Lecture 2

Mechatronics Engineering Department
Faculty of Engineering
National University of Sciences and Technology
ME 112
Engineering Statics
Dr. Anas Bin Aqeel

Assistant Professor
Department of Mechatronics Engineering
Pakistan
anas.aqeel@ceme.nust.edu.pk
0321-4755662
CHAPTER-2
Force Vectors
M M
Book:
 Engineering Mechanics Statics, R. C. Hibbeler, 12th Ed
2
FORCE VECTORS
• Scalars & Vectors
• Vector Operation
• Vector Addition of Forces
• Addition of a System of Coplanar Forces
• Cartesian Vectors
M M
• Addition of Cartesian Vectors
• Position Vectors
• Force Vector Directed along a Line
• Dot Product
3
SCALARS & VECTORS
Scalar:
 any positive or negative physical quantity that can be completely
specified by its magnitude
 examples include length, mass, and time
Vector:
 any physical quantity that requires both a magnitude and a direction for
its complete description.
M moment
 examples include force, position, and M
 A vector is shown graphically by an arrow
 The length of the arrow represents the magnitude of the vector
 The angle between the vector and a fixed axis defines the direction of its
line of action
 The head or tip of the arrow indicates the sense of direction of the vector
4
VECTOR OPERATIONS
Multiplication and Division of a Vector by a Scalar:
 If a vector is multiplied by a positive scalar, its magnitude is increased by

that amount
 When multiplied by a negative scalar it will also change the directional sense
of the vector
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5
VECTOR OPERATIONS
Vector Addition (Parallelogram Law):

 All vector quantities obey the parallelogram law of addition
 The two “component” vectors A and B are added to form a “resultant”
vector R = A + B using the parallelogram law as follows:
• First join the tails of the components at a point so that it makes them concurrent
• From the head of B, draw a line parallel to A. Draw another line from the head
of A that is parallel to B. These two lines intersect at point P to form the
adjacent sides of a parallelogram
M M
• The diagonal of this parallelogram that extends to P forms R, which then
represents the resultant vector R = A + B
6
VECTOR OPERATIONS
Vector Addition (Triangle Rule):

 Triangle rule is a special case of the
parallelogram law
 Vector B is added to vector A in a “head-to-tail”
fashion, i.e., by connecting the head of A to the
tail of B. The resultant R extends from the tail of
A to the head of B.
 In a similar manner, R can also be Mobtained by

adding A to B M
 Vector addition is commutative, i.e., the vectors
can be added in either order, R = A + B = B + A
 If the two vectors A and B are collinear, i.e., both

have the same line of action, the parallelogram
law reduces to an algebraic or scalar addition R =
A+ B
7
VECTOR OPERATIONS
Vector Subtraction:
 The resultant of the difference between two vectors A and B of the same
type may be expressed as:
R’ = A – B = A + (-B)
 Subtraction is therefore defined as a special case of addition, so the rules of

vector addition also apply to vector subtraction.
M M
8
VECTOR ADDITION OF FORCES
Two common problems in statics involve:

 Either finding the resultant force, knowing its components, or
 Resolving a known force into two components
Finding a Resultant Force:
 Two component forces F1 and F2 acting on the pin can be added together to
form the resultant force FR = F1 +F2
 From Parallelogram construction or using Triangle Rule, we can apply the
law of cosines or the law of sines M to the triangle in order to obtain the
M
magnitude of the resultant force and its direction
• Finding the Components of a Force:

 Force can be resolved into two components in order to study its pulling or pushing effect in
two specific directions
 F is to be resolved into two components along the two members, defined by the u and v axes
 A parallelogram is constructed first, by drawing lines starting from the tip of F
 one line parallel to u
 other line parallel to v
 These lines then intersect with the v and u axes, forming a Parallelogram
 Force components Fu and Fv are then established by simply joining the tail of F to the
intersection points on the u and v axes M M
 Parallelogram can then be reduced to a Triangle, which represents the triangle rule
 Law of Sines can then be applied to determine the unknown magnitudes of the components
 Addition of Several Forces:

 For more than two forces to be added, successive applications of the
parallelogram law can be carried out in order to obtain the resultant force
 If three forces F1, F2, F3 act at a point O, the resultant of any two of the
forces is found, say, F1 + F2
 Then this resultant is added to the third force, yielding the resultant of all
three forces; i.e., FR = (F1 + F2)+F3
M M
EXAMPLE 2-1
 The screw eye in figure is subjected to two forces, F1 and F2. Determine
the magnitude and direction of the resultant force.
M M
M M
EXAMPLE 2-2
 Resolve the horizontal 600-lb force in Fig 2-2a into components acting
along the u and v axes determine the magnitudes of these components.
M M
M M
EXAMPLE 2-3
 Determine the magnitude of the component force F in figure and the
magnitude of the resultant force FR if FR is directed along the positive y axis.
M
M M
EXAMPLE 2-4
 It is required that the resultant force acting on the eyebolt in Fig 2-4a be
directed along the positive x axis and that F2 have a minimum magnitude.
Determine the magnitude, the angle, and the corresponding resultant
force.
M
M M
ADDITION OF A SYSTEM OF COPLANAR FORCES
 When a force is resolved into two components along the x and y axes, the
components are then called rectangular components
 For analytical work we can represent these components in one of two ways,
using either Scalar
 Notation or Cartesian Vector Notation
M M
20
 Scalar Notation:
 Rectangular components of force F are found using
the Parallelogram Law so that F = Fx + Fy
 Because these components form a right triangle, their
magnitudes can be determined from:
Fx = F Cos θ and Fy = F Sin θ
 Instead of using the angle θ, however, the direction of
F can also be defined using a small “slope” triangle
M
 Since this triangle and the larger shaded triangle are M
similar, the proportional length of the sides gives:
 The y component is a negative scalar since Fy is

directed along the negative y axis
 Cartesian Vector Notation:
• It is also possible to represent the x and y components
of a force in terms of Cartesian Unit Vectors i and j
• Unit Vectors has a dimensionless magnitude of one,

and can be used to designate the directions of the x and
y axes
M M
• F can be expressed as a Cartesian Vector as:
F = Fx i + F y j
22
Coplanar Force Resultants:
 For a given set of forces, each force is first resolved into
its x and y components, and then the respective
components are added using scalar algebra since they
are collinear
 Resultant force is then formed by adding the resultant
components using the Parallelogram Law
M M
If scalar notation is used, then we have

Coplanar Force Resultants:

 Components of the resultant force of any number
of Coplanar Forces can be represented
symbolically by the algebraic sum of the x and y
components of all the forces
M M
 Once these components are determined, they may
be sketched along the x and y axes with their
proper sense of direction, and the resultant force
can be determined from vector addition
EXAMPLE 2-5
 Determine the x and y component of F1 and F2 acting on the boom
shown in Fig 2-5. Express each forces as Cartesian vector.
M
M M
M M
EXAMPLE 2-7
 The end of the boom O in figured is subjected to three concurrent and
coplanar forces. Determine the magnitude and direction of the resultant
force.
M
M M
CARTESIAN VECTORS
 Operations of vector algebra in Three Dimensions are

greatly simplified if the vectors are first represented in
Cartesian Vector Form
 Right-handed Coordinate System:

• A rectangular coordinate system is said to be
Right-handed if:
• Thumb of the Right HandMpoints in the M
direction of the positive z-axis and
• when the Right-hand Fingers are curled about
this axis (i.e. z) and directed from the
positive x towards the positive y-axis
30
CARTESIAN VECTORS
 Rectangular Components of a Vector:

• A vector A may have 1, 2, or 3 rectangular components
along the x, y, z coordinate axes, depending on it’s
orientation in the space
• When A is directed within an octant of the x, y, z frame
then by two successive applications of the parallelogram
law:
A’ = Ax + Ay
M M
A = A’ + Az
A = Ax + Ay + Az
 Cartesian Unit Vectors:
• In 3-dimensions, the set of Cartesian Unit Vectors, i, j, k,
is used to designate the directions of the x, y, z axes
respectively
31
CARTESIAN VECTORS
Cartesian Vector Representation:

Three components of A act in the positive i, j, and k
directions
Magnitude of a Cartesian Vector:M M
32
CARTESIAN VECTORS
• Direction of a Cartesian Vector:

– Direction of A can be defined by the coordinate direction
angles α, β , and γ, measured between the tail of A and the
positive x, y, z axes
– To determine α, β , and γ, consider the projection of A
onto the x, y, z axes
M M
33
CARTESIAN VECTORS
Direction of a Cartesian Vector:
 If we take the three direction cosines, square them, and
add them:
 An easy way of obtaining these direction cosines is to

form a unit vector uA in the direction of A
M M
 Finally, if the magnitude and coordinate direction angles

of A are known, then A may be expressed in Cartesian
vector form as:
34
CARTESIAN VECTORS
 Addition (or Subtraction) of two or more vectors are greatly

simplified if the vectors are expressed in terms of their
Cartesian components
e.g. A = Axi + Ayj + Azk
B = Bxi + Byj + Bzk
 Then the resultant vector, R, has components which are the
scalar sums of the i, j, k components of A and B, i.e.,
R = A + B = (Ax + Bx)i + (Ay + BMy)j + (Az + Bz)k M
 If this is generalized and applied to a system of several
concurrent forces, then the force resultant is the vector sum
of all the forces in the system and can be written as:
FR = ƩF = ƩFxi + ƩFy j + ƩFzk
 Here ΣFx, ΣFy, and ΣFz represent the algebraic sums of the
respective x, y, z or i, j, k components of each force in the
system
35
CARTESIAN VECTORS
EXAMPLE 2-9
 Determine the magnitude and the coordinate direction angles of the
resultant force acting on the ring.
M M
36
CARTESIAN VECTORS
M M
CARTESIAN VECTORS
EXAMPLE 2-10
 Express the F shown in Fig 2-32a as a Cartesian vector
M M
38
CARTESIAN VECTORS
M M
CARTESIAN VECTORS
M M
CARTESIAN VECTORS
EXAMPLE 2-11
 Two forces act on the hook as shown. Specify the magnitude of F2 and its
coordinate direction angles such that the resultant force FR acts along the
positive y axis and has a magnitude of 800 N.
M M
41
CARTESIAN VECTORS
M M
42
CARTESIAN VECTORS
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LECTURE 2 ENDS
44

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Mechatronics Engineering Department

Dr. Anas Bin Aqeel

• Scalars & Vectors

• Vector Addition of Forces

• Addition of a System of Coplanar Forces

• Force Vector Directed along a Line

Multiplication and Division of a Vector by a Scalar:

 If a vector is multiplied by a positive scalar, its magnitude is increased by

Vector Addition (Parallelogram Law):

Vector Addition (Triangle Rule):

 In a similar manner, R can also be Mobtained by

 If the two vectors A and B are collinear, i.e., both

 Subtraction is therefore defined as a special case of addition, so the rules of

Two common problems in statics involve:

• Finding the Components of a Force:

 Addition of Several Forces:

 Notation or Cartesian Vector Notation

 The y component is a negative scalar since Fy is

• Unit Vectors has a dimensionless magnitude of one,

If scalar notation is used, then we have

Coplanar Force Resultants:

 Operations of vector algebra in Three Dimensions are

 Right-handed Coordinate System:

 Rectangular Components of a Vector:

Cartesian Vector Representation:

Magnitude of a Cartesian Vector:M M

• Direction of a Cartesian Vector:

 An easy way of obtaining these direction cosines is to

 Finally, if the magnitude and coordinate direction angles

 Addition (or Subtraction) of two or more vectors are greatly

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