Quick Summary Of Lecture-1

Cartesian Components of a Force Vector – 2D y

û
   ĵ
F  Fuˆ  Fx  Fy  Fx ˆi  Fy ˆj   Fcos   ˆi   Fsin   ˆj
The force vector F in terms of its Cartesian components
Where the angles q is the direction angle of the force vector F

F
The magnitude of the force vector F in terms of its Cartesian components 
Fy
F  Fx2  Fy2 

The unit vector of the line of action of the force vector. Fx
in terms of its Cartesian components  î  î
-x x
Fx ˆ Fy ˆ O
  i j  u x ˆi  u y ˆj
F F F  ĵ
û  oppos ite
F -y s inθ=
hypote nus e
 cos ˆi  sin ˆj  u x ˆi  u y ˆj hypotenuse opposite
a dja ce nt
in terms of its direction angle cos θ=
hypote nus e γ=90

Fx Fy
ux   cos  uy   sin  ta nθ=
oppos ite adjacent
F F a dja ce nt
 Lecture 2 : Statics

Force Vectors 2

Czardas Medley
Andre Rieu
Contents
IV- Geometry of a Line in Three Dimensions
V- Force Vectors in Three Dimensions
VI- Vector Scalar Product
IV- Geometry of a Straight Line in Three Dimensions

1-The Vector Equation of a Straight line in Space

2-The Direction Cosines of a Line
3-The Unit (Direction) Vector of a Line.
 1-The Vector equation of a Line in space 2-D
3-D
z y
k̂ ˆj
xB
B  x B ,y B 

rz =  z B - z A  kˆ 
rB/A 
ry =  y B -y A  ˆj
B  x B ,y B ,z B  xA
 yB

rB/A A  x A ,y A  rx =  x B -x A  ˆi
yA
x
y î
A  x A ,y A ,z A 

ry =  y B -y A  ˆj ĵ
Vector equation of line AB
î 
rx =  x B -x A  ˆi 
x rB/A = rx ˆi + ry ˆj=  x B -x A  ˆi +  y B -y A  ˆj

Length of line AB
Vector equation of line AB
 x B -x A  +  y B -y A 
2 2

rB/A = rx ˆi + ry ˆj+ rz kˆ =  x B -x A  ˆi +  y B -y A  ˆj+  z B -z A  kˆ rB/A = rx2 + ry2 =

 x B -x A  +  yB -y A  +  z B -z A 
2 2 2
rB/A = rx2 + ry2 + rz2 =
2-The Direction Cosines, (cosines of the direction angles), of a Line
2-D

a is the direction angle of line AB y

a is the direction angle that line AB makes with the x axis
ˆj
b is the direction angle that line AB makes with the y axis B  x B ,y B 

rx =  x B -x A   rB/A cos rB/A 

ry =  y B -y A 
ry =  y B -y A   rB/A sin   rB/A cos  A  x A ,y A  

rB / A  rB / A uˆ B/ A  rx ˆi  ry ˆj   rB / A cos   ˆi   rB/ A sin   ˆj   r cos   ˆi   r cos   ˆj rx =  x B -x A 


B/ A B/ A

-x x
rB / A  r r
2
x
2
y î

û  cos ˆi  sin ˆj  cos  ˆi  cos ˆj -y

cosa and cosb are called the direction cosines of line AB

2-The Direction Cosines, (cosines of the direction angles), of a Line 2-D
3-D z
k̂ y

rz =  z B - z A  ˆj
B  x B ,y B 
B  x B ,y B ,z B 
rB/A  ry =  y B -y A 
rB/A

A  x A ,y A  
y  rx =  x B -x A 
 
 -x x
A  x A ,y A ,z A  ry =  y B -y A  ĵ î

î rx =  x B -x A  -y rB/A cos = rx =  x B -x A 
x
rB/A cos = rx =  x B -x A  rB/A cos = ry =  y B -y A 

rB/A cos = ry =  y B -y A 

rB/A cos = rz =  z B -z A 
 3-The unit vector of Line AB z

rB / A  rB / A uˆ B / A k̂

r
û B / A  B / A  u x ˆi  u y ˆj  u z kˆ 
rz =  z B - z A  kˆ
rB / A
Thus, the unit vector in terms of the coordinates of two of its points B  x B ,y B ,z B 

û B / A 
 x B  x A  ˆi   y B  y A  ˆj   z B  z A  kˆ 
rB/A
rB / A
 xB  xA 

û B / A  ˆi   yB  yA  ˆj   z B  z A  kˆ y
rB / A rB / A rB / A 
 A  x A ,y A ,z A 
the unit vector in terms of the direction cosines

ry =  y B -y A  ˆj ĵ
rB / A cos  ˆi  rB / A cos  ˆj  rB/ A cos  kˆ î 
rx =  x B -x A  ˆi
û B/ A 
rB / A x Vector equation of line AB
û B / A  cos  ˆi  cos  ˆj  cos  kˆ 
rB/A = rx ˆi + ry ˆj+ rz kˆ =  x B -x A  ˆi +  y B -y A  ˆj+  z B -z A  kˆ

ux 
 xB  xA 
 cos 
Length of line AB
 x B -x A  +  y B -y A  +  z B -z A 
2 2 2
rB/A = rx2 + ry2 + rz2 =
rB / A
uy 
 yB  yA   cos 
rB / A rB/A cos = rx =  x B -x A 

uz 
 zB  zA   cos  rB/A cos = ry =  y B -y A 
rB / A
rB/A cos = rz =  z B -z A 
The relation between the direction angles
z
k̂
û B / A  cos  ˆi  cos  ˆj  cos  kˆ

rz =  z B - z A  kˆ

u B/ A  1 cos 2   cos 2   cos 2  B  x B ,y B ,z B 


rB/A
cos 2   cos 2   cos 2   1 
y

 A  x A ,y A ,z A  
ry =  y B -y A  ˆj ĵ
î 
rx =  x B -x A  ˆi
x Vector equation of line AB

rB/A = rx ˆi + ry ˆj+ rz kˆ =  x B -x A  ˆi +  y B -y A  ˆj+  z B -z A  kˆ
Length of line AB
 x B -x A  +  y B -y A  +  z B -z A 
2 2 2
rB/A = rx2 + ry2 + rz2 =

rB/A cos = rx =  x B -x A 
rB/A cos = ry =  y B -y A 
rB/A cos = rz =  z B -z A 
In terms of Cartesian components Summary of line relations

rB / A  rx ˆi  ry ˆj  rz kˆ Vector equation of a line and its unit vector
z
rB / A  rx2  ry2  rz2 k̂

rB / A rx ˆ ry ˆ r
û B / A   i j  z kˆ 
rB / A rB / A rB / A rB / A rz =  z B - z A  kˆ

In terms of coordinates of two of its points B  x B ,y B ,z B 


rB / A   x B  x A  ˆi   y B  y A  ˆj   z B  z A  kˆ 
rB/A
rB/ A   xB  xA 
2
  yB  yA    zB  z A 
2 2

y
 x B  x A  ˆi   y B  y A  ˆj   z B  z A  kˆ 
û B/ A   A  x A ,y A ,z A   ˆj
ry =  y B -y A  ˆj
rB/ A
î 
rx =  x B -x A  ˆi
In terms of the line’s length and its direction cosines
x

rB / A  rB/ A cos  ˆi  rB / A cos  ˆj  rB/ A cos  kˆ

 rB / A cos     rB / A cos     rB/ A cos  

2 2 2
rB / A 
û B / A  cos  ˆi  cos  ˆj  cos  kˆ
= 
V- Force Vectors in Three Dimensions
 In terms of the Cartesian components of the force

F  Fx ˆi  Fy ˆj  Fz kˆ û B/A =u x ˆi+u y ˆj+u z kˆ

F  Fx2  Fy2  Fz2

 B  x B ,y B ,z B 
F Fx ˆ Fy ˆ Fz ˆ
û   i  j k
F F F F 
F
In terms of two points on its line of action k̂

 

F  Fuˆ B/ A  F u x ˆi  u y ˆj  u z kˆ

A  x A ,y A ,z A 
  x  x A  ˆi  F  yB  yA  ˆj  F  zB  z A  kˆ 
F F B  Fx ˆi  Fy ˆj  Fz kˆ
rB / A rB / A rB / A
 
In terms of the direction cosines
î ˆj
 

F  Fuˆ B / A  F u x ˆi  u y ˆj  u z kˆ

F  F cos  ˆi  Fcos  ˆj  F cos  kˆ  Fx ˆi  Fy ˆj  Fz kˆ

u ^ A / B=− u^ B / A
Example-1
The Cartesian components of a force F are:
Fx =30N, Fy =-20N and Fz =50N

The following is required for the resultant force F:

a- Express it in its vector form,
b- Calculate its magnitude,
c- Obtain the unit vector of its line of action, and
d- The direction cosines of its line of action.
Solution Line equations

Fx =30N, Fy =-20N and Fz =50N rB/A = rx ˆi+ry ˆj+rz kˆ

(a) The force F in vector form rB/A =  x B -x A  ˆi+  y B -y A  ˆj+  z B -z A  kˆ

 rB/A = rB/A cos ˆi + rB/A cos ˆj+ rB/A cos kˆ
F=Fx ˆi+Fy ˆj+Fz kˆ =30i-20j+50k
ˆ ˆ ˆ
rB/A = rx2 +ry2 +rz2
(b) The magnitude of the force F
cos 2 α+cos 2β+cos 2 γ=1
F= Fx2 +Fy2 +Fz2 = 302 +202 +502 = 61.64 N
Force vector relations

(c) The unit vector of the line of action of the force F F=Fx ˆi+Fy ˆj+Fz kˆ
F Fy F F= Fx2 +Fy2 +Fz2
û =u x ˆi + u y ˆj+ u z kˆ = x ˆi + ˆj+ z kˆ
F F F Fx = Fu x Fy = Fu y Fzx = Fu z
30 ˆ 20 ˆ 50 ˆ
û = i- j+ k =0.486iˆ - 0.324j+
ˆ 0.811kˆ
61.64 61.64 61.64 Unit vector of a line
uˆ  u x ˆi  u y ˆj  u z kˆ
(d) The direction cosines of the line of action of F  xB  xA  F
ux   cos   x
 x B  x A    yB  yA    zB  z A 
2 2 2 F
û = 0.489iˆ -0.324j+
ˆ 0.81kˆ = cos ˆi +cos ˆj+ cos kˆ
uy 
 yB  yA  F
 cos   y
cos   0.486 cos   0.811  x B  x A    yB  yA    z B  z A  F
2 2 2
cos   -0.324
 z B  zA  F
uz   cos   z
 x B  x A    y B  yA    z B  z A  F
2 2 2
 Fx =30N, Fy =-20N and Fz =50N

z
-x
Fz =50N
cos   0.811

F 
cos   -0.324
Fy =-20N 
-y y

cos   0.486

Fx =30N

-z
Example-2
The pole OD is supported by the three cables as shown. Two of the three z
direction angles of cable DA are a=48.2 and b=109 degrees. The tension force in D(0,0,80)
cable DC is 2000 N and in cable DA is 1800N. Determine;
1- The unit vector of cables DA and DC, and
2- The Cartesian components of each force.
3- The vector form of the tension acting on pin A. 2000 N
1800 N

A O C(-6,1,0)

x
y
B(4,7,0)
Solution z
1- The unit vector of cables DA and DC
gDA
Cable DA (aDA=48.2 and bDA=109)
D(0,0,80)
uˆ A / D  cos  DA ˆi  cos DA ˆj  cos  DA kˆ  cos 48. 2iˆ  cos 109ˆj  cos kˆ

use bDA=109
aDA=48.2
1  cos 2  DA  cos 2  DA  cos 2  DA
1  cos 2 48.2  cos 2 109  cos 2  DA 1800 N 2000 N

1  0. 444  0.106  cos 2  DA

cos 2 DA =0.45

cos  DA =  0.67 C(-6,1,0)
A O
Which sign should we consider ?
cos  AD =  0.67   AD =132.07 x
y
B(4,7,0)
thus
uˆ A / D  cos 48.2iˆ  cos 109ˆj  cos 132. 07kˆ  0. 67iˆ  0. 33jˆ  0. 67kˆ
 z
Cable DC
D(0,0,80)
uˆ C / D
 x  x D  ˆi   yC  y D  ˆj   z C  z D  kˆ
 C
rC / D rC / D rC / D

 xC  xD    yC  y D    z C  z D 
2 2 2
rC / D 

2000 N
1800 N

 6  0    1  0    0  80   80.24 m
2 2 2
rC / D 

 6  0  ˆ  1  0  ˆ  0  80  ˆ   0 . 075 ˆi  0.0125 ˆj  0.997 kˆ

uˆ C / D  i j k
80.24 80.24 80.24 C(-6,1,0)
A O

x
y
B(4,7,0)
Unit vector of a line
uˆ  u x ˆi  u y ˆj  u z kˆ
ux 
 xB  xA  F
 cos   x
 x B  x A    yB  yA    z B  z A 
2 2 2 F

uy 
 yB  yA  F
 cos   y
 x B  x A    yB  yA    zB  zA  F
2 2 2

 zB  zA  F
uz   cos   z
 x B  x A    yB  yA    z B  zA  F
2 2 2
 z
2- The Cartesian components of each force.
D(0,0,80)
The Cartesian components of the P= 1800 N force
uˆ A / D  0. 67iˆ  0.33jˆ  0.67kˆ

Px  Pu x 1800  0 .67  1206 N

1800 N 2000 N
Py  Pu y 1800  0 .33    594 N

Pz  Pu z 1800  0 .67    1206 N

The Cartesian components of the T=2000 N force C(-6,1,0)

A O
uˆ C / D   0 .075 ˆi  0.0125 ˆj  0.997 kˆ x
y
Tx  Tu x  2000  0 .075    150 N B(4,7,0)

Ty  Tu y  2000  0 .0125   25 N

Tz  Tu z  2000  0 .997    1994 N

Similar to example-2

The plate ABCD is supported by cables at B and C as shown. The tension in cable BE is 800 N and
that in cable CD is 1000 N. Determine
(i) The unit vector and hence the direction cosines of each cable.
z
(ii) The Cartesian components of the 1000 N force.
E
4m
3m D
A A
800N

B y
1000N
x 3m
7m
C
Similar to example-2

The F=100 N force acts on line AB as shown. Two of the direction angles of line PQ
are b=g=90. Determine;
(i) The unit vector of line AB.
(ii) The direction cosines of line AB
(iii) The Cartesian components of the F=100 N force
(iv) The unit vector of the line QP.
Q
 
    B  -8,0,0 
b =g =90 F=100N

P
 
 
A  4,0,0 
Jan. 2020

Question –S1 (Total Marks 25) A(2,4,2)

The F=150 N force is acting on line CD as shown in Figure Question-S1.
The following is required; D(6,4,4)
•The unit vector of each line, [5 marks]
•The Cartesian components of the F=150 N force, [5 marks] F=150 N
•The angle between the two lines, [5 marks] C(2,4,4)
•The projection of F=150N along line AB, [5 marks] B(2,6,2)
•The moment of the F=150 N force about point A. [5 marks] Figure Question-S1
 Que Sera Sera
(What Ever Will Be Will Be)
VI- Vector Dot (Scalar) Product
The Angle Between Two Lines

The Component of a Force on a Line

The Vector Dot Product
The vector dot product (also known as the vector scalar product) of two vectors is defined as

 
F  P = FPcosθ 
F=Fx ˆi+Fy ˆj+Fz kˆ
where
 
F=Fx ˆi+Fy ˆj+Fz kˆ P=Px ˆi+Py ˆj+Pz kˆ 

P= Px2 +Py2 +Pz2 P=Px ˆi+Py ˆj+Pz kˆ
F= Fx2 +Fy2 +Fz2

and
 is the angle between the lines of actions of F and P

The vector dot product is a scalar quantity.

   
The order of multiplication is not important. F  P = P  F
Cartesian Unit (direction) Vectors and the Vector Dot Product z
 
F  P = FPcosθ
k̂
ˆi  ˆi=  1  1 cos 0  1 ˆi  ˆj=  1  1 cos 90  0

î ĵ
ˆj  ˆj=  1  1 cos 0  1 ˆ  1  1 cos 90  0
ˆj  k= O
y
x
ˆ  1  1 cos 0  1
kˆ  k= kˆ  ˆi=  1  1 cos 90  0

Multiplication of Two Vectors in Component

  form Using The Vector Dot Product Approach
F  P = FPcosθ
 F ˆi+F ˆj+F kˆ  •  P ˆi+P ˆj+P kˆ  =FPcosθ
x y z x y z

 Fx Px   ˆi.iˆ  +  Fx Py   ˆˆ
i.j +  Fx Pz   ˆi.kˆ    Fy Px   ˆj.iˆ  +  Fy Py   ˆj.jˆ  +  FyPz   ˆj.kˆ    FzPx   k.i
ˆ ˆ  +  F P  kˆ  ˆˆ
z y i.j +  Fz Pz   k.k
ˆ ˆ  =FPcosθ

 Fx Px   ˆi.iˆ  +  Fy Py   ˆj.jˆ  +  Fz Pz   k.k

ˆ ˆ  =FPcosθ

Fx Px + Fy Py + Fz Pz = FPcosθ
Useful Applications for the Dot Product
 
F  P = FPcosθ
App-1 : To calculate the angle between two lines û F =u xF ˆi+u yF ˆj+u zF kˆ
 
F  P = FPcosθ

Fx Px + Fy Py + Fz Pz = FPcosθ F=Fx ˆi+Fy ˆj+Fz kˆ

1-In terms of the Cartesian components of the two forces F and P

Fx Px + Fy Py + Fz Pz = FPcosθ 
P=Px ˆi+Py ˆj+Pz kˆ û P =u xP ˆi+u yP ˆj+u zP kˆ

Fx Px + Fy Py + Fz Pz
cosθ =
FP
2-In terms of the Cartesian components of the unit vectors of the lines of action of the two forces F and P
 
F  P = FPcosθ
Fuˆ F  Puˆ P = FPcosθ
FP  uˆ F  uˆ P  = FPcosθ

cosθ = uˆ F  uˆ P = u xF u xP + u yF u yP + u zF u zP
 
App-2: The projection (component) of force F parallel/or on line QQ’. F=Fx ˆi+Fy ˆj+Fz kˆ
 
F  P = FPcosθ

F  uˆ = F  1 cosθ = FQQ


Q  Q’
 
FQQ = Fcosθ = F  uˆ =  Fx u x  + Fy u y +  Fz u z  FQQ' = Fcos û=u x ˆi+u y ˆj+u z kˆ
Example - 5

For the two vectors

 
ˆ ˆ ˆ
A=10i-5j+8k ˆ ˆ ˆ
B=2i+6j-3k
The following is required,
a- the unit vector of the line of action of each vector,
b- the angle between the two vectors,
c- the projection of vector A on the line of action of vector B.
Solution
a- the unit vector of the line of action of each vector and its direction cosines,
 Dot product relations
Vector ˆ ˆ ˆ
A=10i-5j+8k Fx Px + Fy Py + Fz Pz
cosθ=
FP
A= A 2x  A 2y  A z2 = 102  52  82 =13.75 cosθ = u xF u xP + u yF u yP + u zF u zP

 Fcosθ =  Fx u xP  +  Fy u yP  +  Fz u zP 
A A A y ˆ Az ˆ 10 ˆ 5 ˆ 8 ˆ
û A =  x ˆi + j+ k = i- j+ k =0.73iˆ - 0.36j+
ˆ 0.58kˆ
A A A A 13.75 13.75 13.75

ˆ ˆ ˆ
Vector B=2i+6j-3k
B= B2x  B2y  Bz2 = 22  6 2  32 = 7

B B B y ˆ Bz ˆ 2 ˆ 6 ˆ 3 ˆ
û B =  x ˆi + j+ k = i + j- k =0.29iˆ + 0.86j-
ˆ 0.43kˆ
B B B B 7 7 7

b- the angle between the two vectors,

cos = u xA u xB + u yA u yB + u zA u zB

cos =  0.73   0.29  +  -0.36   0.86  +  0.58   -0.43   0.35

c- the projection of vector A on the line of action of vector B,
Dot product relations
Fx Px + Fy Py + Fz Pz
A B = Acosθ =13.75  -0.35    4.81 cosθ=
FP
cosθ = u xF u xP + u yF u yP + u zF u zP
A B = 4.81 Fcosθ =  Fx u xP  +  Fy u yP  +  Fz u zP 

Or use

ˆ ˆ ˆ
A=10i-5j+8k
A B =  A x u xB  +  A y u yB  +  A z u zB  A=13.75
A B =  10   0.29  +  -5   0.86  +  8   0.43   4.81 û A =0.73iˆ - 0.36j+
ˆ 0.58kˆ

ˆ ˆ ˆ
B=2i+6j-3k
B= 7
û B =0.29iˆ + 0.86j-
ˆ 0.43kˆ

cos   0.35
Example-5

The direction angles for line QP are a=69 and g=69. The force F is of magnitude
100N. The following is required; z
i. The angle between the two lines
ii. The projection of F along line QP B  -4,6,8 
P

Q
F=100N

x y

A  5,8,-2 
 Solution z

i. The angle between the two lines cosθ = u xF u xP + u yF u yP + u zF u zP

B  -4,6,8 

or line AB P a=69 and g=69

 xB -x A  ˆi+  yB -y A  ˆj+  z B -z A  kˆ  -4-5  ˆi+  6-8  ˆj+  8+2  kˆ

û B/A = = = -0.66iˆ - 0.15j+
ˆ 0.74kˆ
Q F=100N
 xB -x A  +  y B -y A  +  z B -z A   -4-5  +  6-8  +  8+2 
2 2 2 2 2 2

x y

r line PQ A  5,8,-2 
cos  +cos  +cos  =1
2 2 2

cos 2  =1-cos 2 69-cos 2 69

Dot product relations
cos  =0.743
2
Fx Px + Fy Py + Fz Pz
cosθ=
cos  =  0.862 FP
cosθ = u xF u xP + u yF u yP + u zF u zP
û P Q =cos  ˆi+cos  ˆj+cos  kˆ = cos 69 ˆi ± 0.862ˆj+ cos 69kˆ =0.36 ˆi±0.862ˆj+0.36kˆ
Fcosθ =  Fx u xP  +  Fy u yP  +  Fz u zP 

Thus the angle is Unit vector of a line uˆ  u x ˆi  u y ˆj  u z kˆ

cosθ = -0.66  0.36  -0.15  0.86  +0.74  0.36   x  xA   xB  xA  F
ux  B   cos   x
cosθ = - 0.1 rB / A  x B  x A    yB  yA    z B  z A 
2 2 2 F

  95.74  y  yA   yB  yA  Fy
uy  B   cos  
rB / A  x B  x A    yB  yA    z B  z A 
2 2 2 F
ii-The projection of F along line QP z z   zB  zA  F
uz  B A   cos   z
FPQ = Fcos =100 cos  95.74  = -10.02 rB / A  x B  x A    yB  yA    z B  z A 
2 2 2 F
List of relations of lecture-2
In terms of Cartesian components Summary of line relations

rB / A  rx ˆi  ry ˆj  rz kˆ Vector equation of a line and its unit vector

rB / A  rx2  ry2  rz2 û B / A

 k̂
rB / A rx ˆ ry ˆ r
û B / A   i j  z kˆ 
rB / A rB / A rB / A rB / A rz =  z B - z A  kˆ
B  x B ,y B ,z B 
In terms of coordinates of two of its points 
 rB/A
rB / A   x B  x A  ˆi   y B  y A  ˆj   z B  z A  kˆ

 xB  xA    yB  yA    zB  z A 
2 2 2
rB/ A 

 x B  x A  ˆi   y B  y A  ˆj   z B  z A  kˆ   
ry =  y B -y A  ˆj
û B/ A 
ĵ
rB/ A A  x A ,y A ,z A 

rx =  x B -x A  ˆi
In terms of the line’s length and its direction cosines

rB / A  rB/ A cos  ˆi  rB / A cos  ˆj  rB/ A cos  kˆ î

 rB / A cos     rB / A cos     rB/ A cos  

2 2 2
rB / A 
û B / A  cos  ˆi  cos  ˆj  cos  kˆ
= 
 In terms of the Cartesian components of the force

F  Fx ˆi  Fy ˆj  Fz kˆ û B/A =u x ˆi+u y ˆj+u z kˆ

F  Fx2  Fy2  Fz2

 B  x B ,y B ,z B 
F Fx ˆ Fy ˆ Fz ˆ
û   i  j k
F F F F 
F
In terms of two points on its line of action k̂

 

F  Fuˆ B/ A  F u x ˆi  u y ˆj  u z kˆ

A  x A ,y A ,z A 
  x  x A  ˆi  F  yB  yA  ˆj  F  zB  z A  kˆ 
F F B  Fx ˆi  Fy ˆj  Fz kˆ
rB / A rB / A rB / A
 
In terms of the direction cosines
î ˆj
 

F  Fuˆ B / A  F u x ˆi  u y ˆj  u z kˆ

F  F cos  ˆi  Fcos  ˆj  F cos  kˆ  Fx ˆi  Fy ˆj  Fz kˆ

u ^ A / B=− u^ B / A
Vector dot product applications
û F = u xFˆi + u yFˆj+ u zF kˆ

F=Fx ˆi + Fy ˆj + Fz kˆ

 û P = u xP ˆi + u yP ˆj+ u zP kˆ

P=Px ˆi + Py ˆj + Pz kˆ
Angle between two lines
Fx Px + Fy Py + Fz Pz
In terms of the Cartesian components of two vectors F and P cosθ=
FP
In terms of the unit vectors of two lines cosθ = u xF u xP + u yFu yP + u zFu zP

Projection of F on the line of P

In terms of the Cartesian components of the force and the unit vector of the line
FP =  Fx u xP  +  Fy u yP  +  Fz u zP 

In terms of the magnitude of the force and the angle between the line of action of the force
and the line
FP =Fcosθ
Problems
1- The Cartesian components of the force F are: Fx =10, Fy =-5, Fz =8 The following is required for F
a- The force F in Cartesian vector form
b- the magnitude of F,
c- the unit vector of its line of action.
d- the direction cosines of the force F B

2- Line AB has direction angles a=115o and b=73.4o. The force F is of magnitude 50N. F=50N
The following is required;
a- The unit vector of line AB,
b- The Cartesian components of the force F. A

3- A force of magnitude 50 N acts on line AB as shown.

The following is required; A  1,2,-4 
a- The unit vector of line AB, F=50N
b- The direction cosines of line AB, and
c- The Cartesian components of the force F.

B  3,5,3
 z
4- The tension in cable AC is 1600 N.
C(0.4,0,0.9)
i- Represent this force acting on the plate at A
as a Cartesian vector.
ii- Represent this force acting on the support at C as a Cartesian
vector.
O
iii- The angle between the two cables AC and BC.
B(0,0.6,0)
x y
0.6m 1.2m
A(1.2,0.6,0)

5- If the tension in cable BC is 2100 N;

i- represent the resultant of the two forces acting at C as a Cartesian vector.
ii- the magnitude of the resultant,
iii- the unit vector of the line of action of the resultant,
iv- the direction cosines of the resultant.
 z
6- The tension in cable AB is 1425 N and in AC
is 2130 N, Determine; A 0.36m
a- The unit vector of each cable 0.92m
TB/A
b- the direction cosines of each cable
TC/A
c- the Cartesian components of each tension
force. 0.6m
d- the angle between cable AB and AC
x
e- the projection of one of the tension forces on
D B
the other cable
0.9m y
C

z F1  400
7- Two forces act at the origin. Force F1 is of
A
magnitude 400 N and its direction angles are a=65.8o,
F2  300
b=65.8o, and g=35.3o. The second force F2 is of
magnitude 300 N, and its line of action passes 6
through the origin and point A as shown. The
following is required;
a- The angle q between the two forces.
3 
b- The projection of F1 along the line of action of F2.
2 O
y
x
8- The antenna OD shown is supported by the three cables as shown. z
i- The unit vector of each cable D(0,0,40)
ii- The angles between the cables T3 T1
iii- If the resultant of the three forces is a single resultant
force along the z axis of magnitude 30KN, determine the T2
magnitudes of the tension forces.

C(0,-5,0)

O B(-4.33,2.5,0)
y
x
A(4.33,2.5,0)
9- The space shuttle uses radar to determine the magnitude and direction position vectors to satellites A and B as

satellite Magnitude of the position vector cosa cosb cosg

A rOA = 2 km 0.768 -0.384 0.512
B rOB = 4 km 0.743 0.557 -0.371

Determine the distance between the two satellites

z

A
O
y

B
x
 z
10- Determine the smallest distance OC from the origin O to cable AB A(4,0,4)
Determine the coordinates of point C

O B(0,7,0)
y
x

11- The collar C is fixed to rod AB and supports a weight W=20 N acting in the negative z direction as shown. Determine
the components of the weight that are parallel and perpendicular to rod AB.
z
A(4,0,4)

O
W=20 N
B(0,7,0)
y
x
Previous Exams
Unseen Jan 2019
QS-1 (total marks 25)
Two forces act on a rectangular parallelepiped as shown in Figure QS-1. The following is required;
i. The unit vectors of lines AB and AC, [6 marks]
ii. The direction cosines of lines AB and AC, [6 marks]
iii. The Cartesian components of both forces, [6 marks]
iv. The moment of the 500 N force about point D, and [4 marks]
v. The projection (component) of the 2000 N force along- sides CB and AD. [3 marks]