5

Chapter 2 FORCE VECTORS

Objectives:
At the end of the chapter, the students should be able to:
1. differentiate a scalar from a vector quantity.
2. add two forces using the Parallelogram Law.
3. resolve a force into components.
4. find the rectangular components of a force.
5. write a force in Cartesian vector form.
6. apply the dot product to find the rectangular component of a force along any direction.
7. use rectangular components to add concurrent forces.

2.a. Scalar and Vector Quantities

Scalar a quantity that possesses a magnitude only such as mass, volume, length, and time.
Vector a quantity that has both magnitude and direction. Examples of vector quantities are position, velocity,
acceleration, force and moment. It is represented by a bold letter, in print, or by a letter with an arrow
over it such as A , if it is handwritten. Its magnitude is designated by an italicized letter or A .

2.b. Multiplication and Division of a Vector by a Scalar

If a vector is multiplied by a positive scalar, its magnitude is increased by that amount. When multiplied
by a negative scalar it will also change the directional sense of the vector.

2A
A A

2.c. Force
A force represents the action of one body on another and is generally characterized by its point of
application, its magnitude, and its direction.

2-d. Vector Addition. Finding a Resultant Force

Two vectors are added according to the parallelogram law Two forces on a body can be
replaced by a single force called the resultant by drawing the diagonal of the parallelogram with sides
equivalent to the two forces e following procedure is to be followed in constructing the parallelogram:
1. Join the tails of the two forces at a point, say O, so that it makes them concurrent.
A
O
B

2. From the head of B, draw a line parallel to A. Draw another line from the head of A that is parallel to B.
These two lines intersect at point P to form the adjacent sides of a parallelogram.
A
O
B P

3. The diagonal of this parallelogram from O to P forms R, which then represents the resultant vector
R = A + B.
A
O R
B P
 6

The magnitude of the resultant R of two vectors is determined algebraically by applying the cosine law for a
general triangle. Thus,
R A2 B2 2 AB cos
The angles between the resultant R and vectors A and B can be determined by using the law of sine for a general
triangle. The resultant R has to lie always in between the given forces A and B, hence, should be chosen such
that 0 < < .
An equivalent statement of the parallelogram law is the triangle law. Vector B is added to vector A by
connecting the head of A to the tail of B. The resultant R extends from the tail of A to the head of B.
A
B
R

As a special case, if the two vectors A and B are collinear, i.e., both have the same line of action, the
parallelogram law reduces to an algebraic or scalar addition R = A + B.
A B

R
2.e. Vector Subtraction
The resultant of the difference between two vectors A and B of the same type may be expressed as
R' = A B = A + ( B), therefore, subtraction is defined as a special case of addition, so the rules of vector
addition also apply to vector subtraction.
P

R
B
A
O
SAMPLE PROBLEMS
1. Determine the magnitude of the resultant of the two forces P and Q and the angle between this resultant and
the force Q.
P = 500 N
50°
30°
Q = 750 N
Solution: P = 500 N
50° R
a. Draw the parallelogram with P and Q as sides.
30°
Draw the diagonal representing R.
Q = 750 N

b. The angle between the two forces P and Q is 80o, hence, = 180º 80 = 100 . Applying the cosine
law, we have
R 500 2 750 2 2(500 )( 750 ) cos 100
R = 970.946 N
c. Applying the sine law, we get angle between the resultant R and the force Q.
500 R
P = 500 N sin sin
R
500 970.946
sin sin 100
Q = 750 N
30.47
 7

d. Solving for , we have = 30.47º 30º = 0.47 .

Therefore, the resultant of P and Q is equal to 970.946 N at an angle of 0.47 counterclockwise
from the positive x-axis.

2. Two forces A and B, shown in the figure, have magnitudes of 50 kN and 80 kN, respectively. Determine a)
A + B; and b) 2A B.

30
B
A 70

Solution:
a) Resultant of A + B
1. Draw the parallelogram whose sides are the given vectors. 80 kN
2. Draw the diagonal of the parallelogram from the tails of these R
vectors. This diagonal, R, represents the resultant of vectors A
and B.
3. Determine the angle opposite the resultant. 50 kN
= 180 (70 + 30 ) = 80
4. Using the cosine law, find the magnitude of the resultant.
R2 = 802 + 502 2(80)(50) cos 80
R = 86.665 kN R
5. To find the angle of inclination of the resultant force, apply the
sine law. 30 80 kN
R 80 50 kN
30
70
sin sin
86.665 80
; = 65.38
sin 80 sin
Therefore, = 30º = 35.38

b) Resultant of 2A B
1. Draw the parallelogram whose sides are 2A and B 2A = 100 kN
B = 80 kN
2. Draw the resultant force R
3. Compute the angle R

= 70 + 30 = 100 .
4. Find the magnitude of R using cosine law.
R2 = 802 + 1002 2(80)(100) cos 100
R = 138.486 kN 80 kN
5. For the angle of inclination of R, apply sine law. 70
30 R
138.486 80
sin 100 sin 100 kN
= 34.67
and = + 30º = 64.67
 8

3. Two forces having a magnitude of 1000 N and 600 N act on the ring. Determine the angle between the
forces if the resultant force has a magnitude of 1400 N.

600 N

1000 N

Solution:
a. Draw the parallelogram with the given forces as sides.
Draw the diagonal representing the resultant force. 600 N 1400 N
180°
b. Apply the cosine law to find the required angle.
14002 = 10002 + 6002 2(1000)(600) cos (180 ) 1000 N

14002 = 1002 + 6002 + 2(1000)(600) cos

cos = 0.50
= 60º

4. Determine the magnitude of the resultant force and its direction measured counterclockwise from the
positive x axis.
F1 = 250 N

1
5
45°

F2 = 400 N
Solution:
a. Determine the angle of inclination of F1.
12
1 = Arc tan = 67.38º
5
b. Draw the parallelogram with F1 and F2 as sides.
Draw the diagonal representing R. F1 = 250 N
67.38°
c. Find the angle opposite R.
45°
R
= 180º (67.38º + 45º) = 67.62
d. Applying the cosine law, we have F2 = 400 N

R 250 2 400 2 2( 250 )( 400 ) cos 67.62

R = 382.558 N
e. Applying the sine law, we get angle between the resultant R and F1.
250 R
sin sin
250 382.558
sin sin 67.62 R

37.18 F2 = 400 N
F1 = 250 N
f. Solving for , we have = 45º 37.18º = 7.82 .
Therefore, the resultant is equal to 382.558 N at an angle of 7.82 clockwise from the positive x-
axis.
 9

5. Determine the magnitude of the resultant of the forces F1 and F2 and its direction measured
counterclockwise from the positive x-axis. (Hibbeler, 2007)
y

F1 = 600 N
F2 = 800 N
60°

45
x

75
F3 = 450 N

Solution:
a. Find the resultant of F1 and F2:
= 180º (60º + 45º) = 75

R1 600 2 800 2 2(600)(800) cos 75

R1
R1 = 866.910 N
F2 = 800 N F1 = 600 N
600 R1 600 866.910 60°
; 45°
sin sin sin sin 75

41.95
= 41.95º + 30º = 71.95
b. Find the resultant of R1 and F3
= 180º (71.95º + 15º) = 93.05

R 866.912 450 2 2(866.91)( 450) cos 93.05

R = 997.771 N R1 = 866.91 N

450 R 450 997 .771 R

; 71.95°
sin sin sin sin 93.05

26.77 75°
F3 = 450 N
= 180 71.95 + 26.77° = 134.82°

Therefore, the resultant of the three forces is equal to 997.771 N at an angle of 134.82
counterclockwise from the positive x-axis.
 10

EXERCISES

1. Two forces act on the eyebolt. Determine the magnitude of the resultant force. Ans. 867.451 N

600 N

350 N
50°
20°
x

Solution:

R2 600 2 350 2 2(600)(350) cos

R 867.451 N
R

130º

2. Determine the magnitude of the resultant force and its direction measured counterclockwise from the
positive x axis. Ans. 1322.876 N, 49.11º
y
1500 N

x
30°

1000 N

3. The wires AB and AD help support pole AC. Knowing that the tension is 240 lb in AB and 80 lb in AD, find
the magnitude and direction of the resultant of the forces exerted by the wires at A. Ans. 278.155 lb at
66.98º from the horizontal
A

10 ft

8 ft 6 ft

4. Determine the magnitude of the resultant force and its direction measured from the positive x-axis.
Ans. 5.75 kN, 149.14º
y

x
3
4 30
3.5 kN
5 kN
 11

5. For the given forces F1 and F2, determine the magnitude of their difference F' = F1 F2 and the angle
which F' makes with the positive x axis. Ans. 25.608 kN, 178.53º

y
F2 = 16 kN F1 = 22 kN

3
60 4
x

6. Two forces are applied as shown to a hook support. Determine the required angle if the resultant R of the
two forces applied to the support is to be horizontal. What is the magnitude of the resultant? Ans. 88.931 N

70 N
30º

45 N

7. It is desired to remove the spike from the timber by applying force along its horizontal axis. An obstruction
A prevents direct access, so that two forces, one 400 lb and the other P, are applied by cables as shown.
Compute the magnitude of P necessary to ensure the resultant R directed along the spike. Also compute the
magnitude of R. Ans. P = 537 lb, R = 800 lb

P
8"

4"
6"

400 lb

8. Determine the magnitude of the resultant force acting on the pin and its direction measured clockwise from
the positive x axis.
12
 13

Worksheet No. 2 Scalar and Vector Quantities and Vector Addition

NAME: _______________________________ DATE: ___________________

I. Are the following quantities vectors or scalars? Explain.

1. The population of the world.

2. The current in a river.

3. The cost of purchasing a new bag.

4. Your path going to school.

5. The power consumption in your household.

6. Your body temperature.

7. How long it takes to do a mathematics assignment.

8. The magnitude of the force required to push a trash can.

9. The acceleration of a stone dropped into a well.

10. The torque required to rotate a shaft.

II. Addition of vectors

1. A force F1 has a magnitude of 20 kN and a direction of 0°. Force F2 has a magnitude of 40 kN and a
direction of 60°. Find the magnitude and direction of the resultant force to the nearest whole number.
F2

60°
F1
 14

2. Find the magnitude of the sum R = 2A + B of the given forces. What is the direction of R measured
from the positive x axis?
y

A = 5 kN
20°
x
75°

B = 5 kN

3. Find the resultant R = A B of the forces given as shown. Also find the direction angle measured form
the positive x axis.
A = 8 kN y
B = 4.5 kN

45° 60°
x
 15

2.f. Finding the Components of a Force

Components two separate forces equal to a single force.
Resolution it is the process of replacing a force with its components.
In order to determine the magnitude of each component of the force F along the a and b axes, the
following procedure is applied:
1. Construct a parallelogram by drawing lines starting from the tip of the force, a line parallel to a, and a line
parallel to b, intersecting the a and b axes.
2. Label the sides of the parallelogram as the force components Fa and Fb.
3. Apply the law of sines to one of the triangles to determine the unknown magnitudes of the components.
b b

F F
Fb
O O
a Fa a

SAMPLE PROBLEMS
1. Resolve the 800-kN force into two components: one along the y-axis and the other along the -axis.
y
800 kN

45
20
x
Solution:
a. Draw lines parallel to the given axes from the tip
of the given force to form a parallelogram.
y

F = 800 kN
Fy
Fy

b. Determine the interior angles of one triangle.

= 45° + 20° = 65
= 90° 20° = 70
= 90° 45° = 45 .

c. Applying sine law, find the required components.

F Fx' Fy
sin sin sin
800 Fx' Fy
sin 70 sin 45 sin 65
F = 601.990 kN and Fy = 771.578 kN
 16

2. Determine the magnitudes of the components of the 80-lb force if it is resolved into components acting
along the a and b axes.
b

45
a
120

80 lb
Solution:
a. Extend the b-axis downward and the a-axis to the left.
From the tip of the force, draw lines parallel to the axes
to form the parallelogram.
b

Fa a
Fb

80 lb
b. Solve for the interior angles
= 45
= 180° 120° = 60
= 120° 45° = 75
c. Apply sine law
80 Fa Fb
sin 45 sin 75 sin 60
Fa = 109.282 lb and Fb = 97.980 lb

3. The 500-N force is to be resolved into components along lines a- and b- . If its component along a- is
to be 375 N, determine the angle and the corresponding value of the component along b- .
a
b
45
500 N

a
Solution:
a. From the tip of the force, draw lines parallel to a- and b-
to form a parallelogram. 45
b. Applying sine law, compute for . 375 N 500 N
375 500
, = 32.03
sin sin 45
Fb
c. Computing for , we have = 180° (45° + 32.03°) = 102.97
d. Compute for Fb using sine law
Fb 500
, Fb = 689.067 N
sin sin 45
 17

4. It is required that the resultant force acting on the eyebolt be directed along the positive x axis and that F2
have a minimum magnitude. Determine this magnitude, the angle , and the corresponding resultant force.
(Hibbeler, 2010)
F1 = 800 N

60º

F2
Solution:
a. Using the triangle rule, draw the forces.

F2
F1 = 800 N
60º

b. Since the magnitudes of F2 and R are unknown, F2 can be any vector that has its head touching the
line of action of R. F2 will be minimum when its line of action is perpendicular to R or when = 90º
(by inspection of the triangle drawn).

F1 = 800 N
F2
60º

R
c. Using the right triangle, solve for R and F2.
R 800 cos 60 = 400 N
F2 800 sin 60 = 692.820 N

Alternate solution:
From sine law:
F2 F2 800
F1 = 800 N
60º sin 60 sin
R 800 sin 60
F2
sin
692 .82
F2
sin
dF2
F2 will be minimum if 0 ; hence,
d
dF2 sin (0) 692.82 cos
0
d sin 2
From which cos = 0 or = 90º.
 18

EXERCISES

1. Find the components of the 1500-N force shown acting along the u and v axes.
Ans. 1326.828 N, 1627.595 N

45°
u
70° 60°

1500 N

2. The 320-lb force is to be resolved into components acting along the u and v axes. Determine the magnitudes
of these components. Ans. 490.268 lb, 431.135 lb
v

40°
u
120°

320 lb

3. Determine the components of the force F = 10 kN in the directions of the x and y axes. Ans.16 kN, 7.856 kN
y x'

y'
F
60 3
30 4
x

4. The 450-lb force is to be resolved into components acting along members AB and AC of the frame shown.
Determine the magnitude of each component. (Hibbeler, 2010) Ans. 869.333 lb, 636.396 lb

A 30º

C
45º

450 lb

B
 19

5. The resultant of the two forces shown is 500 lb directed to the right along the x-axis. Find the magnitude and
direction of F. Ans. 433.128 lb, 28.68º
y

x
60º

240 lb

6. The vertical force with magnitude 75 lb acts downward at A on the two-member frame shown in the figure.
Determine the magnitudes of the two components of the force directed along members AB and AC.
Ans. 67.243 lb, 54.904 lb
B

45º

30º
75 lb
C

7. The gusset plate is subjected to the two forces shown. Replace these forces with two equivalent forces; Fx in
the x direction and Fa in the a direction. What are the magnitudes of Fx and Fa?
Ans. 720.644 N, 1465.923 N

A x
10º
750 N
1000 N 45º
25º
a
20
 21

Worksheet No. 3 Force Components

NAME: _______________________________ DATE: ___________________

Solve each of the following problems.

1. Determine the components of the 1500-lb force F along the oblique axes a and b.
F = 1500 lb

b
70°
a
35°

2. The force F = 450 lb acts on the frame. Resolve this force into components acting along members AB and
AC, and determine the magnitude of each component.
 22

3. The 300-lb force is to be resolved into components along lines a-a' and b-b'. If its component along line a-a'
is to be 240 lb, determine the angle . Also find the corresponding value of the component along b-b'.

a a'
60°

b 300 lb

4. Resolve the 750-N force into components acting along the x and y
y' 750 N
y
x
30º 35º

45º
 23

2.g. Rectangular Components of a Force

Rectangular components of a force components that are perpendicular with one another. These components
can be determined from trigonometry.
y
Fx = F cos ,
F Fy = F sin
Fy

x
Fx
The direction of F can also be defined using the slope of its line of action. The slope triangle and the
force triangle are similar, hence, proportional. The components of the force can then be determined using ratio
and proportion.
F Fx Fy F
d ; where: d x2 y2 `
Fy y
x y d
x
x y
Fx Fx F Fy F
d d

SAMPLE PROBLEMS

1. Determine the x and y components of each of the forces shown.

y
F1 = 120 N
F4 = 150 N
7
55
70
x
5
1
112.5 mm F2 = 390 N
F3 = 221 N

60 mm
Solution:
a. Components of F1
y
F1 = 120 N
From trigonometry,
F1x = 120 cos 70 F1y = 120 sin 70
F1y = 41.042 N = 112.763 N
70
x
F1x

b. Components of F2
y Find the hypotenuse of the slope triangle
F2x d 12 2 52 = 13
x
F2y 5
12
From the similarity of triangles,
F2 = 390 N 12 5
F2 x (390) F2 y (390)
13 13
= 360 N = 150 N
 24

c. Components of F3
y Find the hypotenuse of the slope triangle

x
d 60 2 112.52 = 17
F3y From the similarity of triangles,
F3 = 221 N
112.5 mm 8 15
F3x F3 x (221) F3 y (221)
17 17
60 mm = 104 N = 195 N

d. Components of F4

y From trigonometry,
F4x = 150 sin 55 F4y = 150 cos 55
F4 = 150 N
= 122. 873 N = 86.036 N
55 F4y

x
F4x

2. Find a) the x and y components, and b) the x´ and y´ components of each of the forces shown.
y
F1 = 800 lb
y´

25
45
x
30

F2 = 650 lb
x´
Solution:
a. For F1
y y From trigonometry:
F1 = 800 lb F1 = 800 lb F1x 800 cos 70 273.616 lb
F1y y´ y´ F1 y 800 sin 70 751.754 lb
25 25 F 1y'
F1x 800 sin 25 338.095 lb
45 F1x' 45
x x F1 y 800 cos 25 725.046 lb
F1x

b. For F2 x´ x´
y y From trigonometry:
F2 x 650 cos 30 562 .917 lb
y´ y´
F2 y 650 sin 30 325 lb
F2y' F2 x 650 sin 75 627 .852 lb
45 F 45
2x
x x F2 y 650 cos 75 168 .232 lb
30 30
F2y
F2 = 650 lb F1x' F2 = 650 lb
x´ x´
 25

3. The box on the inclined plane has a mass of 40 kg. Find the components of the weight of the box that are
parallel and perpendicular to the incline.
y y
x
Wx

25 W = 392.4 N
25 Wy
x
Solution:
a. Determine the weight of the box.
W = 40(9.81) = 392.4 N
b. From the tip of the weight, draw a line along the y-axis and from the tail of the weight, draw a line
parallel to the x-axis. The triangle formed should follow the triangle law.
c. Find the required components of the weight.
Wx = W sin 20 , Wx = 392.4 sin 25 , Wx = 165.835 N
Wy = W cos 20 , Wy = 392.4 cos 25 , Wy = 355.635 N

4. Determine the components of the force acting on the box shown along the x-y axes which are parallel and
perpendicular to the incline.
y
F = 800 N
3 x
4

5
12

Solution:

a. Find the angle of inclination of F and the angle the inclined plane makes with the horizontal.
F = 800 N
y
1 = Arc tan 3 = 36.87º
x 4
1

2 2 = Arc tan 5 = 22.62º

12
= 1 + 2 = 59.49º
2

b. Use trigonometry to find the required components.

Fx Fx = 800 cos 59.49
y
Fy
F = 800 N x = 406.151 N
= 59.49º
Fy = 800 sin 59.49
= 689.232 N
 26

EXERCISES
1. Find a) the x and y components and b) the x´ and y´ components of each of the forces shown. Ans. a) For F1,
1359.462 N and 633.927 N; for F2, 1697.056 N and 1697.056 N, b) For F1, 1149.067 N and 964.181 N;
for F2, 2318.222 N and 621.166 N
y
y´
F2 = 2400 N
F1 = 1500 N x´
45
25 30 x

2. Determine the components of the force along the x-y axes which are parallel and perpendicular to the
incline. Ans. 156.498 lb, 313.063 lb
y

P = 350 lb
x
1
2

3
4

3. The force P that is applied to the wagon, as shown in the figure, can be resolved into two components: one
parallel and one perpendicular to the incline. To pull the wagon up the incline, the parallel component must
be at least 1000 sin N. If P = 320 N, determine the slope angle of the steepest incline that can be
ascended. (Pytel, 1996) Ans. 16.28º
P

1
1

4. The x-component of the force P is equal to 450 N. What is the magnitude of the force and the corresponding
y-component? Ans. 522.321 N, 265.177 N
y P

5 x
4 12
3 3
4

5. In the figure shown, the cable AB prevents bar OA from rotating clockwise about the pivot O. Determine the
n and t components of this force acting at point A of the bar if the cable tension is 1200 N. Ans. 512.560 N,
1085.024 N
t
n
A

2,0 m

O 60
B
1.5 m
 27

2.h. Rectangular Components of a Force in Three Dimensions

The rectangular components for any force, as discussed in the previous section, can be found from
trigonometry. z
z

z
x
x y y
y
x Fx = F cos
x x

z z

F Fz z
F
y
y y
Fy

x Fy = F cos x Fz = F cos
y z

If the rectangular components are known, the magnitude of F can be determined from the relationship
2 2 2
F Fx Fy Fz
Direction angles or direction cosines these are the angles x, y, and z, (where 0 180 ) between F and
the positive coordinate axes which can be computed as follows:
Fx Fy Fz
x = Arc cos , y = Arc cos , z = Arc cos
F F F
The cosines of these angles must satisfy the equation
` cos2 x + cos2 y + cos2 z =1
If an angle is more than 90 , the cosine is negative, indicating that the sense of the component is opposite to the
positive direction of the coordinate axis.

2.i. Cartesian Vectors

The analysis of some problems in three dimensions is simplified using vector algebra in which the
forces are represented in the Cartesian vector form. A right-handed coordinate system is used in the theory of
vector algebra. A rectangular or Cartesian Coordinate System is said to be right-handed if the thumb of the right
hand points in the direction of the positive z axis when the right-hand fingers are curled about the axis directed
from the positive x to the positive y axis.

2.i-1. Unit vectors

Unit vector, uA a vector with
vector A. It is determined by dividing A by its magnitude A; i. e.,
A z
uA
A
2.i-2. Cartesian unit vectors k j
The directions of the positive x, y, and z axes are defined by the y
i
Cartesian unit vectors i, j, k , respectively.
x
 28

2.i-3. Cartesian vector representation

Using the properties of vector addition, a vector A can be written as the sum of its three components:
A = Ax i + Ay j + Az k
This is known as the standard Cartesian form of representing a vector. Hence, for a force F with a given
magnitude and direction cosines, the Cartesian vector form is
F = F cos x i + F cos y j + F cos zk

2.j. Position Vectors

Position vector it is defined as a fixed vector which locates a point in space relative to another point.
If r extends from the origin of coordinates O to point P(x, y, z), then r can be expressed in Cartesian
vector form as r = xi + yj + zk.
z

P(x, y, z)
zk r
O yj
xi y

For a position vector r that is directed from point A to point B in space, applying the head-to-tail vector
addition and using the triangle rule, 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
z B(xB, yB, zB)
r
rB
A(xA, yA, zA) y
rA

x
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).

2.k. Force Vector Along a Line

A force F with a line of action that is directed from point a A to a point B can be expressed as a
Cartesian vector by realizing that it has the same direction and sense as a position vector r acting along its line
of action. This common direction is specified by the unit vector u. Hence, from the definition of a unit vector,
r
F = F u; where: u
r
r
F F
r
xB xA i yB yA j zB zA k
F F
2 2 2
xB xA yB yA zB zA
 29

SAMPLE PROBLEMS
1. Find the components of the given force and the direction angles with respect to the positive reference axes.
(Hibbeler, 1986)
z Solution:
A a. Find the x, y, z components of the position vector AB.
3 ft x = 5 ft, y = 4.098 ft, z = 1.5 ft
60

y
b. Applying Equation 2.7, d = 6.637 ft
F = 600 lb c. From Equation 2.6, the components are
5 ft
Fx = 452.011 lb, Fy = 370.469 lb, Fz= 135.603 lb

B d. From Equation 2.4, the direction angles are

1.5 ft
x x = 41.12 , y = 51.87 , z = 103.06

2. The slope of the 7.5-kN force is specified as shown in the figure. Express F in Cartesian vector form.
y

F = 7.5 kN
5
12
x

Solution:
a. Determine the hypotenuse of the slope triangle
d 12 2 52 = 13
b. Find the x and y components of the given force
12
Fx = (7.5) = 6.923 kN to the left
13
5
Fy = (7.5) = 2.885 kN downward
13
c. Write the force in Cartesian vector form
F = { 6.923i 2.885j} kN

3. The line of action of the 2500-lb force is directed from point A to point B as shown in the figure. Determine
the x and y components of the force and express it in Cartesian vector form.
y, m

B(8, 6)

F = 2500 lb
x, m
O
A( 7, 2)

Solution:
a. Write the position vector r acting along AB in Cartesian form
r = [8 ( 7)] i + [(6 ( 2)] j ; r = 15i + 8j
 30

b. Determine the magnitude of r

r 15 2 82 = 17
c. Write F in Cartesian vector form
r 15i 8 j
F F = (2500)
r 17
F = {2205.882i + 1176.471j} lb
d. Hence, Fx = 2205.882 lb and Fy = 1176.471 lb

4. Find the rectangular representation of the force F shown given that its magnitude is 750 N and determine the
unit vector acting along its line of action.
z
6m
4m
A F
B
3m y

Solution:
a. Find d (length of AB).
d 42 62 32 = 7.81
b. Express the force in Cartesian vector form.
F F u AB
4i 6 j 3k
F 750
7.81
F = { 384.123î + 576.184 288.092 k } N
c. Determine the unit vector acting along F
4i 6 j 3k
u AB
7.81
uAB = 0.512i + 0.768j 0.384k

5. The force F, directed along the line AB, has a magnitude of 8 kN. Determine the rectangular representation
of F and the unit vector directed from A to B.

y
8m
F
a
10 m
4m x
6m
A
z

Solution:
a. From the figure, the components of the position vector, a, acting from A to B are
x = 6, y = 10, and z = 12
 31

b. Writing a in rectangular form,

a = 6i 10j 12k.
c. Find the magnitude of a
a 6 2 10 2 12 2 = 16.733
a
c. The unit vector acting along AB is u .
a
6i 10 j 12k
u = 0.359i 0.598j 0.717k
16.733
d. The rectangular representation of F is F = Fu. Hence,
F = 8 (0.359i 0.598j 0.717k) = {2.872i 4.784j 5.736k} kN

6. Express the force as a Cartesian vector.

z
A
F = 250 N

O 45º
5
4 3
B
C
x y

Solution:
a. In triangle AOB,
AB = 250 sin 45º = 176.777 N; OB = 250 cos 45º = 176.777 N
b. In triangle BOC,
4 3
OC (176.777) = 141.422 N; BC (176 .777 ) = 106.066 N
5 5
c. The components of F are
Fx = 106.066 N, Fy = 141.422 N, and Fz = 176.777 N
Hence,
F = { 106.066i + 141.422j + 176.777k} N
 32

EXERCISES

1. The magnitude of force F is 250 lb. Express F in Cartesian vector form. Ans. F = {216.506i 125j} lb
y, ft

F
x, ft
O 30º
A(4, 2)

2. Express the force as a Cartesian vector. Ans. F = {247.487i 428.661j +494.975k} N

F = 700 N z

45º
O
60º

y
x

3. Express the position vector rAB in Cartesian vector form. Ans. rAB = { 6i +6j +3k} m
z B
3m
rAB
3m
y
3m 4m

A
2m
x

4. The force F has a magnitude of 80 lb and acts at the midpoint C of the thin rod. Express the force as a
Cartesian vector. (Hibbeler, 1986) Ans. F = { 34.286i + 22.857j 68.571k} lb
z

6 ft
C
F

y
O
3 ft
A

2 ft

x
 33

5. Express the force F as a Cartesian vector. Ans. F = {126.566i +253.133j 506.266k} N

z

3m

3m

5m y
x 4m

F = 580 N 5m

6. The cable AB exerts a tension of 2.5 kN on the fixed bracket at A. Write the vector expression for the vector
T. (Meriam, 2002) Ans. T = { 2.301i + 0.959j + 0.192k} kN
z
B
0.5 m
0.4 m
y

T = 2.5 kN

0.3 m
1.2 m
x
 34

2.l. Dot Product or Scalar Product

Dot or scalar product of two intersecting vectors it is defined to be a scalar quantity determined by
multiplying the magnitudes of the two vectors by the cosine of their included angle.
A
A · B = AB cos

where: 0 180
B

For 0 90 , the scalar is positive and for 90 180 , the scalar is negative. When = 90 ,
the two vectors are perpendicular and the scalar is zero.
One use of the dot product is to obtain the rectangular component of one vector along any direction.
This component is equal to the dot product of the vector with a unit vector in the desired direction. From the
figure,
A A · B = AB cos
A B
A cos
AB B
B AB = A · n B

2.l-1. Properties of the dot product:

1. Commutative: A · B = B · A
2. Associative: mA · nB = mnA · B
3. Distributive: A · (B + C) = A · C + A · C

2.l-2. Dot product of the unit vectors

From the definition of a dot product, the dot products of the orthogonal unit vectors are as follows:
i · i = 1×1×cos 0º = 1 j · j = 1×1×cos 0º = 1 k · k = 1×1×cos 0º = 1
i · j = 1×1×sin 0º = 0 j·i=j·k=k·j=k·i=i·k=0

2.l-3. Dot product of two vectors

A · B = (Ax i + Ay j + Az k) · (Bx i + By j + Bz k)
The vector multiplication can be evaluated by applying the properties of a dot product.
A · B = (Ax i + Ay j + Az k) · (Bx i + By j + Bz k)
= Ax Bx i · i + Ax By i · j + Ax Bz i · k + Ay Bx j · i + Ay By j · j + Ay Bz j · k + Az Bx k · i
+ Az By k · j + Az Bz k · k
= Ax Bx(1) + Ax By(0) + Ax Bz(0) + Ay Bx(0) + Ay By(1) + Ay Bz(0) + Az Bx(0) + Az By(0) + Az Bz(1)
A · B = AxBx + AyBy + AzBz
From the above result, the expansion of a dot product in terms of the scalar components of the vectors is
equal to the sum of the products of their respective scalar components.
 35

SAMPLE PROBLEMS
1. Find the component of the force A = {5i + 2j 3k} kN that is parallel to B = { 4i + 3k} kN.
Solution:
a. Find the unit vector acting along the line of action of B
B 4i 3k
nB = 0.8i + 0.6k
B 4 2 32
b. Find the component of A parallel to B
AB = A · n B
= (5i + 2j 3k) · ( 0.8i + 0.6k)
= 4 1.8
= 5.8 kN
The negative sign indicates that the component of A along B is opposite the direction of B

2. Resolve A = {6i 4j + 5k} kN into two vector components one parallel to and the other perpendicular to
B = {4î + 2k} kN. Express each of your answers as a vector.
Solution:
a. Find the component of A parallel to B. Denote this component as At.
4i 2k
At = A · n B = (6i 4j + 5k) ·
42 22
6(4) 5(2)
= = 7.603 kN
20
b. Express At in Cartesian vector form
4i 2k
At = At n B = 7.603
42 22
= 7.603(0.894i + 0.447k)
At = 6.797i + 3.399k kN
c. The component of A perpendicular to B, denoted as An, is
A = At + An ; An = A At
An = (6i 4j + 5k) (6.797i + 3.399k)
= (3 6.797)i 4j + (5 + 3.399)k
An = 3.797i 4j + 8.399k kN

3. Using the dot product, find the components of the force F = {2î + } kN in the directions of the x' and y'
axes.
y x'

y'
y
30 60 x'
x
Solution:
a. Determine the unit vectors acting along the x' and y' axes ux
y' uy
ux = cos 60º i + sin 60º j = 0.5i + 0.866j
60
uy = cos 30º i + sin 30º j = 0.866i + 0.5j 30
x
 36

b. Find the required components y

x'
Fx = F · ux = (2i + j) · (0.5i + 0.866j)
= 2(0.5) + 1(0.866)
= 1.866 kN y' Fx

Fy = F · uy = (2i + j) · ( 0.866i + 0.5j) 60

30
x
= 2( 0.866) + 1(0.5)
Fy
= 1.232 kN

4. In the system shown, a force F acts from B to D. Find the magnitude F if its component along the the boom
ABC is 850 lb.
E
y

A
z x
B

C
Solution:

Point x coordinate, ft y coordinate, ft z coordinate, ft

B 8 3 0

D 0 0 6
C 0 9 0

a. Find the unit vector acting from B to C.

8i 6 j 8i 6 j
n BC = = 0.8i 0.6j
8 6 2 2 10
b. Express F in Cartesian vector form
8i 3j 6k 8i 3 j 6k
F = F nBD = F =F
8 3 6 2 2 2
109
c. Determine the magnitude of F using dot product
FBC = F · n BC

8i 3 j 6k
850 = F · ( 0.8i 0.6j)
109
6.4 1.8
850 = F
109
F = 1929.187 lb
 37

5. The force FAB = 800 N acts along cable AB of the structure shown. Determine the projected component of
the force along cable AC. Express the result as a Cartesian vector.
z

1.5 m
B
1.5 m
C
1m

3m
FAB = 800 N
O A
4m y
x

Solution:

Point x coordinate, m y coordinate, m z coordinate, m

A 0 4 0

B 1.5 0 1

C 1.5 0 3

a. Express the force in Cartesian vector form

1.5i 4 j k 1.5i 4 j k
F = F nAB = 800 = 800
1.5 2 4 2 12 4.387
= 273.505i 729.348j + 182.337k
b. Find the unit vector acting from A to C
1.5i 4 j 3k 1.5i 4 j 3k
n AC =
1.5 2
4 2
3 2 5.22

= 0.287i 0.912j + 0.684k

c. Find the required component
FAC = F · nAC = ( 273.505i 729.348j + 182.337k) · (0.287i 0.912j + 0.684k)
= 273.505(0.287) 729.348( 0.912) + 182.337(0.684)
FAC = 711.388 N
d. Express FAC in Cartesian vector form
FAC = FAC nAC = 711.388(0.287i 0.912j + 0.684k)
FAC = 204.168i 648.786j + 486.589k
 38

EXERCISES
1. Determine the magnitude of the component of the position vector r along the Oa axis. Ans. 8 ft
z

6 ft
r a

12 ft

18 ft
O 6 ft
y
12 ft
x

2. Two forces are applied at a point in a body as shown in the figure. Determine the magnitude of the
rectangular component of force F1 along the line of action of force F2. (Riley, 1993) Ans. 30.53 lb
z
B

A
F1 = 120 lb
F2 = 150 lb
60 4.5 ft
O
2 ft
6 ft y
1.5 ft
x

3. In the system shown, a force F acts from B to D. Find the magnitude of F if its component along line AC is
equal to 1200 lb. Ans. 2723. 558 lb

y E

D
A
z x
B

4. Determine the magnitudes of the components of force F = 56 N acting along and perpendicular to line AO.
(Hibbeler, 2010) Ans. 46.9 N; 30.7 N
 39

Worksheet No. 4 Rectangular Components

NAME: _______________________________ DATE: ___________________

Work on the following problems.

1. Determine the x and y components of each of the forces shown.

y y
y
F = 1200 lb
F = 1000 N 15
x
30 8

60 F = 920 lb
x x
(a) (b) (c)

2. Resolve the force F into two components, one acting parallel and the other acting perpendicular to the u
axis.

3. A force P directed along line BD is exerted on member ABC by member BD. If P must have a 300-lb
horizontal component, determine the magnitude of the force P and its vertical component.

D C

40º

F
 40

4. Determine the components of F = 275 lb that act along rod AC and perpendicular to it. Point B is located at
the midpoint of the rod. Write these components in Cartesian vector form.
z

6 ft
B

y
O
F 3ft
6ft A

2ft

2 ft D
x

5. Express the given force in Cartesian vector form, and find the direction angles with respect to the positive
reference axes.
z

60
F = 600 lb 3 ft
y

5 ft

B 1.5 ft
x
 41

2.m. Component Method of Adding Forces. Resultant of Concurrent Forces

When three or more forces are to be added, an analytic solution of the problem can be obtained by
resolving each force into their rectangular components. For three forces F1, F2, and F3 acting on a particle, their
resultant R is defined by the relation
R = F1 + F2 + F3
Resolving each force into its rectangular components,
Rxi + Ryj + Rzk = F1xi + F1yj + F1zk + F2xi + F2yj + F2zk + F3xi + F3yj + F3zk
Rxi + Ryj + Rzk = (F1x + F2x + F3x)i + (F1y + F2y + F3y)j + (F1z + F2z + F3z)k
from which it follows that
Rx = F1x + F2x + F3x Ry = F1y + F2y + F3y Rz = F1z + F2z + F3z
or Rx = Fx Ry = Fy Rz = Fz
Therefore, the scalar components Rx, Ry, and Rz of the resultant R of several forces acting on a particle are
obtained by adding algebraically the corresponding scalar components of the given forces.
The magnitude and direction angles of the resultant R can be determined from the relations
2 2 2
R Rx Ry Rz
Rx Ry Rz
x = Arc cos y = Arc cos z = Arc cos
R R R
For two dimensional forces, the two components are
Rx = Fx Ry = Fy
The magnitude of R is found from Pythagorean theorem; that is,
2 2
R Rx Ry
The angle which specifies the direction of the resultant force measured from the reference x-axis is determined
from trigonometry; i. e.,
1
Ry
= tan
Rx

SAMPLE PROBLEMS
1. Find the resultant of the given system of forces using the component method.
y

88 lb
65 lb 75
35
x
45

125 lb

Solution:
a. Resolve each force into x and y components.

Force x - component y - component

65 lb 65 sin (75º) = 62.785 lb 65 cos (75º) = 16.823 lb
88 lb 88 cos (35º) = 72.085 lb 88 sin (35º) = 50.475 lb
125 lb 125 cos (45º) = 88.388 lb 125 sin (45º) = 88.388 lb
 42

b. Summing up the x and y components gives:

Rx = 62.785 + 72.085 + 88.388 = 97.688 lb
Ry = 16.823 + 50.475 88.388 = 21.09 lb
c. The magnitude of the resultant R yields

R = 97.688 2 21.092 = 99.939 lb

d. The direction angle of the resultant force, from trigonometry, is
Rx 21.09
= tan 1 = 12.18º
Ry 97.688

2. Three ropes are tied to a small metal ring. At the end of each rope three students are pulling, each trying to
move the ring in their direction. Find the net force (magnitude and direction) on the ring due to the three
applied forces.
y
B = 70 lb
A = 25 lb
135
37
x
240

C = 60 lb

Solution:
a. Resolve the forces into x and y components.

Force x component, lbs y component, lbs

A = 30 lb Ax = 25 cos 37o = +19.966 Ay = 25 sin 37o = +15.045

B = 50 lb Bx = 70 cos135o = 49.497 By = 70 sin135o = +49.497

C = 80 lb Cx = 60 cos 240o = 30.0 Cy = 60 sin 240o = 51.962

Total Rx = 59.531 Ry = 12.58 lbs

b. Find the magnitude and direction angle of the resultant force.

Rx
x R = 59.5312 12.582 = 60.846 lb
1 12.58
Ry = tan = 11.93º
59.531
c. Thus the resultant force on the ring is 60.846 pounds acting at an angle of 191.93 from the positive
x axis.
 43

3. Three forces act on the bracket as shown. Determine the magnitude and direction of F3 so that the
resultant force is directed along the positive x' axis and has a magnitude of 1000 N. (Hibbeler, 1986)

y y'
F1 = 450 N

45
F2 = 200 N
x
30

x'
F3
Solution:
a. Determine the x' and y' components of the given forces and the resultant.
F1x = 450 cos 75 = 116.469 ; F1y = 450 sin 75 = 434.667
F2x = 200 cos 30 = 173.205 ; F2y = 200 sin 30 = 100
Rx = 1000 ; Ry = 0
b. Find the components of F3 along the x' and y' axes
Rx' = F1x' + F2x' + F3x'
1000 = 116.469 + 173.205 + F3x'; F3x' = 710.326 N
Ry' = F1y' + F2y' F3y'
0 = 434.667 + 100 F3y' ; F3y' = 534.667 N
c. Compute for the magnitude and direction angle of F3
F3 710.326 2 534.667 2 = 889.062 N
534.667
= Arc tan = 36.97
710.326

4. Determine the magnitude of the force F so that the resultant force R of the three forces is as small as
possible. What is the minimum magnitude of R? (Hibbeler, 1986)
y

5 kN
x

30

4 kN F

Solution:
a. Determine the components of R
Rx = Fx = 5 F sin 30 = 5 0.5F
Ry = Fy = F cos 30 4 = 0.866F 4
b. Express R as a function of F
R2 = Rx2 + Ry2
R2 = (5 0.5F)2 + (0.866F 4)2
 44

c. Find the derivative of R with respect to F and equate to zero

dR
2R 2(5 0.5F )( 0.5) 2(0.866 F 4)(0.866)
dF
0 = 5 + 0.5F + 1.5F 6.928
0 = 2F 11.928
F = 5.964 kN
d. Find the minimum value of R
R2 = [5 0.5(5.964)]2 + [0.866(5.964) 4]2
R = 2.33 kN

5. Determine the magnitude of the resultant force and the angles between the line of action of the resultant and
the reference axes.
z
F2 = 18 kN

40 F3 = 25 kN
F1 = 12 kN
35

26 50
42 60 y

x
z
Solution:
z
z F3 = 25 kN
F1 = 12 kN
F2 = 18 kN F3y
50 F3z
F1z 26 y 60 y
42 F2z F3x
F1x
F1y 40 x
F2x
35
x
F2y y
x

a. Find the components of the given forces

Force x-component, kN y-component, kN z-component, kN

F1 12 cos 26 cos 42 = 8.015 12 cos 26 sin 42 = 7.217 12 sin 26 = 5.260

F2 18 cos 40 sin 35 = 7.909 18 cos 40 cos 35 = 11.295 18 sin 40 = 11.570

F3 25 cos 50 cos 60 = 8.035 25 cos 50 sin 60 = 13.917 25 sin 50 = 19.151
Total Rx = 8.141 Ry = 4.595 Rz = 35.981

b. Find the magnitude of the resultant force

R= 8.1412 4.595 2 35.9812 = 37.176 kN

 45

c. Determine the direction angles

z
8.141
x = Arc cos = 77.35
37.176
4.595
y = Arc cos = 97.1
Rz 37.176
R
z 35.981
z = Arc cos = 14.57
Ry y 37.176
x y
Rx
x

6. Three forces, F1 = 136 N, F2 = 250 N, and F3 = 325 N, are applied with cables to the anchor block shown.
Determine the magnitude and direction angles of the resultant of the three forces. (Riley, 1993)
z
0.6 m
A
B
F1
2.7 m
F2
3.6 m
1.8 m
2.7 m
F3
y
C 3.6 m 2.4 m
0.9 m
1.2 m
x

Solution:
Force Position Vector x, m y, m z, m d, m

F1 OA 2.4 2.7 3.6 5.1

F2 OB 0.6 1.8 2.7 3.3

F3 OC 3.6 1.2 0.9 3.9

a. Write the forces in Cartesian vector form

2.4i 2.7 j 3.6k
F1 = 136 = 64i + 72j + 96k
5.1
0.6i 1.8 j 2.7k
F2 = 250 = 45.455i 136.364j + 204.545k
3.3
3.6i 1.2 j 0.9k
F3 = 325 = 300i 100j + 75k
3.9
b. Find the magnitude of the resultant force
Rxi + Ryj + Rzk = 64i + 72j + 96k + 45.455i 136.364j + 204.545k + 300i 100j + 75k
Rxi + Ryj + Rzk = (64 + 45.455 + 300)i + (72 136.364 100)j + (96 + 204.545 + 75)k
Rxi + Ryj + Rzk = 409.455i 164.364j + 375.545k

R = 409.455 2 164.364 2 375.5452 = 579.399 N

 46

c. Compute the direction angles measured from the positive reference axes
409.455 164.364 375.545
x = Arc cos y = Arc cos z = Arc cos
579.399 579.399 579.399
= 45.03 = 106.48 = 49.6

7. Three cable tensions T1, T2, and T3 act at the top of the flagpole. Given that the resultant force for the three
tensions is R = 500k N, find the magnitude of each of the cable tensions. (Pytel, 1996)
z

T3
T1
T2
12 m

3m D
8m 4m
B y
6m
C
x
Solution:

Force Position Vector x, m y, m z, m d, m

T1 AB 0 8 12 14.422
T2 AC 6 0 12 13.416
T3 AD 4 3 12 13

a. Write the tensions in Cartesian vector form

8 j 12k
T1 T1 = 0.555T1 j 0.832T1k
14.422
6i 12k
T2 T2 = 0.447T2 i 0.894T2k
13.416
4i 3 j 12k
T3 T3 = 0.308T3 i + 0.231T3 j 0. 923T3k
13
b. Equate the resultant force with the sum of the three forces
R= T1 + T2 + T3
500k = 0.555T1 j 0.832T1k + 0.447T2 i 0.894T2 k 0.308T3 i + 0.231T3 j 0. 923T3k
500k = (0.447T2 0.308T3)i + ( 0.555T1+ 0.231T3)j + ( 0.832T1 0.894T2 0. 923T3)k
c. Equate corresponding components
Rx = 0.447 T2 0.308 T3; 0 = 0.447 T2 0.308 T3 (1)
Ry = 0.555 T1 + 0.231 T3; 0= 0.555 T1 + 0.231 T3 (2)
Rz = 0.832 T1 0.894 T2 0.923 T3; 500 = 0.832 T1 0.894 T2 0.923 T3 (3)
d. Solving the three equations simultaneously; we get
T1 = 110.345 N; T2 = 182.759 N; and T3 = 265.252 N
 47

EXERCISES
1. Determine the magnitude and direction of the resultant force. Ans. R = 551.222 N ; = 59.45º
450 N
350 N y
1
2
45
x
275 N

2. The resultant of the three forces shown is directed vertically upward with a magnitude of 1200 N. Find the
magnitude and direction of F. Ans. F = 581.278 N; = 25.42º
y F
750 N 500 N

3
30 4
x

3. Determine the magnitude and direction of F3 so that the resultant force R is directed along the positive x
axis and has a magnitude of 600 N. Ans. F3 = 265.953 N; = 34.33º
y

x'
F1 = 450 N

30
x
F2 = 300 N

30
F3

4. Boom AB is held in the position shown by three cables. Knowing that the tensions in cables AC and AD are
900 N and 1200 N, respectively, determine the tension in cable AE if the resultant of the tensions exerted at
point A of the boom must be directed along AB. What is the corresponding magnitude of the resultant force?
(Beer, 2007) Ans. FAE = 1659.446 N ; R = 2064.651 N
C A
30

D
65 50 E
B
 48

5. In the figure shown, determine the required tension in cable AC, knowing that the resultant of the three
forces exerted at point C of boom BC must be directed along BC, and also determine the corresponding
magnitude of the resultant. (Beer, 2010) Ans. FAC = 95.075 lb; R = 94.967 lb

65º C

25º
35º
50 lb 75 lb

6. Determine the magnitude and the coordinate direction angles of the resultant force. (Riley, 1993)
Ans. 3264.334 N; x = 72.03º, y = 42.83º, z = 52.72º

2m 3m

F3 = 1500 N
4m

F2 = 1200 N
y
2m
F1 = 1000 N
2m

7. Find the magnitudes of the three forces shown, given that their resultant force is R = {200i 100j + 50k}
kN. (Pytel, 1996) Ans. P1 = 83.333 kN; P2 = 155.552 kN; P3 = 290.96 kN
z

2m

2m

P2
P3
3m y
P1

3m

x
 49

Worksheet No. 5 Resultant of Concurrent Forces

NAME: _______________________________ DATE: ___________________

Solve each of the following problems.

1. Determine the magnitude and direction of the resultant of the three forces shown.

2. If the magnitude of the resultant force acting on the eyebolt is 500 N and its direction measured
counterclockwise from the positive x axis is 30º, determine the magnitude of F1 and the angle .

y
F1 650 N

70
x
25

875 N
 50

3. Determine the resultant of the two tensile forces at B if the tension in cable BC = 1350 N and the tension in
cable BD = 950 N.
z

2m
C D
4m
2m

6m
O 6m B
y

3m
x
A

4. The resultant of the three forces acting at A is 675 lb directed downward. Find the tension in AB, AC, and
AD.
y

12 ft
B
3 ft
6 ft
4 ft x
6 ft 4 ft
C D