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Position Vectors

Description: Includes Math Remediation. In this tutorial, students will find the position vectors for two points that

have a common origin, find the position vector between the two points, and determine the force acting along a given

direction.

Learning Goal:

To find a position vector between two arbitrary points.

As shown, two cables connect three points. C is below A by a distance C z = 1.90 ftand connected to A by a cable

9.36 ftlong. Cable A C forms an angle = 27.0 with the positive y axis. B is 8.50 ftabove C and the distances B x

and B y are 7.70 ftand 4.70 ft, respectively.

Using the dimensions in the figure, find the position vector from A to B in component form.

Express your answers, separated by commas, to three significant figures.

Hints (3)

Position vectors give information about the distance between two points and the direction of their relative

positions. From previous tutorials, we know that Cartesian coordinates give both magnitude and direction of

vectors; therefore, position vectors can be expressed as Cartesian vectors with three-dimensional

components. To best illustrate the procedure for finding position vectors, picture two points lying along a

number line; the position vector between these two points is their difference. The position vectors direction

is such that it points from the starting point toward the ending point. The position vectors sign is then given

by the direction in which it points; thus if the value increases from the start to the end the sign is positive. If

the value decreases from the start to the end the sign is negative.

So if two points lying in the xy plane have coordinates (x1,y1)and (x2 ,y2), the position vector from 1 to

2 is {x2 x1,y2 y1}. Naturally, the position vector from 2 to 1 is the negative of the position vector

from 1 to 2. Care should be taken to determine the correct sign for each component.

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What is the z component of the position vector from A to B ?

Express your answer to three significant figures.

ANSWER:

rA B z =

= 6.60 ft

Which of the following equations expresses the position vector, rA B , from A to B correctly in terms of the

distances indicated in the picture?

Hints (1)

The diagram below shows a sketch of arbitrary vectors A and B and the vector connecting the

end of A to end of B , r.

Using vector addition, we can write B = A + r. Algebraically solve for r and evaluate using

Cartesian components.

ANSWER:

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rA B = ( B x A x)i+ (B y A y)j+ (l C z A z)k

rA B = (A x B x)2 i+ (A y B y)2 j+ (A z l+ C z)2 k

rA B = ( B x A x)2 i+ (B y A y)2 j+ (l A z)2 k

ANSWER:

,

rA B =

For the position vector found in Part A, find the unit direction vector acting in the same direction. Express your answer

in component form.

Express your answers, separated by commas, to three significant figures.

Hints (2)

A unit direction vector is a unit vector with the same direction and sign as the position vector. Like all unit

vectors, its magnitude is one. The unit direction vector is found by dividing the position vector components

by the magnitude of the position vector:

ur = rr.

The magnitude of a vector with known components is found through the application of the Pythagorean

theorem. Find the magnitude of the position vector from A to B .

Express your answer to three significant figures.

Hints (1)

The formula for the magnitude of a vector is

v=

ANSWER:

rA B =

= 11.2 ft

ANSWER:

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uA B =

The length of cable A C is 9.36 ft, and the cable forms the angle = 27.0 with the y axis. Given this information

and the dimensions provided in the figure, find the position vector from A to C . Express the position vector in

component form.

Express your answers, separated by commas, to three significant figures.

Hints (2)

The x component of the position vector is not explicitly given. It must be calculated from the length of cable

A C and other information given.

From this diagram, you can see that the side of the triangle from point C to the y axis forms a right angle

with the y axis. Using right-triangle trigonometry and the Pythagorean theorem the x and y components can

be determined.

Using the known values for the length of the cable, 9.36 ft, the angle cable A C makes with the positive y

axis, 27.0 , and the z component, determine the x component.

Express your answer to three significant figures and include the appropriate units.

ANSWER:

= 3.80

rA C x =

ANSWER:

rA C =

1/27/2015 1:21 PM

MasteringEngineering: Lecture 3

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Find the position vector from B to C . Express your answer in component form.

Express your answers, separated by commas, to three significant figures.

Hints (2)

The position between two arbitrary points can be found using several methods.

1. If the two points are already defined (position vectors are known) with respect to a common

third point, then the position vector between the two arbitrary points can be found from the

known position vectors using vector addition. Recall that vectors add tip-to-tail. To add vectors

tip-to-tip or tail-to-tail requires a sign change.

2. A second, simpler method is to write the Cartesian coordinates of the points with point A at

the origin. The position vector is the difference between points C and B .

3. Lastly, a third method is to determine the displacement for each coordinate direction between

the two points, then determine the correct sign of the component vector. For example, if the

first point is (5,7, 1)and the second point is (7,4,2), then the displacement in the x

direction is positive 2, etc.

For the first method, recognize that point A is the common point for which B and C are already defined.

The position vector between the B and C then can be written in terms of the previous position vectors

found in Part A and Part C: rB C = rA B rA C .

Using the vector components for position vectors rA B and rA C found in Parts A and B, determine the x

component of position vector rB C . Recall the equation rB C = rA C rA B ; this equation can be evaluated

by summing the Cartesian components for each direction.

Express your answer to three significant figures.

ANSWER:

= 11.5 ft

rB C x =

ANSWER:

rB C =

A cable is attached between B and C . The cable is attached in such a way that it has a tension of T B C along its

length. The tensile force will attempt to pull B toward C . The force exerted on B has a z component with a magnitude

of 10 lb . What is the magnitude of the tension in the cable, TB C ?

Express your answer to three significant figures and include the appropriate units.

Hints (2)

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The geometry of the cable will determine the components of force for a given magnitude. Notice that the

angle between the position vector and its components is the same for the force and its components. By

finding the angle between the position vector and one of its components, the tensile force can be found

using the known force component.

Hint 2. Find the cosine of the angle between the cable and the positive z axis

The angle, , is the same between the z components of both the position vector and the tensile force. The

first step in solving for the tension is to solve for the cosine of the angle. What is the cosine of the angle

between the z axis and the cable?

Express your answer to three significant figures.

Hints (1)

Recall that is defined between the cable and the positive z axis. However, because the z

component of the tension acts in the negative z direction, it has a negative value when calculating

.

ANSWER:

cos( )=

= -0.576

ANSWER:

TB C =

= 17.4

1/27/2015 1:21 PM

294.

z

each cable acting on the tower is shown, determine the

magnitude and coordinate direction angles a, b, g of the

resultant force. Take x = 20 m, y = 15 m.

D

600 N

400 N

800 N

SOLUTION

FDA = 400 a

20

15

24

i +

j kb N

34.66

34.66

34.66

FDB = 800 a

4

24

-6

i +

j kb N

25.06

25.06

25.06

FDC = 600a

24 m

16 m

18

24

16

i j kb N

34

34

34

18 m

Ans.

a = cos-1 a

321.66

b = 77.6

1501.66

Ans.

b = cos-1 a

-16.82

b = 90.6

1501.66

Ans.

g = cos-1 a

-1466.71

b = 168

1501.66

Ans.

4m

6m

x

y

A

= 1501.66 N = 1.50 kN

2111.

The window is held open by chain AB. Determine the

length of the chain, and express the 50-lb force acting at A

along the chain as a Cartesian vector and determine its

coordinate direction angles.

5 ft

F = 50 lb

SOLUTION

12 ft

A

5 ft

40

y

5 ft

Then

8 ft

x

= 5-3.830i - 3.00j + 8.786k6 ft

rAB = 21-3.83022 + 1-3.0022 + 8.7862 = 10.043 ft = 10.0 ft

uAB =

Ans.

rAB

=

rAB

10.043

= - 0.3814i - 0.2987j + 0.8748k

Force Vector:

F = FuAB = 505 -0.3814i - 0.2987j + 0.8748k6 lb

= 5-19.1i - 14.9j + 43.7k6 lb

Ans.

Coordinate Direction Angles: From the unit vector uAB obtained above, we have

cos a = - 0.3814

a = 112

Ans.

cos b = - 0.2987

b = 107

Ans.

cos g = 0.8748

g = 29.0

Ans.

2119.

Determine the angle u between the y axis of the pole and

the wire AB.

3 ft

C

2 ft

SOLUTION

Position Vector:

2 ft

x

rAC = 5 -3j6 ft

2 ft

= 52i - 1j - 2k6 ft

The magnitudes of the position vectors are

rAC = 3.00 ft

The Angles Between Two Vectors U: The dot product of two vectors must be

determined first.

rAC # rAB = 1-3j2 # 12i - 1j - 2k2

= 0122 + 1-321-12 + 01-22

= 3

Then,

u = cos-1

rAO # rAB

rAOrAB

= cos-1

3

3.00 3.00

= 70.5

Ans.

2139.

Determine the magnitude of the projected component of

the force F = 300 N acting along line OA.

30

z

A

30

300 mm

O

300 mm

SOLUTION

300 mm

Force and Unit Vector: The force vector F and unit vector uOA must be determined

first. From Fig. a

F = (- 300 sin 30 sin 30i + 300 cos 30j + 300 sin 30 cos 30k)

= { - 75i + 259.81j + 129.90k} N

uOA =

rOA

=

= -0.75i + 0.5j + 0.4330k

rOA

2( - 0.45 - 0)2 + (0.3 - 0)2 + (0.2598 - 0)2

Vector Dot Product: The magnitude of the projected component of F along line OA is

FOA = F # uOA =

= 242 N

Ans.

300 N

MasteringEngineering: Lecture 4

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Description: In this tutorial, students will use the spring equation to solve for unknown forces in two dimensions and

find the new length of the springs and will also find an unknown spring constant from an applied force and the systems

geometry.

Learning Goal:

To use the equations of equilibrium to find unknown forces in two dimensions; understand the relationship between a

springs unloaded length, its displacement, and its loaded length; and use the spring equation to solve problems involving

multiple springs.

As shown, a frictionless pulley hangs from a system of springs and a cable. The pulley is equidistant between the two

supports attaching the springs to the ceiling. The distance between the supports is d = 1.50 m . The cable cannot stretch

and its length between the two springs is 1.8 m.

As shown, a mass is hung from the pulley. This mass causes a tensile force of 16.0 N in the cable and the pulley to

hang h = 130.0 cm from the ceiling. Assume that the pulley has no mass. What is the weight of the mass?

Express your answer to three significant

figures and include the appropriate units.

Hints (4)

A coplanar force system is a collection of forces that act entirely within a particular plane of interest.

Therefore, all the forces acting on a point of interest are two dimensional and act only within a

two-dimensional plane (xy, yz, xz). Coplanar force systems allow for a simplified analysis of equilibrium

1/27/2015 1:23 PM

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F = 0 simplifies to

F x i+

F y j= 0

F x = 0 and F y = 0 .

It is important to continue using a consistent sign convention for all forces, since the sign accounts for the

direction of action of the force. For unknown forces, a direction or sign can be assumed; if the answer

yields a negative value the force acts in the opposite direction from what was assumed.

Hint 2. Identify the equation for the angle of action of the tension

To use the equations of equilibrium for the component directions, the forces acting on a particle must be

written in component form. Before the components of the tensile force in the cable can be written, the angle

between the force and a coordinate axis needs to be determined from the geometry of the system.

In this problem, two separate angles can be used to solve the problem. The first, , is the angle between

the positive y axis and the cable. The second, , is the angle between the x axis and the cable.

Identify the correct trigonometric relationships defining the angles in terms of the dimensions d and h.

ANSWER:

d

= tan 1 ( 2h

),

= tan 1 ( 2h

)

d

= tan 1 ( 2d

),

h

h

= tan 1 ( 2d

)

= tan 1 ( 2h

),

d

d

= tan 1 ( 2h

)

= tan 1 ( dh ),

= tan 1 ( hd )

Draw the free body diagram of the pulley. Recall that the pulley has no mass.

Start all forces in the center of the pulley. Draw all forces as tensile forces, or pulling forces. All

angles are measured from the positive x axis and are positive in the counterclockwise direction.

ANSWER:

1/27/2015 1:23 PM

MasteringEngineering: Lecture 4

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Find the magnitude of the y component of the tensile force in one side of the cable.

Express your answer to three significant figures and include the appropriate units.

ANSWER:

= 13.9

Ty =

Also accepted:

= 13.9

ANSWER:

W =

Also accepted:

= 27.7

= 27.7

As shown, an object with mass m = 5.1 kgis hung from a pulley and spring system. When the object is hung, the

tension in the cable is 36.9 N and the pulley is h = 147.2 cm below the ceiling.

Because the tensile force is greater than the objects weight, the pulley cannot be massless as assumed. Find the

mass of the pulley.

Express your answer to three significant

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MasteringEngineering: Lecture 4

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For this problem, use g = 9.81 m /s2 .

Hints (3)

Coplanar force systems have forces that act entirely within a plane. In other words, all forces are two

dimensional. The equation of equilibrium for a coplanar system is:

F x i+

F y j= 0,

F x = 0 and F y = 0.

1/27/2015 1:23 PM

MasteringEngineering: Lecture 4

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Draw the free-body diagram of the pulley. Recall that the pulley has a mass.

Start all forces in the center of the pulley. Draw all forces as tensile forces, or pulling forces. All

angles are measured from the positive x axis and are positive in the counterclockwise direction.

ANSWER:

Determine the equation of equilibrium needed to solve for the object of the pulley. For this equation let T be

the tension in the cable, m be the mass of the hanging weight, and m p be the mass of the pulley. Let be

the angle between the cable and the positive y axis and be the angle between the cable and the ceiling or

horizontal.

ANSWER:

2T sin( ) 9.81m 9.81m p

2T sin( )+ 9.81m + 9.81m p

2T cos( )+ 9.81m + 9.81m p

ANSWER:

mass of pulley =

= 1.60

1/27/2015 1:23 PM

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As shown, Spring 3, which has an unknown spring constant k3, replaces Spring 2. The mass of the weight and pulley

are unchanged: m = 5.1 kgand m p = 1.6 kg. However, because of the different spring constant the distance the

pulley hangs below the ceiling is now, h = 115.0 cm . The unloaded length of Spring 3 is 3 = 34.5 cm ; after

hanging the mass and pulley, the springs length is 3 = 42.5 cm . Determine the spring constant of Spring 3, k3.

Express your answer to three significant

figures and include the appropriate units.

Hints (3)

For linear elastic springs, the equation defining the force developed as they stretch is

F s = ks,

where k is the spring constant, which has units of force over length, and s is the deformation or change in

length of the spring.

Given h = 115.0 cm , the mass of the pulley, m p = 1.6 kg, and the mass of the hanging object,

m = 5.1 kg, find the magnitude of the tension in the cable.

Express your answer to three significant figures and include the appropriate units. For this

problem, use g = 9.81 m /s2 .

ANSWER:

T=

= 39.2

The spring force equation for a linear elastic spring is F s = ks . In this equation k is the spring constant

and s is the displacement of the spring. To solve for the unknown spring constant of Spring 3, you must

know the force, F s, and the displacement of the spring. Given the unloaded and loaded lengths of Spring 3

find the displacement s3 in meters.

Express your answer to three significant figures.

1/27/2015 1:23 PM

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Hints (1)

To use the spring force equation the force in or applied to the spring, F s, must be known. To find

it, draw the free-body diagram of the spring and cable (on the side of the pulley containing Spring

3). From the free-body diagram, notice that the tension in the cable is transferred entirely to the

spring.

ANSWER:

s3 =

= 8.00102 m

ANSWER:

k3 =

= 490

1/27/2015 1:23 PM

33.

The lift sling is used to hoist a container having a mass of

500 kg. Determine the force in each of the cables AB and

AC as a function of u. If the maximum tension allowed in

each cable is 5 kN, determine the shortest lengths of cables

AB and AC that can be used for the lift. The center of

gravity of the container is located at G.

F

A

SOLUTION

Free-Body Diagram: By observation, the force F1 has to support the entire weight

of the container. Thus, F1 = 50019.812 = 4905 N.

1.5 m

1.5 m

Equations of Equilibrium:

+ F = 0;

:

x

+ c Fy = 0;

4905 - 2F sin u = 0

FAC = FAB = F

F = 52452.5 cos u6 N

Thus,

FAC = FAB = F = 52.45 cos u6 kN

Ans.

2452.5 cos u = 5000

u = 29.37

From the geometry, l =

1.5

and u = 29.37. Therefore

cos u

l =

1.5

= 1.72 m

cos 29.37

Ans.

315.

length of 200 mm. Determine the force in cables BC and BD

when the spring is held in the position shown.

400 mm

A

800 N/m

SOLUTION

300 mm

The Force in The Spring: The spring stretches s = l - l0 = 0.5 - 0.2 = 0.3 m.

Applying Eq. 32, we have

500 mm

Equations of Equilibrium:

+ F = 0;

:

x

4

FBC cos 45 + FBD a b - 240 = 0

5

0.7071FBC + 0.8FBD = 240

+ c Fy = 0;

(1)

3

FBC sin 45 - FBD a b = 0

5

FBC = 0.8485FBD

(2)

FBD = 171 N

FBC = 145 N

Ans.

400 mm

330.

A 4-kg sphere rests on the smooth parabolic surface.

Determine the normal force it exerts on the surface and the

mass mB of block B needed to hold it in the equilibrium

position shown.

60

SOLUTION

A

Geometry: The angle u which the surface makes with the horizontal is to be

determined first.

2.5x2

0.4 m

tan u `

x = 0.4 m

dy

= 5.0x `

= 2.00

`

dx x = 0.4 m

x = 0.4 m

x

0.4 m

u = 63.43

Free-Body Diagram: The tension in the cord is the same throughout the cord and is

equal to the weight of block B, WB = mB (9.81).

Equations of Equilibrium:

+ F = 0;

:

x

N = 5.4840mB

+ c Fy = 0;

(1)

8.4957mB + 0.4472N = 39.24

(2)

mB = 3.58 kg

N = 19.7 N

Ans.

331.

If the bucket weighs 50 lb, determine the tension developed

in each of the wires.

C

B

30

A

5

SOLUTION

Equations of Equilibrium: First, we will apply the equations of equilibrium along the

x and y axes to the free-body diagram of joint E shown in Fig. a.

+ F = 0;

:

x

3

FED cos 30 - FEB a b = 0

5

(1)

+ c Fy = 0;

4

FED sin 30 + FEB a b - 50 = 0

5

(2)

FED = 30.2 lb

Ans.

Using the result FEB = 43.61 lb and applying the equations of equilibrium to the

free-body diagram of joint B shown in Fig. b,

+ c Fy = 0;

4

FBC sin 30 - 43.61a b = 0

5

FBC = 69.78 lb = 69.8 lb

+ F = 0;

:

x

30

Ans.

3

69.78 cos 30 + 43.61a b - FBA = 0

5

FBA = 86.6 lb

Ans.

*356.

Determine the force in each cable needed to support the

3500-lb platform. Set d = 2 ft.

z

3500 lb

A

10 ft

SOLUTION

Cartesian Vector Notation:

FAB = FAB

FAC = FAC

FAD = FAD

4i - 3j - 10k

24 + ( -3)2 + (- 10)2

2

2i + 3j - 10k

222 + 32 + (- 10)

D

B

2

- 4i + 1j - 10k

2(- 4)2 + 12 + ( -10)2

Equations of Equilibrium:

FAB + FAC + FAD + F = 0

+ ( - 0.8944FAB - 0.9407FAC - 0.9245FAD + 3500)k = 0

Equating i, j, and k components, we have

0.3578FAB + 0.1881FAC - 0.3698FAD = 0

(1)

(2)

(3)

FAB = 1369.59 lb = 1.37 kip

FAD = 1703.62 lb = 1.70 kip

4 ft

3 ft

F = {3500k} lb

F = 0;

2 ft

Ans.

Ans.

C

3 ft

4 ft

361.

If cable AD is tightened by a turnbuckle and develops a

tension of 1300 lb, determine the tension developed in

cables AB and AC and the force developed along the

antenna tower AE at point A.

A

30 ft

10 ft

10 ft

B

E

D

15 ft

12.5 ft

x

SOLUTION

Force Vectors: We can express each of the forces on the free-body diagram shown in

Fig. a in Cartesian vector form as

FAB = FAB C

FAC = FAC C

FAD = FAD C

2(10 - 0) + (-15 - 0) + (-30 - 0)

2

S =

2(-15 - 0)2 + (-10 - 0)2 + (-30 - 0)2

(0 - 0)i + (12.5 - 0)j + ( -30 - 0)k

2(0 - 0)2 + (12.5 - 0)2 + (-30 - 0)2

2

3

6

FAB i - FAB j - FAB k

7

7

7

3

2

6

S = - FAC i - FAC j - FAC k

7

7

7

S = {500j - 1200k} lb

FAE = FAE k

Equations of Equilibrium: Equilibrium requires

gF = 0;

2

7

FAB i 2

7

FAB -

3

6

3

2

6

FAB j - FAB k + - FAC i - FAC j - FAC k + (500j - 1200k) + FAE k = 0

7

7

7

7

7

3

3

2

6

6

F i + - FAB - FAC + 500 j + - FAB - FAC + FAE - 1200 k = 0

7 AC

7

7

7

7

3

2

F - FAC = 0

7 AB

7

2

3

- FAB - FAC + 500 = 0

7

7

6

6

- FAB - FAC + FAE - 1200 = 0

7

7

(1)

(2)

(3)

FAB = 808 lb

FAC = 538 lb

FAE = 2354 lb = 2.35 kip

Ans.

Ans.

Ans.

15 ft

y

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