Chapter 2

This electric transmission tower is stabilized by cables that exert forces on the
tower at their points of connection. In this chapter we will show how to express
these forces as Cartesian vectors, and then determined their resultant.
Force Vectors

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.
■ To introduce the dot product in order to determine the angle
between two vectors or the projection of one vector onto
another.

2.1 Scalars and Vectors

All physical quantities in engineering mechanics are measured using
either scalars or vectors.

Scalar. A scalar is any positive or negative physical quantity that can

be completely specified by its magnitude. Examples of scalar quantities
include length, mass, and time.

Vector. A vector is any physical quantity that requires both a

magnitude and a direction for its complete description. Examples of Line of action
1 Head
vectors encountered in statics are force, position, and moment. A vector
is shown graphically by an arrow. The length of the arrow represents the A P
magnitude of the vector, and the angle u between the vector and a fixed
Tail 20⬚
axis defines the direction of its line of action. The head or tip of the arrow
indicates the sense of direction of the vector, Fig. 2–1. O
In print, vector quantities are represented by boldface letters such as Fig. 2–1
A, and the magnitude of a vector is italicized, A. For handwritten work,
it is often convenient to denote a vector quantity by simply drawing an
S
arrow above it, A .
Dr. Aslam Al-Omari

2.1) Introduction

„ Scalar:
+ve or –ve quantity (number) that has a unit
Examples:
Mass, length, volume, speed
„ Vector:
Quantity that has:
1. magnitude,
2. direction, and
3. point of application
Examples:
Force, moment, velocity
 SCALARS AND VECTORS
(Section 2.1)

Scalars Vectors
Examples: Mass, Volume Force, Velocity
Characteristics: It has a magnitude It has a magnitude
(positive or negative) and direction

Addition rule: Simple arithmetic Parallelogram law

Special Notation: None Bold font, a line, an
arrow or a “carrot”
In these PowerPoint presentations, a vector quantity is represented like this (in bold,
italics, and red).

Statics, Fourteenth Edition Copyright ©2016 by Pearson Education, Inc.

R.C. Hibbeler All rights reserved.
Dr. Aslam Al-Omari

2.2) Vector Operations

A. Multiplication and division of a vector by a scalar:

r
Let A be a vector and c is a scalar
r
A
θ
r r
Value of c Magnitude of ( c A ) Direction of ( c A )
c >1 Larger Not Changed
c < -1 Larger Changed by 180°
0<c<1 Smaller Not Changed
-1 < c < 0 Smaller Changed by 180°
 VECTOR OPERATIONS (Section 2.2)

Scalar Multiplication
and Division

Statics, Fourteenth Edition Copyright ©2016 by Pearson Education, Inc.

R.C. Hibbeler All rights reserved.
 VECTOR ADDITION USING EITHER THE
PARALLELOGRAM LAW OR TRIANGLE
Parallelogram Law:

Triangle method
(always ‘tip to tail’):

How do you subtract a vector?

How can you add more than two concurrent vectors graphically?
Statics, Fourteenth Edition Copyright ©2016 by Pearson Education, Inc.
R.C. Hibbeler All rights reserved.
Dr. Aslam Al-Omari

2.2) Vector Operations

B. Vector addition:
r
r
Let A and B be two vectors, then:
r r r
A + B = C

r r
A C
r
B
Dr. Aslam Al-Omari

2.2) Vector Operations

C. Vector subtraction:
r
r
r A and
Let r B bertwo vectors,
r then: r r
A − B = D OR A + ( − B ) = D

r r
D A
r
−B r
B
Dr. Aslam Al-Omari

2.2) Vector Operations

D. Resolution of a Vector:
A vector may be resolved into two components
which have known lines of action using the
parallelogram law
y y y

r r Ay r
A A A
x x x
Ax
 RESOLUTION OF A VECTOR

“Resolution” of a vector is breaking up a vector into components.

It is kind of like using the parallelogram law in reverse.

Statics, Fourteenth Edition Copyright ©2016 by Pearson Education, Inc.

R.C. Hibbeler All rights reserved.
Dr. Aslam Al-Omari

2.2) Vector Operations

D. Resolution of a Vector:
A vector may be resolved into two components
which have known lines of action using the
parallelogram law
b b

r Ab
r
A A
Aa
a a
Dr. Aslam Al-Omari

2.3) Vector Addition of Forces

A. Parallelogram Law
B. Trigonometry Laws
ƒ Sine law c
A B
A B C
= = b a
Sin a Sin b Sin c C
ƒ Cosine law

C = A + B − 2 AB Cos c
2 2
 2.3 VECTOR ADDITION OF FORCES 23

EXAMPLE 2.1
EXAMPLE  2.1
The screw eye in Fig. 2–11a is subjected to two forces, F1 and F2.
Determine the magnitude and direction of the resultant force.

10⬚ 2
F2 ⫽ 150 N A

150 N

115⬚ 65⬚
F1 ⫽ 100 N

10⬚
15⬚ FR
360⬚ ⫺ 2(65⬚)
⫽ 115⬚
2

u 100 N
15⬚

90⬚ ⫺ 25⬚ ⫽ 65⬚

(a) (b)

SOLUTION
Parallelogram Law. The parallelogram is formed by drawing a line
from the head of F1 that is parallel to F2, and another line from the
head of F2 that is parallel to F1. The resultant force FR extends to where
these lines intersect at point A, Fig. 2–11b. The two unknowns are the
magnitude of FR and the angle u (theta).

Trigonometry. From the parallelogram, the vector triangle is FR

150 N
constructed, Fig. 2–11c. Using the law of cosines

FR = 2(100 N)2 + (150 N)2 - 2(100 N)(150 N) cos 115⬚

115⬚
= 210 000 + 22 500 - 30 000(-0.4226) = 212.6 N u
f 100 N
= 213 N Ans. 15⬚
(c)
Applying the law of sines to determine u,
Fig. 2–11
150 N 212.6 N 150 N
= sin u = (sin 115⬚)
sin u sin 115⬚ 212.6 N
u = 39.8⬚
Thus, the direction f (phi) of FR, measured from the horizontal, is

f = 39.8⬚ + 15.0⬚ = 54.8⬚ Ans.

NOTE: The results seem reasonable, since Fig. 2–11b shows FR to have
a magnitude larger than its components and a direction that is
between them.
Dr. Aslam Al-Omari

Example 2.1
The screw eye in
Fig. 2-10a is
subjected to two
forces, F1 and F2.

Determine the
magnitude and
direction of the
resultant force.

Fig. 2-10a
Dr. Aslam Al-Omari

Example 2.1

Fig. 2-10b Fig. 2-10c

Dr. Aslam Al-Omari

Example 2.1
Dr. Aslam Al-Omari

Example 2.2
Dr. Aslam Al-Omari
Dr. Aslam Al-Omari

Example 2.3
Dr. Aslam Al-Omari
Dr. Aslam Al-Omari

Example 2.4
Dr. Aslam Al-Omari
 24 CHAPTER 2 F O R C E VE C T O R S

EXAMPLE 2.2
EXAMPLE  2.1
Resolve the horizontal 600-lb force in Fig. 2–12a into components
acting along the u and v axes and determine the magnitudes of these
components.
2

u
u B
Fu Fu
30 30
30 30 Fv
120 120
30 30 30
A
600 lb 600 lb 600 lb
120
Fv

C
v

v
(a) (b) (c)

Fig. 2–12

SOLUTION
The parallelogram is constructed by extending a line from the head of
the 600-lb force parallel to the v axis until it intersects the u axis at
point B, Fig. 2–12b. The arrow from A to B represents Fu. Similarly, the
line extended from the head of the 600-lb force drawn parallel to the
u axis intersects the v axis at point C, which gives Fv .
The vector addition using the triangle rule is shown in Fig. 2–12c.
The two unknowns are the magnitudes of Fu and Fv. Applying the law
of sines,

Fu 600 lb
=
sin 120⬚ sin 30⬚
Fu = 1039 lb Ans.

Fv 600 lb
=
sin 30⬚ sin 30⬚
Fv = 600 lb Ans.

NOTE: The result for Fu shows that sometimes a component can have
a greater magnitude than the resultant.
 2.3 VECTOR ADDITION OF FORCES 25

EXAMPLE 2.3
EXAMPLE  2.1
Determine the magnitude of the component force F in Fig. 2–13a and
the magnitude of the resultant force FR if FR is directed along the
positive y axis.
2

y
y

F 45 45 F
FR FR
200 lb 45
45 75
F 45 30 60
60
30 200 lb 200 lb
30

(a) (b) (c)

Fig. 2–13

SOLUTION
The parallelogram law of addition is shown in Fig. 2–13b, and the
triangle rule is shown in Fig. 2–13c. The magnitudes of FR and F are the
two unknowns. They can be determined by applying the law of sines.

F 200 lb
=
sin 60⬚ sin 45⬚

F = 245 lb Ans.

FR 200 lb
=
sin 75⬚ sin 45⬚

FR = 273 lb Ans.
 26 CHAPTER 2 F O R C E VE C T O R S

EXAMPLE 2.4
EXAMPLE  2.1
It is required that the resultant force acting on the eyebolt in Fig. 2–14a
be directed along the positive x axis and that F2 have a minimum
magnitude. Determine this magnitude, the angle u, and the corresponding
2 resultant force.

F1  800 N

F1  800 N F2 F1  800 N

F2
60 60
u
60
x x x
FR FR
u u  90

(b) (c)

F2
(a)

Fig. 2–14

SOLUTION
The triangle rule for FR = F1 + F2 is shown in Fig. 2–14b. Since the
magnitudes (lengths) of FR and F2 are not specified, then F2 can actually
be any vector that has its head touching the line of action of FR, Fig. 2–14c.
However, as shown, the magnitude of F2 is a minimum or the shortest
length when its line of action is perpendicular to the line of action of
FR, that is, when

u = 90⬚ Ans.

Since the vector addition now forms the shaded right triangle, the two
unknown magnitudes can be obtained by trigonometry.

FR = (800 N)cos 60⬚ = 400 N Ans.

F2 = (800 N)sin 60⬚ = 693 N Ans.

It is strongly suggested that you test yourself on the solutions to these

examples, by covering them over and then trying to draw the parallelogram
law, and thinking about how the sine and cosine laws are used to determine
the unknowns. Then before solving any of the problems, try and solve some
of the Fundamental Problems given on the next page. The solutions and
answers to these are given in the back of the book. Doing this throughout
the book will help immensely in developing your problem-solving skills.
Questions 1,2 and 3
In the figure shown, if 𝜃 = 550, F1 = 500 N and F2 = 300 N

1) The magnitude of the resultant force FR=F1 + F2 is

2) The direction of the resultant force clockwise from the positive u axis.

3) The magnitude of the components of F1 along the u and v axis are respectively
Dr. Aslam Al-Omari

2.4) Addition of a System of

Coplanar Vectors (Forces)

ƒ Collinear: Lying on one line

ƒ Coplanar: Lying on one plane
ƒ For
r each
r rforce: Y
F4
F = Fx + Fy
F1
ƒ For
r ther resultant:
r
Fr R = FRx r+ FrRy r θ4
r
FRx = ∑rFx , FRy =
r2
∑ Fy
θ3
θ1
X
θ2
FR = FRx + FRy
2

FRy F2
θ = tan −1
F3
FRx
 2.4 ADDITION OF A SYSTEM OF COPLANAR FORCES 35

EXAMPLE 2.5
EXAMPLE  2.1
Determine the x and y components of F1 and F2 acting on the boom y
shown in Fig. 2–18a. Express each force as a Cartesian vector.
F1 ⫽ 200 N
2
SOLUTION
Scalar Notation. By the parallelogram law, F1 is resolved into x and 30⬚
y components, Fig. 2–18b. Since F1x acts in the –x direction, and F1y
acts in the +y direction, we have x
13
5
F1x = -200 sin 30⬚ N = -100 N = 100 N d Ans. 12

F2 ⫽ 260 N
F1y = 200 cos 30⬚ N = 173 N = 173 N c Ans.
(a)
The force F2 is resolved into its x and y components, as shown in Fig. 2–18c.
Here the slope of the line of action for the force is indicated. From this
5
“slope triangle” we could obtain the angle u, e.g., u = tan-1(12 ), and then y
proceed to determine the magnitudes of the components in the same
manner as for F1.The easier method, however, consists of using proportional F1 ⫽ 200 N
F1y ⫽ 200 cos 30⬚ N
parts of similar triangles, i.e.,
30⬚
F2x 12 12
= F2x = 260 N a b = 240 N
260 N 13 13 x
F1x ⫽ 200 sin 30⬚ N
Similarly, (b)

5 y
F2y = 260 N a b = 100 N
13

Notice how the magnitude of the horizontal component, F2x, was

obtained by multiplying the force magnitude by the ratio of the
horizontal leg of the slope triangle divided by the hypotenuse; whereas
the magnitude of the vertical component, F2y , was obtained by 12
multiplying the force magnitude by the ratio of the vertical leg divided
F2x ⫽ 260 —
— N
13 ( ( x
by the hypotenuse. Hence, using scalar notation to represent these 5
13
components, we have 5 N 12
( (
F2y ⫽ 260 —
—
13
F2 ⫽ 260 N
F2x = 240 N = 240 N S Ans.
(c)
F2y = -100 N = 100 N T Ans.
Fig. 2–18
Cartesian Vector Notation. Having determined the magnitudes
and directions of the components of each force, we can express each
force as a Cartesian vector.

F1 = 5 -100i + 173j 6 N Ans.

F2 = 5 240i - 100j 6 N Ans.
Dr. Aslam Al-Omari

Example 2.5
Dr. Aslam Al-Omari

Example 2.5
 36 CHAPTER 2 F O R C E VE C T O R S

EXAMPLE 2.6
EXAMPLE  2.1
The link in Fig. 2–19a is subjected to two forces F1 and F2. Determine
y the magnitude and direction of the resultant force.

2 F2 ⫽ 400 N F1 ⫽ 600 N
45⬚ SOLUTION I
Scalar Notation. First we resolve each force into its x and y
30⬚
x components, Fig. 2–19b, then we sum these components algebraically.
+ (F ) = ⌺F ;
S (F ) = 600 cos 30⬚ N - 400 sin 45⬚ N
R x x R x
(a) = 236.8 N S
+ c (FR)y = ⌺Fy; (FR)y = 600 sin 30⬚ N + 400 cos 45⬚ N
= 582.8 N c
y
The resultant force, shown in Fig. 2–18c, has a magnitude of
F2 ⫽ 400 N F1 ⫽ 600 N
45⬚
FR = 2(236.8 N)2 + (582.8 N)2

30⬚
= 629 N Ans.
x
From the vector addition,

(b) 582.8 N
u = tan-1 a b = 67.9⬚ Ans.
236.8 N
y
SOLUTION II
FR
582.8 N Cartesian Vector Notation. From Fig. 2–19b, each force is first
expressed as a Cartesian vector.

u F1 = 5 600 cos 30⬚i + 600 sin 30⬚j 6 N

x
236.8 N F2 = 5 -400 sin 45⬚i + 400 cos 45⬚j 6 N
Then,
(c)
FR = F1 + F2 = (600 cos 30⬚ N - 400 sin 45⬚ N)i
Fig. 2–19 + (600 sin 30⬚ N + 400 cos 45⬚ N)j
= 5 236.8i + 582.8j 6 N
The magnitude and direction of FR are determined in the same
manner as before.

NOTE: Comparing the two methods of solution, notice that the use
of scalar notation is more efficient since the components can be
found directly, without first having to express each force as a
Cartesian vector before adding the components. Later, however, we
will show that Cartesian vector analysis is very beneficial for solving
three-dimensional problems.
Dr. Aslam Al-Omari

Example 2.6
The link in Fig. 2-18a is
subjected to two forces F1 and
F2.
Determine the magnitude and
orientation of the resultant
force.

Fig. 2-18 a

Fig. 2-18 b
Dr. Aslam Al-Omari

Example 2.6
Dr. Aslam Al-Omari

Example 2.6

Fig. 2-18 c
Dr. Aslam Al-Omari

Example 2.6
 2.4 ADDITION OF A SYSTEM OF COPLANAR FORCES 37

EXAMPLE 2.7
EXAMPLE  2.1
The end of the boom O in Fig. 2–20a is subjected to three concurrent
and coplanar forces. Determine the magnitude and direction of the
resultant force.
2

F2 ⫽ 250 N
F3 ⫽ 200 N 45⬚
5
3
4 x
⌷ F1 ⫽ 400 N

(a)

SOLUTION
Each force is resolved into its x and y components, Fig. 2–20b. Summing
the x components, we have y
S+ (F ) = ⌺F ;
R x x (F ) = -400 N + 250 sin 45⬚ N - 200 1 4 2 N
R x 5
250 N
= -383.2 N = 383.2 N d 200 N 45⬚
5
The negative sign indicates that FRx acts to the left, i.e., in the negative 3
4
x direction, as noted by the small arrow. Obviously, this occurs because x
F1 and F3 in Fig. 2–20b contribute a greater pull to the left than F2 ⌷ 400 N

which pulls to the right. Summing the y components yields

+ c (FR)y = ⌺Fy; (FR)y = 250 cos 45⬚ N + 200 1 35 2 N
(b)
= 296.8 N c
The resultant force, shown in Fig. 2–20c, has a magnitude of
y
FR = 2(-383.2 N)2 + (296.8 N)2 FR
296.8 N
= 485 N Ans.
From the vector addition in Fig. 2–20c, the direction angle u is
u
x
296.8 383.2 N ⌷
u = tan a b = 37.8⬚
-1
Ans.
383.2

NOTE: Application of this method is more convenient, compared to (c)

using two applications of the parallelogram law, first to add F1 and F2
Fig. 2–20
then adding F3 to this resultant.
Dr. Aslam Al-Omari

Example 2.7
The end of the boom O in Fig. 2-19
a is subjected to three concurrent
and coplanar forces. Determine the
magnitude and orientation of the
resultant force.

Fig. 2-19 a

Fig. 2-19 b
Dr. Aslam Al-Omari

Example 2.7
Dr. Aslam Al-Omari

Example 2.7

Fig. 2-19 c
Dr. Aslam Al-Omari

2.5) Cartesian Vectors

„ Cartesian vector notation:

¾ Cartesian unit vectors (î , ĵ , and k̂ ) are used to indicate
the direction of x, y, and z-axis, respectively.
¾ Each unit vector has a magnitude of unity
¾ Will be described by +ve or –ve sign depending on
the +ve or –ve x, y, or z-axis. Z

k̂
ĵ
y

î
x
Dr. Aslam Al-Omari

2.5) Cartesian Vectors

„ Rectangular components of a vector:

z

Fzk

F Fx = F cos α
γ
Fy = F cos β
β Fz = F cos γ
α Fyj
y

i
Fx

x
Dr. Aslam Al-Omari

2.5) Cartesian Vectors

„ Rectangular components of a vector:

z

Fzk Fz = F cos γ
F Fy = (F sin γ ) cos θ
Fx = (F sin γ ) sin θ
γ

90-γ Fyj
y
θ
i
Fx
φ

x φ =90- θ
Dr. Aslam Al-Omari

2.5) Cartesian Vectors

„ Rectangular components of a vector:

r r r r
F = Fx + Fy + Fz
r
F = Fx î + Fy ĵ + Fz k̂ ⇒ direction
( ) ( ) ( )
r r 2 r 2 r 2
F = Fx + Fy + Fz ⇒ magnitude
Fx = F cos α Fy = F cos β Fz = F cos γ
Dr. Aslam Al-Omari

2.5) Cartesian Vectors

„ Unit vector
r of a vector:
r F Fx Fy Fz
u = r = r î + r ĵ + r k̂
F F F F
= (cos α ) î + (cos β ) ĵ + (cos γ ) k̂
r
u is called unit vector
r
u = 1 = (cos α ) + (cos β ) + (cos γ )
2 2 2

1 = (cos α ) + (cos β ) + (cos γ )

2 2 2
Dr. Aslam Al-Omari

2.5) Cartesian Vectors

„ Unit vector of a vector:

( )
r rr r
F = F u = F cos αî + cos β ĵ + cos γk̂

r r r
= F (cos α ) î + F (cos β ) ĵ + F (cos γ ) k̂
Dr. Aslam Al-Omari

2.6) Addition and Subtraction

of Cartesian Vectors
r r
FR = ∑ ∑ F î + ∑ F ĵ + ∑ F k̂
F= x y z
r
FR = (F ) + (F ) + (F )
Rx
2
Ry
2
Rz
2

FRx FRy FRz

cos α = cos β = cos γ =
FR FR FR
 2.6 ADDITION OF CARTESIAN VECTORS 47

Important Points

• Cartesian vector analysis is often used to solve problems in three

dimensions.
2
• The positive directions of the x, y, z axes are defined by the
Cartesian unit vectors i, j, k, respectively.
• The magnitude of a Cartesian vector is A = 2A2x + A2y + A2z .
• The direction of a Cartesian vector is specified using coordinate
direction angles a, b, g which the tail of the vector makes with
the positive x, y, z axes, respectively. The components of the unit
vector uA = A>A represent the direction cosines of a, b, g. Only
two of the angles a, b, g have to be specified. The third angle is
determined from the relationship cos2 a + cos2 b + cos2 g = 1.
• Sometimes the direction of a vector is defined using the two
angles u and f as in Fig. 2–28. In this case the vector components
are obtained by vector resolution using trigonometry.
• To find the resultant of a concurrent force system, express each
force as a Cartesian vector and add the i, j, k components of all
the forces in the system.

EXAMPLE 2.8
Express the force F shown in Fig. 2–30 as a Cartesian vector.

SOLUTION z
Since only two coordinate direction angles are specified, the third
angle a must be determined from Eq. 2–8; i.e.,
F ⫽ 200 N
cos2 a + cos2 b + cos2 g = 1
45⬚
cos2 a + cos2 60⬚ + cos2 45⬚ = 1
a 60⬚
cos a = 21 - (0.5)2 - (0.707)2 = {0.5 y

Hence, two possibilities exist, namely,

a = cos-1(0.5) = 60⬚ or a = cos-1(-0.5) = 120⬚ x
By inspection it is necessary that a = 60⬚, since Fx must be in the +x
Fig. 2–30
direction.
Using Eq. 2–9, with F = 200 N, we have
F = F cos a i + F cos b j + F cos g k
= (200 cos 60⬚ N)i + (200 cos 60⬚ N)j + (200 cos 45⬚ N)k
= 5 100.0i + 100.0j + 141.4k 6 N Ans.
Show that indeed the magnitude of F = 200 N.
Dr. Aslam Al-Omari

Example 2.8
Express the
force F shown in
Fig. 2-29 as a
Cartesian vector
Dr. Aslam Al-Omari

Example 2.8
 48 CHAPTER 2 F O R C E VE C T O R S

EXAMPLE 2.9
EXAMPLE  2.1
Determine the magnitude and the coordinate direction angles of the
resultant force acting on the ring in Fig. 2–31a.
2 z FR ⫽ {50i ⫺ 40j ⫹ 180k} lb z
g ⫽ 19.6⬚

F2 ⫽ {50i ⫺ 100j ⫹ 100k} lb F1 ⫽ {60j ⫹ 80k} lb

F2 F1

b ⫽ 102⬚
y a ⫽ 74.8⬚ y

x x
(a) (b)

Fig. 2–31

SOLUTION
Since each force is represented in Cartesian vector form, the resultant
force, shown in Fig. 2–31b, is
FR = ⌺F = F1 + F2 = 5 60j + 80k 6 lb + 5 50i - 100j + 100k 6 lb
= 5 50i - 40j + 180k 6 lb
The magnitude of FR is

FR = 2(50 lb)2 + (-40 lb)2 + (180 lb)2 = 191.0 lb

= 191 lb Ans.
The coordinate direction angles a, b, g are determined from the
components of the unit vector acting in the direction of FR.

FR 50 40 180
uF R = = i - j + k
FR 191.0 191.0 191.0
= 0.2617i - 0.2094 j + 0.9422 k
so that
cos a = 0.2617 a = 74.8⬚ Ans.
cos b = -0.2094 b = 102⬚ Ans.
cos g = 0.9422 g = 19.6⬚ Ans.
These angles are shown in Fig. 2–31b.

NOTE: In particular, notice that b 7 90⬚ since the j component of uFR

is negative. This seems reasonable considering how F1 and F2 add
according to the parallelogram law.
Dr. Aslam Al-Omari

Example 2.9
Determine the magnitude and the coordinate direction angles of
the resultant force acting on the ring in Fig. 2-30a
Dr. Aslam Al-Omari

Example 2.9
Dr. Aslam Al-Omari

Example 2.9
 2.6 ADDITION OF CARTESIAN VECTORS 49

EXAMPLE 2.10
EXAMPLE  2.1
Express the force F shown in Fig. 2–32a as a Cartesian vector. z

SOLUTION F ⫽ 100 lb
2
The angles of 60° and 45° defining the direction of F are not coordinate
direction angles. Two successive applications of the parallelogram law
are needed to resolve F into its x, y, z components. First F = F⬘ + Fz,
then F⬘ = Fx + Fy, Fig. 2–32b. By trigonometry, the magnitudes of the 60⬚ y
components are
45⬚

Fz = 100 sin 60⬚ lb = 86.6 lb

x
F⬘ = 100 cos 60⬚ lb = 50 lb (a)
Fx = F⬘ cos 45⬚ = 50 cos 45⬚ lb = 35.4 lb
z
Fy = F⬘ sin 45⬚ = 50 sin 45⬚ lb = 35.4 lb
Fz
Realizing that Fy has a direction defined by –j, we have
F ⫽ 100 lb
F = 5 35.4i - 35.4j + 86.6k 6 lb Ans.

To show that the magnitude of this vector is indeed 100 lb, apply
Eq. 2–4, Fy
60⬚ y
45⬚
F = 2F2x + F2y + F2z Fx
F¿
= 2(35.4)2 + (35.4)2 + (86.6)2 = 100 lb
x
(b)
If needed, the coordinate direction angles of F can be determined from
the components of the unit vector acting in the direction of F. Hence,
z
F Fx Fy Fz
u = = i + j + k
F F F F F ⫽ 100 lb
35.4 35.4 86.6 30.0⬚
= i - j + k 111⬚
100 100 100
= 0.354i - 0.354j + 0.866k 69.3⬚ y

so that
a = cos-1(0.354) = 69.3⬚
x
b = cos-1(-0.354) = 111⬚ (c)

g = cos (0.866) = 30.0⬚

-1
Fig. 2–32

These results are shown in Fig. 2–32c.

Dr. Aslam Al-Omari

Example 2.10
Express the
force F1, shown
in Fig. 2-31a as
a Cartesian
vector

y
Dr. Aslam Al-Omari

Example 2.10
Dr. Aslam Al-Omari

Example 2.10

y
Dr. Aslam Al-Omari

Example 2.10
Dr. Aslam Al-Omari

Example 2.10
 50 CHAPTER 2 F O R C E VE C T O R S

EXAMPLE 2.11
EXAMPLE  2.1
z Two forces act on the hook shown in Fig. 2–33a. Specify the magnitude
F2 of F2 and its coordinate direction angles so that the resultant force FR
acts along the positive y axis and has a magnitude of 800 N.
2 120⬚
y
SOLUTION
60⬚
To solve this problem, the resultant force FR and its two components,
45⬚ F1 and F2, will each be expressed in Cartesian vector form. Then, as
F1 ⫽ 300 N shown in Fig. 2–33b, it is necessary that FR = F1 + F2.
x Applying Eq. 2–9,
(a)
F1 = F1 cos a1i + F1 cos b1 j + F1 cos g1k
= 300 cos 45 i + 300 cos 60 j + 300 cos 120 k
= 5 212.1i + 150j - 150k 6 N
F2 = F2x i + F2y j + F2z k
Since FR has a magnitude of 800 N and acts in the +j direction,
FR = (800 N)(+j) = 5 800j 6 N
z
We require
F2  700 N FR = F1 + F2
g2  77.6
800j = 212.1i + 150j - 150k + F2x i + F2y j + F2z k
b2  21.8 FR  800 N
y
800j = (212.1 + F2x)i + (150 + F2y)j + (-150 + F2z)k
a2  108
To satisfy this equation the i, j, k components of FR must be equal to
the corresponding i, j, k components of (F1 + F2). Hence,
F1  300 N
x 0 = 212.1 + F2x F2x = -212.1 N
(b) 800 = 150 + F2y F2y = 650 N
Fig. 2–33 0 = -150 + F2z F2z = 150 N
The magnitude of F2 is thus

F2 = 2(-212.1 N)2 + (650 N)2 + (150 N)2

= 700 N Ans.
We can use Eq. 2–9 to determine a2, b2, g2.
-212.1
cos a2 = ; a2 = 108 Ans.
700
650
cos b2 = ; b2 = 21.8 Ans.
700
150
cos g2 = ; g2 = 77.6 Ans.
700
These results are shown in Fig. 2–33b.
Dr. Aslam Al-Omari

Example 2.11
Two forces act on
the hook shown in
Fig. 2-32a. Specify
the coordinate
direction angles of F2
so that the resultant
force FR acts along
the +ve y-axis and
has a magnitude of
800 N.
Dr. Aslam Al-Omari

Example 2.11
Dr. Aslam Al-Omari

Example 2.11
Dr. Aslam Al-Omari

Example 2.11
Dr. Aslam Al-Omari

2.7) Position Vectors

ƒ x, y, and z coordinates
Go from the origin point O
in straight lines that are
parallel to x, y, and z axes
till you reach the point
under consideration

A (4, 2, -6)
B (0, 2, 0)
C (6, -1, 4)
Dr. Aslam Al-Omari

2.7) Position Vectors

ƒ Position vector:
Position vector,
rOP, is defined
as a fixed
vector which
locates a point r OP
in space
relative to
another point
r
rOP = xî + yĵ + zk̂
Dr. Aslam Al-Omari

2.7) Position Vectors

ƒ Position vector:
Position vector,
rOP, is defined
as a fixed
vector which
locates a point r OP
in space
relative to
another point
r
rOP = xî + yĵ + zk̂
Dr. Aslam Al-Omari

2.7) Position Vectors

r r r
rA + rAB = rB
r r r
rAB = rB − rA
r AB

r
rAB = ( x B − x A ) î + (y B − y A ) ĵ + (z B − z A ) k̂
Dr. Aslam Al-Omari

2.7) Position Vectors

r AB

r
rAB = ( x B − x A ) î + (y B − y A ) ĵ + (z B − z A ) k̂
Dr. Aslam Al-Omari

2.7) Position Vectors

r
r rAB
u AB = r
rAB
= (cos α )î + (cos β ) ĵ + (cos γ )k̂
 58 CHAPTER 2 F O R C E VE C T O R S

EXAMPLE
EXAMPLE  2.1
2.12
An elastic rubber band is attached to points A and B as shown in
z Fig. 2–37a. Determine its length and its direction measured from
B
A toward B.
2
2m 3m
SOLUTION
2m We first establish a position vector from A to B, Fig. 2–37b. In
y
accordance with Eq. 2–11, the coordinates of the tail A(1 m, 0, -3 m)
are subtracted from the coordinates of the head B(-2 m, 2 m, 3 m),
x
3m which yields

A
1m r = [-2 m - 1 m]i + [2 m - 0] j + [3 m - (-3 m)]k
(a)
= 5 -3i + 2j + 6k 6 m
z
B
These components of r can also be determined directly by realizing
that they represent the direction and distance one must travel along
{6 k} m each axis in order to move from A to B, i.e., along the x axis {-3i} m,
along the y axis {2j} m, and finally along the z axis {6k} m.
y
The length of the rubber band is therefore
r
x
{2 j} m r = 2(-3 m)2 + (2 m)2 + (6 m)2 = 7 m Ans.
{3 i} m
A
(b)
Formulating a unit vector in the direction of r, we have

r 3 2 6
B u = = - i + j + k
r 7 7 7

z¿ The components of this unit vector give the coordinate direction

angles
r7m
g  31.0 3
a = cos-1 a- b = 115⬚ Ans.
b  73.4 7
a  115
y¿ 2
A b = cos-1 a b = 73.4⬚ Ans.
x¿ 7
(c)
6
Fig. 2–37 g = cos-1 a b = 31.0⬚ Ans.
7

NOTE: These angles are measured from the positive axes of a localized
coordinate system placed at the tail of r, as shown in Fig. 2–37c.
Dr. Aslam Al-Omari

Example 2.12
An elastic rubber band is attached to points A and B as shown in
Fig. 2-36a. Determine its length and its direction measured from A
toward B.
Dr. Aslam Al-Omari

Example 2.12
Dr. Aslam Al-Omari

Example 2.12
Dr. Aslam Al-Omari

Example 2.12
Dr. Aslam Al-Omari

2.8) Force Vector Directed

along a Line
r rr
F = Fu (F has the same direction
and sense of position
r
r ⎛ rAB ⎞ vector rAB)
= F ⎜⎜ r ⎟
⎟
⎝ rAB ⎠ FAB
Procedure: r AB
Determine:
r
1) Position vector, r u AB
rAB
r rAB
2) Unit vector, u AB = r
rAB
r r r
3) Force vector, FAB = FAB u AB
Dr. Aslam Al-Omari

2.8) Force Vector Directed

along a Line
 60 CHAPTER 2 F O R C E VE C T O R S

EXAMPLE
EXAMPLE  2.1
2.13
z The man shown in Fig. 2–39a pulls on the cord with a force of 70 lb.
Represent this force acting on the support A as a Cartesian vector and
determine its direction.
2 A

SOLUTION
Force F is shown in Fig. 2–39b. The direction of this vector, u, is
determined from the position vector r, which extends from A to B.
30 ft Rather than using the coordinates of the end points of the cord, r can
be determined directly by noting in Fig. 2–39a that one must travel
8 ft from A {-24k} ft, then {-8j} ft, and finally {12i} ft to get to B. Thus,

B
6 ft r = 5 12i - 8j - 24k 6 ft
y
12 ft The magnitude of r, which represents the length of cord AB, is

r = 2(12 ft)2 + (-8 ft)2 + (-24 ft)2 = 28 ft

x Forming the unit vector that defines the direction and sense of both
(a) r and F, we have

z¿
r 12 8 24
u = = i - j - k
r 28 28 28
Since F has a magnitude of 70 lb and a direction specified by u, then
g A y¿
b 12 8 24
F = Fu = 70 lba i - j - kb
F ⫽ 70 lb 28 28 28
a
x¿
u = 5 30i - 20j - 60k 6 lb Ans.

The coordinate direction angles are measured between r (or F) and

r
the positive axes of a localized coordinate system with origin placed at
A, Fig. 2–39b. From the components of the unit vector:
B
12
(b) a = cos-1 a b = 64.6⬚ Ans.
28
Fig. 2–39
-8
b = cos-1 a b = 107⬚ Ans.
28

-24
g = cos-1 a b = 149⬚ Ans.
28

NOTE: These results make sense when compared with the angles identi-
fied in Fig. 2–39b.
Dr. Aslam Al-Omari

Example 2.13
The man shown in Fig. 2-38a
pulls on the cord with a force
of 70 lb. Represent this force,
acting on the support A, as a
Cartesian vector and
determine its direction.
Dr. Aslam Al-Omari

Example 2.13
Dr. Aslam Al-Omari

Example 2.13
Dr. Aslam Al-Omari

Example 2.13
 2.8 FORCE VECTOR DIRECTED ALONG A LINE 61

EXAMPLE
EXAMPLE  2.1
2.14
The force in Fig. 2–40a acts on the hook. Express it as a Cartesian vector.

2
z z

rB B(–2 m, 3.464 m, 3 m)
FB ⫽ 750 N B uB
2m 5 3
4 ( 3 )(5 m) A(2 m, 0 , 2 m) FB
A 5m 5

2m 30°
( 4 )(5 m)
5

x y x y

(a) (b)

Fig. 2–40

SOLUTION
As shown in Fig. 2–40b, the coordinates for points A and B are

A(2 m, 0, 2 m)

and

4 4 3
Bc - a b 5 sin 30 m, a b 5 cos 30 m, a b 5 m d
5 5 5
or

B(-2 m, 3.464 m, 3 m)

Therefore, to go from A to B, one must travel { - 4i} m, then {3.464j}

m, and finally {1k} m. Thus,

rB 5 -4i + 3.464j + 1k 6 m
uB = a b =
rB 2(-4 m)2 + (3.464 m)2 + (1 m)2
= -0.7428i + 0.6433j + 0.1857k

Force FB expressed as a Cartesian vector becomes

FB = FB uB = (750 N)(-0.74281i + 0.6433j + 0.1857k)

= 5 -557i + 482j + 139k 6 N Ans.

 62 CHAPTER 2 F O R C E VE C T O R S

EXAMPLE
EXAMPLE  2.1
2.15
The roof is supported by cables as shown in the photo. If the cables
exert forces FAB = 100 N and FAC = 120 N on the wall hook at A as
shown in Fig. 2–41a, determine the resultant force acting at A. Express
2 the result as a Cartesian vector.

SOLUTION
The resultant force FR is shown graphically in Fig. 2–41b. We can
express this force as a Cartesian vector by first formulating FAB and
FAC as Cartesian vectors and then adding their components. The
directions of FAB and FAC are specified by forming unit vectors uAB
and uAC along the cables. These unit vectors are obtained from the
z associated position vectors rAB and rAC. With reference to Fig. 2–41a,
to go from A to B, we must travel 5 -4k 6 m, and then 5 4i 6 m. Thus,
A
rAB = 5 4i - 4k 6 m
FAB ⫽ 100 N FAC ⫽ 120 N
rAB = 2(4 m)2 + (-4 m)2 = 5.66 m
4m

rAB 4 4
FAB = FAB a b = (100 N) a i - kb
y rAB 5.66 5.66
4m FAB = 5 70.7i - 70.7k 6 N
B C
To go from A to C, we must travel 5 -4k 6 m , then 5 2j 6 m, and finally
2m
5 4i 6 . Thus,
x
(a)
rAC = 5 4i + 2j - 4k 6 m
z
rAC = 2(4 m)2 + (2 m)2 + (-4 m)2 = 6 m
A rAC 4 2 4
FAC = FAC a b = (120 N) a i + j - k b
rAC 6 6 6
FAB FAC = 5 80i + 40j - 80k 6 N

rAC
rAB The resultant force is therefore
y
FR
FR = FAB + FAC = 5 70.7i - 70.7k 6 N + 5 80i + 40j - 80k 6 N
B
C = 5 151i + 40j - 151k 6 N Ans.

x
(b)

Fig. 2–41
Dr. Aslam Al-Omari

Example 2.15
Dr. Aslam Al-Omari

Example 2.15
Dr. Aslam Al-Omari

2.9) Dot Product

r r r
A • B = A B cos θ A
ƒ Result is scalar θ
ƒ Laws: r
ƒ Commutative
r r r law: r B
A•B = B• A
ƒ Multiplication by a scalar
( ) ( ) ( ) ( )
r r r r r r r r
a A • B = a A • B = A • aB = A • B a
ƒ Distributive law:

( ) ( ) ( )
r r r r r r r
A• B + D = A•B + A•D
Dr. Aslam Al-Omari

2.9) Dot Product

r r r
A • B = A B cos θ A
ƒ Cartesian vector formulation θ

î • î = ĵ • ĵ = k̂ • k̂ = 1 r
B
î • ĵ = ĵ • k̂ = k̂ • î = 0 (zero )
( ) ( )
r r
A • B = Ax î + Ay ĵ + Az k̂ • Bx î + By ĵ + Bz k̂
r r
A • B = ( Ax Bx ) + (Ay By ) + ( Az Bz )
Dr. Aslam Al-Omari

2.9) Dot Product

ƒ Applications: r
1) To determine the angle θ between
A
the tails of any two vectors A & B θ
r
⎛ A•B⎞r r
-1 ⎜
r r ⎟
B
θ = cos
⎜ AB ⎟
⎝ ⎠
0 ≤ θ ≤ 180
r r
if A • B = 0 ⇒ θ = 90 o
Dr. Aslam Al-Omari

2.9) Dot Product

ƒ Applications:
2) To determine the components of a vector that
r
are parallel & perpendicular to a line
A
θ
a a’
A. Parallel component
r r r r
Aaa′ = A cos θ = A • u aa′
( )
r r r r r r
Aaa′ = Aaa′ u aa′ = A • u aa′ u aa′
Dr. Aslam Al-Omari

2.9) Dot Product

ƒ Applications:
2) To determine the components of a vector that
r
are parallel & perpendicular to a line
A
θ
a a’
B. Perpendicular component
r
A⊥ aa′ = A − Aaa′ = A sin θ
2 2

r r r
A⊥ aa′ = A − Aaa′
 72 CHAPTER 2 F O R C E VE C T O R S

EXAMPLE
EXAMPLE  2.1
2.17

The frame shown in Fig. 2–45a is subjected to a horizontal force

F = {300j}. Determine the magnitude of the components of this force
parallel and perpendicular to member AB.
2 z
z

FAB

B F  {300 j} N B
uB F

3m A F
A y y
2m
6m
x x

(a) (b)
Fig. 2–45

SOLUTION
The magnitude of the component of F along AB is equal to the dot
product of F and the unit vector uB, which defines the direction of AB,
Fig. 2–45b. Since

rB 2i + 6j + 3k
uB = = = 0.286 i + 0.857 j + 0.429 k
rB 2(2)2 + (6)2 + (3)2
then
FAB = F cos u = F # uB = (300j) # (0.286i + 0.857j + 0.429k)
= (0)(0.286) + (300)(0.857) + (0)(0.429)
= 257.1 N Ans.
Since the result is a positive scalar, FAB has the same sense of direction
as uB, Fig. 2–45b.
Expressing FAB in Cartesian vector form, we have
FAB = FABuB = (257.1 N)(0.286i + 0.857j + 0.429k)
= 5 73.5i + 220j + 110k 6 N Ans.
The perpendicular component, Fig. 2–45b, is therefore
F # = F - FAB = 300j - (73.5i + 220j + 110k)
= 5 -73.5i + 79.6j - 110k 6 N
Its magnitude can be determined either from this vector or by using
the Pythagorean theorem, Fig. 2–45b:
F # = 2F2 - F2AB = 2(300 N)2 - (257.1 N)2
= 155 N Ans.
Dr. Aslam Al-Omari

Example 2.16
The frame shown in Fig. 2-43a is subjected to a horizontal force
F=(300j) N. Determine the magnitude of the components of this
force parallel and perpendicular to member AB.
Dr. Aslam Al-Omari

Example 2.16
The frame shown in Fig. 2-43a is subjected to a horizontal force
F=(300j) N. Determine the magnitude of the components of this
force parallel and perpendicular to member AB.
Dr. Aslam Al-Omari

Example 2.16
Dr. Aslam Al-Omari

Example 2.16
 2.9 DOT PRODUCT 73

EXAMPLE
EXAMPLE  2.1
2.18

The pipe in Fig. 2–46a is subjected to the force of F = 80 lb. Determine

the angle u between F and the pipe segment BA and the projection of
F along this segment.
2
z

1 ft 2 ft
y
A
2 ft

C
x u 1 ft
F  80 lb
B

(a)

SOLUTION
Angle U. First we will establish position vectors from B to A and B
z
to C; Fig. 2–46b. Then we will determine the angle u between the tails
of these two vectors.
rBA = 5 -2i - 2j + 1k 6 ft, rBA = 3 ft
y
A
rBC = 5 -3j + 1k 6 ft, rBC = 210 ft
Thus, C rBA
x u
rBA # rBC (-2)(0) + (-2)(-3) + (1)(1) rBC
cos u = = = 0.7379
rBArBC 3210 B
u = 42.5 Ans. (b)
Components of F. The component of F along BA is shown in
Fig. 2–46c. We must first formulate the unit vector along BA and force
F as Cartesian vectors.
z
rBA (-2i - 2j + 1k) 2 2 1
uBA = = = - i - j + k
rBA 3 3 3 3 A
y
rBC -3j + 1k
F = 80 lba b = 80a b = -75.89j + 25.30k
rBC 210
Thus,
x F  80 lb FBA
2 2 1 u
FBA = F # uBA = (-75.89j + 25.30k) # a - i - j + k b
3 3 3 B
2 2 1 F
= 0 a- b + (-75.89)a- b + (25.30) a b
3 3 3 (c)
= 59.0 lb Ans.
Fig. 2–46
NOTE: Since u has been calculated, then also, FBA = F cos u =
80 lb cos 42.5 = 59.0 lb.
Dr. Aslam Al-Omari

Example 2.17
The pipe in Fig. 2-44a is subjected to the force of F=80 lb.
Determine the angle q between F and the pipe segment BA, and
the magnitudes of the components of F, which are parallel and
perpendicular to BA.
Dr. Aslam Al-Omari

Example 2.17
Dr. Aslam Al-Omari

Example 2.17
Dr. Aslam Al-Omari

Example 2.17