‫ﺑﺴﻢ ﷲ اﻟﺮﺣﻤﻦ اﻟﺮﺣﯿﻢ‬

STATICS
(ENGINEERING MECHANICS-I)

LECTURE # 2
Vectors
 Contents
2

— Scalar and Vector Quantities

— Vector Operations
¡ Addition and subtraction of two vectors
¡ Components of a vector
¡ Unit vectors
¡ Direction cosines
¡ Multiplication and division by a scalar
¡ Vector multiplications (Dot and Cross product)
¡ Position vector
 Quantities

Scalar Vector

— Magnitude alone is associated. — Possess magnitude (or size) as

well as direction (with sense)
Examples: Speed, mass, time,
Examples: Weight, force, position,
length, area, volume, density, displacement, velocity, acceleration,
energy etc. moment, momentum etc.

— Vectors are shown by bold

— Scalars are indicated by letters letters, such as ‘A’ or A
in Itallic type, such as the
scalar ‘A’. — The magnitude of a vector A is
always a positive quantity and is
symbolized in Itallic type, written
as A or │A│
 Addition of Two Vectors
4

Two vectors A and B can be added to form resultant vector R = A + B by

using the parallelogram law or triangle law.
B

Parallelogram law Triangle law

R = A+ B
B
R = A+ B
O O B
A A
 Subtraction of Two Vectors
5

Two vectors B and A can be subtracted to form resultant vector R = B + (- A) by

using the same parallelogram law or triangle law. Subtraction is therefore a special
case of addition.
B

A -A

Parallelogram law Triangle law

B R=B-A
R=B-A
O O B
-A -A
 Components of a Vector
6

Any two or more vectors whose sum equals a certain

vector are said to be the components of that vector.
¡ Rectangular: mutually perpendicular.
¡ Non-Rectangular: mutually not perpendicular.

Fy F
F2 F
q
q Fx F1

q = 90 0 F = Fx + Fy q ¹ 90 0 F = F1 + F2
 Unit Vector(s)
7
!
The unit vector of a vector A is defined as
! !
A A !
nA = = where A ¹ 0 is the magnitude of vector A.
A A
Note : 1. Unit vector is dimensionless (with its magnitude unity)
! !
2. The direction of unit vector n A is same as A.
Cartesian or Standard Unit Vectors
The positive directions of the x, y, and z axes are defined by the cartesian unit vectors
!
i , j and k respectively. Consequently any vector A with scalar components Ax , Ay and Az
can be written in the Cartesian vector form
z
!
! k !
A = Ax i + Ay j + Az k j
! y
i
x
 Direction Cosines
8

l = cosq x ü
ï z
m = cosq y ýDirection cosines of A
ï
n = cosq z þ Az k
Note : l 2 + m 2 + n 2 = 1 A
qz
Ax = A cosq x ; Ay = A cosq y ; Az = A cosq z qy
! ! y
Ax i Ay j
2
A = Ax + Ay2 + Az2 qx
x y
!
A = Ax i + Ay j + AZ k A
!
Þ A = ( A cos q x )i + ( A cos q y ) j + ( A cos q z )k A cos q y j q
!
y
qx
! x
A = A(li + m j + n k ) A cos q x i
Multiplication and division by a scalar
9

A -A 2A
1 !
A
2
 Vector Multiplications
10
— Dot (Scalar) Product — Cross (Vector) Product

A The cross product of the two vectors

is defined as a vector with magnitude
q B
AB sinθ and a direction specified by
the right hand rule.
æ A.B ö ! !
A.B = AB cos q Þ q = cos ç -1 ÷ A ´ B = ( AB sin q )n A´ B
ç A.B ÷ !
è ø A = Ax i + Ay j + Az k
! ! !
A = Ax i + Ay j + Az k ! B
! ! ! ! B = Bx i + B y j + Bz k q
B = Bx i + B y j + Bz k ! !
! ! i j k A
A.B = AB cos q ! !
! ! A ´ B = Ax Ay Az
Þ A.B = Ax .Bx + Ay .B y + Az .Bz Bx By Bz
 Position Vector
11
A position vector locates one point in space
relative to another.
r is a position vector from point A to point B.
z

B
! r
r = rx i + ry j + rz k ( x2 , y2 , z2 )
! A
Þ r = ( x2 - x1 )i + ( y2 - y1 ) j + ( z 2 - z1 )k ( x1, y1, z1 )
y
O