Lecture 3,4

Engineering Mechanics
CE - 101

Lt Col Syed Mohsin Ali

mohsinalizaidi@yahoo.com
0334-5231553
Scalar and Vector
Quantities
 Scalar Quantities

Physical quantities which can

completely specified by a number
(magnitude)
having an appropriate unit are
known as "scalar quantities"
 Scalar Quantities
- Scalar quantities do not need direction

- Scalar quantities are comparable only when they

have the same physical dimensions
- Two or more than two scalar quantities
measured in the same system of units are equal if
they have the same magnitude and sign
- Scalar quantities are denoted by letters in
ordinary type
- Scalar quantities are added, subtracted,
multiplied or divided by the simple rules of algebra
 Scalar Quantities - Examples
Work, energy, electric flux, volume, refractive index, time,
speed, electric potential, potential difference, viscosity,
density, power, mass, distance, temperature, electric
charge etc.
 Vector Quantities

Physical quantities having both

magnitude (non-negative real number)

and direction

with appropriate unit

are known as

"Vector Quantities"
 Vector Quantities
• We can not specify a Vector Quantity without
mention of direction
• Vector quantities are expressed by using bold
letters with arrow sign such as:
• Vector quantities can not be added,
subtracted, multiplied or divided by the
simple rules of algebra
• Vector quantities are added, subtracted,
multiplied or divided by the rules of
trigonometry and geometry
 Vector Quantities - Examples
Velocity, electric field intensity, acceleration,
force, momentum, torque, displacement,
electric current, weight, angular momentum
etc.
 Representation of Vectors
- On paper vector quantities are represented
by a straight line with arrow head pointing
the direction of vector or terminal point of
vector
- A vector quantity is first transformed into a
suitable scale and then a line is drawn with
the help of the scale chosen in the given
direction
 Unit Vector
"A unit vector is defined as a vector in any
specified direction whose magnitude is unity
i.e. A unit vector only specifies the direction
of a given vector"

A unit vector is denoted by any small letter with a

symbol of arrow or hat (Λ).
A unit vector can be determined by
dividing the vector by its magnitude.
For example unit vector of a vector A is
given by:
 Unit Vector in Three Dimension
• In three dimensional coordinate system unit
vectors having the direction of the positive X-
axis, Y-axis and Z-axis are used as unit vectors.
These unit vectors are mutually perpendicular to
each other.
 Null Vector
• A null vector is a vector having magnitude equal
to zero. It is represented by O . A null vector has
no direction or it may have any direction.
• Generally a null vector is either equal to resultant
of two equal vectors acting in opposite directions
or multiple vectors in different directions.
 Position Vector
“A vector that indicates the position of a point in a
coordinate system is referred to as POSITION VECTOR”
- Suppose we have a fixed reference point O, then we
can specify the position of a given point P with respect
to point O by means of a vector having magnitude and
direction represented by a directed line segment OP.
This vector is called POSITION VECTOR.
 Position Vector in 3D
In a three dimensional coordinate system if O is at
origin O(0,0,0), and P is any point say P(x,y,z);
Then the position vector of point P will be:
Position Vector

b
a

Fig-2.7a

c r

a b

Fig-2.7 b
 Rules for Manipulating Vectors
• Vector Addition:
– When an object undergoes a displacement (moves
from 1 location in space to another)

– Displacement vector: U
– Direction of U = direction of displacement
– |U| = distance the book moves
 Rules for Manipulating Vectors
– 2nd displacement V
– Final position of book is the same whether we give
it displacement U then V, or vice versa
– U and V equivalent to a single displacement W:
U+V=W
 Parallelogram Law of Vector Addition
According to the parallelogram law of vector
addition:
"If two vector quantities are represented by
two adjacent sides or a parallelogram
then the diagonal of parallelogram will be equal
to the resultant of these two vectors."
 Parallelogram Law of Vector Addition
• Magnitude of resultant vector can be
determined by using either sine law or
cosine law.
 Commutative Law of Vector Addition
Consider two vectors A and B . Let these two vectors
represent two adjacent sides of a parallelogram.
Then, we construct a parallelogram OACB as shown
in the diagram.
The diagonal OC represents the resultant vector.
 Vectors Operations

Vector Addition:
 B to A can be added using Triangular rule
 Vector B is added to vector A in a Head-to-tail Fashion, i.e. by
connecting the head of A with the tail of B
 Resultant R extends from the tail of A to the head of B
 Similarly, R can also be obtained by adding A to B
 ⇒ Vector Addition is commutative , i.e. vectors can be added
in either order, i.e. R = A+B = B+A
 If the two vectors A and B are Collinear, i.e., both have the same
line of action → Parallelogram law reduces to Algebraic or Scalar
addition R= A+B

21
 Vectors Operations

Vector Subtraction :
 Resultant of the difference between two vectors A and B of the same type may
be expressed as:

 Subtraction is defined as a special case of addition → Rules of vector addition

also apply to vector subtraction

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 Vectors
Vectors Operations
Operations
Polygon Rule

S Q
P

Q
R (Q + S)

R=P+Q+S
 Vectors Operations
Addition & Subtraction of Vectors
Polygon Rule – Successive applications of triangle rule.
Q
Q P
S
P R
S

Note: P +Q + S = (P + Q) + S = P + (Q + S) vector addition is associative

Vector Subtraction – the addition of the corresponding negative vector

P
P – Q = P + (-Q)
-Q
R
Sample Problem 1/2
Solution Problem 1/2
 Product of a Scalar & a Vector
 Product of scalar (real number) a & vector
U = vector aU
 Magnitude = |a||U| , where |a| is the absolute
value of the scalar a
 Direction of aU is the same as direction of U
when a is positive
 Direction of aU is opposite to direction of U
when a is negative
 Division
of a vector U by
a scalar a:
U 1
  U
a a
 Product of a Scalar & a Vector
– The product is associative with respect to
scalar multiplication:
a(bU) = (ab)U

– The product is distributive with respect to

scalar addition:
(a + b)U = aU + bU

– The product is distributive with respect to

vector addition:
a(U + V) = aU + aV
Example - 1: Adding Vectors
The shown figure is an initial design sketch of part of the
roof of a sports stadium to be supported by the cables AB &
AC. The forces the cables exert on the pylon to which they
are attached are represented by the vectors FAB & FAC. The
magnitude of the forces are |FAB| = 100 kN & |FAC| = 60 kN.
Determine the magnitude & direction of the sum of the
forces exerted on the pylon by the cables (a) graphically &
(b) using trigonometry.
Example - 1: Adding Vectors
Strategy

(a) By drawing the parallelogram rule for adding the

2 forces with the vectors drawn to scale, we can
measure the magnitude & direction of their sum.

(b) We will calculate the magnitude & direction of

the sum of the forces by applying the laws of
sines & cosines to the triangles formed by the
parallelogram rule.
Example - 1: Adding Vectors
Solution
(a) Graphically construct the parallelogram rule with
FAB & FAC proportional to their magnitudes:

By measuring the figure, we estimate the

magnitude of the vector FAB + FAC to be 155 kN
& its direction to be 19° above the horizontal.
Example - 1: Adding Vectors
Solution
(b) Consider the parallelogram rule:
Since  + 30° = 180°,  = 150°

Applying law of cosines to shaded triangle:

2 2 2
FAB  FAC  FAB  FAC  2 FAB FAC cos α
 100   60   2100 60 cos150
2 2

Magnitude |FAB + FAC| = 155 kN

Example - 1: Adding Vectors
Solution
(b) To determine the angle  between FAB + FAC
& the horizontal, apply law of sines to shaded
triangle:
sin  sin α

FAB FAB  FAC

The solution is
 FAB sin α  100 sin 150
β  arcsin    arcsin    18.8

 FAB  FAC   155 
 Components in 2 Dimensions
• Vectors are much easier to work with when
expressed in terms of mutually perpendicular
vector components:
– Consider vector U:
– Place a cartesian coordinate system so that the vector
U is parallel to the x-y plane
– U = sum of perpendicular vector components Ux & Uy
that are parallel to the x & y axes: U = Ux + Uy
Components in 2 Dimensions
– Introduce a unit vector i defined to point in the
direction of the positive x axis & a unit vector j
defined to point in the direction of the positive y
axis:
U = Uxi + Uyj
where Ux & Uy are scalar components of U

– Magnitude of U is given in terms of its components

by the Pythagorean theorem:
2 2
U Ux U y
Components in 2 Dimensions
• Manipulating Vectors in Terms of Components:
– Sum of 2 vectors U & V:
U + V = (Uxi + Uyj) + (Vxi + Vyj)
= (Ux + Vx)i + (Uy + Vy)j
– Graphically:
Components in 2 Dimensions

• Manipulating Vectors in Terms of Components:

– Product of number a & vector U:
aU = a(Uxi + Uyj) = aUxi + aUyj
Components in 2 Dimensions
• Position Vectors in Terms of Components:
– Consider point A with coordinates (xA, yA) & point
B with coordinates (xB, yB)
Components in 2 Dimensions
• Position Vectors in Terms of Components:
– Let rAB be the vector that specifies the position of
B relative to A:
rAB = (xB  xA)i + (yB  yA)j
Example -2: Adding Vectors in Terms of Components

The forces acting on the

sailplane are its weight W =
3500j (N), the drag D = 1000i +
500j (N) & the lift L.
(a) If the sum of the forces on the
sailplane is zero, what are the
components of L?
(b) If the lift L has the components determined in (a)
& the drag D increased by a factor of 2, what is
the magnitude of the sum of the forces on the
sailplane?
Example -2: Adding Vectors in Terms of Components

Strategy
(a) By letting the sum of the forces = 0, we can
determine the components of L.
(b) Using the value of L from (a), we can
determine the components of the sum of
the forces & then determine its magnitude.

41
Example -2: Adding Vectors in Terms of Components

Solution
(a) Set the sum of forces = 0 with the forces
expressed in N:
W+D+L=0
(-3000j) + (1000i + 500j) + L = 0
Solving for the lift, we obtain:
L = 1000i + 2500j (N)
Example -2: Adding Vectors in Terms of Components
Solution
(b) If the drag increases by a factor of 2, the
sum of the forces on the sailplane:

W  2D  L   3000 j  2 1000i  500 j

 (1000i  2500 j)
 1000i  500 j

From Eq. (2.8), the magnitude of the sum is:

W  2D  L   1000 N   500 N   1120 N

2 2
Example – 3: Determining Components in Terms
of an Angle
Hydraulic cylinders are used to exert forces in many
mechanical devices. The force is exerted by the pressurized
liquid (hydraulic fluid) pushing against a piston within the
cylinder. The hydraulic cylinder AB exerts 20,000N force F on
the bed of the dump truck at B. Express F in terms of
components using the coordinate system shown.
Example – 3: Determining Components in Terms
of an Angle
Strategy
When the direction of a vector is specified by an
angle, we can determine the values of the
components from the right triangle formed by the
vector & its components.

Solution
Draw the vector F & its
components:
Example – 3: Determining Components in Terms
of an Angle
Solution
Magnitude of Fx:
Fx  F cos 30  20,000N  cos 30  17,300 N
Fx  17,300i N 

Fx points in the negative x direction:

Magnitude of Fy:
Fy  F sin 30  20,000N  sin 30  10,000 N
Example – 3: Determining Components in Terms
of an Angle

Solution
Fy points in the positive y direction:
Fy  10,000 j N 

The vector F, in terms of its components:

F = Fx + Fy = 17300i + 10000j (N)

The x component of F is 17,300 N

& the y component is 10,000 N.
Example – 3: Determining Components in Terms
of an Angle
Critical Thinking
 When you have determined the components
of a given vector, make sure they appear
reasonable:

F  17,300 N 2  10,000 N 2  20,000 N

 Inthis example, the x component should
be negative & the y component positive
 Make sure that the components yields the
correct magnitude.
Example – 4: Determining an unknown Vector
Magnitude

The cables A & B (as shown in the

figure) exert forces FA & FB on the hook.
The magnitude of FA is 100 N. The
tension in cable B has been adjusted so
that the total force FA + FB is
perpendicular to the wall to which the
Fig. 2.18 hook is attached.

(a) What is the magnitude of FB?

(b) What is the total force exerted on
the hook by the 2 cables?
Example – 4: Determining an unknown Vector
Magnitude
Strategy
The vector sum of the 2 forces is perpendicular to
the wall, so the sum of the components parallel to
the wall equals zero. From this condition we can
obtain an equation for the magnitude of FB.
Solution
(a) Components of FA & FB are:

FA  FA sin 40i  FA cos 40 j

FB  FB sin 20i  FB cos 20 j
Example – 4: Determining an unknown Vector
Magnitude
Solution
(a) Total force:
FA  FB   FA sin 40  FB sin 20i
  FA cos 40  FB cos 20j
Set the component of the total force parallel to
the wall (the y component) = 0:
FA cos 40  FB cos 20  0
Thus:
FA cos 40 100 N  cos 40
FB    81.5 N
cos 20 cos 20
Example – 4: Determining an unknown Vector
Magnitude
Solution
(b) With |FB|, the total force acting on the hook:
FA  FB   FA sin 40  FB sin 20i
 100 N sin 40  81.5 N sin 20i
 92.2i (N)

The magnitude of the total force is 92.2 N.

Example – 4: Determining an unknown Vector
Magnitude
Critical Thinking
We can obtain the solution to (a) in a less formal way:
◦ If the component of the total force parallel to the wall
is zero, the magnitude of the vertical component of FA
must equal the magnitude of the vertical component
of FB

FA cos 40  FB cos 20

FA cos 40 100 N  cos 40
 FB    81.5 N
cos 20 cos 20
Example - 5: Determining Components
The cable from point A to point B exerts 800N force
F on the top of the television transmission tower as
shown in the figure. Express F in terms of
components using the coordinate system shown.
 Example – 5 : Determining
Components
Strategy
1st Method:
◦ Determine the angle  between F & the y axis
◦ Determine the components from the right triangles
formed by the vector F & its components
2nd Method:
◦ The right triangles formed by F & its components are
similar to triangle OAB
◦ Determine the components of F by using the ratios of
the sides of these similar triangles
Example - 5 : Determining Components
Strategy
3rd Method:
◦ Determine the components of the position vector rAB
from point A to point B
◦ Divide this vector by its magnitude, we obtain a unit
vector eAB with the same direction as F
◦ Obtain F in terms of its components by expressing it
as the product of its magnitude & eAB
Example - 5 : Determining Components
Solution
1st Method:
Consider the force F & its vector
components:
40
tan α   0.5
80
α  arctan0.5  26.6
Example - 5 : Determining Components
Solution
1stMethod:
From the right triangles formed by F & its vector
components, the magnitude of Fx is:
Fx  F sin 26.6  800 N  sin 26.6  358 N

Magnitude of Fy is:
Fy  F cos 26.6  800 N  cos 26.6  716 N
Example - 5 : Determining Components
Solution
1st Method:
Since Fx points in the positive x direction & Fy
points in the negative y direction:
F = 358i  716j (N)
Example - 5 : Determining Components
Solution
2nd Method:
Length of cable AB:

80 m 2  40 m 2  89.4 m

Since triangle OAB is similar

to the triangle formed by F &
its vector components:
Example - 5 : Determining Components

Solution
2nd Method:

Fx OB 40 m
 
F AB 89.4 m
 40 m 
Fx   F
 89.4 m 
 40 m 
 800 N   358 N
 89.4 m 
Example - 5 : Determining Components

Solution
2nd Method:
Also from similar triangles:
Fy OA 80 m
 
F AB 89.4 m
 80 m   80 m 
 Fy    F  800 N   716 N
 89.4 m   89.4 m 
Thus, we again obtain the result:
F = 358i  716j (N)
Example - 5 : Determining Components

Solution
3rd Method:
Vector rAB:
rAB  xB  x A i   yB  y A j
 40  0 i  0  80 j
 40i  80 j (m)
Example - 5 : Determining Components
Solution
3rd Method:
Divide this vector by its
magnitude to obtain a unit
vector eAB that has the same
direction as the force F:

rAB 40i  80 j m 
e AB  
rAB 40 m    80 m 
2 2

 0.447i  0.894 j
Example - 5 : Determining Components
Solution
3rd Method:
The force F is equal to the product
of its magnitude |F| & eAB:

F  F e AB
 800 N 0.447i  0.894 j
 358i  716 j N 
Assignment – 1
(Homework)
 Assignment – 1
11). Given: The fixed structure shown below.
B
P
P = 500 N
T = 200 N T

 75 o
A
C D
3m

Find: Combine P and T into a single force R

 Assignment – 1
2 Given: The vertical force F of 350 lbs acts downward at A on the two-membered
3). frame.
B

45 o

A
30 o
F C

Find: The magnitudes of the two components of F directed along AB and AC.
 Assignment – 1
32.) Given: A barge is pulled by 2 tugboats. The resultant of the forces exerted by the
tugboats is a 5000 pound force directed along the center axis of the barge.

A
1

30
B

C
2

Find: a). tension in each rope if  =45 degrees

b). tension in rope 2 if 𝝰 is 30 degrees