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Chapter 2.7-2.8

The document discusses using position and force vectors to represent the location and direction of points and forces in 3D space. It covers representing vectors in Cartesian coordinate form, finding the angle between two vectors using the dot product, and determining the projection of a vector along a specified line. The objectives are for students to represent position vectors, write force vectors, use the dot product to find angles between vectors and projections along lines. The document provides examples and activities to practice these skills.

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84 views32 pages

Chapter 2.7-2.8

The document discusses using position and force vectors to represent the location and direction of points and forces in 3D space. It covers representing vectors in Cartesian coordinate form, finding the angle between two vectors using the dot product, and determining the projection of a vector along a specified line. The objectives are for students to represent position vectors, write force vectors, use the dot product to find angles between vectors and projections along lines. The document provides examples and activities to practice these skills.

Uploaded by

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POSITION VECTORS & FORCE VECTORS

Today’s Objectives:
Students will be able to :
a) Represent a position vector in Cartesian
coordinate form, from given geometry. In-Class Activities:
b) Represent a force vector directed along • Check Homework
a line. • Reading Quiz
• Applications /
Relevance
• Write Position Vectors
• Write a Force Vector
• Concept Quiz
• Group Problem
• Attention Quiz
READING QUIZ
1. A position vector, rPQ, is obtained by
A) Coordinates of Q minus coordinates of P.
B) Coordinates of P minus coordinates of Q
C) Coordinates of Q minus coordinates of the origin
D) Coordinates of the origin minus coordinates of P
2. A force of magnitude F, directed along a unit
vector U, is given by F = ______ .
A) F (U).
B) U / F
C) F / U
D) F + U
E) F – U
APPLICATIONS

This awning is held up by three chains. What are the forces in


the chains and how do we find their directions? Why would
we want to know these things?
POSITION VECTOR

A position vector is
defined as a fixed
vector that locates a
point in space relative
to another point.

Consider two points, A and B, in 3-D space.


Let their coordinates be (XA, YA, ZA) and
(XB, YB, ZB ), respectively.
POSITION VECTOR

The position vector directed from A to B, r AB , is defined as


r AB = {( XB – XA ) i + ( YB – YA ) j + ( ZB – ZA ) k }m
Please note that B is the ending point and A is the starting point.
ALWAYS subtract the “tail” coordinates from the “tip”
coordinates!
An elastic rubber band
is attached to points A
and B as shown in the
Figure.
Determine its length
and its direction
measured from A
toward B.
FORCE VECTOR DIRECTED ALONG A LINE
(Section 2.8)
If a force is directed along a
line, then we can represent
the force vector in Cartesian
coordinates by using a unit
vector and the force’s
magnitude. So we need to:
a) Find the position vector, rAB , along two points
on that line.
b) Find the unit vector describing the line’s
direction, uAB = (rAB/rAB).
c) Multiply the unit vector by the magnitude of
the force, F = F uAB .
EXAMPLE

Given: The 420 N force


along the cable AC.
Find: The force FAC in the
Cartesian vector form.

Plan:
1. Find the position vector rAC and the unit vector uAC.
2. Obtain the force vector as FAC = 420 N uAC .
EXAMPLE (continued)
As per the figure, when relating A to
C, we will have to go 2 m in the x-
direction, 3 m in the y-direction, and
-6 m in the z-direction. Hence,
rAC = {2 i + 3 j  6 k} m.
(We can also find rAC by subtracting
the coordinates of A from the
coordinates of C.)
rAC = (22 + 32 + 62)1/2 = 7 m
Now uAC = rAC/rAC and FAC = 420 uAC N = 420 (rAC/rAC )

So FAC = 420{ (2 i + 3 j  6 k) / 7 } N
= {120 i + 180 j - 360 k } N
CONCEPT QUIZ
1. P and Q are two points in a 3-D space. How are the position
vectors rPQ and rQP related?
A) rPQ = rQP B) rPQ = - rQP
C) rPQ = 1/rQP D) rPQ = 2 rQP

2. If F and r are force vector and position vectors, respectively,


in SI units, what are the units of the expression (r * (F / F)) ?
A) Newton B) Dimensionless
C) Meter D) Newton - Meter
E) The expression is algebraically illegal
GROUP PROBLEM SOLVING

Given: Two forces are acting on


a pipe as shown in the
figure.
Find: The magnitude and the
coordinate direction
angles of the resultant
force.

Plan:
1) Find the forces along CA and CB in the Cartesian vector form.
2) Add the two forces to get the resultant force, FR.
3) Determine the magnitude and the coordinate angles of FR.
GROUP PROBLEM SOLVING
(continued)
FCA = 100 lb (rCA/rCA)
FCA = 100 lb (–3 sin 40° i + 3 cos 40° j – 4 k)/5
FCA = (– 38.57 i + 45.96 j – 80 k) lb

FCB = 81 lb (rCB/rCB)
FCB = 81 lb (4 i – 7 j – 4 k)/9
FCB = {36 i – 63 j – 36 k} lb
GROUP PROBLEM SOLVING
(continued)
FR = FCA + FCB
= {– 2.57 i – 17.04 j – 116 k} lb

FR = (2.572 + 17.042 + 1162)


= 117.3 lb = 117 lb

 = cos-1(–2.57/117.3) = 91.3°
 = cos-1(–17.04/117.3) = 98.4°
 = cos-1(–116/117.3) = 172°
ATTENTION QUIZ
1. Two points in 3 – D space have coordinates of P (1, 2, 3) and Q
(4, 5, 6) meters. The position vector rQP is given by
A) {3 i + 3 j + 3 k} m
B) {– 3 i – 3 j – 3 k} m
C) {5 i + 7 j + 9 k} m
D) {– 3 i + 3 j + 3 k} m
E) {4 i + 5 j + 6 k} m

2. Force vector, F, directed along a line PQ is given by


A) (F/ F) rPQ B) rPQ/rPQ
C) F(rPQ/rPQ) D) F(rPQ/rPQ)
The man shown in
the Figure pulls on
the cord with a force
of 70 lb..
Represent this force
acting on the
support A as a
Cartesian vector and
determine its
direction.
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 the figure, determine the
resultant force acting at A.
Express the result as a Cartesian
vector.
DOT PRODUCT
Today’s Objective:
Students will be able to use the vector dot
product to:
a) determine an angle between In-Class Activities:
two vectors, and, • Check Homework
b) determine the projection of a vector • Reading Quiz
along a specified line. • Applications / Relevance
• Dot product - Definition
• Angle Determination
• Determining the Projection
• Concept Quiz
• Group Problem Solving
• Attention Quiz
APPLICATIONS

If the design for the cable


placements required
specific angles between
the cables, how would
you check this
installation to make sure
the angles were correct?
APPLICATIONS

For the force F being applied to the wrench at


Point A, what component of it actually helps turn
the bolt (i.e., the force component acting
perpendicular to the pipe)?
DEFINITION

The dot product of vectors A and B is defined as A•B = A B cos .


The angle  is the smallest angle between the two vectors and is
always in a range of 0º to 180º.

Dot Product Characteristics:


1. The result of the dot product is a scalar (a positive or negative
number).
2. The units of the dot product will be the product of the units of
the A and B vectors.
DOT PRODUCT DEFINITON
(continued)

Examples: By definition, i • j = 0
i•i = 1

A• B = (Ax i + Ay j + Az k) • (Bx i + By j + Bz k)
= Ax Bx + AyBy + AzBz
USING THE DOT PRODUCT TO DETERMINE THE
ANGLE BETWEEN TWO VECTORS

For the given two vectors in the Cartesian form, one can find the
angle by
a) Finding the dot product, A • B = (AxBx + AyBy + AzBz ),
b) Finding the magnitudes (A & B) of the vectors A & B, and
c) Using the definition of dot product and solving for , i.e.,
 = cos-1 [(A • B)/(A B)], where 0º    180º .

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