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Statics of Rigid Bodies: Northern Iloilo State University

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28 views10 pages

Statics of Rigid Bodies: Northern Iloilo State University

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Haha Aws
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Republic of the Philippines

NORTHERN ILOILO STATE UNIVERSITY


Estancia, Iloilo
Reg. No. 97Q19783

STATICS OF RIGID BODIES


ES 211: Statics of Rigid Bodies Eng’r. John Paul G. Arceo
NISU-BSME 2 Instructor 1
Time Allotment: 3 hour/week
2 MODULE 3/ VECTOR DOT AND CROSS PRODUCT

3-1 DOT PRODUCT

Occasionally in statics one has to find the angle between two lines or the
components of a force parallel and perpendicular to a line. In two dimensions,
these problems can readily be solved by trigonometry since the geometry is easy
to visualize. In three dimensions, however, this is often difficult, and consequently
vector methods should be employed for the solution. The dot product, which
defines a particular method for “multiplying” two vectors, is used to solve the
above-mentioned problems.

The dot product of vectors A and


B, written A · B , and read “ A dot B ” is
defined as the product of the
magnitudes of A and B and the cosine
of the angle 𝜃 between their tails, Fig.
2–42 . Expressed in equation form,

where 0° ≤ 𝜃 ≤ 180°. The dot product is often referred to as the scalar product of
vectors since the result is a scalar and not a vector.

Laws of Operation.
1. Commutative law: A ∙ B = B ∙ A
2. Multiplication by a scalar: a(A ∙ B) = (aA) ∙ B = A ∙ (aB)
3. Distributive law: A ∙ (B + D) = (A ∙ B) + (A ∙ D)

It is easy to prove the first and second laws by using Eq. 2–12 .

Cartesian Vector Formulation. Equation 2–12 must be used to find the dot product
for any two Cartesian unit vectors. For example, i ∙ i = (1)(1) cos 0° = 1 and i ∙ j =
(1)(1) cos 90° = 0 . If we want to find the dot product of two general vectors A and
B that are expressed in Cartesian vector form, then we have
LESSON 3-1: DOT PRODUCT 3

Carrying out the dot-product operations, the final result becomes

Thus, to determine the dot product of two Cartesian vectors, multiply their
corresponding x, y, z components and sum these products algebraically. Note that
the result will be either a positive or negative scalar.

Applications. The dot product has two important applications in mechanics.

 The angle formed between two vectors or intersecting lines. The angle 𝜃
between the tails of vectors A and B in Fig. 2–42 can be determined from Eq.
2–12 and written as

 The components of a vector parallel and perpendicular to a line. The


component of vector A parallel to or collinear with the line aa in Fig. 2–43 is
defined by Aa where Aa = A cos 𝜃. This component is sometimes referred to
as the projection of A onto the line, since a right angle is formed in the
construction. If the direction of the line is specified by the unit vector ua, then
since ua = 1, we can determine the magnitude of Aa directly from the dot
product ( Eq. 2–12 ); i.e.,

Hence, the scalar projection of A along a line is determined from the dot
product of A and the unit vector ua which defines the direction of the line. Notice
that if this result is positive, then Aa has a directional sense which is the same as ua,
whereas if Aa is a negative scalar, then Aa has the opposite sense of direction to ua
.
4 MODULE 3/ VECTOR DOT AND CROSS PRODUCT

The component Aa represented as a vector is therefore

The component of A that is


perpendicular to line aa can also
be obtained, Fig. 2–43. Since A =
Aa + 𝑨⊥ , then 𝑨⊥= A - Aa. There
are two possible ways of
obtaining 𝑨⊥ . One way would be
to determine 𝜃 from the dot
product, 𝜃 = cos-1(A ∙ uA/A) , then
𝑨⊥ = A sin 𝜃. Alternatively, if Aa
is known, then by Pythagorean’s theorem we can also write 𝑨⊥= √𝐴2 + 𝐴2𝑎 .
LESSON 3-1: DOT PRODUCT 5
6 MODULE 3/ VECTOR DOT AND CROSS PRODUCT

3-2 CROSS PRODUCT

The cross product of two vectors A and B yields the vector C , which is written

and is read “ C equals A cross B .”

Magnitude. The magnitude of C is defined as the product of the magnitudes of A


and B and the sine of the angle 𝜃 between their tails (0° ≤ 𝜃 ≤180°). Thus, C = AB
sin 𝜃.

Direction. Vector C has a direction that is


perpendicular to the plane containing A and B such
that C is specified by the right-hand rule; i.e., curling
the fingers of the right hand from vector A (cross) to
vector B , the thumb points in the direction of C, as
shown in Fig. 4–6 .

Knowing both the magnitude and direction of


C , we can write

where the scalar AB sin𝜃 defines the magnitude of C and the unit vector uC defines
the direction of C . The terms of Eq. 4–3 are illustrated graphically in Fig. 4–6.

Laws of Operation.

• The commutative law is not valid; i.e., A x B ≠ B x A. Rather,


A x B = -B x A
This is shown in Fig. 4–7 by using the right-hand rule. The cross product B x A yields
a vector that has the same magnitude but acts in the opposite direction to C; i.e., B
x A = -C.
LESSON 3-2: CROSS PRODUCT 7

• If the cross product is multiplied by a


scalar a, it obeys the associative law;
a(A x B) = (aA) x B = A x (aB) = (A x B)a
This property is easily shown since
the magnitude of the resultant vector
(|𝑎|𝐴𝐵 sin 𝜃 ) and its direction are the
same in each case.

• The vector cross product also obeys the


distributive law of addition,
A x (B + D) = (A x B) + (A x D)

• It is important to note that proper order


of the cross products must be
maintained, since they are not
commutative.

Cartesian Vector Formulation. Equation


4–3 may be used to find the cross
product of any pair of Cartesian unit
vectors. For example, to find i x j, the
magnitude of the resultant vector is (i)(
j)(sin 90°) = (1)(1)(1) = 1, and its direction
is determined using the right-hand rule.
As shown in Fig. 4–8, the resultant vector
points in the +k direction. Thus, i x j =
(1)k. In a similar manner,

These results should not be memorized; rather, it should be clearly


understood how each is obtained by using the right-hand rule and the definition of
8 MODULE 3/ VECTOR DOT AND CROSS PRODUCT

the cross product. A simple scheme shown in Fig. 4–9 is


helpful for obtaining the same results when the need
arises. If the circle is constructed as shown, then
“crossing” two unit vectors in a counterclockwise
fashion around the circle yields the positive third unit
vector; e.g., k x i = j. “Crossing” clockwise, a negative
unit vector is obtained; e.g., i x k = -j.

Let us now consider the cross product of two general vectors A and B which
are expressed in Cartesian vector form. We have

Carrying out the cross-product operations and combining terms yields

This equation may also be written in a more compact determinant form as

Thus, to find the cross product of any two Cartesian vectors A and B, it is
necessary to expand a determinant whose first row of elements consists of the unit
vectors i , j , and k and whose second and third rows represent the x, y, z
components of the two vectors A and B , respectively. *

* A determinant having three rows and three columns can be


expanded using three minors, each of which is multiplied by
one of the three terms in the first row. There are four
elements in each minor, for example,
LESSON 3-2: CROSS PRODUCT 9

By definition, this determinant notation represents the terms (A11A22 -


A12A21), which is simply the product of the two elements intersected by the arrow
slanting downward to the right (A11A22) minus the product of the two elements
intersected by the arrow slanting downward to the left (A12A21). For a 3 * 3
determinant, such as Eq. 4–5 , the three minors can be generated in accordance
with the following scheme:

Adding the results and noting that the j element must include the minus sign
yields the expanded form of A x B given by Eq. 4–4.

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