Engineering Mechanics -I (Statics)

Introduction

Dr. Hayat Muhammad Khan

Topics
▪ 2/1 Introduction
▪ 2/2 Force
SECTION A. Two-Dimensional Force Systems
▪ 2/3 Rectangular Components
▪ 2/4 Moment
▪ 2/5 Couple
▪ 2/6 Resultants
SECTION B. Three-Dimensional Force Systems
▪ 2/7 Rectangular Components
▪ 2/8 Moment and Couple
▪ 2/9 Resultants
Chapter Review
Rectangular Components of a Vector

❖ A vector may have 1, 2 or 3 rectangular components

along the x, y, z coordinate system depending on how
the vector is oriented relative to the axes.

A = A’ + Az

and A’ = Ax + Ay

Combining the two eqn’s,

A = Ax + Ay + Az

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Unit Vector

❖In general, a unit vector is

one having a magnitude
of 1.
❖If ‘A’ is a vector having a
magnitude A  0, then the
unit vector having the
same direction is
represented by:
uA = A/A (dimensionless)
or A = A uA

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Cartesian Unit Vector

❖In 3-D,
i, j, k, are used to designate
directions of the x, y, z, axes.

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Cartesian Vector Representation

A = Ax i + Ay j + Az k

Advantage of writing vectors in terms

of their Cartesian components:

• Since each of these components has the

same form, the magnitude and direction
of each component vector are
SEPARATED. (This will simplify the
operations of vector algebra particularly
in 3-D)

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Magnitude of a Cartesian Vector

A= A + A + A
2
x
2
y
2
z

❖Hence, the magnitude

of A is equal to the
positive square root of
the sum of the
squares of its
components.

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Magnitude of a Cartesian Vector

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Magnitude of a Cartesian Vector

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 Direction of a Cartesian Vector

Ax Ay Az
cos  = cos  = cos =
A A A

❖ Commonly known as the DIRECTION

COSINES of A
❖ An easier way of obtaining the direction
cosines of A is to:
▪ Form a unit vector in the direction of A.
▪ Provided A is expressed in Cartesian vector
form, A = Ax i + Ay j + Az k, we have

A Ax Ay A
uA = = i+ j+ z k
A A A A

where A = Ax2 + Ay2 + Az2

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❖ by comparison with direction cosines
written before, we can see that:
▪ i, j, k, components of uA represent the
Finally, magnitude and
direction cosines of A. coordinate direction
i.e. uA = cos  i + cos  j + cos  k
Also, cos2  + cos2  + cos2  = 1 angles of A
A = A uA
▪ Provided vector ‘A’ lies in a known
octant, this eq’n can be used to
determine one of the coordinate direction = A cos i + A cos j + A cos k
angles if the other 2 are known.
= Axi + Ayj + Azk

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Rectangular Components of a Vector

❖ If the 3 angles are given

with the respective axes..

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2.6 ADDITION & SUBTRACTION OF CARTESIAN
VECTORS

❖ Consider vectors A and B as shown

A = Ax i + Ay j + Az k
B = Bx i + By j + Bz k

❖ Resultant vector R,

R = A + B = (Ax+ Bx) i + (Ay + By)j + (Az +

Bz)k

❖ Subtraction,

R’ = A - B = (Ax - Bx) i + (Ay - By)j + (Az -

Bz)k

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Concurrent Force System

❖Above concept of vector addition can be

generalized and applied to a system of
several concurrent forces.
❖The force resultant is the vector sum of all
the forces in the system,
FR = F = Fxi + Fyj + Fzk

EXAMPLES: 2-8, etc………

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 2.7 POSITION VECTORS
❖ Concept of a position vector.
❖ Position vector is important in
formulating the Cartesian force
vector, which is directed between
any two points in space.
❖ x, y, z Coordinates:
• Right-handed coordinate system is
used.
• Positive z-axis is always directed
upwards
(measures the height of an object).
• x and y axes lie in the horizontal
plane.
• Points in space are located relative
to the origin of coordinates, O.

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POSITION VECTOR
❖ Position vector r is defined as a fixed vector, which
locates a point in space relative to another point.
e.g. If r extends from the origin, O, to point P (x, y, z),
• Then r can be expressed in Cartesian vector form as
r = xi + yj + zk
• Note how the head-to-tail vector addition of the three
components yields vector r.

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In general, a position vector r may be
directed from point A to point B in
space. (Normally ‘r’ is written as rAB)
By head-to-tail vector addition, we
require rA + r = rB
Solving for r and expressing rA and rB
in Cartesian vector form yields:
r = rB - rA = (xBi + yBj + zBk) – (xAi + yAj + zAk)
OR r = (xB – xA) i + (yB – yA) j + (zB – zA) k

Thus, the i, j, k components of the position vector r may be

formed by taking the coordinates of the tail of the vector, A(xA,
yA, zA), and subtracting them from the corresponding
coordinates of the head, B(xB, yB, zB).
NOTE: head-to-tail addition of these three components yields r.
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 2.8 FORCE VECTOR DIRECTED ALONG A LINE

In 3-D static problems, the direction of a force can be specified by two

points through which its line of action passes.

Force F is directed along the

cord AB.
▪ F can be formulated as a
Cartesian vector,
• Since it has the same direction
and sense as the POSITION
VECTOR r directed from point A
to point B on the cord.
▪ This common direction is
specified by the unit vector u
= r/r
Hence, F = F u = F ( r/r )

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PROCEDURE FOR ANALYSIS
When F is directed along a line, which extends from point A
to point B, then F can be expressed in Cartesian vector
form as follows:
Position vector Determine the position vector r directed
from A to B, and compute its magnitude r.

Unit Vector Determine the unit vector u = r/r which

defines the direction and sense of both r and F.

Force Vector Determine F by combining its

magnitude F and direction u, i.e., F=Fu
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2.9 DOT PRODUCT
❖ Sometimes one has to find the angle between two
lines or the components of a force parallel and
perpendicular to a line.
►In 2-D these problems can be readily
solved by trigonometry since the
geometry is easy to visualize.
►In 3-D, however, it is difficult and
consequently vector methods should
be employed.
►The dot product defines a particular
method for multiplying two vectors for
solving the above-mentioned
problem.
A . B = AB cos 
Where  is between 0 - 180

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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. Distributive Law:
A . (B + D) = (A . B) + (A . D)

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CARTESIAN VECTOR FORMULATION

Dot product of the Cartesian unit vectors may be

determined by using the above eq’n.

e.g. i . i = (1) (1) cos 0 = 1

i . j = (1) (1) cos 90 = 0

Similarly,

i.i=1 j.j=1 k.k=1

i.j=0 i.k=0 k.j=0

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❖Dot product of two general vectors A and B:

A . B = (Axi + Ayj + Azk) . (Bxi + Byj + Bzk)

❖Expansion will give,

A . B = AxBx + AyBy + AzBz

Thus, to determine the dot product of two Cartesian

vectors, multiply their corresponding x, y, z components
and sum their products algebraically.

NOTE: Vector Dot Product results in a Scalar

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APPLICATIONS

❖ Two important applications in mechanics:

1. The angle formed between two vectors or intersection lines.

The angle  between the tails of vectors A and B can be determined

from;
 A B 
 = cos  −1 
 AB 
 
where 0    180

e.g. If A.B=0

Then  = cos-1 0 = 90

So the vector A will be perpendicular to B.
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2. The components of a vector parallel and
perpendicular to a line.
▪ The components of vector A parallel to or collinear with line aa’
defined by A,
where A = A cos.
▪ This component is also called projection of A onto the line.

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❖ If the direction of the line is specified by unit vector u,
then we can find A directly from the dot product;
A . u = (A)(u) cos
A = A cos  = A . u (since u = 1)
▪ Hence, the scalar projection of A along a line is
determined from the dot product of A and the unit
vector u which defines the direction of the line.
▪ The component A represented as a vector will be
given as
A = A cos u = (A . u) u

After this, the component A⊥ which is perpendicular to

line aa’ can also be obtained easily (using the right-
angle triangle).
A⊥ = A – A 27
Rectangular Components of a Vector

❖ If the 3 angles are given

with the respective axes..

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Rectangular Components of a Vector

❖ Specification by two points

on the line of action of the
force..

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Rectangular Components of a Vector

❖ Specification by two angles

which orient the line of
action of the force.

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Express F as a vector in terms of the unit vectors i, j, and k.

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Sample Problem 2/10

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2/113 The access door is held in the 30 open position
by the chain AB. If the tension in the chain is
100N, Express T as a vector in terms of the unit
vectors i, j, and k.

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