Chapter one

Vectors
All quantities in engineering mechanics are measured using either
scalar or vectors.

Scalar :
A scalar is any positive or negative physical quantity that can be
completely specified by its magnitude. Examples of scalar quantities
include length, mass , temperature and time.

Vector :
A vector is any physical quantity that requires both a magnitude
and a direction for its complete description. Examples of vectors in
statics are force, position, and moment.
A vector is shown graphically by an arrow. The length of the arrow
represents the magnitude of vector, and the angle θ between the
vector and a fixed axis defines the direction of its line of action.
The magnitude of vector is represented by bold face letters such as
A , a vector quantity denote by simply drawing an arrow on top of


it , A .
 Fig. (4)



Two vectors A and B are said to be equal if they have the same
magnitude and the same direction

 A
= B





A =B ⇒ 

θ = φ


A

B
θ
φ

Fig. (5)
Vector operations
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.
• If a vector is multiplied by a negative scalar, it will also change
the direction of the vector graphic examples of this operations
are shown in fig. (6).
(

Fig. (6)

Vector Addition::
Vectors addition can be accomplished either graphically using the
parallelogram rule or triangle rule.

1) The parallelogram rule

All vector obey the parallelogram law of addition. If we have two



vectors A , B are added to form a resultant vector R = A + B
Which can be represented in magnitude and direction by the



diameter of the parallelogram in which both A and B are two
adjacent sides.

Fig. (7)

2) Triangle rule



We can add A to B using the triangle rule, which is a special case



of the parallelogram rule. A , B are two vectors can be represented

by two sides of a triangle have the same periodic direction , and the
resultant considered as the third side of the triangle , and its



direction is the opposite direction of rotation of A , B . as in fig. (8).
 Fig. (8)

R =A +B = B + A

The vector addition is commutative.

From the triangle in fig. (9)
( ) the magnitude of resultant vector (or
resultant force ) can be determined using the law of cosines, and the
direction is determined from the law of sines. The magnitudes of two
forces are determined from the cosines law. The formulas are given:

Cosine law :

C = A2 + B 2 − 2AB cos c

Sine law :
A B C
= =
sin a sin b sin c
 Fig. (9)

Vector subtraction



The resultant of the difference between two vectors A and B
may be expressed as

R = A − B = A + (−B )

This vector sum is shown graphically in fig. (1

(10)) subtraction is
therefore defined as a special case of addition, so the rule of vector
addition also apply to vector subtraction.
 Fig. (10)

The triangle rule can be generalized to any number of vectors to

form a vector polygon. Let A , B , C , D be any vectors in plane

and we want to represent their sum graphically, we choose a

suitable scale to drew the vectors, and drew th
them
em in certain periodic
order as in fig.(11)) then their resultant will be the vector who will
closed the polygon in opposite direction of the periodic order. Then

R =A +B +C + D
 D
B C
C
R
A

D
A

Fig. (11)

Finding a Resultant Force

The two component forces F1 and F2 acting on the pin can be

added together to form the resultant force FR = F1 + F2 as shown

in fig. (12).
). From this construction, or using the triangle rule, we can
apply the law of cosines or the law of sines to the triangle in order to
obtain the magnitude of the resultant force and its direction.

Fig. (12)
Finding the components of a force:
force
Sometimes it is necessary to resolve a force into two components in
order to study its pulling or pushing effect in two specific directions.
(1 , F is to be resolved into two components
For example, in fig. (13)
along the two members, defined by the u and v axes. In order to
determine the magnitude of each component, a parallelogram is
constructed first. This parallelogram can then be reduced a triangle,
which represent the triangle rule. From this, the law of sines can
then be applied to determine the unknown magnitudes of the
components.

Fig. (13)
Addition of Several Forces
Forces:
If more than two forces are to be added, successive applications of
the parallelogram law can be carried out in order to obtain the

resultant force. For example, if three forces F1 , F2 , F3 act at a

point O , fig. (14),

), the resultant of any two of the forces is found, say,

F1 + F2 , and then this resultant is added to the third force, yielding

( )
the resultant of all three forces ; i.e. FR = F1 + F2 + F3 . Using

the parallelogram law to add more than two forces, as shown.

Fig. (14)
Components of a vector in two dimensions :
When a force is resolved into two components along the x and y
axes, the components are then called rectangular components. For
analytical work we can represent these components in one of two
ways, using either scalar notation or Cartesian vector notation.

Scalar Notation :
The rectangular components of force shown in fig. (15
(15) are found

using the parallelogram law , so that F = Fx + Fy , because these

components from a right triangle , their magnitudes can be

determined from

Fx = F cos θ , Fy = F sin θ

Fig. (15)
Cartesian vector :
It is possible to represent the x and y components of a force in terms
of Cartesian unit vectors i and j. Each of these unit vectors has a
dimensionless magnitude of one, and they used to the directions of
the x and y axes, respectively. Fig. ((16)
We can express F as a Cartesian vector,

F = Fx i + Fy j

Fig. (16)

Resultant of forces in two dimensions :

The resultant of several coplanar forces can be determine by resolve
each force into its x and y components, and then the respective
components are added using scalar algebra since they are collinear.
The resultant force is then formed by adding the resultant
components using the parallelogram law. For example, consider the
three concurrent forces. As in fig.(17),
fig.( (18)

F 1 = F1x i + F1y j

F 2 = −F2x i + F2y j

F 3= F3x i − F3y j

Fig. (17)
The vector resultant is therefore

F R= F 1 + F 2 + F 3

= F1x i + F1y j − F2x i + F2y j + F3x i − F3y j

= (F1x − F2x + F3x ) i + (F1y + F2y − F3y ) j

= (FRx ) i + (FRy ) j

Then we have
+
→ FRx = F1x − F2x + F3x

+ ↑ FRy = F1y + F2y − F3y

FRx = ∑ F x
Fig. (18
18)
FRy = ∑ F y

The resultant force can be determine from vector addition, as in

). The magnitude of FR is
fig.(19).

F R = F 2Rx + F 2Ry

The direction of the resultant force is

FRy
θ = tan−1
FRx

Fig. (19)
Cartesian vectors in the space (in three dimensions) :
In this section we will present a general method for solving problems
in three dimensions , are greatly simplified if the vectors are first
represented in Cartesian vector form ; then in the next section we
will use this method for finding the resultant force of a system of
concurrent forces.

Components of a vector in three dimensions :

A vector A may have one , two ,or three rectangular components
along the x , y , z coordinate axes, depending on how the vector is
oriented relative to the axes. In three dimensions, the set of
Cartesian unit vectors i , j , k is used to designate the directions of
the x , y , z axes, respectively. Fig. ((20)

Fig. (20)
Since the three components of A act in the positive i , j , k
directions, fig. (21).
). we can write A in Cartesian vector form as

A = Ax i + Ay j + Az k

Fig. (21)

It is possible to obtain the magnitude of A provided it is expressed in

Cartesian vector form. Fig.(
Fig.(22).

A = Ax 2 + Ay 2 + Az 2
 Fig. (22)

We will define the direction of A by the coordinate direction angles

α (alpha) , β (beta) , γ (gamma), measured between the tail of

A and the positive x , y , z axes provided they are located at the tail
of A , fig. (23).

Ax Ay Az
cos α = , cos β = , cos γ =
A A A
 Fig. (23)

Unit vector :
ˆ in the direction of A , fig. ((26), can be
A unit vector uA or A

express as :

A i + Ay j + Az k
ˆ= A = x
A
A Ax 2 + Ay 2 + Az 2

Ax Ay Az
= i + j+ k
A A A

ˆ = cos α i + cos β j + cos γ k

A
 ˆ Has a magnitude of one , then from the above equation an
uA or A

important relation between the direction cosines can be formulated

as

cos2 α + cos2 β + cos2 γ = 1

A May be expressed in Cartesian vector form as

ˆ
A=A A

= A cos α i + A cos β j + A cos γ k

= Ax i + Ay j + Az k

Addition of vectors (or forces) in three dimensions :

The addition (or subtraction) of two or more vectors can be
expressed if we have the vectors in terms of their Cartesian
components.fig. (24). For example , if

A = Ax i + Ay j + Az k

B = Bx i + By j + Bz k
 Fig. (24)

Then the resultant vector, R , has components which are the scalar
sums of the i , j , k components of A and B ,i.e.,

( )
R = A + B = (Ax + Bx ) i + Ay + By j + (Az + Bz ) k

If this is generalized and applied to a system of several concurrent

forces, then the resultant
resultant of forces is the vector sum of all forces in
the system , can be written as

FR = ∑F = ∑F x
i + ∑ Fy j + ∑ Fz k
Position vector
A position vector r is defined as a fixed vector which locates a point
in space relative to another point. For example , if r extends from
the origin of coordinates, O , to point p (x , y , z) , fig. ((25) then r
can be expressed in Cartesian vector form as

r = x i + yj + zk

Fig. (25)

In the more general case, the position vector may be directed from
point A to point B in space, fig.(26)
fig.( ) , it can be expressed as
rA + r = rB

r = r B − r A = (x B i + yB j + z B k ) − (x A i + yA j + z Ak )

r = (x B − x A ) i + (yB − yA ) j + (z B − z A ) k

Fig. (26)

Force vector directed along a line :

The direction of a force is specified by two points through which its
line of action passes, such as shown in fig. (27)
( ) , where the force F is
directed along the cord AB. We can formulate F as a Cartesian
vector by realizing that it has the same direction
direction and sense as the
position vector r directed from point A to point B on the cord.
r
This common direction is specified by the unit vector u F =
r
hence
 
 r  
(x B − x A ) i + (yB − yA ) j + (z B − z A ) k 

F = Fu F = F   = F  
 r   2 2 2 

 (x B − x A ) + (yB − yA ) + (z B − z A ) 

Fig. (27)

Example (1)
If the two points A(1,2,3) , B(3,-4,6)
B(3, form vector AB . Find its

components on the coordinates axes in the Cartesian form. Then

find its magnitude and its direction.

Solution

Vector AB can formed by

AB = (Bx − Ax ) i + (By − Ay ) j + (Bz − Az ) k

= (3 − 1) i + (−4 − 2) j + (6 − 3) k

= 2 i + (−6) j + 3k

The magnitude of vector AB

2
AB = 22 + (−6) + 32 = 7

Its direction is α , β , γ can be find by

2 −6 3
cos α = , cos β = , cos γ =
7 7 7

Example (2)
If B = 4 i + 3 j + 5k , find the magnitude of B and its directions
cosines.

Solution
Bx = 4 , By = 3 , Bz = 5

B = Bx 2 + By 2 + Bz 2 = 42 + 32 + 52

= 50 = 5 2

Bx 4
l = cos α = = ∴ α = 55.54
B 5 2

By 3
m = cos β = = ∴ β = 64.89
B 5 2

Bz 5
n = cos γ = = ∴ γ = 45
B 5 2

Notes :

The unit vector of vector B is B

  4 3 5 

B =  , ,
 5 2 5 2 5 2 

It is easy to prove that its magnitude equals to one (unit) and also
make the same angles that the vector B makes with axes of the

coordinates.
Example (3)
Find the distance between the two points
(
A = 2,1, 0 ) , (
B = 3, 3, − 2 )
Solution

(
OA = 2,1, 0 ) m (
, OB = 3, 3, − 2 )
(
AB = OB − OA = 3, 3, − 2 − 2,1, 0 = 1, 2 − 2 ) ( ) ( ) m

2 2 2
∴ AB = (1) + (2) + (−2) = 3 m

The distance between points A , B is 3 m .

Example (4)
The wire AB is attached to the two palm trees as shown in fig., find
the length of wire and its direction.

A
Solution
First we get the coordinates of the two points A ,B

A = (9, −5, 7), B = (2, 5, 9)

( )
AB = (2 − 9) i + 5 − (−5) j + (9 − 7 ) k

AB = −7 i + 10 j + 2k

2 2 2
AB = (−7) + (10) + (2) = 12.369

The length of wire is 12.369

AB
∵ U =
AB

−7 i + 10 j + 2k
∴ U =
12.369

∴ U = −0.565 i + 0.808 j + 0.161k

∴ cos α = −0.565 ⇒ α = 124.4

∴ cos β = 0.808 ⇒ β = 36, 099

∴ cos γ = 0.161 ⇒ γ = 80.735

Example (5)
force of magnitude is F = 200 N makes angles 60 , 45 , 120 ,

with perpendicular axes x , y , z respectively. Find the

components of this force ?

Solution

1
l = cos α = cos 60 =
2

1
m = cos β = cos 45 =
2

1
n = cos γ = cos 120 = −
2

1 1 1 

( )
F = F l i + m j + nk = 200  i +
 2
j − k 
2 
2

∴ F = 100 i + 100 2 j − 100k

Example (6)
Find the magnitude and direction of resultant of system forces

F 1 = 2 i − 3 j + 5k (N ) , the magnitude of F 2 is 10 N and affects

on the + ve direction of y axis , the magnitude of F 3 is 5 2 N

and lie on the plane which parallel to xy plane and make angle 45

with the +ve x- axis .

Solution

F 2  +ve y-axis, so it has the same unit vector of y-axis.

 = j
F , F 2 = 10 j
2

F 3  xy plane then has two components in direction of +ve x-

axis and +ve y-axis, both of them equal 5 2 cos 45 = 5 N .

∴ F 3 = (5, 5, 0) N

∴ R = F1 + F2 + F3

( ) (
= 2 i − 3 j + 5k + (10 j ) + 5 i + 5 j )
= 7 i + 12 j + 5k
 2 2 2
R = (7) + (12) + (5) = 218 N

= 7 12 5
R i + j + k
218 218 218

Example (7)
If F1 , F2 , F3 , F4 are forces as shown in fig. Determine the magnitude
and direction of resultant of these forces.

Solution
F 1 = 30 i

F 2 = 20 cos 40 i + 20 sin 40 j

∴ F 2 = 15.32 i + 12.855 j

4 3
F 3 = −50   i + 50   j
 5   5 

∴ F 3 = −40 i + 30 j

F 4 = −70 j

To obtain the resultant force by add the components of these forces

as
4
∴ R = ∑ Fi = (30 + 15.32 − 40) i + (12.855 + 30 − 70) j
i =1

R = 5.32 i − 27.145 j

2 2
∴R= (5.32) + (−27.145) = 27.661 N
The resultant direction

−27.145
tan θ = ⇒ θ = −78.91
5.32
Example (8)
Express the shown force in Cartesian form , knowing that it has a

magnitude of 50 N and direction angles α = 75 , β = 45

Solution

∵ F = FU

U = cos α i + cos β j + cos γ k

∵ 1 = cos2 α + cos2 β + cos2 γ

∴ 1 = cos2 75 + cos2 45 + cos2 γ

∴ cos2 γ = 0.433

∴ cos γ = 0.658

∴U = cos 75 i + cos 45 j + 0.658k

∴U = 0.258 i + 0.707 j + 0.658k

∴ F = 50 (0.258 i + 0.707 j + 0.658k )

∴ F = 12.9 i + 35.35 j + 32.9k

Example (9)
The man shown in fig. pull on the cord with a force of 70 lb.
represent this force acting on the support A as a Cartesian vector
and determine its direction.
Solution

Force F is shown in fig. The direction of this vector, u F is

determined from the position vector r , which extends from A to B

. A (0 ,0, 30) , B (12 , -8 , 6) , thus

r = AB = B − A = 12 i − 8 j − 24k

The magnitude of r , which represents the length of cord AB , is

2 2 2
r= (12) + (−8) + (−24) = 28 ft

Forming the unit vector that defines the direction of both r , F ,

we have

r 12 8 24
u AB = = i − j− k
r 28 28 28

 12 8 24 
F = F u AB = 70  i − j − k 
 28 28 28 

= 30 i − 20 j − 60k

The coordinate direction angles are measured between r (or F )

and positive axes of a localized coordinate system with the origin
placed at A.
  12 
α = cos−1   = 64.6
 28 

 8
β = cos−1 −  = 107 
 28 

 24 
γ = cos−1 −  = 149
 28 

Example (10)

(
Force of magnitude is F = 10 50 N start from point A 2, 1, 3 )
( )
passing through point B 5, 6, 7 , find the components of this

force?
Solution

Where the direction of force F is the same direction of vector AB

 =F
AB 

( ) ( ) (
AB = B − A = 5, 6, 7 − 2,1, 3 = 3, 5, 4 ) cm

AB = 9 + 25 + 16 = 50 cm

= 3 i + 5 j+ 4 k
AB
50 50 50
Then the components of force F can be obtained by


F = FFˆ = FAB

 3 5 4 
= 10 50  i + j+ k 
 50 50 50 

F = 30 i + 50 j + 40k

Example (11)
Vertical wall OBCD has rectangle shape, its dimensions
OB = 8 m , BC = 27 m , fixed by two cables AB , AC as
shown in fig. . The tension force of cable AB = 840 N , and the
tension force of cable AC = 1200 N , find the magnitude and
direction of resultant of two forces whose affects
affects at point A ?

Solution
Suppose that the tension force in cable AB is TAB , and the tension
force in cable AC is TAC .

So the resultant of the two forces is R = T AB + T AC

We find the vectors T AB , T AC

T AB = AB
 , T AC = AC


( ) ( ) (
AB = B − A = 0, 0, 8 − −11,16, 0 = 11, − 16, 8 )
2 2 2
AB = (11) + (−16) + (8) = 121 + 256 + 64 = 441 = 21

 = 11 i − 16 j + 8 k
T AB = AB
21 21 21

 11 16 8 
T AB = T AB T AB = 840  i − j + k 
 21 21 21 

by similar
 (
AC = C − A = −27 , 0, 8 − −11,16, 0) ( )
(
AC = −16, − 16, 8 )
2 2 2
∴ AC = (−16) + (−16) + (8) = 256 + 256 + 64

= 576 = 24

 = −16 i − 16 j + 8 k
T AC = AC
24 24 24

  −16 16 8 
T AC = T AC 
T AC = 1200  i − j + k
 24 24 24 

T AC = −800 i − 800 j + 400k

So the resultant force at A is

R = T AB + T AC = −360 i − 1440 j + 720k

The magnitude of the resultant force is

2 2 2
R= (−360) + (−1440) + (270) = 1650 N
And its direction
 −360
α = cos−1 = 102.6
1650

−1440
β = cos−1 = 150.8
1650

720
γ = cos−1 = 64.1
1650

Example (12)
Two forces F1 , F2 as shown in fig.. Determine the magnitude and
direction angles of the resultant of the two forces.

Solution

For force F1
 
∵ F 1 = F1 F 1


F1 =
( ) ( )
2 − (−3) i + 4 − (−3) j + (5 − 6) k
2 2 2
() () ( )
5 + 7 + − 1

(5) i + (7) j + (−1) k

F 1 = 100
25 + 49 + 1

∴ F 1 = 57.735 i + 80.829 j − 11.547k

For force F2


∵ F 2 = F2 F 2


F2 =
( ) ( )
2 − (−3) i + 4 − (−3) j + (0 − 6) k
2 2 2
(5) + (7) + (−6)

(5) i + (7) j + (−6) k

F 2 = 120
25 + 49 + 36

∴ F 2 = 57.207 i + 80.09 j − 68.649k

∵ R = F1 + F2

∴ R = (57.735 + 57.207 ) i + (80.829 + 80.09) j + (−11.547 − 68.649) k

∴ R = 114.942 i + 160.919 j − 80.196k

2 2 2
∴R= (114.942) + (160.919) + (−80.196)

∴ R = 213.396 N

The direction of the resultant force

114.942
α = cos−1 = 57.409
213.396

160.919
β = cos−1 = 41.054
213.396

−80.196
γ = cos−1 = 112.074
213.396

Example (13)
Determine the magnitude and direction of the force F2 , such that

the resultant of the two forces F1 , F2 coincides with the positive

direction of z- axis and has a magnitude of 500 N .

Solution

∵ R = 500 k = F 1 + F 2 (1)

The force F1 can be expressed in Cartesian form as

 2 i + 6 j + 6k 
 
∴ F 1 = 300 
 2 + 6 + 6 
2 2 2

∴ F 1 = 68.824 i + 206.474 j + 206.474k

The force F2 can be expressed in Cartesian form as

∴ F 2 = F2x i + F2y j + F2z k

By substitution in (1)
∴ R = 500 k = (68.824 + F2x ) i + (206.474 + F2y ) j + (206.474 + F2z ) k

By equating left hand side and right hand side:

For i th components :

∴ 0 = 68.824 + F2x

F2x = −68.824 N

For j th components :

∴ 0 = 206.474 + F2y

F2y = −206.474 N

For k th components :

∴ 500 = 206.474 + F2z

F2z = 293.526 N

2 2 2
∴ F2 = (−68.824) + (−206.474) + (293.526)

∴ F2 = 365.411 N

The direction of force F2

 −68.824
∴ cos α = ⇒ α = 100.856
365.411

−206.474
∴ cos β = ⇒ β = 124.405
365.411

293.526
∴ cos γ = ⇒ γ = 36.555
365.411

Vector multiplication:
Two kinds of product of vectors, the dot product and cross product,
have been found to have applications in the science and engineering.
Especially, in mechanics and electromagnetic field theory.

Dot product
The dot product of two vectors is a scalar quantity that has many
uses , including determining the components of a vector parallel
and perpendicular to a given line and determining the angle
between two vectors and two lines in space.
The dot product of vectors A and B is a scalar quantity, and is

defined as the product of the magnitude of the vectors and cosine of

their included angle

A iB = A B cos θ = A B cos θ

It is to be noted that :

i) When θ = 0 i.e., when the vectors A and B are along the

same direction
A iB = A B cos 0 = A B

ii) When θ = 90 i.e., when the vectors A and B are

perpendicular to each other

A iB = A B cos 90 = 0

iii) A i B = A Times projection of B on A

= B Times projection of A on B
 iv) In terms of of components ,

( )(
A i B = Ax i + Ay j + Az k i Bx i + By j + Bz k )
= Ax Bx + Ay By + Az Bz

i , j and k Are the unit vectors along x , y and z directions

respectively, and

i i i = j i j = k i k =1 (∵ θ = 0 and cos 0 = 1)

i i j = j ik =k i i = 0 (∵ θ = 90 and cos 90 = 0)

v) The angle between the vectors A and B is

 A iB A iB
cos θ = =
A B AB

vi) The dot product defines the term work in the field of
dynamics.

Laws of operation :
1) Commutative law : A i B = B iA

2) Multiplication by a scalar :
( ) ( )
a AiB = a A iB = Ai a B ( )

3) Distributive law : A i(B + D ) = (A i B ) + (A i D )

Example (1)
Determine the angle between the two vectors
A= 2i + 2 j − k , B = 6 i − 3 j + 2k . and find the projection

of A on B and the projection of B on A .

Solution
A iB = (2)(6) + (2)(−3) + (−1)(2) = 4

2 2
A = 22 + 22 + (−1) = 3 , B = 62 + (−3) + 22 = 7

A iB 4 4
cos θ = = = ⇒ θ = 79
A B (3)(7 ) 21

A iB 4
projection of Aon B = =
B 7

A iB 4
projection of B on A = =
A 3

Example (2)

A = 3 i + j + 2k

If B = i + 3k

C = i − j + 4k

Find
1) The angle between the two vectors B ,C .

2) The projection of A on the vector D where D = C − B .

Solution

1) Suppose that the angle between the two vector B ,C is θ

B iC BxC x + ByC y + BzC z

∴ cos θ = =
B C Bx 2 + By 2 + Bz 2 C x 2 + C y 2 + C z 2

(1)(1) + (0)(−1) + (3)(4) 13

= =
2 2 2 2 2
(1) + (3 ) (1) + (−1) + (4) 10 18

∴ θ = cos−1 0.969 = 14 30′

2) The vector D is D = C − B

(
D = C − B = ( i − j + 4k ) − i + 3k = − j + k )
The projection of vector A in direction D

 − j + k  −1 + 2 1
 
( 
A iD = 3 i + j + 2k i )  = =
 2  2 2
Example (3)
If a flag supported by the two wires (cables) AB , AC . Find the
projection of tension force TAB on direction of tension force TAC
and also find the projection of tension force TAC on direction of
tension force TAB . Find the angle between this two forces.

Solution
Write the tension force by vector form as

For Force TAB

  −2 i − 6 j − 2k 

∴ T AB = 10  
 6.633 

∴ T AB = −3.015 i − 9.045 j − 3.015k

For Force TAC

 2 i − 5 j − 3k 

∴ T AC = 15  
 6.164 

∴ T AC = 4.866 i − 12.167 j − 7.3k

The projection of tension force TAB in direction of tension force

TAC

= T AB i U AC

 
 2 i − 5 j − 3k 
∴ (
= −3.015 i − 9.045 j − 3.015k i

) 6.164



  2   −5   −3 
 
= −3.015  
 − 9.045   − 3.015   = 7.826 N
  
  
 6.164   
 6.164   6.164 


The projection of tension force TAC in direction of tension force

TAB
= T AC i U AB

 −2 i − 6 j − 2k 

(
∴= 4.866 i − 12.167 j − 7.3k i

) 6.633



  −2   −6   −2 
 
= 4.866  
 − 12.167  
 − 7.3   = 11.739 N
  6.633   6.633   6.633 

The angle between the two tension force

T AB iT AC (−2 i − 6 j − 2k )i(2 i − 5 j − 3k )
∴ cos θ = =
T AB T AC (6.633)(6.164)
32
∴ cos θ =
40.885

∴ θ = 38.493

Cross (vector) product :

The cross product of vectors A and B is a vector quantity and

defined as the product of the magnitude of the vectors and the sine
of the smaller angle between the vectors. Its direction is
perpendicular to the plane containing the vectors.

If n̂ is the unit vector which gives the direction of the

perpendicular vector, then

C = A× B = A B sin θ nˆ = A B sin θ nˆ

If A = Ax i + Ay j + Az k and B = Bx i + By j + Bz k

Then the cross product in terms of rectangular components is given

by
 i j k
A× B = Ax Ay Az
Bx By Bz

= (Ay Bz − By Az ) i − (Ax Bz − Bx Az ) j + (Ax By − Bx Ay ) k

Further it is to be noted that :
i) A × B = 0 if θ = 0 or π

i × i = j × j =k ×k = 0
ii)
i × j = k ; j ×k = i and k × i = j

iii) The cross product defines the term moment of force.

iv) The magnitude of the cross product can be interpreted as

the positive area of the parallelogram having A and B as
two adjacent sides

area = A× B = A B sin θ = A B sin θ

Example (1)
Find the area of triangle ABC where

( )
A = 1,1,1 , B = 2, 2, 2 ( ) (
, C = 4 , 3, 5 ) .

Solution

1
We know that the area of triangle ABC is
2
( )( ) and also
AB BC

1
equal AB × BC
2

i j k
AB × BC = 1 1 1 = 2i − j − k
2 1 3

2 2
AB × BC = 22 + (−1) + (−1) = 6

1 6
So the area of triangle is AB × BC =
2 2

Example (2)
Find the moment of force F = 2 i − 2 j + 3k which acting at point

( )
A 3,1,1 about the origin point 0, 0, 0 . ( )
Solution

M = OA × F = −F ×OA

i j k
M = 3 1 1 = 5 i − 7 j − 8k
2 −2 3

Example (3)
Find the area of triangle whose coordinate points are

( ) ( ) ( )
a = 2, 3, 0 , b = 3, 2, − 1 , c = 0, − 1, 2 , and find the

perpendicular unit vector on its plane.

Solution

The two sides of triangle are ab , ac

 ( ) ( ) (
∴ ab = b − a = 3, 2, − 1 − 2, 3, 0 = 1, − 1, − 1 )
( ) ( ) (
ac = c − a = 0, − 1, 2 − 2, 3, 0 = −2, − 4, 2 )
The cross product of the two sides

i j k
ab × ac = 1 −1 −1 = −6 i − 6k
2 −4 2

Then the area of triangle whose ab , ac are the two adjacent

sides equal

36 + 36
△= = 18
2
ɵ
The perpendicular unit vector on its plane is n

ɵ = −6 i − 6k = − 1 i − 1 k
n
72 2 2

Example (4)
Find the area of parallelogram whose diagonals are
2m − n , 4m − 5n where m , n are unit vectors which make angle

of measure 45 with each other.

Solution
Suppose that the two adjacent sides of parallelogram are a , b

where the first diagonal equals a + b and the second diagonal

equals a − b so

a + b = 2m − n , a − b = 4m − 5n

By adding

2a = 6 (m − n )

∴ a = 3 (m − n ) , b = 2n − m

The area of parallelogram is

 −3   6  3
▱= a × b = 3 (m − n ) × (2n − m ) =   +   =
 2   2  2

Triple products
If we have three vectors A , B ,C there are two kinds of triple
products:

1) The scalar triple product of the three vectors A , B ,C is

defined as
 Ax Ay Az
( )
A i B ×C = Bx By Bz
Cx Cy Cz

This product is also known as the mixed triple product. We can also
compute the volume V of parallelepiped having A , B and C

as sides by using a mixed triple product.

2) The vector triple product of the three vectors A , B and C is

defined as

( ) ( )
A ∧ B ∧ C = A iC B − A i B C ( )
Example (1)
Find the value of y so that vectors
( ) ( ) ( )
a = 2,1, − 2 , b = 1,1, 3 , c = 1, y , 0 can lie on the same plane.

Solution

2 1 −2
( )
a i b × c = 1 1 3 = −6y + 3 − 2y + 2 = −8y + 5
1 y 0

And for the three vectors lie on the same plane , the scalar triple
product must be vanished, so that :

∴ −8y + 5 = 0

5
∴y =
8

Example (2)
The three points A , B ,C have a coordinates

( ) ( ) ( )
A = 0, 4, 3 , B = 2, 3, 6 , C = −2, 0, 2 . Are the three points
in addition to the origin point O on the same plane ?
Solution
We form from the four points O , A , B ,C three vectors beside each

other and intersect at one point, let it be point O . Then prove that
the scalar triple product of the three vectors equal zero as a
condition that the points are on the same plane.

(
OA = A − O = 0, 4, 3 )
(
OB = 2, 3, 6 )
(
OC = −2, 0, 2 )
0 4 3
OA i(OB ×OC ) = 2 3 6 = −4 (4 + 12) + 3 (6)
−2 0 2

= −64 + 18 = −46

Whereas the scalar triple product not equal to zero , so that the
three vectors are not on the same plane. i.e. the four points
O , A , B ,C are not on the same plane .
Example (3)
A (1,1,1) , B ( 4, 4, 4 ) ,C ( 3, 5, 5 ) , D (2, 4, 7 ) Are four points in

space , find the volume of the quadrilateral pyramid ABCD ?

Solution

The volume of the quadrilateral pyramid ABCD equal 1 the

6
volume of the parallelepiped , whose sides are the vectors

AB , AC , AD .

(
AB = 3, 3, 3 )
(
AC = 2, 4, 4 )
(
AD = 1, 3, 6 )
3 3 3
1 1 18
V =
6
( )
AB × AC iAD = 2 4 4 =
6 6
=3
1 3 6
Equation of line in space

(
The equation of line passing through the point P x  , y , z  ) with

position vector r  and parallel to a known vector C , let

( )
P x , y , z be any point on the line , its position vector is r , then

the vector from P to P is (r − r  ) . so we have (r − r )  C



hence :

(r − r ) ∧C = 0


This is the vector equation of line in space.

Since we have (r − r  )  C , then (r − r  ) = λ C

By equating the components on each sides, we get the parametric

equations :
(x − x ) = λ C
 x
⇒ x = x + λ Cx

(y − y ) = λ C
 y
⇒ y = y + λ C y

(z − z ) = λ C
 z
⇒ z = z + λ Cz

We obtain symmetric equation or scalar equation by eliminate λ

from equations

x − x y − y z − z
λ= , λ= , λ=
Cx Cy Cz

x − x y − y z − z
= =
Cx Cy Cz

Example (1)
Find the vector equation of the straight line passing through two

( ) ( )
points A 1, 2, − 3 , B 2 , 0 , − 1 , and find the parametric and

symmetric equations of the straight line .

Solution

First we get the vector C = AB that  the straight line

 ( ) (
C = AB = B − A = 2, 0, − 1 − 1, 2, − 3 )
(
= 1, − 2, 2 )
(
The straight line passing through point A 1, 2 , − 3 ) and  the

( )
vector C = AB . let P x , y , z be any point on the line , its

position vector is r

The vector equation of The straight line

(r − r ) ∧C = 0


((x , y , z ) − (1, 2, − 3)) ∧ (1, − 2, 2) = 0

i j k
x −1 y −2 z + 3 = 0
1 −2 2

The parametric equations are

(x − 1) = λ ⇒x = 1 +λ

(y − 2) = −2λ ⇒ y = 2 − 2λ

(z + 3) = 2 λ ⇒ z = −3 + 2λ
symmetric equations

x −1 y −2 z +3
= =
1 −2 2

Equation of a plane in space

(
The equation of the plane passing through the point P x  , y , z  )
with position vector r  and vector C perpendicular to the plane.

( )
Let P x , y , z is any point in the plane whose position vector r

, since both P and P lie in the same plane , then the vector

(r − r )
 lie in the same plane and perpendicular to the vector C .

then the dot product of (r − r ) and

 C is zero. The equation of

plane will be :

(r − r ) i C = 0

 C

Example (1)

(
Find the equation of plane passing through the point A 1, 3 , 2 )
and perpendicular to the vector B = 2 i + j − 2k . Does point

( )
C − 1, 1, − 1 lies on that plane ?

Solution

( )
Let P x , y , z is any point in the plane whose position vector r

(
, The equation of plane passing through the point A 1, 3 , 2 ) and

perpendicular to the vector B = 2 i + j − 2k is :

 (r − r ) i B
 = 0

 x , y , z − 1 , 3 , 2  i 2 , 1 , −2 = 0
(
 ) (  ) ( )
2 (x − 1) + (y − 3) − 2 (z − 2) = 0

2x − 2 + y − 3 − 2z + 4 = 0

Then the Cartesian equation of plane is

2x + y − 2z = 1

( )
By substituting in equation of plane by point C − 1, 1, − 1 we get

−2 + 1 + 2 = 1

(
So that coordinates of point C − 1, 1, − 1 ) satisfied the equation of
plane .
∴ The point C lie on plane .

Example (2)
If
( ) ( ) ( )
OA = 0 , 4 , 3 , OB = 2 , 3 , 6 , OC = − 2 , 0 , 2 , OD = 1,1,1 ( )
where O is the origin point .

1) Find the projection of DA on AB .

 2) Fid the area of triangle ABC .
3) Are the points A , B , C , D on the same plane ?
4) Find the Cartesian (symmetric) equation of the straight line
AC .
5) Find the Cartesian equation of the plane ABC .

Solution
1)

DA = OA −OD

( ) ( ) (
= 0, 4, 3 − 1,1,1 = −1, 3, 2 )
AB = OB − OA

( ) ( ) (
= 2, 3, 6 − 0, 4, 3 = 2, − 1, 3 )

The projection of DA on AB is

 2, − 1, 3 ( )
(
DA i AB = −1, 3, 2 i )
14

−2 3 6 1
= − + =
14 14 14 14

2) The area of triangle ABC

 AC = OC − OA

( ) ( ) (
= −2, 0, 2 − 0, 4 , 3 = −2, − 4 , − 1 )
i j k
AB × AC = 2 −1 3 = 13 i − 4 j − 10k
− 2 −4 −1

1
The area of triangle △ABC = AB × AC
2

1 285
∴ △= 169 + 16 + 100 =
2 2
3) Form three vectors AB , AC , AD where

( ) ( ) (
AB = 2 , − 1, 3 , AC = − 2 , − 4 , − 1 , AD = 1, − 3, − 2 )
The scalar triple product of this vectors

2 −1 3
( )
AB i AC × AD = −2 − 4 − 1
1 −3 −2

= 2 (8 − 3) + 1 (4 + 1) + 3 (6 + 4 )

= 10 + 5 + 30 = 45 ≠ 0
∴ The three vectors are not on the same plane , i.e. the four points

A , B ,C , D are not on the same plane .

4) The vector equation of the straight line AC is

(r − r ) ∧ AC = 0


AC = OC − OA

( ) ( ) (
AC = −2, 0, 2 − 0, 4 , 3 = −2, − 4 , − 3 )

((x , y , z ) − (0, 4, 3)) ∧ (−2, − 4, − 3) = 0

i j k
x y −4 z −3 = 0
−2 −4 −3

The parametric equation

x = −2λ

(y − 4) = −4λ ⇒ y = 4 − 4λ

(z − 3) = −3 λ ⇒ z = 3 − 3λ
The symmetric ( Cartesian ) equation

x y −4 z −3
= =
−2 −4 −3

5) The Cartesian equation of the plane ABC

C = AB × AC = 13 i − 4 j − 10k

(r − r ) i C
A =0

 
( ) ( ) ( )
 x , y , z − 0, 4 , 3  i 13, − 4 , − 10 = 0

13 (x − 0) − 4 (y − 4 ) − 10 (z − 3) = 0

13x − 4y + 16 − 10z + 30 = 0

The Cartesian equation of the plane is

13x − 4y − 10z + 46 = 0
 Exercise
1) The screw eye is subjected to two forces, F1 and F2
Determine the magnitude and direction of the resultant force.

2) Determine the magnitude and direction of the resultant force

acting on the ring in fig.

3) Two forces F1 and F2 determine the magnitude and direction

of the resultant force.
4)) Find the unit vector of the sum of two vectors

r 1 = 2 i + 4 j − 5k , r 2 = i + 2 j + 3k

5)) Determine the constant a where the two vectors are

perpendicular

A = 2 i + aj + k , B = 4 i − 2 j − 2k

6)) Prove that the vectors

A = 3 i − 2 j + k , B = i − 3 j + 5k , C = 2 i + j − 4k form a

right angle triangle

7)) Find the perpendicular unit vector on the plane containing the
two vectors

A = 2 i − 6 j − 3k , B = 4i + 3j − k

8)) Determine the area of triangle whose points are

( ) ( ) (
P 1, 3, 2 , Q 2, − 1,1 , R −1, 2 , 3 )
9) Express the force F shown in fig. as a Cartesian vector.

10)) Find the angles that the vector A = 3 i − 6 j + 2k make it with

coordinates axes.

11)) Find the work done of force F = 2 i − j − k affected on point to

move displacement r = 3 i + 2 j − 5k .

12) If A = 3 i − 2 j + k , B = i − 3 j + 5k , C = 2 i + j − 4k

Find

(
1) A×B ×C )
(
2) A× B ×C )
13)) Find the volume of parallelepiped which has three vectors ( as
three sides besides each other )
 A = 3 i − 2 j + k , B = i − 3 j + 5k , C = 2 i + j − 4k

14) If A = 2 i + 3 j , B = 2 i + j − k , C = 3 i + k find

(A×B ) iC .

15) An elastic rubber band is attached to point A and B as shown in

fig. Determine its length and its direction measured from A
toward B.

16) If
(
OA = a = 2 ,,1,
1, − 1 ) (
, OB = b = 1, − 2 , 0 ) (
, OC = c = 1, − 1, − 3 )
Prove that

a) a i (b + c ) = a i b + a i c .

b) a i (b × c ) = b i (c × a ) = c i(a × b ) .
c) Find the perpendicular unit vector on the triangle’s plane
ABC .
17) Find the component of force F = 5 i + 12 j in direction
a = 4 i − 3k write the vector in form F = F 1 + F 2 where F 1 in
the direction of a , F 2 is perpendicular on a .

18) Find the volume of triangle base pyramid whose vertices

coordinates are (2 ,1,1) , (1, − 1, 2) , (0 ,1, − 1) , (1, − 2 ,1)
19)Determine the constant a at which the vectors
A = 3 i + aj + 5k , B = 2 i − j + k , C = i + 2 j − 3k lie on the
same plane .
20) Find the equation of straight line passing through point A
(
where A 1, 2 , − 1 ) , and parallel to the of straight line
x −1 y − 3 z −4
= = .
2 −1 2
21) Find the equation of straight line passing through points A , B

( ) ( )
where r A = 1,1, 3 , r B = 8, 5,1 . Find the point of
intersection of straight line with the plane which passes through
the origin point and points C , D where

( ) (
r C = 1, 3, 3 , r D = 1, 0,1 . )
(
22) Find The equation of plane passing through point A 1, 2 , − 1 )
and parallel to the plane 2x + 3y − z = 0 .