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    Statika_Universitas Sam Ratulangi by Prof. Dr. Ir Dody Martin J. Sumajow, M.Eng, Ph.D

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    Statika_Universitas Sam Ratulangi by Prof. Dr. Ir Dody Martin J. Sumajow, M.Eng, Ph.D

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    © All Rights Reserved
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    17 views16 pages

    1.a. Force Vectors

    Uploaded by

    Adriansyah Fathur Rahman
    Statika_Universitas Sam Ratulangi by Prof. Dr. Ir Dody Martin J. Sumajow, M.Eng, Ph.D

    Copyright:

    © All Rights Reserved
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    Force: Vectors * 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 eo ‘Most of the physical quantities in mechanics can be expressed ‘mathematically by means of scalars and vectors, Scalar. A quantity characterized by a positive or negative number is ‘called a scalar. For exampiomass, volume, and length ae scalar quantities often used in statics. In this book, scalars are indicated by letters in italic type, such asthe salar A, Vector, A vectoris a quantity that has both a magnitude and a diection. Instat the vector quantities frequently encountered are position force, and moment. For handwitten work, a vectors generally represented by 4 letter with an arrow written over it, such as A. The magaitude is designated [A or simply A. Io this book vectors will be symbolized in boldface type; for example, Ais used to designate the vector “A.” Its ‘magnitude whichis always a positive quantity i symbolized inital ‘watten as [Al or simply A when tis understood that Aisa positive scalar. A vector is represented grephicolly by an arrow, which is used to define its magnitude, direction, and sense. The magnitude of the veotor is the length of the arrow, the direction is defined by the angle between & reference axis and the atrow’s line of action, and the sense is indicated by the arrowhead, For example, the vector A shown in Fig. 2-1 bas a ‘magnitude of 4 vnits,a direction which is 20° measured counterclockwise {from the horizoatal axis, and a sense which is upward and to the right. ‘The point O is called the ‘ail of the vector, the point P the tp or head. 2.2. Vector Operations ‘Multiplication and Division of a Vector by a'Scalat. The product of vector A. and scalar a, yielding aA, is defined es a vector having magnitude ad]. The sense of aA i the same as provided ais postive, itis opposite to ites negative. In particular, the negative ofa vector is formed by multiplying the vector bythe scalar (~1),ig.2-2.Division of a vector by asl can be defined using the laws of multiplication, since Me (alee #0. pie emp tcpete ae hom, Vector Addition, Two vectors A and B such es force or postion, Fig. 2-4a, may be added to form a “sesultant” vector R= A+ B by ‘sing the parallelogram lay. To do this, A nd B are joined at their al ‘ig. 2-4b, Parallel lines drawn from the head ofeach vector intersect ata ‘common point, thereby forming the adjacent sides of «parallelogram. AS show the rsttnt Ris the diagonal of the parallelogram, which extends {tom the tails of A and B tothe intersection ofthe ines. ‘Weean also ada B to A using a triangle construction, which sa special «ase ofthe parallelogram law, whereby vector B is added to vector A in ‘“head-oail”fahion ie, by connecting the head of Ato the tail of By, Fig.24e‘The eat extends tom he i of Ato the ead of Bs ‘similar manne, R can also be obtained by adding A to B,Fig,2-Ad, compares we Gat ocr nica orcad ats ale the vector can be added in citherorder,ic, R= A+ B= B+ A. ‘As a special cas, ifthe two vectors A and B are collinear, i, both have the same fine of action, the parllelogram law reduces to an algebraic ot scalar addition R'= A + B, as shown in Fig.2-5. Vector Subtraction, The resultant difference between two vectors A. tnd B of the same type may be expressed as W 2A-B=A+4(-B) ‘This vector sum is shown graphically in Fig. 2-6. Subtraction is therefore defined as a special case of addition, s0 the rules of veetor addition also apply to vector subtraction. Panieapaw et Soon p26 Resolution of Vector. A vector may be resolved into two “components” having Known lines of sexi by using the parallelogram tay, For example, ifR in Fig. 27a is to be resolved into components ‘acting along the lines @ and 6, one star's atthe head of R and extends a line parallel toa until itintersects 8. Likewise,a line parallel to is drawn from the head of R to the point of intersection with ¢,Fig.2-7a.The two ‘components A and B are then drawa such that they extend from the tail ‘of R to the points of intersection, as shown in Fig. 2-76, ‘Bnd pris ra hed oC ‘oformconponens @ ‘Secn0n 2.2 Vector Operations « 19 sy Raw Adon of cline eect prs e is 20 + CHAPTER 2 Force Vectors 2.3 Vector Addition of Forces Experimental evidence has shown that aforee is a vector quantity since Fy ithas a specified magnitude, direction, and sense and it adds according to the parallelogram law. TWwo common problems in statics involve either finding the resultant force, knowing its components, or resolving a known force into two components. As described in Sec. 22, both of these problems require applicetion ofthe parallelogram I If more than two forees ae to be added, successive applications of the - parallelogram lw canbe carted out a order to obtain the resuliant force. ° 5 For exaniple, if three forces F,,F, Fy act at a point O, Fig. 2-8, the resultant ‘of any two ofthe forces is found—say, Ky + ¥a—and then this resultant is ee, ‘added to the thi fore, yielding the resultant of all three forces; ic, y= (F, + F;) + Fy Using the parallelogram law to add more than t¥9 forces, as shown here, often requires extensive geometric and trigonometric calculation to determine the mumercal values for the magnitude and sirection of the resltant. Instead, problems ofthis type are easly solved by ‘sing the “rectangula-component method” which is explained in Sec. 2.4. Fur, Hy we know the fores Band Fy thst the to sins @ and B ext onthe hook, we ‘can ind hee esa force F by sag the This reuies rang line pial! to and b fom the heads of F, and Fy as shown thus forming © pon ogra. ina mune te lol acs en na cmgeen and Fy, tat act along» and b, 20 be delermied from the paallogram law. “Here we most star at the head CF, ed comsract nes parabel io and thereby forming he parallelogram —— PROCEDURE FOR ANALYSIS Problems that involve the addition of two forces can be solved sx follows: Paralletogram Lay. ‘+ Make asketch showing the vector addition using the parallelogram aw. * Two “component” forees add accotding tothe parallelogram lav, yielding a resultant force that forms the diagooal of the parallelogram, + If force is to be resolved into components along two axes directed from the tail of the force, then start atthe head of the force and construct Lines parallel to the axes, thereby forming ‘the parallelogram. The sides of the parallelogram represent the components. + Label all the known and unknown force magnitudes andthe engles onthe sketch and identify the two unknowns Trigonometry, + Redraw a half portion of the parallelogram to illustrate the ‘siangular head-to-tail addition of the components. * The magnitude ofthe resultant force can be determined from the Jaw of cosines, and its direction is determined from the law of sines, Fig. 2-9, ‘+ The magnitude of two force components are determined from the lw of snes, Fig. 2-9. ‘A scalar isa postive or negative number. ‘A vectors 2 quantity that has magnitude, direction, and sent. “ Mutipication or division of a vector by a scalar wll change the ragnitude of the vector. Te sense ofthe vector wil change if the scalar is negative. > As a special case, if the vectors are collinear, the resultant is {formed by an algebraic or scalar addition, 22 + CHAPTER? Force Vectors “The serow eye in Fig. 2-10r is subjected to two forces, Fi and Fa, ‘Determine the magnitude and direetion of the resultant force, Porallelogram Lav. "The parallelogram law of addition is shown in Bg Li tee Ene Oe eee 6 iets. : Trigonometry. From Fig. 2-10 the vector triangle, Fig. 2-10 is Loerie yr Fx = GOON} + (150)? ~ 2(100NN)(150N) cos 115° =2126N, = 2500 = secnow 23. Vector Addition of Forces + 23 ‘Resolve the 1000-N (~ 100-ke) force acting on the pipe, Fig. 2-122, into ‘components in the (8) x and y directions, and (b) x’ andy directions ° reo Solution In ench cate the parallelogram Inw is used to resolve F into its two components, and then the vector triangle is constructed to determine the numerical results by trigonometry. Port (a), "The vector addition F = F, +, is shown in Fig. 2-18. Jn particular, note thatthe length of the components is sealed along the x and y axes by frst constructing lines from the tip of F parallel tothe axes in accordance with the parallelogram aw-From the vector twiangle, ig. 2-11¢, F, = 1QQ0N cos 40° = 766NN Ans (000 N sin 40" = 643 N Ans Part (0), The vector addition F = Fy + F, is shown in Fg. 2-11d. [Note carefully hov the parallelogeam is constructed. Applying the lav ofsines and using the data listed on the vector triangle, ig. 2-Lle, yields Ans oon 190 5 ae % © 0008 o mY > © me (CHAPTER 2 Force Vectors “The force F acting on the frame shown in Fig.2-12« has a magnitude ‘of 500 N and is to be resolved into two components acting along, ‘members AB and AC, Determine the angle @, measured below the horizontal, 30 thatthe component Fac is directed from A toward C ‘and bas a magnitude of 400 N. Solution f ‘By ning the parallelogram law, the vector addition of the two compare ising th ceva i shows in Be, 2-12, Note ‘carefully how the resultant force is resolved into the two components ap and Fyo, Which have specified lines of action. The corresponding vector triangle is shown in Fig. 2-12e, “The angle ¢ can be determined by using the law of ines: 400N _ S00N ‘sng ~ sin 60 4000 so (Gon enn Hence, f 6 180" — 60" ~ 43.9" = 761° ‘Using this value fr 9, apply te law of cosines P ado ‘Show tatacocd= isi Py Secnou 2.3 Veetor Addition of Forces + 25 ‘The ring shown in Fig, 2-13a i subjected to two forces, and Fy Iitis required that the resultant force have a magnitude of kN and be dsected vertically downward, determine (a) the magnitudes of F, and F; provided 9 = 30, and (b) the magnitudes of F, and F, if Fy sto be a minimus, Solution Part (a). A sketch of the vector additioa according to the parallelogram law is shown in Fg. 2-130. From the vector triangle constructed in Fig. 2-13c, the unknown magnitudes F and F; are Ans. Ans. Pari), YE0i8 wot specified, then by the vector wiangle, Fp. 2-134, Fymay be added to F in varios ways to yield the resultant 1000-N force Ia particular, the minimum length or magnitude of Fy will eeur AY fe ‘when tlie factions perpendicnlarto Fy. Any ther dicection, such is OA or OB, yields a larger value for, Hence, when 6 = 90° — 20° = 70°, F; is minimum. From the triangle shown in Fig. 2-13 it js seen that F, = 1000sin 70°N = 910 Ans. = 1000 cos 70°N = 342N Ars. et ‘Seenion 2.4 Addition of a System of Copianar Forces + 31 2.4 Addition of a System of Coplanar Forces ‘When the resultant of more than two forces has to be obtained, it is easier to find the components of each force along specified axes, add these components algebraically, and then form the resultant, rather than form the resultant of the forces by successive application of the parallelogram law as discussed in Sec. 23. Tinthis section we will resolve each force into is rectangular components and ,, whic ie along the and y axes respectively Fig 2-14a, Although the axes ate horizontal and vertical, they may in general be directed at any Inclination along as they remain perpendicular tone another, Fi 2-146, ra Tn either case, by the parallelogram law, we require Peer FeR+5 and Fern+5 / ‘As shown in Fi 2-14, the sense of direction of each force component isepresented graphically by the arrowhead. For analytical work, however, ‘we must establish a notation for representing the directional sense ofthe Fy rectangular components This can be done in one of two ways. Scolar Notation. Since the x andy axes have designated postive and —// negative dzections the magnitude and directional sense ofthe rectangular components of a force can be expressed in terms of algebraic scalars, For ‘example,the components of Fin Fig 2-14a can be represented by positive scale, and F, since their sense of direction is along the postive x and » yes respectively. na simiar manner, the components ofF in Fig.2-145 are F and ~F', Here the y componcat is negative, since Fy is directed ‘ong the negative y axis Ttis important to keep in mind that this scalar notation isto be used ‘only for computational purposes, not for graphical representations in figures Throughout the book, the head of a vector arrow in any figare indicates the eene ofthe vector graphically, algebraic signs are not used fn {for this parpore. Thus the vectors in Figs 2-14a and2-14b are designated | ‘by sing boldface (vector) notation, * Whenever italiesymbols ae written near vector arrows in Gigures they indicate the mapninude of the Vector, ‘hich is alvays a positive quantity. Z ‘ ‘ogi sig ae wed alin gues wit bolas notation when showing equal bat opposite pis of vectors a in Fp. 2-2. 2 + CHAPTER 2 Force Vectors Cartesian Vector Notation. It is also possible to represent the ‘components of a force in terms of Cartesian unit vectors. When we do this the methods of vector algebra are easier to apply, and ve will see that this becomes particularly advantageous for solving problems in three dimensions In two dimensions the Cartesian unit vectors 1 and j are used 10 designate the directions of the x and y axes, respectively, Fig. 2-15a* "These vectors have a dimensionless magnitude of unity, and their sense (or arrowhead) will be described analytically by a plus oF minus sign, depending on whether they are pointing along the positive or negative ory axis, ‘As shown i Fig 2-15, the magnitude ofeach componeat of Fis alvays ‘aposiive quantity, whichis represented by the (positive) sealars F, and ‘F,, Therefore, having established notation to represent the magnitude ‘and the direction of each vector component, we can express F in Fig. 2-15e as the Cartesian vector, Fo Rit Bi ‘And inthe same way, Fi Fig. 2-18b can be expresed as Fa FutF(-D) ‘or simply = Fin Bi Fetis ‘For handoriven wor, eit eco ate wy indicted wing a deuce eg, 7 and. Stcron 24 Addition ofa System of Coplanar Forces + 33 CoplanarForce Resultants, Either of the to methods just described x } ‘ean be used to determine the resultant of several coplanar forces." do this, cach force is first resolved into its x and y components, and then | the respective components are added using scelar algebra since they | are collinear. The resultant force is then formed by adding the resultants m | ‘of the « and y components using the parallelogram law. For example, Consider the three concurrent forces in Fig. 2-16e, which have x and y components as shown in Fig. 2-16b. To solve this problem using Cartesian vector notation cach foee sist represented asa Cartesian vector, 5 R= Alt Ful = -Blt Bi B= Bi - Bi | “The vector rsultant is therefore FeoRtR+h Bul + Fo) - Bul + Bb + Bul ~ Bd is — Fac + Ball + (Fy + By — By) = Fadl + Gli scalar notion is used, then, rom Fig. 2-16, sine xis positive to the right andy is positive upward, we have ce Fee = Fin ~ Fx + Ba on Fry = Fy + Fy ~ By | ‘These resus are the some asthe i andj components of Fy determined above. In the general case, the x and y components of the resultant of any x umber of coplanar forces can’be fepresented symbolically by the algebraic sum of the.x and y components of al the forces, ie, Fu = 3 Fr = 35 ey 7 Tre When applying these equations, it is important to use the sign convention established for the components; and that is, components ° having a directional sense along the postive coordinate axes are considered positive scalars, whereas those having a directional sense Bere ‘along, the negative coordinate axes are considered negative scalars. If this convention is followed, then the signs of the resultant components will specify the sense ofthese components For example, a positive result indicates that the component has a directional sense which is in the positive coordinate direction. 34 + CHAPTER2 Force Vectors my “he rest foe of he oe fret teting onthe eupporing bracket can fetermined by ding algebeacally. the separate + nd y components of each cable force Ti resultent Fy produces the some piling effect om the beacket as all (Our bles ip 2.16 . (Once the resultant components are determined, they may be sketched along the x and y axes in their proper directions, and the resultant force ‘can be determied from vector addition as shown in Fg. 2-16e. From this sketch, the magnitude of Ky is then found from the Pythagorean. theorem; that is, i a= Fhe + Fy ‘Also, the direction angle &, which specifies the orientetion of the force, {is determined from trigonometry: “The above concepts are illustrated numerically in the examples which follow. IMPORTANT POINTS «The resultant of several coplanar forces can easily be determined if an x, y coordinate system is established and the forces are resolved slong the ares. © ‘The direction of each force is specified by the angle its line of action makes with one ofthe axes, or by a sloped triangle. «© ‘The orientation ofthe x and y axes is arbitrary and their positive direction ean be specified by the Cartesian unit vectors {and j. © The x and y components of the resultant force are simply the algebraic addition of the components ofall the coplanar forces. * The magnitudé of the resultant force’ js determined from the Pythagorean theorem, and when the components are sketched on ‘thexand y axes, the direction can be determined from trigonometry. Determine the x and y components of F, and acting on the boom shown in Fig, 2-17a. Express each force as a Cartesian vector. Solution Scalar Notation. By the parallelogram Inw, Fis resolved into x ‘and y components, Fig. 2-17). The magaitude of each component is determined by trigonometry. Since F, acs inthe ~» direction, and Fi, acts in the +y direction, we have The fore, resolved into its x andy componenis as shown in Fig 21?e Here he slope of he ine of action for he forse Frtthis"dope timgle cook cba theangiee,0= ta"), aden proceed to determine the mapnities ofthe componentsin he tame mataer soc Fy, An cast wets howeret cons fing proportional pers of tna tangles ie, Ay 12 260N~ 13 T= Sinilcy, s By = 20N(3) = 1008 Notice that the magnitude of the horizontal component, Fa 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, F, was obtained by ‘multiplying the force magnitude by the ratio ofthe Vertical leg divided by the hypotenuse, Hence, using scalar notation, Fa, = 240N = 240N> Ans Ry = ~100N = 100N J Ans Cartesian Vector Notation. Having determined the magnitudes and

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