Vectors and Scalars: Engineering Mechanics

Chapter I
Vectors and Scalars
fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I
ADDIS ABABA UNIVERSITY Department of

Engineering Mechanics
Faculty of Technology Civil Engineering
material by Karsten Schlesier
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Lecture Overview
1.) - Scalars and Vectors – definition
- Representation of Vectors
- Classification of Vectors
2.) - Fundamental Principles
- Newton’s Laws
- Law of Gravitation, Units
3.) - Vector operations, addition, multiplication

Lecture Overview
- Newton’s Laws

Scalars and Vectors,
definition and properties
Scalars: quantaties described by their

magnitude alone
e.g. time, volume, area, density, distance,

energy mass
10
0
20

Scalars and Vectors,
definition and properties
Vectors: quantaties described by their

magnitude and direction
e.g. displacement, velocity, force, acceleration,

momentum
10
20
0

Graphical representation of a Vector
- line segment of certain length (magnitude)

and orientation (θ)
- arrowhead indicating direction
20
(scale to be predetermined)
10
v
0
θ (reference axis to be predetermined)

x

Symbolic representation of a Vector
- magnitude, length of vector: ║V║, |V| or V

e.g. in scalar equations
- vector quantities respecting the orientation: V, V

e.g. mathematical vector operations
y
θ
x
Symbolic representation of a Vector
- magnitude, length of vector: ║V║, |V| or V

e.g. in scalar equations
most common
- vector quantities respecting the orientation: V, V
e.g. mathematical vector operations
y
θ
x
Representation of Vectors
Algebraically a vector is represented by its

components along the three dimensions.
⎛ vx ⎞
r ⎜ ⎟
V = ⎜ vy ⎟
⎜v ⎟
⎝ z⎠

r r r
expression by unit vectors: i = j = k =1
⎛ vx ⎞
r ⎜ ⎟ r r r
V = ⎜ vy ⎟ = vx i + vy j + vzk
⎜v ⎟
⎝ z⎠

r r r
⎛ vx ⎞
r ⎜ ⎟ r r r
⎜v ⎟
⎝ z⎠
v x = V ⋅ cosθ x
v y = V ⋅ cosθ y
v z = V ⋅ cosθ z
V =v +v +v
2 2
x
2
y
2
z
(magnitude)

r r r
⎛ vx ⎞
r ⎜ ⎟ r r r
⎜v ⎟
⎝ z⎠
v x = V ⋅ cosθ x
v y = V ⋅ cosθ y
v z = V ⋅ cosθ z
V =v +v +v
2 2
x
2
y
2
z
(magnitude)

r r r
⎛ vx ⎞
r ⎜ ⎟ r r r
⎜v ⎟
⎝ z⎠
v x = V ⋅ cosθ x
v y = V ⋅ cosθ y
v z = V ⋅ cosθ z
V =v +v +v
2 2
x
2
y
2
z
(magnitude)

r r r
⎛ vx ⎞
r ⎜ ⎟ r r r
⎜v ⎟
⎝ z⎠
v x = V ⋅ cosθ x
v y = V ⋅ cosθ y
v z = V ⋅ cosθ z
V =v +v +v
2 2
x
2
y
2
z
(magnitude)

Orientation of Vectors
collinear - same line of action
coplanar - located in the same plane
concurrent - passing through a common point

Classification of Vectors
1. Free Vector
2. Sliding Vector
3. Fixed Vector

Vectors,
classifications
1. Free Vector: action in space not associated

with a unique line
e.g. uniform displacement of a body

Vectors,
classifications

with a unique line

Vectors,
classifications

with a unique line

Vectors,
classifications
2. Sliding Vector: action in space described by a

unique line
e.g. action of force on rigid body

Vectors,
classifications

unique line

Vectors,
classifications

unique line

Vectors,
classifications
3. Fixed Vector: action in space described by a

unique point
e.g. action of force on non rigid body

Vectors,
classifications
3. Fixed Vector: action in space described by a

unique point
e.g. action of force on non rigid body

Lecture Overview
- Newton’s Laws

Fundamental Principles
Preconditions to deal with problems in

mechanics.

Basic concepts used in mechanics:
space, time, mass, force, particle, rigid body

coordinates - position of a point P (x, y, z)

measured from a certain point of reference
y
P (x,y,z)
z x

time of an event taking place,

determination of velocity and acceleration

mass of a body [kg, to]
action of weight, behaviour under the action

of an external force

magnitude, direction, point of application

e.g. action on a rigid body, action of one body
onto another y
θ
x
infinitesimal small piece of a body, single

point in space
y
z x

body consisting of a non-deformable material

(no displacement under the action of forces)

Fundamental Principles –
Newton’s Laws
Sir Isaac Newton (1642-1727)

Newton’s Laws
1st Law: A particle remains at rest or continues

to move with constant velocity if the
resultant force acting on it is zero.

Newton’s Laws
2nd Law: The acceleration of a particle is

proportional to the resultant force
acting on it (magnitude and direction).
F = ma m = mass of particle
a = acceleration

Newton’s Laws
3rd Law: The forces of action and reaction

between bodies in contact are equal
in magnitude, opposite in direction
and collinear (same line of action).
Action
Reaction

Newton’s Laws
Law of Gravitation
Two particles of mass m1 and m2 are mutually

attracted with equal and opposite forces F and F’
of magnitude F.
m1
m1m 2
F=G 2
r
r
G = constant of
m2
graviation

Newton’s Laws
Law of Gravitation
Weight = Gravitational Force acting on a body

(attraction between earth and body)
W = m ⋅ g g = acceleration of gravity = 9.81 m/s2

Newton’s Laws
Law of Gravitation
Weight = Gravitational Force acting on a body

(attraction between earth and body)
W[N ] = m[kg] ⋅ g[m s 2 ] g = 9.81 m/s2

Units
International System of Units (SI units)
Mass m [to, kg]

Force F [kN, N]
Time t [s]
Length L [m, cm, mm]

Units
example
Express a body mass of 80 kg in the unit of
Newton.

Units
example
Newton.
W = 80 kg · 9.81 m/s2 = 784.8 N

Units
example
Newton.
W = 80 kg · 9.81 m/s2 = 784.8 N = 0.785 kN

Units
example
Newton.
W = 80 kg · 9.81 m/s2 = 784.8 N = 0.785 kN
approximation: e.g. 100 kg = 1.0 kN
commonly used in the field of civil engineering

Lecture Overview
- Newton’s Laws

Vector Operations
- vector addition
- parallelogram law, triangle rule

- composition and decomposition of forces
- vector multiplication
- dot and cross products

Vector Addition – graphical method
the parallelogram law – resultant force
Two forces maybe replaced by a single force

(resultant) obtained by drawing the diagonal of the
parallelogram having sides equal to the given forces.




scale
A 20
A
10
particle
B B 0


A
A
B B


A
A
B B


scale
A
A R
B B


r r r r
A+B = B+A
A R
Vector addition is
commutative!
B


r r r r
A−B ≠ B−A
A
Vector subtraction is
not commutative!
B

the triangle rule (from parallelogram law)
for two forces

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

the triangle rule (from parallelogram law)
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

Vector Addition – analytic method
trigonometric rules
applying sine and cosine rules
c
b = sinθ·c
θ
a = cosθ·c

trigonometric rules
c
b
β θ
a
c 2 = a 2 + b 2 − 2ab ⋅ cosθ
sinβ sinθ
=
b c
trigonometric rules
B R
B
β θ
A
2 2 2
R = A + B − 2 A B ⋅ cosθ magnitude
sinβ sinθ
= Inclination of R from A
B R
Decomposition of Vectors
Components, y
perpendicular
V
θ
x
horizontal component of V:

Components y
V
θ
x
horizontal component of V: Vx = V ⋅ cosθ

Components y
V
θ
x
vertical component of V:

Components y
V
θ
x
vertical component of V: Vy = V ⋅ sinθ

Components y
V
θ
x
vertical component of V: Vy = V ⋅ sinθ

Multiplication
Multiplication of vectors by scalars

r
n⋅A
(
r r
) r
n ⋅ A + B = nA + nB
r
r r r
(n + m ) ⋅ A = nA + mA

Multiplication
Multiplication of vectors by vectors
- dot product (scalar product)
- cross product (vector product)

Dot Product (scalar product)
Vectors A and B are θ inclined from each other
r r r r
A.B = A ⋅ B ⋅ cosθ result = scalar
r r
A.B = a x b x + a y b y + a z b z

Cross Product (vector product)
Vectors A and B are θ inclined from each other.
Result : Vector of determined magnitude and direction

perpendicular to the plane formed by A and B
r r r r
A × B = A ⋅ B ⋅ sinθ


r r r r


r r r r
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

Determination of resulting vector by three by three matrix

r r r
i j k
ax ay az
bx by bz
r r r r r


r r r
i j k
ax ay az
bx by bz
r r r r r


r r r
i j k
ax ay az
bx by bz
r r r r r


r r r
i j k
ax ay az
bx by bz
r r r r r

Moment of a vector V about any point 0
r is a position vector from point 0 to any point on the line of

action of vector V.
r r r 0
M0 = r × V
r
r r r
i j k
r V
M 0 = rx ry rz
Vx Vy Vz

thank you …


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Chapter I

Vectors and Scalars

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

ADDIS ABABA UNIVERSITY Department of

ADDIS ABABA UNIVERSITY Department of

ADDIS ABABA UNIVERSITY Department of

ADDIS ABABA UNIVERSITY Department of

ADDIS ABABA UNIVERSITY Department of

2.) - Fundamental Principles

- Law of Gravitation, Units

3.) - Vector operations, addition, multiplication

ADDIS ABABA UNIVERSITY Department of

2.) - Fundamental Principles

- Law of Gravitation, Units

3.) - Vector operations, addition, multiplication

ADDIS ABABA UNIVERSITY Department of

Scalars: quantaties described by their

e.g. time, volume, area, density, distance,

ADDIS ABABA UNIVERSITY Department of

Vectors: quantaties described by their

e.g. displacement, velocity, force, acceleration,

ADDIS ABABA UNIVERSITY Department of

- line segment of certain length (magnitude)

- arrowhead indicating direction

θ (reference axis to be predetermined)

ADDIS ABABA UNIVERSITY Department of

- magnitude, length of vector: ║V║, |V| or V

- vector quantities respecting the orientation: V, V

- magnitude, length of vector: ║V║, |V| or V

Algebraically a vector is represented by its

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

ADDIS ABABA UNIVERSITY Department of

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

ADDIS ABABA UNIVERSITY Department of

ADDIS ABABA UNIVERSITY Department of

ADDIS ABABA UNIVERSITY Department of

ADDIS ABABA UNIVERSITY Department of

ADDIS ABABA UNIVERSITY Department of

collinear - same line of action

coplanar - located in the same plane

concurrent - passing through a common point

ADDIS ABABA UNIVERSITY Department of

ADDIS ABABA UNIVERSITY Department of

1. Free Vector: action in space not associated

e.g. uniform displacement of a body

ADDIS ABABA UNIVERSITY Department of

1. Free Vector: action in space not associated

e.g. uniform displacement of a body

ADDIS ABABA UNIVERSITY Department of

1. Free Vector: action in space not associated

e.g. uniform displacement of a body

ADDIS ABABA UNIVERSITY Department of

2. Sliding Vector: action in space described by a

e.g. action of force on rigid body

ADDIS ABABA UNIVERSITY Department of

2. Sliding Vector: action in space described by a

e.g. action of force on rigid body

ADDIS ABABA UNIVERSITY Department of

2. Sliding Vector: action in space described by a

e.g. action of force on rigid body

ADDIS ABABA UNIVERSITY Department of

3. Fixed Vector: action in space described by a

e.g. action of force on non rigid body