Chapter 2:

Force Vectors

Engineering Mechanics: Statics

 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

⚫ Scalars and Vectors

⚫ Vector Operations
⚫ Vector Addition of Forces
⚫ Addition of a System of Coplanar
Forces
⚫ Cartesian Vectors
 Chapter Outline

⚫ Addition and Subtraction of

Cartesian Vectors
⚫ Position Vectors
⚫ Force Vector Directed along a Line
⚫ Dot Product
 2.1 Scalars and Vectors

⚫ Scalar
– A quantity characterized by a positive or
negative number
– Indicated by letters in italic such as A
Eg: Mass, volume and length
 2.1 Scalars and Vectors

⚫ Vector
– A quantity that has both magnitude and
direction
Eg: Position, force and moment
– Represent
 by a letter with an arrow over it
such as A or A

– Magnitude is designated as A or simply A
– In this subject, vector is presented as A and its
magnitude (positive quantity) as A
 2.1 Scalars and Vectors

⚫ Vector
– Represented graphically as an arrow
– Length of arrow = Magnitude of
Vector
– Angle between the reference axis
and arrow’s line of action = Direction of
Vector
– Arrowhead = Sense of Vector
 2.1 Scalars and Vectors
Example
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 = aA
- If a is positive, sense of aA is the same as
sense of A
- If a is negative sense of
aA, it is opposite to the
sense of A
 2.2 Vector Operations

⚫ Multiplication
and Division of a
Vector by a Scalar
- Negative of a vector is found by multiplying
the vector by ( -1 )
- Law of multiplication applies
Eg: 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
- Communicative
Eg: R = A + B = B + A
 2.2 Vector Operations
⚫ Vector Addition
 2.2 Vector Operations
⚫ Vector Addition
- 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
Eg: R’ = A – B = A + ( - B )
- Rules of Vector Addition Applies
 2.2 Vector Operations
⚫ Resolution of Vector
- Any vector can be resolved into two
components by the parallelogram law
- The two components A and B are drawn such
that they extend from the tail or R to points of
intersection
 2.3 Vector Addition of Forces
⚫ When two or more forces are added,
successive applications of the
parallelogram law is carried out to find the
resultant
Eg: Forces F1, F2 and F3 acts at a point O
- First, find resultant of
F1 + F2
- Resultant,
FR = ( F1 + F2 ) + F3
 2.3 Vector Addition of Forces
Example
Fa and Fb are forces exerting on the hook.

⚫ Resultant, Fc can be found using the

parallelogram law
⚫ Lines parallel to a and b
from the heads of Fa and Fb are
drawn to form a parallelogram
⚫ Similarly, given Fc, Fa and Fb
can be found
 2.3 Vector Addition of Forces
Procedure for Analysis
⚫ Parallelogram Law
- Make a sketch using the parallelogram law
- Two 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
 2.3 Vector Addition of Forces
Procedure for Analysis
⚫ Parallelogram Law
To resolve a force into components along
two axes directed from the tail of the force
- Start at the head, constructing lines
parallel to the axes
- Label all the known and unknown force
magnitudes and angles
- Identify the two unknown components
 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
 2.3 Vector Addition of Forces
Procedure for Analysis
⚫ Trigonometry
- Magnitude of the two components can be
determined by the law of sines
 2.3 Vector Addition of Forces
Example 2.1
The screw eye is subjected to two forces F1
and F2. Determine the
magnitude and direction
of the resultant force.
 2.3 Vector Addition of Forces
Solution
Parallelogram Law
Unknown: magnitude of
FR and angle θ
 2.3 Vector Addition of Forces

Solution
Trigonometry
Law of Cosines
FR = (100 N )2 + (150 N )2 − 2(100 N )(150 N )cos115
= 10000 + 22500 − 30000(− 0.4226)
= 212.6 N
= 213N
 2.3 Vector Addition of Forces

Solution
Trigonometry
Law of Sines
150 N 212.6 N
=
sin  sin 115
sin  =
150 N
(0.9063)
212.6 N
sin  = 39.8
 2.3 Vector Addition of Forces

Solution
Trigonometry
Direction Φ of FR measured from the horizontal

 = 39.8 + 15
 


= 54.8 

 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,
(b) and (b) x’ and y
directions.
 2.3 Vector Addition of Forces

Solution
(a) Parallelogram Law
F = Fx + Fy
From the vector diagram,

Fx = 1000 cos 40 = 766 N

Fy = 1000 sin 40 = 643N
 2.3 Vector Addition of Forces

Solution
(b) Parallelogram Law

F = Fx + Fy '
 2.3 Vector Addition of Forces

Solution
(b) Law of Sines
Fx ' 1000 N

=
sin 50 sin 60
 sin 50 
Fx ' = 1000 N   = 884.6 N
 
 sin 60 
Fy 1000 N

=
sin 70 sin 60
 sin 70 
Fy = 1000 N   = 1085N
 
 sin 60 
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

500N = FAB + FAC

 2.3 Vector Addition of Forces

Solution
Law of Sines
400 N 500 N
=
sin  sin 60
 400 N 
sin  =   sin 60


 500 N 
sin  = 0.6928
 = 43.9
 2.3 Vector Addition of Forces

Solution
Hence,

 = 180 − 60 − 43.9 = 76.1 
   

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 = 161N
 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
F1 1000 N
=
sin 30 sin 130


F1 = 643N
F2 1000 N
=
sin 20 sin 130


F2 = 446 N
 2.3 Vector Addition of Forces

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

 = 90 − 20 = 70

F2 is a minimum
 2.3 Vector Addition of Forces

Solution
(b) From the vector
diagram

F1 = 1000 sin 70 N = 940 N

F2 = 1000 cos 70 N = 342 N
 2.4 Addition of a System
of Coplanar Forces
For resultant of two or more forces:
⚫ Find the components of the forces in the
specified axes
⚫ Add them algebraically
⚫ Form the resultant
In this subject, we resolve each force into
rectangular forces along the x and y axes.

F = Fx + Fy
 2.4 Addition of a System
of Coplanar Forces
⚫ Scalar Notation
- x and y axes are designated positive and
negative
- Components of forces expressed as algebraic
scalars
Eg: F = Fx + Fy
Sense of direction
along positive x and
y axes
 2.4 Addition of a System
of Coplanar Forces
⚫ Scalar Notation
Eg: F ' = F ' x + F ' y
Sense of direction
along positive x and
negative y axes
 2.4 Addition of a System
of Coplanar Forces
⚫ Scalar Notation
- Head of a vector arrow = sense of the
vector graphically (algebraic signs not
used)
- Vectors are designated using boldface
notations
- Magnitudes (always a positive quantity)
are designated using italic symbols
 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 )
- Their sense are indicated by a positive or
negative sign (pointing in the positive or
negative x or y axis)
- Magnitude is always a positive quantity,
represented by scalars Fx and Fy
 2.4 Addition of a System
of Coplanar Forces
⚫ Cartesian Vector Notation
F = Fxi + Fyj F’ = F’xi + F’y(-j)
F’ = F’xi – F’yj
 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
 2.4 Addition of a System
of Coplanar Forces
⚫ Coplanar Force Resultants
Example: Consider three coplanar
forces

Cartesian vector notation

F1 = F1xi + F1yj
F2 = - F2xi + F2yj
F3 = F3xi – F3yj
 2.4 Addition of a System
of Coplanar Forces
⚫ Coplanar Force Resultants
Vector resultant is therefore
FR = F1 + F2 + F3
= F1xi + F1yj - F2xi + F2yj + F3xi – F3yj
= (F1x - F2x + F3x)i + (F1y + F2y – F3y)j
= (FRx)i + (FRy)j
 2.4 Addition of a System
of Coplanar Forces
⚫ Coplanar Force Resultants
If scalar notation are used
FRx = (F1x - F2x + F3x)
FRy = (F1y + F2y – F3y)

In all cases,
FRx = ∑Fx
FRy = ∑Fy
* Take note of sign conventions
 2.4 Addition of a System
of Coplanar Forces
⚫ Coplanar Force Resultants
- Positive scalars = sense of direction
along the positive coordinate axes
- Negative scalars = sense of direction
along the negative coordinate axes
- Magnitude of FR can be found by
Pythagorean Theorem

FR = F 2
Rx +F 2
Ry
 2.4 Addition of a System
of Coplanar Forces
⚫ Coplanar Force Resultants
- Direction angle θ (orientation of the
force) can be found by trigonometry

FRy
 = tan −1

FRx
 2.4 Addition of a System
of Coplanar Forces
Example 2.5
Determine x and y components of F1 and F2
acting on the boom. Express each force as a
Cartesian vector
 2.4 Addition of a System
of Coplanar Forces
Solution
Scalar Notation
F1x = −200 sin 30 N = −100 N = 100 N 
F1 y = 200 cos 30 N = 173N = 173N 

Hence, from the slope

triangle
5
−1
 = tan  
 12 
 2.4 Addition of a System
of Coplanar Forces
Solution
Alt, by similar triangles
F2 x 12
=
260 N 13
 12 
F2 x = 260 N   = 240 N
 13 
Similarly,
5
F2 y = 260 N   = 100 N
 13 
 2.4 Addition of a System
of Coplanar Forces
Solution
Scalar Notation
F2 x = 240 N = 240 N →
F2 y = −100 N = 100 N 

Cartesian Vector Notation

F1 = {-100i +173j }N
F2 = {240i -100j }N
 2.4 Addition of a System
of Coplanar Forces
Example 2.6
The link is subjected to two forces F1 and
F2. Determine the magnitude and
orientation of the resultant force.
 2.4 Addition of a System
of Coplanar Forces
Solution
Scalar Notation
FRx = Fx :
FRx = 600 cos 30 N − 400 sin 45 N
= 236.8 N →
FRy = Fy :
FRy = 600 sin 30 N + 400 cos 45 N
= 582.8 N 
 2.4 Addition of a System
of Coplanar Forces
Solution
Resultant Force
FR = (236.8 N )2 + (582.8N )2
= 629 N
From vector addition,
Direction angle θ is
 582.8 N 
 = tan 
−1

 236.8 N 
= 67.9
 2.4 Addition of a System
of Coplanar Forces
Solution
Cartesian Vector Notation
F1 = { 600cos30°i + 600sin30°j } N
F2 = { -400sin45°i + 400cos45°j } N

Thus,
FR = F1 + F2
= (600cos30°N - 400sin45°N)i +
(600sin30°N + 400cos45°N)j
= {236.8i + 582.8j}N
 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
FRx = Fx :
4
FRx = −400 N + 250 sin 45 N − 200  N
5
= −383.2 N = 383.2 N 
FRy = Fy :
3
FRy = 250 cos 45 N + 200  N
5
= 296.8 N 
 2.4 Addition of a System
of Coplanar Forces
Solution
Resultant Force
FR = (− 383.2 N )2 + (296.8 N )2
= 485N
From vector addition,
Direction angle θ is
 296.8 N 
 = tan 
−1

 383.2 N 
= 37.8
 2.5 Cartesian Vectors
⚫ Right-Handed Coordinate System
A rectangular or Cartesian coordinate
system is said to be right-handed
provided:
- Thumb of right hand points
in the direction of the positive
z axis when the right-hand
fingers are curled about this
axis and directed from the
positive x towards the positive y axis
 2.5 Cartesian Vectors
⚫ Right-Handed Coordinate System
- 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

⚫ Unit Vector
- Since A is of a certain type, like force
vector, a proper set of units are used for the
description
- Magnitude A has the same sets of units,
hence unit vector is dimensionless
- A ( a positive scalar)
defines magnitude of A
- uA defines the direction
and sense of A
 2.5 Cartesian Vectors

⚫ Cartesian Unit Vectors

- Cartesian unit vectors, i, j and k are used
to designate the directions of z, y and z axes
- Sense (or arrowhead) of these
vectors are described by a plus
or minus sign (depending on
pointing towards the positive
or negative axes)
 2.5 Cartesian Vectors

⚫ Cartesian Vector Representations

- Three 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 °
 2.5 Cartesian Vectors

⚫ Direction of a Cartesian Vector

- For angles α, β and γ (blue colored
triangles), we calculate the direction
cosines of A
Ax
cos =
A
 2.5 Cartesian Vectors

⚫ Direction of a Cartesian Vector

- For angles α, β and γ (blue colored
triangles), we calculate the direction
cosines of A
Ay
cos  =
A
 2.5 Cartesian Vectors

⚫ Direction of a Cartesian Vector

- For angles α, β and γ (blue colored
triangles), we calculate the direction
cosines of A

Az
cos  =
A
 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 A = Ax2 + Ay2 + Az2

 2.5 Cartesian Vectors
⚫ Direction of a Cartesian Vector
- uA can also be expressed as
uA = cosαi + cosβj + cosγk
- Since A = Ax2 + Ay2 + Az2 and magnitude of uA
= 1,
cos2  + cos2  + cos2  = 1
- A as expressed in Cartesian vector form
A = AuA
= Acosαi + Acosβj + Acosγk
= Axi + Ayj + AZk
 2.6 Addition and Subtraction
of Cartesian Vectors
Example
Given: A = Axi + Ayj + AZk
and B = Bxi + Byj + BZk
Vector Addition
Resultant R = A + B
= (Ax + Bx)i + (Ay + By )j + (AZ + BZ) k
Vector Substraction
Resultant R = A - B
= (Ax - Bx)i + (Ay - By )j + (AZ - BZ) k
 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

where ∑Fx , ∑Fy and ∑Fz represent the

algebraic sums of the x, y and z or i, j or k
components of each force in the system
 2.6 Addition and Subtraction
of Cartesian Vectors

⚫ Force, F that the tie down rope exerts on the

ground support at O is directed along the rope
⚫ Angles α, β and γ can be solved with axes x, y
and z
 2.6 Addition and Subtraction
of Cartesian Vectors

⚫ Cosines of their values forms a unit vector u that

acts in the direction of the rope
⚫ Force F has a magnitude of F
F = Fu = Fcosαi + Fcosβj + Fcosγk
 2.6 Addition and Subtraction
of Cartesian Vectors
Example 2.8
Express the force F as Cartesian vector
 2.6 Addition and Subtraction
of Cartesian Vectors
Solution
Since two angles are specified, the third
angle is found by
cos2  + cos2  + cos2  = 1
cos2  + cos2 60 + cos2 45 = 1
cos  = 1 − (0.5) − (0.707 ) = 0.5
2 2

Two possibilities exit, namely

 = cos−1 (0.5) = 60 or  = cos −1
(− 0.5) = 120
 2.6 Addition and Subtraction
of Cartesian Vectors
Solution
By inspection, α = 60° since Fx is in the +x
direction
Given F = 200N
F = Fcosαi + Fcosβj + Fcosγk
= (200cos60°N)i + (200cos60°N)j
+ (200cos45°N)k
= {100.0i + 100.0j + 141.4k}N
Checking: F = Fx2 + Fy2 + Fz2

= (100.0)2 + (100.0)2 + (141.4)2 = 200 N

 2.6 Addition and Subtraction of
Cartesian Vectors
Example 2.9
Determine the magnitude and coordinate
direction angles of resultant force acting on
the ring
 2.6 Addition and Subtraction
of Cartesian Vectors
Solution
Resultant force
FR = ∑F
= F1 + F2
= {60j + 80k}kN
+ {50i - 100j + 100k}kN
= {50j -40k + 180k}kN
Magnitude of FR is found by

FR = (50)2 + (− 40)2 + (180)2

= 191.0 = 191kN
 2.6 Addition and Subtraction
of Cartesian Vectors
Solution
Unit vector acting in the direction of FR
uFR = FR /FR
= (50/191.0)i + (40/191.0)j +
(180/191.0)k
= 0.1617i - 0.2094j + 0.9422k
So that
cosα = 0.2617 α = 74.8°
cos β = -0.2094 β = 102°
cosγ = 0.9422 γ = 19.6°
*Note β > 90° since j component of uFR is negative
 2.6 Addition and Subtraction
of Cartesian Vectors
Example 2.10
Express the force F1 as a Cartesian vector.
 2.6 Addition and Subtraction
of Cartesian Vectors
Solution
The angles of 60° and 45° are not coordinate
direction angles.

By two successive applications of

parallelogram law,
 2.6 Addition and Subtraction
of Cartesian Vectors
Solution
By trigonometry,
F1z = 100sin60 °kN = 86.6kN
F’ = 100cos60 °kN = 50kN
F1x = 50cos45 °kN = 35.4kN
F1y = 50sin45 °kN = 35.4kN

F1y has a direction defined by –j,

Therefore
F1 = {35.4i – 35.4j + 86.6k}kN
 2.6 Addition and Subtraction
of Cartesian Vectors
Solution
Checking:
F1 = F12x + F12y + F12z

= (35.4)2 + (− 35.4)2 + (86.6)2 = 100 N

Unit vector acting in the direction of F1

u1 = F1 /F1
= (35.4/100)i - (35.4/100)j + (86.6/100)k
= 0.354i - 0.354j + 0.866k
 2.6 Addition and Subtraction
of Cartesian Vectors
Solution
α1 = cos-1(0.354) = 69.3°
β1 = cos-1(-0.354) = 111°
γ1 = cos-1(0.866) = 30.0°

Using the same method,

F2 = {106i + 184j - 212k}kN
 2.6 Addition and Subtraction
of Cartesian Vectors
Example 2.11
Two forces act on the hook. Specify the
coordinate direction angles of F2, so that the
resultant force FR acts along the positive y axis
and has a magnitude of 800N.
 2.6 Addition and Subtraction
of Cartesian Vectors
View Free Body Diagram

Solution
Cartesian vector form
FR = F1 + F2
F1 = F1cosα1i + F1cosβ1j + F1cosγ1k
= (300cos45°N)i + (300cos60°N)j
+ (300cos120°N)k
= {212.1i + 150j - 150k}N
F2 = F2xi + F2yj + F2zk
 2.6 Addition and Subtraction
of Cartesian Vectors
Solution
Since FR has a magnitude of 800N and acts
in the +j direction
FR = F1 + F2
800j = 212.1i + 150j - 150k + F2xi + F2yj + F2zk
800j = (212.1 + F2x)i + (150 + F2y)j + (- 50 + F2z)k
To satisfy the equation, the corresponding
components on left and right sides must be equal
 2.6 Addition and Subtraction
of Cartesian Vectors
Solution
Hence,
0 = 212.1 + F2x F2x = -212.1N
800 = 150 + F2y F2y = 650N
0 = -150 + F2z F2z = 150N
Since magnitude of F2 and its components
are known,
α1 = cos-1(-212.1/700) = 108°
β1 = cos-1(650/700) = 21.8°
γ1 = cos-1(150/700) = 77.6°
 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
⚫ x,y,z Coordinates
Eg: For Point A, xA = +4m along the x axis,
yA = -6m along the y axis and zA = -6m
along the z axis. Thus, A (4, 2, -6)
Similarly, B (0, 2, 0) and C (6, -1, 4)
 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.
Eg: If r extends from the
origin, O to point P (x, y, z)
then, in Cartesian vector
form
r = xi + yj + zk
 2.7 Position Vectors
⚫ Position Vector
Note the head to tail vector addition of the
three components

Start at origin O, one travels x in the +i direction,

y in the +j direction and z in the +k direction,
arriving at point P (x, y, z)
 2.7 Position Vectors
⚫ Position Vector
- Position vector maybe directed from point A to
point B
- Designated by r or rAB

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
⚫ Position Vector
- The i, j, k components of the positive vector r
may be formed by taking the coordinates of the
tail, A (xA, yA, zA) and subtract them from the
head B (xB, yB, zB)

Note the head to tail vector addition of the

three components
 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
 2.7 Position Vectors

⚫ Angles, α, β and γ
represent the direction
of the cable
⚫ Unit vector, u = r/r
 2.7 Position Vectors

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.
 2.7 Position Vectors
View Free Body Diagram

Solution
Position vector
r = [-2m – 1m]i + [2m – 0]j + [3m – (-3m)]k
= {-3i + 2j + 6k}m
Magnitude = length of the rubber band
r= (− 3)2 + (2)2 + (6)2 = 7m
Unit vector in the director of r
u = r /r
= -3/7i + 2/7j + 6/7k
 2.7 Position Vectors
Solution
α = cos-1(-3/7) = 115°
β = cos-1(2/7) = 73.4°
γ = cos-1(6/7) = 31.0°
 2.8 Force Vector Directed
along a Line
⚫ In 3D problems, direction of F is specified by
2 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
 2.8 Force Vector Directed
along a Line

⚫ Unit vector, u = r/r that defines the direction

of both the chain and the force
⚫ We get F = Fu
 2.8 Force Vector Directed
along a Line
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.
 2.8 Force Vector Directed
along a Line
Solution
End points of the cord are A (0m, 0m, 7.5m)
and B (3m, -2m, 1.5m)
r = (3m – 0m)i + (-2m – 0m)j + (1.5m –
7.5m)k
= {3i – 2j – 6k}m
Magnitude = length of cord AB
r= (3m )2 + (− 2m )2 + (− 6m )2 = 7m
Unit vector, u = r /r
= 3/7i - 2/7j - 6/7k
 2.8 Force Vector Directed
along a Line
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°
 2.8 Force Vector Directed
along a Line
Example 2.14
The circular plate is
partially supported by
the cable AB. If the
force of the cable on
the
hook at A is F = 500N,
express F as a
Cartesian vector.
 2.8 Force Vector Directed
along a Line
Solution
End points of the cable are (0m, 0m, 2m) and B
(1.707m, 0.707m, 0m)
r = (1.707m – 0m)i + (0.707m – 0m)j
+ (0m – 2m)k
= {1.707i + 0.707j - 2k}m
Magnitude = length of cable AB

r= (1.707m)2 + (0.707m)2 + (− 2m)2 = 2.723m

 2.8 Force Vector Directed
along a Line
Solution
Unit vector,
u = r /r
= (1.707/2.723)i + (0.707/2.723)j – (2/2.723)k
= 0.6269i + 0.2597j – 0.7345k
For force F,
F = Fu
= 500N(0.6269i + 0.2597j – 0.7345k)
= {313i - 130j - 367k} N
 2.8 Force Vector Directed
along a Line
Solution
Checking
F= (313)2 + (130)2 + (− 367)2
= 500 N
Show that γ = 137° and
indicate this angle on the
diagram
 2.8 Force Vector Directed
along a Line
Example 2.15
The roof is supported by
cables. If the cables exert
FAB = 100N and FAC = 120N
on the wall hook at A,
determine the magnitude of
the resultant force acting at
A.
 2.8 Force Vector Directed
along a Line
View Free Body Diagram
Solution
rAB = (4m – 0m)i + (0m – 0m)j + (0m – 4m)k
= {4i – 4k}m
rAB = (4m)2 + (− 4m)2 = 5.66m

FAB = 100N (rAB/r AB)

= 100N {(4/5.66)i - (4/5.66)k}
= {70.7i - 70.7k} N
 2.8 Force Vector Directed
along a Line
Solution
rAC = (4m – 0m)i + (2m – 0m)j + (0m – 4m)k
= {4i + 2j – 4k}m

rAC = (4m)2 + (2m)2 + (− 4m)2 = 6m

FAC = 120N (rAB/r AB)

= 120N {(4/6)i + (2/6)j - (4/6)k}
= {80i + 40j – 80k} N
 2.8 Force Vector Directed
along a Line
Solution
FR = FAB + FAC
= {70.7i - 70.7k} N + {80i + 40j – 80k} N
= {150.7i + 40j – 150.7k} N

Magnitude of FR
FR = (150.7 )2 + (40)2 + (− 150.7 )2
= 217 N
 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
Eg: i·i = (1)(1)cos0° = 1 and
i·j = (1)(1)cos90° = 0
- Similarly
i·i = 1 j·j = 1 k·k = 1
i·j = 0 i·k = 1 j·k = 1
 2.9 Dot Product
⚫ Cartesian Vector Formulation
- Dot product of 2 vectors A and B
A·B = (Axi + Ayj + Azk)· (Bxi + Byj + Bzk)
= AxBx(i·i) + AxBy(i·j) + AxBz(i·k)
+ AyBx(j·i) + AyBy(j·j) + AyBz(j·k)
+ AzBx(k·i) + AzBy(k·j) + AzBz(k·k)
= AxBx + AyBy + AzBz
Note: since result is a scalar, be careful of including
any unit vectors in the result
 2.9 Dot Product

⚫ Applications
- The angle formed between two vectors or
intersecting lines
θ = cos-1 [(A·B)/(AB)] 0°≤ θ ≤180°
Note: if A·B = 0, cos-10= 90°, A is
perpendicular to B
 2.9 Dot Product
⚫ Applications
- The components of a vector parallel and
perpendicular to a line
- Component of A parallel or collinear with line aa’ is
defined by A║ (projection of A onto the line)
A║ = A cos θ
- If direction of line is specified by unit vector u (u =
1),
A║ = A cos θ = A·u
 2.9 Dot Product

⚫ Applications
- If A║ is positive, A║ has a directional
sense same as u
- If A║ is negative, A║ has a directional
sense opposite to u
- A║ expressed as a vector
A║ = A cos θ u
= (A·u)u
 2.9 Dot Product
⚫ Applications
For component of A perpendicular to line aa’
1. Since A = A║ + A┴,
then A┴ = A - A║
2. θ = cos-1 [(A·u)/(A)]
then A┴ = Asinθ
3. If A║ is known, by Pythagorean Theorem
A⊥ = A2 + A||2
 2.9 Dot Product
⚫ For angle θ between the
rope and the beam A,
- Unit vectors along the
beams, uA = rA/rA
- Unit vectors along the
ropes, ur=rr/rr
- Angle θ = cos-1
(rA.rr/rArr)
= cos-1 (uA· ur)
 2.9 Dot Product
⚫ For projection of the force
along the beam A
- Define direction of the beam
uA = rA/rA
- Force as a Cartesian vector
F = F(rr/rr) = Fur
- Dot product
F║ = F║·uA
 2.9 Dot Product
Example 2.16
The frame is subjected to a horizontal force
F = {300j} N. Determine the components of
this force parallel and perpendicular to the
member AB.
 2.9 Dot Product
Solution
Since   

 r 2i + 6 j + 3k
u B = B =
rB (2)2 + (6)2 + (3)2
  
= 0.286i + 0.857 j + 0.429k
Then
 
FAB = F cos
    
= F .u B = (300 j )  (0.286i + 0.857 j + 0.429k )
= (0)(0.286) + (300)(0.857) + (0)(0.429)
= 257.1N
 2.9 Dot Product
Solution
Since result is a positive scalar,
FAB has the same sense of
direction as uB. Express in
Cartesian form
  
FAB = FAB u AB
  
= (257.1N )(0.286i + 0.857 j + 0.429k )
  
= {73.5i + 220 j + 110k }N
Perpendicular component
         
F⊥ = F − FAB = 300 j − (73.5i + 220 j + 110k ) = {−73.5i + 80 j − 110k }N
 2.9 Dot Product
Solution
Magnitude can be determined
From F┴ or from Pythagorean
Theorem
 2  2
F⊥ = F − FAB

= (300 N )2 − (257.1N )2
= 155N
 2.9 Dot Product
Example 2.17
The pipe is subjected to F = 800N. Determine the
angle θ between F and pipe segment BA, and the
magnitudes of the components of F, which are
parallel and perpendicular to BA.
 2.9 Dot Product
View Free Body Diagram
Solution
For angle θ
rBA = {-2i - 2j + 1k}m
rBC = {- 3j + 1k}m
Thus,
 
rBA  rBC (− 2)(0) + (− 2)(− 3) + (1)(1)
cos =   =
rBA rBC 3 10
= 0.7379
 = 42.5
 2.9 Dot Product
Solution
Components
  of F 
 r (−2i − 2 j + 1k )
u AB = AB =
rAB 3
 2   2    1  
=  − i +  −  j +   k
 3   3   3
 
FAB = F .u B
   2   2    1  
= (− 758.9 j + 253.0k )   − i +  −  j +  k
 3   3   3
= 0 + 506.0 + 84.3
= 590 N
 2.9 Dot Product
Solution
Checking from trigonometry,
 
FAB = F cos
= 800 cos 42.5 N
= 540 N
Magnitude can be determined
From F┴
 
F⊥ = F sin  = 800 sin 42.5 = 540 N
 2.9 Dot Product
Solution
Magnitude can be determined from F┴ or from
Pythagorean Theorem
 2  2
F⊥ = F − FAB

= (800)2 − (590)2
= 540 N
 Chapter Summary

Parallelogram Law
⚫ Addition of two vectors
⚫ Components form the side and resultant
form the diagonal of the parallelogram
⚫ To obtain resultant, use tip to tail addition
by triangle rule
⚫ To obtain magnitudes and directions, use
Law of Cosines and Law of Sines
 Chapter Summary

Cartesian Vectors
⚫ Vector F resolved into Cartesian vector form
F = Fxi + Fyj + Fzk
⚫ Magnitude of F
F = Fx2 + Fy2 + Fz2
⚫ Coordinate direction angles α, β and γ are
determined by the formulation of the unit
vector in the direction of F
u = (Fx/F)i + (Fy/F)j + (Fz/F)k
 Chapter Summary

Cartesian Vectors
⚫ Components of u represent cosα, cosβ and cosγ
⚫ These angles are related by
cos2α + cos2β + cos2γ = 1
Force and Position Vectors
⚫ Position Vector is directed between 2 points
⚫ Formulated by distance and direction moved
along the x, y and z axes from tail to tip
 Chapter Summary

Force and Position Vectors

⚫ For line of action through the two points, it
acts in the same direction of u as the
position vector
⚫ Force expressed as a Cartesian vector
F = Fu = F(r/r)
Dot Product
⚫ Dot product between two vectors A and B
A·B = AB cosθ
 Chapter Summary
Dot Product
⚫ Dot product between two vectors A and B
(vectors expressed as Cartesian form)
A·B = AxBx + AyBy + AzBz
⚫ For angle between the tails of two vectors
θ = cos-1 [(A·B)/(AB)]
⚫ For projected component of A onto an axis
defined by its unit vector u
A = A cos θ = A·u
Chapter Review
Chapter Review
Chapter Review
Chapter Review
Chapter Review
Chapter Review