ES16 - Engineering

Mechanics
Force Vectors
Lecture 1

Engr. Edgardo Ricardo B. Sajonia

Lecturer
https://sites.google.com/site/erbsjr
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 What are Vectors?
• Vectors are pairs of a direction and a
magnitude. We usually represent a vector
with an arrow:

• The direction of the arrow is the direction

of the vector, the length is the magnitude.
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 Multiples of Vectors
Given a real number c, we can multiply a
vector by c by multiplying its magnitude by c:

2v -2v
v

Notice that multiplying a vector by a

negative real number reverses the direction.
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 Adding Vectors
Two vectors can be added using the
Parallelogram Law

u+v
u
v

4
 Combinations
These operations can be combined.

2u
2u - v
u
v
-v

5
 Components
To do computations with vectors, we place
them in the plane and find their components.

(5,6)
v
(2,2)

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 Components
The initial point is the tail, the head is the
terminal point. The components are obtained
by subtracting coordinates of the initial point
from those of the terminal point.
(5,6)
v
(2,2)

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 Components
The first component of v is 5 -2 = 3.
The second is 6 -2 = 4.
We write v = <3,4>
(5,6)
v
(2,2)

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 Magnitude
The magnitude of the vector is the length of
the segment, it is written ||v||.

(5,6)
v
(2,2)

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 Scalar Multiplication
Once we have a vector in component form, the
arithmetic operations are easy.

To multiply a vector by a real number, simply

multiply each component by that number.

Example: If v = <3,4>, -2v = <-6,-8>

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 Addition
To add vectors, simply add their components.

For example, if v = <3,4> and w = <-2,5>,

then v + w = <1,9>.

Other combinations are possible.

For example: 4v – 2w = <16,6>.

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 Unit Vectors
A unit vector is a vector with magnitude 1.

Given a vector v, we can form a unit vector

by multiplying the vector by 1/||v||.

For example, find the unit vector in the

direction <3,4>:
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 Special Unit Vectors
A vector such as <3,4> can be written as
3<1,0> + 4<0,1>.

For this reason, these vectors are given special

names: i = <1,0> and j = <0,1>.

A vector in component form v = <a,b> can be

written ai + bj.
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ES16 - Engineering
Mechanics
Force Vectors
Lecture 1

Engr. Edgardo Ricardo B. Sajonia

Lecturer
https://sites.google.com/site/erbsjr
14
 2.1 Scalars and Vectors
 Force Vectors
 Scalars : A quantity represented be a number (positive or
negative)
Ex: Mass, Volume, Length
(in the book scalars are represented by italics)
 Vectors : A quantity which has both
A – magnitude (scalar)
Line of action
B – direction (sense)
Ex: position, force, moment

Sense
 Forces
 Classification of Forces

 Contact
1 – Contacting or surface forces (mechanical)
2 – Non-Contacting or body forces (gravitational,
weight)

 Area
1 – Distributed Force, uniform and non-uniform
2 – Concentrated Force
 Forces
 Classification of Forces
 Force System
1 – Concurrent : all forces pass
through a point
2 – Coplanar : in the same plane A

3 – Parallel : parallel line of action

4 – Collinear : common line of
action
 Three Types
1 – Free (direction, magnitude 
and sense)
O
2 – Sliding
Origin
3 – Fixed
 2.2 Basic Vector Operations

Properties of Vectors

1 – Vector Addition
2 – Vector Subtraction
3 – Vector Multiplication
 Trigonometric Relations of a triangle
Pythagorean theorem is valid only for a right angled
triangle. For any triangle (not necessarily right angled)
A B C
  Sine Law
sin  sin  sin 

C 2  A2  B 2  2 AB cos C Cosine Law

A
 B

 
C
 Example
Ex: If the angle between F1 and F2 =60o and F1 = 54N
and F2 = 60N.
Find: the Resultant force and the angle .

F1 R

120o
 60o

F2
 Example… contd
R 2  F12  F22  2 F1 F2 cos 
R 2  60 2  54 2  2  60  54  cos120 
R  98.77  98.8 N

sin  sin 120

 F1 R
F1 R 120o

60o
F1
sin   sin 60 F2
R
  28.26o
 Parallelogram Law
Properties of Parallelogram

 A – sum of the three angles in a triangle is 180o

 B – sum of the interior angles is 360o
 C - opposite sides are equal

    180 


 
 Vector Addition
B
B
A R
A C
A
B
R
R  A B  B  A

R  A B C
 Vector Subtraction
Vector Subtraction
A B  A  B  
A-B

A A

B -B
 2.3 Vector addition of forces
If we consider, only two forces at a time then the result
can be obtained using parallelogram law, and by using
law of sines and cosines of triangles.

Even if we have multiple (say 5) forces, we take two at

a time to resolve the resultant one by one.
Consider another example in Example 2.4 (a) page 24

Given F1, F2 and 

To find: Resultant

Procedure: Use law of cosines to find the magnitude,

law of sines find the angles
 2.3 Vector addition of forces
(example 2.4)
Given Resultant R  1kN ,  30
To find:
F1 and F2
Solution:

1. Draw the vector diagram

F1 and F2

2. Use the sine law to find

F1 1000
  F1  653N
Sin30 Sin130
F2 1000
  F2  446 N
Sin20 Sin130
 2.4 Cartesian Coordinate Systems
A much more logical way to add/subtract/manipulate vectors is to
represent the vector in Cartesian coordinate system. Here we need
to find the components of the vector in x,y and z directions.
– Simplification of Vector Analysis
z
z

en
 z A
k
 y
y

j y  x

i
x x
Vector Representation in terms unit
vector
Suppose we know the magnitude of a vector in any
arbitrary orientation, how do we represent the vector?
Unit Vector : a vector with a unit magnitude

A  A en
 A e^n A
en 
A
2.5 Right-Handed Coordinate System

z
 Right-Handed System

– If the thumb of the right

hand points in the
direction of the positive
z-axis when the fingers
are pointed in the x-
direction & curled from
the x-axis to the y-axis. y

x
 Components of a Vector
 Cartesian (Rectangular) Components of a Vector
z
In 3-D A  Ax  Ay  Az Az
y
A
A
Ay Ay

Ax
y

x In 2-D A  Ax  Ay
Ax x
 Cartesian Vectors
 Cartesian Unit Vectors

Ax  Ax iˆ  A  Ax iˆ  Ay ˆj  Ax kˆ
Ay  Ay ˆj z

Az  Az kˆ
Az = A z k
n

en A = Aen
k
y
i
Ax = Axi j
Ay = Ayj

x
 Cartesian Vectors
 Magnitude of a Cartesian Vector

A  Ax2  Ay2  Az2 z

Az

Ay

Ax
y

x
2.6. Addition and Subtraction of vectors

Fx  F cos  x cos  x 
Fx
Fy  F cos  y F
Fy
Fz  F cos z z cos  y 
Fz
F
F
cos  z  z
F F
 z
 y
Fy

Fx
 x y

x
 Force Analysis
z
2 2 2
F = F +F +F
x y z Fz

F = Fx ˆi+Fy ˆj+Fz kˆ
 z
F
F = Fcosθ x ˆi+Fcosθ y ˆj+Fcosθ z kˆ  y
Fy
F = F(cosθ x ˆi+cosθ y ˆj+cosθ z k)
ˆ
Fx
 x y
Û f = cosθ x ˆi+cosθ y ˆj+cosθ z kˆ
ˆ
F = FU f x
 Force Analysis

d= x 2 +y 2 +z 2 Ex:

= 62 +102 +82
z
=14.14ft
6
Fx =Fcosθ x =600 =254lb
14.14 F = 600
10 8ft
Fy =Fcosθ y =600 =424lb
14.14
8 y
Fz =Fcosθ z =600 =339lb
14.14 6ft
ˆ ˆ
F=255i+424j+339klb ˆ x 10ft
 Summary of the Force Analysis
F  Fx  Fy  Fz z

 Fx iˆ  Fy ˆj  Fz kˆ
 F cos x iˆ  F cos y ˆj  F cos z kˆ FZ
F
Fx  F cos  x
Fy  F cos  y Fy
Fz  F cos  z Fx y
Fx
 x  cos 1
F Fy x
 y  cos 1 F  F  Fx  Fy  Fz
2 2 2
F
Recall,
Cos 2 x  Cos 2 y  Cos 2 z  1 Fz
 z  cos 1
F
 2.6 Addition/Subtraction of
Cartesion 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  Axiˆ  Ay ˆj  Az kˆ
B  Bxiˆ  By ˆj  Bz kˆ
Then the addition

R  AB
R   Ax  Bx  iˆ   Ay  By  ˆj   Az  Bz  kˆ
Then the subtraction
R  A  B
R   Ax  Bx  iˆ   Ay  By  ˆj   Az  Bz  kˆ
 Example
Determine the magnitude and the coordinate direction angles of the resultant
force on the ring

Solution:

FR   F  F1 F2
  60 j  80k    50i  100 j  100k 
 50i  40 j  180k lb

FR   50    40   180 
2 2 2

 191.0 lb
 Example
Unit vector and direction cosines

FR 50 ˆ 40 ˆ 180 ˆ
uFR   191.0 i  191.0 j  191.0 k
FR
 0.2617iˆ  0.2094 ˆj  0.9422kˆ
From these components, we can
determine the angles

cos   0.2617  =74.80

cos   0.2094  =1020
cos   0.9422  =19.60
 Example
Four concurrent forces act on the plate.
Determine the magnitude of the resultant
force and its orientation measured
counterclockwise from the positive x axis.
Solution:

Draw the free body diagram. Then resolve

forces in x and y directions.
4

  FRx   Fx ; FRx  60  38cos30+ (50)
5
= 67.09 lb 
3
  FRy   Fy ; FRy = 100  38 cos30  (50)
5
= 51 lb 
 Example

Find the magnitude and direction.

Magnitude
FR = FRx2  FRy2 = 67.092  512 = 84.3 lb

Direction
FRy 51
  tan 1
= tan 1 = 37.2
FRx 67.09
 2.7. Position Vectors
z
r  rB  rA (xb, yb, zb)
r
( xa, ya, za)
rB
rB  xB iˆ  y B ˆj  z B kˆ rA y
rA  x Aiˆ  y A ˆj  z A kˆ
x

r  xB  x A iˆ   y B  y A  ˆj  z B  z A kˆ

•Position vectors can be determined using the

coordinates of the end and beginning of the vector
 2.8---Problem 2-51, page 56
Determine the length of the connecting rod AB by first
formulating a Cartesian position vector form A to B and then
determining its magnitude.
Solution

Position vector:
r = 16-(-5sin30)  i + (0-5cos30)j
= 18.5i - 4.330j in

Magnitude:
r 18.52  4.3302  19.0 in Ans
 Force Vector Along a Line
A force may be represented by a magnitude & a position
Force F is oriented along the vector AB (line AB)
B
F  F u AB z
F
u AB  Unit vector along
the line AB
AB A
 y
AB
AB x
F  F
AB
 2.9. Dot Product

Dot Product (Scalar Product) y

A  B=B  A=ABcosθ
A
Ay
Ax  A  iˆ  A(1) cos 

Ax x
A = A x i +A y j +A z k
B
 B = Bx i +By j +Bz k
A B = A x Bx +A y B y +A z Bz
A
 Application of dot product
Angle between two vectors
B

A  B  AB cos
 AB 
  cos 
1

 AB

 
A
End of Vectors

THANK YOU!!!

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