Chapter Objectives

 To show how to add forces and resolve them into

components using the Parallelogram Law.
 To express force and position in Cartesian vector form
and explain how to determine the vector’s magnitude
and direction.

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APPLICATIONS

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SCALARS AND VECTORS

• Scalar

– A quantity characterized by a positive

or negative number
– Indicated by letters in italic such as A
e.g., mass, volume and length

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SCALARS AND VECTORS (cont)

• Vector
– A quantity that has magnitude and direction
e.g., position, force and moment 
– Represented by a letter with an arrow over it A

– Magnitude is designated by A
– In this subject, vector is
presented as A and its
magnitude
(positive quantity) as A

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VECTOR OPERATIONS

• Multiplication and Division of a Vector by a Scalar

- Product of vector A and scalar a = aA
- Magnitude = aA
- Law of multiplication applies e.g. A/a = ( 1/a ) A, a≠0

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VECTOR OPERATIONS (cont)

• Vector Addition
- Addition of two vectors A and B gives a resultant
vector R by the parallelogram law
- Result R can be found by triangle construction
- Communicative e.g. R = A + B = B + A
- Special case: Vectors A and B are collinear (both
have the same line of action)

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VECTOR OPERATIONS (cont)

• Vector Subtraction
- Special case of addition
e.g. R’ = A – B = A + ( - B )
- Rules of Vector Addition Applies

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VECTOR ADDITION OF FORCES

Finding a Resultant Force

• Parallelogram law is carried out to find the resultant
force

• Resultant,
FR = ( F1 + F2 )

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VECTOR ADDITION OF FORCES (cont)

Procedure for Analysis

• Parallelogram Law
– Make a sketch using the
parallelogram law
– 2 component forces add
to form the resultant force
– Resultant force is shown
by the diagonal of the
parallelogram
– The components are
shown by the sides of the
parallelogram

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VECTOR ADDITION OF FORCES (cont)

Procedure for Analysis

• Trigonometry
– Redraw half portion of the
parallelogram
– Magnitude of the resultant force
can be determined by the law of
cosines
– Direction of the resultant force can
be determined by the law of sines
– Magnitude of the two components
can be determined by the law of
sines

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EXAMPLE 1

The screw eye is

subjected to two forces,
F1 and F2. Determine
the magnitude and
direction of the
resultant force.

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EXAMPLE 1 (cont)

Parallelogram Law

Unknown: magnitude of
FR and angle θ

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Copyright © 2011 Pearson Education South Asia Pte Ltd
EXAMPLE 1 (cont)
Solution

Trigonometry
Law of Cosines
FR = (100 N )2 + (150 N )2 − 2(100 N )(150 N ) cos115
= 10000 + 22500 − 30000(− 0.4226 ) = 212.6 N = 213 N

Law of Sines
150 N 212.6 N
=
sin θ sin 115
150 N
sin θ = (0.9063)
212.6 N
θ = 39.8
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Copyright © 2011 Pearson Education South Asia Pte Ltd
EXAMPLE 1 (cont)

Solution

Trigonometry
Direction Φ of FR
measured from the
horizontal
φ = 39.8 + 15
= 54.8 ∠φ

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Copyright © 2011 Pearson Education South Asia Pte Ltd
ADDITION OF A SYSTEM OF COPLANAR FORCES

• Scalar Notation
– x and y axes are designated positive and negative
– Components of forces expressed as algebraic
scalars

F = Fx + Fy
Fx = F cos θ and Fy = F sin θ

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ADDITION OF A SYSTEM OF COPLANAR FORCES
(cont)

• Cartesian Vector Notation

– Cartesian unit vectors i and j are used to designate
the x and y directions
– Unit vectors i and j have dimensionless magnitude
of unity ( = 1 )
– Magnitude is always a
positive quantity,
represented by
scalars Fx and Fy

F = Fx i + Fy j

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ADDITION OF A SYSTEM OF COPLANAR FORCES
(cont)
• Coplanar Force Resultants
To determine resultant of F1 = F1x i + F1 y j
several coplanar forces:
– Resolve force into x and y F2 = − F2 x i + F2 y j
components
– Addition of the respective
F3 = F3 x i − F3 y j
components using scalar
algebra
– Resultant force is found
using the parallelogram law
– Cartesian vector notation on
top right

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ADDITION OF A SYSTEM OF COPLANAR FORCES
(cont)
• Coplanar Force Resultants
– Vector resultant is therefore
FR = F1 + F2 + F3
= (FRx )i + (FRy ) j

– If scalar notation is used

FRx = F1x − F2 x + F3 x
FRy = F1 y + F2 y − F3 y

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ADDITION OF A SYSTEM OF COPLANAR FORCES
(cont)
• Coplanar Force Resultants
– In all cases we have
FRx = ∑ Fx * Take note of sign conventions

FRy = ∑ Fy

– Magnitude of FR can be found by Pythagorean Theorem

FRy
2
FR = F + F
Rx
2
Ry and θ = tan -1

FRx

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EXAMPLE 2

Determine x and y
components of F1 and
F2 acting on the boom.

Express each force as

a Cartesian vector.

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EXAMPLE 2 (cont)

Solution
Scalar Notation
F1x = −200 sin 30 N = −100 N = 100 N ←
F1 y = 200 cos 30 N = 173 N = 173 N ↑

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EXAMPLE 2 (cont)

Solution
By similar triangles we have
 12 
F2 x = 260  = 240 N
 13 
5
F2 y = 260  = 100 N
 13 
F2 x = 240 N →
Scalar Notation:
F2 y = −100 N = 100 N ↓

Cartesian Vector Notation: F1 = {− 100i + 173 j}N

F2 = {240i − 100 j}N

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Copyright © 2011 Pearson Education South Asia Pte Ltd
EXAMPLE 3

The link is subjected to two forces F1

and F2. Determine the magnitude and
orientation of the resultant force.

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EXAMPLE 3 (cont)

Solution I
Scalar Notation:
FRx = ΣFx :
FRx = 600 cos 30 N − 400 sin 45 N
= 236.8 N →
FRy = ΣFy :
FRy = 600 sin 30 N + 400 cos 45 N
= 582.8 N ↑

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Copyright © 2011 Pearson Education South Asia Pte Ltd
EXAMPLE 3 (cont)
Solution I
Resultant Force

FR = (236.8 N )2 + (582.8 N )2
= 629 N

From vector addition,

direction angle θ is

 582.8 N 
θ = tan 
−1

 236.8 N 
= 67.9

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Copyright © 2011 Pearson Education South Asia Pte Ltd
EXAMPLE 3 (cont)
Solution II
Cartesian Vector Notation
F1 = { 600 cos 30°i + 600 sin 30°j } N
F2 = { -400 sin 45°i + 400 cos 45°j } N

Thus,
FR = F1 + F2
= (600 cos 30º N – 400 sin 45º N) i
+ (600 sin 30º N + 400 cos 45º N) j
= {236.8i + 582.8j} N

The magnitude and direction of FR are determined in the same

manner as before.

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd