EME1201

Engineering Mechanics

Dr. K.E.D. Sumanasiri

Sri Lanka Technological Campus

1
 Vectors
Physical Quantity of Vector
Vectors representing physical quantities can be classified

• Fixed Vector
– Its action is associated with a unique point of application

– Described by magnitude, direction & point of application

• Sliding Vector
– Has a unique line of action in space but not a unique point of application

– Described by magnitude, direction & line of action

• Free Vector
– Its action is not confined or associated with a unique line in space.
2
– Described by magnitude & direction
3
 FORCE SYSTEMS


Force is a vector F
Line of action is a straight
line collinear with the force

Force System:
 concurrent if the lines of
FA
action intersect at a point


parallel if the lines of action
FB are parallel
y


coplanar if the lines of action

FC FD lie on the same plane
x
parallel ⊂ coplanar ? 4
5
Free Vectors: associated with “Magnitude” and “Direction”
Representation V = V1 + V2 (V  V1 + V2 )
parallelogram
Magnitude: Vector :
V2 V
| V | or V V or V V2
 : Direction V1
V1
→
V
𝑊 ≜ 𝑎𝑉 V2
W | W |= a | V |
→
V ( a  0) V1 triangle
M
| M |= b | V | (b  0)
A+B = B+ A
A = A eˆ = Aeˆ
V = V1 − V2 + A + ( B + C ) = ( A + B) + C
V2
=V1 + ( −1)V2 −V2 a(bA) = (ab )A 𝐴Ԧ
𝑒𝐴Ƹ =
(a + b )A = aA + bA 𝐴Ԧ
V1
a( A + B ) = aA + aB
റ
(unit vector of 𝐴) 6
 Cartesian Unit Vectors
A unit vector is a dimensionless vector with a magnitude of exactly 1.
Unit vectors are used to specify a direction and have no other physical significance

• The symbols

𝑖,Ƹ 𝑗,Ƹ 𝑎𝑛𝑑 𝑘෠

represent unit vectors in x, y, z directions, respectively.

• They form a set of mutually perpendicular vectors in a

right-handed 3D coordinate system
• Remember,
ˆi = ˆj = kˆ = 1

7
Vector Representations

8
9
10
Three-Dimensional Coordinate System
y

ĵ Real-life Coordinate System is 3D.

Introduce rule for defining the 3rd axis

z
- “right-hand rule”: x-y-z
k̂
iˆ x - for consistency in math calculation
(cross vector)
How does 2D differs from 3D?
y 2D

z
x 11
 Cartesian Vectors
Cartesian Unit Vectors ՜
𝐴 = 𝐴𝑥 𝑖Ƹ + 𝐴𝑦 𝑗Ƹ + 𝐴𝑥 𝑘෠
𝐴𝑥 = 𝐴𝑥 𝑖 Ƹ
𝐴𝑦 = 𝐴𝑦 𝑗 Ƹ z
𝐴Ԧz = Az 𝑘෠
𝐴𝑧 = 𝐴𝑧 𝑘෠ n

𝐴Ԧ = A 𝒆ො n 𝐴Ԧ = A 𝒆ො n
𝑘෠ 𝒆ො n
y
𝑖Ƹ
𝑗Ƹ
𝐴Ԧx = Ax𝑖Ƹ 𝐴Ԧy = Ay 𝑗Ƹ
𝐴 = 𝐴2𝑥 + 𝐴2𝑦 + 𝐴𝑧2
x
12
 Direction cosines
F = Fcosθx iƸ + F cosθy jƸ + F cosθz k෠
Fx
cos  x =
F
Fy
z cos  y =
Fx = F cos  x Fz
F
Fz
Fy = F cos  y cos  z =
F F
 z
Fz = F cos  z
 y
Fy
Fx  x y

x
13
 Direction cosines

F = Fx2 + Fy2 + Fz2 z

Fz

F = Fx iƸ + Fy jƸ + Fz k෠  z F
 y
F = F cosθx iƸ + F cosθy jƸ + F cosθz k෠ Fy
Fx  x y
෠
F = F(cosθx iƸ + cosθy jƸ + cosθz k)
x
uො f = cosθx iƸ + cosθy jƸ + cosθz k෠
Recall,
F = F uො f
𝑪𝒐𝒔𝟐 𝜽𝒙 + 𝑪𝒐𝒔𝟐 𝜽𝒚 + 𝑪𝒐𝒔𝟐 𝜽𝒛 = 𝟏 14
 Addition/Subtraction of Cartesian vectors
Since any vector in 3-D can be expressed as components in x, y, z
directions, we just need to add the corresponding components since
the components are scalars.
A = Ax iˆ + Ay ˆj + Az kˆ
B = Bxiˆ + By ˆj + Bz kˆ
Then the addition
𝑅ሜ = 𝐴ሜ + 𝐵ሜ

𝑅ሜ = 𝐴𝑥 + 𝐵𝑥 𝑖Ƹ + 𝐴𝑦 + 𝐵𝑦 𝑗Ƹ + 𝐴𝑧 + 𝐵𝑧 𝑘෠
Then the subtraction

𝑅ሜ ′ = 𝐴ሜ − 𝐵ሜ
𝑅′ሜ = 𝐴𝑥 − 𝐵𝑥 𝑖Ƹ + 𝐴𝑦 − 𝐵𝑦 𝑗Ƹ + 𝐴𝑧 − 𝐵𝑧 𝑘෠
15
 Example
Determine the magnitude and the coordinate direction angles of the resultant
force on the ring due to forces F1 and F2.
Solution:
N N

𝐹𝑅 = ෍ 𝐹ሜ = 𝐹1 + 𝐹2

= 60𝑗 + 80𝑘 + 50𝑖 − 100𝑗 + 100𝑘

= 50𝑖 − 40𝑗 + 180𝑘 N

𝐹𝑅 = 50 2 + −40 2 + 180 2

= 191.0 N
16
 Unit vector and direction cosines
𝐹Ԧ 𝑅 = 50𝑖 − 40𝑗 + 180𝑘 N, FR =191.0 N
𝐹𝑅 50 40 180 N
𝑢ො 𝐹𝑅 = = 𝑖Ƹ − 𝑗Ƹ + 𝑘෠
𝐹𝑅 191.0 191.0 191.0

= 0.2617𝑖Ƹ − 0.2094𝑗Ƹ + 0.9422𝑘෠

From these components, we can determine the angles

cos 𝛼 = 0.2617 𝛼 = 74.8°
cos 𝛽 = −0.2094 𝛽 = 102°
cos 𝛾 = 0.9422 𝛾 = 19.6°

17
 
Given the cable tension T = 2 kN. Write the vector expression of T
Using directional cosine method
z
B
y

Real
directional
x cosine

 x
T = T (cos  x î + cos  y ĵ + cos  z k̂ ) B directionl
1.2
cosine = -0.92
∵ cos 𝜃𝑥 =
𝑙𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝐴𝐵 x
A

length of AB = 1.22 + 0.52 + (0.4 − 0.3) 2 = 1.3 cos  x = 0.92

18
z B
B
y

y y
A
A
0.5 0.5
 cos  y = = = 0.38
z x length of AB 1.3
B
y
B

z z
A
A
0.1 0.1
 cos  z = = = 0.08
x length of AB 1.3

Thus, T = 2 ( −0.92 iˆ + 0.38 ˆj + 0.08 kˆ ) kN ANS

19
 z
0.5
2-point construction B 0.4 y
𝑟Ԧ𝐴𝐵 = 𝑟Ԧ𝐵 − 𝑟Ԧ𝐴

𝐹Ԧ = 𝐹 𝑛ො 𝐹 A
0.3
1.2 x

A = ( x1 , y1 , z1 ) = (1.2,0,0.3)

B = ( x2 , y2 , z2 ) = ( 0,0.5,0.4 )

F = FnˆF = F
rAB
=F
( x2 − x1 ) iˆ + ( y2 − y1 ) ˆj + ( z2 − z1 ) kˆ
rAB ( x2 − x1 ) + ( y2 − y1 ) + ( z2 − z1 )
2 2 2

F =2
( 0.0 − 1.2 ) iˆ + ( 0.5 − 0.0 ) ˆj + ( 0.4 − 0.3) kˆ
෡ kN
𝑭 = 𝟐 −𝟎. 𝟗𝟐𝒊Ƹ + 𝟎. 𝟑𝟖𝒋Ƹ + 𝟎. 𝟎𝟖𝒌
( 0.0 − 1.2 ) + ( 0.5 − 0.0 ) + ( 0.4 − 0.3)
2 2 2

Ans 20
 
Write vector expression of . Also determine angles x, y, z, of T
T
with respect to positive x, y and z axes
Consider: T as force of tension acting on the bar

 T = T n̂

where n̂ = unit vector from B to A

4î − 7.5 ĵ + 5k̂
=
4 2 + (−7.5) 2 + 5 2

= 0.41î − 0.76 ĵ + 0.51k̂

Thus

T = 10 ( 0.41î − 0.76 ĵ + 0.51k̂ ) kN

cos 𝜃𝑥 = 0.41
 x = 66 
cos  y = − 0.76  y = 139  ANS
cos  z = 0.51  z = 59 
21
 Example
The roof is supported by cables as shown. If the cables
exert forces FAB = 100 N and FAC = 120 N on the wall
hook at A as shown, determine the magnitude of the
resultant force acting at A.

22
 Example
𝑟റ𝐴𝐵 = (4 − 0)𝑖Ƹ + (0 − 0)𝑗Ƹ + (0 − 4)𝑘෠ m = 4𝑖Ƹ − 4𝑘෠ m
𝑟𝐴𝐵 = 42 + (−4)2 = 5.6569 m
𝑟റ𝐴𝐵
𝐹റ𝐴𝐵 = 100 N
𝑟𝐴𝐵
4 4
= 100 𝑖Ƹ − 𝑘෠
5.6568 5.6568
𝐹റ𝐴𝐵 ෠ N
= (70.7𝑖Ƹ − 70.7𝑘)

𝑟റ𝐴𝐶 = (4 − 0)𝑖Ƹ + (2 − 0)𝑗Ƹ + (0 − 4)𝑘෠ m = 4𝑖Ƹ + 2𝑗Ƹ − 4𝑘෠ m

𝑟𝐴𝐶 = 42 + 22 + (−4)2 = 6 m

𝑟റ𝐴𝐶
𝐹റ𝐴𝐶 = 120 N
𝑟𝐴𝐶
4 2 4
= 120 𝑖Ƹ + 𝑗Ƹ − 𝑘෠
6 6 6
𝐹റ𝐴𝐶 ෠ N
= (80𝑖Ƹ + 40𝑗Ƹ − 80𝑘)

23
 Example

𝐹റ𝑅 = 𝐹റ𝐴𝐵 + 𝐹റ𝐴𝐶

෠ N+
= (70.7𝑖Ƹ − 70.7𝑘)
෠ N
= (80𝑖Ƹ + 40𝑗Ƹ − 80𝑘)
෠ N
= (150.7𝑖Ƹ + 40𝑗Ƹ − 150.7𝑘)

𝐹𝑅 = (150.7)2 + (40)2 + (150.7)2 N

= 216.86 = 𝟐𝟏𝟕 N #

24
25
26
Sri Lanka's first high-
tech cable-stayed
bridge

Kalyani golden gate

27
Force systems

28
Force systems

29
Force systems

30
 y T
Vector addition Ty

Move all forces to 60 Tx

that concurrent point x
VD1
T1 = 200iˆ + 346 ˆj N
T1 x = T1 cos 60o = 200 N
T1 y = T1 sin 60o = 346 N

T2 = 400iˆ N

R = T1 + T2 = 600iˆ + 346 ˆj N

R = Rx2 + Ry2 = 693 N

Point of application,
But no physical meaning 346
 = tan −1 =29.97o
600
Application Point Ans 31
 Vector Operations (Products)

1. Dot Products AB

2. Cross Products AB

3. Mixed Triple Products A  (B  C )

32
 Scalar (DOT) product P  Q = PQ cos 
 𝐴Ԧ ∙ 𝐵 = 𝐴Ԧ 𝐵 cos 𝜃
P
= 𝐵 𝐴Ԧ cos 𝜃


Q
DOT product of unit vectors
iˆ  ˆj = ˆj  iˆ = 0
k̂ ĵ
iˆ  kˆ = kˆ  iˆ = 0
iˆ  iˆ = ˆj  ˆj = kˆ  kˆ = 1 ˆj  kˆ = kˆ  ˆj = 0
iˆ
(unit vector) ( three orthogonal vector )

A  B = ( Ax iˆ + Ay jˆ + Az kˆ )  (Bx iˆ + By jˆ + Bz kˆ )
𝐸𝑥𝑒𝑟𝑐𝑖𝑠𝑒:
P = 3𝑖Ƹ + 2𝑗Ƹ + 6𝑘෠
= Ax iˆ  Bx iˆ + Ax iˆ  By jˆ + Ax iˆ  Bz kˆ + 𝑄 = −4𝑖Ƹ + 𝑗Ƹ + 5𝑘෠
= Ay jˆ  Bx iˆ + Ay jˆ  By jˆ + Ay jˆ  Bz kˆ +
𝑃 = ? , 𝑄 =?
= Az kˆ  Bx iˆ + Az kˆ  By jˆ + Az kˆ  Bz kˆ
P Q = ?
A  B = Ax Bx + Ay By + Az Bz ∡𝑃𝑄 =?
33
Application of Dot Operation P  Q = PQ cos 

• Angle between two vectors  P Q 

 = cos  −1

• Component’izing Vector  | P || Q | 

U U = U // + U 𝐸𝑥𝑒𝑟𝑐𝑖𝑠𝑒:
U = 2𝑖Ƹ + 3𝑗Ƹ + 4𝑘෠
U //
ê 1
 U / / = (eˆ Uˆ ) eˆ 𝑒Ƹ = 𝑖Ƹ + 𝑗Ƹ + 𝑘෠
U 3
U = U − (eˆ Uˆ ) eˆ U / / ,U = ?
which direction?

T − (T  eˆ)eˆ T
ê ෡
𝑈// = (𝑒Ƹ ⋅ 𝑈)

(T  eˆ)eˆ 𝑈 ෡
= 𝑈 − (𝑒Ƹ ⋅ 𝑈)
34
 z
Fz

F
50o
Fx Fy
𝒐𝒓 𝑭𝑶𝑩 = 𝑭 ∙ 𝒆ො 𝑶𝑩 65o y
𝒆ො 𝑶𝑩 = 𝐜𝐨𝐬 𝟑𝟎°𝒊Ƹ + 𝒔𝒊𝒏𝟑𝟎°𝒋Ƹ x
Fxy
𝐹Ԧ = 1.36iƸ + 2.91jƸ + 3.83k෠ kN 𝐹𝑧 = 𝐹 sin 50° = 3.83 kN = 𝐹Ԧ ∙ 𝑘෠
෡
𝐹Ԧ𝑂𝐵 = 𝐹Ԧ ∙ (cos 30° 𝑖Ƹ + sin 30° 𝑗) 𝐹𝑥𝑦 = 𝐹 cos 50° = 3.21 kN
𝐹𝑂𝐵 = 2.63 kN 𝐹𝑥 = 𝐹𝑥𝑦 cos 65° = 1.36 kN = 𝐹Ԧ ∙ 𝑖Ƹ
𝐹𝑦 = 𝐹𝑥𝑦 sin 65° = 2.91 kN = 𝐹Ԧ ∙ 𝑗Ƹ
F = 𝐹𝑥 iƸ + 𝐹𝑦 jƸ + 𝐹𝑧 k෠
= 1.36iƸ + 2.91jƸ + 3.83k෠ kN Ans

𝐹𝑂𝐵 = 𝐹𝑥𝑦 cos 35° = 2.63 kN Ans

35
 “Cross Product” of Vectors

𝑚𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒:
A B 𝐶Ԧ = 𝐴Ԧ × 𝐵
B
𝐴𝐵 sin 𝜃 AB 2
1− (
 AB
)

( | A| | B |sin  ) eˆ
A
right-hand rule def

(A then B)
ê = C

line which are

perpendicular
with both vectors

36
Operation Cross Product Laws of Operations
A  B =? B  A
C = AB
A B = ?
B A

• Commutative Law is not valid B B

AB  B A −(B  A) ? A A
( )
( −B )  A ?
AB = − B A B  ( − A) ?

• Associative wrt scalar multiplication B  A = −C

a( A  B ) = (aA)  B = A  (aB ) = ( A  B )a

• Distributive wrt vector addition

A  (B + C ) = ( A  B ) + ( A  C )
37
 x-y-z complies with right-hand rule

y
ĵ iˆ  ˆj = kˆ iˆ
ˆj  kˆ = iˆ +
z
k̂ ĵ
k̂
iˆ x kˆ  iˆ = ˆj

iˆ  iˆ = ˆj  ˆj = kˆ  kˆ = 0

38
How to calculate cross product

U = U x iˆ + U y ˆj +U z kˆ V = V x iˆ + V y ˆj +V z kˆ

U V = (U x iˆ + U y ˆj +U z kˆ)  (V x iˆ+ V y ˆj +V z kˆ)

= U V (iˆ  iˆ) + U V (iˆ  ˆj ) + U V (iˆ  kˆ)

x x x y x z
+ U V ( ˆj  iˆ) + U V ( ˆj  ˆj ) + U V ( ˆj  kˆ)
y x y y y z
+ U V (kˆ  iˆ) + U V (kˆ  ˆj ) + U V (kˆ  kˆ)
z x z y z z

U V = (U y V z−U z V y )iˆ − (U x V z−U z V x) ˆj

+(U x V y−U y V x)kˆ

This term can be written in a determinant form

39
 Cross Product
- - -
iˆ ˆj kˆ iˆ ˆj kˆ iˆ ˆj
U V = U x U y U z = Ux U y Uz Ux U y
Vx Vy Vz Vx Vy Vz Vx Vy
+ + +

U V = (U y V z−U z V y )iˆ + (U z V x−U x V z ) ˆj + (U x V y−U y V x )kˆ

40
 Why cross product?

• Mathematical Representation
of Moments, Torque

B A
r F
• Perpendicular Direction nˆOABC =
B A

• Area Calculation z
A C

y
A

B
O
B
Area = A? B

41
 Mixed Triple Product
iˆ jˆ kˆ
U  (V  W ) = (U x iˆ + U y jˆ + U z kˆ )  Vx Vy Vz
W x Wy Wz

= (U x iˆ + U y jˆ + U z kˆ ) 
(VyWz − VzWy )iˆ − (VxWz − VzWx ) jˆ + (VxWy − VyWz )kˆ 
 
U  (V  W ) = U x (VyWz − VzWy ) − U y (VxWz − VzWx ) + U z (VxWy − VyWz )

Ux Uy Uz Ux Uy Uz W x Wy Wz
U  (V  W ) = Vx Vy Vz = − W x Wy Wz = U x Uy Uz
W x Wy Wz Vx Vy Vz Vx Vy Vz

U  (V  W ) = W  (U  V ) = V  (W  U ) 42
 Why mixed triple product?

n̂ 
• Mathematical Representation M O ,F M o , F , F
of Moments along the axis.

r
O
• Volume Calculation

Volume : C  ( B  A)
A
C nˆOABC C  ( B  A)
B Volume must always +

43
Vector
Operation Product Summary

Dot Product Scalar

Cross Product Vector

Mixed Triple Product Scalar

44
 Moment
In addition to the tendency to move a body, force
may also tend to rotate a body about an axis
(magnitude)
From experience (experiment) summation
magnitude depends only on “F” and “d”
M =  Fd
M = Fd
i i
i

Direction moment
axis

Moment is a vector
45
 z
Moment Definition
• Moment is a vector quantity. (MO )z
– Magnitude O
– Direction y
– Axis of Rotation
dy
x
• The unit of moment is N·m Fx
• The moment-arm d (perpendicular distance)
• The right-hand rule
• determined by vector cross product
• Sign convention: 2D +k or CCW is positive.
• Moment of a force or torque

46
 Mathematical Definition (3D) from A to point of application of the force

Moment about point A : M A, F = r  F


 F
M -Magnitude: | r || F | sin  = Fd

X -Direction: right-hand rule
r
A -Point of application: point A
d (Unit: newton-meters, N-m)
r F

F

2D
- 2D, need sign convention and be consistent; M=Fd
e.g. + for counter- clockwise and – for clockwise

d
+
47
 can be used with
Varignon’s Theorem (Principle of Moment) more than
2 components
M = r  F1 + r  F2
*
O
Same?
Yes ! (
r  F1 + r  F2 = r  F1 + F2 )
M = r  (F1 + F2 )
**
O = r F

The moment of a force about any point is equal to the sum of

the moments of the components of the force about that point
sum of moment (of each force) = moment of sum (of all force)


Fy F
Useful with rectangular components
Fx
d2
Mo = -Fxd2+Fyd1 y O d1
+ x
48
 Principle of Transmissibility & Moment
position vector:
Principle of Transmissibility is based on the fact that
from A to any point on
“moving force along the line of action causes no effect in
line of action of the force.
changing moment”

O

 F    convenient
M
 M = r F
X
r
A rAX  F = rAY  F
d Y
Z - direction: same
- magnitude:

O Sliding force M = Fr sin  = Fd

has the same moment
49
 Finding the normal vector to a plane
Ex: Find a unit vector normal to the plane ABC shown in the figure.
Principle: A vector normal to the plane ABC would be normal to any vector in that plane.
Normal vector can be obtained by the cross product of 𝑟Ԧ𝐴𝐵 and 𝑟Ԧ𝐴𝐶 .

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Finding a vector normal to two given vectors
Find a unit vector perpendicular to the vectors 𝑟Ԧ𝐴 = 𝑖Ƹ − 2𝑗Ƹ + 𝑘෠ and 𝑟Ԧ𝐵 = 3𝑗Ƹ + 2𝑘
෢

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 Moment of a force

Moment about an axis

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 Moment of a force
A force 𝐹Ԧ = (𝑖Ƹ + 20𝑗Ƹ ) N acts at point A of an object pinned
at O as shown in the figure. The distance OA = 2 m.
Find the moment of the force about the pin at point O.

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 Moment about an axis
A force 𝐹Ԧ𝐴 = (5𝑖Ƹ − 3𝑗Ƹ + 4𝑘෠ )N is acting at a point P whose
position is given by 𝑟Ԧ𝑃/𝑂 = 3𝑖Ƹ + 2𝑗Ƹ − 2𝑘෠ .
What is the moment about the axis passing through the origin
and (0,1,1)?

𝟏𝟒
= − 𝑵∙𝒎
𝟐
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 Moment about an axis:
A vertical force of unknown magnitude F acts at point B
of a triangular plate ABC shown in the figure. Find the
moment of the force about the edge CA of the plate.
The moment of a force F about an axis is given by

𝑀 = 𝜆መ ∙ 𝑟Ԧ × 𝐹Ԧ
Since the given axis is CA, therefore, we can take
𝑟 to be 𝑟Ԧ𝐴𝐵 or 𝑟Ԧ𝐶𝐵 .
The moment about CA
Moment about point A

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 Moment Couple
A 450-N force couple is applied in a pipe assembly.
Find the moment vector in cartesian vector notation.

𝑀 = 𝑟Ԧ𝐴𝐵 × 𝐹Ԧ𝐵

෡ Nm
M = 𝟎𝒊Ƹ + 𝟏𝟎𝟖𝒋Ƹ + 𝟏𝟒𝟒𝒌

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