Mechanics I

Winter 2021
Lecture 3

Dr. Hesham H. Ibrahim

Associate Professor, Mechatronics Department.
hesham.hamed-ahmed@guc.edu.eg
Office C7.04

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 Lecture 3
Space Statics

3.1 Forces in Space (3D)

3.2 Forces in Vector Form

3.3 Resultant of Concurrent Forces (Analytical)

3.4 Equilibrium of Concurrent Forces (Analytical)

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 Chapter 2

Space Statics: (Concurrent Forces)

Resultant and Equilibrium of a Particle

3
 Forces in Space (in 3D)

TBG TBH
FD

F
FA

P, TBG , TBH …. three Nonconcurrent P, Q1 ,Q2 …. three concurrent Known

Forces (known) Forces
[Resultant ? ??] [Resultant ]
P, TBG , TBH and FA , FD five Nonconcurrent or: Add F =? To get [Equilibrium] for
[Find F and T for Equilibrium] the four forces

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 1 Statics in Space [3D]?
Forces in Space ? …The forces are called in space as long as they
are not contained in one plane.

►The tensions in the

cables supporting the Lines of action of
platform are in space. forces intersect at
The platform is a point
considered as a particle.

Concurrent Forces

►The tensions in the

cables supporting the We study:
container are also ■ Resultant of
space forces. The concurrent forces
tensions intersect at ■ Equilibrium of a
one point. particle.

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►Three space forces act
on a bracket. It is
required to replace them
by an equivalent effect
at O.

Non-concurrent We need to study:

■ Equivalent Systems
■ Equilibrium of
Rigid Body.

►The sign plate is kept in

Equilibrium in the shown
position by means of two
cables and a support at A

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 
2 Force ( F ) in Vector Form

► Consider a force F acting at the origin O
of the orthogonal rectangular frame. The

angle  defines the plane containing
 F
while θy defines the position of F in that plane.


►► Resolve F into horizontal and
vertical components:

►►►Then, resolve Fh into rectangular components:

Fx = Fh cos 
= (F sin θy) cos
and Fz = (F sin θy))sin 

Finally, F has been resolved into three
rectangular components Fx , Fy , and Fz
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 θ
θx
θz


Therefore: F  Fxî  Fy ˆj  Fz k̂ Force in vector form


Where: Fx , Fy , Fz are called Rectangular Components of F

θx , θy , θz are called the direction angles of F
cos θx , cos θy , cos θz are the direction cosines
î , ˆj , k̂ are the unit vectors along x, y, and z, respectively

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 Basic Relations
θ θx
θz


A Magnitude and Direction of ( F )
Given: The force in vector form For example: a force is given by:
 
F  Fxî  Fy ˆj  Fz k̂ F  30î  60 ˆj  20k̂
Required: ● its magnitude, F  30 2  60 2  20 2  70 N ◄
● its direction

►Magnitude: F  Fx  Fy  Fz
2 2 2
and the direction angles are:
Fx
►Direction: cos  x  cos  x  30 θx = 64.6o
F 70
Fy cos  y  60 θy= 31o
cos  y  70
F
cos  z  20 θz = 73.4o
F 70
cos  z  z
F
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 y y
More Details
B B

Fy Fy y
A
F A
x D F D
O O
x Fx x
Fx x
Fz Fz
E E
C C
Fx
z cos x  z
y
F
The Three direction Fy B
angles can be cos y 
obtained as: F Fy
F F
cos z  z A
D
F O
z Fx x

E
Fz C
z
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 B Unit Vector of a Force ( F̂ )
unit vector F̂ Given : The force in vector form

F  Fxî  Fy ˆj  Fz k̂

Required : ● a unit vector ( F̂) directed

θ
θx along its line of action.
θz
In general the unit vector is obtained by
dividing the vector by its magnitude.

F
 F̂ 
F
For example, find the unit vector for the
vector given in the previous example
30î  60 ˆj  20k̂
Note that the components of the F̂ 
unit vector are the direction 70
3 6 2
cosines of the same vector  î  ˆj  k̂
7 7 7
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 
C Determination of ( F ) on the bases
of its magnitude and direction
Given : the magnitude F, of a force, as
well as its direction (θx , θy , θz)
Required : F in vector form.

θ θx We have: Fx  F cos  x
θz Fy  F cos  y
Fz  F cos  z

D Direction Angles are dependent

The direction angles of the force vector
are dependent. They are related by:
Therefore, only two angles are
sufficient for determination of
cos 2  x  cos 2  y  cos 2  z  1
the direction of any force in
space (fact).

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 y
Example (1)

The magnitude of the shown force is F

300 N. Write down this force in vector form 45o
and hence find its rectangular components.

First Method
60o
θz x
Solution: z
From the figure θx= 60o and θy= 45o
cos 2  x  cos 2  y  cos 2  z  1 cos 2  z  0.25
cos  z  0.5 θz = 60o or 120o
Consider θz= 120o
Fx  F cos  x  150 N
refused
Fy  F cos  y  212.13 N
Fz  F cos  z  150 N


F  150î  212.13ˆj  150k̂

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 y
Example (2) Second Method

Express each force in vector form and

hence determine its direction with
respect to the coordinate frame. x

Solution:

► Force F1 z

The
 angles 60 and 45 defining the direction of
F1 are not direction angles. Therefore, we must
use the geometry to resolve this force.
As shown: F1 is resolved into F1y and F1h. Then, F1y
F1h is resolved into F1x and F1z:
F1x
F1y= 100 sin 60 = +86.6 lb F1h
and F1h= 100 cos 60= 50 lb

F1x = 50 sin45 = 35.36 N F1z

F1z = + 50 cos45= + 35.36 N

F1  35.36î  86.8 ˆj  35.36k̂
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  35.36 y
Direction cos  x    x  111o
100
86.8
cos  y    y  30 o
100
35.36
cos  z    z  69.3o x
100

Force F2 : z
F2 y  300 sin 45  212.13 Ib and F2 h  300 cos 45  212.13 Ib
F2 x  212.13 cos 30  183.71 Ib y

F2 z  212.13 sin 30  106.07 Ib


 F2  183.71iˆ  212.13 ˆj  106.07 kˆ
183.71
direction : cos  x   x  52.2 o
300 x

 212.13
cos  y   y  135o
300 z
106.07
cos  z   z  69.3o
300
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In many applications, the forces are applied along certain defined directions.
● For example the tension in the chain AB is directed through the shown
direction where the two points A and B are well defined.
● Also, the force in the cable AB is directed as shown.

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 Position Vector

►The position vector ( rB / A ) is the vector that specifies the position
of point B with respect to point A. In other words, the position of
B as seen from point A. It is drawn from A to B.
y y

rB / A 
rB / A  y B  y A  ˆj
 z B  z A kˆ
x x
xB  xA iˆ
O O

z z
   
rA  rA / O  x Aiˆ  y A ˆj  z A kˆ and rB  rB / O  x B iˆ  y B ˆj  z B kˆ
  
rB / A  rB  rA

 rB / A  ( x B  x A )iˆ  ( y B  y A ) ˆj  ( z B  z A )kˆ

Note that if a force F is applied along AB and directed from A to B,
then, both F and rB / A will have the same unit vector.

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 Very Important
Third Method Force Defined by its Magnitude and
Two Points on its Line of Action

In this case, the force is known in

magnitude (F) and its line of action
passes through two given points, for
example M and N .
F̂

■ Find the unit vector F̂ from:

F̂ 
x2  x1 î   y2  y ˆj  z2  z1 k̂
x2  x1 2   y2  y1 2  z2  z1 2
The two steps
are carried out
■ Then, find the force in vector form as:
in one step.

F  FF̂

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Example (3)

A tower guy wire is anchored by means of a

bolt at A. The tension in the wire is 2500 N.
Determine: (a) the rectangular components
the force acting on the bolt,
(b) the angles defining the
direction of the force.

Solution:

(a) Determination of F (0, 80, 0)
A = (40,0,-30)
B = (0,80,0)
F̂
  0  40î  80  0ˆj  0  30k̂ 
F  2500 
 40 2
 80 2
 30 2

 1060î  2120 ˆj  795k̂
(40, 0, -30)

Rectangular components
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 
(b) Direction angles at A: F  1060iˆ  2120 ˆj  795kˆ
F  2500 N
 1060
cos  x    x  115.1o
2500
2120
cos  y    y  32o
2500
795
cos  z    z  71.5o 
2500 F

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Example (4) y (2,3,-2)

The tension in the shown cable is 700 N. Find the

cartesian components of the tension at A.
Determine its direction. x
z
   2 iˆ  6 ˆj  3kˆ 
T  700  
 7  (0,-3,1)
  200 iˆ  600 ˆj  300 kˆ
Check T  200 2  600 2  300 2  700 N
200
Direction : cos  x   x  73.4 o y’
700
600
cos  y   y  31.0 o θy=31.0o
700
 300 θz=115.4o θx=73.4o
cos  z   z  115.4 o
x’
700
z’

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 3 Resultant of Concurrent Forces

►When the particle is acted upon by several

forces, then, these forces can be replaced by
one force called the equivalent or the “Resultant”.

F1  F1x î  F1 y ˆj  F1z k̂

R F2  F2 x î  F2 y ˆj  F2 z k̂
.......................
.......................

Fn  Fnx î  Fny ˆj  Fnz k̂
Rx   Fx
R y   Fy 
Rz   Fz R  Rx î  Ry ˆj  Rz k̂

As shown, this resultant must pass through

the point of intersection (Cocurrent Forces)
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 Example (5 )

A wall section of precast concrete is

temporarily held by the cables shown.
Knowing that the tension in cables AB and AC
are 840 lb and 1200 lb, respectively, determine
the magnitude and direction of the resultant of
the forces at A.

Solution
(0,8,-27)
Choose the coordinate frame as shown and 
then write each force in vector form. T2
(0,8,0)
    16iˆ  8 ˆj  11kˆ 
T1 T1  840   (16,0,-11)
 16  8  11 
2 2 2 T1
  16iˆ  8 ˆj  11kˆ 
 840 
 21 
 640iˆ  320 ˆj  440kˆ
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 (0,8,-27)
T2 
   16iˆ  8 ˆj  16kˆ  T2
T2  1200 
2
 16  8  16 
2 2
 (16,0,-11)
T1
ˆ
  16iˆ  8 ˆj  11k 
 1200  
 24 

 800iˆ  400 ˆj  800kˆ and we have T1  640iˆ  320 ˆj  440kˆ
So, the resultant which must pass through A is:
  
R  T1  T2 ● R = 1650 lb
 1440iˆ  720 ˆj  360kˆ ● θx = 150.8o
● θy = 64.1o
● θz = 102.6o

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 4 Equilibrium of Concurrent Forces F2 F1
Consider a particle A under the A
action of several space forces:
F1 , F2 , …… , Fn.
Fn
■ Find the resultant R, then: F3
 
If R is R  Rx iˆ  R y ˆj  Rz kˆ ►the particle will move along
a space curve.

If R  Rx iˆ  R y ˆj  0 ►the particle will move along a
curvilinear pass contained in xy plane

If R  Rx iˆ  0  0 ►the particle will perform a
rectilinear motion along x direction.
■ However, if
 Rx   Fx  0
R0 The particle
R y   Fy  0
Conditions of
is in case of Equilibrium
equilibrium Rz   Fz  0

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 Example (6)

A 200 kg cylinder is hung by means of

two cables AB and AC. A horizontal force
P holds the cylinder in the shown
position. Determine the magnitude of P
and the tension in each cable.
Solution:
Write
 down each force in vector form:
P  Piˆ  0  0

W  0  mg  ˆj  0
(0,12,-10)

   1.2iˆ  10 ˆj  8kˆ 
T1  T1   (0,12,8)
 12 . 86  2

 (0.093T1 )iˆ  (0.778T1 ) ˆj  (0.622T1 )kˆ 1

   1.2iˆ  10 ˆj  10kˆ 
T2  T2  
 14 .13  (1.2,2,0)

 (0.085T2 )iˆ  (0.705T2 ) ˆj  (0.705T2 )kˆ

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
P  Piˆ  0  0

W  0  mg  ˆj  0
   1.2iˆ  10 ˆj  8kˆ 
T1  T1   2
 12.86 
 (0.093T1 )iˆ  (0.778T1 ) ˆj  (0.622T1 )kˆ 1
   1.2iˆ  10 ˆj  10kˆ 
T2  T2  
 14 .13 
 (0.085T2 )iˆ  (0.705T2 ) ˆj  (0.705T2 )kˆ

Then, apply the conditions of equilibrium:

F x 0  P  0.093T1  0.085T2  0

 Fy  0   1962  0.778T1  0.705T2  0

F z 0  0.622T1  0.705T2  0

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F x 0  P  0.093T1  0.085T2  0
T1 = 1402 N
 Fy  0   1962  0.778T1  0.705T2  0 T2 = 1238 N
P = 235 N
F z 0  0.622T1  0.705T2  0

Think over!!!
● Determine the location of point C such that the
two tensions will have the same value and find
the tension in this case (distance 1.2 is kept constant).
● If the distance 1.2 is required to be doubled,
find P, T1, and T2 in this case (same cables lengths).
Comment on theobtained results.
● If the two points B and C coincide at one point,
determine the location of this point such that
the particle keeps its equilibrium in the shown
position (consider variable lengths of cables).

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Example (7)

The 100 kg cylinder is suspended from

the ceiling by cables attached at points
B, C, and D. What are the tensions in
the cables AB, AC, and AD?

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Solution:
  4iˆ  4 ˆj  2k 
T AB TAB   
 TAB 0.667iˆ  o.667 ˆj  0.333kˆ
 36 
   2iˆ  4 ˆj  2k 
T AC  TAC   
 TAC  0.408iˆ  0.816 ˆj  0.408kˆ 
 24 

T AD TAB 
  3iˆ  4 j  3k 
 
 TAD  0.514iˆ  0.686 ˆj  0.514kˆ
 34 

W  1009.81 ˆj   0  981 ˆj 0
From Conditions of Equilibrium
0.667TAB  0.408TAC  0.514TAD  0
0.667TAB  0.816TAC  0.868TAD  981
TAC
0.333TAB  0.408TAC  0.514TAD  0 TAB
Solving these equations, we get : TAD
TAB  519.1 N
W
TAB  636.1 N
TAB  168.7 N

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