Eighth Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Texas Tech University

© 2007 The McGraw-Hill Companies, Inc. All rights reserved.

Contents

Introduction Sample Problem 2.3

Resultant of Two Forces Equilibrium of a Particle
Vectors Free-Body Diagrams
Addition of Vectors Sample Problem 2.4
Resultant of Several Concurrent Sample Problem 2.6
Forces Rectangular Components in Space
Sample Problem 2.1 Sample Problem 2.7
Sample Problem 2.2
Rectangular Components of a Force:
Unit Vectors
Addition of Forces by Summing
Components

2-2
Introduction
• The objective for the current chapter is to investigate the effects of forces
on particles:
- replacing multiple forces acting on a particle with a single
equivalent or resultant force,
- relations between forces acting on a particle that is in a
state of equilibrium.

• The focus on particles does not imply a restriction to miniscule bodies.

Rather, the study is restricted to analyses in which the size and shape of
the bodies is not significant so that all forces may be assumed to be
applied at a single point.

2-3
Resultant of Two Forces

• force: action of one body on another;

characterized by its point of application,
magnitude, line of action, and sense.

• Experimental evidence shows that the

combined effect of two forces may be
represented by a single resultant force.

• The resultant is equivalent to the diagonal of

a parallelogram which contains the two
forces in adjacent legs.

• Force is a vector quantity.

2-4
Vectors
• Vector: parameters possessing magnitude and direction
which add according to the parallelogram law. Examples:
displacements, velocities, accelerations.
• Scalar: parameters possessing magnitude but not
direction. Examples: mass, volume, temperature
• Vector classifications:
- Fixed or bound vectors have well defined points of
application that cannot be changed without affecting
an analysis.
- Free vectors may be freely moved in space without
changing their effect on an analysis.
- Sliding vectors may be applied anywhere along their
line of action without affecting an analysis.
• Equal vectors have the same magnitude and direction.
• Negative vector of a given vector has the same magnitude
and the opposite direction.
2-5
Addition of Vectors
• Trapezoid rule for vector addition

• Triangle rule for vector addition

• Law of cosines,
C
B R 2  P 2  Q 2  2 PQ cos B
  
C R  PQ

• Law of sines,
sin A sin B sin C
 
B Q R A

• Vector addition is commutative,

   
PQ  Q P

• Vector subtraction

2-6
Addition of Vectors
• Addition of three or more vectors through
repeated application of the triangle rule

• The polygon rule for the addition of three or

more vectors.
• Vector addition is associative,
        
P  Q  S  P  Q   S  P  Q  S 

• Multiplication of a vector by a scalar

2-7
Resultant of Several Concurrent Forces
• Concurrent forces: set of forces which all
pass through the same point.

A set of concurrent forces applied to a

particle may be replaced by a single
resultant force which is the vector sum of the
applied forces.

• Vector force components: two or more force

vectors which, together, have the same effect
as a single force vector.

2-8
Sample Problem 2.1
SOLUTION:
• Graphical solution - construct a
parallelogram with sides in the same
direction as P and Q and lengths in
proportion. Graphically evaluate the
resultant which is equivalent in direction
and proportional in magnitude to the the
diagonal.
The two forces act on a bolt at
A. Determine their resultant. • Trigonometric solution - use the triangle
rule for vector addition in conjunction
with the law of cosines and law of sines
to find the resultant.

2-9
Sample Problem 2.1

• Graphical solution - A parallelogram with sides

equal to P and Q is drawn to scale. The
magnitude and direction of the resultant or of
the diagonal to the parallelogram are measured,
R  98 N   35

• Graphical solution - A triangle is drawn with P

and Q head-to-tail and to scale. The magnitude
and direction of the resultant or of the third side
of the triangle are measured,

R  98 N   35

2 - 10
Sample Problem 2.1
• Trigonometric solution - Apply the triangle rule.
From the Law of Cosines,
R 2  P 2  Q 2  2 PQ cos B
 40 N 2  60 N 2  240 N 60 N  cos155
R  97.73N
From the Law of Sines,
sin A sin B

Q R
Q
sin A  sin B
R
60 N
 sin 155
97.73N
A  15.04
  20  A
  35.04
2 - 11
Sample Problem 2.2
SOLUTION:
• Find a graphical solution by applying the
Parallelogram Rule for vector addition. The
parallelogram has sides in the directions of
the two ropes and a diagonal in the direction
of the barge axis and length proportional to
5000 lbf.
A barge is pulled by two tugboats.
If the resultant of the forces • Find a trigonometric solution by applying
exerted by the tugboats is 5000 lbf the Triangle Rule for vector addition. With
directed along the axis of the the magnitude and direction of the resultant
barge, determine known and the directions of the other two
sides parallel to the ropes given, apply the
a) the tension in each of the ropes Law of Sines to find the rope tensions.
for a = 45o, • The angle for minimum tension in rope 2 is
b) the value of a for which the determined by applying the Triangle Rule
tension in rope 2 is a minimum. and observing the effect of variations in a.

2 - 12
Sample Problem 2.2

• Graphical solution - Parallelogram Rule

with known resultant direction and
magnitude, known directions for sides.
T1  3700 lbf T2  2600 lbf

• Trigonometric solution - Triangle Rule

with Law of Sines
T1 T2 5000 lbf
 
sin 45 sin 30 sin 105

T1  3660 lbf T2  2590 lbf

2 - 13
Sample Problem 2.2
• The angle for minimum tension in rope 2 is
determined by applying the Triangle Rule
and observing the effect of variations in a.

• The minimum tension in rope 2 occurs when

T1 and T2 are perpendicular.

T2  5000 lbf  sin 30 T2  2500 lbf

T1  5000 lbf  cos 30 T1  4330 lbf

  90  30   60

2 - 14
Rectangular Components of a Force: Unit Vectors
• May resolve a force vector into perpendicular
components so that the resulting parallelogram is a
rectangle. Fx and Fy are referred to as rectangular
vector components and
  
F  Fx  Fy
 
• Define perpendicular unit vectors i and j which are
parallel to the x and y axes.

• Vector components may be expressed as products of

the unit vectors with the scalar magnitudes of the
vector components.
  
F  Fx i  Fy j

Fx and Fy are referred to as the scalar components of F

2 - 15
Addition of Forces by Summing Components
• Wish to find the resultant of 3 or more
concurrent forces,
   
R  PQS

• Resolve each force into rectangular components

       
R x i  R y j  Px i  Py j  Q x i  Q y j  S x i  S y j


  Px  Q x  S x i  Py  Q y  S y j 

• The scalar components of the resultant are equal

to the sum of the corresponding scalar
components of the given forces.
R x  Px  Q x  S x R y  Py  Q y  S y
  Fx   Fy
• To find the resultant magnitude and direction,
2 2 1 R y
R  Rx  R y   tan
Rx
2 - 16
Sample Problem 2.3
SOLUTION:
• Resolve each force into rectangular
components.

• Determine the components of the

resultant by adding the corresponding
force components.

• Calculate the magnitude and direction

Four forces act on bolt A as shown. of the resultant.
Determine the resultant of the force
on the bolt.

2 - 17
Sample Problem 2.3
SOLUTION:
• Resolve each force into rectangular components.
force mag x  comp y  comp

F1 150  129.9  75.0

F2 80  27.4  75.2

F3 110 0  110.0

F4 100  96.6  25.9
R x  199.1 R y  14.3

• Determine the components of the resultant by

adding the corresponding force components.
• Calculate the magnitude and direction.
R  199.12  14.32 R  199.6 N
14.3 N
tan     4.1
199.1 N
2 - 18
Equilibrium of a Particle
• When the resultant of all forces acting on a particle is zero, the particle is
in equilibrium.
• Newton’ s First Law: If the resultant force on a particle is zero, the particle will
remain at rest or will continue at constant speed in a straight line.

• Particle acted upon by • Particle acted upon by three or more forces:

two forces: - graphical solution yields a closed polygon
- equal magnitude - algebraic solution
- same line of action  
R  F  0
- opposite sense
 Fx  0  Fy  0
2 - 19
Free-Body Diagrams

Space Diagram: A sketch showing Free-Body Diagram: A sketch showing

the physical conditions of the only the forces on the selected particle.
problem.

2 - 20
Sample Problem 2.4
SOLUTION:
• Construct a free-body diagram for the
particle at the junction of the rope and
cable.
• Apply the conditions for equilibrium by
creating a closed polygon from the
forces applied to the particle.
• Apply trigonometric relations to
determine the unknown force
In a ship-unloading operation, a magnitudes.
3500-lb automobile is supported by
a cable. A rope is tied to the cable
and pulled to center the automobile
over its intended position. What is
the tension in the rope?

2 - 21
Sample Problem 2.4
SOLUTION:
• Construct a free-body diagram for the
particle at A.

• Apply the conditions for equilibrium.

• Solve for the unknown force magnitudes.

T AB T AC 3500 lb
 
sin 120 sin 2 sin 58
T AB  3570 lb
T AC  144 lb

2 - 22
Sample Problem 2.6
SOLUTION:
• Choosing the hull as the free body,
draw a free-body diagram.
• Express the condition for equilibrium
for the hull by writing that the sum of
all forces must be zero.
It is desired to determine the drag force
at a given speed on a prototype sailboat • Resolve the vector equilibrium
hull. A model is placed in a test equation into two component
channel and three cables are used to equations. Solve for the two unknown
align its bow on the channel centerline. cable tensions.
For a given speed, the tension is 40 lb
in cable AB and 60 lb in cable AE.
Determine the drag force exerted on the
hull and the tension in cable AC.

2 - 23
Sample Problem 2.6
SOLUTION:
• Choosing the hull as the free body, draw a
free-body diagram.
7 ft 1.5 ft
tan    1.75 tan    0.375
4 ft 4 ft
  60.25   20.56

• Express the condition for equilibrium

for the hull by writing that the sum of
all forces must be zero.
    
R  T AB  T AC  T AE  FD  0

2 - 24
Sample Problem 2.6
• Resolve the vector equilibrium equation into
two component equations. Solve for the two
unknown cable tensions.
  
T AB  40 lb  sin 60.26 i  40 lb  cos 60.26 j
 
 34.73 lb  i  19.84 lb  j
  
T AC  T AC sin 20.56 i  T AC cos 20.56 j
 
 0.3512 T AC i  0.9363 T AC j
 
T  60 lb  i
 
FD  FD i


R0

  34.73  0.3512 T AC  FD  i

 19.84  0.9363 T AC  60  j

2 - 25
Sample Problem 2.6

R0

  34.73  0.3512 T AC  FD  i

 19.84  0.9363T AC  60  j

This equation is satisfied only if each component

of the resultant is equal to zero

 Fx  0 0  34.73  0.3512 TAC  FD

 Fy  0 0  19.84  0.9363TAC  60
T AC  42.9 lb
FD  19.66 lb

2 - 26
Rectangular Components in Space

 
• The vector F is • Resolve F into • Resolve F h into
contained in the horizontal and vertical rectangular components
plane OBAC. components. Fx  Fh cos 
Fy  F cos y  F sin  y cos 
Fh  F sin  y Fy  Fh sin 
 F sin  y sin 

2 - 27
Rectangular Components in Space


• With the angles between F and the axes,
Fx  F cos x Fy  F cos y Fz  F cos z
   
F  Fx i  Fy j  Fz k

 F cos x i  cos y j  cos z k 
 

 F
   
  cos x i  cos y j  cos z k
 
•  is a unit vector along the line of action of F
and cos x , cos
  y , and cos z are the direction
cosines for F
2 - 28
Rectangular Components in Space

Direction of the force is defined by

the location of two points,
M  x1 , y1 , z1  and N  x2 , y 2 , z 2 


d  vector joining M and N
  
 d xi  d y j  d z k
d x  x2  x1 d y  y 2  y1 d z  z 2  z1
 
F  F
 1 
  
  d xi  d y j  d z k
d

Fd x Fd y Fd z
Fx  Fy  Fz 
d d d
2 - 29
Sample Problem 2.7
SOLUTION:
• Based on the relative locations of the
points A and B, determine the unit
vector pointing from A towards B.

• Apply the unit vector to determine the

components of the force acting on A.

• Noting that the components of the unit

vector are the direction cosines for the
The tension in the guy wire is 2500 N. vector, calculate the corresponding
Determine: angles.

a) components Fx, Fy, Fz of the force

acting on the bolt at A,
b) the angles qx, qy, qz defining the
direction of the force
2 - 30
Sample Problem 2.7
SOLUTION:
• Determine the unit vector pointing from A
towards B.
  
AB   40 m  i  80 m  j  30 m k
AB   40 m 2  80 m 2  30 m 2
 94.3 m
   40    80    30  
  i   j  k
 94. 3   94.3   94 .3 
  
 0.424 i  0.848 j  0.318k
• Determine the components of the force.
 
F  F

 2500 N  0.424 i  0.848 j  0.318k 
 
  
  1060 N i  2120 N  j  795 N k

2 - 31
Sample Problem 2.7
• Noting that the components of the unit vector are
the direction cosines for the vector, calculate the
corresponding angles.
   
  cos  x i  cos  y j  cos  z k
  
 0.424 i  0.848 j  0.318k

 x  115.1
 y  32.0
 z  71.5

2 - 32