Engineering Mechanics: Statics-CIE

0221
Chapter 2
Force Vectors

Prof. Mohammed Al-Odat

July 2021
 Objectives
• To show how to add forces and resolve them into
components using the Parallelogram Law.
• To express force and position in Cartesian vector form
and explain how to determine the vector’s magnitude
and direction.
• To introduce the dot product in order to determine
the angle between two vectors or the projection of
one vector onto another.
Chapter Outline
1. Scalars and Vectors
2. Vector Operations
3. Vector Addition of Forces
4. Addition of a System of Coplanar Forces
5. Cartesian Vectors
6. Addition and Subtraction of Cartesian Vectors
7. Position Vectors
8. Force Vector Directed along a Line
9. Dot Product
2.1 Scalars and Vectors
Identify scalars and vectors
2.1 Scalars and Vectors
• Scalar
A quantity characterized by a positive or
negative number
A quantity that has magnitude only
Indicated by letters in italic such as A
e.g. Mass, volume and length
 2.1 Scalars and Vectors
• Vector
– A quantity that has magnitude and direction
e.g. Position, force and moment
– Represent by a letter with an arrow over it,
– Magnitude is designated as
– In this subject, vector is presented as A and its
magnitude (positive quantity) as A

Arrowhead = Sense of Vector

Example of Vectors
• Magnitude of Vector = 4 units
• Direction of Vector = 20°measured
counterclockwise from the horizontal axis
• Sense of Vector = Upward and to the right
• The point O is called tail of the vector and the point
P is called the tip or head
2.2 Vector Operations
• Multiplication and Division of a Vector by a Scalar
- Product of vector A and scalar a = aA
- Magnitude =
- Law of multiplication applies e.g. A/a = ( 1/a ) A, a≠
0
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
- Commutative e.g. R = A + B = B + A
- Special case: Vectors A and B are collinear (both
have the same line of action)
2.2 Vector Operations

• Vector Subtraction
- Special case of addition
e.g. R’ = A – B = A + ( - B )
- Rules of Vector Addition Applies
2.2 Vector Operations

Finding a Resultant Force

• Parallelogram law is carried out to find the resultant
force

• Resultant,
FR = ( F1 + F2 )
2.2 Vector Operations

Procedure for Analysis

• Parallelogram Law
• Make a sketch using the parallelogram law
• 2 components forces add to form the resultant force
• Resultant force is shown by the diagonal of the
parallelogram
• The components is shown by the sides of the
parallelogram
Trigonometry: Sine and Cosines
Laws


c
b


a
c
 b
a
2.3 Vector Addition of Forces
Procedure for Analysis
• Trigonometry
• Redraw half portion of the parallelogram
• Magnitude of the resultant force can be determined by
the law of cosines
• Direction if the resultant force can be determined by the
law of sines
• Magnitude of the two components can be determined by
the law of sines
Example 2.1
The screw eye is subjected to two forces, F1 and F2.
Determine the magnitude and direction of the
resultant force.
Solution

Parallelogram Law
Unknown: magnitude of FR and angle θ
Solution

Trigonometry
Law of Cosines

Law of Sines
Solution

Trigonometry
Direction Φ of FR measured from the horizontal
2.3 Vector Addition of Forces
Example 2.2
Resolve the 1000 N ( ≈ 100kg) force
acting on the pipe into the components in the
(a) x and y directions,
and (b) x’ and y
directions.
2.3 Vector Addition of Forces

Solution
(a) Parallelogram Law

From the vector diagram,

 2.3 Vector Addition of Forces

Solution
(b) Parallelogram Law
 2.3 Vector Addition of Forces
Solution
(b) Law of Sines

NOTE: A rough sketch drawn to scale will give some idea of the
relative magnitude of the components, as calculated here.
2.3 Vector Addition of Forces
Example 2.3
The force F acting on the frame
has a magnitude of 500N and is
to be resolved into two components
acting along the members AB and
AC. Determine the angle θ,
measured below the horizontal,
so that components FAC is directed
from A towards C and has a
magnitude of 400N.
2.3 Vector Addition of Forces

Solution
Parallelogram Law
2.3 Vector Addition of Forces
Solution
Law of Sines
 2.3 Vector Addition of Forces
Solution

By Law of Cosines or
Law of Sines
Hence, show that FAB
has a magnitude of 561N
 2.3 Vector Addition of Forces
Solution
F can be directed at an angle θ above the horizontal
to produce the component FAC. Hence, show that
θ = 16.1° and FAB = 561N
2.3 Vector Addition of Forces
Example 2.4
The ring is subjected to two forces
F1 and F2. If it is required that the
resultant force have a magnitude of
1kN and be directed vertically
downward, determine
(a) magnitude of F1 and F2 provided θ =
30°, and
(b) the magnitudes of F1 and F2 if F2 is
to be a minimum.
2.3 Vector Addition of Forces
View Free Body Diagram

Solution
(a) Parallelogram Law
Unknown: Forces F1 and F2
 2.3 Vector Addition of Forces

Solution
Law of Sines
 2.3 Vector Addition of Forces

Solution
(b) Minimum length of F2 occur
when its line of action is
perpendicular to F1. Hence
when

F2 is a minimum
 2.3 Vector Addition of Forces

Solution
(b) From the vector diagram
2.4 Addition of a System of Coplanar
Forces
• Coplanar. Points or lines are said to be
coplanar if they lie in the same plane
• Scalar Notation
• x and y axes are designated positive and negative
• Components of forces expressed as algebraic
scalars
2.4 Addition of a System of Coplanar
Forces
• Cartesian Vector Notation
• Cartesian unit vectors i and j are used to designate the x
and y directions
• Unit vectors i and j have dimensionless magnitude of
unity ( = 1 )
• Magnitude is always a positive quantity,
represented by scalars Fx and Fy
2.4 Addition of a System of Coplanar Forces

• Coplanar Force Resultants

To determine resultant of several coplanar forces:
• Resolve force into x and y components
• Addition of the respective components using scalar
algebra
• Resultant force is found using the parallelogram law
• Cartesian vector notation:
 2.4 Addition of a System of Coplanar Forces

• Coplanar Force Resultants

• Vector resultant is
therefore

• If scalar notation are used

 2.4 Addition of a System of Coplanar Forces

• Coplanar Force Resultants

• In all cases we have

* Take note of sign conventions

• Magnitude of FR can be found by Pythagorean Theorem

 Example 2.5
Determine x and y components of F1 and F2 acting on
the boom. Express each force as a Cartesian vector.
Solution

Scalar Notation

Hence, from the slope triangle, we have

Solution

By similar triangles we have

Scalar Notation:

Cartesian Vector Notation:

Solution

Scalar Notation

Hence, from the slope triangle, we have:

Cartesian Vector Notation

Example 2.6

The link is subjected to two forces F1 and F2.

Determine the magnitude and orientation of the
resultant force.
Solution I: Scalar Notation:

Scalar Notation:
Solution I

Resultant Force

From vector addition, direction angle θ is

Solution II: Cartesian Vector Notation
Cartesian Vector Notation
F1 = { 600cos30°i + 600sin30°j } N
F2 = { -400sin45°i + 400cos45°j } N

Thus,
FR = F 1 + F 2
= (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.
2.4 Addition of a System of
Coplanar Forces
Example 2.7
The end of the boom O is subjected to three
concurrent and coplanar forces. Determine
the magnitude and orientation of the
resultant force.
 2.4 Addition of a System of Coplanar
Forces
View Free Body Diagram
Solution
Scalar Notation
2.4 Addition of a System of Coplanar
Forces
Solution
Resultant Force

From vector addition,

Direction angle θ is
 Lecture 3
Tuesday 6/7/2021
Cartesian Vectors
2.5 Cartesian Vectors
 middle
index
2.5 Cartesian Vectors
• Right-Handed Coordinate
middle
System index

A rectangular or Cartesian
coordinate system is said to be thumb
right-handed provided:
• Thumb of right hand points in
the direction of the positive z
axis thumb
• z-axis for the 2D problem would
be perpendicular, directed out
of the page.
2.5 Cartesian Vectors

• Rectangular Components of a Vector

• A vector A may have one, two or three rectangular
components along the x, y and z axes, depending on
orientation
• By two successive application of the parallelogram law
A = A’ + Az
A’ = Ax + Ay
• Combing the equations,
A can be expressed as
A = Ax + Ay + Az
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
2.5 Cartesian Vectors

• Cartesian Vector Representations

• 3 components of A act in the positive i, j and k
directions

A = Axi + Ayj + AZk

*Note the magnitude and direction

of each components are separated,
easing vector algebraic operations.
 2.5 Cartesian Vectors
• Magnitude of a Cartesian
Vector
• From the colored triangle,
•
A = A'2 + Az2
• From the shaded triangle,
A' = Ax2 + Ay2

• Combining the equations

gives magnitude of A
A = Ax2 + Ay2 + Az2
 2.5 Cartesian Vectors
• Direction of a Cartesian Vector
• Orientation of A is defined as the coordinate direction
angles α, β and γ measured between the tail of A and
the positive x, y and z axes
• 0° ≤ α, β and γ ≤ 180 °
• The direction cosines of A is
2.5 Cartesian Vectors

• Direction of a Cartesian Vector

• Angles α, β and γ can be determined by the inverse
cosines
Given
A = Axi + Ayj + AZk

then,
uA = A /A = (Ax/A)i + (Ay/A)j + (AZ/A)k

where
2.5 Cartesian Vectors

• Direction of a Cartesian Vector

• uA can also be expressed as
uA = cosαi + cosβj + cosγk

• Since and uA = 1, we have

• A as expressed in Cartesian vector form is

A = AuA
= Acosαi + Acosβj + Acosγk
= Axi + Ayj + AZk
2.6 Addition and Subtraction of
Cartesian Vectors
• Concurrent Force Systems
• Force resultant is the vector sum of all the forces in the
system

FR = ∑F = ∑Fxi + ∑Fyj + ∑Fzk

Example 2.7-2D Forces: Determine the
magnitude and direction of the resultant force
Solution Example 2.7
Solution Example 2.7
Example 2.8
Express the force F as Cartesian vector.
Solution

Since two angles are specified, the third angle is

found by
cos 2 a + cos 2 b + cos 2 g = 1
cos 2 a + cos 2 60o + cos 2 45o = 1
cos a = 1 -(0.5) -(0.707) = ±0.5
2 2

a = cos -1(0.5)= 60o

Two possibilities exit, namely

Solution

By inspection, α = 60º since Fx is in the +x direction

Given F = 200N
F = Fcosαi + Fcosβj + Fcosγk
= (200cos60ºN)i + (200cos60ºN)j
+ (200cos45ºN)k
= {100.0i + 100.0j + 141.4k}N
Checking:
Example 2.10: Determine the magnitude and
coordinate direction of the Resultant force
Solution of Example 2.10
Solution of Example 2.10
Solution of Example 2.10
 2.7 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.
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
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
2.7 Position Vectors
• Length and direction of cable AB can be found by
measuring A and B using the x, y, z axes
• Position vector r can be established
• Magnitude r represent the length of cable
• Angles, α, β and γ represent the direction of the
cable
• Unit vector, u = r/r
Example 2.12
An elastic rubber band is attached to points A and B. Determine
its length and its direction measured from A towards B.
Solution
Position vector
rAB = [-2m – 1m]i + [2m – 0]j + [3m – (-3m)]k
= {-3i + 2j + 6k}m

Magnitude = length of the rubber band

Unit vector in the director of r

u = r /r
= -3/7i + 2/7j + 6/7k
Solution

α = cos-1(-3/7) = 115°
β = cos-1(2/7) = 73.4°
γ = cos-1(6/7) = 31.0°
 Statics CIE 0225
Lecture 4
7/7/2021
Topics
1. Force Vector Directed along a Line
2. Dot Product
2.8 Force Vector Directed along a Line
• In 3-D problems, direction of F is specified by two
points, through which its line of action lies
• 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)
 2.8 Force Vector Directed along a Line
• Force F acting along the chain can be
presented as a Cartesian vector by
- Establish 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 2.13
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.

Coordinates of point A
A(0,0,7.5)
Coordinates of point B
B(3,-2,1.5)

rAB=(XB-XA)i+ (YB-YA)J+ (ZB-ZA)k

rAB= (3-0)i+ (-2-0)J+ (1.5-7.5)k
rAB={3i – 2j – 6k}m
Solution

End points of the cord are A (0m, 0m, 7.5m) and

B (3m, -2m, 1.5m)
rAB = (3m – 0m)i + (-2m – 0m)j + (1.5m – 7.5m)k
= {3i – 2j – 6k}m

Magnitude = length of cord AB

2 2 2
𝑟 𝐴𝐵=√ ( 3 𝑚 ) + (− 2 𝑚 ) + (− 6 𝑚 ) =7 𝑚
 
❑ ❑ ❑

Unit vector,
u = rAB /rAB
= 3/7i - 2/7j - 6/7k
Solution

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°
Example 2.12: The roof is supported by cables as
shown in the photo. If the cables exert forces FAB =
100 N and FAC = 120 N on the wall hook at A as shown
in Fig., determine the resultant force acting at A.
Express the result as a Cartesian vector.
With reference to Fig. to go from A to B, we must travel -4km,
and then 4i m. Thus,

From A to C
 The resultant force is therefore

Example 2.13: The force in Fig. 2–39a acts on the

hook. Express it as a Cartesian vector.
Solution
• As shown in Fig. b, the coordinates for point A is
A(2 m, 0, 2 m)
The coordinates for points B is
Dot product
The dot product of two vectors yields a scalar:

Magnitude:

B
2.9 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
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)
2.9 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 = 0j·k = 0
2.9 Dot Product
• Cartesian Vector Formulation
• Dot product of 2 vectors A and B
A·B = AxBx + AyBy + AzBz
• Applications
• The angle formed between two vectors or intersecting
lines.
θ = cos-1 [(A·B)/(AB)] 0°≤ θ ≤180°
• The components of a vector parallel and perpendicular
to a line.
Aa = A cos θ = A·u
Applications of Dot Products
• Dot product has two important applications in
mechanics. It is used to find:
1. The angle formed between two vectors or
intersecting lines.

2. The components of a vector parallel and

perpendicular to a line.
The angle formed between two vectors
or intersecting lines
The components of a vector parallel and
perpendicular to a line.
• The component of vector A parallel to or collinear with
the line aa in Fig. is defined by Aa where Aa = A cos.
This component is sometimes referred to as the
projection of A onto the line, since a right angle is
formed in the construction.
• The component of A that is perpendicular to line aa
• Since A = Aa + A, then A  = A - Aa.
• Two possible ways of obtaining A :
1. Find  from the dot product, then A  = A sin 
2. if Aa is known, then by Pythagorean’s theorem we
can write
 Example 2.14: Determine the magnitudes of the
projection of the force F in Fig. 2–42 onto the u and v
axes.

NOTE: These projections are not

equal to the magnitudes of the
components of force F along the u
and v axes found from the
parallelogram law.
They will only be equal if the u and
v axes are perpendicular to one
another.
Example 2.17
The frame is subjected to a horizontal force F = {300j}
N. Determine the components of this force parallel
and perpendicular to the member AB.

A (0,0,0)
B(2,6,3)
Solution
Since

Thus
 Solution
Since result is a positive scalar, FAB has the same sense
of direction as uB. Express in Cartesian form

Perpendicular component

Its magnitude can be determined either from this vector or by using the
Pythagorean theorem,
Solution
Magnitude can be determined from F┴ or from
Pythagorean Theorem,