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Statics

Lecture 2

Lecture 2 1

3-D Vectors; Base Vectors

• Rectangular Cartesian coordinates (3-D)
• Unit base vectors (2-D and 3-D)
• Arbitrary unit vectors
• Vector component manipulation

Lecture 2 2

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3-D Rectangular Coordinates

• Coordinate axes are defined by Oxyz
y

Coordinates can be rotated

any way we like, but ...
O
x
z

• Coordinate axes must be a right-handed

coordinate system.

Lecture 2 3

Writing 3-D Components

• Component vectors add to give the vector:
y y
A Ay
Az
=
O O
x Ax x
z z

A= Ax + Ay + Az

Also, A  A 2x  A 2y  A 2z
Lecture 2 4

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3-D Direction Cosines

The angle between the vector and coordinate
axis measured in the plane of the two
Ax
y
qy x  cos q x 
A A
qx Ay
O
 y  cos q y 
A
z qz x
Az
z  cos q z 
A
Where: x2+y2+z2=1
Lecture 2 5

Unit Base Vectors

Associate with each coordinate, x, y, and z, a unit
vector (“hat”). All component calculations use the
unit base vectors as grouping vectors.

y
Now write vector as follows:

ĵ
A  Axˆ  Ay ˆj  Az kˆ
ˆ where Ax = |Ax|
O
x
Ay = |Ay|
z k̂ Az = |Az|
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Vector Equality in Components

• Two vectors are equal if they have equal
components when referred to the same
reference frame. That is:

Axˆ  Ay ˆj  Az kˆ  Bxˆ  B y ˆj  Bz kˆ
if

Ax = Bx , Ay = By , Az = Bz

Lecture 2 7

Additional Vector Operations

• To add vectors, simply group base vectors

 A ˆ  A ˆj  A kˆ    B ˆ  B
x y z x y 
ˆj  Bz kˆ 

 Ax  Bx ˆ   Ay  By  ˆj   Az  Bz  kˆ
• A scalar times vector A simply scales all the
components
 
 Axˆ  Ay ˆj  Az kˆ   Axˆ   Ay ˆj   Az kˆ

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General Unit Vectors

• Any vector divided by its magnitude forms
a unit vector in the direction of the vector.
– Again we use “hats” to designate unit vector

y b
b
ˆb  b  bx ˆ  y ˆj  bz kˆ b̂
b b b b O
x
z

Lecture 2 9

Position Vectors in Space

• Points A and B in space are referred to in
terms of their position vectors.
y
rA  x Aˆ  y A ˆj  z A kˆ rA

rB  xBˆ  yB ˆj  z B kˆ O
x
• Relative position defined z rB/A
rB
by the difference
rB / A   xB  x A ˆ   yB  y A  ˆj   z B  z A  kˆ
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Vectors in Matrix Form

• When using MathCAD or setting up a
system of equations, we will write vectors
in a matrix form:

 Ax 
 
A  Axˆ  Ay ˆj  Az kˆ   Ay 
A 
 z

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Summary

• Write vector components in terms of base

vectors

• Know how to generate a 3-D unit vector

from any given vector

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•Resolving Vectors into Components

Using Angle Notation

•Nonorthogonal Bases; Linear Equations

• Resolving vectors onto nonorthogonal
directions

• Setting up and solving linear systems of

algebraic equations

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Resolving vector into components using angle notation

y
Ay A

O Ax
Az x
z b

A=A sin sinb i+A cos j+A sin cosb k

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Vector Components in Nonorthogonal

Coordinate System
y A: Using Trig:

v
sin(90    b ) sin(q y  b ) sin(q x   )
 
A Au Av
Ay
Av A sin(q y  b )
qy-b
Au  A
sin(90    b )
qy
90+b u sin(q x   )
b qx Av  A
 Au sin(90    b )
Ax x

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B: Using Vector Addition

Case 1: One Base Vector Known
y y
-A
B P P

b
x x
A
When vector A is known, subtract A from P

B=P-A

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Case 2: Two Directions Known

y

P

b
x

Write unit vectors:

aˆ  ˆ
bˆ  cos   b ˆ  sin   b  ˆj

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Write the components of P:

P  P cos bˆ  P sin b ˆj  Aaˆ  Bbˆ

and write the vector sum equation.

Next, write the x and y component equations:
P cos b  A  B cos   b  x-components

P sin b  B sin   b  y-components

Here, we have two equations in two

unknowns, A and B. Solve the equations.

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For example, using the numerical values:

P = 100 lb,  = 10º, b = 20º
Set up the system of equations to solve:
P cos β = 93.97 = A + 0.866 B x-components

P sin β = 34.20 = 0 A + 0.5 B y-components

Solving yields: B = 68.4 lb and A = 34.7 lb

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Linear Algebraic Systems

Write the x- and y-component equations in
matrix form as follows:

93.97  1 0.866   A
   B
 34.2   0 0.5  
Solve with your calculator.

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•Resolving Vectors into Components

Using Angle Notation

•Nonorthogonal Bases; Linear Equations

• Resolving vectors onto nonorthogonal
directions

• Setting up and solving linear systems of

algebraic equations

Lecture 2 21

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Resolving vector into components using angle notation

y
Ay A

O Ax
Az x
z b

A=A sin sinb i+A cos j+A sin cosb k

Lecture 2 22

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Vector Components in Nonorthogonal

Coordinate System
y A: Using Trig:

v
sin(90    b ) sin(q y  b ) sin(q x   )
 
A Au Av
Ay
Av A sin(q y  b )
qy-b
Au  A
sin(90    b )
qy
90+b u sin(q x   )
b qx Av  A
 Au sin(90    b )
Ax x

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B: Using Vector Addition

Case 1: One Base Vector Known
y y
-A
B P P

b
x x
A
When vector A is known, subtract A from P

B=P-A

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Case 2: Two Directions Known

y

P

b
x

Write unit vectors:

aˆ  ˆ
bˆ  cos   b ˆ  sin   b  ˆj

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Write the components of P:

P  P cos bˆ  P sin b ˆj  Aaˆ  Bbˆ

and write the vector sum equation.

Next, write the x and y component equations:
P cos b  A  B cos   b  x-components

P sin b  B sin   b  y-components

Here, we have two equations in two

unknowns, A and B. Solve the equations.

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For example, using the numerical values:

P = 100 lb,  = 10º, b = 20º
Set up the system of equations to solve:
P cos β = 93.97 = A + 0.866 B x-components

P sin β = 34.20 = 0 A + 0.5 B y-components

Solving yields: B = 68.4 lb and A = 34.7 lb

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Linear Algebraic Systems

Write the x- and y-component equations in
matrix form as follows:

93.97  1 0.866   A
   B
 34.2   0 0.5  
Solve with your calculator.

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Multiplying Vectors
There are three basic ways vectors are multiplied
– Scalar times a vector
– Scalar product
• Often called the “dot” product
– Cross or vector product

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Dot Product
Consider two vectors A and B with included
angle q A

q
B

By definition, the dot product is

A • B = |A| |B| cos q

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Dot Product of Base Vectors

• Let A and B be the base vectors and we find
ˆi ·ˆi  1; ˆj ·ˆj  1; kˆ ·kˆ  1
since q = 0, then cos q = 1
• Also note that
ˆi ·ˆj  0; ˆj ·kˆ  0; ˆi ·kˆ  0
since q = 90°, then cos q = 0

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Writing the Components

The dot product between two vectors is:
 
A ·B = Ax ˆi  A y ˆj  Az kˆ . B x ˆi  B y ˆj  B z kˆ 
= Ax Bx  Ay B y  Az Bz
Components of a vector may be easily found
A.ˆi  Ax ; A.ˆj  Ay ; A.kˆ  Az
2
And finally A ·A  A

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Applications
• Determine the angle between two arbitrary
vectors
A ·B
q  cos 1
A B
• Components of a vector parallel and
perpendicular to a specific direction
A||   A·uˆ  uˆ  A cos q uˆ and A   A   A ·uˆ  uˆ

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