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2 Force Vectors
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Copyright © 2010 Pearson Education South Asia Pte Ltd
Chapter Objectives
• Parallelogram Law
• Cartesian vector form
• Dot product and angle between 2 vectors
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Chapter Outline
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2.1 Scalars and Vectors
• Scalar
– A quantity (Magnitude) characterized by a positive or
negative number
– Indicated by letters in italic such as A
e.g. Mass, volume and length
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2.1 Scalars and Vectors
• Vector
– A quantity that has magnitude and direction
e.g. Position, Velocity, force and moment
– Represent by a letter with an arrow over it, A
– Magnitude is designated as A
– In this subject, vector is presented as A and its
magnitude (positive quantity) as A
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2.2 Vector Operations
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2.2 Vector Operations
• Vector Addition
- Addition of two vectors A and B gives a resultant
vector R by the parallelogram law
- Result R can be found by triangle construction
- Communicative e.g. R = A + B = B + A
- Special case: Vectors A and B are collinear (both
have the same line of action)
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2.2 Vector Operations
• Vector Subtraction
- Special case of addition
e.g. R’ = A – B = A + ( - B )
- Rules of Vector Addition Applies
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2.3 Vector Addition of Forces
• Resultant,
FR = ( F1 + F2 )
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2.3 Vector Addition of Forces
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2.3 Vector Addition of Forces
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Example 2.1
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Solution
Parallelogram Law
Unknown: magnitude of FR and angle θ
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Solution
Trigonometry
Law of Cosines
Law of Sines
150 N 212 .6 N
sin sin 115
sin
150 N
0.9063
212 .6 N
39 .8
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Solution
Trigonometry
Direction Φ of FR measured from the horizontal
39.8 15
54.8
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2.4 Addition of a System of Coplanar Forces
• Scalar Notation
– x and y axes are designated positive and negative
– Components of forces expressed as algebraic scalars
as..vectors..F Fx Fy
as.magnitudes.Fx F cos and Fy F sin
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2.4 Addition of a System of Coplanar Forces
F Fx i Fy j
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2.4 Addition of a System of Coplanar Forces
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2.4 Addition of a System of Coplanar Forces
FRy
FR F F
2
Rx
2
Ry and tan -1
FRx
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Example 2.5
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Solution
Scalar Notation
F1x 200 sin 30 N 100N 100N
F1 y 200 cos30 N 173N 173N
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Solution
F2 y 100N 100N
Cartesian Vector Notation: F1 100i 173 jN
F2 240i 100 jN
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Solution
Scalar Notation
F1x 200 sin 30 N 100N 100N
F1 y 200 cos30 N 173N 173N
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Cartesian Vector Notation
F1 100i 173 jN
F2 240i 100 jN
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Example 2.6
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Solution I
Scalar Notation:
FRx Fx :
FRx 600 cos30 N 400 sin 45 N
236.8 N
FRy Fy :
FRy 600 sin 30 N 400 cos 45 N
582.8 N
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Solution I
Resultant Force
FR 236.8N 2 582.8N 2
629N
From vector addition, direction angle θ is
582.8 N
tan 1
236.8 N
67.9
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Solution II
Thus,
FR = F1 + F2
= (600cos30ºN - 400sin45ºN)i
+ (600sin30ºN + 400cos45ºN)j
= {236.8i + 582.8j}N
The magnitude and direction of FR are determined in the
same manner as before. 28
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2.5 Cartesian Vectors
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2.5 Cartesian Vectors
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2.5 Cartesian Vectors
• Unit Vector
– Direction of A can be specified using a unit vector
– Unit vector has a magnitude of 1
– If A is a vector having a magnitude of A ≠ 0, unit
vector having the same direction as A is expressed
by uA = A / A. So that
A = A uA
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2.5 Cartesian Vectors
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2.5 Cartesian Vectors
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2.5 Cartesian Vectors
then,
uA = A /A = (Ax/A)i + (Ay/A)j + (AZ/A)k
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Example 2.8
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Solution
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Solution
• x,y,z Coordinates
– Right-handed coordinate system
– Positive z axis points upwards, measuring the height of
an object or the altitude of a point
– Points are measured relative
to the origin, O.
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2.7 Position Vectors
Position Vector
– Position vector r is defined as a fixed vector which
locates a point in space relative to another point.
– E.g. r = xi + yj + zk
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2.7 Position Vectors
Position Vector
– Vector addition gives rA + r = rB
– Solving
r = rB – rA = (xB – xA)i + (yB – yA)j + (zB –zA)k
or r = (xB – xA)i + (yB – yA)j + (zB –zA)k
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2.7 Position Vectors
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Example 2.12
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Solution
Position vector
r = [-2m – 1m]i + [2m – 0]j + [3m – (-3m)]k
= {-3i + 2j + 6k}m
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Solution
α = cos-1(-3/7) = 115°
β = cos-1(2/7) = 73.4°
γ = cos-1(6/7) = 31.0°
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2.8 Force Vector Directed along a Line
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2.8 Force Vector Directed along a Line
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Example 2.13
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Solution
Unit vector,
u = r /r
= 3/7i - 2/7j - 6/7k
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Solution
α = cos-1(3/7) = 64.6°
β = cos-1(-2/7) = 107°
γ = cos-1(-6/7) = 149°
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2.9 Dot Product
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2.9 Dot Product
• Laws of Operation
1. Commutative law
A·B = B·A
2. Multiplication by a scalar
a(A·B) = (aA)·B = A·(aB) = (A·B)a
3. Distribution law
A·(B + D) = (A·B) + (A·D)
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2.9 Dot Product
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2.9 Dot Product
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Solution
Since
r 2i 6 j 3k
u B B
rB 22 62 32
0.286i 0.857 j 0.429k
Thus
FAB F cos
F .u B 300 j 0.286i 0.857 j 0.429k
(0)(0.286) (300)(0.857) (0)(0.429)
257.1N
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Solution
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Solution
300N 2 257.1N 2
155N
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QUIZ
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QUIZ
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QUIZ
13. P and Q are two points in a 3-D space. How are the
position vectors rPQ and rQP related?
A) rPQ = rQP B) rPQ = - rQP
C) rPQ = 1/rQP D) rPQ = 2 rQP
C) P Q tan D) P Q sec
Q
18. The dot product of two vectors results in a _________
quantity.
A) Scalar B) Vector
C) Complex D) Zero
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QUIZ
19. If a dot product of two non-zero vectors is 0, then the two vectors
must be _____________ to each other.
A) Parallel (pointing in the same direction)
B) Parallel (pointing in the opposite direction)
C) Perpendicular
D) Cannot be determined.
20. If a dot product of two non-zero vectors equals -1, then the
vectors must be ________ to each other.
A) Parallel (pointing in the same direction)
B) Parallel (pointing in the opposite direction)
C) Perpendicular
D) Cannot be determined.
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QUIZ