Mechanics (Statics and Dynamics)

MCE 111
Force Vectors
Mohammed Khalil Ibrahim, Ph.D.
Professor & Aerospace Engineering Program Coordinator
[email protected]
Egypt-Japan University of Science and Technology
Contents
• Force Vectors, Vector Operations & Addition Coplanar Forces
• Cartesian Vectors and Their Addition & Subtraction
• Position Vectors & Force Vectors
• Dot Product
Lecture Objectives
• Resolve a 2-D vector into components.
• Add 2-D vectors using Cartesian vector notations.
• Represent a 3-D vector in a Cartesian coordinate system.
• Find the magnitude and coordinate angles of a 3-D vector
• Add vectors (forces) in 3-D space
• Represent a position vector in Cartesian coordinate form, from given
geometry.
• Represent a force vector directed along a line
• Determine an angle between two vectors and,
• Determine the projection of a vector along a specified line.
APPLICATION OF VECTOR ADDITION

There are three concurrent

forces acting on the hook due to
FR
the chains.
We need to decide if the hook
will fail (bend or break).

To do this, we need to know

the resultant or total force
acting on the hook as a result of
the three chains.
APPLICATIONS

Many structures and machines

involve 3-dimensional space.

In this case, the power pole has

guy wires helping to keep it upright
in high winds. How would you
represent the forces in the cables
using Cartesian vector form?
APPLICATIONS

This ship’s mooring line, connected to the

bow, can be represented as a Cartesian
vector.

What are the forces in the mooring line and

how do we find their directions?

Why would we want to know these things?

APPLICATIONS

If you know the physical

locations of the four cable ends,
how could you calculate the
angle between the cables at the
common anchor?
APPLICATIONS

For the force F applied to the wrench at Point A, what

component of it actually helps turn the bolt (i.e., the force
component acting perpendicular to arm AB of the pipe)?
Force Vectors, Vector Operations &
Addition Coplanar Forces
SCALARS AND VECTORS
Scalars Vectors
Examples: Mass, Volume Force, Velocity

Characteristics: It has a magnitude It has a magnitude

(positive or negative) and direction

Addition rule: Simple arithmetic Parallelogram law

Special Notation: None Bold font, a line, an
arrow or a “carrot”

In these PowerPoint presentations, a vector quantity is represented like

this (in bold, italics, and red).
VECTOR OPERATIONS

Scalar Multiplication
and Division
VECTOR ADDITION USING EITHER THE
PARALLELOGRAM LAW OR TRIANGLE

Parallelogram Law:

Triangle method
(always ‘tip to tail’):

How do you subtract a vector?

How can you add more than two concurrent vectors
graphically?
RESOLUTION OF A VECTOR

“Resolution” of a vector is breaking up a vector into

components.

It is kind of like using the parallelogram law in reverse.

QUIZ
For vector addition, you have to use ______ law.
A) Newton’s Second
B) the arithmetic
C) Pascal’s
D) the parallelogram
ADDITION OF A SYSTEM OF COPLANAR FORCES

• We ‘resolve’ vectors into

components using the x and y-
axis coordinate system.

• Each component of the vector is shown

as a magnitude and a direction.

• The directions are based on the x and y axes. We use the “unit vectors” i
and j to designate the x and y-axes.
For example,
F = Fx i + Fy j or F' = F'x i + (− F'y ) j

The x and y-axis are always perpendicular to each other.

Together, they can be “set” at any inclination.
ADDITION OF SEVERAL VECTORS

• Step 1 is to resolve each force

into its components.

• Step 2 is to add all the x-components

together, followed by adding all the
y-components together. These two
totals are the x and y-components of
the resultant vector.

• Step 3 is to find the magnitude and

angle of the resultant vector.
An example of the process:

Break the three vectors into components, then add them.

FR = F1 + F2 + F3
= F1x i + F1y j − F2x i + F2y j + F3x i − F3y j
= (F1x − F2x + F3x) i + (F1y + F2y − F3y) j
= (FRx) i + (FRy) j
You can also represent a 2-D vector with
a magnitude and angle.

FRy
 = tan −1
FR = F + F
2
Rx
2
Ry
FRx
EXAMPLE I

Given: Three concurrent forces

acting on a tent post.
Find: The magnitude and angle
of the resultant force.

Plan:
a) Resolve the forces into their x-y components.
b) Add the respective components to get the resultant vector.
c) Find magnitude and angle from the resultant components.
EXAMPLE I (continued)

F1 = {0 i + 300 j } N

F2 = {– 450 cos (45°) i + 450 sin (45°) j } N

= {– 318.2 i + 318.2 j } N
F3 = { (3/5) 600 i + (4/5) 600 j } N
= { 360 i + 480 j } N
EXAMPLE I (continued)

Summing up all the i and j components respectively, we

get,
FR = { (0 – 318.2 + 360) i + (300 + 318.2 + 480) j } N
= { 41.80 i + 1098 j } N
y
FR
Using magnitude and direction:
FR = ((41.80)2 + (1098)2)1/2 = 1099 N 
x
 = tan-1(1098/41.80) = 87.8°
CONCEPT QUIZ

Can you resolve a 2-D vector along three directions (say at 0, 60,
and 120°)?
A) Yes, but not uniquely.
B) No.
C) Yes, uniquely.
ATTENTION QUIZ
Determine the magnitude of the resultant (F1 + F2) force in N when
F1 = { 10 i + 20 j } N and F2 = { 20 i + 20 j } N .
A) 30 N B) 40 N C) 50 N
D) 60 N E) 70 N
Cartesian Vectors and Their Addition &
Subtraction
CARTESIAN UNIT VECTORS
For a vector A, with a magnitude of A,
an unit vector is defined as
uA = A / A .
Characteristics of a unit vector :
a) Its magnitude is 1.
b) It is dimensionless (has no units).
c) It points in the same direction as the
original vector (A).

The unit vectors in the Cartesian

axis system are i, j, and k. They
are unit vectors along the positive
x, y, and z axes respectively.
CARTESIAN VECTOR REPRESENTATION

Consider a box with sides AX, AY,

and AZ meters long.

The vector A can be defined as

A = (AX i + AY j + AZ k) m

The projection of vector A in the x-y plane is A´. The magnitude of

A´ is found by using the same approach as a
2-D vector: A´ = (AX2 + AY2)1/2 .
The magnitude of the position vector A can now be obtained as
A = ((A´)2 + AZ2) ½ = (AX2 + AY2 + AZ2) ½
DIRECTION OF A CARTESIAN VECTOR
The direction or orientation of vector A is defined
by the angles , β, and γ.
These angles are measured between the vector and the
positive X, Y and Z axes, respectively. Their range of
values are from 0° to 180°
Using trigonometry, “direction cosines” are found using
𝐴𝑥 𝐴𝑦 𝐴𝑧
cos𝛼 = cos𝛽 = cos𝛾 =
𝐴 𝐴 𝐴
These angles are not independent. They must satisfy the following equation.
cos²  + cos²  + cos²  = 1
This result can be derived from the definition of a coordinate direction angles and the unit
vector. Recall, the formula for finding the unit vector of any position vector:

or written another way, uA = cos  i + cos  j + cos  k .

QUIZ

The symbols , , and  designate the __________ of a 3-D

Cartesian vector.
A) Unit vectors B) Coordinate direction angles
C) Greek societies D) X, Y and Z components
ADDITION OF CARTESIAN VECTORS

Once individual vectors are written in Cartesian form, it is easy to add or

subtract them. The process is essentially the same as when 2-D vectors are
added.

For example, if
A = AX i + AY j + AZ k and
B = BX i + BY j + BZ k , then
A + B = (AX + BX) i + (AY + BY) j + (AZ + BZ) k
or
A – B = (AX - BX) i + (AY - BY) j + (AZ - BZ) k .
IMPORTANT NOTES

Sometimes 3-D vector information is given as:

a) Magnitude and the coordinate direction angles, or,
b) Magnitude and projection angles.

You should be able to use both these sets of information to change

the representation of the vector into the Cartesian form, i.e.,
F = {10 i – 20 j + 30 k} N .
EXAMPLE II

Given: Two forces F1 and F2 are

G applied to a hook.

Find: The resultant force in

Cartesian vector form.

Plan:
1) Using geometry and trigonometry, write F1 and F2 in
Cartesian vector form.

2) Then add the two forces (by adding x and y-components).

EXAMPLE II (continued)

Solution:
First, resolve force F1.

Fx = 0 = 0 lb
Fy = 500 (4/5) = 400 lb
Fz = 500 (3/5) = 300 lb

Now, write F1 in Cartesian vector form

(don’t forget the units!).
F1 = {0 i + 400 j + 300 k} lb
EXAMPLE II (continued)

Now, resolve force F2.

F2z = -800 sin 45° = − 565.7 lb
F2’ = 800 cos 45° = 565.7 lb

F2’ can be further resolved as, F2’

F2x = 565.7 cos 30° = 489.9 lb

F2y = 565.7 sin 30° = 282.8 lb F2z

Thus, we can write:

F2 = {489.9 i + 282.8 j − 565.7 k } lb
EXAMPLE II (continued)

So FR = F1 + F2 and
F1 = {0 i + 400 j + 300 k} lb
F2 = {489.9 i + 282.8 j − 565.7 k } lb
FR = { 490 i + 683 j − 266 k } lb
CONCEPT QUIZ

1. If you know only uA, you can determine the ________ of A

uniquely.
A) magnitude B) angles (,  and )
C) components (AX, AY, & AZ) D) All of the above.
CONCEPT QUIZ
2. For a force vector, the following parameters are randomly
generated. The magnitude is 0.9 N,  = 30º , β= 70º , γ = 100º.
What is wrong with this 3-D vector ?
A) Magnitude is too small.
B) Angles are too large.
C) All three angles are arbitrarily picked.
D) All three angles are between 0º to 180º.
Position Vectors & Force Vectors
POSITION VECTOR

A position vector is defined as a

fixed vector that locates a point in
space relative to another point.

Consider two points, A and B, in 3-D space.

Let their coordinates be (XA, YA, ZA) and (XB, YB, ZB), respectively.
POSITION VECTOR (continued)

The position vector directed from A to B, rAB , is defined as

rAB = {( XB – XA ) i + ( YB – YA ) j + ( ZB – ZA ) k }m
Please note that B is the ending point and A is the starting point.
ALWAYS subtract the “tail” coordinates from the “tip” coordinates!
FORCE VECTOR DIRECTED ALONG A LINE

If a force is directed along a line, then we

can represent the force vector in Cartesian
coordinates by using a unit vector and the
force’s magnitude. So we need to:

a) Find the position vector, rAB , along two

points on that line.
b) Find the unit vector describing the line’s
direction, uAB = (rAB/rAB).
c) Multiply the unit vector by the magnitude of
the force, F = F uAB .
QUIZ
1. The position vector rPQ is obtained by
A) Coordinates of Q minus coordinates of the origin
B) Coordinates of P minus coordinates of Q
C) Coordinates of Q minus coordinates of P
D) Coordinates of the origin minus coordinates of P
QUIZ
2. A force of magnitude F, directed along a
unit vector U, is given by F = ______ .
A) F (U)
B) U / F
C) F / U
D) F + U
E) F – U
EXAMPLE III

Given: The 420 N force

along the cable AC.
Find: The force FAC in the
Cartesian vector form.

Plan:
1. Find the position vector rAC and its unit vector uAC.
2. Obtain the force vector as FAC = 420 N uAC .
EXAMPLE III (continued)
As per the figure, when relating A to C,
we will have to go 2 m in the x-
direction, 3 m in the y-direction, and -6
m in the z-direction. Hence,
rAC = {2 i + 3 j − 6 k} m.
(We can also find rAC by subtracting
the coordinates of A from the
coordinates of C.)
rAC = {22 + 32 + (-6)2}1/2 = 7 m
Now uAC = rAC/rAC and FAC = 420 uAC = 420 (rAC/rAC )

So FAC = 420{ (2 i + 3 j − 6 k) / 7 } N
= {120 i + 180 j − 360 k } N
CONCEPT QUIZ
1. P and Q are two points in a 3-D space. How are the
position vectors rPQ and rQP related?
A) rPQ = rQP B) rPQ = - rQP
C) rPQ = 1/rQP D) rPQ = 2 rQP
Dot Product
DEFINITION

The dot product of vectors A and B is defined as A•B = A B cos .

The angle  is the smallest angle between the two vectors and is
always in a range of 0º to 180º.

Dot Product Characteristics:

1. The result of the dot product is a scalar (a positive or
negative number).
2. The units of the dot product will be the product of the
units of the A and B vectors.
DOT PRODUCT DEFINITON (continued)

Examples: By definition, i • j = 0
i•i = 1

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

= Ax Bx + Ay By + Az Bz
DOT PRODUCT DEFINITON (continued) – Laws of Operation

• Commutative law: A • B = B • A
• Multiplication by a scalar: a (A • B) = (aA) • B = A # • (aB)
• Distributive law: A • (B + D) = (A • B) + (A • D)
USING THE DOT PRODUCT TO DETERMINE THE ANGLE
BETWEEN TWO VECTORS

For these two vectors in Cartesian form, one can find the
angle by
a) Find the dot product, A • B = (Ax Bx + Ay By + Az Bz ),
b) Find the magnitudes (A & B) of the vectors A & B, and
c) Use the definition of dot product and solve for , i.e.,
 = cos-1 [(A • B)/(A B)], where 0º    180º .
DETERMINING THE PROJECTION OF A VECTOR

You can determine the components of a vector parallel and perpendicular

to a line using the dot product.
Steps:
1. Find the unit vector, ua along line aa
2. Find the scalar projection of A along line aa by
A|| = A • ua = Ax ux + Ay uy + Az uz
DETERMINING THE PROJECTION OF A VECTOR
(continued)

3. If needed, the projection can be written as a vector, A|| , by using

the unit vector ua and the magnitude found in step 2.
A|| = A|| ua

4. The scalar and vector forms of the perpendicular component

can easily be obtained by

A ⊥ = (A 2 - A|| 2) ½ and
A ⊥ = A – A||
(rearranging the vector sum of A = A⊥ + A|| )
QUIZ
1. The dot product of two vectors P and Q
is defined as P
A) P Q sin  B) P Q cos  

C) P Q tan  D) P Q sec  Q
QUIZ
2. The dot product of two vectors results in a _________ quantity.
A) Scalar B) Vector
C) Complex D) Zero
EXAMPLE IV
Given: The force acting on the
hook at point A.
Find: The angle between the
force vector and the line
AO, and the magnitude of
the projection of the force
along the line AO.

Plan:
1. Find rAO
2. Find the angle  = cos-1{(F • rAO)/(F rAO)}
3. Find the projection via FAO = F • uAO (or F cos  )
EXAMPLE IV (continued)

rAO = {−1 i + 2 j − 2 k} m
rAO = {(-1)2 + 22 + (-2)2}1/2 = 3 m

F = {− 6 i + 9 j + 3 k} kN
F = {(-6)2 + 92 + 32}1/2 = 11.22 kN

F • rAO = (− 6)(−1) + (9)(2) + (3)(−2) = 18 kNm

 = cos-1{(F • rAO)/(F rAO)}

 = cos-1 {18 / (11.22  3)} = 57.67°
EXAMPLE IV (continued)
uAO = rAO / rAO = (−1/3) i + (2/3) j + (−2/3) k

FAO = F • uAO = (− 6)(−1/3) + (9)(2/3) + (3)(−2/3) = 6.00 kN

Or: FAO = F cos  = 11.22 cos (57.67°) = 6.00 kN

CONCEPT QUIZ
1. If a dot product of two non-zero vectors is 0, then the two
vectors must be _____________ to each other.
A) Parallel (pointing in the same direction)
B) Parallel (pointing in the opposite direction)
C) Perpendicular
D) Cannot be determined.
CONCEPT QUIZ
2. If a dot product of two non-zero unit vectors equals -1, then the
vectors must be ________ to each other.
A) Collinear but pointing in the opposite direction
B) Parallel (pointing in the opposite direction)
C) Perpendicular
D) Cannot be determined.
ATTENTION QUIZ
1. The dot product can be used to find all of the following except ____ .
A) sum of two vectors
B) angle between two vectors
C) component of a vector parallel to another line
D) component of a vector perpendicular to another line
Any Questions