Unit1 Mec107 PDF

Edition
Ninth
Vector Mechanics for Engineers: Statics
Contents
Introduction Sample Problem 2.3

Resultant of Two Forces Equilibrium of a Particle
Vectors Free-Body Diagrams
Addition of Vectors Sample Problem 2.4
Resultant of Several Concurrent Sample Problem 2.6
Forces Rectangular Components in Space
Sample Problem 2.1 Sample Problem 2.7
Sample Problem 2.2
Rectangular Components of a
Force: Unit Vectors
Addition of Forces by Summing
Components
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2-1

Edition
Ninth
Introduction
• The objective for the current chapter is to investigate the effects of forces
on particles:
- replacing multiple forces acting on a particle with a single
equivalent or resultant force,
- relations between forces acting on a particle that is in a
state of equilibrium.
• The focus on particles does not imply a restriction to miniscule bodies.

Rather, the study is restricted to analyses in which the size and shape of
the bodies is not significant so that all forces may be assumed to be
applied at a single point.

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Ninth
Resultant of Two Forces
• force: action of one body on another;

characterized by its point of application,
magnitude, line of action, and sense.
• Experimental evidence shows that the

combined effect of two forces may be
represented by a single resultant force.
• The resultant is equivalent to the diagonal of

a parallelogram which contains the two
forces in adjacent legs.
• Force is a vector quantity.

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Vectors
• Vector: parameters possessing magnitude and direction
which add according to the parallelogram law. Examples:
displacements, velocities, accelerations.
• Scalar: parameters possessing magnitude but not
direction. Examples: mass, volume, temperature
• Vector classifications:
- Fixed or bound vectors have well defined points of
application that cannot be changed without affecting
an analysis.
- Free vectors may be freely moved in space without
changing their effect on an analysis.
- Sliding vectors may be applied anywhere along their
line of action without affecting an analysis.
• Equal vectors have the same magnitude and direction.
• Negative vector of a given vector has the same magnitude
and the opposite direction.
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Addition of Vectors
• Trapezoid rule for vector addition
• Triangle rule for vector addition
• Law of cosines,
C
B R 2 = P 2 + Q 2 − 2 PQ cos B
  
C R = P+Q
• Law of sines,
sin A sin B sin C
= =
B Q R A
• Vector addition is commutative,

   
P+Q = Q+ P
• Vector subtraction

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Addition of Vectors
• Addition of three or more vectors through
repeated application of the triangle rule
• The polygon rule for the addition of three or

more vectors.
• Vector addition is associative,
        
P + Q + S = (P + Q ) + S = P + (Q + S )
• Multiplication of a vector by a scalar

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Resultant of Several Concurrent Forces
• Concurrent forces: set of forces which all
pass through the same point.
A set of concurrent forces applied to a

particle may be replaced by a single
resultant force which is the vector sum of the
applied forces.
• Vector force components: two or more force

vectors which, together, have the same effect
as a single force vector.

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Sample Problem 2.1
SOLUTION:
• Graphical solution - construct a
parallelogram with sides in the same
direction as P and Q and lengths in
proportion. Graphically evaluate the
resultant which is equivalent in direction
and proportional in magnitude to the the
diagonal.
The two forces act on a bolt at
A. Determine their resultant. • Trigonometric solution - use the triangle
rule for vector addition in conjunction
with the law of cosines and law of sines
to find the resultant.

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Sample Problem 2.1
• Graphical solution - A parallelogram with sides

equal to P and Q is drawn to scale. The
magnitude and direction of the resultant or of
the diagonal to the parallelogram are measured,
R = 98 N  = 35
• Graphical solution - A triangle is drawn with P

and Q head-to-tail and to scale. The magnitude
and direction of the resultant or of the third side
of the triangle are measured,
R = 98 N  = 35

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Sample Problem 2.1
• Trigonometric solution - Apply the triangle rule.
From the Law of Cosines,
R 2 = P 2 + Q 2 − 2 PQ cos B
= (40N )2 + (60N )2 − 2(40N )(60N ) cos 155
R = 97.73N
From the Law of Sines,
sin A sin B
=
Q R
Q
sin A = sin B
R
60 N
= sin 155
97.73N
A = 15.04
 = 20 + A
 = 35.04
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 10
Edition
Ninth
Sample Problem 2.2
SOLUTION:
• Find a graphical solution by applying the
Parallelogram Rule for vector addition. The
parallelogram has sides in the directions of
the two ropes and a diagonal in the direction
of the barge axis and length proportional to
25 kN force.
A barge is pulled by two tugboats.
If the resultant of the forces • Find a trigonometric solution by applying
exerted by the tugboats is a 25 kN the Triangle Rule for vector addition. With
directed along the axis of the the magnitude and direction of the resultant
barge, determine known and the directions of the other two
sides parallel to the ropes given, apply the
a) the tension in each of the ropes Law of Sines to find the rope tensions.
for  = 45o, • The angle for minimum tension in rope 2 is
b) the value of  for which the determined by applying the Triangle Rule
tension in rope 2 is minimum. and observing the effect of variations in .

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Ninth
Sample Problem 2.2
• Graphical solution - Parallelogram Rule

with known resultant direction and
magnitude, known directions for sides.
T1 = 18.5 kN T2 = 2600 lbf
• Trigonometric solution - Triangle Rule

with Law of Sines
T1 T2 25 kN
= =
sin 45 sin 30 sin 105
T1 = 18.3 kN T2 = 12.94 kN

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Sample Problem 2.2
• The angle for minimum tension in rope 2 is
determined by applying the Triangle Rule
and observing the effect of variations in .
• The minimum tension in rope 2 occurs when

T1 and T2 are perpendicular.
T2 = (25 kN )sin 30 T2 = 12.5 kN
T1 = (25 kN )cos30 T1 = 21.7 kN
 = 90 − 30  = 60

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Ninth
Rectangular Components of a Force: Unit Vectors
• May resolve a force vector into perpendicular
components so that the resulting parallelogram is a
rectangle. Fx and Fy are referred to as rectangular
vector components and
  
F = Fx + Fy
 
• Define perpendicular unit vectors i and j which are
parallel to the x and y axes.
• Vector components may be expressed as products of

the unit vectors with the scalar magnitudes of the
vector components.
  
F = Fx i + Fy j

Fx and Fy are referred to as the scalar components of F

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Addition of Forces by Summing Components
• Wish to find the resultant of 3 or more
concurrent forces,
   
R = P+Q+ S
• Resolve each force into rectangular components

       
Rx i + R y j = Px i + Py j + Qx i + Q y j + S x i + S y j

(
= (Px + Qx + S x )i + Py + Q y + S y j )
• The scalar components of the resultant are equal

to the sum of the corresponding scalar
components of the given forces.
Rx = Px + Qx + S x R y = Py + Q y + S y
=  Fx =  Fy
• To find the resultant magnitude and direction,
−1 R y
R = Rx + R y
2 2
 = tan
Rx
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Sample Problem 2.3
SOLUTION:
• Resolve each force into rectangular
components.
• Determine the components of the

resultant by adding the corresponding
force components.
• Calculate the magnitude and direction

of the resultant.
Knowing that the tension in cable BC

is 725-N, determine the resultant of
the three forces exerted at point B of
beam AB.

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Sample Problem 2.3
SOLUTION:
• Resolve each force into rectangular components.
• Calculate the magnitude and direction.

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Ninth
Equilibrium of a Particle
• When the resultant of all forces acting on a particle is zero, the particle is
in equilibrium.
• Newton’s First Law: If the resultant force on a particle is zero, the particle will
remain at rest or will continue at constant speed in a straight line.
• Particle acted upon by • Particle acted upon by three or more forces:

two forces: - graphical solution yields a closed polygon
- equal magnitude - algebraic solution
- same line of action  
R = F = 0
- opposite sense
 Fx = 0  Fy = 0
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Ninth
Free-Body Diagrams
Space Diagram: A sketch showing Free-Body Diagram: A sketch showing

the physical conditions of the only the forces on the selected particle.
problem.

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Sample Problem 2.4
SOLUTION:
• Construct a free-body diagram for the
particle at A.
• Apply the conditions for equilibrium.
• Solve for the unknown force magnitudes.

TAB T 8000 N
= AC =
sin 120 sin 2 sin 58
TAB = 8170 N
TAC = 329 N

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Ninth
Sample Problem 2.6
SOLUTION:
• Choosing the hull as the free body,
draw a free-body diagram.
• Express the condition for equilibrium
for the hull by writing that the sum of
all forces must be zero.
It is desired to determine the drag force
at a given speed on a prototype sailboat • Resolve the vector equilibrium
hull. A model is placed in a test equation into two component
channel and three cables are used to equations. Solve for the two unknown
align its bow on the channel centerline. cable tensions.
For a given speed, the tension is 200-N
in cable AB and 300-N in cable AE.
Determine the drag force exerted on the
hull and the tension in cable AC.

Edition
Ninth
Sample Problem 2.6
SOLUTION:
• Choosing the hull as the free body, draw a
free-body diagram.
7m 1.5 m
tan  = = 1.75 tan b = = 0.375
4m 4m
 = 60.25° b = 20.56°
• Express the condition for equilibrium

for the hull by writing that the sum of
all forces must be zero.
    
R = TAB + TAC + TAE + FD = 0

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Ninth
Sample Problem 2.6
• Resolve the vector equilibrium equation into
two component equations. Solve for the two
unknown cable tensions.
  
T AB = − (200 N) °
sin 60.26 i + (200 N ) °
cos 60.26 j
 
= −(173 .66 N)i + (99 .21 N ) j
  
T AC = T AC sin 20.56° i + T AC cos 20.56°j
 
= 0.3512 T AC i + 0.9363T AC j
 
T = −(300N)i
 
FD = FD i

R=0

= (−173.66 + 0.3512 T AC + FD )i

+ (99.21 + 0.9363T AC − 300) j

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Ninth
Sample Problem 2.6

R=0

= (− 173.66 + 0.3512 TAC + FD ) i

+ (99.21 + 0.9363 TAC − 300 ) j
This equation is satisfied only if each component
of the resultant is equal to zero
( F x = 0) 0 = −173.66 + 0.3512 TAC + FD

( F y = 0) 0 = 99.21 + 0.9363 TAC − 300
TAC = +214.45 N
FD = +98.35 N

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Ninth
Rectangular Components in Space
 
• The vector F is • Resolve F into • Resolve Fh into
contained in the horizontal and vertical rectangular components
plane OBAC. components. Fx = Fh cos 
Fy = F cos  y = F sin  y cos 
Fh = F sin  y Fy = Fh sin 
= F sin  y sin 

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Ninth

• With the angles between F and the axes,
Fx = F cos  x Fy = F cos  y Fz = F cos  z
   
F = Fx i + Fy j + Fz k

= F (cos  x i + cos  y j + cos  z k )
 

= F
   
 = cos  x i + cos  y j + cos  z k
 
•  is a unit vector along the line of action of F
and cos  x , cos
  y , and cos  z are the direction
cosines for F
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Ninth
Direction of the force is defined by

the location of two points,
M ( x1 , y1 , z1 ) and N ( x2 , y2 , z 2 )

d = vector joining M and N
  
= d xi + d y j + d z k
d x = x2 − x1 d y = y 2 − y1 d z = z 2 − z1
 
F = F
 1 
 = (d x i + d y j + d z k )
 
d
Fd x Fd y Fd z
Fx = Fy = Fz =
d d d
Edition
Ninth
Sample Problem 2.7
SOLUTION:
• Based on the relative locations of the
points A and B, determine the unit
vector pointing from A towards B.
• Apply the unit vector to determine the

components of the force acting on A.
• Noting that the components of the unit

vector are the direction cosines for the
The tension in the guy wire is 2500 N. vector, calculate the corresponding
Determine: angles.
a) components Fx, Fy, Fz of the force

acting on the bolt at A,
b) the angles x, y, z defining the
direction of the force
Edition
Ninth
Sample Problem 2.7
SOLUTION:
• Determine the unit vector pointing from A
towards B.
  
AB = (− 40 m ) i + (80 m ) j + (30 m )k
AB = (− 40 m )2 + (80 m )2 + (30 m )2
= 94.3 m
  − 40    80    30  
 = i +   j + k
 94 .3   94.3   94.3 
  
= −0.424 i + 0.848 j + 0.318k
• Determine the components of the force.
 
F = F

= (2500 N )(− 0.424 i + 0.848 j + 0.318k )
 
  
= (− 1060 N )i + (2120 N ) j + (795 N )k

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Ninth
Parallelogram Law
• By drawing construction
lines parallel to the
vectors, the resultant
vector goes from the
point of origin to the
intersection of the
construction lines
© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 30

Edition
Ninth
Triangle Method
• Place the tail of B to the

head of A. The Resultant
B
(R) can be found by
A
connecting the Tail of A
to the Head of B. This
forms the third leg of the A+B
triangle and the resultant Resultant
vector.

Edition
Ninth
Summary: VECTOR ADDITION USING EITHER THE
PARALLELOGRAM LAW OR TRIANGLE
Parallelogram Law:
Triangle method
(always ‘tip to tail’):
© 2010 The McGraw-Hill Companies, Inc. All rights reserved.

Edition
Ninth
Example #1
• Triangle Method – Find Resultant (mag and direction)
30 N 50 N
x
45° 30°
33
See solution in notes
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Successive Triangle Method
– If there are multiple vectors to be added together,

add the first two vectors to find the first resultant.
Once the first Resultant (R1) is found, add the next
vector to the resultant to find (R2).
– Can be repeated as many times as necessary to add
all the vectors (it also does not matter what order
they are added in, the end resultant will be the
same).
See HO, normally just

resolve into 38
components
Edition
Ninth
Polygon Method
• Polygon method is
similar to the Successive
Triangle Method but no
intermediate resultants
are calculated
Graphically measure length and

direction of R!!
See HO, do example on

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. board 39
Edition
Ninth 2.4) –
Vector Mechanics
ADDITION OF A SYSTEM OF for Engineers:
COPLANAR Statics
FORCES (Section
Basically finding resultant vectors by breaking forces up into
components and adding!
• We ‘resolve’ vectors into

components using the x and y
axis system.
• Each component of the vector is

shown as a magnitude and a
direction.
• The directions are based on the x and y axes. We use the

“unit vectors” i and j to designate the x and y axes.

Edition
Ninth
For example,
F = Fx i + Fy j or F' = F'x i + (− F'y ) j
The x and y axis are always perpendicular to each other.

Together, they can be directed at any inclination.

Edition
Ninth
EXAMPLE
Given: Three concurrent forces
acting on a tent post.
Find: The magnitude and
angle of the resultant
force.
Plan:
a) Resolve the forces into their x-y components.
b) Add the respective components to get the resultant vector.
c) Find magnitude and angle from the resultant components.

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Ninth
EXAMPLE (continued)
F1 = {0 i + 300 j } N
F2 = {– 450 cos (45°) i + 450 sin (45°) j } N

= {– 318.2 i + 318.2 j } N
F3 = { (3/5) 600 i + (4/5) 600 j } N
= { 360 i + 480 j } N
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Ninth
EXAMPLE
(continued)
Summing up all the i and j components respectively, we get,
FR = { (0 – 318.2 + 360) i + (300 + 318.2 + 480) j } N
= { 41.80 i + 1098 j } N
Using magnitude and direction: y

FR
FR = ((41.80)2 + (1098)2)1/2 = 1099 N
 = tan-1(1098/41.80) = 87.8° 
x

Edition
Ninth
GROUP PROBLEM SOLVING
Given: Three concurrent

forces acting on a
bracket
Find: The magnitude and
angle of the
resultant force.
Plan:
a) Resolve the forces into their x and y components.
b) Add the respective components to get the resultant vector.
c) Find magnitude and angle from the resultant components.

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Ninth
GROUP PROBLEM SOLVING (continued)
F1 = { (5/13) 300 i + (12/13) 300 j } N

= { 115.4 i + 276.9 j } N
F2 = {500 cos (30°) i + 500 sin (30°) j } N
= { 433.0 i + 250 j } N
F3 = { 600 cos (45°) i − 600 sin (45°) j } N
{ 424.3 i − 424.3 j } N
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Ninth
GROUP PROBLEM SOLVING (continued)
Summing up all the i and j components respectively, we get,

FR = { (115.4 + 433.0 + 424.3) i + (276.9 + 250 – 424.3) j }N
= { 972.7 i + 102.7 j } N
y
Now find the magnitude and angle, FR
FR = ((972.7)2 + (102.7)2) ½ = 978.1 N
 = tan–1( 102.7 / 972.7 ) = 6.03° 
x
From Positive x axis,  = 6.03°
Do example on board

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Ninth
ATTENTION QUIZ
1. Resolve F along x and y axes and write it in
vector form. F = { ___________ } N
y
A) 80 cos (30°) i – 80 sin (30°) j x
B) 80 sin (30°) i + 80 cos (30°) j
C) 80 sin (30°) i – 80 cos (30°) j 30
° F = 80 N
D) 80 cos (30°) i + 80 sin (30°) j
2. Determine the magnitude of the resultant (F1 + F2) force in N

when F1 = { 10 i + 20 j } N and F2 = { 20 i + 20 j } N .
A) 30 N B) 40 N C) 50 N
D) 60 N E) 70 N

Edition
Ninth

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Edition

Introduction Sample Problem 2.3

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2-1

• The focus on particles does not imply a restriction to miniscule bodies.

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2-2

• force: action of one body on another;

• Experimental evidence shows that the

• The resultant is equivalent to the diagonal of

• Force is a vector quantity.

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2-3

• Triangle rule for vector addition

• Vector addition is commutative,

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2-5

• The polygon rule for the addition of three or

• Multiplication of a vector by a scalar

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2-6

A set of concurrent forces applied to a

• Vector force components: two or more force

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2-7

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2-8

• Graphical solution - A parallelogram with sides

• Graphical solution - A triangle is drawn with P

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2-9

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 11

• Graphical solution - Parallelogram Rule

T1 = 18.5 kN T2 = 2600 lbf

• Trigonometric solution - Triangle Rule

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 12

• The minimum tension in rope 2 occurs when

T2 = (25 kN )sin 30 T2 = 12.5 kN

T1 = (25 kN )cos30 T1 = 21.7 kN

 = 90 − 30  = 60

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 13

• Vector components may be expressed as products of

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 14

• Resolve each force into rectangular components

• The scalar components of the resultant are equal

• Determine the components of the

• Calculate the magnitude and direction

Knowing that the tension in cable BC

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 16

• Calculate the magnitude and direction.

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 17

• Particle acted upon by • Particle acted upon by three or more forces:

Space Diagram: A sketch showing Free-Body Diagram: A sketch showing

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 19

• Apply the conditions for equilibrium.

• Solve for the unknown force magnitudes.

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 20

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 21

• Express the condition for equilibrium

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 22

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 23

( F x = 0) 0 = −173.66 + 0.3512 TAC + FD

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 24

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 25

Direction of the force is defined by

• Apply the unit vector to determine the

• Noting that the components of the unit

a) components Fx, Fy, Fz of the force

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 2 - 29

© 2010 The McGraw-Hill Companies, Inc. All rights reserved. 30

• Place the tail of B to the