Statics and Dynamics (PCB

1013)
CHAPTER 2 FORCE VECTOR
Dr. Mohd Azuwan bin Maoinser
Petroleum Engineering Department
Faculty of Geosciences and Petroleum
Universiti Teknologi PETRONAS (UTP)
Internal

Chapter
Outline
Scalars and Vectors
Vector Operations
Vector Addition of Forces
Addition of a System of Coplanar Forces
Cartesian Vectors
Addition and Subtraction of Cartesian Vector
Position Vectors
Force Vector Directed along a Line
Dot Product
Internal

Scalars and Vectors

Scalars

Vectors

Quantity characterized by POSITIVE and

NEGATIVE number

Quantity has both a MAGNITUDE and

DIRECTION

Indication :
Text Book : A
HANDWRITTEN : A

Indication :
Book : A
HANDWRITTEN Line of Action

ARROW

A
20
Internal

Tail

Length of Arrow = 4
unit

Head

(Graphical Representation of a Vector)

Reference Axis

Magnitude :

Direction :
Angle between
reference axis and the
arrows line of direction
= 20

Sense :
Arrowhead = upward

Vector Operations
Multiplication and
Division of a Vector by a
Scalar

Vector Addition

Vector Subtraction

A
B
Parallelogram Law

o
r

-B

Triangle Construction
ParallelogramTriangle
Law
Construction

Collinear Vector

-R

Triangle Construction

-B

Internal

R=
A+B

-R

Vector Operation (cont.)

Resolution of
a
Vector

a
Componen
t

A
b

Resultant of
Force

1
Internal

Extend parallel line from

the head of R to form
component

b
B

Vector Addition of Forces

F2

F1
F3

3
2
F2

F2
F1

F1
F3

Internal

FR

F1 + F2

F1 + F2

F3

Application of Law of Sine and Cosine in determining the

magnitude and direction of vector force

Internal

Addition of System of Coplanar Force

Notation for representing the directional sense of the rectangular components
Cartesian Vector Notation

Scalar Notation

To be used only for computational purpose

Not for graphical representations in figures

Internal

i designate the directions for x-axes

j designate the directions for y-axes
Arrowhead will be described analytically by
positive/ negative sign depending on
pointing direction along the positive or
negative axis

Coplanar Force Resultants

STEP 2
by

STEP 2
by

PROBLEM

Scalar Notation

Cartesian Vector Notation

STEP 1

Vector Resultant :

STEP 3

Internal

EXAMPLE

Given: Three concurrent

forces acting on a
tent post.

Find: The magnitude

and angle of the
resultant force.

Plan:
a) Resolve the forces into their x-y components.
b) Add the respective components to get the
resultant vector.
c) Find magnitude and angle from the resultant
components.

Internal

Internal

Cartesian Vector
Rectangular
Components of a
Vector

Right Handed
Coordinate
System

Cartesian Unit
Vectors

Unit Vector:
Specified the direction of A

Positive Cartesian
Unit Vectors

Az
A

Ay

Will be
used
throughou
t this book

Ax
A

A expressed in terms of magnitude and

direction separately

Positive scalar
Defines magnitude of A

Internal

Represent the unit vector that having the

same direction as A where A is a a vector with
a magnitude A 0
Dimensionless unit vector

Dimensionless vector
Defines direction and sense of A

Vector i,j,k is used

to designate the
direction of x, y, z
axes
Sense/ arrowhead
will be described
analytically by +/signe

Cartesian Vector (cont.)

Direction of
Cartesian Vector

Magnitude of
Cartesian
zVector

Cartesian
Vector
z
Representatio
A kn

Az k

Az k

Ay j

Ay j

Ax i

Advantages:
Simplification of vector
algebra
Separation between
magnitude and direction of
each component vector

Ax i

Ay

Ax

A
Ax i

Internal

Az

A is positive square root of the

sum of squares of its

Ay j

Addition and Subtraction of Cartesian Vectors

Addition of Cartesian Vectors

R=A+B=

Subtraction of Cartesian Vectors

R=A-B=

Concurrent Force System

B

i
x

Internal

Algebraic sums of the respective x,y,z or i,j,k

y

GROUP PROBLEM SOLVING

Given: The screw eye is

subjected to two
forces, F1 and F2.
Find:

The magnitude and

the coordinate
direction angles of the
resultant force.
1) Using the geometry and trigonometry, resolve,
Plan:
and write F1 and F2 in the Cartesian vector form.
2) Add F1 and F2 to get FR.
3) Determine the magnitude and angles , , .
Internal

Internal

Dot Product

Particular method for multiplying two vectors

Used to find the angle between two lines or components in THREE DIMENSI
Always refer as scalar product of a vector

0180

Internal

Laws of Operation

Cartesian Vector Formulation

1. Commutative Law :
A.B = B.A
2. Multiplication by Scalar :
a(A.B) = (aA).B = A.(aB) = (A.B)a
3. Distributive Law :
A. (B+D) = (A.B) + (A.D)

Dot product for each of Cartesian vector

e.g. i.i = (1)(1)cos 0 = 1, i.j = (1)(1)cos 90 = 0
i.i = 1 j.j = 1 k.k=1
i.j = 0 i.k = 0 k.j = 0
Dot product of 2 general vectors A and B:
A.B = (Axi + Ayj + Azk) . (Bxi + Byj + Bzk)
= AxBx + AyBy + AzBz

Applications of Dot Product (1)

Angle form between two vectors or
intersecting lines

0180

A.B = AxBx + AyBy + AzBz

If A.B = 0
Internal

A perpendicular to B

Applications of Dot Product (2)

The components of vector parallel and perpendicular to a line

A parallel to or collinear with the line aa

A perpendicular to aa

Projection of A onto the line

Vector representation of

Directions of the line:

Scalar projection of A along a line is determined
from the dot product of A and the unit vector u
Internal

1. Determine from the dot product,

2.
is known by the Pythagorean Theorem

EXAMPLE

Given: The force acting on

the hook at point A.
Find:

The angle between

the force vector and
the line AO, and the
magnitude of the
projection of the force
along the line AO.

Plan:
1. Find rAO
2. Find the angle = cos-1{(F rAO)/(F rAO)}
Internal

Internal

3. Find the projection via FAO = F uAO (or F cos

)

EXAMPLE (continued)

rAO = {(0-1) i +(0-(-2)) j +(0-2)

k} m
rAO = {1 i + 2 j 2 k} m
(1,2,2)

rAO = {(-1)2 + 22 + (-2)2}1/2 = 3 m

F = { 6 i + 9 j + 3 k} kN
F = {(-6)2 + 92 + 32}1/2 = 11.22
= ( 6)(1) +
kN(9)(2) + (3)(2) = 18 kN

F rAO
m
= cos-1{(F rAO)/(F rAO)}

= cos-1 {18 / (11.22 3)} = 57.67

Internal

Internal

EXAMPLE (continued)

uAO = rAO/rAO = (1/3) i + (2/3) j + (2/3) k

FAO = F uAO = ( 6)(1/3) + (9)(2/3) + (3)(2/3) =
6.00 kN
Or: FAO = F cos = 11.22 cos (57.67) = 6.00 kN

Internal

Internal