MULUNGUSHI UNIVERSITY

DEPARTMENT OF ENGINEERING

EGM 251: STATICS

CHAP 2: FORCE VECTORS
BY Eng. LILANDA R.
 Objectives

• To show how to add forces and resolve them into

components using the Parallelogram Law.
• To express force and position in Cartesian vector form and
explain how to determine the vector’s magnitude and
direction.
• To introduce the dot product in order to determine the
angle between two vectors or the projection of one vector
onto another.
 Chapter Outline

• Scalars and Vectors

• Vector Operations

• Vector Addition of Forces

• Addition of a System of Coplanar Forces

• Cartesian Vectors
Chapter Outline

• Addition and Subtraction of Cartesian Vectors

• Position Vectors

• Force Vector Directed along a Line

• Dot Product
 2.1 Scalars and Vectors

• Scalar
 A is any positive or negative physical quantity that

can be completely described my its magnitude.

It Indicated by letters in italic such as A

Eg: Mass, volume and length

2.1 Scalars and
Vectors
•Vector
 A quantity that has both magnitude and direction

Eg: Position, force and moment


Represent by a letter with an arrow over it such as A or
A

 Magnitude is designated as A or simply A
2.1 Scalars and Vectors

• Vector
Represented graphically as an arrow
Length of arrow = Magnitude of Vector
Angle between the reference axis and arrow’s
line of action = Direction of Vector
Arrowhead = Sense of Vector
2.1 Scalars and Vectors
Example

Magnitude of Vector = 4 units

Direction of Vector = 20° measured counterclockwise

from the horizontal axis

Sense of Vector = Upward and to the right

The point O is called tail of the vector and the point P is

called the tip or head
 2.2 Vector Operations

Multiplication and Division of a Vector by a Scalar

- Product of vector A and scalar a = aA

- Magnitude = aA

- If a is positive, sense of aA is the same as sense of A

- If a is negative sense of aA is opposite to the

sense of A
 2.2 Vector Operations

Multiplication and Division of a Vector by a Scalar

- Negative of a vector is found by multiplying the

vector by ( -1 )

- Law of multiplication applies

Eg: A/a = ( 1/a ) A, a≠0

2.2 Vector Operations

Vector Addition

- Addition of two vectors A and B gives a resultant

vector R by the parallelogram law

- Result R can be found by triangle construction

- Vector addition is commutative Communicative

Eg: R = A + B = B + A
2.2 Vector Operations

Vector Addition
2.2 Vector
Operations

Vector Addition

- Special case: Vectors A and B are collinear (both have

the same line of action)
2.2 Vector Operations
Vector Subtraction

- Special case of addition

Eg: R’ = A – B = A + (- B)

- Rules of Vector Addition Applies.

2.2 Vector Operations

Resolution of Vector
- Any vector can be resolved into two components by the
parallelogram law

- The two components A and B are drawn such that they

extend from the tail or R to points of intersection
2.3 Vector Addition of Forces
• When two or more forces are added, successive
applications of the parallelogram law is carried out to
find the resultant

Eg: Forces F1, F2 and F3 acts at a point O

- First, find resultant of

F1 + F2

- Resultant,

FR = ( F1 + F2 ) + F3
 2.3 Vector Addition of Forces
Example
Fa and Fb are forces exerting on the hook.
• Resultant, Fc can be found using the parallelogram law
• Lines parallel to a and b
from the heads of Fa and Fb are
drawn to form a parallelogram
• Similarly, given Fc, Fa and Fb
can be found
Procedure for Analysis

• Parallelogram Law

- Make a sketch using the parallelogram law

- Two components forces add to form the resultant

force

- Resultant force is shown by the diagonal of the

parallelogram

- The components is shown by the sides of the

parallelogram
Procedure for Analysis
• Parallelogram Law
To resolve a force into components along two axes
directed from the tail of the force
- Start at the head, constructing lines parallel to the
axes
- Label all the known and unknown force magnitudes
and angles
- Identify the two unknown components
Procedure for Analysis

• Trigonometry

- Redraw half portion of the parallelogram

- Magnitude of the resultant force can be determined

by the law of cosines

- Direction if the resultant force can be determined by

the law of sines
Procedure for Analysis

• Trigonometry

- Magnitude of the two components can be

determined by the law of sines
Example 2.1

The screw eye is subjected to two forces F1

and F2. Determine the

magnitude and direction

of the resultant force.

Solution
Parallelogram Law
Unknown: magnitude of
FR and angle θ
Solution

Law of Cosines

FR  100 N 2  150 N 2  2100 N 150 N  cos115

 10000  22500  30000 0.4226
 212.6 N
 213N
Solution

Law of Sines

150 N 212.6 N

sin  sin 115
sin  
150 N
0.9063
212.6 N
sin   39.8 
Solution

Direction Φ of FR measured from the horizontal

  39.8  15
 


 54.8 
Example 2.2
Resolve the 30-Ib force into components along the u and
v axes, and determine the magnitude of each of these
components.
Example 2.3
Resolve the 1000 N ( ≈ 100kg) force

acting on the pipe into the components in the

(a) x and y directions, and

(b) x’ and y directions.

Solution
(a) Parallelogram Law
F  Fx  Fy

From the vector diagram,

Fx  1000 cos 40  766 N

Fy  1000 sin 40  643N
Solution

(b) Parallelogram Law

F  Fx  Fy '
Solution

(b) Law of Sines

Fx ' 1000 N


sin 50 sin 60
 sin 50 
Fx '  1000 N    884.6 N
 
 sin 60 
Fy 1000 N

sin 70 sin 60
 sin 70 
Fy  1000 N    1085N
 
 sin 60 
Example 2.4
The force F acting on the frame has a magnitude of
500N and is to be resolved into two components
acting along the members AB and
AC. Determine the angle θ,
measured below the horizontal,
so that components FAC is directed
from A towards C and has a
magnitude of 400N.
Solution
Parallelogram Law

500 N  FAB  FAC

Solution

Law of Sines

400 N 500 N

sin  sin 60 

 400 N 
sin     sin 60


 500 N 
sin   0.6928
  43.9
Solution
Hence,

  180  60  43.9  76.1 
   

By Law of Cosines or

Law of Sines

Hence, show that FAB

has a magnitude of 561N

Solution

F can be directed at an angle θ above the horizontal to

produce the component FAC. Hence, show that
θ = 16.1° and FAB = 161N
Example 2.5
The ring is subjected to two forces F1 and F2. If it is required
that the resultant force have a magnitude of 1kN and
be directed vertically downward, determine
(a) magnitude of F1 and F2 provided
θ = 30°, and
(b) the magnitudes of F1 and F2
if F2 is to be a minimum.
Solution

(a) Parallelogram Law

Unknown: Forces F1 and F2
Solution

Law of Sines

F1 1000 N

 
sin 30 sin 130
F1  643N
F2 1000 N

 
sin 20 sin 130
F2  446 N
Solution

(b) Minimum length of F2 occur when

its line of action is perpendicular
to F1. Hence when

  90   20   70 

F2 is a minimum
Solution

(b) From the vector diagram

F1  1000 sin 70 N  940 N

F2  1000 cos 70 N  342 N
2.4 Addition of a System of Coplanar Forces
For resultant of two or more forces:

• Find the components of the forces in the specified axes

• Add them algebraically

• Form the resultant

In this subject, we resolve each force into rectangular

forces along the x and y axes.

F  Fx  Fy
2.4 Addition of a System of Coplanar Forces

• Scalar Notation

- x and y axes are designated positive and negative

- Components of forces expressed as algebraic scalars

Eg: Sense of direction along positive x and y axes

F  Fx  Fy
2.4 Addition of a System of Coplanar Forces
• Scalar Notation
- Directon of F can also be defined using a small ‘’slop’’
triangle. Type equation here.
𝐹𝑥 𝑎 𝑎
= ⇒ Fx = F( )
𝐹 𝑐 𝑐

𝐹𝑦 𝑏 𝑏
= ⇒ Fy = -F( )
𝐹 𝑐 𝑐

Here Y component is a negative scalar since Fy is

directed along negative y axis
2.4 Addition of a System of Coplanar Forces
•Cartesian Vector Notation
- Cartesian unit vectors i and j are used to designate the x
and y directions
- Unit vectors i and j have dimensionless magnitude of
unity ( = 1 )
- Their sense are indicated by a positive or negative sign
(pointing in the positive or negative x or y axis)
- Magnitude is always a positive quantity, represented by
scalars Fx and Fy
2.4 Addition of a System of Coplanar Forces

• Cartesian Vector Notation

F = Fxi + Fyj F’ = F’xi + F’y(-j)
F’ = F’xi – F’yj
2.4 Addition of a System of Coplanar Forces

• Coplanar Force Resultants

To determine resultant of several coplanar forces:

- Resolve force into x and y components

- Addition of the respective components using

scalar algebra

- Resultant force is found using the parallelogram

law
2.4 Addition of a System of Coplanar Forces

• Coplanar Force Resultants

Example: Consider three coplanar forces
Cartesian vector notation
F1 = F1xi + F1yj
F2 = - F2xi + F2yj
F3 = F3xi – F3yj
2.4 Addition of a System of Coplanar Forces

• Coplanar Force Resultants

Vector resultant is therefore

FR = F1 + F2 + F3
= F1xi + F1yj - F2xi + F2yj + F3xi – F3yj
= (F1x - F2x + F3x)i + (F1y + F2y – F3y)j
= (FRx)i + (FRy)j
If scalar notation are used

FRx = (F1x - F2x + F3x)

FRy = (F1y + F2y – F3y)

In all cases,

FRx = ∑Fx

FRy = ∑Fy

Note: Take note of sign conventions

• Coplanar Force Resultants
- Positive scalars = sense of direction along the positive
coordinate axes.

- Negative scalars = sense of direction along the

negative coordinate axes

- Magnitude of FR can be found by Pythagorean

Theorem.
FR  F 2
Rx F 2
Ry
2.4 Addition of a System of Coplanar Forces

• Coplanar Force Resultants

• Direction angle θ (orientation of the force) can be

found by trigonometry

FRy
  tan 1

FRx
Example 2.6
Find the resultant force for the concurrent coplanar
force system, shown in the figure.
Example 2.7
Find the resultant force for the concurrent coplanar
force system, shown in the figure.
Example 2.8
Find the resultant force for the concurrent coplanar
force system, shown in the figure.
2.4 Addition of a System of Coplanar Forces
Example 2.9

Determine x and y components of F1 and F2

acting on the boom. Express each force as a

Cartesian vector
Solution

Scalar Notation

F1x  200 sin 30 N  100 N  100 N 

F1 y  200 cos 30 N  173N  173N 

Hence, from the slope

triangle
 Solution
Alt, by similar triangles
F2 x 12

260 N 13
 12 
F2 x  260 N    240 N
 13 
Similarly,

5
F2 y  260 N    100 N
 13 
Solution
Scalar Notation

F2 x  240 N  240 N 
F2 y  100 N  100 N 

Cartesian Vector Notation

F1 = {-100i +173j }N
F2 = {240i -100j }N
Example 2.10

The link is subjected to two forces F1 and F2. Determine

the magnitude and orientation of the resultant force.
Solution
Scalar Notation
FRx  Fx :
FRx  600 cos 30 N  400 sin 45 N
 236.8 N 
FRy  Fy :
FRy  600 sin 30 N  400 cos 45 N
 582.8 N 
Solution
Resultant Force
FR  236.8N 2  582.8N 2
 629 N

From vector addition,

Direction angle θ is

 582.8 N 
  tan 1

 236.8 N 
 67.9
Solution

Cartesian Vector Notation

F1 = { 600cos30°i + 600sin30°j } N

F2 = { -400sin45°i + 400cos45°j } N

Thus,

FR = F1 + F2

= (600cos30°N - 400sin45°N)i + (600sin30°N + 400cos45°N)j

= {236.8i + 582.8j}N
Example 2.11

The end of the boom O is subjected to three concurrent

and coplanar forces. Determine the magnitude and
orientation of the resultant force.
Solution
Scalar Notation
FRx  Fx :
4
FRx  400 N  250 sin 45 N  200  N


5
 383.2 N  383.2 N 
FRy  Fy :
3
FRy  250 cos 45 N  200  N


5
 296.8 N 
Solution
Resultant Force

FR   383.2 N 2  296.8N 2
 485N

From vector addition,

Direction angle θ is

 296.8 N 
  tan 
1

 383.2 N 
 37.8
2.5 Cartesian Vectors

• Right-Handed Coordinate System

A rectangular or Cartesian coordinate system is said to be
right-handed provided:
- Thumb of right hand points
in the direction of the positive
z axis when the right-hand
fingers are curled about this
axis and directed from the
positive x towards the positive y axis
 2.5 Cartesian Vectors
• Rectangular Components of a Vector
- A vector A may have one, two or three rectangular
components along the x, y and z axes, depending on
orientation
- By two successive application of the parallelogram law
A = A’ + Az
A’ = Ax + Ay
- Combing the equations, A can be
expressed as
A = Ax + Ay + Az
 2.5 Cartesian Vectors

• Cartesian Unit Vectors

- Cartesian unit vectors, i, j and k are used to
designate the directions of z, y and z axes
- Sense (or arrowhead) of these
vectors are described by a plus
or minus sign (depending on
pointing towards the positive
or negative axes)
2.5 Cartesian Vectors

•Cartesian Vector Representations

- Three components of A act in the positive i, j and k
directions
A = Axi + Ayj + AZk
Note: the magnitude and
direction of each components
are separated, easing vector
algebraic operations.
 2.5 Cartesian Vectors

• Magnitude of a Cartesian Vector

- From the colored triangle,

A  A'2  Az2
- From the shaded triangle,
A'  Ax2  Ay2

- Combining the equations gives

magnitude of A
A  Ax2  Ay2  Az2
 2.5 Cartesian Vectors

Direction of a Cartesian Vector

 Orientation of A is defined as the coordinate

direction angles α, β and γ measured between the tail
of A and the positive x, y and z axes

 0° ≤ α, β and γ ≤ 180 °
 2.5 Cartesian Vectors
• Direction of a Cartesian Vector

For angles α, β and γ (blue colored triangles), we

calculate the direction cosines of A

Ax
cos 
A
2.5 Cartesian Vectors

• Direction of a Cartesian Vector

For angles α, β and γ (blue colored triangles), we

calculate the direction cosines of A
Ay
cos  
A
 2.5 Cartesian Vectors

• Direction of a Cartesian Vector

For angles α, β and γ (blue colored triangles), we

calculate the direction cosines of A

Az
cos  
A
 2.5 Cartesian Vectors
- Angles α, β and γ can be determined by the inverse
cosines

- Given

A = Axi + Ayj + AZk

- then

uA = A /A

= (Ax/A)i + (Ay/A)j + (AZ/A)k

2.5 Cartesian Vectors
- uA can also be expressed as
uA = cosαi + cosβj + cosγk

- Since A  Ax
2
 Ay
2
 A 2
z and magnitude of uA = 1,

cos 2   cos 2   cos 2   1

- A as expressed in Cartesian vector form
A = AuA
= Acosαi + Acosβj + Acosγk
= Axi + Ayj + AZk