Force Vectors CHAPTER OBJECTIVES * Te 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 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 Allphysial quantitics in enginering mechanics are measured using cher scalars or vectors Scalar. A scafaris any postive or nezat be completely specified by its magnitude, include length, mass and time, physical quantity that ean amples of salar quantities Vector. A vector is any physical quantity that requires both a ‘magnitude aod a direction for its complete description. Examples of ‘vectors encountered in statis are free, positon, and moment. vector isshown graphically by an arrow. The length ofthe arrow represents the ‘maggizude of the vector, and the angle 6 between the vector and a fixed ais defines the direction of ts line of action. The head or tip ofthe atrow indiates the sense of direction of the vector. Fig.2-1 ‘In print, vector quantities are represented by boldface letters such as ‘A, and its magnitude of the vector italicized, A. For handwritten work, soften convenient to denote a vector quantity by simply drawing an arrow on top of it.18 CCharren 2. Fonce Vecrons Sear mip and dis Fig te 2.2 Vector Operations Multiplication and Division of a Vector by a Scalar. 1f3 ‘cetor multiplied by a positive scala. its magnitude is increased by that amount, When multiplied by a negative scalar it will abo change the Airctional sense of the vector. Graphic examples ofthese operations are shown in Fig 2-2 Vector Addition. All vecior quantities obey the parallelogram law of addition. To illustrate, the 10 “component” vectors Aad B in Fig. 2-30 are added to form a “resultant” vector R= A+ B using the following procedure: ‘© First join the tails of the components at point so that it makes them concurrent, Fig. 2-3, ‘© From the head of B, draw a line parallel to A. Draw another ine {rom the head of A that is parallel 10 B. These two lines imerseet at point Pto form the adjacent sides ofa parallelogram. ‘© The diagonal ofthis parallelogram that extends 0 P forms R, whieh then represents the resultant vector R= A+ B, Fig. 2-30 ar, 4 hs, < Fas Parlor aw o » © fiz We can also add B to A. Fig. 24a, using the iangle rule, which is 3 clogram law, whereby vector B is added to by connecting the head of A to the tail of B, Fig 2-4b, The resultant R extends from the tal of A tothe head of B. Ina similar manne, Rcan also be obtained by adding A to B, Fig 2-4e. By comparison. itis seen that vector addition i commutative:22 Vecron Orenanons ‘Wise ae ° Fig Asa special case ifthe two vectors A. and B are collinear, ie both hhave the same line of action, the parallelogram law reduces to an algebraic oF scalar addition R = A+ B, as shown i Fig 2-5 eave Fins Vector Subtraction. The resultant of the diference betwe vectors And B ofthe same type may be expressed as R=A-B=A+ CB) ‘This vetor sum i shown graphically in Fig. 2-6. Subtraction is therefore defined as a special case of akiion, so the rues of vector addition also apply to veetor subtraction. it “Tian comuction Fi 6 1°20 CCharren 2. Fonce Vecrons ‘Toe paralelgram aw mate edo determine theresa the 140 Fores acting om the hook Using the parallelogram tw force F ‘ued by te vertal weaerean be Feslved ilo component acing long thesinpenioncblere an 2.3. Vector Addition of Forces Esperimental evidence has shown that a force i vector quantity since ithasa specified magnitude, dircetion, and sense and it adds according to the parallelogram aw. Two common problems in statics involve either finding the resultant force, knowing is omponentsor resolving a known, force into two components We will now deseribe how each of these problems is solved using the paralllogram law. Finding a Resultant Force. The wo component forces Fyand Fy deting the pin Fig 2-Ta canbe added together to form the resultant force Fy Fy Fs shown n Fig 2-7 From thisconsrction or using the tangle rte, Fig 2-7e we can apply the aw of cosines oF the la of sincs tothe triangle in order 1 obtain the magnitude ofthe estat {ores andits direction « o © m2? Finding the Components of a Force. Sometimes it is necessary 10 resolve a fore into two components in order to study its polling oF pushing effet in two specific directions. For example, in Fig. 2-84, F is 10 be resolved ino two components along the to members defined by the and v axes. In order to determine the magnitude of each component, a parallelogram is constructed fst, by “drawing lines starting from the tip of Fone line parallel tou, and the ‘other line parallel v, These lines then intersect withthe # ad axes Forming «parallelogram. The force components F, and F, are then ‘established by simply joining the tai of F to the intersection points on the wand v axes Fig. 2-8b. This parallelogram can then be reduced 103 triangle, which represents the triangle rule. Fg. 2-8c. From this the law of sines ean then be applied to determine the unknown magnitudes ofthe ‘components2.3 Vecron Azomon or Forces £i. LL. Bh » © Pipes Addition of Several Forces. If more than two forces are to be added, successive applieations of the parallelogram law can be caricd ‘out in order wo obtain the resultant free. For example, if three forces F), F,, Fy act ata point 0, Fig. 2-9, the resultant of any wo ofthe forces fe found, say, Fy + F;—and then this resultant is added tothe third force. Yielding the resultant of all three forces; Le, Fx = (Fy + F3)+F., Using the parallelogram law to add more than two fortes as shown here, often requires extensive geometric and trigonometric ealeulation to determine the numerical values for the magnitude and direction of the resultant Instead, problems of his type are easly solved by using the rectangular ‘component method” which is explained in Sec. 2.4 reuirsth aio a Rye he results added to22 Charres 2. Fonce Vecrons 5 Comet ith Fig 210 Procedure for Analysis ‘Problems that involv the addition of two forces can be solved as {ollows: Parallelogram Law. '* Two"component” forces F; and Fin Fig. 2-100 add according to the parallelogram law, yielding a resudiant force Fy that forms the iagonal of the parallelogram, ‘Ifa foree P isto be resolved into components along two axes u and v,Fig.2-10b, then start at the head of force F and construc, lines parallel tothe axes thereby forming the parallslogram. The ‘Sides of the parallelogram represent the components, F and F,. ‘ Label all the known and unknown force magnitudes and the angles on the skeich and identify the two unknowns a the ‘magnitude and direction of Fq, or the magnitudes of its ‘components Trigonometry. ‘ Redraw a half portion of the parallelogram (0 ilustrate the ‘tiangular head4o-ai addition ofthe components ‘+ From this triangle the magnitude ofthe resltant force ean be etermined using the law of cosines, and its direction is {etermined liom the law of sines The magnitudes of two force ‘components are determined from the law of snes The formulas fare given in Fig.2-10e, | Wateoecussetis 1» A scalars a positive or negative aumber ‘* Avvestor is quantity that has a magnitude direction, and sense, ‘+ Multiplication or division of a vector by a scalar will change the ‘magnitude ofthe vector The sense of he Vector will hange ifthe scalars negative, = Asa special case, ifthe vectors are collinear the resultant is formed by an algebraic or scalar addition.23 Vecton AzomoN oF Forces GE “The serew eye in Fig. Ila is subjected to two forces, Fy and Fs ‘Determine the magnitude and direction ofthe resultant force SOLUTION Parallelogram Law. The parallelogram is formed by drawing a line from the head of F that is parallel to F and another lin from the ‘head of F, that i paralle!toF, The resultant force Fy extends to where thes lines intersect at point A, Fig.2-116. The two unknowns ae the ‘magnitude of Fad the angle # (theta) ‘Wigonometry. From the parallelogram, the vector tsiangle is constructed, Fig. 2-Ile. Using the law of cosines Fg = VQOONF + (SONY ~ 2(100 NYISON) cos 15® = Vi0000 + 22 500 = 3000(-0426) = 212.6N =23N Ans Applying the law of sins to determine 2, Renal thems ae = 398 ‘Thus. the direction & (phi) of Fy. measured from the horizontal, is = 398" + 150" = sas" Ans. NOTE: The resulis seem reasonable.since Fig.2-I1 shows Fy tohave ‘8 magnitude larger than its components and a direetion that is, between them, 2326 Charres 2. Fonce Vecrons Resolve the horizontal 6016 force in Fig. 2-120 into components ‘acting along the w and v axes and determine the magnitudes ofthese componenis © ® Fig 22 SOLUTION ‘The parallelogram i constructed by extending a ine from the hea of the 600-1 force parallel the ¢ axis until it intersects thew axis at point B, Fig 2-128, The arrow from A to B represents K,, Similarly, the lie extended from the head ofthe 600-9 force drawn parallel‘ thew ais intersects the v axis at point C; which gives F. ‘The vector addition using the triangle rules shown in Fg. 2-12e.The two unknowns ar the magnitudes of Band F. Applying the law of Sn ia ~ x Ans. in30" F Ans. NOTE: The result for F, shows that sometimes a component ean have a greater magnitude than the resultant23 Vecton AzomoN oF Forces Determine the magnitude ofthe component force Fin Fig-2-13a and the magnitade of the resultant force Ry if Fy is directed slong the positive y ais, « ® © Pip SOLUTION ‘The parallelogram law of addition is shown in Fig. 2-138, and the triangle rue is shown in Fig.2-13e- The magnitudes of Fy and Fare the {wo unknowns They can be determined by applying the law of snes. F_ 20» in oF ~ sin as F=251 Ans Fx__ 201b sin 7S ~ sin as Fy = 2731b Ans. 2526 Charres 2. Fonce Vecrons EE o 1H is required that the resultant force acting on the eyebolt in Fig. 2-14a be directed along the postive x axis and that Fs have @ ‘minimum magnitude. Determine this magnitude, the angle @ and the corresponding resultant fore % . » © Pig 214 SOLUTION ‘The triangle rule for Fy = Fy + Fe is shown in Fig 2-146, Since the ‘magnitudes (lengths) of Fy and Fp are not specified, then Fy en atually the any vector that has its head touching the line of action of Fp Fig 2-14. However. as shown, the magnitude of isa minimum or the shortest length when is line of action is pependicilar tothe ine of action of Fp, that ig when =o Ans. Since the vector addition now forms aright triangle, the two unknown, ‘ajgnitudes can be obtained by tigonomets. Bg = (80ON)eos 60" = 400N Ans. r (800 N)sin 60" = 693 Ans.‘UNDAMENTAL PROBLEMS* 23 Vecton AzomoN oF Forces 27 F2-1, Determine the magnitude of the reuhamt force acting on the serew eye and iis diretion measured ‘docks from the x aie —h— few ma 22. ‘Two forces act on the hook Determine the ‘mopnitude ofthe resultant free. FDA. Determine the magnitude of the rsatat force ‘and its rection mensred counerlockwie from the postive axis, Rs 2-4 Resclve the 8: force into components along the ‘wand waxes and deiermine te magnitude ofeach ofthese ‘components 7 m4 25 The force F = 4506 acts on the fame. Resohe thie fore into components acting along members AB and ‘AC.and determine the maps of ach omponet er ns F246. force Fistohave a component along thew axis of F,=OKN, determine. the magnitude’ of F and the ‘magnitude ofits component F along the vais “Pai stuns an tenes Funda Poems ae pve the back fhe ok28 CCharren 2. Fonce Vecrons Gera AA, 10 = 30° and T= 6kN, determine the magnitude othe resultant force acting onthe eyebol and it dietion ‘measured clocks fom the positive xa ‘VE 0 = and T= SEN, dtemine the menitude ithe ean fore aing on the evel an eon Incase clockwise om the poste a VieX Ifthe magnitade ofthe resuant force st Be 9 KN ‘rete slong postive xxi determine the magne of fence Tating onthe yshol ands ange sey Pros. 2-128 *24 Determine the magstude of the resultant force acting on the bracket and. is diecion measured ‘ounleceekwis tom the postive as 2-5. Resoive Fj ino components slong the w and eaves ‘nd determin he magnitudes ofthese components 24. Resolve Filo components along thew and vases, ‘and determine he magnitudes ofthese components B10 Probe 2-456 2.9, Fg = 2KN and the resultant force ats slong the Posie w ans determine the mapntode of the es force and the angle S28 me resultant force is required to act along the postive axis and havea magnitude ofS KN determine the Fequired magnitude of Fp ands dizetion Prob 2-108 12-9, The plate i subjected to the two forces a A and B {shown I= a", determioe the magnitude of the ‘estan ofthese two forces apd its diction measured Stock foms the heron ‘Viut0, Determine the angle o for connecting member to the ple 20 that the reuan force of Ey and Fy diveted boomy othe Fight Abo what she magitide ofthe resant force? pons Prot 2-9102-41, 1 the tension in the cable 400 determine the ‘magnitude and dtecton ofthe resultant force acing ov the pulley: This ample ihe same angle # of line AB onthe ‘aboard bok. Prob. 2-11 2.12, The device i wed fr surgical replacement ofthe nce joint Ifthe free seting along the lee 1s 360 N, ‘termine is components long the x andy” anes S218 The device is uod for supe replacement ofthe Kace joint 1 the free sting along. the leg i 360 N, sen Prob. 2-57 2-88, Express each of the three foress acting 00 the bracket im Cartesian vector frm ith respect othe x andy tex Determine the magnitude and ditection 0 of Fo tht the estan ore i eted along the postive x ais and hasa magnitude of Fy = 600, Prats. 2.8455 2. The shoe sonurent forse ating on the post protic a resitant force Fr= HPs = 1). and F810 on fom ax shown, determin th equed mgstade ‘1 yexqese in ema Fy andthe ag. Prob. 2-56 Prob, 2-88