MEC412

CHAPTER 2

Statics of Particles
Contents

Application Sample Problem 2.3

Introduction Equilibrium of a Particle
Forces on a Particle: Resultant of Free-Body Diagrams and Problem
Two Forces Solving
Vectors Sample Problem 2.4
Addition of Vectors Sample Problem 2.6
Resultant of Several Concurrent Expressing a Vector in 3-D Space
Forces Sample Problem 2.7
Sample Problem 2.1
Sample Problem 2.2
Rectangular Components of a
Force: Unit Vectors
Addition of Forces by Summing X
and Y Components

2-2
Application

The tension in the cable supporting

this person can be found using the
concepts in this chapter.

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Edition
Eleventh
Vector Mechanics for Engineers: Statics

Copyright © McGraw-Hill Education. Permission required for reproduction or display.

Edition
Eleventh
Vector Mechanics for Engineers: Statics

Copyright © McGraw-Hill Education. Permission required for reproduction or display.

Introduction
• The objective for the current chapter is to investigate the effects of forces
on particles:
- replacing multiple forces acting on a particle with a single
equivalent or resultant force,
- relations between forces acting on a particle that is in a
state of equilibrium.

• The focus on particles does not imply a restriction to miniscule bodies.

Rather, the study is restricted to analyses in which the size and shape of
the bodies is not significant so that all forces may be assumed to be
applied at a single point.

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Resultant of Two Forces

• force: action of one body on another;

characterized by its point of application,
magnitude, line of action, and sense.

• Experimental evidence shows that the

combined effect of two forces may be
represented by a single resultant force.

• The resultant is equivalent to the diagonal of

a parallelogram which contains the two
forces in adjacent legs.

• Force is a vector quantity.

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Vectors
• Vector: parameters possessing magnitude and direction
which add according to the parallelogram law. Examples:
displacements, velocities, accelerations.

• Scalar: parameters possessing magnitude but not

direction. Examples: mass, volume, temperature

• Vector classifications:
- Fixed or bound vectors have well defined points of
application that cannot be changed without affecting
an analysis.
- Free vectors may be freely moved in space without
changing their effect on an analysis.
- Sliding vectors may be applied anywhere along their
line of action without affecting an analysis.

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Addition of Vectors
• Trapezoid rule for vector addition

• Triangle rule for vector addition

• Law of cosines,
C
B R 2 = P 2 + Q 2 − 2 PQ cos B
  
C R = P+Q

• Law of sines,
sin A sin B sin C
= =
B Q R A

• Vector addition is commutative,

   
P+Q = Q+ P

• Vector subtraction

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Resultant of Several Concurrent Forces
• Concurrent forces: set of forces which all
pass through the same point.

A set of concurrent forces applied to a

particle may be replaced by a single
resultant force which is the vector sum of the
applied forces.

• Vector force components: two or more force

vectors which, together, have the same effect
as a single force vector.

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Sample Problem 2.1
The two forces act on a bolt at
A. Determine their resultant.
STRATEGY:
• Graphical solution - construct a
parallelogram with sides in the same
direction as P and Q and lengths in
proportion. Graphically evaluate the
resultant which is equivalent in direction
and proportional in magnitude to the
diagonal.
• Trigonometric solution - use the triangle
rule for vector addition in conjunction
with the law of cosines and law of sines
to find the resultant.
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Sample Problem 2.1
MODELING and ANALYSIS:
• Graphical solution - A parallelogram with sides
equal to P and Q is drawn to scale. The
magnitude and direction of the resultant or of
the diagonal to the parallelogram are measured,
R = 98 N  = 35

• Graphical solution - A triangle is drawn with P

and Q head-to-tail and to scale. The magnitude
and direction of the resultant or of the third side
of the triangle are measured,

R = 98 N  = 35

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Sample Problem 2.1
• Trigonometric solution - Apply the triangle rule.
From the Law of Cosines,
R 2 = P 2 + Q 2 − 2 PQ cos B
= (40 N )2 + (60 N )2 − 2(40 N )(60 N ) cos 155
R = 97.73N
From the Law of Sines,
sin A sin B Q 60N
= ; sin A = sin B = sin155
Q R R 97.73N
A = 15.04
 = 20 + A
 = 35.04

REFLECT and THINK: An analytical solution using trigonometry

provides for greater accuracy. However, it is helpful to use a graphical
solution as a check.
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Sample Problem 2.2
A barge is pulled by two
tugboats. If the resultant of
the forces exerted by the
tugboats is 5kN force directed
along the axis of the barge,
determine the tension in each
of the ropes for  = 45o.
Discuss with a neighbor how
you would solve this problem.
STRATEGY:
• Find a graphical solution by applying
the Parallelogram Rule for vector
addition. The parallelogram has sides
in the directions of the two ropes and a
diagonal in the direction of the barge
axis and length proportional to 5kN.
• Find a trigonometric solution by
applying the Triangle Rule for vector
addition. With the magnitude and
direction of the resultant known and
the directions of the other two sides
parallel to the ropes given, apply the
Law of Sines to find the rope tensions.
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Sample Problem 2.2
MODELING and ANALYSIS:

• Graphical solution - Parallelogram Rule

with known resultant direction and
magnitude, known directions for sides.
T1 = 3.7kN T2 = 2.6kN

• Trigonometric solution - Triangle Rule

with Law of Sines
T1 T2 5kN
= =
sin45 sin30 sin105

T1 = 3.66kN T2 = 2.59kN

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What if…?
• At what value of  would the tension in rope
2 be a minimum?
Hint: Use the triangle rule and think about
how changing  changes the magnitude of T2.
After considering this, discuss your ideas with
a neighbor.

• The minimum tension in rope 2 occurs when

T1 and T2 are perpendicular.

T2 = (5kN )sin30 T2 = 2.5kN

T1 = (5kN )cos30 T1 = 4.33kN

 = 90 − 30  = 60
REFLECT and THINK: Part (a) is a straightforward application of resolving a
vector into components. The key to part (b) is recognizing that
the minimum value of T2 occurs when T1 and T2 are perpendicular.
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Rectangular Components of a Force: Unit Vectors
• It’s possible to resolve a force vector into perpendicular
components so that the resulting parallelogram is a
rectangle. Fx and Fy are referred to as rectangular
vector components and
  
F = Fx + Fy
 
• Define perpendicular unit vectors i and j which are
parallel to the x and y axes.

• Vector components may be expressed as products of

the unit vectors with the scalar magnitudes of the
vector components.
  
F = Fx i + Fy j

Fx and Fy are referred to as the scalar components of F

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Addition of Forces by Summing X and Y Components
• To find the resultant of 3 (or more) concurrent
forces,
   
R = P+Q+ S
• Resolve each force into rectangular components,
then add the components in each direction:
       
R x i + R y j = Px i + Py j + Q x i + Q y j + S x i + S y j
= ( Px + Q x + S x )i + (Py + Q y + S y ) j
 

• The scalar components of the resultant vector are

equal to the sum of the corresponding scalar
components of the given forces.
Rx = Px + Qx + S x R y = Py + Q y + S y
=  Fx =  Fy
• To find the resultant magnitude and direction,
−1 R y
R = Rx + R y
2 2
 = tan
Rx
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Sample Problem 2.3
Four forces act on bolt A as shown.
Determine the resultant of the force
on the bolt.
STRATEGY:
• Resolve each force into rectangular
components.
• Determine the components of the
resultant by adding the corresponding
force components in the x and y
directions.
• Calculate the magnitude and direction
of the resultant.
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Sample Problem 2.3
MODELING: ANALYSIS:
• Resolve each force into rectangular components.
force mag x − comp y − comp
F1 150 +129.9 +75.0
F2 80 −27.4 +75.2
F3 110 0 −110.0
F4 100 +96.6 −25.9
R x = +199.1 R y = +14.3

• Determine the components of the resultant by

adding the corresponding force components.
REFLECT and THINK: • Calculate the magnitude and direction.
Arranging data in a table not only
helps you keep track of the R = 199.12 + 14.32 R = 199.6N
calculations, but also makes things 14.3 N
simpler for using a calculator on tan  =  = 4.1
199.1 N
similar computations.
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Equilibrium of a Particle
• When the resultant of all forces acting on a particle is zero, the particle is
in equilibrium.
• Newton’s First Law: If the resultant force on a particle is zero, the particle will
remain at rest or will continue at constant speed in a straight line.

• Particle acted upon by • Particle acted upon by three or more forces:

two forces: - graphical solution yields a closed polygon
- equal magnitude - algebraic solution
- same line of action  
R = F = 0
- opposite sense
 Fx = 0  Fy = 0
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Free-Body Diagrams and Problem Solving

Space Diagram: A sketch showing Free Body Diagram: A sketch showing

the physical conditions of the only the forces on the selected particle.
problem, usually provided with This must be created by you.
the problem statement, or
represented by the actual
physical situation.

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Sample Problem 2.4
STRATEGY:
• Construct a free body diagram for the
particle at the junction of the rope and
cable.
• Apply the conditions for equilibrium by
creating a closed polygon from the
forces applied to the particle.
• Apply trigonometric relations to
determine the unknown force
In a ship-unloading operation, a magnitudes.
3.5kN automobile is supported by a
cable. A rope is tied to the cable
and pulled to center the automobile
over its intended position. What is
the tension in the rope?

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Sample Problem 2.4
ANALYSIS:
• Apply the conditions for equilibrium and
solve for the unknown force magnitudes.

Law of Sines:
TAB TAC 3.5kN
= =
sin120 sin 2 sin 58
MODELING: TAB = 3.57 kN
TAC = 144 N

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Sample Problem 2.4

REFLECT and THINK: This is a common problem of knowing one

force in a three-force equilibrium problem and calculating the other forces
from the given geometry. This basic type of problem will occur often as
part of more complicated situations in this text.

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Sample Problem 2.6
STRATEGY:
• Decide what the appropriate “body” is
and draw a free body diagram
• The condition for equilibrium states
that the sum of forces equals 0, or:
 
It is desired to determine the drag force R = F = 0
at a given speed on a prototype sailboat  Fx = 0  Fy = 0
hull. A model is placed in a test
channel and three cables are used to • The two equations means we can solve
align its bow on the channel centerline. for, at most, two unknowns. Since
For a given speed, the tension is 200N there are 4 forces involved (tensions in
in cable AB and 300N in cable AE. 3 cables and the drag force), it is easier
Determine the drag force exerted on the to resolve all forces into components
hull and the tension in cable AC. and apply the equilibrium conditions

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Sample Problem 2.6
MODELING and ANALYSIS:
• The correct free body diagram is shown
and the unknown angles are:
7m 1.5 m
tan  = = 1.75 tan  = = 0.375
4m 4m
 = 60.25  = 20.56

• In vector form, the equilibrium

condition requires that the resultant
force (or the sum of all forces) be zero:
    
R = TAB + TAC + TAE + FD = 0

• Write each force vector above in

component form.

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Sample Problem 2.6
• Resolve the vector equilibrium equation into
two component equations. Solve for the two
unknown cable tensions.
TAB = − ( 200 N ) sin 60.26 i + ( 200 N ) cos 60.26 j
= − (173.66 N ) i + ( 99.21N ) j
TAC = TAC sin 20.56 i + TAC cos 20.56 j
= 0.3512 TAC i + 0.9363TAC j
TAE = − ( 300 N ) j
FD = FD i

R=0
= ( −173.66 N + 0.3512 TAC + FD ) i
+ ( 99.21N + 0.9363TAC − 300 N ) j

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Sample Problem 2.6
R=0
= ( −173.66 N + 0.3512 TAC + FD ) i
+ ( 99.21N + 0.9363 TAC − 300 N ) j

This equation is satisfied only if each component

of the resultant is equal to zero

( F x = 0 ) 0 = −173.66 N + 0.3512 TAC + FD

( F y = 0 ) 0 = 99.21N + 0.9363TAC − 300 N

REFLECT and THINK: In
drawing the free-body diagram, TAC = +214.45 N
you assumed a sense for each FD = +98.35 N
unknown force. A positive sign in
the answer indicates that the
assumed sense is correct. You can
draw the complete force polygon
(above) to check the results.
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Expressing a Vector in 3-D Space
If angles with some of the axes are given:

 
• The vector F is • Resolve F into • Resolve Fh into
contained in the horizontal and vertical rectangular components
plane OBAC. components.
Fy = F cos  y Fx = Fh cos
= F sin y cos
Fh = F sin  y Fz = Fh sin
= F sin y sin

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Expressing a Vector in 3-D Space
If the direction cosines are given:


• With the angles between F and the axes,
Fx = F cos  x Fy = F cos  y Fz = F cos  z
   
F = Fx i + Fy j + Fz k

(  
)
= F cos  x i + cos  y j + cos  z k

= F
   
 = cos  x i + cos  y j + cos  z k
 
•  is a unit vector along the line of action of F
and cos  x , cos
  y , and cos  z are the direction
cosines for F
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Expressing a Vector in 3-D Space
If two points on the line of action are given:

Direction of the force is defined by

the location of two points,
M ( x1 , y1 , z1 ) and N ( x2 , y2 , z 2 )

r
d = vector joining M and N
r r r
= d xi + d y j + d z k
d x = x 2 − x1 d y = y 2 − y1 d z = z 2 − z1
r r
F = F
r 1 r
( )
r r
 = dxi + d y j + d z k
d
Fd x Fd y Fd
Fx = Fy = Fz = z
d d d
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Sample Problem 2.7
STRATEGY:
• Based on the relative locations of the
points A and B, determine the unit
vector pointing from A towards B.

• Apply the unit vector to determine the

components of the force acting on A.

• Noting that the components of the unit

vector are the direction cosines for the
The tension in the guy wire is 2500 N. vector, calculate the corresponding
Determine: angles.
a) components Fx, Fy, Fz of the force
acting on the bolt at A,
b) the angles x, y, z defining the
direction of the force (the direction
cosines)
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Sample Problem 2.7
MODELING and ANALYSIS:
• Determine the unit vector pointing from A
towards B.
r r r
AB = (−40m)i + (80m) j + (30m)k

(−40m) + (80m) + (30m)

2 2 2
AB =
= 94.3 m
r  −40  r  80  r  30  r
 = i +   j + k
 94.3   94.3   94.3 
 r r r
= −0.424 i + 0.848 j + 0.318k
• Determine the components of the force.
r r
F = F
r
( )
 r r
= (2500 N ) −0.424 i + 0.848 j + 0.318k
r r r
= (−1060N )i + (2120 N ) j + (795 N )k

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Sample Problem 2.7
MODELING and ANALYSIS:
• Determine the unit vector pointing from A
towards B.
r r r
AB = (−40m)i + (80m) j + (30m)k

(−40m) + (80m) + (30m)

2 2 2
AB =
= 94.3 m
r  −40  r  80  r  30  r
 = i +   j + k
 94.3   94.3   94.3 
 r r r
= −0.424 i + 0.848 j + 0.318k

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Sample Problem 2.7
MODELING and ANALYSIS:
• Determine the unit vector pointing from A
towards B.
r r r
AB = (−40m)i + (80m) j + (30m)k

(−40m) + (80m) + (30m)

2 2 2
AB =
= 94.3 m

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2 - 54
Sample Problem 2.7
• Noting that the components of the unit vector are
the direction cosines for the vector, calculate the
corresponding angles.
   
 = cos  x i + cos  y j + cos  z k
  
= −0.424 i + 0.848 j + 0.318k

 x = 115.1
 y = 32.0
 z = 71.5

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Sample Problem 2.7
• Noting that the components of the unit vector are
the direction cosines for the vector, calculate the
corresponding angles.
   
 = cos  x i + cos  y j + cos  z k
  
= −0.424 i + 0.848 j + 0.318k

 x = 115.1
 y = 32.0
 z = 71.5

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What if…?

FBA • Since the force in the guy wire must be

the same throughout its length, the force
at B (and acting toward A) must be the
same magnitude but opposite in
FAB direction to the force at A.

r r
FBA = −FAB
r r r
What are the components of the = (1060N)i + (−2120 N ) j + (−795 N )k
force in the wire at point B? Can
you find it without doing any REFLECT and THINK: It makes sense
calculations? that, for a given geometry, only a certain set
 of components and angles characterize a
Give this some thought and discuss given resultant force. The methods in this
this with a neighbor. section allow you to translate back and forth
between forces and geometry.
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