Statics Chap 02 BedFord PDF

Problem 2.
1 The magnitudes jFA j D 60 N and jFB j D FC

FB
80 N. The angle D 45 . Graphically determine the
magnitude of the vector FA C FB and the angle between
a
the vectors FB and FA C FB .
FA
Strategy: Construct the parallelogram for determining
the sum of the forces, drawing the lengths of FA
and FB proportional to their magnitudes and accurately
measuring the angle , as we did in Example 2.1. Then
you can measure the magnitude of FA C FB and the angle
between FB and FA C FB .
Solution: Draw the vectors to scale and measure the magnitude FA

and angle of the resultant
Measuring we find
FB |
jFA C FB j D 130 N + FB
|F A
80 N
D 19
45
60 N
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1
Problem 2.2 The magnitudes jFA j D 40 N, jFB j D
50 N, and jFA C FB j D 80 N. Assume that 0 < < 90 .
Graphically determine the angle .
Solution: Draw the vectors to scale and measure the angle using
a protractor.
D 55
N
80
|=
+F
B
|F A
0N
=5
B
F

FA = 40 N
1
50 N, and jFA C FB j D 80 N. Assume that 0 < < 90 .
Use trigonometry to determine the angle .
Solution: Use the figure from Problem 2.2. The law of cosines:
802 D 502 C 402 25040 cos180 ) D 54.9
1
50 N, and jFC j D 40 N. The angles D 50 and D
80 . Graphically determine the magnitude of FA C FB C
FC .
Solution: Drawing everything to scale we can measure the magni-

tude as
R D jFA C FB C FC j D 83 N
FC
130
=
40
c|
+F
B
+F
A
|F
R=
50
=B
F
50
FA = 40
1
50 N, and jFC j D 40 N. The angles D 50 and D
80 . Use trigonometry to determine the magnitude of
FA C FB C FC .
Solution: We have

RD 40 C 50 cos 50 C 40 cos 130 2 C 50 sin 50 C 40 sin 130 2 N
D 83.1 N
1
Problem 2.6 If the magnitude of the vector rAC is
195 mm, what is the angle ? 60 mm 150 mm
B rBC
rAB
C
A rAC
Solution: From the law of cosines rB

C = 15
m 0 mm
0m
1502 D 602 C 1952 260195 cos ) D 35.2 =6
r AB

rAC = 195 mm
1
Problem 2.7 The vectors FA and FB represent the Solution:
forces exerted on the pulley by the belt. Their magni-
tudes are jFA j D 80 N and jFB j D 60 N. What is the FB
magnitude jFA C FB j of the total force the belt exerts
on the pulley? FB
+F
45 B
FB FA 5
FA 14 45
35
45 35
10 F
10 A
Law of cosines
FA
jFA C FB j2 D 802 C 602 28060 cos 145
10
jFA C FB j D 133.66 134 N
Law of sines
jFB j jFA C FB j 60 133.66

D ) D D 14.92
sin sin 145 sin sin 145
jFA C FB j D 134 N
1
Problem 2.8 The sum of the forces FA C FB C FC D FB
0. The magnitude jFA j D 100 N and the angle D 60 .
Determine jFB j and jFC j.
30
FA
a
FC
Solution: Using the Law of sines twice we find FB
100 N FB FC 30
D D ) FB D 86.6 N, FC D 50 N FA = 100 N
sin 90 sin 60 sin 30
= 60
FC

FC 90 FB
60 30
100 N
1
Problem 2.9 In Problem 2.8, the sum of the forces
FA C FB C FC D 0. If the magnitudes jFA j D 100 N and
jFB j D 80 N, what are jFC j and the angle ?
Solution: Using the Law of Cosines F

B =8
0N
F2C D 100 N2 C 80 N2 2100 N80 N cos 30 ) FC
30 FA = 100 N
D 50.4 N

Using the Law of Sines
FC
FC 80 N
D ) D 52.5
sin 30 sin
80
FC N
30
100 N
1
Problem 2.10 The forces acting on the sailplane are
represented by three vectors. The lift L and drag D are L
perpendicular, the magnitude of the weight W is 3500 N,
25
and W C L C D D 0. What are the magnitudes of the lift
and drag? D
Solution: Draw the force triangle and then use the geometry plus
jLj
cos 25 D L
jWj
25
jDj W
sin 25 D
jWj 65
25
jWj D 3500 N
D
jLj D 3500 cos 25
jDj D 3500 sin 25
jLj D 3170 N
jDj D 1480 N
1
Problem 2.11 A spherical storage tank is supported by Solution: The vector construction is shown.
cables. The tank is subjected to three forces: the forces
(a) The graphical solution is obtained from the construction by the
FA and FB exerted by the cables and the weight W.
recognition that since the opposite interior angles of the triangle are
The weight of the tank is jWj D 600 lb. The vector sum equal, the sides (magnitudes of the forces exerted by the cables) are
of the forces acting on the tank equals zero. Determine equal. A measurement determines the magnitudes. (b) The trigono-
the magnitudes of FA and FB (a) graphically and (b) by metric solution is obtained from the law of sines:
using trigonometry.
jWj jFA j jFB j
D D
Solving:
FA FB
sin 20
20 20 jFA j D jFB j D jWj D 319.25 . . . D 319.3 lb
40 sin 140
FB
20 20
W W 140
20
20
FA
1
Problem 2.12 The rope ABC exerts forces FBA and FBC
FBC on the block at B. Their magnitudes are equal: C
20
jFBA j D jFBC j. The magnitude of the total force exerted
on the block at B by the rope is jFBA C FBC j D B
920 N. Determine jFBA j (a) graphically and (b) by using B
trigonometry.
FBA
Solution: Law of Sines FBC

70
FBA 920 N
D ) FBA D FBC D 802 N 55
sin 55 sin 70
55
FBA 55
55
|FBA + FBC| = 920 N
70
1
Problem 2.13 Two snowcats tow a housing unit to a L
new location at McMurdo Base, Antarctica. (The top
view is shown. The cables are horizontal.) The sum of FB
the forces FA and FB exerted on the unit is parallel to the 50 30
FA
line L, and jFA j D 1000 lb. Determine jFB j and jFA C
FB j (a) graphically and (b) by using trigonometry.
TOP VIEW
Solution: The graphical construction is shown. The sum of the

interior angles must be 180 . (a) The magnitudes of jFB j and jFA C FB j
FB FA + FB
are determined from measurements. (b) The trigonometric solution is
obtained from the law of sines: 38
38
jFA C FB j jFA j jFB j
D D FB
156
38
sin 50
from which jFB j D jFA j D 10001.532 D 1532 lb 50 50
sin 30
FA

sin 100
jFA C FB j D jFA j D 10001.9696 D 1970 lb
sin 30
1
Problem 2.14 A surveyor determines that the horizon- North
tal distance from A to B is 400 m and that the horizontal
B
distance from A to C is 600 m. Determine the magnitude
of the horizontal vector rBC from B to C and the angle
(a) graphically and (b) by using trigonometry. rBC
60
20
East
A
Solution: (a) The graphical solution is obtained by drawing the

figure to scale and measuring the unknowns. (b) The trigonometric
B F
solution is obtained by breaking the figure into three separate right
triangles. The magnitude jrBC j is obtained by the cosine law:
jrBC j2 D 4002 C 6002 2400600 cos 40 C
or jrBC j D 390.25 D 390.3 m

60
20
The three right triangles are shown. The distance BD is BD D
400 sin 60 D 346.41 m. The distance CE is CE D 600 sin 20 D
A D E
205.2 m. The distance FC is FC D 346.4 205.2 D 141.2 m.
141.2
The angle is sin D D 0.36177 . . ., or D 21.2
390.3
1
Problem 2.15 The vector r extends from point A to C
the midpoint between points B and C. Prove that
r D 12 rAB C rAC . rAC
rAB
B
A
Solution: The proof is straightforward: C
r D rAB C rBM , and r D rAC C rCM .

rAC
r
Add the two equations and note that rBM C rCM D 0, since the two M
vectors are equal and opposite in direction.
1
Thus 2r D rAC C rAB , or r D rAC C rAB A B
2
rAB
1
Problem 2.16 By drawing sketches of the vectors,
explain why
U C V C W D U C V C W.
Solution: Additive associativity for vectors is usually given as an V

axiom in the theory of vector algebra, and of course axioms are not U
subject to proof. However we can by sketches show that associativity V+W
(a)
for vector addition is intuitively reasonable: Given the three vectors to
be added, (a) shows the addition first of V C W, and then the addition W
of U. The result is the vector U C V C W. U+[V+W]
V
(b) shows the addition of U C V, and then the addition of W, leading U
U+V
to the result U C V C W. (b)
The final vector in the two sketches is the same vector, illustrating that W
associativity of vector addition is intuitively reasonable. [U+V]+W
1
p
Problem 2.17 A force F D 40 i 20 j N. What is Solution: jFj D 402 C 202 D 44.7 N
its magnitude jFj?
Strategy: The magnitude of a vector in terms of its

components is given by Eq. (2.8).
1
Problem 2.18 An engineer estimating the components Solution:
of a force F D Fx i C Fy j acting on a bridge abutment
has determined that Fx D 130 MN, jFj D 165 MN, and jFj D jFx j2 C jFy j2
Fy is negative. What is Fy ?

Thus jFy j D jFj2 jFx j2 mN
p
jFy j D 1652 1302 mN
jFy j D 101.6 mN
Fy D 102 mN
1
Problem 2.19 A support is subjected to a force F D Solution: Use the definition of magnitude in Eq. (2.8) and reduce
Fx i C 80j (N). If the support will safely support a force algebraically.
of 100 N, what is the allowable range of values of the
component Fx ? 100 Fx 2 C 802 , from which 1002 802 Fx 2 .
p
Thus jFx j 3600, or 60 Fx C60 (N)
1
Problem 2.20 If FA D 600i 800j (kip) and FB D Solution: Take the scalar multiple of FB , add the components of
200i 200j (kip), what is the magnitude of the force the two forces as in Eq. (2.9), and use the definition of the magnitude.
F D FA 2FB ? F D 600 2200i C 800 2200j D 200i 400j

jFj D 2002 C 4002 D 447.2 kip
1
Problem 2.21 If FA D i 4.5j (kN) and FB D 2i Solution: Take the scalar multiples and add the components.
2j (kN), what is the magnitude of the force F D 6FA C
4FB ? F D 6 C 42i C 64.5 C 42j D 2i 35j, and

jFj D 22 C 352 D 35.1 kN
1
Problem 2.22 Two perpendicular vectors U and V lie
in the x-y plane. The vector U D 6i 8j and jVj D 20.
What are the components of V? (Notice that this problem
has two answers.)
Solution: The two possible values of V are shown in the sketch.

y
The strategy is to (a) determine the unit vector associated with U,
(b) express this vector in terms of an angle, (c) add 90 to this V2
angle, (d) determine the two unit vectors perpendicular to U, and
(e) calculate the components of the two possible values of V. The
6 x
unit vector parallel to U is
6i 8j
eU D D 0.6i 0.8j V1
8
62 C 82 62 C 82 U
Expressed in terms of an angle,
eU D i cos j sin D i cos53.1 j sin53.1
Add 90 to find the two unit vectors that are perpendicular to this
unit vector:
ep1 D i cos143.1 j sin143.1 D 0.8i 0.6j
ep2 D i cos36.9 j sin36.9 D 0.8i C 0.6j
Take the scalar multiple of these unit vectors to find the two vectors
perpendicular to U.
V1 D jVj0.8i 0.6j D 16i 12j.
The components are Vx D 16, Vy D 12
V2 D jVj0.8i C 0.6j D 16i C 12j.
The components are Vx D 16, Vy D 12
1
Problem 2.23 A fish exerts a 40-N force on the line Solution:
that is represented by the vector F. Express F in terms
of components using the coordinate system shown. Fx D jFj cos 60 D 400.5 D 20 N
y Fy D jFj sin 60 D 400.866 D 34.6 N
F D 20i 34.6j N

60
1
Problem 2.24 A person exerts a 60-lb force F to push Solution: The strategy is to express the force F in terms of the
a crate onto a truck. Express F in terms of components. angle. Thus
F D ijFj cos20 C jjFj sin20

y
F D 600.9397i C 0.342j or F D 56.4i C 20.5j (lb)
F 20
1
Problem 2.25 The missiles engine exerts a 260-kN
force F. Express F in terms of components using the y
F
coordinate system shown.
40
Solution: y
Fx D jFj cos 40
F
Fx D 199 N
40
Fy D jFj sin 40
Fy D 167 N
F D 199i C 167j N x
1
Problem 2.26 For the truss shown, express the posi- Solution: Coordinates A(1.8, 0.7) m, D(0, 0.4) m
tion vector rAD from point A to point D in terms of
components. Use your result to determine the distance rAD D 0 1.8 mi C 0.4 m 0.7 mj D 1.8i 0.3j m
from point A to point D.
rAD D 1.8 m2 C 0.3 m2 D 1.825 m
y B
0.6 m A
D
0.7 m
0.4 m
C x
0.6 m 1.2 m
1
Problem 2.27 The points A, B, . . . are the joints of Solution: Use the xy coordinate system shown and find the loca-
the hexagonal structural element. Let rAB be the position tions of C and F in those coordinates. The coordinates of the points
vector from joint A to joint B, rAC the position vector in this system are the scalar components of the vectors rAC and rAF .
from joint A to joint C, and so forth. Determine the For rAC , we have
components of the vectors rAC and rAF .
rAC D rAB C rBC D xB xA i C yB yA j
y
C xC xB i C yC yB j
E D
2m
or rAC D 2m 0i C 0 0j C 2m cos 60 0i
C 2m cos 60 0j,

F C giving
rAC D 2m C 2m cos 60 i C 2m sin 60 j. For rAF , we have

x
A B rAF D xF xA i C yF yA j
D 2m cos 60 xF 0i C 2m sin 60 0j.
1
Problem 2.28 For the hexagonal structural element in Solution: rAB rBC .
Problem 2.27, determine the components of the vector
rAB rBC . The angle between BC and the x-axis is 60 .
rBC D 2 cos60 i C 2sin60 j m
rBC D 1i C 1.73j m
rAB rBC D 2i 1i 1.73j m
rAB rBC D 1i 1.73j m
1
Problem 2.29 The coordinates of point A are (1.8, y
3.0) m. The y coordinate of point B is 0.6 m and the
magnitude of the vector rAB is 3.0 m. What are the com-
A
ponents of rAB ?
rAB
Solution: Let the x-component of point B be xB . The vector from

A to B can be written as
rAB D xB xA i C yB yA j m
or rAB D xB 1.8i C 0.6 3.0j m
rAB D xB 1.8i 2.4j m
We also know jrAB j D 3.0 m. Thus
32 D xB 1.802 C 2.42
Solving, xB D 3.60. Thus
rAB D 1.80i 2.40j m
1
Problem 2.30 (a) Express the position vector from y
point A of the front-end loader to point B in terms of 98 in.
components. 45 in.
(b) Express the position vector from point B to point C C

in terms of components. A B
55 in. 50 in.
(c) Use the results of (a) and (b) to determine the distance 35 in.
from point A to point C. x
50 in.
Solution: The coordinates are A(50, 35); B(98, 50); C(45, 55).
(a) The vector from point A to B:
rAB D 98 50i C 50 35j D 48i C 15j (in)
(b) The vector from point B to C is
rBC D 45 98i C 55 50j D 53i C 5j (in).
(c) The distance from A to C is the magnitude of the sum of the

vectors,
rAC D rAB C rBC D 48 53i C 15 C 5j D 5i C 20j.
The distance from A to C is

jrAC j D 52 C 202 D 20.62 in
1
Problem 2.31 Five identical cylinders with radius R D y
0.2 m are stacked as shown. Determine the components
of the position vectors (a) from point A to point B and
(b) from point B to point E.
B D
A C E
Solution: The coordinates are (R D 0.2 m) y
A0.2, 0.2 m B D
B0.4, 0.2 C 0.4 sin 60 m
E1.0, 0.2 m
Thus
A C E
rAB D 0.4 m 0.2 mi C 0.2 m C 0.4 m sin 60 0.2 mj
(a)
D 0.2i C 0.346j m
x
rBE D 1.0 m 0.4 mi C 0.2 m 0.2 m 0.4 m sin 60 j

(b)
D 0.6i 0.346j m
1
Problem 2.32 Determine the position vector rAB in y
terms of its components if: (a) D 30 , (b) D 225 .
60 mm 150 mm
B rBC
rAB
C
x
A
Solution:
y
(a) rAB D 60 cos30 i C 60 sin30 j, or 150

60 mm
mm
rAB D 51.96i C 30j mm. And
B
FAB FBC
(b) rAB D 60 cos225 i C 60 sin225 j or
C F
A x
rAB D 42.4i 42.4j mm.
1
Problem 2.33 In Problem 2.32 determine the position
vector rBC in terms of its components if: (a) D 30 ,
(b) D 225 .
Solution:
(a) From Problem 2.32, rAB D 51.96i C 30j mm. Thus, the coordi-
nates of point B are (51.96, 30) mm. The vector rBC is given by
rBC D xC xB i C yC yB j, whereyC D 0. The magnitude of
the vector rBC is 150 mm. Using these facts, we find that yBC D
30 mm, and xBC D 146.97 mm.
(b) rAB D 60 cos225 i C 60 sin225 j or
rAB D 42.4i 42.4j mm.
From Problem 2.32, rAB D 42.4i 42.4j mm. Thus, the

coordinates of point B are (42.4, 42.4) mm. The vector rBC
is given by rBC D xC xB i C yC yB j, where yC D 0. The
magnitude of the vector rBC is 150 mm. Using these facts, we
find that yBC D 42.4 mm, and xBC D 143.9 mm.
1
Problem 2.34 A surveyor measures the location of y
point A and determines that rOA D 400i C 800j (m). He
wants to determine the location of a point B so that B N
jrAB j D 400 m and jrOA C rAB j D 1200 m. What are the A
cartesian coordinates of point B? rAB
rOA
Proposed
roadway
x
O
Solution: Two possibilities are: The point B lies west of point A,

B
or point B lies east of point A, as shown. The strategy is to determine A B
the unknown angles , , and . The magnitude of OA is y

jrOA j D 4002 C 8002 D 894.4.

The angle is determined by

800
tan D D 2, D 63.4 . x
400 0
The angle is determined from the cosine law:
894.42 C 12002 4002

cos D D 0.9689.
2894.41200
D 14.3 . The angle is D D 49.12 , 77.74 .
The two possible sets of coordinates of point B are

rOB D 1200i cos 77.7 C j sin 77.7 D 254.67i C 1172.66j (m)
rOB D 1200i cos 49.1 C j sin 49.1 D 785.33i C 907.34j (m)
The two possibilities lead to B(254.7 m, 1172.7 m) or B(785.3 m,

907.3 m)
1
Problem 2.35 The magnitude of the position vector Solution: The coordinates are: AxA , yA , B0, 0, C3 m, 0
rBA from point B to point A is 6 m and the magnitude of
the position vector rCA from point C to point A is 4 m. Thus
What are the components of rBA ?
rBA D xA 0i C yA 0j ) 6 m2 D xA 2 C yA 2
y
rCA D xA 3 mi C yA 0j ) 4 m2 D xA 3 m2 C yA 2
3m Solving these two equations, we find xA D 4.833 m, yA D 3.555 m.

x We choose the - sign and find
B C
rBA D 4.83i 3.56j m
1
Problem 2.36 In Problem 2.35, determine the compo-
nents of a unit vector eCA that points from point C toward
point A.
Strategy: Determine the components of rCA and then

divide the vector rCA by its magnitude.
Solution: From the previous problem we have

rCA D 1.83i 3.56j m, rCA D 1.832 C 3.562 m D 3.56 m
Thus
rCA
eCA D D 0.458i 0.889j
rCA
1
Problem 2.37 The x and y coordinates of points A, B, Solution:
and C of the sailboat are shown.
rAB D xB xA i C yB yA j
(a) Determine the components of a unit vector that
is parallel to the forestay AB and points from A rCB D xB xC i C yC yB j
toward B.
(b) Determine the components of a unit vector that Points are: A (0, 1.2), B (4, 13) and C (9, 1)
is parallel to the backstay BC and points from C
toward B. Substituting, we get
y rAB D 4i C 11.8j m, jrAB j D 12.46 m
B (4, 13) m
rCB D 5i C 12j m, jrCB j D 13 m
The unit vectors are given by
rAB rCB
eAB D and eCB D
jrAB j jrCB j
Substituting, we get
eAB D 0.321i C 0.947j
eCB D 0.385i C 0.923j
A C
(0, 1.2) m (9, 1) m
x
1
Problem 2.38 The length of the bar AB is 0.6 m. y
Determine the components of a unit vector eAB that
points from point A toward point B. B
0.4 m
A
0.3 m
x
Solution: We need to find the coordinates of point Bx, y B
We have the two equations
0.3 m C x2 C y 2 D 0.6 m2 m

0.6 y
m
0.4
2 2 2
x C y D 0.4 m
Solving we find
A 0.3 m O x
x D 0.183 m, y D 0.356 m
Thus
rAB 0.183 m [0.3 m]i C 0.356 mj

eAB D D
rAB 0.183 m C 0.3 m2 C 0.356 m2
D 0.806i C 0.593j
1
Problem 2.39 Determine the components of a unit y
vector that is parallel to the hydraulic actuator BC and 1m
points from B toward C. D
1m
0.6 m
A B
x
0.15 m 0.6 m Scoop
Solution: Point B is at (0.75, 0) and point C is at (0, 0.6). The

vector
rBC D xC xB i C yC yB j
rBC D 0 0.75i C 0.6 0j m
rBC D 0.75i C 0.6j m

jrBC j D 0.752 C 0.62 D 0.960 m
rBC 0.75 0.6

eBC D D iC j
jrBC j 0.96 0.96
eBC D 0.781i C 0.625j
1
Problem 2.40 The hydraulic actuator BC in Problem Solution: From the solution to Problem 2.39,
2.39 exerts a 1.2-kN force F on the joint at C that is
parallel to the actuator and points from B toward C. eBC D 0.781i C 0.625j
Determine the components of F.
The vector F is given by F D jFjeBC
F D 1.20.781i C 0.625j k N
F D 937i C 750j N
1
Problem 2.41 A surveyor finds that the length of the
line OA is 1500 m and the length of line OB is 2000 m. y N
(a) Determine the components of the position vector

from point A to point B.
(b) Determine the components of a unit vector that A Proposed bridge
points from point A toward point B.
B
60
30 River
x
O
Solution: We need to find the coordinates of points A and B
rOA D 1500 cos 60 i C 1500 sin 60 j
rOA D 750i C 1299j m
Point A is at (750, 1299) (m)
rOB D 2000 cos 30 i C 2000 sin 30 j m
rOB D 1732i C 1000j m
Point B is at (1732, 1000) (m)
(a) The vector from A to B is
rAB D xB xA i C yB yA j
rAB D 982i 299j m
(b) The unit vector eAB is
rAB 982i 299j

eAB D D
jrAB j 1026.6
eAB D 0.957i 0.291j
1
Problem 2.42 The positions at a given time of the Sun
(S) and the planets Mercury (M), Venus (V), and Earth
(E) are shown. The approximate distance from the Sun E
to Mercury is 57 106 km, the distance from the Sun to
Venus is 108 106 km, and the distance from the Sun
to the Earth is 150 106 km. Assume that the Sun and y
planets lie in the x y plane. Determine the compo-
nents of a unit vector that points from the Earth toward 20
Mercury.
S M
x
40
Solution: We need to find rE and rM in the coordinates shown
rE D jrE j sin 20 i C jrE jcos 20 j km
rM D jrM j cos 0 i km
rE D 51.3 106 i C 141 106 j km
rM D 57 106 i km
rEM D xM xE i C yM yE j km
rEM D 108.3 106 i 141 106 j km
jrEM j D 177.8 106 km
rEM
eEM D D C0.609i 0.793j
jrEM j
1
Problem 2.43 For the positions described in Problem
2.42, determine the components of a unit vector that
points from Earth toward Venus.
Solution: From the solution to Problem 2.42, rEV D xV xE i C yV yE j km
rE D 51.3 106 i C 141 106 j km rEV D 31.4 106 i 210.4 106 j km
The position of Venus is jrEV j D 212.7 106 km
rV D jrV j cos 40 i jrV j sin 40 j km rEV

eEV D
jrEV j
rV D 82.7 106 i 69.4 106 j km
eEV D 0.148i 0.989j
1
Problem 2.44 The rope ABC exerts forces FBA and FBC
FBC on the block at B. Their magnitudes are equal: C
20
jFBA j D jFBC j. The magnitude of the total force exerted
on the block at B by the rope is jFBA C FBC j D 920 N. B
Determine jFBA j by expressing the forces FBA and FBC B
in terms of components and compare your answer to the
answer of Problem 2.12.
FBA
Solution: FBC
FBC D Fcos 20 i C sin 20 j

20
FBA D Fj
FBC C FBA D Fcos 20 i C [sin 20 1]j
Therefore
920 N2 D F2 cos2 20 C [sin 20 1]2 ) F D 802 N
FBA
1
Problem 2.45 The magnitude of the horizontal force y
F3
F1 is 5 kN and F1 C F2 C F3 D 0. What are the magni-
tudes of F2 and F3 ? 30
F1
45
F2
Solution: Using components we have

Fx : 5 kN C F2 cos 45 F3 cos 30 D 0

Fy : F2 sin 45 C F3 sin 30 D 0
Solving simultaneously yields:
) F2 D 9.66 kN, F3 D 13.66 kN
1
Problem 2.46 Four groups engage in a tug-of-war. The
magnitudes of the forces exerted by groups B, C, and D
are jFB j D 800 lb, jFC j D 1000 lb, jFD j D 900 lb. If the
vector sum of the four forces equals zero, what are the
magnitude of FA and the angle ?
FB
FC
70
30
20
FD
FA
Solution: The strategy is to use the angles and magnitudes to

determine the force vector components, to solve for the unknown force
FA and then take its magnitude. The force vectors are
FB D 800i cos 110 C j sin 110 D 273.6i C 751.75j
FC D 1000i cos 30 C j sin 30 D 866i C 500j
FD D 900i cos20 C j sin20 D 845.72i 307.8j
FA D jFA ji cos180 C C j sin180 C
D jFA ji cos j sin
The sum vanishes:
FA C FB C FC C FD D i1438.1 jFA j cos
C j944 jFA j sin D 0
From which FA D 1438.1i C 944j. The magnitude is

jFA j D 14382 C 9442 D 1720 lb
944
The angle is: tan D D 0.6565, or D 33.3
1438
1
Problem 2.47 The two vernier engines of the launch y
vehicle exert thrusts (forces) that control the vehicles
attitude, or angular position. Each engine exerts a 5000-
lb thrust. At the present instant, the thrusts are in the
directions shown. (a) What is the x component of the
force exerted on the vehicle by the vernier engines?
(b) If the launch vehicles main engines exert a 200,000-
lb thrust parallel to the y axis, what is the y component
of the total force on the launch vehicle?
Solution:
x

(a) Fx : 5000 lb sin 30 5000 lb sin 15 D 1210 lb Vernier
engines

Fy : 5000 lb cos 30 C 5000 lb cos 15 C 200,000 lb
(b)
D 209,160 lb
30 15
1
Problem 2.48 The bracket must support the two forces
shown, where jF1 j D jF2 j D 2 kN. An engineer deter- F2
mines that the bracket will safely support a total force
of magnitude 3.5 kN in any direction. Assume that 0
90 . What is the safe range of the angle ? F1
Solution: F2
F1
Fx : 2 kN C 2 kN cos D 2 kN1 C cos

Fy : 2 kN sin F1 + F2
Thus the total force has a magnitude given by

p
F D 2 kN 1 C cos 2 C sin 2 D 2 kN 2 C 2 cos D 3.5 kN
Thus when we are at the limits we have

2
3.5 kN 49 17
2 C 2 cos D D ) cos D ) D 57.9
2 kN 16 32
In order to be safe we must have
57.9 90
1
Problem 2.49 The figure shows three forces acting on y
a joint of a structure. The magnitude of Fc is 60 kN, and
FC
FA C FB C FC D 0. What are the magnitudes of FA and
FB ? FB
15
x
40
FA
Solution: We need to write each force in terms of its components. FA

195
FA D jFA j cos 40i C jFA j sin 40j kN 40
x
FB D jFB j cos 195 i C jFB j sin 195j kN
FB
FC D jFC j cos 270 i C jFC j sin 270 j kN
Thus FC D 60j kN
270 FC
Since FA C FB C FC D 0, their components in each direction must also
sum to zero.

FAx C FBx C FCx D 0
FAy C FBy C FCy D 0
Thus,

jFA j cos 40 C jFB j cos 195 C 0 D 0
jFA j sin 40 C jFB j sin 195 60 kN D 0
Solving for jFA j and jFB j, we get
jFA j D 137 kN, jFB j D 109 kN
1
Problem 2.50 Four forces act on a beam. The vector FD
sum of the forces is zero. The magnitudes jFB j D 30
10 kN and jFC j D 5 kN. Determine the magnitudes of FA
FB FC
FA and FD .
Solution: Use the angles and magnitudes to determine the vectors,

and then solve for the unknowns. The vectors are:
FA D jFA ji cos 30 C j sin 30 D 0.866jFA ji C 0.5jFA jj
FB D 0i 10j, FC D 0i C 5j, FD D jFD ji C 0j.
Take the sum of each component in the x- and y-directions:

Fx D 0.866jFA j jFD ji D 0

and Fy D 0.5jFA j 10 5j D 0.
From the second equation we get jFA j D 10 kN . Using this value in

the first equation, we get jFD j D 8.7 kN
1
Problem 2.51 Six forces act on a beam that forms part
of a buildings frame. The vector sum of the forces
is zero. The magnitudes jFB j D jFE j D 20 kN, jFC j D
16 kN, and jFD j D 9 kN. Determine the magnitudes of
FA and FG .
FA FC FD FG
70 50
40 40
FB FE
Solution: Write each force in terms of its magnitude and direction y

as
F D jFj cos i C jFj sin j
where is measured counterclockwise from the Cx-axis.
Thus, (all forces in kN)

FA D jFA j cos 110 i C jFA j sin 110 j kN
x
FB D 20 cos 270 i C 20 sin 270 j kN
FC D 16 cos 140 i C 16 sin 140 j kN
FD D 9 cos 40 i C 9 sin 40 j kN
FE D 20 cos 270 i C 20 sin 270 j kN
FG D jFG j cos 50 i C jFG j sin 50 j kN
We know that the x components and y components of the forces must

add separately to zero.
Thus

FAx C FBx C FCx C FDx C FEx C FGx D 0
FAy C FBy C FCy C FDy C FEy C FGy D 0

jFA j cos 110 C 0 12.26 C 6.89 C 0 C jFG j cos 50 D 0
jFA j sin 110 20 C 10.28 C 5.79 20 C jFG j sin 50 D 0
Solving, we get
jFA j D 13.0 kN jFG j D 15.3 kN
1
Problem 2.52 The total weight of the man and parasail Solution: Three forces in equilibrium form a closed triangle. In
is jWj D 230 lb. The drag force D is perpendicular to this instance it is a right triangle. The law of sines is
the lift force L. If the vector sum of the three forces is
zero, what are the magnitudes of L and D? jWj jLj jDj
D D
y
From which:
20 L
jLj D jWj sin 70 D 2300.9397 D 216.1 lb
D jDj D jWj sin 20 D 2300.3420 D 78.66 lb
20
L
W
x
W D
W
20 L
1
Problem 2.53 The three forces acting on the car are Solution:
shown. The force T is parallel to the x axis and the
magnitude of the force W is 14 kN. If T C W C N D 0,
what are the magnitudes of the forces T and N? Fx : T N sin 20 D 0

Fy : N cos 20 14 kN D 0
Solving we find
N D 14.90 N, T D 5.10 N
20
T
x
W 20
1
Problem 2.54 The cables A, B, and C help support a Solution: Use the angles and magnitudes to determine the vector
pillar that forms part of the supports of a structure. The components, take the sum, and solve for the unknown. The angles
magnitudes of the forces exerted by the cables are equal: between each cable and the pillar are:
jFA j D jFB j D jFC j. The magnitude of the vector sum of
4m
the three forces is 200 kN. What is jFA j? A D tan1 D 33.7 ,
6m

8
B D tan1 D 53.1
6
FC

12
FB C D tan1 D 63.4 .
FA 6
6m
Measure the angles counterclockwise form the x-axis. The force vec-
A B C tors acting along the cables are:
FA D jFA ji cos 303.7 C j sin 303.7 D 0.5548jFA ji 0.8319jFA jj

4m
4m FB D jFB ji cos 323.1 C j sin 323.1 D 0.7997jFB ji 0.6004jFB jj
4m
FC D jFC ji cos 333.4 C j sin 333.4 D 0.8944jFC ji0.4472jFC jj
The sum of the forces are, noting that each is equal in magnitude, is

F D 2.2489jFA ji 1.8795jFA jj.
The magnitude of the sum is given by the problem:

200 D jFA j 2.24892 C 1.87952 D 2.931jFA j,
from which jFA j D 68.24 kN
1
Problem 2.55 The total force exerted on the top of the Solution: We first identify the forces:
mast B by the sailboats forestay AB and backstay BC is
4.0 mi 11.8 mj
180i 820j (N). What are the magnitudes of the forces FAB D TAB
exerted at B by the cables AB and BC ? 4.0 m2 C 11.8 m2
5.0 mi 12.0 mj

y FBC D TBC
5.0 m2 C 12.0 m2
B (4, 13) m
Then if we add the force we find
4 5
Fx : p TAB C p TBC D 180 N
155.24 169
11.8 12
Fy : p TAB p TBC D 820 N
155.24 169
Solving simultaneously yields:
) TAB D 226 N, TAC D 657 N
A C
(0, 1.2) m (9, 1) m
x
1
Problem 2.56 The structure shown forms part of a y
truss designed by an architectural engineer to support
the roof of an orchestra shell. The members AB, AC,
and AD exert forces FAB , FAC , and FAD on the joint A. B
The magnitude jFAB j D 4 kN. If the vector sum of the ( 4, 1) m FAB
FAC (4, 2) m
three forces equals zero, what are the magnitudes of FAC
C
and FAD ? A
x
FAD
D
(2, 3) m
Solution: Determine the unit vectors parallel to each force:

B
2 3
eAD D p iC p j D 0.5547i 0.8320j
22 C 32 22 C 32 C
A
4 1
eAC D p iC p j D 0.9701i C 0.2425j
42 C 12 42 C 12 D
4 2
eAB D p iC p j D 0.89443i C 0.4472j
42 C 22 42 C 22
The forces are FAD D jFAD jeAD , FAC D jFAC jeAC ,
FAB D jFAB jeAB D 3.578i C 1.789j. Since the vector sum of the forces
vanishes, the x- and y-components vanish separately:

Fx D 0.5547jFAD j 0.9701jFAC j C 3.578i D 0, and

Fy D 0.8320jFAD j C 0.2425jFAC j C 1.789j D 0
These simultaneous equations in two unknowns can be solved by any

standard procedure. An HP-28S hand held calculator was used here:
The results: jFAC j D 2.108 kN , jFAD j D 2.764 kN
1
Problem 2.57 The distance s D 45 in. Solution: The unit vector from B to A is the vector from B to A
divided by its magnitude. The vector from B to A is given by
(a) Determine the unit vector eBA that points from B
toward A. rBA D xA xB i C yA yB j or rBA D 14 75i C 45 12j in.
(b) Use the unit vector you obtained in (a) to determine
the coordinates of the collar C. Hence, vector from B to A is given by rBA D 61i C 33j in. The
magnitude of the vector from B to A is 69.4 in and the unit vector
y from B toward A is eBA D 0.880i C 0.476j.
A
(14, 45) in
C s
B
(75, 12) in
1
Problem 2.58 In Problem 2.57, determine the x and y Solution: The coordinates of the point C are given by
coordinates of the collar C as functions of the distance s.
xC D xB C s0.880 and yC D yB C s0.476.
Thus, the coordinates of point C are xC D 75 0.880s in and yC D

12 C 0.476s in. Note from the solution of Problem 2.57 above, 0
s 69.4 in.
1
Problem 2.59 The position vector r goes from point y
B (7, 9) ft
A to a point on the straight line between B and C. Its
magnitude is jrj D 6 ft. Express r in terms of scalar
components. r
A (3, 5) ft
C (12, 3) ft
Solution: Determine the perpendicular vector to the line BC from y B[7,9]

point A, and then use this perpendicular to determine the angular orien-
tation of the vector r. The vectors are
P
rAB D 7 3i C 9 5j D 4i C 4j, jrAB j D 5.6568
r
rAC D 12 3i C 3 5j D 9i 2j, jrAC j D 9.2195
A[3,5]
C[12,3]
rBC D 12 7i C 3 9j D 5i 6j, jrBC j D 7.8102
x
The unit vector parallel to BC is
rBC
eBC D D 0.6402i 0.7682j D i cos 50.19 j sin 50.19 .
jrBC j
Add 90 to the angle to find the two possible perpendicular vectors:
eAP1 D i cos 140.19 j sin 140.19 , or
eAP2 D i cos 39.8 C j sin 39.8 .
Choose the latter, since it points from A to the line.
Given the triangle defined by vertices A, B, C, then the magnitude of

the perpendicular corresponds to the altitude when the base is the line
2area
BC. The altitude is given by h D . From geometry, the area of
base
a triangle with known sides is given by
p
area D ss jrBC js jrAC js jrAB j,
where s is the semiperimeter, s D 12 jrAC j C jrAB j C jrBC j. Substi-

tuting values, s D 11.343, and area D 22.0 and the magnitude of the
222
perpendicular is jrAP j D D 5.6333. The angle between the
7.8102
5.6333
vector r and the perpendicular rAP is D cos1 D 20.1 . Thus
6
the angle between the vector r and the x-axis is D 39.8 20.1 D
59.1 or 19.7 . The first angle is ruled out because it causes the vector
r to lie above the vector rAB , which is at a 45 angle relative to the
x-axis. Thus:
r D 6i cos 19.7 C j sin 19.7 D 5.65i C 2.02j
1
Problem 2.60 Let r be the position vector from point y
C to the point that is a distance s meters from point B
A along the straight line between A and B. Express r (10, 9) m
in terms of scalar components. (Your answer will be in
terms of s.)
s
r
A (3, 4) m
C (9, 3) m
Solution: Determine the ratio of the parts of the line AB and use Check: An alternate solution: Find the angle of the line AB:
this value to determine r. The vectors are:
5
D tan1 7 D 35.54 .
rAB D 10 3i C 9 4j D 7i C 5j, jrAB j D 8.602
The components of s,
rCA D 3 9i C 4 3 D 6i C 1j, jrCA j D 6.0828
s D jsji cos C j sin D jsj0.8138i C 0.5812j.
rCB D 10 9i C 9 3j D 1i C 6j, jrCB j D 6.0828
The coordinates of point P 3 C 0.8138jsj, 4 C 0.5812jsj. Subtract
The ratio of the magnitudes of the two parts of the line is coordinates of point C to get
jrBP j s r D 0.8135jsj 6i C 0.5812jsj C 1j . check .

DRD
jrPA j jrBC j s
Since the ratio is a scalar, then rBP D RrPA , from which r rCA D
RrCB r. y B[10,9] m
RrCB C rCA
Solve for the vector r, r D . Substitute the values of the
1CR
s
vectors, note that R D , and reduce algebraically:
8.602 s
P
r
r D 0.8138s 6i C 0.5813s C 1j (m) : 8
C [9,3] m
A[3,4] m
x
1
Problem 2.61 A vector U D 3i 4j 12k. What is its Solution: Use definition given in Eq. (14). The vector magni-
magnitude? tude is

Strategy: The magnitude of a vector is given in terms jUj D 32 C 42 C 122 D 13
of its components by Eq. (2.14).
1
Problem 2.62 The vector e D 13 i C 23 j C ez k is a unit Solution:
vector. Determine the component ez . (Notice that there 2 2
1 2 1 2 4
are two answers.) eD i C j C ez k ) C C ez 2 D 1 ) e 2 D
3 3 3 3 9
Thus
2 2
ez D or ez D
3 3
1
Problem 2.63 An engineer determines that an attach- Solution:
ment point will be subjected to a force F D 20i C Fy j
45k kN. If the attachment point will safely support a 802 Fx2 C Fy2 C F2z
force of 80-kN magnitude in any direction, what is the
acceptable range of values for Fy ? 802 202 C Fy2 C 452
y To find limits, use equality.
Fy2LIMIT D 802 202 452
F Fy2LIMIT D 3975
Fy LIMIT D C63.0, 63.0 kN
jFy LIMIT j 63.0 kN 63.0 kN Fy 63.0 kN

z
x
1
Problem 2.64 A vector U D Ux i C Uy j C Uz k. Its
magnitude is jUj D 30. Its components are related by
the equations Uy D 2Ux and Uz D 4Uy . Determine the
components. (Notice that there are two answers.)
Solution: Substitute the relations between the components, deter- U D C3.61i C 23.61j C 423.61k
mine the magnitude, and solve for the unknowns. Thus
D 3.61i 7.22j 28.9k
U D Ux i C 2Ux j C 42Ux k D Ux 1i 2j 8k
where Ux can be factored out since it is a scalar. Take the magnitude, U D 3.61i C 23.61j
noting that the absolute value of jUx j must be taken:
C 423.61k D 3.61i C 7.22j C 28.9k
p
30 D jUx j 12 C 22 C 82 D jUx j8.31.
Solving, we get jUx j D 3.612, or Ux D 3.61. The two possible

vectors are
1
Problem 2.65 An object is acted upon by two Solution:
forces F1 D 20i C 30j 24k (kN) and F2 D 60i C
20j C 40k (kN). What is the magnitude of the total force F1 D 20i C 30j 24k kN
acting on the object?
F2 D 60i C 20j C 40k kN
F D F1 C F2 D 40i C 50j C 16k kN
Thus

FD 40 kN2 C 50 kN2 C 16 kN2 D 66 kN
1
Problem 2.66 Two vectors U D 3i 2j C 6k and V D Solution: The magnitudes:
4i C 12j 3k.
p p
(a) jUj D 32 C 22 C 62 D 7 and jVj D 42 C 122 C 32 D 13
(a) Determine the magnitudes of U and V.
(b) Determine the magnitude of the vector 3U C 2V. The resultant vector
3U C 2V D 9 C 8i C 6 C 24j C 18 6k
D 17i C 18j C 12k
p
(b) The magnitude j3U C 2Vj D 172 C 182 C 122 D 27.51
1
Problem 2.67 A vector U D 40i 70j 40k. Solution: The magnitude:
p
(a) What is its magnitude? (a) jUj D 402 C 702 C 402 D 90
(b) What are the angles x , y , and z between U and
the positive coordinate axes? (b) The direction cosines:

Strategy: Since you know the components of U, you 40 70 40
U D 90 i j
can determine the angles x , y , and z from Eqs. (2.15). 90 90 90
D 900.4444i 0.7777j 0.4444k
U D 90i cos 63.6 C j cos 141.1 C k cos 116.4
1
Problem 2.68 A force vector is given in terms of its Solution:
components by F D 10i 20j 20k (N).
F D 10i 20j 20k N
(a) What are the direction cosines of F?
(b) Determine the components of a unit vector e that FD 10 N2 C 20 N2 C 20 N2 D 30 N
has the same direction as F.
10 N 20 N
cos x D D 0.333, cos y D D 0.667,
30 N 30 N
(a)
20 N
cos z D D 0.667
30 N
(b) e D 0.333i 0.667j 0.667k
1
Problem 2.69 The cable exerts a force F on the hook y
at O whose magnitude is 200 N. The angle between the
vector F and the x axis is 40 , and the angle between
the vector F and the y axis is 70 .
F
70
(a) What is the angle between the vector F and the
z axis? 40
(b) Express F in terms of components. O x
Strategy: (a) Because you know the angles between

the vector F and the x and y axes, you can use Eq. (2.16)
to determine the angle between F and the z axis.
(Observe from the figure that the angle between F and z
the z axis is clearly within the range 0 < z < 180 .) (b)
The components of F can be obtained with Eqs. (2.15).
Solution:
(a) cos 40 2 C cos 70 2 C cos z 2 D 1 ) z D 57.0
F D 200 Ncos 40 i C cos 70 j C cos 57.0 k

(b)
F D 153.2i C 68.4j C 108.8k N
1
Problem 2.70 A unit vector has direction cosines Solution: Use Eq. (2.15) and (2.16). The third direction cosine is
cos x D 0.5 and cos y D 0.2. Its z component is posi-
tive. Express it in terms of components. cos z D 1 0.52 0.22 D C0.8426.
The unit vector is
u D 0.5i C 0.2j C 0.8426k
1
Problem 2.71 The airplanes engines exert a total thrust Solution: The x- and y-direction cosines are
force T of 200-kN magnitude. The angle between T and
the x axis is 120 , and the angle between T and the y axis l D cos 120 D 0.5, m D cos 130 D 0.6428
is 130 . The z component of T is positive.
from which the z-direction cosine is
(a) What is the angle between T and the z axis?
(b) Express T in terms of components. n D cosz D 1 0.52 0.64282 D C0.5804.
y y Thus the angle between T and the z-axis is
(a) z D cos1 0.5804 D 54.5 , and the thrust is
130 T D 2000.5i 0.6428j C 0.5804k, or:

x x
(b) T D 100i 128.6j C 116.1k (kN)
120
T
z z
1
Problem 2.72 Determine the components of the posi- Solution: We have the following coordinates: A0, 0, 0,
tion vector rBD from point B to point D. Use your result B5, 0, 3 m, C6, 0, 0 m, D4, 3, 1 m
to determine the distance from B to D.
rBD D 4 m 5 mi C 3 m 0j C 1 m 3 mk
y
D i C 3j 2k m
D (4, 3, 1) m
rBD D 1 m2 C 3 m2 C 2 m2 D 3.74 m
C (6, 0, 0) m
x
z
B (5, 0, 3) m
1
Problem 2.73 What are the direction cosines of the Solution:
position vector rBD from point B to point D?
1 m 3m
cos x D D 0.267, cos y D D 0.802,
3.74 m 3.74 m
2 m
cos z D D 0.535
3.74 m
1
Problem 2.74 Determine the components of the unit Solution: We have the following coordinates: A0, 0, 0,
vector eCD that points from point C toward point D. B5, 0, 3 m, C6, 0, 0 m, D4, 3, 1 m
rCD D 4 m 6 mi C 3 m 0j C 1 m 0k D 2i C 3j C 1k

rCD D 2 m2 C 3 m2 C 1 m2 D 3.74 m
Thus
1
eCD D 2i C 3j C k m D 0.535i C 0.802j C 0.267k
3.74 m
1
Problem 2.75 What are the direction cosines of the
unit vector eCD that points from point C toward point D?
Solution: Using Problem 2.74
cos x D 0.535, cos y D 0.802, cos z D 0.267
1
Problem 2.76 The bar CD exerts a force F on the
joint at point D that points from point C toward point
D. Its magnitude is jFj D 40 kN. Express F in terms
of components.
Solution: Using Problem 2.74
F D 40 kNeCD D 40 kN0.535i C 0.802j C 0.267k
F D 21.4i C 32.1j C 10.69k kN
1
Problem 2.77 Astronauts on the space shuttle use radar
to determine the magnitudes and direction cosines of the B
position vectors of two satellites A and B. The vector rA
from the shuttle to satellite A has magnitude 2 km, and
direction cosines cos x D 0.768, cos y D 0.384, cos z D
0.512. The vector rB from the shuttle to satellite B has rB
magnitude 4 km and direction cosines cos x D 0.743,
cos y D 0.557, cos z D 0.371. What is the distance x
between the satellites?
y
A rA
Solution: The two position vectors are:
rA D 20.768iC 0.384jC 0.512k D 1.536i C 0.768j C 1.024k (km)
rB D 40.743iC 0.557j 0.371k D 2.972i C 2.228j 1.484k (km)
The distance is the magnitude of the difference:
jrA rB j

D 1.5362.9272 C 0.7682.2282 C 1.0241.4842
D 3.24 (km)
1
Problem 2.78 Archaeologists measure a pre-Colum- y
bian ceremonial structure and obtain the dimensions 4m
shown. Determine (a) the magnitude and (b) the direc- 4m 10 m
tion cosines of the position vector from point A to A 10 m
point B.
8m
B b
8m
z
C x
Solution: The coordinates are A(0, 16, 14), and B(10, 8, 4). The
vector from A to B is
rAB D 10 0i C 8 16j C 4 14k D 10i 8j 10k.
The magnitude is
p
(a) jrAB j D 102 C 82 C 102 D 16.2 m , and
(b) The direction cosines are
10
cos x D D 0.6155,
16.2
8
cos y D D 0.4938,
16.2
10
and cos z D D 0.6155 .
16.2
1
Problem 2.79 Consider the structure described in Solution: We have the coordinates B10 m, 8 m, 4 m,
Problem 2.78. After returning to the United States, C10 m C b, 0, 18 m
an archaeologist discovers that a graduate student has
erased the only data file containing the dimension b. rBC D 10 m C b 10 mi C 0 8 mj C 18 m 4 mk
But from recorded GPS data he is able to calculate that
the distance from point B to point C is 16.61 m. rBC D bi C 8 mj C 14 mk
(a) What is the distance b? (a) Now we have

(b) Determine the direction cosines of the position
vector from B to C. 16.61 m2 D b2 C 8 m2 C 14 m2 ) b D 3.99 m
3.99 m 8 m
cos x D D 0.240, cos y D D 0.482,
16.61 m 16.61 m
(b)
14 m
cos z D D 0.843
16.61 m
1
Problem 2.80 Observers at A and B use theodolites to y
measure the direction from their positions to a rocket
in flight. If the coordinates of the rockets position at a
given instant are (4, 4, 2) km, determine the direction
cosines of the vectors rAR and rBR that the observers
would measure at that instant.
rAR
rBR
A
x
B (5,0,2) km
z
Solution: The vector rAR is given by
rAR D 4i C 4j C 2k km
and the magnitude of rAR is given by

jrAR j D 42 C 42 C 22 km D 6 km.
The unit vector along AR is given by
uAR D rAR /jrAR j.
Thus, uAR D 0.667i C 0.667j C 0.333k
and the direction cosines are
cos x D 0.667, cos y D 0.667, and cos z D 0.333.
The vector rBR is given by
rBR D xR xB i C yR yB j C zR zB k km
D 4 5i C 4 0j C 2 2k km
and the magnitude of rBR is given by

jrBR j D 12 C 42 C 02 km D 4.12 km.
The unit vector along BR is given by
eBR D rBR /jrBR j.
Thus, uBR D 0.242i C 0.970j C 0k
and the direction cosines are
cos x D 0.242, cos y D 0.970, and cos z D 0.0.
1
Problem 2.81 In Problem 2.80, suppose that the coor-
dinates of the rockets position are unknown. At a given
instant, the person at A determines that the direction
cosines of rAR are cos x D 0.535, cos y D 0.802, and
cos z D 0.267, and the person at B determines that the
direction cosines of rBR are cos x D 0.576, cos y D
0.798, and cos z D 0.177. What are the coordinates of
the rockets position at that instant.
Solution: The vector from A to B is given by Similarly, the vector along BR, uBR D 0.576i C 0.798 0.177k.
From the diagram in the problem statement, we see that rAR D
rAB D xB xA i C yB yA j C zB zA k or rAB C rBR . Using the unit vectors, the vectors rAR and rBR can be
written as
rAB D 5 0i C 0 0j C 2 0k D 5i C 2k km.
rAR D 0.535rAR i C 0.802rAR j C 0.267rAR k, and

The magnitude of rAB is given by jrAB j D 52 C 22 D 5.39 km.
The unit vector along AB, uAB , is given by rBR D 0.576rBR i C 0.798rBR j 0.177rBR k.
Substituting into the vector addition rAR D rAB C rBR and equating
uAB D rAB /jrAB j D 0.928i C 0j C 0.371k km.
components, we get, in the x direction, 0.535rAR D 0.576rBR , and
The unit vector along the line AR, in the y direction, 0.802rAR D 0.798rBR . Solving, we get that rAR D
4.489 km. Calculating the components, we get
uAR D cos x i C cos y j C cos z k D 0.535i C 0.802j C 0.267k.
rAR D rAR eAR D 0.5354.489i C 0.8024.489j C 0.2674.489k.
Hence, the coordinates of the rocket, R, are (2.40, 3.60, 1.20) km.
1
Problem 2.82* The height of Mount Everest was orig- z P
inally measured by a surveyor in the following way. He
first measured the altitudes of two points and the hori-
zontal distance between them. For example, suppose that
the points A and B are 3000 m above sea level and are
10,000 m apart. He then used a theodolite to measure the y
direction cosines of the vector rAP from point A to the B x
top of the mountain P and the vector rBP from point B to
P. Suppose that the direction cosines of rAP are cos x D
0.5179, cos y D 0.6906, and cos z D 0.5048, and the A
direction cosines of rBP are cos x D 0.3743, cos y D
0.7486, and cos z D 0.5472. Using this data, determine
the height of Mount Everest above sea level.
Solution: We have the following coordinates A0, 0, 3000 m,

B10, 000, 0, 3000 m, Px, y, z
Then
rAP D xi C yj C z 3000 mk D rAP 0.5179i C 0.6906j C 0.5048k
rBP D x 10,000 mi C yj C z 3000 mk
D rBP 0.3743i C 0.7486j C 0.5472k
Equating components gives us five equations (one redundant) which

we can solve for the five unknowns.
x D rAP 0.5179
y D rAP 0.6906
z 3000 m D rAP 0.5048 ) z D 8848 m
x 10000 m D rBP 0.7486
y D rBP 0.5472
1
Problem 2.83 The distance from point O to point A is y
20 ft. The straight line AB is parallel to the y axis, and
point B is in the x-z plane. Express the vector rOA in
terms of scalar components. A
Strategy: You can resolve rOA into a vector from O to rOA

B and a vector from B to A. You can then resolve the
vector form O to B into vector components parallel to
the x and z axes. See Example 2.9. O x
30
60
B
z
Solution: See Example 2.10. The length BA is, from the right The vector rOA is given by rOA D rOB C rBA , from which
triangle OAB,
rOA D 15i C 10j C 8.66k (ft)
jrAB j D jrOA j sin 30 D 200.5 D 10 ft.
Similarly, the length OB is A
jrOB j D jrOA j cos 30 D 200.866 D 17.32 ft y rOA
The vector rOB can be resolved into components along the axes by the 30 x
right triangles OBP and OBQ and the condition that it lies in the x-z O
plane. Q
z
Hence,
P 60 B
rOB D jrOB ji cos 30 C j cos 90 C k cos 60 or
rOB D 15i C 0j C 8.66k.
The vector rBA can be resolved into components from the condition
that it is parallel to the y-axis. This vector is
rBA D jrBA ji cos 90 C j cos 0 C k cos 90 D 0i C 10j C 0k.
1
Problem 2.84 The pole supporting the sign is parallel y
to the x axis and is 2 m long. Point A is contained in the
y-z plane. Express the position vector r from the origin
to the end of the pole in terms of components. A
Bedford
Falls
r
Solution: The vector can be written in two ways.
45
60
r D 2 mi C yj C zk
x
O
D rsin 45 i C cos 45 sin 60 j C cos 45 cos 60 k
Equating components we find

2 m D r sin 45

y D r cos 45 sin 60 ) r D 2.83 m, y D 1.732 m, zD1m

z D r cos 45 cos 60 z
Thus the vector is
r D 2.00i C 1.732j C 1.000k m
1
Problem 2.85 The straight line from the head of F to y
point A is parallel to the y axis, and point A is contained
in the x-z plane. The x component of F is Fx D 100 N.
(a) What is the magnitude of F?

(b) Determine the angles x , y , and z between F and F
the positive coordinate axes.
x
Solution: The triangle OpA is a right triangle, since OA lies in O 20
the x-z plane, and Ap is parallel to the y-axis. Thus the magnitudes
are given by the sine law:
60
jrAp j jFj jrOA j A
D D ,
thus jrAp j D jFj0.342 and jrOA j D jFj0.9397. The components of

the two vectors are from the geometry z
rOA D jrOA ji cos 30 C j cos 90 C k cos 60

(b) x D cos1 0.8138 D 35.5 ,
D jrOA j0.866i C 0j C 0.5k and
y D cos1 0.342 D 70 and z D cos1 0.4699 D 62
rAp D jrAp ji cos 90 C j cos 0 C k cos 90 D jrAp j0i C 1j C 0k
Noting F D rOA C rAp , then from above

y
F D jFj0.34200i C 1j C 0k C jFj0.93970.866i C 0j C 0.5k P
F
F D jFj0.8138i C 0.342j C 0.4699k 20
O x
The x-component is given to be 100 N. Thus, z 60
q
A
100
(a) jFj D D 122.9 N The angles are given by
0.8138
1
Problem 2.86 The position of a point P on the surface y
of the earth is specified by the longitude , measured
N
from the point G on the equator directly south of Green-
wich, England, and the latitude L measured from the
equator. Longitude is given as west (W) longitude or east
(E) longitude, indicating whether the angle is measured
west or east from point G. Latitude is given as north (N) P
latitude or south (S) latitude, indicating whether the angle
is measured north or south from the equator. Suppose L
z
that P is at longitude 30 W and latitude 45 N. Let RE O
be the radius of the earth. Using the coordinate system
shown, determine the components of the position vector G
of P relative to the center of the earth. (Your answer will
Equator
be in terms of RE .) x
Solution: Drop a vertical line from point P to the equatorial plane.

y
Let the intercept be B (see figure). The vector position of P is the sum
of the two vectors: P D rOB C rBP . The vector rOB D jrOB ji cos C
0j C k sin . From geometry, the magnitude is jrOB j D RE cos .
The vector rBP D jrBP j0i C 1j C 0k. From geometry, the magnitude P
is jrBP j D RE sin P . Substitute: P D rOB C rBP D RE i cos cos C
z O
j sin C k sin cos . Substitute from the problem statement: D
C30 , D 45 . Hence P D RE 0.6124i C 0.707j C 0.3536k B
1
Problem 2.87 An engineer calculates that the magni- Solution: The components of the position vector from B to A are
tude of the axial force in one of the beams of a geodesic
dome is jP D 7.65 kN. The cartesian coordinates of the rBA D xA xB i C yA yB j C zA zB k
endpoints A and B of the straight beam are (12.4,
22.0, 18.4) m and (9.2, 24.4, 15.6) m, respectively. D 12.4 C 9.2i C 22.0 24.4j
Express the force P in terms of scalar components.
C 18.4 C 15.6k
D 3.2i 2.4j 2.8k m.

B
Dividing this vector by its magnitude, we obtain a unit vector that
points from B toward A:
P eBA D 0.655i 0.492j 0.573k.

A
Therefore
P D jPjeBA
D 7.65 eBA
D 5.01i 3.76j 4.39k kN.
1
Problem 2.88 The cable BC exerts an 8-kN force F y
B (5, 6, 1) m
on the bar AB at B.
(a) Determine the components of a unit vector that
points from B toward point C. F
(b) Express F in terms of components.
C (3, 0, 4) m
z
Solution:
rBC xC xB i C yC yB j C zC zB k
(a) eBC D D
jrBC j xC xB 2 C yC yB 2 C zC zB 2
2i 6j C 3k 2 6 3
eBC D p D i jC k
22 C 62 C 32 7 7 7
eBC D 0.286i 0.857j C 0.429k
(b) F D jFjeBC D 8eBC D 2.29i 6.86j C 3.43k kN
1
Problem 2.89 A cable extends from point C to point y
E. It exerts a 50-lb force T on plate C that is directed
along the line from C to E. Express T in terms of scalar
components. 6 ft
E A D
x
2 ft T 4 ft
B
z 20 C
4 ft
Solution: Find the unit vector eCE and multiply it times the magni- y
tude of the force to get the vector in component form,
6 ft
rCE xE xC i C yE yC j C zE zC k
eCE D D
jrCE j xE xC 2 C yE yC 2 C zE zC 2
E A
The coordinates of point C are 4, 4 sin 20 , 4 cos 20 or
D x
4, 1.37, 3.76 (ft) The coordinates of point E are (0, 2, 6) (ft)
T 4 ft
2 ft
0 4i C 2 1.37j C 6 3.76k T
eCE D p B
42 C 3.372 C 2.242 z C
20
4 ft
eCE D 0.703i C 0.592j C 0.394k
T D 50eCE lb
T D 35.2i C 29.6j C 19.7k lb
1
Problem 2.90 What are the direction cosines of the
force T in Problem 2.89?
Solution: From the solution to Problem 2.89,
eCE D 0.703i C 0.592j C 0.394k
However
eCE D cos x i C cos y j C cos z k
Hence,
cos x D 0.703
cos y D 0.592
cos z D 0.394
1
Problem 2.91 The cable AB exerts a 200-lb force FAB y
at point A that is directed along the line from A to B. 8 ft
Express FAB in terms of scalar components. C
8 ft
6 ft
B
FAC
Solution: The coordinates of B are B(0,6,8). The position vector FAB
from A to B is
z A (6, 0, 10) ft
rAB D 0 6i C 6 0j C 8 10k D 6i C 6j 2k

p
The magnitude is jrAB j D 62 C 62 C 22 D 8.718 ft.
The unit vector is

6 6 2
uAB D iC j k
8.718 8.718 8.718
or
uAB D 0.6882i C 0.6882j 0.2294k.
FAB D jFAB juAB D 2000.6882i C 0.6882j 0.2294k
The components of the force are
FAB D jFAB juAB D 2000.6882i C 0.6882j 0.2294k or
FAB D 137.6i C 137.6j 45.9k
1
Problem 2.92 Consider the cables and wall described
in Problem 2.91. Cable AB exerts a 200-lb force FAB
at point A that is directed along the line from A to B.
The cable AC exerts a 100-lb force FAC at point A that
is directed along the line from A to C. Determine the
magnitude of the total force exerted at point A by the
two cables.
Solution: Refer to the figure in Problem 2.91. From Problem 2.91 The force is
the force FAB is
FAC D jFAC juAC D 100uAC D 16.9i C 50.7j 84.5k.
FAB D 137.6i C 137.6j 45.9k
The resultant of the two forces is
The coordinates of C are C(8,6,0). The position vector from A to C is
FR D FAB C FAC D 137.6 C 16.9i C 137.6 C 50.7j
rAC D 8 6i C 6 0j C 0 10k D 2i C 6j 10k.
p C 84.5 45.9k.
The magnitude is jrAC j D 22 C 62 C 102 D 11.83 ft.
The unit vector is FR D 120.7i C 188.3j 130.4k.
2 6 10 The magnitude is
uAC D iC j k D 0.1691i C 0.5072j 0.8453k.
11.83 11.83 11.83
p
jFR j D 120.72 C 188.32 C 130.42 D 258.9 lb
1
Problem 2.93 The 70-m-tall tower is supported by A
three cables that exert forces FAB , FAC , and FAD on it. y
The magnitude of each force is 2 kN. Express the total FAD
force exerted on the tower by the three cables in terms A
of scalar components.
FAC FAB
60 m
60 m
B
x
40 m
C
40 m
40 m
z
Solution: The coordinates of the points are A (0, 70, 0), B (40, 0,
0), C (40, 0, 40) D (60, 0, 60).
The position vectors corresponding to the cables are:
rAD D 60 0i C 0 70j C 60 0k
rAD D 60i 70k 60k
rAC D 40 0i C 0 70j C 40 0k
rAC D 40i 70j C 40k
rAB D 40 0i C 0 70j C 0 0k
rAB D 40i 70j C 0k
The unit vectors corresponding to these position vectors are:
rAD 60 70 60
uAD D D i j k
jrAD j 110 110 110
D 0.5455i 0.6364j 0.5455k
rAC 40 70 40
uAC D D i jC k
jrAC j 90 90 90
D 0.4444i 0.7778j C 0.4444k
rAB 40 70
uAB D D i j C 0k D 0.4963i 0.8685j C 0k
jrAB j 80.6 80.6
The forces are:
FAB D jFAB juAB D 0.9926i 1.737j C 0k
FAC D jFAC juAC D 0.8888i 1.5556j C 0.8888
FAD D jFAD juAD D 1.0910i 1.2728j 1.0910k
The resultant force exerted on the tower by the cables is:
FR D FAB C FAC C FAD D 0.9872i 4.5654j 0.2022k kN
1
Problem 2.94 Consider the tower described in Pro-
blem 2.93. The magnitude of the force FAB is 2 kN. The
x and z components of the vector sum of the forces
exerted on the tower by the three cables are zero. What
are the magnitudes of FAC and FAD ?
Solution: From the solution of Problem 2.93, the unit vectors are: Taking the sum of the forces:
rAC 40 70 40 FR D FAB C FAC C FAD D 0.9926 0.4444jFAC j 0.5455jFAD ji

uAC D D i jC k
jrAC j 90 90 90
C 1.737 0.7778jFAC j 0.6364jFAD jj
D 0.4444i 0.7778j C 0.4444k
C 0.4444jFAC j 0.5455jFAD jk
rAD 60 70 60
uAD D D i j
jrAD j 110 110 110 The sum of the x- and z-components vanishes, hence the set of simul-
taneous equations:
D 0.5455i 0.6364j 0.5455k
0.4444jFAC j C 0.5455jFAD j D 0.9926 and
From the solution of Problem 2.93 the force FAB is
0.4444jFAC j 0.5455jFAD j D 0
FAB D jFAB juAB D 0.9926i 1.737j C 0k
These can be solved by means of standard algorithms, or by the use of
The forces FAC and FAD are:
commercial packages such as TK Solver Plus or Mathcad. Here
a hand held calculator was used to obtain the solution:
FAC D jFAC juAC D jFAC j0.4444i 0.7778j C 0.4444k
jFAC j D 1.1168 kN jFAD j D 0.9098 kN
FAD D jFAD juAD D jFAD j0.5455i 0.6364j 0.5455k
1
Problem 2.95 Express the position vector from point y
O to the collar at A in terms of scalar components.
T
Solution: The vector from O to A can be expressed as the sum of

the vectors rOT from O to the top of the slider bar, and rTA from the
top of the slider bar to A. The coordinates of the top and base of the 6 ft
slider bar are: T (0, 7, 0), B (4, 0, 4). The position vector of the top
of the bar is: rOT D 0i C 7j C 0k. The position vector from the top of 7 ft
the bar to the base is:
A
rTB D 4 0i C 0 7j C 4 0k. or x
O
rTB D 4i 7j C 4k. The unit vector pointing from the top of the bar 4 ft
to the base is
z 4 ft
rTB 4 7 4 B
uTB D D i j C k D 0.4444i 0.7778j C 0.4444k.
jrTB j 9 9 9
The collar position is
rTA D jrTA juTB D 60.4444i 0.7778j C 0.4444k
D 2.6667i 4.6667j C 2.6667,
measured along the bar. The sum of the two vectors is the position
vector of A from origin O:
rOA D 2.6667 C 0i C 4.6667 C 7j C 2.6667 C 0k
D 2.67i C 2.33j C 2.67k ft
1
Problem 2.96 The cable AB exerts a 32-lb force T on y
the collar at A. Express T in terms of scalar components.
4 ft
B T
6 ft
Solution: The coordinates of point B are B (0, 7, 4). The vector

position of B is rOB D 0i C 7j C 4k.
7 ft A
The vector from point A to point B is given by x
4 ft
rAB D rOB rOA .
From Problem 2.95, rOA D 2.67i C 2.33j C 2.67k. Thus 4 ft

z
rAB D 0 2.67i C 7 2.33j C 4 2.67j
rAB D 2.67i C 4.67j C 1.33k.
The magnitude is
p
jrAB j D 2.672 C 4.672 C 1.332 D 5.54 ft.
The unit vector pointing from A to B is
rAB
uAB D D 0.4819i C 0.8429j C 0.2401k
jrAB j
The force T is given by
TAB D jTAB juAB D 32uAB D 15.4i C 27.0j C 7.7k (lb)
1
Problem 2.97 The circular bar has a 4-m radius and Solution: From the figure, the point B is at (0, 4, 3) m. The coor-
lies in the x-y plane. Express the position vector from dinates of point A are determined by the radius of the circular bar
point B to the collar at A in terms of scalar components. and the angle shown in the figure. The vector from the origin to A
is rOA D 4 cos20 i C 4 sin20 j m. Thus, the coordinates of point A
y are (3.76, 1.37, 0) m. The vector from B to A is given by rBA D xA
xB i C yA yB j C zA zB k D 3.76i 2.63j 3k m. Finally, the
scalar components of the vector from B to A are (3.76, 2.63, 3) m.
3m
A
4m
20
x
4m
z
1
Problem 2.98 The cable AB in Problem 2.97 exerts a Solution: We know rBA D 3.76i 2.63j 3k m from Problem
60-N force T on the collar at A that is directed along 2.97. The unit vector uAB D rBA /jrBA j. The unit vector is uAB D
the line from A toward B. Express T in terms of scalar 0.686i C 0.480j C 0.547k. Hence, the force vector T is given by
components.
T D jTj0.686iC 0.480jC 0.547k N D 41.1i C 28.8j C 32.8k N
1
Problem 2.99 Determine the dot product U V of the Solution:
vectors U D 4i C 6j 10k and V D 8i C 12j C 2k.
U D 4i C 6j 10k, V D 8i C 12j C 2k
Strategy: The vectors are expressed in terms of their
components, so you can use Eq. (2.23) to determine their U V D 48 C 612 C 102 D 20
dot product.
1
Problem 2.100 Determine the dot product U V of the Solution: Use Eq. 2.23.
vectors U D 40i C 20j C 60k and V D 30i C 15k.
U V D 4030 C 200 C 1560 D 300
1
Problem 2.101 What is the dot product of the position Solution: Use Eq. (2.23).
vector r D 10i C 25j (m) and the force vector
F r D 30010 C 25025 C 3000 D 3250 N-m
F D 300i C 250j C 300k N?
1
Problem 2.102 Suppose that the dot product of two Solution:
vectors U and V is U V D 0. If jUj 6D 0, what do you Either jVj D 0 or V ? U
know about the vector V?
1
Problem 2.103 Two perpendicular vectors are given
in terms of their components by
U D Ux i 4j C 6k
and V D 3i C 2j 3k.
Use the dot product to determine the component Ux .
Solution: When the vectors are perpendicular, U V 0.

Thus
U V D Ux Vx C Uy Vy C Uz Vz D 0
D 3Ux C 42 C 63 D 0
3Ux D 26
Ux D 8.67
1
Problem 2.104 Three vectors
U D Ux i C 3j C 2k
V D 3i C Vy j C 3k
W D 2i C 4j C Wz k
are mutually perpendicular. Use the dot product to deter-

mine the components Ux , Vy , and Wz
Solution: For mutually perpendicular vectors, we have three

equations, i.e.,
UVD0
UWD0
VWD0
Thus

3Ux C 3Vy C 6 D 0

3 Eqns
2Ux C 12 C 2Wz D 0

3 Unknowns
C6 C 4Vy C 3Wz D 0
Solving, we get
Ux D 2.857
Vy D 0.857
Wz D 3.143
1
Problem 2.105 The magnitudes jUj D 10 and jVj D y
20. V
(a) Use the definition of the dot product to determine
U V. U
(b) Use Eq. (2.23) to obtain U V.
30
45
x
Solution:
(a) The definition of the dot product (Eq. (2.18)) is
U V D jUjjVj cos . Thus
U V D 1020 cos45 30 D 193.2
(b) The components of U and V are
U D 10i cos 45 C j sin 45 D 7.07i C 7.07j
V D 20i cos 30 C j sin 30 D 17.32i C 10j
From Eq. (2.23) U V D 7.0717.32 C 7.0710 D 193.2
1
Problem 2.106 By evaluating the dot product U V, y
prove the identity cos1 2 D cos 1 cos 2 C sin 1
sin 2 .
Strategy: Evaluate the dot product both by using the U

V
definition and by using Eq. (2.23).
1
2
x
Solution: The strategy is to use the definition Eq. (2.18) and the
Eq. (2.23). From Eq. (2.18) and the figure,
U V D jUjjVj cos1 2 . From Eq. (2.23) and the figure,
U D jUji cos 1 C j sin 2 , V D jVji cos 2 C j sin 2 ,
and the dot product is U V D jUjjVjcos 1 cos 2 C sin 1 sin 2 .
Equating the two results:
U V D jUjjVj cos1 2 D jUjjVjcos 1 cos 2 C sin 1 sin 2 ,
from which if jUj 6D 0 and jVj 6D 0, it follows that
cos1 2 D cos 1 cos 2 C sin 1 sin 2 , Q.E.D.
1
Problem 2.107 Use the dot product to determine the y
angle between the forestay (cable AB) and the backstay B (4, 13) m
(cable BC).
A C
(0, 1.2) m (9, 1) m
x
Solution: The unit vector from B to A is

rBA
eBA D D 0.321i 0.947j
jrBA j
The unit vector from B to C is
rBC
eBC D D 0.385i 0.923j
jrBC j
From the definition of the dot product, eBA eBC D 1 1 cos , where
is the angle between BA and BC. Thus
cos D 0.3210.385 C 0.9470.923
cos D 0.750
D 41.3
1
Problem 2.108 Determine the angle between the y
lines AB and AC (a) by using the law of cosines (see
Appendix A); (b) by using the dot product. B
(4, 3, 1) m
Solution:
(a) We have the distances:
p A
x
AB D 42 C 32 C 12 m D 26 m u
p
AC D 52 C 12 C 32 m D 35 m z (5, 1, 3) m
C
p
BC D 5 42 C 1 32 C 3 C 12 m D 33 m
The law of cosines gives
BC2 D AB2 C AC2 2ABAC cos
AB2 C AC2 BC2

cos D D 0.464 ) D 62.3
2ABAC
(b) Using the dot product
rAB D 4i C 3j k m, rAC D 5i j C 3k m
rAB rAC D 4 m5 m C 3 m1 m C 1 m3 m D 14 m2
rAB rAC D ABAC cos
Therefore
14 m2
cos D p p D 0.464 ) D 62.3
26 m 35 m
1
Problem 2.109 The ship O measures the positions of y
the ship A and the airplane B and obtains the coordinates B
shown. What is the angle between the lines of sight (4, 4, 4) km
OA and OB?

x
O
(6, 0, 3) km
z
Solution: From the coordinates, the position vectors are:
rOA D 6i C 0j C 3k and rOB D 4i C 4j 4k
The dot product: rOA rOB D 64 C 04 C 34 D 12

p
The magnitudes: jrOA j D 62 C 02 C 32 D 6.71 km and
p
jrOA j D 42 C 42 C 42 D 6.93 km.
rOA rOB
From Eq. (2.24) cos D D 0.2581, from which D 75 .
jrOA jjrOB j
From the problem and the construction, only the positive angle makes
sense, hence D 75
1
Problem 2.110 Astronauts on the space shuttle use
radar to determine the magnitudes and direction cosines B
of the position vectors of two satellites A and B. The
vector rA from the shuttle to satellite A has magni-
tude 2 km and direction cosines cos x D 0.768, cos y D
0.384, cos z D 0.512. The vector rB from the shuttle to rB
satellite B has magnitude 4 km and direction cosines
cos x D 0.743, cos y D 0.557, cos z D 0.371. What x
is the angle between the vectors rA and rB ?
y
A rA
Solution: The direction cosines of the vectors along rA and rB

are the components of the unit vectors in these directions (i.e., uA D
cos x i C cos y j C cos z k, where the direction cosines are those for
rA ). Thus, through the definition of the dot product, we can find an
expression for the cosine of the angle between rA and rB .
cos D cos xA cos xB C cos yA cos yB C cos zA cos zB .
Evaluation of the relation yields
cos D 0.594 ) D 53.5 .
1
Problem 2.111 The cable BC exerts an 800-N force y
B (5, 6, 1) m
F on the bar AB at B. Use Eq. (2.26) to determine the
vector component of F parallel to the bar.
F
Solution: Eqn. 2.26 is UP D e Ue where U is the vector for
which you want the component parallel to the direction indicated by
the unit vector e. A
For the problem at hand, we must find two unit vectors. We need eBC x
to be able to write the force FF D jFjeBC and eBA the direction
parallel to the bar. C (3, 0, 4) m
rBC xC xB i C yC yB j C zC zB k z

eBC D D
jrBC j xC xB 2 C yC yB 2 C zC zB 2
FP D F eBA eBA
3 5i C 0 6j C 4 1k
eBC D p
22 C 62 C 32 FP D 624.1eBA
2 6 3 FP D 396.3i 475.6j 79.3k N

eBC D i j C k
7 7 7
Similarly
5i 6j 1k
eBA D p
52 C 62 C 12
eBA D 0.635i 0.762j 0.127k
Now F D jFjeBC D 800 eBC
F D 228.6i 685.7j C 342.9k N
1
Problem 2.112 The force F D 21i C 14j (kN). Resol- y
ve it into vector components parallel and normal to the
line OA.
F
O
x
Solution: The position vector of point A is
rA D 6i 2j C 3k
p z
A (6, 2, 3) m
The magnitude is jrA j D 62 C 22 C 32 D 7. The unit vector parallel
rA 6 2 3
to OA is eOA D D i jC k
jrA j 7 7 7
(a) The component of F parallel to OA is

1
F eOA eOA D 36 C 22 7 6i 2j C 3k
FP D 12i 4j C 6k (kN)
(b) The component of F normal to OA is
FN D F Fp D 21 12i C 14 4j C 0 6k
D 9i C 18j 6k (kN)
1
Problem 2.113 At the instant shown, the Harriers y
thrust vector is T D 17,000i C 68,000j 8,000k (N)
and its velocity vector is v D 7.3i C 1.8j 0.6k (m/s).
The quantity P D jTp jjvj, where Tp is the vector
component of T parallel to v, is the power currently
being transferred to the airplane by its engine. Determine v
the value of P.
Solution:
T D 17,000i C 68,000j 8,000k N
v D 7.3i C 1.8j 0.6k m/s
Power D T v D 17,000 N7.3 m/s C 68,000 N1.8 m/s

C 8,000 N0.6 m/s
Power D 251,000 Nm/s D 251 kW
1
Problem 2.114 Cables extend from A to B and from y
A to C. The cable AC exerts a 1000-lb force F at A.
A (0, 7, 0) ft
(a) What is the angle between the cables AB and AC?
(b) Determine the vector component of F parallel to
the cable AB. F
x
Solution: Use Eq. (2.24) to solve.
(a) From the coordinates of the points, the position vectors are: B
rAB D 0 0i C 0 7j C 10 0k (0, 0, 10) ft C

z (14, 0, 14) ft
rAB D 0i 7j C 10k
rAC D 14 0i C 0 7j C 14 0k
rAC D 14i 7j C 14k
The magnitudes are:

p
jrAB j D 72 C 102 D 12.2 (ft) and
p
jrAB j D 142 C 72 C 142 D 21.
The dot product is given by
rAB rAC D 140 C 77 C 1014 D 189.
The angle is given by
189
cos D D 0.7377,
12.221
from which D 42.5 . From the construction: D C42.5
(b) The unit vector associated with AB is
rAB
eAB D D 0i 0.5738j C 0.8197k.
jrAB j
The unit vector associated with AC is
rAC
eAC D jrAC j D 0.6667i 0.3333j C 0.6667k.
Thus the force vector along AC is
FAC D jFjeAC D 666.7i 333.3j C 666.7k.
The component of this force parallel to AB is
FAC eAB eAB D 737.5eAB D 0i 423.2j C 604.5k (lb)
1
Problem 2.115 Consider the cables AB and AC shown Solution: From Problem 2.114, rAB D 0i 7j C 10k, and eAC D
in Problem 2.114. Let rAB be the position vector from 0.6667i 0.3333j C 0.6667k. Thus rAB eAC D 9, and rAB eAC eAC
point A to point B. Determine the vector component of D 6i 3j C 6k
rAB parallel to the cable AC.
1
Problem 2.116 The force F D 10i C 12j 6k N. y
Determine the vector components of F parallel and nor-
mal to line OA.
A
(0, 6, 4) m F
rOA O
Solution: Find eOA D x
jrOA j
Then
z
FP D F eOA eOA
and FN D F FP
0i C 6j C 4k 6j C 4k
eOA D p D p
62 C 42 52
6 4
eOA D jC k D 0.832j C 0.555k
7.21 7.21
FP D [10i C 12j 6k 0.832j C 0.555k]eOA
FP D [6.656]eOA D 0i C 5.54j C 3.69k N
FN D F FP
FN D 10i C 12 5.54j C 6 3.69k
FN D 10i C 6.46j 9.69k N
1
Problem 2.117 The rope AB exerts a 50-N force T on y
collar A. Determine the vector component of T parallel
0.15 m
to bar CD.
0.4 m
Solution: The vector from C to D is rCD D xD xC i C yD B C
yC j C zD zC k. The magnitude of the vector
T
jrCD j D xD xC 2 C yD yC 2 C zD zC 2 . 0.2 m 0.3 m
A
The components of the unit vector along CD are given by uCDx D 0.5 m
xD xC /jrCD j, uCDy D yD yC /jrCD j, etc. Numerical values are O x
jrCD j D 0.439 m, uCDx D 0.456, uCDy D 0.684, and uCDz D 0.570. 0.25 m
The coordinates of point A are given by xA D xC C jrCA jeCDx , yA D D
yC C jrCA juCDy , etc. The coordinates of point A are (0.309, 0.163, 0.2 m
0.114) m. The vector from A to B and the corresponding unit vector z
are found in the same manner as from C to D above. The results are
jrAB j D 0.458 m, uABx D 0.674, uABy D 0.735, and uABz D 0.079.
The force T is given by T D jTjuAB . The result is T D 33.7i C
36.7j C 3.93k N.
The component of T parallel to CD is given
Tparallel D T uCD D 7.52 N.
The negative sign means that the component of T parallel to CD points

from D toward C (opposite to the direction of the unit vector from C
to D).
1
Problem 2.118 In Problem 2.117, determine the vector Solution: From the solution of Problem 2.117, jTj D 50 N, and
component of T normal to the bar CD. the component of T parallel to bar CD is Tparallel D 7.52 N. The
component of T normal to bar CD is given by

Tnormal D jTj2 Tparallel 2 D 49.4 N.
1
Problem 2.119 The disk A is at the midpoint of the y
sloped surface. The string from A to B exerts a 0.2-
lb force F on the disk. If you resolve F into vector B (0, 6, 0) ft
components parallel and normal to the sloped surface,
what is the component normal to the surface?
F
2 ft
x
A 8 ft
10 ft
z
Solution: Consider a line on the sloped surface from A perpendic- 2

ular to the surface. (see the diagram above) By SIMILAR triangles we
see that one such vector is rN D 8j C 2k. Let us find the component y
of F parallel to this line.
8
The unit vector in the direction normal to the surface is
rN 8j C 2k
eN D D p D 0.970j C 0.243k
jrN j 82 C 22
2
The unit vector eAB can be found by
z
xB xA i C yB yA j C zB zA h 8
eAB D
xB xA 2 C yB yA 2 C zB zA 2
Point B is at (0, 6, 0) (ft) and A is at (5, 1, 4) (ft).
Substituting, we get
eAB D 0.615i C 0.615j 0.492k
Now F D jFjeAB D 0.2eAB
F D 0.123i C 0.123j 0.0984k lb
The component of F normal to the surface is the component parallel

to the unit vector eN .
FNORMAL D F eN eN D 0.955eN
FNORMAL D 0i C 0.0927j C 0.0232k lb
1
Problem 2.120 In Problem 2.119, what is the vector
component of F parallel to the surface?
Solution: From the solution to Problem 2.119, Thus
F D 0.123i C 0.123j 0.0984k lb and Fparallel D F FNORMAL
FNORMAL D 0i C 0.0927j C 0.0232k lb Substituting, we get
The component parallel to the surface and the component normal to Fparallel D 0.1231i C 0.0304j 0.1216k lb
the surface add to give FF D FNORMAL C Fparallel .
1
Problem 2.121 An astronaut in a maneuvering unit
approaches a space station. At the present instant, the
station informs him that his position relative to the origin
of the stations coordinate system is rG D 50i C 80j C
180k (m) and his velocity is v D 2.2j 3.6k (m/s).
The position of the airlock is rA D 12i C 20k (m).
Determine the angle between his velocity vector and the
line from his position to the airlocks position.
Solution: Points G and A are located at G: (50, 80, 180) m

and A: (12, 0, 20) m. The vector rGA is rGA D xA xG i C yA
yG j C zA zG k D 12 50i C 0 80j C 20 180k m. The
dot product between v and rGA is v rGA D jvjjrGA j cos D vx xGA C
vy yGA C vz zGA , where is the angle between v and rGA . Substituting
in the numerical values, we get D 19.7 .
z
x
1
Problem 2.122 In Problem 2.121, determine the vec-
tor component of the astronauts velocity parallel to the
line from his position to the airlocks position.
Solution: The dot product v rGA D vx xGA C vy yGA C vz zGA D

752 m/s2 and the component of v parallel to GA is vparallel D jvj cos
where is defined as in Problem 2.121 above.
vparallel D 4.220.941 D 3.96 m/s
1
Problem 2.123 Point P is at longitude 30 W and lati- y
tude 45 N on the Atlantic Ocean between Nova N
Scotia and France. (See Problem 2.86.) Point Q is at
longitude 60 E and latitude 20 N in the Arabian Sea.
Use the dot product to determine the shortest distance
P
along the surface of the earth from P to Q in terms of
the radius of the earth RE . Q
Strategy: Use the dot product to detrmine the angle 45

z 20
between the lines OP and OQ; then use the definition of O
an angle in radians to determine the distance along the 30 60
surface of the earth from P to Q. G
Equator
Solution: The distance is the product of the angle and the radius of The dot product is
the sphere, d D RE , where is in radian measure. From Eqs. (2.18)
and (2.24), the angular separation of P and Q is given by P Q D RE2 cosP Q cos P cos Q C sin P sin Q

PQ Substitute:
cos D .
jPjjQj
PQ
cos D D cosP Q cos P cos Q C sin P sin Q
The strategy is to determine the angle in terms of the latitude and jPjjQj
longitude of the two points. Drop a vertical line from each point P and
Q to b and c on the equatorial plane. The vector position of P is the sum Substitute P D C30 , Q D 60 , p D C45 , Q D C20 , to obtain
of the two vectors: P D rOB C rBP . The vector rOB D jrOB ji cos P C cos D 0.2418, or D 1.326 radians. Thus the distance is d D
0j C k sin P . From geometry, the magnitude is jrOB j D RE cos P . 1.326RE
The vector rBP D jrBP j0i C 1j C 0k. From geometry, the magnitude
is jrBP j D RE sin P . Substitute and reduce to obtain: N
y
P D rOB C rBP D RE i cos P cos P C j sin P C k sin P cos P .
P

A similar argument for the point Q yields Q
45 RE
Q D rOC C rCQ D RE i cos Q cos Q C j sin Q C k sin Q cos Q b 20
c
30 60
Using the identity cos2 C sin2 D 1, the magnitudes are G
x
jPj D jQj D RE
1
Problem 2.124 (a) Determine the cross product U V
of the vectors U D 4i C 6j 10k and V D 8i C 12j C
2k. (b) Use the dot product to prove that the vector U
V is perpendicular to U and perpendicular to V.
Strategy: The vectors are expressed in terms of their

components, so you can use Eq. (2.34) to determine their
cross product.
Solution:
U D 4i C 6j 10k, V D 8i C 12j C 2k

i j k
(a)

UVD 4 6 10 D 132i C 72j C 96k

8 12 2
U U V D 4132 C 672 C 1096 D 0

(b)
V U V D 8132 C 1272 C 296 D 0
1
Problem 2.125 Two vectors U D 3i C 2j and V D 2i Solution: Use Eq. (2.34) and expand into 2 by 2 determinants.
C 4j.
i j k

(a) What is the cross product U V? U V D 3 2 0 D i20 40 j30 20
2 4 0
(b) What is the cross product V U?
C k34 22 D 8k

i j k

V U D 2 4 0 D i40 20 j20 30

3 2 0
C k22 34 D 8k
1
Problem 2.126 What is the cross product r F of the Solution: Use Eq. (2.34) and expand into 2 by 2 determinants.
position vector r D 2i C 2j C 2k (m) and the force
F D 20i 40k (N)? i j k

r F D 2 2 2 D i240 02 j240
20 0 40
202 C k20 220
r F D 80i C 120j 40k (N-m)
1
Problem 2.127 Determine the cross product r F of Solution:

i j k
the position vector r D 4i 12j C 3k (m) and the force
r F D 4 12 3
16 22 10
F D 16i 22j 10k N.
r F D 120 66i C 48 40j
C 88 192k N-m
r F D 186i C 88j C 104k N-m
1
Problem 2.128 Suppose that the cross product of two
vectors U and V is U V D 0. If jUj 6D 0, what do you
know about the vector V?
Solution:
Either V D 0 or VjjU
1
Problem 2.129 The cross product of two vectors U
and V is U V D 30i C 40k. The vector V D 4i
2j C 3k. Determine the components of U.
Solution: We know Equating components of (1) and (2), we get

i j k
3Uy C 2Uz D 30
U V D Ux Uy Uz
4 2 3
4Uz 3Ux D 0
U V D 3Uy C 2Uz i C 4Uz 3Ux j C 2Ux 4Uy k (1)

2Ux 4Uy D 40
We also know
Setting Ux D 4 and solving, we get
U V D 30i C 0j C 40k (2)

U D 4i 12j C 3k
1
Problem 2.130 The magnitudes jUj D 10 and jVj D y
20. V
(a) Use the definition of the cross product to determine U
U V.
(b) Use the definition of the cross product to determine
V U.
(c) Use Eq. (2.34) to determine U V. 30
45
(d) Use Eq. (2.34) to determine V U. x
Solution: From Eq. (228) U V D jUjjVj sin e. From the sketch,
the positive z-axis is out of the paper. For U V, e D 1k (points into
the paper); for V U, e D C1k (points out of the paper). The angle
D 15 , hence (a) U V D 10200.2588e D 51.8e D 51.8k.
Similarly, (b) V U D 51.8e D 51.8k (c) The two vectors are:
U D 10i cos 45 C j sin 45 D 7.07i C 0.707j,
V D 20i cos 30 C j sin 30 D 17.32i C 10j

i j k

U V D 7.07 7.07 0 D i0 j0 C k70.7 122.45
17.32 10 0
D 51.8k

i j k

(d) V U D 17.32 10 0 D i0 j0 C k122.45 70.7
7.07 7.07 0
D 51.8k
1
Problem 2.131 The force F D 10i 4j (N). Deter- y
mine the cross product rAB F.
(6, 3, 0) m
rAB
x
z
(6, 0, 4) m
B
F
Solution: The position vector is y

A (6, 3, 0)
rAB D 6 6i C 0 3j C 4 0k D 0i 3j C 4k
The cross product:

rAB

i j k x

rAB F D 0 3 4 D i16 j40 C k30
10 4 0 z F
B (6, 0, 4)
D 16i C 40j C 30k (N-m)
1
Problem 2.132 By evaluating the cross product U y
V, prove the identity sin1 2 D sin 1 cos 2
cos 1 sin 2 .
U
V
1
2
x
Solution: Assume that both U and V lie in the x-y plane. The y
strategy is to use the definition of the cross product (Eq. 2.28) and the U
Eq. (2.34), and equate the two. From Eq. (2.28) U V D jUjjVj sin1
2 e. Since the positive z-axis is out of the paper, and e points into
V
the paper, then e D k. Take the dot product of both sides with e, and
note that k k D 1. Thus 1
2
U V k x
sin1 2 D
jUjjVj
The vectors are:
U D jUji cos 1 C j sin 2 , and V D jVji cos 2 C j sin 2 .
The cross product is

i j k

U V D jUj cos 1 jUj sin 1 0
jVj cos 2 jVj sin 2 0
D i0 j0 C kjUjjVjcos 1 sin 2 cos 2 sin 1
Substitute into the definition to obtain: sin1 2 D sin 1 cos 2

cos 1 sin 2 . Q.E.D.
1
Problem 2.133 Use the cross product to determine the
components of a unit vector e that is normal to both
of the vectors U D 8i 6j C 4k and V D 3i C 7j C 9k.
(Notice that there are two answers.)
Solution: First, find U V D R

i j k

R D U V D 8 6 4
3 7 9
R D 54 28i C 12 72j C 56 18 k
R D 82i 60j C 74k

R 82i 60j C 74k
eR D D
jRj 125.7
er D 0.652i 0.477j C 0.589k
1
Problem 2.134 (a) What is the cross product rOA y
rOB ? (b) Determine a unit vector e that is perpendicular B ( 4, 4, 4) m
to rOA and rOB .
Solution: The two radius vectors are

rOB
rOB D 4i C 4j 4k, rOA D 6i 2j C 3k
(a) The cross product is O x

i j k
rOA
rOA rOB D 6 2 3 D i8 12 j24 12
4 4 4 A (6, 2, 3) m
z
C k24 C 8
D 4i C 36j C 32k m2
The magnitude is
p
jrOA rOB j D 42 C 362 C 322 D 48.33 m2
(b) The unit vector is

rOA rOB
eD D 0.0828i C 0.7448j C 0.6621k
jrOA rOB j
(Two vectors.)
1
Problem 2.135 For the points O, A, and B in Pro-
blem 2.134, use the cross product to determine the length
of the shortest straight line from point B to the straight
line that passes through points O and A.
Solution: (The magnitude of C is 338.3)
rOA D 6i 2j C 3k (m) We now want to find the length of the projection, P, of line OB in
direction ec .
rOB D 4i C 4j 4k m
P D rOB eC
rOA rOB D C
D 4i C 4j 4k eC
(C is ? to both rOA and rOB )
P D 6.90 m
i j k C8 12i

C D 6 2 3 D C12 C 24j y
4 4 4 C24 C 8k
B ( 4, 4, 4) m
C D 4i C 36j C 32k
C is ? to both rOA and rOB . Any line ? to the plane formed by C and
rOA will be parallel to the line BP on the diagram. C rOA is such a
line. We then need to find the component of rOB in this direction and rOB
compute its magnitude.

i j k O
x
C rOA D 4 C36 32
6 rOA
2 3
P
C D 172i C 204j 208k z A(6, 2, 3) m
The unit vector in the direction of C is
C
eC D D 0.508i C 0.603j 0.614k
jCj
1
Problem 2.136 The cable BC exerts a 1000-lb force F y
on the hook at B. Determine rAB F.
Solution: The coordinates of points A, B, and C are A (16, 0, 12), B

B (4, 6, 0), C (4, 0, 8). The position vectors are F
6 ft rAB
rOA D 16i C 0j C 12k, rOB D 4i C 6j C 0k, rOC D 4i C 0j C 8k.
x
The force F acts along the unit vector 8 ft
C
4 ft rAC
rBC rOC rOB rAB
eBC D D D A
jrBC j jrOC rOB j jrAB j 4 ft 12 ft
Noting rOC rOB D 4 4i C 0 6j C 8 0k D 0i 6j C 8k z
p y
jrOC rOB j D 62 C 82 D 10. Thus
eBC D 0i 0.6j C 0.8k, and F D jFjeBC D 0i 600j C 800k (lb). B
The vector 6 ft r
rAB D 4 16i C 6 0j C 0 12k D 12i C 6j 12k x

8 ft
C
Thus the cross product is
4 ft

i j k 4 ft A
12 ft
rAB F D 12 6 12 D 2400i C 9600j C 7200k (ft-lb)
0 600 800
1
Problem 2.137 The force vector F points along the y
straight line from point A to point B. Its magnitude
A
is jFj D 20 N. The coordinates of points A and B F
are xA D 6 m, yA D 8 m, zA D 4 m and xB D 8 m, yB D
1 m, zB D 2 m.
rA B
(a) Express the vector F in terms of its components.
(b) Use Eq. (2.34) to determine the cross products rB
rA F and rB F. x
Solution: We have rA D 6i C 8j C 4k m, rB D 8i C j 2k m,
8 6 mi C 1 8 mj C 2 4 mk
F D 20 N
2 m2 C 7 m2 C 6 m2
(a)
20 N
D p 2i 7j 6k
89

i j k
20 N

rA F D p 6 m 8 m 4 m
89
2 7 6
D 42.4i C 93.3j 123.0k Nm
(b)
i j k
20 N
rB F D p 8 m 1 m 2 m
89
2 7 6
D 42.4i C 93.3j 123.0k Nm
Note that both cross products give the same result (as they must).
1
Problem 2.138 The rope AB exerts a 50-N force T on y
the collar at A. Let rCA be the position vector from point
0.15 m
C to point A. Determine the cross product rCA T.
0.4 m
B C
T
Solution: The vector from C to D is rCD D xD xC i C yD 0.2 m 0.3 m
A
yC j C zD zC k. The magnitude of the vector
0.5 m
O x
jrCD j D xD xC 2 C yD yC 2 C zD zC 2 .
0.25 m
D
The components of the unit vector along CD are given by uCDx D 0.2 m
xD xC /jrCD j, uCDy D yD yC /jrCD j, etc. Numerical values z
are jrCD j D 0.439 m, uCDx D 0.456, uCDy D 0.684, and uCDz D
0.570. The coordinates of point A are given by xA D xC C jrCA juCDx ,
yA D yC C jrCA juCDy , etc. The coordinates of point A are (0.309,
0.162, 0.114) m. The vector rCA is given by rCA D xA xC i C yA
yC j C zA zC k. The vector rCA is rCA D 0.091i C 0.137j C
0.114k m. The vector from A to B and the corresponding unit
vector are found in the same manner as from C to D above.
The results are jrAB j D 0.458 m, uABx D 0.674, uABy D 0.735, and
uABz D 0.079. The force T is given by T D jTjuAB . The result is
T D 33.7i C 36.7j C 3.93k N.
The cross product rCA T can now be calculated.

i j k

rCA T D 0.091 0.138 0.114
33.7 36.7 3.93
D 4.65i C 3.53j C 7.98k N-m
1
Problem 2.139 The straight line L is collinear with the
force vector F. Let D be the perpendicular distance from L
an arbitrary point P to L. Prove that P
F
DjFj D jr Fj,
D
where r is a position vector from point P to any point
on L.
Solution: By definition
F
jr Fj D jrjjFj sin r
From the figure we see that

D
D D jrj sin
Hence
jr Fj D DjFj
1
Problem 2.140 The bar AB is 6 m long and is perpen- y
dicular to the bars AC and AD. Use the cross product to B (xB, yB, zB)
determine the coordinates xB , yB , zB of point B.
Solution: The strategy is to determine the unit vector perpendic-

ular to both AC and AD, and then determine the coordinates that will
agree with the magnitude of AB. The position vectors are: A
(0, 3, 0) m
rOA D 0i C 3j C 0k, rOD D 0i C 0j C 3k, and
rOC D 4i C 0j C 0k. The vectors collinear with the bars are:
rAD D 0 0i C 0 3j C 3 0k D 0i 3j C 3k,
rAC D 4 0i C 0 3j C 0 0k D 4i 3j C 0k.

C
D x
The vector collinear with rAB is (0, 0, 3) m (4, 0, 0) m
z

i j k

R D rAD rAC D 0 3 3 D 9i C 12j C 12k
4 3 0
The magnitude jRj D 19.21 (m). The unit vector is
R
eAB D D 0.4685i C 0.6247j C 0.6247k.
jRj
Thus the vector collinear with AB is
rAB D 6eAB D C2.811i C 3.75j C 3.75k.
Using the coordinates of point A:
xB D 2.81 C 0 D 2.81 (m)
yB D 3.75 C 3 D 6.75 (m)
zB D 3.75 C 0 D 3.75 (m)
1
Problem 2.141* Determine the minimum distance from y
point P to the plane defined by the three points A, B,
and C. B (0, 5, 0) m
P
Solution: The strategy is to find the unit vector perpendicular to (9, 6, 5) m
the plane. The projection of this unit vector on the vector OP: rOP e is
the distance from the origin to P along the perpendicular to the plane.
The projection on e of any vector into the plane (rOA e, rOB e, or A
rOC e) is the distance from the origin to the plane along this same x
(3, 0, 0) m
perpendicular. Thus the distance of P from the plane is
d D rOP e rOA e. C
(0, 0, 4) m
z
The position vectors are: rOA D 3i, rOB D 5j, rOC D 4k and rOP D
9i C 6j C 5k. The unit vector perpendicular to the plane is found
from the cross product of any two vectors lying in the plane. Noting: y
rBC D rOC rOB D 5j C 4k, and rBA D rOA rOB D 3i 5j. The P[9,6,5]
cross product:
B[0,5,0]
i j k

rBC rBA D 0 5 4 D 20i C 12j C 15k.

3 5 0
O x
The magnitude is jrBC rBA j D 27.73, thus the unit vector is e D
0.7212i C 0.4327j C 0.5409k. The distance of point P from the plane
A[3,0,0]
is d D rOP e rOA e D 11.792 2.164 D 9.63 m. The second term
is the distance of the plane from the origin; the vectors rOB , or rOC z
C[0,0,4]
could have been used instead of rOA .
1
Problem 2.142* The force vector F points along y
the straight line from point A to point B. Use
A
Eqs. (2.28)(2.31) to prove that F
rB F D rA F.
rA B
Strategy: Let rAB be the position vector from point A
to point B. Express rB in terms of of rA and rAB . Notice rB
that the vectors rAB and F are parallel. x
Solution: We have
rB D rA C rAB .
Therefore
rB F D rA C rAB F D rA F C rAB F
The last term is zero since rAB jjF.
Therefore
rB F D r A F
1
Problem 2.143 For the vectors U D 6i C 2j 4k,
V D 2i C 7j, and W D 3i C 2k, evaluate the following
mixed triple products: (a) U V W; (b) W V
U; (c) V W U.
Solution: Use Eq. (2.36).

6 2 4

(a) U V W D 2 7 0
3 0 2
D 614 24 C 421 D 160

3 0 2

(b) W V U D 2 7 0
6 2 4
D 328 0 C 24 42 D 160

2 7 0

(c) V W U D 3 0 2
6 2 4
D 24 712 12 C 0 D 160
1
Problem 2.144 Use the mixed triple product to calcu- y
late the volume of the parallelepiped.
(140, 90, 30) mm
(200, 0, 0) mm
x
z (160, 0, 100) mm
Solution: We are given the coordinates of point D. From the geom-

etry, we need to locate points A and C. The key to doing this is to note y
that the length of side OD is 200 mm and that side OD is the x axis. (140, 90, 30)
Sides OD, AE, and CG are parallel to the x axis and the coordinates mm
A
E
of the point pairs (O and D), (A and E), and (C and D) differ only by
200 mm in the x coordinate. Thus, the coordinates of point A are (60,
B
90, 30) mm and the coordinates of point C are (40, 0, 100) mm. F
Thus, the vectors rOA , rOD , and rOC are rOD D 200i mm, rOA D O D
60i C 90j C 30k mm, and rOC D 40i C 0j C 100k mm. The mixed x
triple product of the three vectors is the volume of the parallelepiped. G (200, 0, 0)
mm
The volume is C
(160, 0, 100)
mm
60 90 30
z
rOA rOC rOD D 40 0 100
200 0 0
D 600 C 90200100 C 300 mm3
D 1,800,000 mm3
1
Problem 2.145 By using Eqs. (2.23) and (2.34), show
that

Ux Uy Uz

U V W D Vx Vy Vz
W Wy Wz
x
.
Solution: One strategy is to expand the determinant in terms of Since the two-by-two determinants are scalars, this can be written in
its components, take the dot product, and then collapse the expansion. the form: P D iPX C jPY C kPZ where the scalars PX , PY , and PZ are
Eq. (2.23) is an expansion of the dot product: Eq. (2.23): U V D the two-by-two determinants. Apply Eq. (2.23) to the dot product of
UX VX C UY VY C UZ VZ . Eq. (2.34) is the determinant representation a vector Q with P. Thus Q P D QX PX C QY PY C QZ PZ . Substitute
of the cross product: PX , PY , and PZ into this dot product

i j k U UZ UX UZ UX UZ
Q P D QX Y
Eq. (2.34) U V D UX UY UZ VY VZ
Q Y VX VZ
C Q z VX VZ
VX VY VZ
But this expression can be collapsed into a three-by-three determinant
For notational convenience, write P D U V. Expand the determi- directly, thus:
nant about its first row:

QX QY QZ
U
UZ UX UZ UX UZ Q U V D UX UZ . This completes the demonstration.
P D i Y j C k UY
VY VZ VX VZ VX VZ VX VY VZ
1
Problem 2.146 The vectors U D i C UY j C 4k, V D
2i C j 2k, and W D 3i C j 2k are coplanar (they
lie in the same plane). What is the component Uy ?
Solution: Since the non-zero vectors are coplanar, the cross pro-
duct of any two will produce a vector perpendicular to the plane, and
the dot product with the third will vanish, by definition of the dot
product. Thus U V W D 0, for example.

1 UY 4

U V W D 2 1 2
3 1 2
D 12 C 2 UY 4 6 C 42 C 3
D C10UY C 20 D 0
Thus UY D 2
1
Problem 2.147 The magnitude of F is 8 kN. Express Solution: The unit vector collinear with the force F is developed
F in terms of scalar components. as follows: The collinear vector is r D 7 3i C 2 7j D 4i 5j
p
y The magnitude: jrj D 42 C 52 D 6.403 m. The unit vector is
(3, 7) m
r
eD D 0.6247i 0.7809j. The force vector is
jrj
F F D jFje D 4.997i 6.247j D 5i 6.25j (kN)
(7, 2) m
1
Problem 2.148 The magnitude of the vertical force W
is 600 lb, and the magnitude of the force B is 1500 lb.
Given that A C B C W D 0, determine the magnitude of
the force A and the angle .
B W
50

A
Solution: The strategy is to use the condition of force balance to

determine the unknowns. The weight vector is W D 600j. The vector
B is
B D 1500i cos 50 C j sin 50 D 964.2i C 1149.1j
The vector A is A D jAji cos180 C C j sin180 C
A D jAji cos j sin . The forces balance, hence A C B C W D

0, or 964.2 jAj cos i D 0, and 1149.1 600 jAj sin j D 0.
Thus jAj cos D 964.2, and jAj sin D 549.1. Take the ratio of the
two equations to obtain tan D 0.5695, or D 29.7 . Substitute this
angle to solve: jAj D 1110 lb
1
Problem 2.149 The magnitude of the vertical force
70 in. 100 in.
vector A is 200 lb. If A C B C C D 0, what are the mag-
nitudes of the force vectors B and C?
50 in.
C E
B D
A F
Solution: The strategy is to express the forces in terms of scalar

components, and then solve the force balance equations for the un-
knowns. C D jCji cos j sin , where
50
tan D D 0.7143, or D 35.5 .
70
Thus C D jCj0.8137i 0.5812j. Similarly, B D CjBji, and A D

C200j. The force balance equation is A C B C C D 0. Substituting,
0.8137jCj C jBji D 0, and 0.5812jCj C 200j D 0. Solving,
jCj D 344.1 lb, jBj D 280 lb
1
Problem 2.150 The magnitude of the horizontal force
vector D in Problem 2.149 is 280 lb. If D C E C F D 0,
what are the magnitudes of the force vectors E and F?
Solution: The strategy is to express the force vectors in terms of

scalar components, and then solve the force balance equation for the
unknowns. The force vectors are:
50
E D jEji cos j sin , where tan D D 0.5, or D 26.6 .
100
Thus
E D jEj0.8944i 0.4472j
D D 280i, and F D jFjj.
The force balance equation is D C E C F D 0. Substitute and resolve

into two equations:
0.8944jEj 280i D 0, and 0.4472jEj C jFjj D 0.
Solve: jEj D 313.1 lb, jFj D 140 lb
1
Problem 2.151 What are the direction cosines of F? y
Refer to this diagram when solving Problems 2.1512.157. F = 20i + 10j 10k (lb)
A

(4, 4, 2) ft
B (8, 1, 2) ft
x
Solution: Use the definition of the direction cosines and the

ensuing discussion.
p
The magnitude of F: jFj D 202 C 102 C 102 D 24.5.
Fx 20
The direction cosines are cos x D D D 0.8165,
jFj 24.5
Fy 10
cos y D D D 0.4082
jFj 24.5
Fz 10
cos z D D D 0.4082
jFj 24.5
1
Problem 2.152 Determine the scalar components of Solution: Use the definition of the unit vector, we get
a unit vector parallel to line AB that points from A
toward B. The position vectors are: rA D 4i C 4j C 2k, rB D 8i C 1j 2k. The
vector from A to B is rAB D 8 p4i C 1 4j C 2 2k D
4i 3j 4k. The magnitude: jrAB j D 42 C 32 C 42 D 6.4. The unit
vector is
rAB 4 3 4
eAB D D i j k D 0.6247i 0.4688j 0.6247k
jrAB j 6.4 6.4 6.4
1
Problem 2.153 What is the angle between the line Solution: Use the definition of the dot product Eq. (2.18), and
AB and the force F? Eq. (2.24):
rAB F
cos D .
jrAB jjFj
From the solution to Problem 2.130, the vector parallel to AB is rAB D

4i 3j 4k, with a magnitude jrAB j D 6.4. From Problem 2.151, the
force is F D 20i C 10j 10k, with a magnitude of jFj D 24.5. The dot
product is rAB F D 420 C 310 C 410 D 90. Substi-
90
tuting, cos D D 0.574, D 55
6.424.5
1
Problem 2.154 Determine the vector component of F Solution: Use the definition in Eq. (2.26): UP D e Ue, where e
that is parallel to the line AB. is parallel to a line L. From Problem 2.152 the unit vector parallel to
line AB is eAB D 0.6247i 0.4688j 0.6247k. The dot product is
e F D 0.624720 C 0.468810 C 0.624710 D 14.053.
The parallel vector is
e Fe D 14.053e D 8.78i 6.59j 8.78k (lb)
1
Problem 2.155 Determine the vector component of F
that is normal to the line AB.
Solution: Use the Eq. (2.27) and the solution to Problem 2.154.
FN D F FP D 20 8.78i C 10 C 6.59j C 10 C 8.78k
D 11.22i C 16.59j 1.22k (lb)
1
Problem 2.156 Determine the vector rBA F, where
rBA is the position vector from B to A.
Solution: Use the definition in Eq. (2.34). Noting rBA D rAB ,

from Problem 2.155 rBA D 4i C 3j C 4k. The cross product is

i j k

rBA F D 4 3 4 D 30 40i 40 80j
20 10 10
C 40 60
D 70i C 40j 100k (ft-lb)
1
Problem 2.157 (a) Write the position vector rAB from
point A to point B in terms of scalar components.
(b) The vector F has magnitude jFj D 200 N and is

parallel to the line from A to B. Write F in terms of
scalar components.
Solution: y
A (1,5,1) m
(a) rAB D xB xA i C yB yA j C zB zA k
D 8 1i C 1 5j C 1 C 1k
D 7i 4j C 2k m.
(b) By dividing rAB by its magnitude, we obtain a unit vector parallel B (8,1,1) m
to F:
F x
rAB
eAB D D 0.843i 0.482j C 0.241k.
jrAB j
Then
z
F D 200eAB D 169i 93.3j C 48.2k N.
1
Problem 2.158 The rope exerts a force of magnitude y
B (5, 6, 1) ft
jFj D 200 lb on the top of the pole at B.
(a) Determine the vector rAB F, where rAB is the

position vector from A to B.
(b) Determine the vector rAC F, where rAC is the F
position vector from A to C.
A x
C (3, 0, 4) ft
z
Solution: The strategy is to define the unit vector pointing from B

to A, express the force in terms of this unit vector, and take the cross
product of the position vectors with this force. The position vectors
rAB D 5i C 6j C 1k, rAC D 3i C 0j C 4k,
rBC D 3 5i C 0 6j C 4 1k D 2i 6j C 3k.

p
The magnitude jrBC j D 22 C 62 C 32 D 7. The unit vector is
rBC
eBC D D 0.2857i 0.8571j C 0.4286k.
jrBC j
The force vector is
F D jFjeBC D 200eBC D 57.14i 171.42j C 85.72k.
The cross products:

i j k

rAB F D 5 6 1
57.14 171.42 85.72
D 685.74i 485.74j 514.26k
D 685.7i 485.7j 514.3k (ft-lb)

i j k

rAC F D 3 0 4
57.14 171.42 85.72
D 685.68i 485.72j 514.26k
D 685.7i 485.7j 514.3k (ft-lb)
1
Problem 2.159 The magnitude of FB is 400 N and y
jFA C FB j D 900 N. Determine the components of FA .
FB
FA
60 40
x
30 50
Solution: Setting
jFB j D 400 N 900 N D jFA C FB j
We need to write each vector in terms of its known or unknown compo- D [0.587FA 1002 C 0.643FA C 3462
nents. From the diagram
C 0.492FA C 1732 ]1/2
FAx D jFA j cos 40 cos 40 D 0.587
and solving, we obtain FA D 595 N. Substituting this result into
FAz D jFA j cos 40 cos 50 D 0.492 Eq. (1),
FAy D jFA j sin 40 D 0.642 FA D 349i C 382j C 293k N.
FBx D 400 cos 60 cos 60
FBz D 400 cos 60 cos 30
FBy D 400 sin 60
Let FA D jFA j and FB D jFB j D 400 N.

The components of the vectors are
FA D FA cos 40 sin 50 i C FA sin 40 j C FA cos 40 cos 50 k
D FA 0.587i C 0.643j C 0.492k, (1)
FB D FB cos 60 sin 30 i C FB sin 60 j C FB cos 60 cos 30 k
D 100i C 346j C 173k N.
1
Problem 2.160 Suppose that the forces FA and FB
shown in Problem 2.159 have the same magnitude and
FA FB D 600 N2 . What are FA and FB ?
Solution: From Problem 2.159, the forces are: The dot product: FA FB D jFA jjFB j0.6233 D 600 N2 , from

FA D jFA ji cos 40 sin 50 C j sin 40 C k cos 40 cos 50 600
jFA j D jFB j D D 31.03 N,
0.6233
D jFA j0.5868i C 0.6428j C 0.4924k
and
FB D jFB ji cos 60 sin 30 C j sin 60 C k cos 60 cos 30
FA D 18.21i C 19.95j C 15.28k (N)
D jFB j0.25i C 0.866j C 0.433k
FB D 7.76i C 26.87j C 13.44k (N)
1
Problem 2.161 The magnitude of the force vector FB y
is 2 kN. Express it in terms of scalar components. F
D (4, 3, 1) m
FC
FA
FB
A
z C
x
(6, 0, 0) m
B (5, 0, 3) m
Solution: The strategy is to determine the unit vector collinear y F

with FB and then express the force in terms of this unit vector.
The radius vector collinear with FB is D (4,3,1)
rBD D 4 5i C 3 0j C 1 3k or rBD D 1i C 3j 2k. FA FC

The magnitude is
A C(6,0,0)
p x
jrBD j D 12 C 32 C 22 D 3.74.
z FB
The unit vector is
B (5,0,3)
rBD
eBD D D 0.2673i C 0.8018j 0.5345k
jrBD j
The force is
FB D jFB jeBD D 2eBD (kN) FB D 0.5345i C 1.6036j 1.0693k
D 0.53i C 1.60j 1.07k (kN)
1
vector F in Problem 2.161 is 6 kN. Determine the vector
components of F parallel and normal to the line from B
to D.
Solution: The projection of the force F onto the line from B
to D is FP D F eBD eBD . The vertical force has the component
F D 6j (kN). From Problem 2.139, the unit vector pointing from
B to D is eBD D 0.2673i C 0.8018j 0.5345k. The dot product is
F eBD D 4.813. Thus the component parallel to the line BD is FP D
4.813eBD D C1.29i 3.86j C 2.57k (kN). The component perpen-
dicular to the line is: FN D F FP . Thus FN D 1.29i 2.14j
2.57k (kN)
1
vector F in Problem 2.161 is 6 kN. Given that F C FA C
FB C FC D 0, what are the magnitudes of FA , FB , and
FC ?
Solution: The strategy is to expand the forces into scalar compo- The forces are:
nents, and then use the force balance equation to solve for the un-
knowns. The unit vectors are used to expand the forces into scalar FA D jFA jeAD , FB D jFB jeBD , FC D jFC jeCD , F D 6j (kN).
components. The position vectors, magnitudes, and unit vectors are:
Substituting into the force balance equation
p
rAD D 4i C 3j C 1k, jrAD j D 26 D 5.1,
F C FA C FB C FC D 0,
eAD D 0.7845i C 0.5883j C 0.1961k.
0.7843jFA j 0.2674jFB j 0.5348jFC ji D 0
p
rBD D 1i C 3j 2k, jrBD j D 14 D 3.74,
0.5882jFA j C 0.8021jFB j C 0.8021jFC j 6j
eBD D 0.2673i C 0.8018j 0.5345k.
D 00.1961jFA j 0.5348jFB j C 0.2674jFC jk D 0
p
rCD D 2i C 3j C 1k, jrCD j D 14 D 3.74,
These simple simultaneous equations can be solved a standard method
(e.g., Gauss elimination) or, conveniently, by using a commercial
eCD D 0.5345i C 0.8018j C 0.2673k package, such as TK Solver, Mathcad, or other. An HP-28S hand
held calculator was used here: jFA j D 2.83 (kN), jFB j D 2.49 (kN),
jFC j D 2.91 (kN)
1
Problem 2.164 The magnitude of the vertical force W Solution: Express the position vectors in terms of scalar compo-
is 160 N. The direction cosines of the position vector from nents, calculate rAG , and take the cross product. The position vectors
A to B are cos x D 0.500, cos y D 0.866, and cos z D are: rAB D 0.6.5i C 0.866j C 0k rAB D 0.3i C 0.5196j C 0k,
0, and the direction cosines of the position vector from
B to C are cos x D 0.707, cos y D 0.619, and cos z D rBG D 0.30.707i C 0.619j 0.342k,
0.342. Point G is the midpoint of the line from B to C.
Determine the vector rAG W, where rAG is the position rBG D 0.2121i C 0.1857j 0.1026k.
vector from A to G.
rAG D rAB C rBG D 0.5121i C 0.7053j 0.1026k.
W D 160j
y m
0m C i j k
60
rAG W D 0.5121 0.7053 0.1026
0 160 0
G
D 16.44i C 0j 81.95k D 16.4i C 0j 82k (N m)
B
W
600 mm
600 mm
C
600 mm G
B W
A
A
z x
x
1
Problem 2.165 The rope CE exerts a 500-N force T E
on the hinged door. (0.2, 0.4, 0.1) m
y
(a) Express T in terms of components.
(b) Determine the vector component of T parallel to
the line from point A to point B. D
T
C
(0, 0.2, 0) m
A (0.5, 0, 0) m
x
B
(0.35, 0, 0.2) m
z
Solution:
0.2 m 0i C 0.4 m 0.2 mj C 0.1 m 0k
(a) F D 500 N
0.2 m2 C 0.2 m2 C 0.1 m2
F D 333i C 333j 166.7k N
(b) We define the unit vector in the direction of AB and then use the
dot product to find the part of F that is parallel to AB.
0.35 m 0.5 mi C 0.2 m 0k

eAB D D 0.6i C 0.8k
0.15 m2 C 0.2 m2
Fjj D F eAB eAB D [333i C 333j 166.7k N

0.6i C 0.8k]0.6i C 0.8k
Working out the algebra we have
Fjj D 200i 267k N
1
Problem 2.166 In Problem 2.165, let rBC be the posi-
tion vector from point B to point C. Determine the cross
product rBC T.
Solution: The vector from B to C is
rBC D xC xB i C yC yB j C zC zB k
D 0.35i C 0.2j 0.2k m.
The vector T is T D 482i C 60.2j 120k N. The cross product of

these vectors is given by

i j k

rBC T D 0.35 0.2 0.2 D 12.0i 138j 117k N m
482 60.2 120
1

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Problem 2.

1 The magnitudes jFA j D 60 N and jFB j D FC

Solution: Draw the vectors to scale and measure the magnitude FA

802 D 502 C 402 25040 cos180 ) D 54.9

Solution: Drawing everything to scale we can measure the magni-

Solution: From the law of cosines rB

jFB j jFA C FB j 60 133.66

Solution: Using the Law of sines twice we find FB

Solution: Using the Law of Cosines F

jDj D 3500 sin 25

Solution: Law of Sines FBC

Solution: The graphical construction is shown. The sum of the

Solution: (a) The graphical solution is obtained by drawing the

jrBC j2 D 4002 C 6002 2400600 cos 40 C

or jrBC j D 390.25 D 390.3 m

r D 12 rAB C rAC . rAC

Solution: The proof is straightforward: C

r D rAB C rBM , and r D rAC C rCM .

Solution: Additive associativity for vectors is usually given as an V

Strategy: The magnitude of a vector in terms of its

Solution: The two possible values of V are shown in the sketch.

Expressed in terms of an angle,

eU D i cos j sin D i cos53.1 j sin53.1

ep1 D i cos143.1 j sin143.1 D 0.8i 0.6j

ep2 D i cos36.9 j sin36.9 D 0.8i C 0.6j

V1 D jVj0.8i 0.6j D 16i 12j.

The components are Vx D 16, Vy D 12

V2 D jVj0.8i C 0.6j D 16i C 12j.

The components are Vx D 16, Vy D 12

y Fy D jFj sin 60 D 400.866 D 34.6 N

F D 20i 34.6j N

F D ijFj cos20 C jjFj sin20

F D 199i C 167j N x

C 2m cos 60 0j,

rAC D 2m C 2m cos 60 i C 2m sin 60 j. For rAF , we have

D 2m cos 60 xF 0i C 2m sin 60 0j.

rBC D 2 cos60 i C 2sin60 j m

rBC D 1i C 1.73j m

rAB rBC D 2i 1i 1.73j m

rAB rBC D 1i 1.73j m

Solution: Let the x-component of point B be xB . The vector from

rAB D xB xA i C yB yA j m

or rAB D xB 1.8i C 0.6 3.0j m

rAB D xB 1.8i 2.4j m

We also know jrAB j D 3.0 m. Thus

32 D xB 1.802 C 2.42

Solving, xB D 3.60. Thus

rAB D 1.80i 2.40j m

(b) Express the position vector from point B to point C C

rAB D 98 50i C 50 35j D 48i C 15j (in)

(b) The vector from point B to C is

rBC D 45 98i C 55 50j D 53i C 5j (in).

(c) The distance from A to C is the magnitude of the sum of the

rAC D rAB C rBC D 48 53i C 15 C 5j D 5i C 20j.

The distance from A to C is

Solution: The coordinates are (R D 0.2 m) y

B0.4, 0.2 C 0.4 sin 60 m

rBE D 1.0 m 0.4 mi C 0.2 m 0.2 m 0.4 m sin 60 j

(a) rAB D 60 cos30 i C 60 sin30 j, or 150

(b) rAB D 60 cos225 i C 60 sin225 j or

rAB D 42.4i 42.4j mm.

From Problem 2.32, rAB D 42.4i 42.4j mm. Thus, the

Solution: Two possibilities are: The point B lies west of point A,