Vector Addition and Resultant Force

Chapter II a
Force Systems 2D
fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I
ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Lecture Overview
1.) - Classification of Vectors
- Vector addition, parallelogram law
- Decomposition of vectors, force components
2.) - Moment of a vector
- Force couples

Statics concerning rigid bodies
- focus on sliding vectors

- principle of transmissibility
(force can be applied on any point along its line of action without
changing its external effect on a rigid body)

Vector Addition
1. parallelogram law
2. triangle rule
3. analytic method

Vector Addition – graphical method
the parallelogram law – resultant force

2 forces replaced by a single resultant force
scale

scale

A
point of intersection


Line of action of R through point of intersection

of A and B
scale
A R

the triangle rule (from parallelogram law)

line of action of one force to be moved!

for two forces

r r r r r
R = A+B = B+A
B
R
A
R A
B

for three forces

r r r r r r r
R = A + B + C = B + A + C = ...
B
C A C
A R
R
B

location of line of action of resultant force R?
Initial situation: Result of addition:
A B
A C
B
R
C

location of line of action of resultant force R?
Initial situation:
A A
B B
C C

lines of action – point of intersection
Initial situation:
A A
B B
C C

Initial situation:
A
A
B B
C C

Initial situation:
B
A
A
C C

result for 2 forces A and B : A + B = RAB
location of resultant force RAB

Initial situation:
B
A
A
RAB
B
C C

location of RAB and C
Initial situation:
RAB
B
C C

lines of action
Initial situation:
RAB
B
C C

point of intersection
Initial situation:
A
RAB
C C

Initial situation:
C A
RAB

resultant force of the 3 forces A, B and C
Initial situation:
C A
RAB
RABC B

location of line of action of resultant force
Initial situation:
C A
RAB
RABC B

location of line of action of resultant force
Initial situation:
A B
A C
B RABC
R

EXCURSION: equilibrium at particle

e.g.: equilibrium at particle:

addition of all vectors = 0
situation at
particle:
A resultant
B
reaction force A C
B R
R

Recalling equilibrium at particle



Vector Addition – analytic method

Vector Addition – analytic method
trigonometric rules
B R
B
β θ
A
2 2 2
R = A + B − 2 A B ⋅ cosθ magnitude
sinβ sinθ
= Inclination or R from A
B R
Vector Decomposition
1. components along arbitrary axis

a) graphical method
b) analytical method
2. rectangular components
vector addition by rectangular components

Vector Decomposition – graphical method

vector components along 2 axis of arbitrary incline
b
F
φ
θ
a
given: Force F, 2 axis of arbitrary incline a and b

b
F
φ
θ
a
applying parallelogram law

b
Fb F
φ
θ
Fa a

Vector Decomposition – analytical method

Vector Decomposition – analytical method
b
Fb F α = 180 o − (φ + α)
φ B
θ α
Fa a
sinφ sinθ sinα
by trigonometric rules: = =
Fa Fb F
components in sinφ sinθ
a and b directions: Fa = F and Fb = F
sinα sinα
Rectangular Components

y
F
θ
x

F
θ
x
horizontal component of F: Fx = F ⋅ cosθ

F
Fy
θ
Fx x
horizontal component of F: Fx = F ⋅ cosθ

vertical component of F: Fy = F ⋅ sinθ
magnitude of F: F = Fx2 + Fy2
Vector addition by rectangular components

Vector addition by rectangular components
R =R= (F1x + F2 x ) + (F1 y + F2 y )

2 2

2 examples

example 2.1
given: detail of a symmetric cable support

θ = 30˚, P = 10 kN
determine: tensile force (horizontal) and shear force

(vertical) exerted to the connection.

example 2.1
θ = 30˚, P = 10 kN
equilibrium condition: reaction force support –

Py position of bolt
R= -P
Px
Px and Py are the rectangular

components of P!

example 2.1
Py
θ = 30˚, P = 10 kN R= -P
Px
║Px ║= cosθ·║P║ = cos30˚·10kN = 8.66kN
║Py ║= sinθ·║P║ = sin30˚·10kN = 5.00kN

example 2.2 (from meriam textbook 2/13)

example 2.2
T R=?
R
T = 400 N

example 2.2
y
T R=?
R
x
T = 400 N fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I
R x = T + T ⋅ cos60 = 400N(1 + 0.5) = 600.0N

o
R y = T ⋅ sin60 = 400N ⋅ 3 2 = 346.4N

0
R = R 2x + R 2y = 692.8N
example 2.2
y
T R=?
R
x 60˚
T fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I
R x = T + T ⋅ cos60 = 400N(1 + 0.5) = 600.0N

o
R y = T ⋅ sin60 = 400N ⋅ 3 2 = 346.4N

0
R = R 2x + R 2y = 692.8N
example 2.2
y
T R=?
R
x 60˚
T fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I
R x = T + T ⋅ cos60 = 400N(1 + 0.5) = 600.0N

o
R y = T ⋅ sin60 = 400N ⋅ 3 2 = 346.4N

0
R = R 2x + R 2y = 692.8N
example 2.2
y
T R=?
R
x 60˚
T
R x = T + T ⋅ cos60 = 400N(1 + 0.5) = 600.0N

o
R y = T ⋅ sin60 = 400N ⋅ 3 2 = 346.4N

0
R = R 2x + R 2y = 692.8N
example 2.2
y
T R=?
R
x 60˚
T
R x = T + T ⋅ cos60 = 400N(1 + 0.5) = 600.0N

o
R y = T ⋅ sin60 = 400N ⋅ 3 2 = 346.4N

0
R = R 2x + R 2y = 692.8N
example 2.2
y
T R=?
R
x 60˚
T
R x = T + T ⋅ cos60 = 400N(1 + 0.5) = 600.0N

o
R y = T ⋅ sin60 = 400N ⋅ 3 2 = 346.4N

0
R = R + R = 692.8N
2
x
2
y
Lecture Overview
1.) - Classification of Vectors
- Vector addition, parallelogram law
- Decomposition of vectors, force components
2.) - Moment of a vector
- Force couples

Moment
1. moment of a force about a point

- scalar product
- cross product
2. force couples

Moment

moment of a force
force acting in a plane

moment of a force
line of action and support

moment of a force
line of action of reaction force
F distance
hinge support: no equilibrium - rotation!

moment of a force
axis of rotation

moment of a force
Moment of Force F M = F·d [kNm]
d = moment arm
perpendicular to line of action!

moment of a force
sign convention – right hand rule (+)
M (+)

moment of a force, scalar product
Moment of Force F M = F·d [kNm]
d = moment arm

examples - moment of a force

M = F·d

Equilibrium!
left side right side
M = +F·d M = -F·d
F F
+ M M -
d d

Equilibrium!
d d

d d

2F
d d

M = +F·d M = -2F·d
2F
d d

Rotation!

d d/2

Equilibrium!
M = +F·d M = -2F·d/2
2F
d d/2

5m
1m

F = ??
5m
500 N
1m

600 N
???
1m 3m

Moment

- scalar product
- cross product
2. force couples

Moment - Cross Product (vector product)
Moment of a vector V about any point 0
r is a position vector from reference point 0 to any point on

the line of action of vector V.
r r r r r 0
M0 = r × V = F ⋅ r ⋅ sinθ ║r║·sinθ
r r r r
i j k θ
r F
M 0 = rx ry rz
Vx Vy Vz

Definition of Cross Product (vector product)
Determination of resulting vector by three by three matrix with

unit vectors i, j and k.
r r r
i j k
ax ay az
bx by bz
r r r r r
A × B = (a y b z - a z b y )i + (a z b x - a x b z ) j + (a x b y - a y b x )k
for 2D system
Moment – Varignon’s Theorem
Moment of a force F about any point equals the sum of

the moments of the components of the force about the
same point.
by cross product:

Moment – Varignon’s Theorem
Moment of a force F about any point equals the sum of

the moments of the components of the force about the
same point.
by rectangular moment arms:

Calculate the magnitude of the moment about the base point 0 in

different ways.

example 2.3

different ways.
1.) product of force by moment arm

example 2.3

different ways.

example 2.3

different ways.

example 2.3

different ways.
2.) replace force by rectangular
components
x

example 2.3

different ways.

example 2.3

different ways.

example 2.3

different ways.

example 2.3

different ways.
3.) by cross product
x

example 2.3

different ways.
x

example 2.3

different ways.
r r r x
i j k
2 4 0
600 ⋅ cos40o - 600 ⋅ sin40 o 0
r r r r r
A × B = (a y b z - a z b y )i + (a z b x - a x b z ) j + (a x b y - a y b x )k
=0 =0

Moment

- scalar product
- cross product
2. force couples

Moment
2. force couples

moment of a couple
moment produced by 2 equal and opposite

forces is known as a couple.
d F

moment of a couple
moment of couple about any point of reference 0.
0
F
a
d F

moment of a couple
0
F
a
d F R=F–F=0
M = F(a+d) - Fa
M = Fd
moment of a couple
0
F
a
r fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I
d F R=F–F=0
M = F(a+d) - Fa
cross product: M = r x F M = Fd
moment of a couple

Force-couple systems
resolution of a force into a force and a couple –

equal external effect.


example 2.4
M = -F·y
y = -M/F = - 0.375 kNm / 5 kN
y = -75 mm

example 2.4
M = -F·y
y = -M/F = - 0.375 kNm / 5 kN
y = -75 mm 75 mm
=
initial


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Chapter II a

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

- Vector addition, parallelogram law

- Decomposition of vectors, force components

2.) - Moment of a vector

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

- focus on sliding vectors

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the parallelogram law – resultant force

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the parallelogram law – resultant force

2 forces replaced by a single resultant force

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the parallelogram law – resultant force

2 forces replaced by a single resultant force

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the parallelogram law – resultant force

2 forces replaced by a single resultant force

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the parallelogram law – resultant force

2 forces replaced by a single resultant force

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the parallelogram law – resultant force

Line of action of R through point of intersection

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the triangle rule (from parallelogram law)

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the triangle rule (from parallelogram law)

line of action of one force to be moved!

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the triangle rule (from parallelogram law)

for two forces

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the triangle rule (from parallelogram law)

for three forces

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the triangle rule (from parallelogram law)

location of line of action of resultant force R?

Initial situation: Result of addition:

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

the triangle rule (from parallelogram law)

location of line of action of resultant force R?

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

lines of action – point of intersection

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

result for 2 forces A and B : A + B = RAB

location of resultant force RAB

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

location of RAB and C

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

resultant force of the 3 forces A, B and C

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

location of line of action of resultant force

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

location of line of action of resultant force