector Addition of Forces

Procedure for Analysis
Trigonometry
- Magnitude of the two components can be
determined by the law of sines

2.3 Vector Addition of Forces

Example 2.1
The screw eye is subjected to two forces F1
and F2. Determine the
magnitude and direction
of the resultant force.

2.3 Vector Addition of Forces

Solution
Parallelogram Law
Unknown: magnitude of
FR and angle

2.3 Vector Addition of Forces

Solution
Trigonometry
Law of Cosines

100N 2 150N 2 2100N 150N cos115

10000 22500 30000 0.4226

FR

212.6 N
213N

2.3 Vector Addition of Forces

Solution
Trigonometry
Law of Sines
150 N 212 .6 N

sin sin 115

150 N
0.9063
sin
212 .6 N
sin 39 .8

2.3 Vector Addition of Forces

Solution
Trigonometry
Direction 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,

Fx 1000 cos 40 766N

Fy 1000 sin 40 643N

2.3 Vector Addition of Forces

Solution
(b) Parallelogram Law

F Fx Fy '

2.3 Vector Addition of Forces

Solution
(b) Law of Sines
Fx '
1000N

sin 50
sin 60
sin 50
884.6 N
Fx ' 1000N

sin 60
Fy

1000N

sin 70
sin 60
sin 70
1085N
Fy 1000N

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 ,
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 above the horizontal
to produce the component FAC. Hence, show that
= 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 = 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
1000N

sin 30 sin 130

F1 643N
F2
1000N

sin 20 sin 130

F2 446N

2.3 Vector Addition of Forces

Solution
(b) Minimum length of F2 occur
when its line of action is
perpendicular to F1. Hence
when
90 20 70

F2 is a minimum

2.3 Vector Addition of Forces

Solution
(b) From the vector
diagram
F1 1000sin 70 N 940N
F2 1000 cos70 N 342N

2.4 Addition of a System

of Coplanar Forces
For resultant of two or more forces:

Find the components of the forces in the

specified axes
Add them algebraically
Form the resultant
In this subject, we resolve each force into
rectangular forces along the x and y axes.

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 = Fxi + Fy(-j)
F = Fxi Fyj

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

Cartesian vector notation

F1 = F1xi + F1yj
F2 = - F2xi + F2yj
F3 = F3xi F3yj

2.4 Addition of a System

of Coplanar Forces
Coplanar

Force Resultants

Vector resultant is therefore

FR = F1 + F2 + F3
= F1xi + F1yj - F2xi + F2yj + F3xi F3yj
= (F1x - F2x + F3x)i + (F1y + F2y F3y)j
= (FRx)i + (FRy)j

2.4 Addition of a System

of Coplanar Forces
Coplanar

Force Resultants

If scalar notation are used

FRx = (F1x - F2x + F3x)
FRy = (F1y + F2y F3y)

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

Rx

Ry

2.4 Addition of a System

of Coplanar Forces
Coplanar

Force Resultants

- Direction angle (orientation of the

force) can be found by trigonometry
tan

FRy
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 100N 100N
F1 y 200 cos30 N 173N 173N

Hence, from the slope

triangle

5
tan
12
1

2.4 Addition of a System

of Coplanar Forces
Solution
Alt, by similar triangles
F2 x
12

260 N 13
12
F2 x 260 N 240 N
13

Similarly,
5
F2 y 260 N 100 N
13

2.4 Addition of a System

of Coplanar Forces
Solution

Scalar Notation
F2 x 240N 240N
F2 y 100N 100N

Cartesian Vector Notation

F1 = {-100i +173j }N
F2 = {240i -100j }N

2.4 Addition of a System

of Coplanar Forces
Example 2.6
The link is subjected to two forces F1 and
F2. Determine the magnitude and
orientation of the resultant force.

2.4 Addition of a System

of Coplanar Forces
Solution
Scalar Notation
FRx Fx :
FRx 600 cos30 N 400 sin 45 N
236.8 N
FRy Fy :
FRy 600 sin 30 N 400 cos 45 N
582.8 N

2.4 Addition of a System

of Coplanar Forces
Solution
Resultant Force
FR

236.8N 2 582.8N 2

629N

From vector addition,

Direction angle is
582.8 N
tan

236.8 N
67.9
1

2.4 Addition of a System

of Coplanar Forces
Solution
Cartesian Vector Notation
F1 = { 600cos30i + 600sin30j } N
F2 = { -400sin45i + 400cos45j } N
Thus,
FR = F1 + F2
= (600cos30N - 400sin45N)i +
(600sin30N + 400cos45N)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 400N 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 2 296.8N 2

485N
From vector addition,

Direction angle is
296.8 N
tan

383.2 N
37.8
1

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

Cartesian Unit Vectors

- Cartesian unit vectors, i, j and k are used
to designate the directions of z, y and z axes
- Sense (or arrowhead) of these
vectors are described by a plus
or minus sign (depending on
pointing towards the positive
or negative axes)

2.5 Cartesian Vectors

Cartesian Vector Representations
- Three components of A act in the positive i,
j and k directions
A = Axi + Ayj + AZk

*Note the magnitude and

direction of each components
are separated, easing vector
algebraic operations.

2.5 Cartesian Vectors

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

2.5 Cartesian Vectors

Direction

of a Cartesian Vector

- Orientation of A is defined as the

coordinate direction angles , and
measured between the tail of A and the
positive x, y and z axes
- 0 , and 180

2.5 Cartesian Vectors

Direction

of a Cartesian Vector

- For angles , and (blue colored

triangles), we calculate the direction
cosines of A
Ax
cos
A

2.5 Cartesian Vectors

Direction

of a Cartesian Vector

- For angles , and (blue colored

triangles), we calculate the direction
cosines of A
cos

Ay
A

2.5 Cartesian Vectors

Direction

of a Cartesian Vector

- For angles , and (blue colored

triangles), we calculate the direction
cosines of A
Az
cos
A

2.5 Cartesian Vectors

Direction of a Cartesian Vector
- Angles , and 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

2.5 Cartesian Vectors

Direction of a Cartesian Vector
- uA can also be expressed as
uA = cosi + cosj + cosk

- Since
= 1,

A Ax2 Ay2 Az2 and magnitude of uA

cos 2 cos 2 cos 2 1

- A as expressed in Cartesian vector form

A = AuA
= Acosi + Acosj + Acosk
= Axi + Ayj + AZk

2.6 Addition and Subtraction

of Cartesian Vectors
Example
Given: A = Axi + Ayj + AZk
and B = Bxi + Byj + BZk
Vector Addition
Resultant R = A + B
= (Ax + Bx)i + (Ay + By )j + (AZ + BZ) k
Vector Substraction
Resultant R = A - B
= (Ax - Bx)i + (Ay - By )j + (AZ - BZ) k

2.6 Addition and Subtraction

of Cartesian Vectors
Concurrent

Force Systems

- Force resultant is the vector sum of all

the forces in the system
FR = F = Fxi + Fyj + Fzk
where Fx , Fy and Fz represent the
algebraic sums of the x, y and z or i, j or k
components of each force in the system

2.6 Addition and Subtraction

of Cartesian Vectors

Force, F that the tie down rope exerts on the

ground support at O is directed along the rope
Angles , and can be solved with axes x, y
and z

2.6 Addition and Subtraction

of Cartesian Vectors

Cosines of their values forms a unit vector u that

acts in the direction of the rope
Force F has a magnitude of F
F = Fu = Fcosi + Fcosj + Fcosk

2.6 Addition and Subtraction

of Cartesian Vectors
Example 2.8
Express the force F as Cartesian vector

2.6 Addition and Subtraction

of Cartesian Vectors
Solution
Since two angles are specified, the third
angle is found by
cos2 cos2 cos2 1
cos2 cos2 60 cos2 45 1
cos 1 0.5 0.707 0.5
2

Two possibilities exit, namely

1

cos

0
.
5

120
cos1 0.5 60
or

2.6 Addition and Subtraction

of Cartesian Vectors
Solution
By inspection, = 60 since Fx is in the +x
direction
Given F = 200N
F = Fcosi + Fcosj + Fcosk
= (200cos60N)i + (200cos60N)j
+ (200cos45N)k
= {100.0i + 100.0j + 141.4k}N
Checking: F Fx2 Fy2 Fz2

100 .0 100 .0 141 .4

2

200 N

2.6 Addition and Subtraction of

Cartesian Vectors
Example 2.9
Determine the magnitude and coordinate
direction angles of resultant force acting on
the ring

2.6 Addition and Subtraction

of Cartesian Vectors
Solution
Resultant force
FR = F
= F1 + F2
= {60j + 80k}kN
+ {50i - 100j + 100k}kN
= {50j -40k + 180k}kN
Magnitude of FR is found by
FR

502 402 1802

191.0 191kN

2.6 Addition and Subtraction

of Cartesian Vectors
Solution
Unit vector acting in the direction of FR
uFR = FR /FR
= (50/191.0)i + (40/191.0)j +
(180/191.0)k
= 0.1617i - 0.2094j + 0.9422k
So that
cos = 0.2617
= 74.8
cos = -0.2094
= 102
cos = 0.9422
= 19.6

*Note > 90 since j component of uFR is negative

2.6 Addition and Subtraction

of Cartesian Vectors
Example 2.10
Express the force F1 as a Cartesian vector.

2.6 Addition and Subtraction

of Cartesian Vectors
Solution
The angles of 60 and 45 are not coordinate
direction angles.
By two successive applications of
parallelogram law,

2.6 Addition and Subtraction

of Cartesian Vectors
Solution
By trigonometry,
F1z = 100sin60 kN = 86.6kN
F = 100cos60 kN = 50kN
F1x = 50cos45 kN = 35.4kN
F1y = 50sin45 kN = 35.4kN
F1y has a direction defined by j,
Therefore
F1 = {35.4i 35.4j + 86.6k}kN

2.6 Addition and Subtraction

of Cartesian Vectors
Solution
Checking:
F1 F12x F12y F12z

35 .42 35 .42 86 .62

100 N

Unit vector acting in the direction of F1

u1 = F1 /F1
= (35.4/100)i - (35.4/100)j + (86.6/100)k
= 0.354i - 0.354j + 0.866k

2.6 Addition and Subtraction

of Cartesian Vectors
Solution
1 = cos-1(0.354) = 69.3
1 = cos-1(-0.354) = 111
1 = cos-1(0.866) = 30.0
Using the same method,
F2 = {106i + 184j - 212k}kN

2.6 Addition and Subtraction

of Cartesian Vectors
Example 2.11
Two forces act on the hook. Specify the
coordinate direction angles of F2, so that the
resultant force FR acts along the positive y axis
and has a magnitude of 800N.

2.6 Addition and Subtraction

of Cartesian Vectors
View Free Body Diagram

Solution
Cartesian vector form
FR = F1 + F2
F1 = F1cos1i + F1cos1j + F1cos1k
= (300cos45N)i + (300cos60N)j
+ (300cos120N)k
= {212.1i + 150j - 150k}N
F2 = F2xi + F2yj + F2zk

2.6 Addition and Subtraction

of Cartesian Vectors
Solution
Since FR has a magnitude of 800N and acts
in the +j direction
FR = F1 + F2
800j = 212.1i + 150j - 150k + F2xi + F2yj + F2zk
800j = (212.1 + F2x)i + (150 + F2y)j + (- 50 + F2z)k
To satisfy the equation, the corresponding
components on left and right sides must be equal

2.6 Addition and Subtraction

of Cartesian Vectors

Solution
Hence,
0 = 212.1 + F2x F2x = -212.1N
800 = 150 + F2y F2y = 650N
0 = -150 + F2z
F2z = 150N

Since magnitude of F2 and its components

are known,
1 = cos-1(-212.1/700) = 108
1 = cos-1(650/700) = 21.8
1 = cos-1(150/700) = 77.6

2.7 Position Vectors

x,y,z Coordinates
- Right-handed coordinate system
- Positive z axis points upwards, measuring
the height of an object or the altitude of a
point
- Points are measured relative to the
origin, O.

2.7 Position Vectors

x,y,z Coordinates
Eg: For Point A, xA = +4m along the x axis,
yA = -6m along the y axis and zA = -6m
along the z axis. Thus, A (4, 2, -6)
Similarly, B (0, 2, 0) and C (6, -1, 4)

2.7 Position Vectors

Position Vector
- Position vector r is defined as a fixed vector
which locates a point in space relative to another
point.
Eg: If r extends from the
origin, O to point P (x, y, z)
then, in Cartesian vector
form
r = xi + yj + zk

2.7 Position Vectors

Position Vector
Note the head to tail vector addition of the
three components

Start at origin O, one travels x in the +i direction,

y in the +j direction and z in the +k direction,
arriving at point P (x, y, z)

2.7 Position Vectors

Position Vector
- Position vector maybe directed from point A to
point B
- Designated by r or rAB

Vector addition gives

rA + r = rB
Solving
r = rB rA = (xB xA)i + (yB yA)j + (zB zA)k
or
r = (xB xA)i + (yB yA)j + (zB zA)k

2.7 Position Vectors

Position Vector
- The i, j, k components of the positive vector r
may be formed by taking the coordinates of the
tail, A (xA, yA, zA) and subtract them from the
head B (xB, yB, zB)

Note the head to tail vector addition of the

three components

2.7 Position Vectors

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 r represent
the length of cable

2.7 Position Vectors

Angles, , and
represent the direction
of the cable
Unit vector, u = r/r

2.7 Position Vectors

Example 2.12
An elastic rubber band is
attached to points A and B.
Determine its length and
its
direction measured from A
towards B.

2.7 Position Vectors

View Free Body Diagram

Solution
Position vector
r = [-2m 1m]i + [2m 0]j + [3m (-3m)]k
= {-3i + 2j + 6k}m
Magnitude = length of the rubber band
r

32 22 62

7m

Unit vector in the director of r

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

2.7 Position Vectors

Solution
= cos-1(-3/7) = 115
= cos-1(2/7) = 73.4
= cos-1(6/7) = 31.0

2.8 Force Vector 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 units of

forces (N) unlike r, with
units of length (m)

2.8 Force Vector Directed

along a Line

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

2.8 Force Vector Directed

along a Line

Unit vector, u = r/r that defines the direction

of both the chain and the force
We get F = Fu

2.8 Force Vector Directed

along a Line

Example 2.13
The man pulls on the cord
with a force of 350N.
Represent this force acting
on the support A, as a
Cartesian vector and
determine its direction.

2.8 Force Vector Directed

along a Line

Solution
End points of the cord are A (0m, 0m, 7.5m)
and B (3m, -2m, 1.5m)
r = (3m 0m)i + (-2m 0m)j + (1.5m
7.5m)k
= {3i 2j 6k}m
Magnitude = length of cord AB
r

3m2 2m2 6m2

7m

Unit vector, u = r /r
= 3/7i - 2/7j - 6/7k

2.8 Force Vector Directed

along a Line

Solution
Force F has a magnitude of 350N, direction
specified by u
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k} N
= cos-1(3/7) = 64.6
= cos-1(-2/7) = 107
= cos-1(-6/7) = 149

2.8 Force Vector Directed

along a Line

Example 2.14
The circular plate is
partially supported by
the cable AB. If the
force of the cable on
the
hook at A is F = 500N,
express F as a
Cartesian vector.

2.8 Force Vector Directed

along a Line

Solution
End points of the cable are (0m, 0m, 2m) and B
(1.707m, 0.707m, 0m)
r = (1.707m 0m)i + (0.707m 0m)j
+ (0m 2m)k
= {1.707i + 0.707j - 2k}m
Magnitude = length of cable AB
r

1.707 m2 0.707 m2 2m2

2.723 m

2.8 Force Vector Directed

along a Line

Solution
Unit vector,
u = r /r
= (1.707/2.723)i + (0.707/2.723)j (2/2.723)k
= 0.6269i + 0.2597j 0.7345k
For force F,
F = Fu
= 500N(0.6269i + 0.2597j 0.7345k)
= {313i - 130j - 367k} N

2.8 Force Vector Directed

Solution
Checking
F

along a Line

3132 1302 3672

500N

Show that = 137 and

indicate this angle on the
diagram

2.8 Force Vector Directed

along a Line

Example 2.15
The roof is supported by
cables. If the cables exert
FAB = 100N and FAC = 120N
on the wall hook at A,
determine the magnitude of
the resultant force acting at
A.

2.8 Force Vector Directed

along a Line

View Free Body Diagram

Solution
rAB = (4m 0m)i + (0m 0m)j + (0m 4m)k
= {4i 4k}m
rAB

4m2 4m2

5.66 m

FAB = 100N (rAB/r AB)

= 100N {(4/5.66)i - (4/5.66)k}
= {70.7i - 70.7k} N

2.8 Force Vector Directed

along a Line

Solution
rAC = (4m 0m)i + (2m 0m)j + (0m 4m)k
= {4i + 2j 4k}m
rAC

4m2 2m2 4m2

6m

FAC = 120N (rAB/r AB)

= 120N {(4/6)i + (2/6)j - (4/6)k}
= {80i + 40j 80k} N

2.8 Force Vector Directed

along a Line

Solution
FR = FAB + FAC
= {70.7i - 70.7k} N + {80i + 40j 80k} N
= {150.7i + 40j 150.7k} N
Magnitude of FR
FR

150.7 2 402 150.7 2

217 N

2.9 Dot Product

Dot product of vectors A and B is written
as AB (Read A dot B)
Define the magnitudes of A and B and the
angle between their tails
AB = AB cos
where 0 180
Referred to as scalar
product of vectors as
result is a scalar

2.9 Dot Product

Laws of Operation

1. Commutative law
AB = BA
2. Multiplication by a scalar
a(AB) = (aA)B = A(aB) = (AB)a
3. Distribution law
A(B + D) = (AB) + (AD)

2.9 Dot Product

Cartesian

Vector Formulation

- Dot product of Cartesian unit vectors

Eg: ii = (1)(1)cos0 = 1 and
ij = (1)(1)cos90 = 0
- Similarly
ii = 1
jj = 1
kk = 1
ij = 0
ik = 1 jk = 1

2.9 Dot Product

Cartesian Vector Formulation
- Dot product of 2 vectors A and B
AB = (Axi + Ayj + Azk) (Bxi + Byj + Bzk)
= AxBx(ii) + AxBy(ij) + AxBz(ik)
+ AyBx(ji) + AyBy(jj) + AyBz(jk)
+ AzBx(ki) + AzBy(kj) + AzBz(kk)
= AxBx + AyBy + AzBz
Note: since result is a scalar, be careful of including
any unit vectors in the result

2.9 Dot Product

Applications

- The angle formed between two vectors or

intersecting lines
= cos-1 [(AB)/(AB)]
0 180
Note: if AB = 0, cos-10= 90, A is
perpendicular to B

2.9 Dot Product

Applications

- The components of a vector parallel and

perpendicular to a line
- Component of A parallel or collinear with line aa is
defined by A (projection of A onto the line)
A = A cos
- If direction of line is specified by unit vector u (u =
1),
A = A cos = Au

2.9 Dot Product

Applications

- If A is positive, A has a directional

sense same as u
- If A is negative, A has a directional
sense opposite to u
- A expressed as a vector
A = A cos u
= (Au)u

2.9 Dot Product

Applications

For component of A perpendicular to line aa

1. Since A = A + A,
then A = A - A
2. = cos-1 [(Au)/(A)]
then A = Asin
3. If A is known, by Pythagorean Theorem
A A2 A||2

2.9 Dot Product

For angle between the

rope and the beam A,
- Unit vectors along the
beams, uA = rA/rA
- Unit vectors along the
ropes, ur=rr/rr
- Angle = cos-1
(rA.rr/rArr)
= cos-1 (uA ur)

2.9 Dot Product

For projection of the force

along the beam A
- Define direction of the beam
uA = rA/rA
- Force as a Cartesian vector
F = F(rr/rr) = Fur
- Dot product
F = FuA

2.9 Dot Product

Example 2.16
The frame is subjected to a horizontal force
F = {300j} N. Determine the components of
this force parallel and perpendicular to the
member AB.

2.9 Dot Product

Solution
Since

r
2i 6 j 3k

u B B
rB
22 62 32

0.286i 0.857 j 0.429k

Then

FAB F cos

F .u B 300 j 0.286i 0.857 j 0.429k

(0)(0.286) (300)(0.857) (0)(0.429)
257.1N

2.9 Dot Product

Solution
Since result is a positive scalar,
FAB has the same sense of
direction as uB. Express in
Cartesian form

FAB FAB u AB

257.1N 0.286i 0.857 j 0.429k

{73.5i 220 j 110k }N

Perpendicular component

F F FAB 300 j (73.5i 220 j 110k ) {73.5i 80 j 110k }N

2.9 Dot Product

Solution
Magnitude can be determined
From F or from Pythagorean
Theorem

2 2
F FAB

300N 2 257.1N 2

155N

2.9 Dot Product

Example 2.17
The pipe is subjected to F = 800N. Determine the
angle between F and pipe segment BA, and the
magnitudes of the components of F, which are
parallel and perpendicular to BA.

2.9 Dot Product

View Free Body Diagram

Solution
For angle
rBA = {-2i - 2j + 1k}m
rBC = {- 3j + 1k}m
Thus,

rBA rBC 20 2 3 11
cos
rBA rBC
3 10
0.7379

42.5

2.9 Dot Product

Solution
Components
of F

r
(2i 2 j 1k )

u AB AB
rAB
3
2 2 1

i j k
3 3 3

FAB F .u B
2 2 1

758.9 j 253.0k i j k
3 3 3
0 506.0 84.3
590 N

2.9 Dot Product

Solution
Checking from trigonometry,

FAB F cos

800 cos 42.5 N

590N

Magnitude can be determined

From F

F F sin 800 sin 42.5 540 N

2.9 Dot Product

Solution
Magnitude can be determined from F or from
Pythagorean Theorem

2 2
F FAB

8002 5902

540 N

Chapter Summary
Parallelogram Law
Addition of two vectors
Components form the side and resultant
form the diagonal of the parallelogram
To obtain resultant, use tip to tail addition
by triangle rule
To obtain magnitudes and directions, use
Law of Cosines and Law of Sines

Chapter Summary
Cartesian Vectors

Vector F resolved into Cartesian vector form

F = Fxi + Fyj + Fzk
Magnitude of F

2
2
2
F Fx Fy angles
Fz , and are
Coordinate direction

determined by the formulation of the unit

vector in the direction of F
u = (Fx/F)i + (Fy/F)j + (Fz/F)k

Chapter Summary
Cartesian Vectors

Components of u represent cos, cos and cos

These angles are related by
cos2 + cos2 + cos2 = 1

Force and Position Vectors

Position Vector is directed between 2 points

Formulated by distance and direction moved
along the x, y and z axes from tail to tip

Chapter Summary
Force and Position Vectors

For line of action through the two points, it

acts in the same direction of u as the
position vector
Force expressed as a Cartesian vector
F = Fu = F(r/r)

Dot Product

Dot product between two vectors A and B

AB = AB cos

Chapter Summary
Dot Product

Dot product between two vectors A and B

(vectors expressed as Cartesian form)
AB = AxBx + AyBy + AzBz
For angle between the tails of two vectors
= cos-1 [(AB)/(AB)]
For projected component of A onto an axis
defined by its unit vector u
A = A cos = Au

Chapter Review

Chapter Review

Chapter Review

Chapter Review

Chapter Review

Chapter Review