Force Vectors

2
CHAPTER 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.

2.1 Scalars and Vectors

All physical quantities in engineering mechanics are measured using either
scalars 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, and time.

Vector. A vector is any physical quantity that requires both a

magnitude and a direction for its complete description. Examples of Sense
vectors encountered in statics are force, position, and moment. A vector Magnitude A
is shown graphically by an arrow. The length of the arrow represents the
u Direction
magnitude of the vector, and the angle u between the vector and a fixed
axis defines the direction of its line of action. The head or tip of the arrow
indicates the sense of direction of the vector, Fig. 2–1. Fig. 2–1
In print, vector quantities are represented by bold face letters such as
A, and its magnitude of the vector is italicized, A. For handwritten work,
it is often convenient to denote a vector quantity by simply drawing an
:.
arrow on top of it, A
 18 CHAPTER 2 FORCE VECTORS

2.2 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
2 2A amount. When multiplied by a negative scalar it will also change the
directional sense of the vector. Graphic examples of these operations are
A A shown in Fig. 2–2.
 0.5 A

Vector Addition. All vector quantities obey the parallelogram law

Scalar multiplication and division of addition. To illustrate, the two “component” vectors A and B in
Fig. 2–3a are added to form a “resultant” vector R = A + B using the
Fig. 2–2
following procedure:
• First join the tails of the components at a point so that it makes
them concurrent, Fig. 2–3b.
• 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.
• The diagonal of this parallelogram that extends to P forms R, which
then represents the resultant vector R = A + B, Fig. 2–3c.

A A A

R
P
B B
B
RAB
Parallelogram law
(a) (b) (c)

Fig. 2–3

We can also add B to A, Fig. 2–4a, using the triangle rule, which is a
special case of the parallelogram law, whereby vector B is added to
vector A in a “head-to-tail” fashion, i.e., by connecting the head of A to
the tail of B, Fig. 2–4b. The resultant R extends from the tail of A to the
head of B. In a similar manner, R can also be obtained by adding A to B,
Fig. 2–4c. By comparison, it is seen that vector addition is commutative;
in other words, the vectors can be added in either order, i.e.,
R = A + B = B + A.
 2.2 VECTOR OPERATIONS 19

A A B
R
R
B A
B 2
RAB RBA
Triangle rule Triangle rule
(a) (b) (c)

Fig. 2–4

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, as shown in Fig. 2–5.

R
A B
RAB

Addition of collinear vectors

Fig. 2–5

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)

This vector sum is shown graphically in Fig. 2–6. Subtraction is therefore

defined as a special case of addition, so the rules of vector addition also
apply to vector subtraction.

ⴚB
A

A or
R¿ R¿ A

B ⴚB

Parallelogram law Triangle construction

Vector subtraction

Fig. 2–6
 20 CHAPTER 2 FORCE VECTORS

2.3 Vector Addition of Forces

Experimental evidence has shown that a force is a vector quantity since
it has a specified magnitude, direction, and sense and it adds according to
2 the parallelogram law. Two common problems in statics involve either
finding the resultant force, knowing its components, or resolving a known
force into two components. We will now describe how each of these
problems is solved using the parallelogram law.
F2
F1
FR
Finding a Resultant Force. The two component forces F1 and F2
acting on the pin in Fig. 2–7a can be added together to form the resultant
force FR = F1 + F2, as shown in Fig. 2–7b. From this construction, or using
The parallelogram law must be used to the triangle rule, Fig. 2–7c, we can apply the law of cosines or the law of
determine the resultant of the two sines to the triangle in order to obtain the magnitude of the resultant
forces acting on the hook. force and its direction.

F1 F1 F1
F2

FR FR v
F2 F2
FR  F1  F2
(a) (b) (c)

Fig. 2–7

Finding the Components of a Force. Sometimes it is

necessary to resolve a force into two components in order to study its
F pulling or pushing effect in two specific directions. For example, in
Fv
Fu v Fig. 2–8a, F is to be resolved into two components along the two
members, defined by the u and v axes. In order to determine the
u
magnitude of each component, a parallelogram is constructed first, by
drawing lines starting from the tip of F, one line parallel to u, and the
other line parallel to v. These lines then intersect with the v and u axes,
forming a parallelogram. The force components Fu and Fv are then
established by simply joining the tail of F to the intersection points on
the u and v axes, Fig. 2–8b. This parallelogram can then be reduced to a
Using the parallelogram law force F
caused by the vertical member can be triangle, which represents the triangle rule, Fig. 2–8c. From this, the law of
resolved into components acting along sines can then be applied to determine the unknown magnitudes of the
the suspension cables a and b. components.
 2.3 VECTOR ADDITION OF FORCES 21

v v

F F

Fv F
Fv
u u
2
Fu Fu

(a) (b) (c)

Fig. 2–8

Addition of Several Forces. If more than two forces are to be F1  F2 FR

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
F2, F3 act at a point O, Fig. 2–9, 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 here, often F1
requires extensive geometric and trigonometric calculation to determine F3
O
the numerical values for the magnitude and direction of the resultant.
Instead, problems of this type are easily solved by using the “rectangular- Fig. 2–9
component method,” which is explained in Sec. 2.4.

FR
F1  F2

F2
F1
F3

The resultant force FR on the hook

requires the addition of F1 + F2, then this
resultant is added to F3.
 22 CHAPTER 2 FORCE VECTORS

Procedure for Analysis

F1 Problems that involve the addition of two forces can be solved as

follows:
2
FR
Parallelogram Law.
F2
• Two “component” forces F1 and F2 in Fig. 2–10a add according to
(a) the parallelogram law, yielding a resultant force FR that forms the
diagonal of the parallelogram.

• If a force F is to be resolved into components along two axes u

v and v, Fig. 2–10b, then start at the head of force F and construct
lines parallel to the axes, thereby forming the parallelogram. The
F sides of the parallelogram represent the components, Fu and Fv.
u
Fv
Fu
• Label all the known and unknown force magnitudes and the
angles on the sketch and identify the two unknowns as the
magnitude and direction of FR, or the magnitudes of its
(b)
components.

c Trigonometry.
A B
• Redraw a half portion of the parallelogram to illustrate the
b a triangular head-to-tail addition of the components.
C

Cosine law:
• From this triangle, the magnitude of the resultant force can be
C  A2  B2  2AB cos c
determined using the law of cosines, and its direction is
Sine law:
determined from the law of sines. The magnitudes of two force
A  B  C components are determined from the law of sines. The formulas
sin a sin b sin c are given in Fig. 2–10c.
(c)

Fig. 2–10

Important Points
• A scalar is a positive or negative number.
• A vector is a quantity that has a magnitude, direction, and sense.
• Multiplication or division of a vector by a scalar will change the
magnitude of the vector. The sense of the vector will change if the
scalar is negative.

• As a special case, if the vectors are collinear, the resultant is

formed by an algebraic or scalar addition.
 2.3 VECTOR ADDITION OF FORCES 23

EXAMPLE 2.1

The screw eye in Fig. 2–11a is subjected to two forces, F1 and F2.
Determine the magnitude and direction of the resultant force.
10 A 2
F2  150 N
150 N

115 65

F1  100 N
10
FR
360  2(65)
15  115
2

u 100 N
15

90  25  65

(b)
(a)

SOLUTION
Parallelogram Law. The parallelogram is formed by drawing a line
from the head of F1 that is parallel to F2, and another line from the
head of F2 that is parallel to F1.The resultant force FR extends to where
these lines intersect at point A, Fig. 2–11b. The two unknowns are the
FR
magnitude of FR and the angle u (theta). 150 N

Trigonometry. From the parallelogram, the vector triangle is

constructed, Fig. 2–11c. Using the law of cosines 115
u
FR = 2(100 N)2 + (150 N)2 - 2(100 N)(150 N) cos 115° f 100 N
15
= 210 000 + 22 500 - 30 000( -0.4226) = 212.6 N (c)

= 213 N Ans.
Fig. 2–11
Applying the law of sines to determine u,
150 N 212.6 N 150 N
= sin u = (sin 115º)
sin u sin 115° 212.6 N
u = 39.8°

Thus, the direction f (phi) of FR, measured from the horizontal, is

f = 39.8° + 15.0° = 54.8° Ans.

NOTE: The results seem reasonable, since Fig. 2–11b shows FR to have
a magnitude larger than its components and a direction that is
between them.
 24 CHAPTER 2 FORCE VECTORS

EXAMPLE 2.2
Resolve the horizontal 600-lb force in Fig. 2–12a into components
acting along the u and v axes and determine the magnitudes of these
components.
2

u
u B
Fu Fu
30 30
30 30 Fv
120 120
30 30 30
A
600 lb 600 lb 600 lb
120
Fv
(c)
C
v

v
(a) (b)

Fig. 2–12

SOLUTION
The parallelogram is constructed by extending a line from the head of
the 600-lb force parallel to the v axis until it intersects the u axis at
point B, Fig. 2–12b. The arrow from A to B represents Fu. Similarly,
the line extended from the head of the 600-lb force drawn parallel to
the u axis intersects the v axis at point C, which gives Fv.

The vector addition using the triangle rule is shown in Fig. 2–12c. The
two unknowns are the magnitudes of Fu and Fv. Applying the law of
sines,
Fu 600 lb
=
sin 120° sin 30°
Fu = 1039 lb Ans.

Fv 600 lb
=
sin 30° sin 30°
Fv = 600 lb Ans.

NOTE: The result for Fu shows that sometimes a component can have
a greater magnitude than the resultant.
 2.3 VECTOR ADDITION OF FORCES 25

EXAMPLE 2.3

Determine the magnitude of the component force F in Fig. 2–13a and

the magnitude of the resultant force FR if FR is directed along the
positive y axis. 2
y
y

F 45 45 F
200 lb FR FR
45 45
75
F 45 60 30 60
30 200 lb 200 lb
30

(a) (b) (c)

Fig. 2–13

SOLUTION
The parallelogram law of addition is shown in Fig. 2–13b, and the
triangle rule is shown in Fig. 2–13c. The magnitudes of FR and F are the
two unknowns. They can be determined by applying the law of sines.

F 200 lb
=
sin 60° sin 45°

F = 245 lb Ans.

FR 200 lb
=
sin 75° sin 45°

FR = 273 lb Ans.
 26 CHAPTER 2 FORCE VECTORS

EXAMPLE 2.4
It is required that the resultant force acting on the eyebolt in
Fig. 2–14a be directed along the positive x axis and that F2 have a
minimum magnitude. Determine this magnitude, the angle q, and the
2 corresponding resultant force.

F1  800 N

F1  800 N F2 F1  800 N

F2
60 60
u
60
x x x
FR FR
u u  90

F2
(a) (b) (c)

Fig. 2–14

SOLUTION
The triangle rule for FR = F1 + F2 is shown in Fig. 2–14b. Since the
magnitudes (lengths) of FR and F2 are not specified, then F2 can actually
be any vector that has its head touching the line of action of FR,
Fig. 2–14c. However, as shown, the magnitude of F2 is a minimum or the
shortest length when its line of action is perpendicular to the line of
action of FR, that is, when

u = 90° Ans.

Since the vector addition now forms a right triangle, the two unknown
magnitudes can be obtained by trigonometry.

FR = (800 N)cos 60° = 400 N Ans.

F2 = (800 N)sin 60° = 693 N Ans.

 2.3 VECTOR ADDITION OF FORCES 27

FUNDAMENTAL PROBLEMS*
F2–1. Determine the magnitude of the resultant force F2–4. Resolve the 30-lb force into components along the
acting on the screw eye and its direction measured u and v axes, and determine the magnitude of each of these
clockwise from the x axis. components. v
2
30 lb
15
x
30
45 u
60

2 kN
6 kN F2–1
F2–4
F2–2. Two forces act on the hook. Determine the F2–5. The force F = 450 lb acts on the frame. Resolve
magnitude of the resultant force. this force into components acting along members AB and
AC, and determine the magnitude of each component.

30
A

C
45

30 450 lb

200 N
40

F2–2
500 N
B
F2–5
F2–3. Determine the magnitude of the resultant force F2–6. If force F is to have a component along the u axis of
and its direction measured counterclockwise from the Fu = 6 kN, determine the magnitude of F and the
positive x axis. y
magnitude of its component Fv along the v axis.
u

800 N
F
45

105
x
30

v
600 N
F2–3 F2–6

* Partial solutions and answers to all Fundamental Problems are given in the back of the book.
 28 CHAPTER 2 FORCE VECTORS

PROBLEMS

•2–1. If u = 30° and T = 6 kN, determine the magnitude 2–7. If FB = 2 kN and the resultant force acts along the
of the resultant force acting on the eyebolt and its direction positive u axis, determine the magnitude of the resultant
2 measured clockwise from the positive x axis. force and the angle u.
2–2. If u = 60° and T = 5 kN, determine the magnitude *2–8. If the resultant force is required to act along the
of the resultant force acting on the eyebolt and its direction positive u axis and have a magnitude of 5 kN, determine the
measured clockwise from the positive x axis. required magnitude of FB and its direction u.
2–3. If the magnitude of the resultant force is to be 9 kN y
directed along the positive x axis, determine the magnitude of
force T acting on the eyebolt and its angle u.

FA  3 kN
y x
T
A
u 30
u

x B
45 u
FB

8 kN
Probs. 2–7/8

•2–9. The plate is subjected to the two forces at A and B

Probs. 2–1/2/3 as shown. If u = 60°, determine the magnitude of the
resultant of these two forces and its direction measured
*2–4. Determine the magnitude of the resultant force clockwise from the horizontal.
acting on the bracket and its direction measured
2–10. Determine the angle of u for connecting member A
counterclockwise from the positive u axis.
to the plate so that the resultant force of FA and FB is
•2–5. Resolve F1 into components along the u and v axes, directed horizontally to the right.Also, what is the magnitude
and determine the magnitudes of these components. of the resultant force?
FA  8 kN
2–6. Resolve F2 into components along the u and v axes,
and determine the magnitudes of these components.
u
A

F2  150 lb
v

30
30
u
45

40
F1  200 lb
B
FB  6 kN
Probs. 2–4/5/6 Probs. 2–9/10
 2.3 VECTOR ADDITION OF FORCES 29

2–11. If the tension in the cable is 400 N, determine the 2–14. Determine the design angle u (0° … u … 90°) for
magnitude and direction of the resultant force acting on strut AB so that the 400-lb horizontal force has a
the pulley. This angle is the same angle u of line AB on the component of 500 lb directed from A towards C. What is the
tailboard block. component of force acting along member AB? Take
f = 40°.

2–15. Determine the design angle f (0° … f … 90°) 2

y between struts AB and AC so that the 400-lb horizontal
400 N force has a component of 600 lb which acts up to the left, in
30 the same direction as from B towards A. Take u = 30°.

u
400 lb A
x
B u
400 N
A f B

Prob. 2–11 Probs. 2–14/15

*2–12. The device is used for surgical replacement of the *2–16. Resolve F1 into components along the u and v axes
knee joint. If the force acting along the leg is 360 N, and determine the magnitudes of these components.
determine its components along the x and y ¿ axes.
•2–17. Resolve F2 into components along the u and v axes
•2–13. The device is used for surgical replacement of the and determine the magnitudes of these components.
knee joint. If the force acting along the leg is 360 N,
determine its components along the x ¿ and y axes.

y¿ y
v

10 F1  250 N

F2  150 N 30 u
x¿
x 30
105
60

360 N

Probs. 2–12/13 Probs. 2–16/17

30 CHAPTER 2 FORCE VECTORS

2–18. The truck is to be towed using two ropes. Determine 2–23. If u = 30° and F2 = 6 kN, determine the magnitude
the magnitudes of forces FA and FB acting on each rope in of the resultant force acting on the plate and its direction
order to develop a resultant force of 950 N directed along measured clockwise from the positive x axis.
the positive x axis. Set u = 50°.
*2–24. If the resultant force FR is directed along a
2–19. The truck is to be towed using two ropes. If the line measured 75° clockwise from the positive x axis and
resultant force is to be 950 N, directed along the positive x the magnitude of F2 is to be a minimum, determine the
axis, determine the magnitudes of forces FA and FB acting magnitudes of FR and F2 and the angle u … 90°.
on each rope and the angle u of FB so that the magnitude of
FB is a minimum. FA acts at 20° from the x axis as shown.
y
y F3  5 kN

F2

FA
A u
20°
x
F1  4 kN
u x
B

FB

Prob. 2–18/19 Probs. 2–23/24

*2–20. If f = 45°, F1 = 5 kN, and the resultant force is

6 kN directed along the positive y axis, determine the required
magnitude of F2 and its direction u.

•2–21. If f = 30° and the resultant force is to be 6 kN •2–25. Two forces F1 and F2 act on the screw eye. If their
directed along the positive y axis, determine the magnitudes lines of action are at an angle u apart and the magnitude
of F1 and F2 and the angle u if F2 is required to be a minimum. of each force is F1 = F2 = F, determine the magnitude of
the resultant force FR and the angle between FR and F1.
2–22. If f = 30°, F1 = 5 kN, and the resultant force is to
be directed along the positive y axis, determine the
magnitude of the resultant force if F2 is to be a minimum.
Also, what is F2 and the angle u?
F1

x
F1
y

f u

F2

F2
60

Probs. 2–20/21/22 Prob. 2–25

 2.3 VECTOR ADDITION OF FORCES 31

2–26. The log is being towed by two tractors A and B. 2–30. Three chains act on the bracket such that they create
Determine the magnitudes of the two towing forces FA and a resultant force having a magnitude of 500 lb. If two of the
FB if it is required that the resultant force have a magnitude chains are subjected to known forces, as shown, determine
FR = 10 kN and be directed along the x axis. Set u = 15°. the angle u of the third chain measured clockwise from the
positive x axis, so that the magnitude of force F in this chain
2–27. The resultant FR of the two forces acting on the log is is a minimum. All forces lie in the x–y plane. What is the
to be directed along the positive x axis and have a magnitude magnitude of F? Hint: First find the resultant of the two 2
of 10 kN, determine the angle u of the cable, attached to B such known forces. Force F acts in this direction.
that the magnitude of force FB in this cable is a minimum.
What is the magnitude of the force in each cable for this
y
situation?
y

300 lb
FA
A
30 30
x
u x
FB u

F
B
Probs. 2–26/27
*2–28. The beam is to be hoisted using two chains. Deter-
mine the magnitudes of forces FA and FB acting on each chain
200 lb Prob. 2–30
in order to develop a resultant force of 600 N directed along
the positive y axis. Set u = 45°. 2–31. Three cables pull on the pipe such that they create a
resultant force having a magnitude of 900 lb. If two of the
•2–29. The beam is to be hoisted using two chains. If the cables are subjected to known forces, as shown in the figure,
resultant force is to be 600 N directed along the positive y determine the angle u of the third cable so that the
axis, determine the magnitudes of forces FA and FB acting on magnitude of force F in this cable is a minimum. All forces
each chain and the angle u of FB so that the magnitude of FB lie in the x–y plane. What is the magnitude of F? Hint: First
is a minimum. FA acts at 30° from the y axis, as shown. find the resultant of the two known forces.
y y
600 lb
FB FA

30
u 45
F
x

u
x

30

400 lb
Probs. 2–28/29 Prob. 2–31
 32 CHAPTER 2 FORCE VECTORS

2.4 Addition of a System of Coplanar

Forces
When a force is resolved into two components along the x and y axes, the
2 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.
y Scalar Notation. The rectangular components of force F shown in
Fig. 2–15a are found using the parallelogram law, so that F = Fx + Fy.
Because these components form a right triangle, their magnitudes can be
F
determined from
Fx = F cos u and Fy = F sin u
u
x Instead of using the angle u, however, the direction of F can also be
Fx defined using a small “slope” triangle, such as shown in Fig. 2–15b. Since
this triangle and the larger shaded triangle are similar, the proportional
(a) length of the sides gives
Fx a
=
F c
y or

a
Fx
x Fx = F a b
c
c
Fy b and
a
Fy b
F =
F c
(b)
or

Fig. 2–15 b
Fy = - Fa b
c

Here the y component is a negative scalar since Fy is directed along the

negative y axis.
It is important to keep in mind that this positive and negative scalar
notation is to be used only for computational purposes, not for graphical
representations in figures. Throughout the book, the head of a vector
arrow in any figure indicates the sense of the vector graphically;
algebraic signs are not used for this purpose. Thus, the vectors in
Figs. 2–15a and 2–15b are designated by using boldface (vector)
notation.* Whenever italic symbols are written near vector arrows in figures,
they indicate the magnitude of the vector, which is always a positive quantity.

*Negative signs are used only in figures with boldface notation when showing equal but

opposite pairs of vectors, as in Fig. 2–2.

 2.4 ADDITION OF A SYSTEM OF COPLANAR FORCES 33

Cartesian Vector Notation. It is also possible to represent the x y

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 so j
they can be used to designate the directions of the x and y axes,
F
respectively, Fig. 2–16. *
Since the magnitude of each component of F is always a positive 2
Fy
quantity, which is represented by the (positive) scalars Fx and Fy, then we
can express F as a Cartesian vector, x
Fx i
F = Fx i + Fy j
Fig. 2–16
Coplanar Force Resultants. We can use either of the two
methods just described to determine the resultant of several coplanar
forces. To do this, each force is first resolved 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 in Fig. 2–17a, which have x and y components y
shown in Fig. 2–17b. Using Cartesian vector notation, each force is first
represented as a Cartesian vector, i.e.,

F1 = F1x i + F1y j F2
F1
F2 = - F2x i + F2y j
x
F3 = F3x i - F3y j
The vector resultant is therefore
F3
FR = F1 + F2 + F3 (a)
= F1xi + F1y j - F2x i + F2y j + F3x i- F3y j
= (F1x - F2x + F3x) i + (F1y + F2y - F3y) j y

= (FRx)i + (FRy)j
F2y
F1y
If scalar notation is used, then we have
F2x F1x
(:+ ) FRx = F1x - F2x + F3x x
F3x
(+ c) FRy = F1y + F2y - F3y
F3y

These are the same results as the i and j components of FR determined (b)
above.
Fig. 2–17

¿
*For handwritten work, unit vectors are usually indicated using a circumflex, e.g., i and
j . These vectors have a dimensionless magnitude of unity, and their sense (or arrowhead)
will be described analytically by a plus or minus sign, depending on whether they are
pointing along the positive or negative x or y axis.
 34 CHAPTER 2 FORCE VECTORS

We can represent the components of the resultant force of any number

of coplanar forces symbolically by the algebraic sum of the x and y
components of all the forces, i.e.,

y
FRx = ©Fx
2 (2–1)
FRy = ©Fy
FRy FR

Once these components are determined, they may be sketched along

u the x and y axes with their proper sense of direction, and the resultant
x
FRx force can be determined from vector addition, as shown in Fig. 2–17.
From this sketch, the magnitude of FR is then found from the
Pythagorean theorem; that is,
(c)
FR = 2F2Rx + F2Ry
Fig. 2–17
Also, the angle u, which specifies the direction of the resultant force, is
determined from trigonometry:

FRy
u = tan-1 2 2
FRx

The above concepts are illustrated numerically in the examples which

follow.

Important Points
• The resultant of several coplanar forces can easily be determined
y if an x, y coordinate system is established and the forces are
resolved along the axes.

F4 • The direction of each force is specified by the angle its line of

F3 action makes with one of the axes, or by a sloped triangle.
F2

F1
• The orientation of the x and y axes is arbitrary, and their positive
x direction can be specified by the Cartesian unit vectors i and j.

• The x and y components of the resultant force are simply the

The resultant force of the four cable forces
algebraic addition of the components of all the coplanar forces.
acting on the supporting bracket can be
determined by adding algebraically the • The magnitude of the resultant force is determined from the
separate x and y components of each cable Pythagorean theorem, and when the components are sketched
force. This resultant FR produces the same
pulling effect on the bracket as all four cables. on the x and y axes, the direction can be determined from
trigonometry.
 2.4 ADDITION OF A SYSTEM OF COPLANAR FORCES 35

EXAMPLE 2.5

Determine the x and y components of F1 and F2 acting on the boom y

shown in Fig. 2–18a. Express each force as a Cartesian vector.
F1  200 N 2
SOLUTION
Scalar Notation. By the parallelogram law, F1 is resolved into x and 30
y components, Fig. 2–18b. Since F1x acts in the –x direction, and F1y acts
in the +y direction, we have x
13
F1x = - 200 sin 30° N = - 100 N = 100 N ; Ans. 5
12

F1y = 200 cos 30° N = 173 N = 173 N c Ans. F2  260 N

(a)
The force F2 is resolved into its x and y components as shown in
Fig. 2–17c. Here the slope of the line of action for the force is y
indicated. From this “slope triangle” we could obtain the angle u, e.g.,
u = tan-1(125
), and then proceed to determine the magnitudes of the F1  200 N
components in the same manner as for F1. The easier method, how- F1y  200 cos 30 N
ever, consists of using proportional parts of similar triangles, i.e.,
30
F2x 12 12
= F2x = 260 Na b = 240 N
260 N 13 13 x
F1x  200 sin 30 N
Similarly, (b)

5
F2y = 260 Na b = 100 N y
13
Notice how the magnitude of the horizontal component, F2x, was
obtained by multiplying the force magnitude by the ratio of the
horizontal leg of the slope triangle divided by the hypotenuse;
whereas the magnitude of the vertical component, F2y, was obtained
by multiplying the force magnitude by the ratio of the vertical leg F2x  260 12
divided by the hypotenuse. Hence, ( (
— N
13
x
13
F2x = 240 N = 240 N : Ans. 5
12
F2y = - 100 N = 100 NT Ans. 5 N
( (
F2y  260 —
13 F2  260 N

Cartesian Vector Notation. Having determined the magnitudes (c)

and directions of the components of each force, we can express each Fig. 2–18
force as a Cartesian vector.
F1 = 5- 100i + 173j6 N Ans.

F2 = 5240i - 100j6 N Ans.

 36 CHAPTER 2 FORCE VECTORS

EXAMPLE 2.6
The link in Fig. 2–19a is subjected to two forces F1 and F2. Determine
y the magnitude and direction of the resultant force.

2 F2  400 N F1  600 N
45
SOLUTION I
Scalar Notation. First we resolve each force into its x and y
30
x components, Fig. 2–19b, then we sum these components algebraically.
+
: FRx = ©Fx; FRx = 600 cos 30° N - 400 sin 45° N
(a)
= 236.8 N :

y + c FRy = ©Fy; FRy = 600 sin 30° N + 400 cos 45° N

= 582.8 N c
F2  400 N F1  600 N
45 The resultant force, shown in Fig. 2–18c, has a magnitude of

30
FR = 2(236.8 N)2 + (582.8 N)2
x
= 629 N Ans.
From the vector addition,
(b)

582.8 N
y u = tan-1 a b = 67.9° Ans.
236.8 N
FR
582.8 N
SOLUTION II
Cartesian Vector Notation. From Fig. 2–19b, each force is first
u expressed as a Cartesian vector.
x
236.8 N
F1 = 5600 cos 30°i + 600 sin 30°j6 N
(c) F2 = 5- 400 sin 45°i + 400 cos 45°j6 N
Fig. 2–19 Then,
FR = F1 + F2 = (600 cos 30° N - 400 sin 45° N)i
+ (600 sin 30° N + 400 cos 45° N)j
= 5236.8i + 582.8j6 N
The magnitude and direction of FR are determined in the same
manner as before.

NOTE: Comparing the two methods of solution, notice that the use of
scalar notation is more efficient since the components can be found
directly, without first having to express each force as a Cartesian vector
before adding the components. Later, however, we will show that
Cartesian vector analysis is very beneficial for solving three-dimensional
problems.
 2.4 ADDITION OF A SYSTEM OF COPLANAR FORCES 37

EXAMPLE 2.7
The end of the boom O in Fig. 2–20a is subjected to three concurrent
and coplanar forces. Determine the magnitude and direction of the
resultant force.
2
y

F2  250 N
F3  200 N 45
5
3
4 x
 F1  400 N

(a)

SOLUTION
Each force is resolved into its x and y components, Fig. 2–20b. Summing
the x components, we have
:+ F = ©F ; F = - 400 N + 250 sin 45° N - 200 A 4 B N y
Rx x Rx 5

= - 383.2 N = 383.2 N ;
250 N
The negative sign indicates that FRx acts to the left, i.e., in the negative 200 N 45
x direction, as noted by the small arrow. Obviously, this occurs 3
5

because F1 and F3 in Fig. 2–20b contribute a greater pull to the left 4

x
than F2 which pulls to the right. Summing the y components yields  400 N

+ c FRy = ©Fy; FRy = 250 cos 45° N + 200 A 35 B N

= 296.8 N c (b)

The resultant force, shown in Fig. 2–20c, has a magnitude of

y
FR = 2(-383.2 N)2 + (296.8 N)2 FR
296.8 N
= 485 N Ans.

From the vector addition in Fig. 2–20c, the direction angle u is u

x
296.8 -1 383.2 N 
u = tan a b = 37.8° Ans.
383.2

NOTE: Application of this method is more convenient, compared to (c)

using two applications of the parallelogram law, first to add F1 and F2
then adding F3 to this resultant. Fig. 2–20
 38 CHAPTER 2 FORCE VECTORS

FUNDAMENTAL PROBLEMS

F2–7. Resolve each force acting on the post into its x and F2–10. If the resultant force acting on the bracket is to be
y components. y 750 N directed along the positive x axis, determine the
2 magnitude of F and its direction u.
F1  300 N
F2  450 N y
F3  600 N 325 N
5 4
13 12
3
45 5 F
x
u
x
45
F2–7

F2–8. Determine the magnitude and direction of the 600 N

resultant force.
y F2–10
250 N
5
3 400 N F2–11. If the magnitude of the resultant force acting on
4
the bracket is to be 80 lb directed along the u axis,
determine the magnitude of F and its direction u.
30

x y
300 N F

u
x
50 lb
45

5
4

90 lb
3 u
F2–8 F2–11
F2–9. Determine the magnitude of the resultant force F2–12. Determine the magnitude of the resultant force
acting on the corbel and its direction u measured and its direction u measured counterclockwise from the
counterclockwise from the x axis. positive x axis.
y
y

F3  600 lb F2  400 lb
F2  20 kN
F1  15 kN
F1  700 lb
5 5 5
F3  15 kN
4 3 3
3 30 4 4
x

F2–9 F2–12
 2.4 ADDITION OF A SYSTEM OF COPLANAR FORCES 39

PROBLEMS

*2–32. Determine the magnitude of the resultant force 2–35. The contact point between the femur and tibia
acting on the pin and its direction measured clockwise from bones of the leg is at A. If a vertical force of 175 lb is applied
the positive x axis. at this point, determine the components along the x and y 2
axes. Note that the y component represents the normal
force on the load-bearing region of the bones. Both the x
y and y components of this force cause synovial fluid to be
F1  30 lb
squeezed out of the bearing space.
y
175 lb
45
x
15

F2  40 lb

15
F3  25 lb A

12
5
Prob. 2–32 13
x

Prob. 2–35

*2–36. If f = 30° and F2 = 3 kN, determine the magnitude

•2–33. If F1 = 600 N and f = 30°, determine the
of the resultant force acting on the plate and its direction u
magnitude of the resultant force acting on the eyebolt and
measured clockwise from the positive x axis.
its direction measured clockwise from the positive x axis.
•2–37. If the magnitude for the resultant force acting on
2–34. If the magnitude of the resultant force acting on
the plate is required to be 6 kN and its direction measured
the eyebolt is 600 N and its direction measured clockwise
clockwise from the positive x axis is u = 30°, determine the
from the positive x axis is u = 30°, determine the magni-
magnitude of F2 and its direction f.
tude of F1 and the angle f.
2–38. If f = 30° and the resultant force acting on the
gusset plate is directed along the positive x axis, determine
y
the magnitudes of F2 and the resultant force.
y F1  4 kN
F1
30 F2
f
x

f
60
x

5 4
3
F2  500 N
F3  450 N 5
3
4 F3  5 kN

Probs. 2–33/34 Probs. 2–36/37/38

 40 CHAPTER 2 FORCE VECTORS

2–39. Determine the magnitude of F1 and its direction u 2–43. If f = 30° and F1 = 250 lb, determine the
so that the resultant force is directed vertically upward and magnitude of the resultant force acting on the bracket and
has a magnitude of 800 N. its direction measured clockwise from the positive x axis.

*2–40. Determine the magnitude and direction measured *2–44. If the magnitude of the resultant force acting on
counterclockwise from the positive x axis of the resultant the bracket is 400 lb directed along the positive x axis,
2 force of the three forces acting on the ring A. Take determine the magnitude of F1 and its direction f.
F1 = 500 N and u = 20°.
•2–45. If the resultant force acting on the bracket is to be
y directed along the positive x axis and the magnitude of F1 is
F1 required to be a minimum, determine the magnitudes of the
600 N u resultant force and F1.
400 N
5
3 y
4 30 F1
x
A
f
x

5
3
4
13 12
5 F2  300 lb
Probs. 2–39/40 F3  260 lb

•2–41. Determine the magnitude and direction u of FB so Probs. 2–43/44/45

that the resultant force is directed along the positive y axis
and has a magnitude of 1500 N.
2–46. The three concurrent forces acting on the screw eye
2–42. Determine the magnitude and angle measured produce a resultant force FR = 0. If F2 = 23 F1 and F1 is to
counterclockwise from the positive y axis of the resultant be 90° from F2 as shown, determine the required magnitude
force acting on the bracket if FB = 600 N and u = 20°. of F3 expressed in terms of F1 and the angle u.
y

y
F1
FB
FA  700 N
30
B A

u 60
x
x
30

u F2

F3

Probs. 2–41/42 Prob. 2–46

 2.4 ADDITION OF A SYSTEM OF COPLANAR FORCES 41

2–47. Determine the magnitude of FA and its direction u 2–50. The three forces are applied to the bracket.
so that the resultant force is directed along the positive x Determine the range of values for the magnitude of force P
axis and has a magnitude of 1250 N. so that the resultant of the three forces does not exceed
2400 N.
*2–48. Determine the magnitude and direction measured
counterclockwise from the positive x axis of the resultant
force acting on the ring at O if FA = 750 N and u = 45°. 2
800 N
3000 N 90
y
60
P
FA
A
u

x
O 30

B
FB  800 N

Prob. 2–50

2–51. If F1 = 150 N and f = 30°, determine the magnitude

Probs. 2–47/48 of the resultant force acting on the bracket and its direction
measured clockwise from the positive x axis.

*2–52. If the magnitude of the resultant force acting on

the bracket is to be 450 N directed along the positive u axis,
•2–49. Determine the magnitude of the resultant force
determine the magnitude of F1 and its direction f.
and its direction measured counterclockwise from the
positive x axis. •2–53. If the resultant force acting on the bracket is
required to be a minimum, determine the magnitudes of F1
y and the resultant force. Set f = 30°.

F1 = 60 lb
y
2 F1 u
1
1
f
x 30
x
F2  200 N
60
45 13
F2  70 lb 12
5
F3  50 lb F3  260 N

Prob. 2–49 Probs. 2–51/52/53

 42 CHAPTER 2 FORCE VECTORS

2–54. Three forces act on the bracket. Determine the •2–57. Determine the magnitude of force F so that the
magnitude and direction u of F2 so that the resultant force is resultant force of the three forces is as small as possible.
directed along the positive u axis and has a magnitude of 50 lb. What is the magnitude of this smallest resultant force?
2–55. If F2 = 150 lb and u = 55°, determine the
magnitude and direction measured clockwise from the
14 kN F
2 positive x axis of the resultant force of the three forces
acting on the bracket.
30 45
y 8 kN

F3  52 lb

13 12
5

F1  80 lb Prob. 2–57
x

25

u
u
F2 2–58. Express each of the three forces acting on the
bracket in Cartesian vector form with respect to the x and y
axes. Determine the magnitude and direction u of F1 so that
Probs. 2–54/55 the resultant force is directed along the positive x¿ axis and
has a magnitude of FR = 600 N.
*2–56. The three concurrent forces acting on the post
produce a resultant force FR = 0. If F2 = 12 F1, and F1 is to
be 90° from F2 as shown, determine the required magnitude
of F3 expressed in terms of F1 and the angle u.
y

y
F1 x¿

u
F2 30
u x
F3 F2  350 N
x

F3  100 N

30
F1

Prob. 2–56 Prob. 2–58

 2.5 CARTESIAN VECTORS 43

2.5 Cartesian Vectors z

The operations of vector algebra, when applied to solving problems in

three dimensions, are greatly simplified if the vectors are first represented
in Cartesian vector form. In this section we will present a general method 2
for doing this; then in the next section we will use this method for finding x
the resultant force of a system of concurrent forces.
y
Right-Handed Coordinate System. We will use a right-
handed coordinate system to develop the theory of vector algebra that
follows. A rectangular 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 this axis and directed from
the positive x towards the positive y axis, Fig. 2–21. Fig. 2–21
Rectangular Components of a Vector. A vector A may have
one, two, or three rectangular components along the x, y, z coordinate z
axes, depending on how the vector is oriented relative to the axes. In
general, though, when A is directed within an octant of the x, y, z frame,
Fig. 2–22, then by two successive applications of the parallelogram law, Az
we may resolve the vector into components as A = A¿ + A z and then
A¿ = Ax + Ay. Combining these equations, to eliminate A¿ , A is A
represented by the vector sum of its three rectangular components,
A = Ax + Ay + Az (2–2)

Cartesian Unit Vectors. In three dimensions, the set of Cartesian Ay

unit vectors, i, j, k, is used to designate the directions of the x, y, z axes, y
respectively. As stated in Sec. 2.4, the sense (or arrowhead) of these
vectors will be represented analytically by a plus or minus sign, Ax
A¿
depending on whether they are directed along the positive or negative x,
y, or z axes. The positive Cartesian unit vectors are shown in Fig. 2–23. x

Fig. 2–22

i y
j

Fig. 2–23
 44 CHAPTER 2 FORCE VECTORS

z Cartesian Vector Representation. Since the three components

of A in Eq. 2–2 act in the positive i, j, and k directions, Fig. 2–24, we can
Az k write A in Cartesian vector form as
A
A = A xi + A y j + A zk (2–3)
2

There is a distinct advantage to writing vectors in this manner.

k Separating the magnitude and direction of each component vector will
j Ay j
y simplify the operations of vector algebra, particularly in three
i dimensions.
Ax i

x
Fig. 2–24

z
Magnitude of a Cartesian Vector. It is always possible to
obtain the magnitude of A provided it is expressed in Cartesian vector
Azk form. As shown in Fig. 2–25, from the blue right triangle,
A = 2A¿ 2 + A2z , and from the gray right triangle, A¿ = 2A2x + A2y .
A
Combining these equations to eliminate A¿ , yields

Az
A A = 2A2x + A2y + A2z (2–4)

Ayj Hence, the magnitude of A is equal to the positive square root of the sum
y of the squares of its components.
A xi Ax
A¿

Ay
x

Fig. 2–25
Direction of a Cartesian Vector. We will define the direction
of A by the coordinate direction angles a (alpha), b (beta), and
g (gamma), measured between the tail of A and the positive x, y, z axes
provided they are located at the tail of A, Fig. 2–26. Note that regardless
of where A is directed, each of these angles will be between 0° and 180°.
To determine a, b, and g , consider the projection of A onto the x, y, z
axes, Fig. 2–27. Referring to the blue colored right triangles shown in
each figure, we have

Ax Ay Az
cos a = cos b = cos g = (2–5)
A A A

These numbers are known as the direction cosines of A. Once they

have been obtained, the coordinate direction angles a, b, g can then be
determined from the inverse cosines.
 2.5 CARTESIAN VECTORS 45

Azk
2
A

uA

g A
b z
a Ayj a
y 90 y
Ax
Axi

x x

Fig. 2–26

An easy way of obtaining these direction cosines is to form a unit A

vector uA in the direction of A, Fig. 2–26. If A is expressed in Cartesian
vector form, A = Axi + Ay j + Azk, then uA will have a magnitude of b 90
one and be dimensionless provided A is divided by its magnitude, i.e., y
Ay

A Ax Ay Az
uA = = i + j + k (2–6)
A A A A x

where A = 2A2x + A2y + A2z. By comparison with Eqs. 2–7, it is seen that
the i, j, k components of uA represent the direction cosines of A, i.e., z
uA = cos a i + cos b j + cos g k (2–7)

Since the magnitude of a vector is equal to the positive square root of

the sum of the squares of the magnitudes of its components, and uA has a 90
magnitude of one, then from the above equation an important relation
between the direction cosines can be formulated as
Az
cos2 a + cos2 b + cos2 g = 1 (2–8)
g A

Here we can see that if only two of the coordinate angles are known,
the third angle can be found using this equation. y
Finally, if the magnitude and coordinate direction angles of A are
known, then A may be expressed in Cartesian vector form as

A = AuA x

= A cos a i + A cos b j + A cos g k (2–9)

= A xi + A y j + A zk Fig 2–27
 46 CHAPTER 2 FORCE VECTORS

z Sometimes, the direction of A can be specified using two angles, u and

f (phi), such as shown in Fig. 2–28. The components of A can then be
determined by applying trigonometry first to the blue right triangle,
Az which yields

2 A z = A cos f
f A
and

A¿ = A sin f
Ax O Ay
u Now applying trigonometry to the other shaded right triangle,
y
x
A¿ A x = A¿ cos u = A sin f cos u
Fig. 2–28 A y = A¿ sin u = A sin f sin u

Therefore A written in Cartesian vector form becomes

A = A sin f cos u i + A sin f sin u j + A cos f k

You should not memorize this equation, rather it is important to

understand how the components were determined using trigonometry.

2.6 Addition of Cartesian Vectors

The addition (or subtraction) of two or more vectors are greatly simplified
if the vectors are expressed in terms of their Cartesian components. For
z
example, if A = Axi + Ay j + Azk and B = Bxi + By j + Bzk, Fig. 2–29,
then the resultant vector, R, has components which are the scalar sums of
(Az  Bz)k the i, j, k components of A and B, i.e.,

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

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

(Ay  By)j forces, then the force resultant is the vector sum of all the forces in the
A y
system and can be written as

(Ax  Bx)i FR = ©F = ©Fxi + ©Fy j + ©Fzk (2–10)

x
Here ΣFx, ΣFy, and ΣFz represent the algebraic sums of the respective x,
Fig. 2–29 y, z or i, j, k components of each force in the system.
 2.6 ADDITION OF CARTESIAN VECTORS 47

Important Points

• Cartesian vector analysis is often used to solve problems in three

dimensions.
2
• The positive directions of the x, y, z axes are defined by the
Cartesian unit vectors i, j, k, respectively.
• The magnitude of a Cartesian vector is A = 2A2x + A2y + A2z .
• The direction of a Cartesian vector is specified using coordinate
direction angles a, b, g which the tail of the vector makes with the
positive x, y, z axes, respectively. The components of the unit
vector uA = A>A represent the direction cosines of a, b, g. Only
The resultant force acting on the bow the
two of the angles a, b, g have to be specified. The third angle is ship can be determined by first
determined from the relationship cos2 a + cos2 b + cos2 g = 1. representing each rope force as a Cartesian
• Sometimes the direction of a vector is defined using the two vector and then summing the i, j, and k
components.
angles q and f as in Fig. 2–28. In this case the vector components
are obtained by vector resolution using trigonometry.
• To find the resultant of a concurrent force system, express each
force as a Cartesian vector and add the i, j, k components of all
the forces in the system.

EXAMPLE 2.8

Express the force F shown in Fig. 2–30 as a Cartesian vector.

SOLUTION z

Since only two coordinate direction angles are specified, the third angle
α must be determined from Eq. 2–8; i.e.,
F  200 N
cos2 a + cos2 b + cos2 g = 1
45
cos2 a + cos2 60° + cos2 45° = 1
a 60
cos a = 21 - (0.5)2 - (0.707)2 = ; 0.5 y
Hence, two possibilities exist, namely,
a = cos-1(0.5) = 60° or a = cos-1(- 0.5) = 120° x
By inspection it is necessary that a = 60°, since Fx must be in the +x
Fig. 2–30
direction.
Using Eq. 2–9, with F = 200 N, we have
F = F cos ai + F cos bj + F cos gk
= (200 cos 60° N)i + (200 cos 60° N)j + (200 cos 45° N)k
= 5100.0i + 100.0j + 141.4k6 N Ans.

Show that indeed the magnitude of F = 200 N.

 48 CHAPTER 2 FORCE VECTORS

EXAMPLE 2.9
Determine the magnitude and the coordinate direction angles of the
resultant force acting on the ring in Fig. 2–31a.
z FR  {50i  40j  180k} lb z
2
g  19.6

F2  {50i  100j  100k} lb F1  {60j  80k} lb

F2 F1

b  102
y a  74.8 y

x x
(a) (b)
Fig. 2–31

SOLUTION
Since each force is represented in Cartesian vector form, the resultant
force, shown in Fig. 2–31b, is
FR = ©F = F1 + F2 = 560j + 80k6 lb + 550i - 100j + 100k6 lb
= 550i - 40j + 180k6 lb
The magnitude of FR is
FR = 2(50 lb)2 + ( -40 lb)2 + (180 lb)2 = 191.0 lb
= 191 lb Ans.
The coordinate direction angles a, b, g are determined from the
components of the unit vector acting in the direction of FR.
FR 50 40 180
uFR = = i - j + k
FR 191.0 191.0 191.0
= 0.2617i - 0.2094 j + 0.9422 k
so that
cos a = 0.2617 a = 74.8° Ans.
cos b = - 0.2094 b = 102° Ans.
cos g = 0.9422 g = 19.6° Ans.
These angles are shown in Fig. 2–31b.

NOTE: In particular, notice that b 7 90° since the j component of

uF is negative. This seems reasonable considering how F1 and F2 add
R
according to the parallelogram law.
 2.6 ADDITION OF CARTESIAN VECTORS 49

EXAMPLE 2.10
z
Express the force F shown in Fig. 2–32a as a Cartesian vector.

F  100 lb
SOLUTION 2
The angles of 60° and 45° defining the direction of F are not coordinate
direction angles. Two successive applications of the parallelogram law
are needed to resolve F into its x, y, z components First F = F¿ + Fz, 60 y
then F¿ = Fx + Fy, Fig. 2–32b. By trigonometry, the magnitudes of the
45
components are
Fz = 100 sin 60° lb = 86.6 lb x
(a)
F¿ = 100 cos 60° lb = 50 lb

Fx = F¿ cos 45º = 50 cos 45° lb = 35.4 lb z

Fy = F¿ sin 45º = 50 sin 45° lb = 35.4 lb Fz

F  100 lb
Realizing that Fy has a direction defined by –j, we have

F = 535.4i - 35.4j + 86.6k6 lb Ans.

Fy
60 y
To show that the magnitude of this vector is indeed 100 lb, apply
Eq. 2–4, 45
F¿ Fx
F = 2F2x + F2y + F2z
x
= 2(35.4)2 + (-35.4)2 + (86.6)2 = 100 lb

z
If needed, the coordinate direction angles of F can be determined
from the components of the unit vector acting in the direction of F.
Hence, F  100 lb
F Fx Fy Fz
u = = i + j + k 30.0
F F F F 111
35.4 35.4 86.6
= i - j + k 69.3 y
100 100 100
= 0.354i - 0.354j + 0.866k

x
so that (c)
-1
a = cos (0.354) = 69.3°
Fig. 2–32
b = cos-1(-0.354) = 111°
g = cos-1(0.866) = 30.0°

These results are shown in Fig. 2–31c.

 50 CHAPTER 2 FORCE VECTORS

EXAMPLE 2.11
z
Two forces act on the hook shown in Fig. 2–32a. Specify the magnitude
of F2 and its coordinate direction angles of F2 that the resultant force
F2
2 120 FR acts along the positive y axis and has a magnitude of 800 N.

y SOLUTION
60 To solve this problem, the resultant force FR and its two components,
45 F1 and F2, will each be expressed in Cartesian vector form. Then, as
F1  300 N shown in Fig. 2–33a, it is necessary that FR = F1 + F2.
x
Applying Eq. 2–9,
(a) F1 = F1 cos a1i + F1 cos b 1 j + F1 cos g1k
= 300 cos 45° i + 300 cos 60° j + 300 cos 120° k
= 5212.1i + 150j - 150k6 N
F2 = F2xi + F2y j + F2zk
Since FR has a magnitude of 800 N and acts in the +j direction,
FR = (800 N)( +j) = 5800j6 N
z
We require
F2  700 N FR = F1 + F2
g2  77.6
800j = 212.1i + 150j - 150k + F2x i + F2y j + F2z k
b2  21.8 FR  800 N
y 800j = (212.1 + F2x)i + (150 + F2y)j + (- 150 + F2z)k
a2  108
To satisfy this equation the i, j, k components of FR must be equal to
F1  300 N the corresponding i, j, k components of (F1 + F2). Hence,
x 0 = 212.1 + F2x F2x = - 212.1 N
(b) 800 = 150 + F2y F2y = 650 N
Fig. 2–33 0 = - 150 + F2z F2z = 150 N

The magnitude of F2 is thus

F2 = 2( - 212.1 N)2 + (650 N)2 + (150 N)2
= 700 N Ans.
We can use Eq. 2–9 to determine a 2, b 2, g 2.
- 212.1
cos a2 = ; a2 = 108° Ans.
700
650
cos b 2 = ; b 2 = 21.8° Ans.
700
150
cos g2 = ; g2 = 77.6° Ans.
700
These results are shown in Fig. 2–32b.
 2.6 ADDITION OF CARTESIAN VECTORS 51

FUNDAMENTAL PROBLEMS

F2–13. Determine its coordinate direction angles of the F2–16. Express the force as a Cartesian vector.
force. z
F  50 lb 2

z
45
5
4 3

x
y

45 y
F2–16

x 30
F2–17. Express the force as a Cartesian vector.

z
F  75 lb
F  750 N
F2–13
F2–14. Express the force as a Cartesian vector.
z F  500 N
45
60
60
y
60
x

F2–17

x y
F2–18. Determine the resultant force acting on the hook.

F2–14 F1  500 lb
5
F2–15. Express the force as a Cartesian vector. 3
4

z
30 y
x
45
45

60 y
F  500 N
F2  800 lb
x
F2–18
F2–15
 52 CHAPTER 2 FORCE VECTORS

PROBLEMS

2–63. The force F acts on the bracket within the octant

2–59. Determine the coordinate angle g for F2 and then
shown. If F = 400 N, b = 60°, and g = 45°, determine the
2 express each force acting on the bracket as a Cartesian x, y, z components of F.
vector.
*2–64. The force F acts on the bracket within the octant
*2–60. Determine the magnitude and coordinate direction
shown. If the magnitudes of the x and z components of F
angles of the resultant force acting on the bracket.
are Fx = 300 N and Fz = 600 N, respectively, and b = 60°,
z determine the magnitude of F and its y component. Also,
F1  450 N find the coordinate direction angles a and g.

45 g
F
30

60 y
45
x b
a
F2  600 N
x
y
Probs. 2–59/60
Probs. 2–63/64

•2–61. Express each force acting on the pipe assembly in •2–65. The two forces F1 and F2 acting at A have a
Cartesian vector form. resultant force of FR = 5- 100k6 lb. Determine the
magnitude and coordinate direction angles of F2.
2–62. Determine the magnitude and direction of the
resultant force acting on the pipe assembly. 2–66. Determine the coordinate direction angles of the
force F1 and indicate them on the figure.

30
5
F1  600 lb 120
3
4 y
A 50
y
60

x x
F1  60 lb
F2
F2  400 lb

Probs. 2–61/62 Probs. 2–65/66

 2.6 ADDITION OF CARTESIAN VECTORS 53

2–67. The spur gear is subjected to the two forces caused 2–71. If a = 120°, b 6 90°, g = 60°, and F = 400 lb,
by contact with other gears. Express each force as a determine the magnitude and coordinate direction angles
Cartesian vector. of the resultant force acting on the hook.

*2–68. The spur gear is subjected to the two forces caused *2–72. If the resultant force acting on the hook is
by contact with other gears. Determine the resultant of the FR = 5- 200i + 800j + 150k6 lb, determine the magnitude
two forces and express the result as a Cartesian vector. and coordinate direction angles of F. 2

z
z

60
F2  180 lb F
g
a
60 135 b

y
30
x x
25 y
24 F1  600 lb
7 4
5
F1  50 lb 3

Probs. 2–67/68 Probs. 2–71/72

•2–69. If the resultant force acting on the bracket is •2–73. The shaft S exerts three force components on the
FR = 5 -300i + 650j + 250k6 N, determine the magnitude die D. Find the magnitude and coordinate direction angles
and coordinate direction angles of F. of the resultant force. Force F2 acts within the octant shown.

2–70. If the resultant force acting on the bracket is to be

FR = 5800j6 N, determine the magnitude and coordinate
direction angles of F.

z z

F3  200 N g2  60
F2  300 N
g F
a 3 5

4 S
b
a2  60
y
D
y
F1  400 N
45
x 30
x

F1  750 N

Probs. 2–69/70 Prob. 2–73

 54 CHAPTER 2 FORCE VECTORS

2–74. The mast is subjected to the three forces shown. 2–78. If the resultant force acting on the bracket is directed
Determine the coordinate direction angles a1, b 1, g1 of along the positive y axis, determine the magnitude of the
F1 so that the resultant force acting on the mast is resultant force and the coordinate direction angles of F so
FR = 5350i6 N. that b 6 90°.

2–75. The mast is subjected to the three forces shown.

2 Determine the coordinate direction angles a1, b 1, g1 of z
F1 so that the resultant force acting on the mast is zero.

g F  500 N
z
F1
g1
b
a
a1
b1
F3  300 N 30
y y
F2  200 N x 30
x

F1  600 N

Probs. 2–74/75 Prob. 2–78

*2–76. Determine the magnitude and coordinate

2–79. Specify the magnitude of F3 and its coordinate
direction angles of F2 so that the resultant of the two forces
direction angles a3, b 3, g3 so that the resultant force
acts along the positive x axis and has a magnitude of 500 N.
FR = 59j6 kN.
•2–77. Determine the magnitude and coordinate direction
angles of F2 so that the resultant of the two forces is zero.
z
z
F2  10 kN
F3
F2 13 5
g3
b3 12
g2
a3
b2 y
30
a2 y
60 F1  12 kN
15 x

F1  180 N

Probs. 2–76/77 Prob. 2–79

 2.6 ADDITION OF CARTESIAN VECTORS 55

*2–80. If F3 = 9 kN, u = 30°, and f = 45°, determine the 2–83. Three forces act on the ring. If the resultant force FR
magnitude and coordinate direction angles of the resultant has a magnitude and direction as shown, determine the
force acting on the ball-and-socket joint. magnitude and the coordinate direction angles of force F3.

*2–84. Determine the coordinate direction angles of F1

z and FR.
F2  8 kN
2
z
F1  10 kN 5 4
3 F3
F3 FR  120 N
60
F2  110 N
f
30
u
x F1  80 N 5 45
y y
3 4
30

Prob. 2–80

•2–81. The pole is subjected to the force F, which has x

components acting along the x, y, z axes as shown. If the
Probs. 2–83/84
magnitude of F is 3 kN, b = 30°, and g = 75°, determine
the magnitudes of its three components.

2–82. The pole is subjected to the force F which has •2–85. Two forces F1 and F2 act on the bolt. If the resultant
components Fx = 1.5 kN and Fz = 1.25 kN. If b = 75°, force FR has a magnitude of 50 lb and coordinate direction
determine the magnitudes of F and Fy. angles a = 110° and b = 80°, as shown, determine the
magnitude of F2 and its coordinate direction angles.

Fz z

g F
b Fy
y
g
a y
80
Fx F2
110

x
x F1  20 lb

FR  50 lb

Probs. 2–81/82 Prob. 2–85

 56 CHAPTER 2 FORCE VECTORS

z
2.7 Position Vectors
In this section we will introduce the concept of a position vector. It will be
shown that this vector is of importance in formulating a Cartesian force
2 B vector directed between two points in space.
O 2m
y
4m
x, y, z Coordinates. Throughout the book we will use a right-
4m 2m handed coordinate system to reference the location of points in space. We
will also use the convention followed in many technical books, which
1m 6m requires the positive z axis to be directed upward (the zenith direction) so
that it measures the height of an object or the altitude of a point. The x, y
x
axes then lie in the horizontal plane, Fig. 2–34. Points in space are located
A relative to the origin of coordinates, O, by successive measurements along
the x, y, z axes. For example, the coordinates of point A are obtained by
Fig. 2–34
starting at O and measuring xA = +4 m along the x axis, then yA = +2 m
along the y axis, and finally zA = –6 m along the z axis. Thus, A(4 m, 2 m,
–6 m). In a similar manner, measurements along the x, y, z axes from O
to B yield the coordinates of B, i.e., B(6 m, –1 m, 4 m).

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. 2–35a,
then r can be expressed in Cartesian vector form as

r = xi + yj + zk

Note how the head-to-tail vector addition of the three components

yields vector r, Fig. 2–35b. Starting at the origin O, one “travels” x in the
+i direction, then y in the +j direction, and finally z in the +k direction to
arrive at point P(x, y, z).

z z

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

x x yj
(a) (b)

Fig. 2–35
 2.7 POSITION VECTORS 57

In the more general case, the position vector may be directed from
point A to point B in space, Fig. 2–36a. This vector is also designated by
the symbol r. As a matter of convention, we will sometimes refer to this
vector with two subscripts to indicate from and to the point where it is
directed. Thus, r can also be designated as rAB. Also, note that rA and rB in z
Fig. 2–36a are referenced with only one subscript since they extend from 2
the origin of coordinates.
B(xB, yB, zB)
From Fig. 2–36a, by the head-to-tail vector addition, using the triangle
r
rule, we require
rB
A(xA, yA, zA)
rA + r = rB rA y

Solving for r and expressing rA and rB in Cartesian vector form yields

x
r = rB - rA = (xBi + yB j + zBk) - (xAi + yA j + zAk) (a)

or

r = (xB - xA)i + (yB - yA)j + (zB - zA)k (2–11)

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 z
B(xB, yB, zB). We can also form these components directly, Fig. 2–36b, by
starting at A and moving through a distance of (xB – xA) along the
positive x axis (+i), then (yB – yA) along the positive y axis (+j), and B
finally (zB – zA) along the positive z axis (+k) to get to B. r (zB  zA)k
A
(xB  xA)i
y
A (yB  yA)j

x
u
(b)

r Fig. 2–36

If an x, y, z coordinate system is established, then the coordinates

of points A and B can be determinded. From this the position
vector r acting along the cable can be formulated. Its magnitude
represents the length of the cable, and its unit vector, u = r/r,
gives the direction defined by a, b, g.
 58 CHAPTER 2 FORCE VECTORS

EXAMPLE 2.12
An elastic rubber band is attached to points A and B as shown in
z Fig. 2–37a. Determine its length and its direction measured from A
B toward B.
2 3m
2m

2m y SOLUTION
We first establish a position vector from A to B, Fig. 2–37b. In
x
3m accordance with Eq. 2–11, the coordinates of the tail A(1 m, 0, –3 m) are
subtracted from the coordinates of the head B(–2 m, 2 m, 3 m), which
A1m yields
(a)

r = [-2 m - 1 m]i + [2 m - 0] j + [3 m - ( -3 m)]k

z
B = 5- 3i + 2j + 6k6 m

{6 k} These components of r can also be determined directly by realizing

y
that they represent the direction and distance one must travel along
r each axis in order to move from A to B, i.e., along the x axis {–3i} m,
x along the y axis {2j} m, and finally along the z axis {6k} m.
{2 j} m The length of the rubber band is therefore
{3 i} m
A
(b) r = 2( -3 m)2 + (2 m)2 + (6 m)2 = 7 m Ans.

B Formulating a unit vector in the direction of r, we have

r 3 2 6
z¿ u = = - i + j + k
r 7 7 7
r7m
g  31.0 The components of this unit vector give the coordinate direction
b  73.4 angles
a  115
y¿
A
x¿ 3
(c) a = cos-1 a- b = 115° Ans.
7
Fig. 2–37
2
b = cos-1 a b = 73.4° Ans.
7

6
g = cos-1 a b = 31.0° Ans.
7

NOTE: These angles are measured from the positive axes of a localized
coordinate system placed at the tail of r, as shown in Fig. 2–37c.
 2.8 FORCE VECTOR DIRECTED ALONG A LINE 59

z
2.8 Force Vector Directed Along a Line
F
Quite often in three-dimensional statics problems, the direction of a force
is specified by two points through which its line of action passes. Such a r B
situation is shown in Fig. 2–38, where the force F is directed along the cord 2
AB. We can formulate F as a Cartesian vector by realizing that it has the u
same direction and sense as the position vector r directed from point A to A
point B on the cord. This common direction is specified by the unit vector
y
u = r>r. Hence,

r (xB - xA)i + (yB - yA)j + (zB - zA)k

F = Fu = Fa b = Fa b
r 2(xB - xA)2 + (yB - yA)2 + (zB - zA)2 x

Although we have represented F symbolically in Fig. 2–38, note that it Fig. 2–38
has units of force, unlike r, which has units of length.

r
u
F

The force F acting along the chain can be represented as a Cartesian vector by establishing
x, y, z axes and first forming a position vector r along the length of the chain. Then the
corresponding unit vector u = r/r that defines the direction of both the chain and the force
can be determined. Finally, the magnitude of the force is combined with its direction,
F = Fu.

Important Points

• A position vector locates one point in space relative to another

point.
• The easiest way to formulate the components of a position vector is
to determine the distance and direction that must be traveled along
the x, y, z directions—going from the tail to the head of the vector.
• A force F acting in the direction of a position vector r can be
represented in Cartesian form if the unit vector u of the position
vector is determined and it is multiplied by the magnitude of the
force, i.e., F = Fu = F(r/r).
 60 CHAPTER 2 FORCE VECTORS

EXAMPLE 2.13
z
The man shown in Fig. 2–39a pulls on the cord with a force of 70 lb.
Represent this force acting on the support A as a Cartesian vector and
2 determine its direction.
A

SOLUTION
Force F is shown in Fig. 2–39b. The direction of this vector, u, is
30 ft determined from the position vector r, which extends from A to B.
Rather than using the coordinates of the end points of the cord, r can
be determined directly by noting in Fig. 2–39a that one must travel from
8 ft A {–24k} ft, then {–8j} ft, and finally {12i} ft to get to B. Thus,
6 ft
B y r = 512i - 8j - 24k6 ft
12 ft
The magnitude of r, which represents the length of cord AB, is

r = 2(12 ft)2 + ( -8 ft)2 + ( -24 ft)2 = 28 ft

x
(a) Forming the unit vector that defines the direction and sense of both
r and F, we have
z¿ r 12 8 24
u = = i - j - k
r 28 28 28
Since F, has a magnitude of 70 lb and a direction specified by u, then
g A y¿
b 12 8 24
F = Fu = 70 lb a i - j - kb
F  70 lb 28 28 28
a
x¿
u = 530i - 20j - 60k6 lb Ans.

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

r
the positive axes of a localized coordinate system with origin placed at
A, Fig. 2–39b. From the components of the unit vector:
B
12
(b) a = cos-1 a b = 64.6° Ans.
28
Fig. 2–39
-8
b = cos-1 a b = 107° Ans.
28

-24
g = cos-1 a b = 149° Ans.
28

NOTE: These results make sense when compared with the angles
identified in Fig. 2–39b.
 2.8 FORCE VECTOR DIRECTED ALONG A LINE 61

EXAMPLE 2.14

The force in Fig. 2–40a acts on the hook. Express it as a Cartesian vector.

z z 2

rB B(–2 m, 3.464 m, 3 m)
FB  750 N B uB
2m 5 3
4 ( 3 )(5 m) A(2 m, 0 , 2 m) FB
A 5m 5

2m 30°
( 4 )(5 m)
5

x y x y

(a) (b)

Fig. 2–40

SOLUTION
As shown in Fig. 2–40b, the coordinates for points A and B are
A(2 m, 0, 2 m)
and

4 4 3
Bc - a b 5 sin 30° m, a b5 cos 30° m, a b 5 m d
5 5 5

or

B( -2 m, 3.464 m, 3 m)

Therefore, to go from A to B, one must travel {4i} m, then {3.464 j} m,

and finally {1 k} m. Thus,

rB 5-4i + 3.464j + 1k6 m

uB = a b =
rB 2(-4 m)2 + (3.464 m)2 + (1 m)2

= - 0.7428i + 0.6433j + 0.1857k

Force FB expressed as a Cartesian vector becomes

FB = FB uB = (750 N)( -0.74281i + 0.6433j + 0.1857k)

= 5-557i + 482j + 139k6 N Ans.

 62 CHAPTER 2 FORCE VECTORS

EXAMPLE 2.15

The roof is supported by cables as shown in the photo. If the cables

exert forces FAB = 100 N and FAC = 120 N on the wall hook at A as
2 shown in Fig. 2–40a, determine the resultant force acting at A. Express
the result as a Cartesian vector.

SOLUTION
The resultant force FR is shown graphically in Fig. 2–41b.We can express
this force as a Cartesian vector by first formulating FAB and FAC as
Cartesian vectors and then adding their components. The directions of
FAB and FAC are specified by forming unit vectors uAB and uAC along
the cables.These unit vectors are obtained from the associated position
z
vectors rAB and rAC. With reference to Fig. 2–41a, to go from A to B, we
must travel 5- 4k6 m and, then 5-4i6 m . Thus,
A
rAB = 54i - 4k6 m
FAB  100 N FAC  120 N
4m rAB = 2(4 m)2 + ( -4 m)2 = 5.66 m

rAB 4 4
y FAB = FAB a b = (100 N) a i - kb
rAB 5.66 5.66
4m

B C
FAB = 570.7i - 70.7k6 N

2m
To go from A to C, we must travel 5-4k6 m , then 52j6 m, and finally
x
(a) 54j6. Thus,
z
rAC = 54i + 2j - 4k6 m

A rAC = 2(4 m)2 + (2 m)2 + ( -4 m)2 = 6 m

rAC 4 2 4
FAC = FAC a b = (120 N) a i + j - kb
FAB FAC rAC 6 6 6
= 580i + 40j - 80k6 N
rAC
rAB
y
FR The resultant force is therefore

B FR = FAB + FAC = 570.7i - 70.7k6 N + 580i + 40j - 80k6 N

C

= 5151i + 40j - 151k6 N Ans.

x
(b)

Fig. 2–41
 2.8 FORCE VECTOR DIRECTED ALONG A LINE 63

FUNDAMENTAL PROBLEMS

F2–19. Express the position vector rAB in Cartesian vector F2–22. Express the force as a Cartesian vector.
form, then determine its magnitude and coordinate
direction angles. 2
z
z B A
F  900 N
rAB 3m B
4m 2m y
3m 2m
y 7m
3m 4m x
A
2m
x F2–22
F2–19
F2–20. Determine the length of the rod and the position F2–23. Determine the magnitude of the resultant force
vector directed from A to B. What is the angle u? at A.
z
z
A
2 ft
FB  840 N 6m
B
FC  420 N

4 ft 3m
u B
O
2m
4 ft
x 3m y
A 2m
x y C

F2–20 F2–23

F2–21. Express the force as a Cartesian vector. F2–24. Determine the resultant force at A.

z
z
2m 2 ft
A A FC  490 lb
C
2m FB  600 lb
4 ft
6 ft
4m y 3 ft
x 3m
B

F  630 N x 4 ft 2 ft 4 ft
4m

B y

F2–21 F2–24
 64 CHAPTER 2 FORCE VECTORS

PROBLEMS

2–86. Determine the position vector r directed from point •2–89. Determine the magnitude and coordinate
A to point B and the length of cord AB. Take z = 4 m. direction angles of the resultant force acting at A.
2
2–87. If the cord AB is 7.5 m long, determine the
z
coordinate position +z of point B

z
6m 4 ft
A
3m
B

3 ft FB  600 lb
z B
FC  750 lb
A 2.5 ft
y
3 ft
2m 4 ft
C 2 ft
x
x
Prob. 2–89
Probs. 2–86/87

*2–88. Determine the distance between the end points A 2–90. Determine the magnitude and coordinate direction
and B on the wire by first formulating a position vector angles of the resultant force.
from A to B and then determining its magnitude.

z
z
2m
A 1 in.
3 in.
30 A
y
600 N 500 N
60 4m
8 in.
B y

4m
2 in.
x
B 8m C
x

Prob. 2–88 Prob. 2–90

 2.8 FORCE VECTOR DIRECTED ALONG A LINE 65

2–91. Determine the magnitude and coordinate direction •2–93. The chandelier is supported by three chains which
angles of the resultant force acting at A. are concurrent at point O. If the force in each chain has a
magnitude of 60 lb, express each force as a Cartesian vector
and determine the magnitude and coordinate direction
angles of the resultant force.
z 2–94. The chandelier is supported by three chains which 2
are concurrent at point O. If the resultant force at O has a
magnitude of 130 lb and is directed along the negative z axis,
determine the force in each chain.
FB  900 N A
FC  600 N z

C
O
6m
3m FB
FC
45
B FA
4.5 m y
6 ft
6m B

120 120 4 ft C
x y
120
A

Prob. 2–91

Probs. 2–93/94

*2–92. Determine the magnitude and coordinate direction 2–95. Express force F as a Cartesian vector; then
angles of the resultant force. determine its coordinate direction angles.

z z

A
F  135 lb
10 ft
C
F2  81 lb 70
F1  100 lb 30
y
4 ft
B 5 ft
3 ft A
B 7 ft
7 ft 40
4 ft 11
y
x x

Prob. 2–92 Prob. 2–95

 66 CHAPTER 2 FORCE VECTORS

*2–96. The tower is held in place by three cables. If the 2–98. The guy wires are used to support the telephone
force of each cable acting on the tower is shown, determine pole. Represent the force in each wire in Cartesian vector
the magnitude and coordinate direction angles a, b, g of form. Neglect the diameter of the pole.
the resultant force. Take x = 20 m, y = 15 m.
z
z
2
D

600 N
800 N
400 N
B 1.5 m
24 m A
FB  175 N
FA  250 N
4m
2m 4m
D
16 m 4m C
O B 3m
C 1m
6m y
18 m y x y x
A
x Prob. 2–98

Prob. 2–96
2–99. Two cables are used to secure the overhang boom in
position and support the 1500-N load. If the resultant force
•2–97. The door is held opened by means of two chains. If is directed along the boom from point A towards O,
the tension in AB and CD is FA = 300 N and FC = 250 N, determine the magnitudes of the resultant force and forces
respectively, express each of these forces in Cartesian FB and FC. Set x = 3 m and z = 2 m.
vector form.
*2–100. Two cables are used to secure the overhang boom
z in position and support the 1500-N load. If the resultant
C
force is directed along the boom from point A towards O,
determine the values of x and z for the coordinates of point
1.5 m C and the magnitude of the resultant force. Set
2.5 m
FB = 1610 N and FC = 2400 N.

FC  250 N z
A 2m B
x
FA  300 N 3m
C

30 D z FB
1m 0.5 m A
B 6 m FC
x y

y
x
1500 N

Prob. 2–97 Probs. 2–99/100

 2.8 FORCE VECTOR DIRECTED ALONG A LINE 67

•2–101. The cable AO exerts a force on the top of the pole *2–104. The antenna tower is supported by three cables. If
of F = 5 -120i - 90j - 80k6 lb. If the cable has a length of the forces of these cables acting on the antenna are
34 ft, determine the height z of the pole and the location FB = 520 N, FC = 680 N, and FD = 560 N, determine the
(x, y) of its base. magnitude and coordinate direction angles of the resultant
force acting at A.
z
A z 2

F
A

FB FD

z 24 m FC

8m
O y
x B D
12 m
10 m O
y y
16 m

x 18 m C
x

Prob. 2–101
Prob. 2–104

2–102. If the force in each chain has a magnitude of 450 lb, •2–105. If the force in each cable tied to the bin is 70 lb,
determine the magnitude and coordinate direction angles determine the magnitude and coordinate direction angles
of the resultant force. of the resultant force.
2–103. If the resultant of the three forces is 2–106. If the resultant of the four forces is
FR = 5 -900k6 lb, determine the magnitude of the force in FR = 5- 360k6 lb, determine the tension developed in each
each chain. cable. Due to symmetry, the tension in the four cables is the
same.
z

FA E
FC FB 7 ft

FB FC 6 ft
FD
B FA
D
120 A C
120
3 ft A 2 ft
120 x 2 ft B 3 ft
C y
y 3 ft
x

Probs. 2–102/103 Probs. 2–105/106

 68 CHAPTER 2 FORCE VECTORS

2–107. The pipe is supported at its end by a cord AB. If the •2–109. The cylindrical plate is subjected to the three cable
cord exerts a force of F = 12 lb on the pipe at A, express forces which are concurrent at point D. Express each force
this force as a Cartesian vector. which the cables exert on the plate as a Cartesian vector,
and determine the magnitude and coordinate direction
angles of the resultant force.
2 z
z

B D

6 ft
FC  5 kN 3m
FB  8 kN

F  12 lb C
5 ft B
45 30
x y
3 ft y
20
A
A 0.75 m
FA  6 kN
x

Prob. 2–107
Prob. 2–109

*2–108. The load at A creates a force of 200 N in wire AB. 2–110. The cable attached to the shear-leg derrick exerts a
Express this force as a Cartesian vector, acting on A and force on the derrick of F = 350 lb. Express this force as a
directed towards B. Cartesian vector.

z
z

A
120
y 35 ft
30
1m
120 B

2m F  350 lb

x
F  200 N 30

A 50 ft
x
y

Prob. 2–108 Prob. 2–110

 2.9 DOT PRODUCT 69

2.9 Dot Product

Occasionally in statics one has to find the angle between two lines or the
components of a force parallel and perpendicular to a line. In two dimensions,
these problems can readily be solved by trigonometry since the geometry is 2
easy to visualize. In three dimensions, however, this is often difficult, and
consequently vector methods should be employed for the solution. The dot
product, which defines a particular method for “multiplying” two vectors,
will be is used to solve the above-mentioned problems.
The dot product of vectors A and B, written A · B, and read “A dot B”
A
is defined as the product of the magnitudes of A and B and the cosine of
the angle u between their tails, Fig. 2–41. Expressed in equation form,

A # B = AB cos u
u
(2–12) B

where 0° … u … 180°. The dot product is often referred to as the scalar Fig. 2–41
product of vectors since the result is a scalar and not a vector.

Laws of Operation.
1. Commutative law: A # B = B # A
2. Multiplication by a scalar: a(A # B) = (aA) # B = A # (aB)
3. Distributive law: A # (B + D) = (A # B) + (A # D)

It is easy to prove the first and second laws by using Eq. 2–12. The proof of
the distributive law is left as an exercise (see Prob. 2–111).

Cartesian Vector Formulation. Equation 2–12 must be used to

find the dot product for any two Cartesian unit vectors. For example,
i # i = (1)(1) cos 0° = 1 and i # j = (1)(1) cos 90° = 0. If we want to find
the dot product of two general vectors A and B that are expressed in
Cartesian vector form, then we have

A # B = (A xi + A y j + A zk) # (Bxi + By j + Bzk)

= AxBx(i # i) + AxBy(i # j) + AxBz(i # k)

+ A yBx( j # i) + (A yBy( j # j) + A yBz( j # k)

+ AzBx(k # i) + AzBy(k # j) + AzBz(k # k)

Carrying out the dot-product operations, the final result becomes

A # B = A xBx + A yBy + A zBz (2–13)

Thus, to determine the dot product of two Cartesian vectors, multiply their
corresponding x, y, z components and sum these products algebraically.
Note that the result will be either a positive or negative scalar.
 70 CHAPTER 2 FORCE VECTORS

Applications. The dot product has two important applications in

mechanics.
uA
• The angle formed between two vectors or intersecting lines. The
A
angle u between the tails of vectors A and B in Fig. 2–41 can be
determined from Eq. 2–12 and written as
2 u
A#B
u = cos-1 a b 0° … u … 180°
ur AB
Here A # B is found from Eq. 2–13. In particular, notice that if
A # B = 0, u = cos-1 0 = 90° so that A will be perpendicular to B.
• The components of a vector parallel and perpendicular to a
line. The component of vector A parallel to or collinear with the line
aa¿ in Fig. 2–43 is defined by Aa where Aa = A cos u. This component
The angle u between the rope and the is sometimes referred to as the projection of A onto the line, since a
connecting beam can be determined by right angle is formed in the construction. If the direction of the line is
formulating unit vectors along the beam and specified by the unit vector ua, then since ua = 1, we can determine the
rope and then using the dot product magnitude of Aa directly from the dot product (Eq. 2–12); i.e.,
ub # ur = (1)(1) cos u.
Aa = A cos u = A # ua

Hence, the scalar projection of A along a line is determined from the

dot product of A and the unit vector ua which defines the direction of
the line. Notice that if this result is positive, then Aa has a directional
sense which is the same as ua, whereas if Aa is a negative scalar, then
Aa has the opposite sense of direction to ua
The component Aa represented as a vector is therefore

Aa = Aa ua

The component of A that is perpendicular to line aa can also be

obtained, Fig. 2–43. Since A = Aa + A ⬜ , then A ⬜ = A - Aa.
There are two possible ways of obtaining A ⬜ . One way would be to
determine u from the dot product, u = cos-1(A # uA >A), then
A ⬜ = A sin u. Alternatively, if Aa is known, then by Pythagorean’s
Fb theorem we can also write A ⬜ = 2A2 - Aa 2.
ub

A⬜
A

u
The projection of the cable force F along the a a
beam can be determined by first finding the Aa  A cos u ua ua
unit vector ub that defines this direction. Then
apply the dot product, Fb = F # ub. Fig. 2–43
 2.9 DOT PRODUCT 71

Important Points

• The dot product is used to determine the angle between two

vectors or the projection of a vector in a specified direction.
2
• If vectors A and B are expressed in Cartesian vector form, the
dot product is determined by multiplying the respective x, y, z
scalar components and algebraically adding the results, i.e.,
A # B = AxBx + AyBy + AzBz.
• From the definition of the dot product, the angle formed between
the tails of vectors A and B is u = cos-1(A # B>AB).
• The magnitude of the projection of vector A along a line aa
whose direction is specified by ua is determined from the dot
product Aa = A # ua.

EXAMPLE 2.16
Determine the magnitudes of the projection of the force F in Fig. 2–44
onto the u and v axes.
v

F  100 N
(Fv )proj

15

45
u

(Fu)proj

Fig. 2–44
SOLUTION
Projections of Force. The graphical representation of the projections
is shown in Fig. 2–44. From this figure, the magnitudes of the projections
of F onto the u and v axes can be obtained by trigonometry:
(Fu)proj = (100 N)cos 45° = 70.7 N Ans.
(Fv)proj = (100 N)cos 15° = 96.6 N Ans.

NOTE: These projections are not equal to the magnitudes of the

components of force F along the u and v axes found from the
parallelogram law. They will only be equal if the u and v axes are
perpendicular to one another.
 72 CHAPTER 2 FORCE VECTORS

EXAMPLE 2.17
The frame shown in Fig. 2–45a is subjected to a horizontal force
F = {300j}. Determine the magnitude of the components of this
force parallel and perpendicular to member AB.
2
z z

FAB

B F  {300 j} N uB
B
F

3m A F
A y y
2m
6m
x x

(a) (b)
Fig 2–45
SOLUTION
The magnitude of the component of F along AB is equal to the dot
product of F and the unit vector uB, which defines the direction of AB,
Fig. 2–44b. Since
rB 2i + 6j + 3k
uB = = = 0.286 i + 0.857 j + 0.429 k
rB 2(2)2 + (6)2 + (3)2
then
FAB = F cos u = F # uB = (300j) # (0.286i + 0.857j + 0.429k)
= (0)(0.286) + (300)(0.857) + (0)(0.429)
= 257.1 N Ans.
Since the result is a positive scalar, FAB has the same sense of direction
as uB, Fig. 2–45b.
Expressing FAB in Cartesian vector form, we have
FAB = FABuB = (257.1 N)(0.286i + 0.857j + 0.429k)
= 573.5i + 220j + 110k6N Ans.
The perpendicular component, Fig. 2–45b, is therefore
F ⬜ = F - FAB = 300j - (73.5i + 220j + 110k)
= 5- 73.5i + 80j - 110k6 N

Its magnitude can be determined either from this vector or by using

the Pythagorean theorem, Fig. 2–45b:
F ⬜ = 2F2 - F2AB = 2(300 N)2 - (257.1 N)2
= 155 N Ans.
 2.9 DOT PRODUCT 73

EXAMPLE 2.18
The pipe in Fig. 2–46a is subjected to the force of F = 80 lb. Determine
the angle u between F and the pipe segment BA and the projection of
F along this segment. z
2

1 ft 2 ft
y
A
2 ft

C
x u 1 ft
F  80 lb
B

(a)
SOLUTION
Angle u. First we will establish position vectors from B to A and B
to C; Fig. 2–46b. Then we will determine the angle u between the tails z
of these two vectors.
rBA = 5- 2i - 2j + 1k6 ft, rBA = 3 ft y
A
rBC = 5- 3j + 1k6 ft, rBC = 210ft
Thus, C rBA
rBA # rBC
x u
(-2)(0) + (-2)( -3) + (1)(1) rBC
cos u = = = 0.7379
rBArBC 3210 B
u = 42.5° Ans. (b)

Components of F. The component of F along BA is shown in

Fig. 2–46b. We must first formulate the unit vector along BA and force
F as Cartesian vectors.
rBA (-2i - 2j + 1k) 2 2 1 z
uBA = = = - i - j + k
rBA 3 3 3 3
A
y
rBC -3j + 1k
F = 80 lb a b = 80a b = - 75.89j + 25.30k
rBC 210
Thus,
x F  80 lb FBA
F # uBA = 25.30k) # a - i
22 1 u
FBA = (-75.89j + - j + kb
3 3 3 B
F
2 2 1
= 0 a- b + ( -75.89)a- b + (25.30) a b (c)
3 3 3
= 59.0 lb Ans.
Fig. 2–46
NOTE: Since u is known, then also, FBA = F cos u = 80 lb cos 42.5º = 59.0 lb.
 74 CHAPTER 2 FORCE VECTORS

FUNDAMENTAL PROBLEMS

F2–25. Determine the angle u between the force and F2–29. Find the magnitude of the projected component of
the line AO. the force along the pipe.
2
z
z

F  {6 i  9 j  3 k} kN
4m

u A
A

2m O y
1m O F  400 N

2m 6m

x
F2–25 5m B
x
4m y
F2–26. Determine the angle u between the force and the
line AB.

z
F2–29
B

4m
F2–30. Determine the components of the force acting
parallel and perpendicular to the axis of the pole.
3m
4m u
z
A
F  600 N y
x C
F  600 lb
F2–26

F2–27. Determine the angle u between the force and

the line OA. A 60
F2–28. Determine the component of projection of the O 30
force along the line OA. 2 ft
x 4 ft 4 ft
y

A y
F  650 N 13
u 5
12
O x
F2–30
F2–27/28
 2.9 DOT PRODUCT 75

PROBLEMS

2–111. Given the three vectors A, B, and D, show that 2–114. Determine the length of side BC of the triangular
A # (B + D) = (A # B) + (A # D). plate. Solve the problem by finding the magnitude of rBC;
then check the result by first finding q , rAB, and rAC and 2
*2–112. Determine the projected component of the force
then using the cosine law.
FAB = 560 N acting along cable AC. Express the result as a
Cartesian vector.
z
z

1.5 m 3m
B
1.5 m B
C
1m
4m
A
FAB  560 N u
3m 1m
y
A 1m 3m
y
x 3m C
5m

Prob. 2–114
Prob. 2–112

•2–113. Determine the magnitudes of the components of 2–115. Determine the magnitudes of the components of
force F = 56 N acting along and perpendicular to line AO. F = 600 N acting along and perpendicular to segment DE
of the pipe assembly.

z
z

A
D 2m

1m F  56 N B

C 2m
1m O A x y
2m
B
x 2m C
3m
1.5 m D F  600 N
y
3m
E

Prob. 2–115
Prob. 2–113
 76 CHAPTER 2 FORCE VECTORS

*2–116. Two forces act on the hook. Determine the angle 2–119. The clamp is used on a jig. If the vertical force
u between them. Also, what are the projections of F1 and F2 acting on the bolt is F = {-500k} N, determine the
along the y axis? magnitudes of its components F1 and F2 which act along the
OA axis and perpendicular to it.
•2–117. Two forces act on the hook. Determine the
magnitude of the projection of F2 along F1.
2
z A
z

40 mm
O y
F1  600 N 20 mm

x 40 mm
45

F  {500 k} N

60
120
u
Prob. 2–119
y

x F2  {120i + 90j – 80k}N

Probs. 2–116/117

*2–120. Determine the magnitude of the projected

component of force FAB acting along the z axis.

2–118. Determine the projection of force F = 80 N along •2–121. Determine the magnitude of the projected
line BC. Express the result as a Cartesian vector. component of force FAC acting along the z axis.

z
z

A A
FAC  600 lb
36 ft
F  80 N
E FAB  700 lb
D

D
18 ft
C
1.5 m B O 12 ft
F 1.5 m
2m B
x 2m y
2m 12 ft
2m 12 ft C
30 y
x

Prob. 2–118 Probs. 2–120/121

 2.9 DOT PRODUCT 77

2–122. Determine the projection of force F = 400 N 2–126. The cables each exert a force of 400 N on the post.
acting along line AC of the pipe assembly. Express the result Determine the magnitude of the projected component of F1
as a Cartesian vector. along the line of action of F2.

2–123. Determine the magnitudes of the components of 2–127. Determine the angle u between the two cables
force F = 400 N acting parallel and perpendicular to attached to the post.
segment BC of the pipe assembly. 2
z
F1  400 N

F  400 N 35

B
C 45
120
y
30
A u 60
20 45
3m
4m
x
y x F2  400 N

Probs. 2–122/123
Probs. 2–126/127

*2–124. Cable OA is used to support column OB. *2–128. A force of F = 80 N is applied to the handle of
Determine the angle u it makes with beam OC. the wrench. Determine the angle u between the tail of the
force and the handle AB.
•2–125. Cable OA is used to support column OB.
Determine the angle f it makes with beam OD.

z
F  80 N
D
O 30 u 30
y B
f 4m
C u 45
8m
x A
8m
300 mm

B A y
x 500 mm

Probs. 2–124/125 Prob. 2–128

 78 CHAPTER 2 FORCE VECTORS

•2–129. Determine the angle u between cables AB and AC. *2–132. Determine the magnitude of the projected
component of the force F = 300 N acting along line OA.
2–130. If F has a magnitude of 55 lb, determine the
magnitude of its projected components acting along the x
axis and along cable AC.

2
z

3 ft 30
8 ft F  300 N
z
C A 30
B
12 ft
300 mm
8 ft
O
y 300 mm
F
x 300 mm y
u
15 ft

x
Prob. 2–132
Probs. 2–129/130

2–131. Determine the magnitudes of the projected •2–133. Two cables exert forces on the pipe. Determine
components of the force F = 300 N acting along the x and the magnitude of the projected component of F1 along the
y axes. line of action of F2.

2–134. Determine the angle u between the two cables

attached to the pipe.

30 F  300 N
z F2  25 lb
A 30 60

300 mm
u 60
O
300 mm x

x 300 mm y
30
30 y

F1  30 lb

Prob. 2–131 Probs. 2–133/134

 CHAPTER REVIEW 79

CHAPTER REVIEW

A scalar is a positive or negative

number; e.g., mass and temperature.
A 2
A vector has a magnitude and direction,
where the arrowhead represents the
sense of the vector.

Multiplication or division of a vector by

a scalar will change only the magnitude 2A
of the vector. If the scalar is negative, 1.5 A
the sense of the vector will change so A
that it acts in the opposite sense. 0.5 A

If vectors are collinear, the resultant R

is simply the algebraic or scalar R = A + B
addition. A B

Parallelogram Law
Two forces add according to the a
parallelogram law. The components Resultant
form the sides of the parallelogram and
the resultant is the diagonal. FR
F1

To find the components of a force along b

F2
any two axes, extend lines from the head
Components
of the force, parallel to the axes, to form
the components.

To obtain the components or the

resultant, show how the forces add by FR = 2F1 2 + F2 2 - 2 F1F2 cos uR
tip-to-tail using the triangle rule, and FR u2 F1
then use the law of cosines and the law F1 F2 FR
= = u1 uR
of sines to calculate their values. sin u1 sin u2 sin uR
F2
 80 CHAPTER 2 FORCE VECTORS

Rectangular Components: Two Dimensions y

Vectors Fx and Fy are rectangular components
of F.
2 F
Fy

x
The resultant force is determined from the Fx
algebraic sum of its components.

FRx = ©Fx y y
F2y
FRy = ©Fy F1y FR
FRy
FR = 2(FRx)2 + (FRy)2 F2x F1x
x  x
F3x FRx
FRy
u = tan-1 2 2 F3y
FRx

Cartesian Vectors
F F
The unit vector u has a length of one, no units, F
u = u
and it points in the direction of the vector F. F
1

A force can be resolved into its Cartesian

components along the x, y, z axes so that
F = Fxi + Fy j + Fzk.
z

Fz k
The magnitude of F is determined from the
positive square root of the sum of the squares of F
F = 2F2x + F2y + F2z
its components.
u
g

The coordinate direction angles a, b, g are Fx Fy Fz a b

F Fy j
determined by formulating a unit vector in the u = = i + j + k y
F F F F
direction of F. The x, y, z components of u
represent cos a, cos b , cos g. u = cos a i + cos b j + cos g k Fx i

x
 CHAPTER REVIEW 81

The coordinate direction angles are

related so that only two of the three cos2 a + cos2 b + cos2 g = 1
angles are independent of one another.

To find the resultant of a concurrent force 2

system, express each force as a Cartesian FR = ©F = ©Fxi + ©Fy j + ©Fzk
vector and add the i, j, k components of
all the forces in the system.

Position and Force Vectors z

(zB  zA)k
A position vector locates one point in
space relative to another. The easiest way r = (xB - xA)i
B
to formulate the components of a position
+ (yB - yA)j r
vector is to determine the distance and
A
direction that one must travel along the x, + (zB - zA)k
y, and z directions—going from the tail to y
(xB  xA)i (yB  yA)j
the head of the vector.
x
z

F
If the line of action of a force passes r B
through points A and B, then the force
acts in the same direction as the position r
F = Fu = Fa b u
vector r, which is defined by the unit r
A
vector u. The force can then be
expressed as a Cartesian vector. y

Dot Product
The dot product between two vectors A
A # B = AB cos u
A
and B yields a scalar. If A and B are
expressed in Cartesian vector form, then = A xBx + A yBy + A zBz
the dot product is the sum of the u
products of their x, y, and z components B

The dot product can be used to A#B

determine the angle between A and B. u = cos-1 a b A
AB A

The dot product is also used to u u

(A # ua)ua
a a
determine the projected component of a A a = A cos u ua = Aa  A cos u ua
vector A onto an axis aa defined by its
unit vector ua.
 82 CHAPTER 2 FORCE VECTORS

REVIEW PROBLEMS

2–135. Determine the x and y components of the 700-lb 2–138. Determine the magnitude and direction of the
force. resultant FR = F1 + F2 + F3 of the three forces by first
2 finding the resultant F¿ = F1 + F3 and then forming
FR = F¿ + F2. Specify its direction measured counter-
y
clockwise from the positive x axis.
700 lb
y
F2  75 N
F1  80 N
F3  50 N
60
30
30
30
45

x
x

Prob. 2–135

*2–136. Determine the magnitude of the projected Prob. 2–138

component of the 100-lb force acting along the axis BC of
the pipe. 2–139. Determine the design angle u (u < 90°) between
the two struts so that the 500-lb horizontal force has a
•2–137. Determine the angle u between pipe segments component of 600 lb directed from A toward C. What is the
BA and BC. component of force acting along member BA?

B
z

A
B
3 ft
u
8 ft
x 4 ft 6 ft
C 20
2 ft D
C F  100 lb y u
500 lb
A

Probs. 2–136/137 Prob. 2–139

 REVIEW PROBLEMS 83

*2–140. Determine the magnitude and direction of the 2–142. Cable AB exerts a force of 80 N on the end of the
smallest force F3 so that the resultant force of all three 3-m-long boom OA. Determine the magnitude of the
forces has a magnitude of 20 lb. projection of this force along the boom.

z
2
F2  10 lb
B
5 4
3 F3

4m
u
F1  5 lb
O
y
80 N
60
3m
A
x

Prob. 2–140
Prob. 2–142

•2–141. Resolve the 250-N force into components acting 2–143. The three supporting cables exert the forces shown
along the u and v axes and determine the magnitudes of on the sign. Represent each force as a Cartesian vector.
these components.

C 2m
E 2m
B

u FE  350 N
3m
20 FC  400 N
FB  400 N
250 N
40 D
2m y
A 3m
v
x

Prob. 2–141 Prob. 2–143