MATH-6001

Vectors and Vector Addition

FBD and Equilibrium
 Learning Objectives

• Newton’s three laws

• Addition of vectors by components
• Free Body Diagrams
• Determine the conditions required for a body to be in
equilibrium
 Unit 1
Definitions
• Mechanics: A branch of the physical sciences that is
concerned with the state of rest or motion of bodies that
are subjected to the action of forces.

• There are three branches:

-Rigid-body Mechanics
-Deformable-body Mechanics
-Fluid Mechanics
 Definitions continued

• Static: Deals with the equilibrium of bodies that are

either at rest or move with a constant velocity.

• Dynamics: Deals with the accelerated motion of bodies.

 Definitions continued

• Particle: A particle has mass but it is very small and

therefore it can be neglected.
• Forces acting on a single point
• Rigid Body: A rigid body is a combination of particles,
but we assume there is no deforming happening
• Beam analysis, mechanical objects
• Concentrated Force: A force which we assume acts at a
point on a body.
 Newton’s Laws

• Newton’s 1st Law

A particle at rest, or in
constant motion, tends
to stay at rest or in
constant motion
provided the particle is
Drawing by Domenic Lacaria not subjected to an
unbalanced force

F1  F2  F3  0 Image From: http://www.goodrichscience.com/9-d-first-law-of-motion.html

 Newton’s Laws

• Newton’s 2nd Law

A particle acted upon

by an unbalanced
force will accelerate in
Drawing by Domenic Lacaria
the same direction as
the force with a
Image From: https://www.geekalerts.com/star-wars-may-the-
magnitude that is
mass-x-acceleration-t-shirt/ directly proportional
to the force.
 Newton’s Laws

• Newton’s 3rd Law

The mutual forces of

action and reaction
between two particles
are: equal, opposite, and
Drawing by Domenic Lacaria
collinear
“For every action there is
an equal and opposite
reaction”
Image From: http://parascifi.com/why-
science-teachers-shouldnt-do-
playground-duty/
 Units

• Length: Used to locate the position of a point in space

and thereby describe the size of a physical system. It can
be used to define distance, and geometric properties of a
body.

• Time: Time is conceived as a succession of events. The

study of statics is time independent,
• Time IS used for the study of dynamics.
 Units Continued

• Mass: Mass is the measure of the quantity of matter that

makes up an object. “The amount of stuff” contained within
an object.

• Force: Force is considered a “PUSH” or “PULL” exerted by one

body on another. Force could be a direct contact force,
gravitational force, or magnetic force. Force is characterized
by its magnitude and direction (Vector Quantity!), and by its
point of application.
• Gravity (weight) (Fg)
• Normal Force (FN)
• Friction (Ff)
• Applied Force (Fa)
• Reaction Force
• Tension (T)
• Net Force (Fnet)
 Determine the Magnitude Force of
Gravity Acting on the Object:
m = 720 kg

m = 28 lb

Fg  mg Fg  mg
Fg  (720 kg )(9.8m / s 2 ) Fg  28lb
Fg  7056 N  7.1kN

• Metric Units of Force: Newtons (N) (Also, kN, 1000N)

• Imperial units of force: Pounds (lb) (Also, kip = 1000 lb)
 Units Continued

Mass alone is not a force. Mass coupled with

the acceleration due to gravity, is a force.

Weight, however, is a Force

W=mg Weight = mass x gravity

g= 9.81𝑚/𝑠 2 - SI units
g= 32.2𝑓𝑡/𝑠 2 - US Customary units
 Units Continued

Conversion
Length Time Mass Force
Meter Second Kilogram Newton

SI units M s kg 𝑘𝑔∙𝑚
N 𝑠2

Foot Second Slug Pound

US Customary units ft s 𝑙𝑏 ∙ 𝑠 2 lb
𝑓𝑡
1000 lb = 1 kip (kilo-pound) Engineering Mechanics, STATICS, 12th Edition, R.C.Hibbeler

2000 lb = 1 ton
1 lb = 4.488 N
1 slug = 14.59 kg
1 ft = 0.304 m
 Prefixes

Engineering Prefix Numerical Meaning

Nano (n) 10-9
Micro (µ) 10-6
Milli (m) 10-3
Standard 100
Kilo (k) 103
Mega (M) 106
Giga (G) 109
 Force Vectors
• Scalar- A scalar is a positive or negative physical quantity
that can be completely specified by its magnitude.
• Examples: length, mass, time
• Vector- A vector is any physical quantity that requires both
a magnitude, and a direction.
• Examples: force, displacement, moment
A vector is represented by an arrow with the length representing the
magnitude, and the direction it points is it’s direction.

Drawing by Domenic Lacaria

 Force Vectors Continued
Multiplication and Division of a Vector by a Scalar

If a vector is multiplied or divided by a positive scalar (no direction),

its magnitude will change according to that amount. If multiplied or
divided by a negative scalar, then the magnitude will change
according to that amount and also the direction will change by 180°.

Drawing by Domenic Lacaria

A negative vector result: Keep the magnitude the same, but in

the opposite direction
 Force Vectors Continued
Vector Addition
• If one vector is added to another vector, the Parallelogram law of
Addition must be obeyed.
• First join the tails of the components at a point to make them concurrent.
• From the head of B, draw a line parallel to A. Draw another line from the
head of A parallel to B. These two lines now intersect at point P and form
a parallelogram.
• The diagonal of this parallelogram that extends to P forms R which is the
‘Resultant’ vector.

Drawing by Domenic Lacaria

 Force Vectors Continued
Vector Addition
We could also add vectors by using the Triangle rule.

Simply add the two vectors together in a head-to-tail fashion.

The resultant vector R is the line drawn from the tail of the first one to the head
of the second one.
R=A+B

R=B+A

Drawing by Domenic Lacaria

 Force Vectors Continued
Vector Subtraction
• We could think of vector subtraction as the addition of the negative of
the second vector.
R = A - B = A + (-B)
• Add the two vectors together, with one of them being the negative
multiple of itself, in a head-to-tail fashion. (change the direction)
• The resultant vector R is the line drawn from the tail of the first one to
the head of the second one.

A – B ≠ B –A A – B = -(B – A)

Drawing by Domenic Lacaria

Given these two vectors, add them
graphically
Add each x coordinate
Add each y coordinate
Resulting point is the new vector

A(3, 6)

B(5,3)
 Given these two vectors, add them
graphically
Add each x coordinate
Add each y coordinate
Resulting point is the new vector

Resultant = R(3+5, 6+3)

= R(8, 9)

A
 Resolving Vectors into Components
• Each vector has one direction, and one magnitude.
• Each vector can be separated into two vectors which are
added together.
• The vector can therefore be represented as the sum of two
component vectors which align with a part of the system’s
axes.

Drawing by Domenic Lacaria

 Resolving Vectors into Components
• Each time we resolve the two components of a vector, we
need to think about what orientation is best for the
component vectors.
• We can choose which direction to call positive and
negative, and on which angle.
• Typically, we will resolve all vectors into their horizontal
and vertical components.

Drawing by Domenic Lacaria

 Trigonometry Review

Opposite 𝑂
𝑠𝑖𝑛𝜃 =
Adjacent 𝐻
Hypotenuse 𝐴
𝑐𝑜𝑠𝜃 =
𝐻

𝑂
𝑡𝑎𝑛𝜃 =
𝐴 29
 Determine the horizontal and
vertical components of the vector

Ax  A cos 
Ax  27 cos 38
Ax  21 .28
38°

Ay  A sin 
Ay  27 sin 38
Ay  16 .62
 Determine the horizontal and vertical
components of the vector
Ax  A cos  Ay  A sin  Final values are
Ax  87 cos 22o Ay  87 sin 22o negative based on
direction on the axis
Ax  80.7 Ay  32.6

Alternatively, use the standard position angle

directly
22° Ax  A cos  Ay  A sin 
Ax  87 cos 202o Ay  87 sin 202o
Ax  80.7 Ay  32.6
 Resultant Force
• Many forces, acting in various directions can be resolved
into a single force, having some magnitude and direction
• Steps:
1. For each force, determine the horizontal and vertical components
2. Add all of the vertical components together (be sure to account
for direction!)
3. Add all of the horizontal components together (be sure to account
for direction!)
4. Recombine the resultant horizontal and vertical components
using Pythagorean theorem
5. Calculate the resultant angle (tan-1), express in standard position –
counter clockwise from the positive x-axis
6. Answer can be expressed as a magnitude at an angle in standard
position: 𝑅 = 𝑅𝜃
 Add the following vectors
F = 154, Ɵ=90o
T = 128, Ɵ=43o
F=154
X-components T=128
Fx  F cos( ) Tx  T cos( ) 43°
Fx  154 cos(90o ) Tx  128 cos(43o )
Fx  0 Tx  93 .61

y-components Resultant Vector

Ty  T sin( ) Rx  93 .61  0  93 .61
Fy  F sin( )
R y  154  87.30  241.30
Fy  154sin(90o ) Ty  128sin(43o )
R 241 .30 2  93 .612
Fy  154 Ty  87 .30
R  259
R Ry
 241.30 
Rx   tan 1    69
o

 93.61 
R  25969 o
 Add the following vectors
F = 6.89, Ɵ=123o
T = 29.0, Ɵ=260o
X-components F=6.89
Fx  F cos( ) Tx  T cos( ) 123°
Fx  6.89 cos(123o ) Tx  29.0 cos(260o )
260°
Fx  3.75 Tx  5.04
T=29.0
y-components
Ty  T sin( ) Resultant Vector
Fy  F sin( ) Rx  3.75  (5.04 )  8.79
Fy  6.89 sin(123 ) Ty  29 sin(260 ) R y  5.78  (28 .56 )  22 .78
o o

Fy  5.78 Ty  28 .56 R (8.79 ) 2  (22 .78) 2

Rx
R  24 .42
Ry
R   22.78 
  tan 1    68.9
o

  8.79 
R  24 .42 249 o
 Add the following vectors
E= 630, Ɵ=189.6o ; F = 176, Ɵ=320.1o ; T =324, Ɵ=75.4o

X-components
E x  E cos( ) Fx  F cos( ) Tx  T cos( )
Ex  630 cos(189.6o ) Fx  176 cos(320.1o ) Tx  324 cos(75.4o )
E x  621 Fx  135 Tx  82

y-components
E y  E sin( ) Fy  F sin( ) Ty  T sin( )

E y  630sin(189.6o ) Fy  176sin(320.1o ) Ty  324 sin(75.4o )

E y  105 Fy  113 Ty  314

Resultant Vector
Rx  621  135  82  404 R ( 404 ) 2  (96 ) 2 R  415
R y  105  113  314  96  96 
R   tan 1    13.4
o

Ry  404 

Rx R  415167 o
 Setting Up Your Solution

• Using a table keep the various magnitudes and directions

straight may be useful.

Force Magnitude Angle Fx = Fcos(Ɵ) Fy = FsinƟ)

(N) (degrees) (N) (N)
F1
F2
F3
Totals: ---- ---- ∑Fx ∑Fy
Practice Problems(L&L, previous
textbook)

Page 12 #P1 and P2– Triangle and Parallelogram law

Page 13 # F1-F5 – Note when not resolving to 90o components, use
parallelogram or triangle law
Page 14 # 3, 5, 6,7,8, 12, 17, 18,19
Page 23 #F7-F10 (x and y components)
Page 24 #25, 29, 33, 36.

37
 Practice Problems (Hibbeler)

• P. 26 #P2-1 and P2-2

• P.27 # F2-1 – F2-5 (note when not resolving at 90o
components, use parallelogram law or triangle rule)
• P. 28 # 2-3, 2-5, 2-6, 2-7, 2-8, 2-12, 2-17, 2-18, 2-19
• P. 37 # F2-7 – F2-10 (x and y components)
• P. 38 #2-25, 2-29, 2-33, 2-36

38
MATH-6001
FBD and Equilibrium

39
 Learning Objectives

• Free Body Diagrams

• Determine the conditions required for a body to be in equilibrium

40
 Equilibrium

• A point or body is in equilibrium when the system of

forces (Fnet ) is zero.
Fnet  ma
• From Newton’s second law, the acceleration of the body
would be zero
• Therefore that body would either remain in motion (if it
started in motion) or remain at rest (if it started at rest).
• Statics is the study of bodies at rest.
 Conditions for Equilibrium

• If a body is at rest, then the net acceleration of that body is:

Zero
• The acceleration in the x direction is: Zero
• The acceleration in the y direction is: Zero

• Therefore the total net force in the x direction is: Zero

• The total net force in the y direction is: Zero

 Conditions for Equilibrium

• Formally, we can say:

F  0 x

F  0 y

 Where Fx and Fy are the sum of forces in that direction (you did this – think
horizontal and vertical components)

 In any given problem we can solve for 2 unknowns in the

system.
 Free Body Diagrams (FBD)

• Free body diagrams are key to the analysis of static bodies.

• An object can be removed from its surroundings and

represented by a point.

• A FBD will contain all relevant data for solving static systems

• Use arrows to represent forces acting on the body

 Free Body Diagram (FBD)
Your diagram should include

1) Any given angles or dimensions

2) All forces (well labeled), including weights, with their

magnitudes and direction, using a ruler

3) Any unknown angles and forces

(If you are unsure which direction a force is acting... Pick one!
The math will sort it out)

Nothing else (speeds, friction coefficient, etc.) should be included!

 Drawing Free-Body Diagrams
• Always indicate the direction of axes being used.
• Draw FBD for area you need to analyse

Drawing by Domenic Lacaria

 For Equilibrium

F2  mg cos 
F3  mg sin( )

F1  mg

https://hendricksphysics.wikispaces.com/%E2%80%A2+Mechanics+%26+Motion+in+fields
 Create a FBD for the following situation:
My rented 2017 Jeep Wrangler (m = 2495 kg) wouldn’t start, and I needed to
push it up the 12 degree hill to get it off the road.

Image From:  FN  Fg cos   24.45cos12o  23.91kN

https://www.bayerdodge.com/inventory/new-
2018-jeep-wrangler-jk-unlimited-willys-wheeler-
4x4-sport-utility-1c4bjwdg5jl909240

FN FN
  12 o
FA Fg
  12 o
  12 o

  12 o cos  
FN
Fg  mg Fg
Ff
Fg  (2495)(9.8)
Fg  24.45kN
 For FBD… Sketch a:
What it should look like: (and
why I suck at Pictionary)

• Box

• Chicken
https://www.amazon.com/Inch-
Rubber-Stretch-Chicken-

• Cabbage Classic/dp/B00TMUAF1S

https://www.walmart.ca/
en/ip/cabbage-
green/6000191271795

• Yourself
 Create a FBD for each box:
 FAB  10lb
A m = 10 lb
A:
B m = 45 lb Fg  10lb

C m = 80 lb
Ftable  135 lb
FBC  55lb
Table C:
B:
Fg  80lb
FAB  10lb Fg  45lb
FBC  55lb
 Construct a FBD for Points E and C
FEG

E 60 o
45 o
FEC
(P. 88, Ex 3.3, Hibbeler, 2004)
Fg  20lb
FCE
FCD
o
37 o 45

C
Fg
 Steps to Solve Problems
When solving problems, it is good to have a systematic approach.
1. Read the whole problem in detail
2. State what you know and what you need to find
3. Draw a Free Body Diagram
4. State which method/equations to use
5. Calculate answer showing all your work (Fnet statements)
- Show the answer in boxed form
6. State the result with a single sentence statement

This method is used in the industry for reports to be given to other

departments. Never assume the person reading it thinks the same
way you do. Be explicit.
Determine the force in the cables to support a 12kg
(P. 91, 3-8, Hibbeler, 2004) traffic light Step 1: FBD
FAC  F
AB

16 .3o 12 o

117 .6 N

Step 2: Fnet statements

 Fx  0  x
F   FAC cos(16 .3o
)  FAB cos(12 )  0

F y 0  y
F  117 .6  FAC sin(16 . 3o
)  FAB sin(12 o
)0
Step 3: Solve for the unknown FAC  242 .4 N
 0.960 FAC  0.978 FAB  0
FAB  237 .9 N
0.281 FAC  0.208 FAB  117 .6
 Summary

• Multiple vectors can be combined to create one resultant vector

• Split each vector into the horizontal and vertical components
• Combine all vertical components
• Combine all horizontal components

• Use the Pythagorean theorem to determine the magnitude, and

trigonometry to determine the angle.

• For Equilibrium
• Summation of vertical and horizontal forces must be zero
Practice Problems(L&L, previous
textbook)

P.12 – Triangle and Parallelogram law

P.13 # F1-F5 – Note when not resolving to 90o components, you must use
parallelogram or triangle law
P. 14 # 3, 5, 6,7,8, 12, 17, 18,19
P.23 #F7-F10 (x and y components)
p.24 #25, 29, 33, 36.
 Practice Problems (Hibbeler)

• P. 26 #P2-1 and P2-2

• P.27 # F2-1 – F2-5 (note when not resolving at 90o
components, use parallelogram law or triangle rule)
• P. 28 # 2-3, 2-5, 2-6, 2-7, 2-8, 2-12, 2-17, 2-18, 2-19
• P. 37 # F2-7 – F2-10 (x and y components)
• P. 38 #2-25, 2-29, 2-33, 2-36

57