SAMPLE PROBLEM 2.

1 ADDITION OF A SYSTEM OF COPLANAR FORCES

The screw eye in the figure is subjected to two forces F 1 and F 2. Determine When a force is resolved into two components along the x and y axes, the
the magnitude and direction of the resultant force. components are then called rectangular components. For analytical work
we can represent these components in one of two ways, using either scalar
or Cartesian vector notation.

Scalar Notation

• The rectangular components of a force F shown are found using the

parallelogram law, so that F = F x + F y .

SAMPLE PROBLEM 2.2 Cartesian Vector Notation

Resolve the horizontal 600-lb force into components acting along the u and • It is also possible to represent the x and y
v axes and determine the magnitudes of these components. components of a force in terms of
Cartesian unit vectors i and j.

Coplanar Force Resultants

• Coplanar Forces – forces that lie in the same plane.

 SAMPLE PROBLEM 2.4

The link in the figure is subjected to two forces F 1 and F 2. Determine the
magnitude and direction of the resultant.

SAMPLE PROBLEM 2.5

The end of the boom O is subjected to three concurrent and coplanar

forces. Determine the magnitude and direction of the resultant force.
SAMPLE PROBLEM 2.3

Determine the x and y components of F 1 and F 2 acting on the boom

shown. Express each force as a Cartesian vector.
CARTESIAN VECTORS • Since the three components of A act in the positive i, j, and k directions,
we can write A in Cartesian vector form as
Right-Handed Coordinate System
• Separating magnitude and direction of each
• A rectangular coordinate system is said to be right-handed if the thumb of
component vector will simplify the
the right hand points in the direction of the positive z axis when the right-
operations of vector algebra.
hand fingers are curled about this axis and directed from positive x towards
the positive y axis. Magnitude of Cartesian Vector

• The magnitude of A is equal to the positive

square root of the sum of the squares of its
components.

Rectangular Components of a Vector

• A vector A may have one, two, or three

rectangular components along the x, y, z
coordinate axes, depending on how the vector
is oriented relative to the axes.
Coordinate Direction Angles

• The coordinate direction angles α, β , and ϒ,

measured between the tail of A and the positive
x, y, z axes provided they are located at the tail of
A.

Cartesian Unit Vectors

• In three dimensions, the set of Cartesian
unit vectors, i, j , k, is used to designate the
directions of the x, y, z axes, respectively.
Cartesian Vector Representation
These numbers are known as the direction
cosines of A.
• An easy way of obtaining
these direction cosines is to
form a unit vector 𝒖𝑨 in the
direction of A.
An important relation among the direction cosines can be formulated as

Transverse and Azimuth Angles

• Sometimes, the direction of A can be SAMPLE PROBLEM 2.7

specified using two angles, namely, a
Two forces act on the hook
transverse angle q and azimuth angle Φ.
shown. Specify the magnitude of
𝑭𝟐 and its coordinate direction
angles so that the resultant force
FR acts along the positive y axis
and has a magnitude of 800 N.

POSITION VECTORS

x, y, z Coordinates
ADDITION OF CARTESIAN VECTORS
• A right-handed coordinate
The addition (or subtraction) of two or more vectors is greatly simplified if system will be used to
the vectors are expressed in terms of their Cartesian components. reference the location of
points in space.

If this is generalized and applied to a system of several concurrent forces, • A position vector r is
the resultant is the vector sum of all the forces in the system and can be defined as a fixed vector
written as which locates a point in
space relative to another
point.
SAMPLE PROBLEM 2.6

Express the force F shown as a

Cartesian vector.
• In the more general case, the position vector may be directed from point FORCE VECTOR DIRECTED ALONG A LINE
A to point B in space.
Quite often in three-dimensional statics
problems, the direction of a force is
specified by two points through which its
line of action passes.

We can formulate F as a Cartesian vector by

realizing that it has the same direction and
sense as the position vector r directed from
point A to point B on the cord. This
common direction is specified by the unit
vector u = r/r.

SAMPLE PROBLEM 2.8

SAMPLE PROBLEM 2.9
An elastic rubber band is attached to points A and B. Determine its length
and its direction measured from A toward B. The man shown pulls on the cord with a
force of 70 lb. Represent this force acting
on the support A as a Cartesian vector
and determine it s direction.
SAMPLE PROBLEM2.10 DOT PRODUCT

The force acts on the hook. Express it as a Cartesian vector. Laws of Operation

1. Commutative law: A ∙ B = B ∙ A

2. Multiplication by a scalar: a(A ∙ B) = (a A )∙ B = A ∙(a B )

3. Distributive law: A ∙ ( B + D) = (A ∙ B) + (A ∙ D )

Cartesian Vector Formulation

• The dot product of two

general vectors A and B
expressed in Cartesian
vector form is

• The dot product of two

general vectors A and B
expressed in Cartesian
vector form is

DOT PRODUCT • Thus, to determine the dot product of

The dot product, which defines a particular method for “multiplying” two
vectors, can be used to solve the angle between two lines or the
components of a force parallel and perpendicular to a line, particularly in
three dimensions.
two Cartesian vectors, multiply their
corresponding x, y, z components and sum these products algebraically.
Note that the result will be either a positive or negative scalar, or it could
be zero.

The dot product of vectors A and B, written A ∙ B and read “A dot B,” is
defined as the product of the magnitudes of A and B and the cosine of the Applications
angle q between their tails. Expressed in equation form, • The angle formed between
two vectors or intersecting
lines.

If A ∙ B is equal to zero, it implies what?

where 0° ≤ Ɵ ≤ 180°. The dot product is often referred to as the scalar
product of vectors since the result is a scalar and not a vector. • The components of a vector parallel and perpendicular to a line.
The component of vector A parallel to or collinear with the line a-a is
defined as 𝑨𝒂 = A cos Ɵ. This component is sometimes referred to as the
SAMPLE PROBLEM 2.12
projection of A onto the line.
The frame shown is subjected
If the direction of the line is specified by the unit vector u a, then since u a =
to a horizontal force F = {300j}
1, we can determine the magnitude of A a directly from the dot product.
N. Determine the magnitudes
of the components of this force
parallel and perpendicular to
member AB.
Hence, the scalar projection of A along a line is determined from the dot
product of A and the unit vector 𝒖𝒂 which defines the direction of the line.
Notice that if this result is positive, then 𝑨𝒂 has a directional sense which is
the same as u a, whereas if 𝑨𝒂 is a negative scalar, then 𝑨𝒂 has the opposite
sense of direction to 𝑼𝒂 .

The component 𝑨𝒂 represented as a vector is therefore.

The component of A that is perpendicular to line a-a can also be obtained by

Pythagorean’s theorem.

SAMPLE PROBLEM 2.11

Determine the magnitudes of the

projection of the force F onto the u and
v axes.
CHAPTER 03 EQUILIBRIUM OF A PARTICLE
CONDITION FOR THE EQUILIBRIUM OF A PARTICLE
• A particle is said to be in equilibrium if it remains at rest if originally at
rest, or has a constant velocity if originally in motion.
• To maintain equilibrium, it is necessary to satisfy Newton’s first law of
motion, which requires the resultant force acting on a particle to be equal to
zero.
• This condition is stated by the equation of
equilibrium,
where ƩF is the vector sum of all the forces acting on the particle.
• The magnitude of force exerted on a linearly elastic
spring which has a stiffness k and is deformed a distance
s = l ‒ l 0, measured from its unloaded position, is
Cables and Pulleys
• Unless otherwise stated, all cables (or cords) will
be assumed to have negligible weight and they
cannot stretch.
• Also, a cable can support only a tension or
“pulling” force, and this force always acts in the
direction of the cable.

THE FREE-BODY DIAGRAM

Smooth Contact
• To apply the equation of equilibrium, we must account for all the known
• If an object rests on a smooth surface,
and unknown forces (ƩF) which act on the particle.
then the surface will exert a force on the
• The best way to do this is to think of the particle as isolated and “free” object that is normal to the surface at the
from its surroundings. point of contact.

• A drawing that shows the particle with all the forces that act on it is called
a free-body diagram (FBD).

• Shown are the three types of supports often encountered in particle

equilibrium problems.
Procedure for Drawing a
Free-Body Diagram
Springs
• Draw Outlined Shape.
• If a linearly elastic spring (or cord) of
• Show All Forces.
undeformed length 𝑙0 is used to support a
particle, the length of the spring will change in • Identify Each Force.
direct proportion to the force F acting on it. A
characteristic that defines the “elasticity” of a
spring is the spring constant or stiffness k.
SAMPLE PROBLEM 3.1 • For this vector equation to be satisfied, the
resultant force’s x and y components must both be
The sphere in the figure has a
equal to zero. Hence,
mass of 6 kg and is supported as
shown. Draw a free-body diagram
of the sphere, the cord CE, and the
SAMPLE PROBLEM 3.2
knot at C.
Determine the tension in cables BA
and BC necessary to support the 60-
kg cylinder.

SAMPLE PROBLEM 3.3

Determine the required

length of cord AC so that the
COPLANAR FORCE SYSTEM 8-kg lamp can be suspended
in the position shown. The
Equilibrium of a Particle Equilibrium Equations for Coplanar Force System
undeformed length of spring
• If a particle is subjected to a system of coplanar forces that lie in the x–y AB is 𝑙𝐴𝐵 = 0.4 m, and the
plane, then each force can be resolved into its i and j components. For spring has a stiffness of 𝐾𝐴𝐵
equilibrium, these forces must sum to produce a zero force resultant, i.e., ƩF = 300 N/m.
= 0 Ʃ𝐹𝑥 i + Ʃ𝐹𝑦 j = 0
THREE-DIMENSIONAL FORCE SYSTEM SAMPLE PROBLEM 3.5

Equilibrium of a Particle Equilibrium Equations for Non-Coplanar Force Determine the force in each cable used to
System support the 40-lb crate.

• In the case of a three-dimensional force system, we

can resolve the forces into their respective i, j, k
components, so that Ʃ𝐹𝑥 i + Ʃ𝐹𝑦 j + Ʃ𝐹𝑧 k = 0. To satisfy
this equation we require

SAMPLE PROBLEM 3.4

A 90-lb load is suspended from the

hook. If the load is supported by two
cables and a spring having a stiffness
k = 500 lb/ft, determine the force in
the cables and the stretch of the
spring for equilibrium. Cable AD lies
in the x–y plane and cable AC lies in
the x–z plane.