ME 121: Engineering Mechanics

Position Vectors
• 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.
– For example in given figure,
A (4, 2, -6) & B (6, -1, 4)
 Position Vectors
– 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

 Example: 1

An elastic rubber band is attached to points A

and B. Determine its length and its direction
measured from A towards B.
 Example: 1 (contd.)

Position vectors: A (1, 0, -3) & B(-2, 2, 3)

r = [-2m – 1m]i + [2m – 0]j + [3m – (-3m)]k

= {-3i + 2j + 6k}m

Magnitude = length of the rubber band

r   3 2   2 2   6 2  7m

Unit vector in the director of r

u = r /r
= -3/7i + 2/7j + 6/7k
 Example: 1 (contd.)
α = cos-1(-3/7) = 115°
β = cos-1(2/7) = 73.4°
γ = cos-1(6/7) = 31.0°

Note: These angles are

measured from the +ve
axes of a localized co-
ordinate system placed at
the tail of r as shown in
figure.
 Exercise:1
• Determine the position vector r directed from
point A to point B and the length of cord AB.
Take z = 4 m.
 Exercise: 1 (contd.)

Position vectors: A (3, 0, 2) & B(0, 6, 4)

r = [0 – 3m]i + [6m – 0]j + [4m –2m]k

= {-3i + 6j + 2k}m

Magnitude = length of the rubber band

r   3 2
  6   2  7m
2 2

Unit vector in the director of r

u = r /r
= -3/7i + 6/7j + 2/7k
 Exercise: 1 (contd.)

Now the direction angles of cord AB

α = cos-1(-3/7) = 115°
β = cos-1(6/7) = 31.0°
γ = cos-1(2/7) = 73.4°
 Force Vector Directed along a Line
• In 3D problems, direction of F is specified by 2
points, through which its line of action lies

• Such a situation as shown in

figure, where the force F is
directed along the cord AB, 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.
 Force Vector Directed along a Line
• This common direction is specified by the unit
vector u = r/r. Hence, F can be formulated as a
Cartesian vector
F = F u = F (r/r) =

• Note that F has units of forces (N) unlike r, with

units of length (m)
 Force Vector Directed along a Line
• Force F acting along the chain can be presented as
a Cartesian vector by
- Establishing x, y, z axes
- Form a position vector r along length of chain
• Unit vector, u = r/r that defines the direction of
both the chain and the force
• We get F = Fu
 Example: 1

The man pulls on the

cord with a force of
350N. Represent this
force acting on the
support A, as a
Cartesian vector and
determine its direction.
 Example: 1 (contd.)
End points of the cord are A (0m, 0m, 7.5m) and
B (3m, -2m, 1.5m)

r = AB=(3m – 0m)i + (-2m – 0m)j + (1.5m – 7.5m)k

= {3i – 2j – 6k}m

Magnitude = length of cord AB

r  3m  2    2m  2    6m  2  7m

Unit vector,
u = r /r
= 3/7i - 2/7j - 6/7k
 Example: 1 (contd.)
Force F has a magnitude of 350N, direction specified by
u.
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k} N

α = cos-1(3/7) = 64.6°
β = cos-1(-2/7) = 107°
γ = cos-1(-6/7) = 149°
 Dot Product
• Dot product of vectors A and B is written as
A.B (Read A dot B)
• Define the magnitudes of A and B and the
angle between their tails
A·B = AB cosθ where 0°≤ θ ≤180°
• Referred to as scalar product of vectors as
result is a scalar
 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)
 Dot Product
• Cartesian Vector Formulation
- Dot product of Cartesian unit vectors
i·i = (1)(1)cos0° = 1
i·j = (1)(1)cos90° = 0

- Similarly
i·i = 1 j·j = 1 k·k = 1
i·j = 0 i·k = 1 j·k = 1
 Scalar Product: Applications
To test whether two vectors are
perpendicular.

If the dot product of two non zero

vectors is zero, the vectors are
perpendicular.
(3iˆ  2ˆj  1kˆ)  (iˆ  2ˆj  1kˆ)
 3410
Scalar Product: Applications
Finding the angle between two
vectors.  
a  b  a b cos 
 
a b
cos  
ab
 

1 a  b

  cos  

 a b 
What is the angle between a and b ?
 
a  2iˆ  2ˆj  kˆ b  6iˆ  3ˆj  2kˆ
a  2 2  2 2  12  9  3

b  6 2  32  2 2  49  7
 
a  b  12  6  2  4
4 1 4
cos      cos ( )  79
3.7 21
 Exercises
Find the dot product of vectors P and Q, if they are acting at
right angle to each other and P  7, Q  5,

Answer: 0
Find P.Q , if P= 6i+5j and Q= 2i-8j
Answer: -28

Find the angle between P=3i-5j and Q=4i+6j. Draw a

rough sketch to verify your answer.
Answer: 115.3 Degrees

If, F  40 N , D  3m, and   60 the work done by F

in acting from P to q is
Answer: 60 Joules
 Cross Product
• Cross product of two vectors A and B yields C,
which is written as
C=AXB
Magnitude
• Magnitude of C is the product of
the magnitudes of A and B
• For angle θ, 0° ≤ θ ≤ 180°

C = AB sinθ
 Cross Product (contd.)
Direction
• Vector C has a direction that is perpendicular to the plane
containing A and B such that C is specified by the right hand
rule

• Expressing vector C when

magnitude and direction are known

C = A X B = (AB sinθ)uC
 Cross Product (contd.)
Laws of Operations

2. Multiplication by a Scalar

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

3. Distributive Law

AX(B+D)=(AXB)+(AXD)
• Proper order of the cross product must be maintained
since they are not commutative
 Cross Product (contd.)

Cartesian Vector Formulation

• Use C = AB sinθ on pair of Cartesian unit
vectors
• A more compact
  determinant
 in the form as
i j k
 
AXB  Ax Ay Az
Bx By Bz