Chapter 2:

Force Vectors

Engineering
Engineering Mechanics:
Mechanics: Statics
Statics
 Objectives
• To show how to add forces and resolve them into
components using the Parallelogram Law.
• To express force and position in Cartesian vector
form and explain how to determine the vector’s
magnitude and direction.
• To introduce the dot product in order to determine
the angle between two vectors or the projection of
one vector onto another.
 Chapter Outline
• Scalars and Vectors
• Vector Operations
• Vector Addition of Forces
• Addition of a System of Coplanar Forces
• Cartesian Vectors
 Chapter Outline
• Addition and Subtraction of Cartesian
Vectors
• Position Vectors
• Force Vector Directed along a Line
• Dot Product
 2.1 Scalars and Vectors
• Scalar
– A quantity characterized by a positive or
negative number
– Indicated by letters in italic such as A
Eg:
Mass, volume and length
 2.1 Scalars and Vectors
• Vector
– A quantity that has both magnitude and direction
Eg: Position, force and moment

– Represent by a letter with an arrow over it such as A
or A

– Magnitude is designated as A or simply A
– In this subject, vector is presented as A and its
magnitude (positive quantity) as A
 Scalars and Vectors
Vector
– Represented graphically as an arrow
– Length of arrow = Magnitude of Vector
– Angle between the reference axis and arrow’s line of action
= Direction of Vector
– Arrowhead = Sense of Vector
 2.2 Vector Operations
• Vector Addition
- Addition of two vectors A and B gives a
resultant vector R by the parallelogram law
- Result R can be found by triangle construction
- Communicative
Eg: R = A + B = B + A
2.2 Vector Operations
 2.2 Vector Operations
• Vector Subtraction
- Special case of addition
Eg: R’ = A – B = A + ( - B )
- Rules of Vector Addition Applies
 2.3 Vector Addition Forces
• When two or more forces are added, successive
applications of the parallelogram law is carried out to
find the resultant

Example
Forces F1, F2 and F3 acts at a point O
a) First, find resultant of F1 + F2
Solution;
Resultant,
• FR = ( F1 + F2 ) + F3
 Procedure of Analysis
a) Parallelogram Law
b) Trigonometry
Example 1
The screw eye is subjected to two forces F1 and F2.
Determine the magnitude and the direction of a
Resultant force.
Solution 1: Parallelogram Law
Unknown: magnitude of FR and angle θ
Solution 2: Trigonometry

Law of Cosines

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

 10000  22500  30000  0.4226
 212.6 N
 213N
 Law of Sines

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

sin   39.8
Direction Φ of FR measured
from the horizontal

  39.8  15
 54.8 
 2.4 Addition of a System of
Coplanar Forces
For resultant of two or more forces:
• Find the components of the forces in the specified axes
• Add them algebraically
• Form the resultant
In this subject, we resolve each force into rectangular
forces along the x and y axes.

F  Fx  Fy
 2.4 Addition of a System of
Coplanar Forces
• Scalar Notation
- x and y axes are designated positive and negative
- Components of forces expressed as algebraic
scalars
Eg: F  Fx  Fy
Sense of direction
along positive x and
y axes
 2.4 Addition of a System of
Coplanar Forces
• Scalar Notation
Eg: F '  F ' x  F ' y
Sense of direction
along positive x and
negative y axes
 2.4 Addition of a System of
Coplanar Forces
• Scalar Notation
- Head of a vector arrow = sense of the
vector graphically (algebraic signs not used)
- Vectors are designated using boldface
notations
- Magnitudes (always a positive quantity)
are designated using italic symbols
 2.4 Addition
Addition of
of aa System
System of Coplanar
Forces
Forces
• Cartesian Vector Notation
F = Fxi + Fyj F’ = F’xi + F’y(-j)
F’ = F’xi – F’yj
 2.4 Addition
Addition of
of aa System
System of Coplanar
Forces
Forces
• Coplanar Force Resultants
Example: Consider three coplanar forces

Cartesian vector notation

F1 = F1xi + F1yj
F2 = - F2xi + F2yj
F3 = F3xi – F3yj
 2.4 Addition
Addition of
of aa System
System of Coplanar
Forces
Forces
• Coplanar Force Resultants
Vector resultant is therefore
FR = F1 + F2 + F3
= F1xi + F1yj - F2xi + F2yj + F3xi – F3yj
= (F1x - F2x + F3x)i + (F1y + F2y – F3y)j
= (FRx)i + (FRy)j
 2.4 Addition
Addition of
of aa System
System of Coplanar
Forces
Forces
• Coplanar Force Resultants
If scalar notation are used
FRx = (F1x - F2x + F3x)
FRy = (F1y + F2y – F3y)

In all cases,
FRx = ∑Fx
FRy = ∑Fy
* Take note of sign conventions
 2.4 Addition
Addition of
of aa System
System of Coplanar
Forces
Forces
• Coplanar Force Resultants
- Positive scalars = sense of direction along the
positive coordinate axes
- Negative scalars = sense of direction along the
negative coordinate axes
- Magnitude of FR can be found by Pythagorean
Theorem
FR  F 2 Rx  F 2 Ry
 2.4 Addition
Addition of
of aa System
System of Coplanar
Forces
Forces
• Coplanar Force Resultants
- Direction angle θ (orientation of the force)
can be found by trigonometry

FRy
  tan 1

FRx
Example 2
The link is subjected to two forces F1 and F2.
Determine the magnitude and orientation of the
resultant force.
Solution
Scalar Notation

FRx  Fx :
FRx  600 cos 30 N  400 sin 45 N
 

 236.8 N 
FRy  Fy :
FRy  600 sin 30 N  400 cos 45 N
 582.8 N 
Resultann vector gaya
FR = FRx i + FRy j
FR = 236,8 i + 582,8 j
Solution
Resultant Force
FR   236.8 N  2   582.8 N  2
 629 N
From vector addition,
Direction angle θ is
 582.8 N 
  tan 1  
 236.8 N 
 67.9
Solution

Cartesian Vector Notation

F1 = { 600cos30°i + 600sin30°j } N
F2 = { -400sin45°i + 400cos45°j } N

Thus,
F R = F1 + F 2
= (600cos30°N - 400sin45°N)i
+ (600sin30°N + 400cos45°N)j
= {236.8i + 582.8j}N
 2.5 Cartesian Vectors
• Right-Handed Coordinate System
A rectangular or Cartesian coordinate system is said
to be right-handed provided:
- Thumb of right hand points
in the direction of the positive
z axis when the right-hand
fingers are curled about this
axis and directed from the
positive x towards the positive y axis
 2.5 Cartesian Vectors
• Rectangular Components of a Vector
- A vector A may have one, two or three rectangular
components along the x, y and z axes, depending on
orientation
- By two successive application of the parallelogram law
A = A’ + Az
A’ = Ax + Ay
- Combing the equations, A can be
expressed as
A = Ax + Ay + A z
 2.5 Cartesian Vectors
• Unit Vector
- Direction of A can be specified using a unit vector
- Unit vector has a magnitude of 1
- If A is a vector having a magnitude of A ≠ 0, unit vector
having the same direction as A is expressed by
uA = A / A
So that
A = A uA
 2.5 Cartesian Vectors
• Unit Vector
- Since A is of a certain type, like force vector, a
proper set of units are used for the description
- Magnitude A has the same sets of units, hence
unit vector is dimensionless
- A ( a positive scalar)
defines magnitude of A
- uA defines the direction
and sense of A
 2.5 Cartesian Vectors
• Cartesian Unit Vectors
- Cartesian unit vectors, i, j and k are used to
designate the directions of z, y and z axes
- Sense (or arrowhead) of these
vectors are described by a plus
or minus sign (depending on
pointing towards the positive
or negative axes)
 2.5 Cartesian Vectors
• Cartesian Vector Representations
- Three components of A act in the positive i, j
and k directions
A = Axi + Ayj + AZk

*Note the magnitude and

direction of each components
are separated, easing vector
algebraic operations.
 2.5 Cartesian Vectors

• Magnitude of a Cartesian
Vector
- From the colored triangle,
A  A'2  Az2
- From the shaded triangle,
A'  Ax2  Ay2
- Combining the equations gives
magnitude of A
A  Ax2  Ay2  Az2
 2.5 Cartesian Vectors
• Direction of a Cartesian Vector
- Orientation of A is defined as the coordinate
direction angles α, β and γ measured between the
tail of A and the positive x, y and z axes
- 0° ≤ α, β and γ ≤ 180 °
 2.5 Cartesian Vectors
• Direction of a Cartesian Vector
- For angles α, β and γ (blue colored triangles), we
calculate the direction cosines of A

Ax
cos  
A
 2.5 Cartesian Vectors
• Direction of a Cartesian Vector
- For angles α, β and γ (blue colored
triangles), we calculate the direction
cosines of A

Ay
cos  
A
 2.5 Cartesian Vectors
• Direction of a Cartesian Vector
- For angles α, β and γ (blue colored triangles), we
calculate the direction cosines of A

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

- Given
A = Axi + Ayj + AZk
Then,
uA = A /A
= (Ax/A)i + (Ay/A)j + (AZ/A)k

where
A  Ax2  Ay2  Az2
 2.5 Cartesian Vectors
• Direction of a Cartesian Vector
- uA can also be expressed as
uA = cosαi + cosβj + cosγk

- Since A  A 2
and  A 2
 A
x magnitude
y z
2
of uA = 1,
cos 2   cos 2   cos 2   1
-A as expressed in Cartesian vector form
A = AuA
= Acosαi + Acosβj + Acosγk
= Axi + Ayj + AZk
 2.6
2.6 Addition
Addition and
and Subtraction
Subtraction of
of
Cartesian
Cartesian Vectors
Vectors
Example
Given: A = Axi + Ayj + AZk
and B = Bxi + Byj + BZk
Vector Addition
Resultant R = A + B
= (Ax + Bx)i + (Ay + By )j + (AZ + BZ) k
Vector Substraction
Resultant R = A - B
= (Ax - Bx)i + (Ay - By )j + (AZ - BZ) k
 2.6
2.6 Addition
Addition and
and Subtraction
Subtraction of
of
Cartesian
Cartesian Vectors
Vectors
• Concurrent Force Systems
- Force resultant is the vector sum of all the forces
in the system

FR = ∑F = ∑Fxi + ∑Fyj + ∑Fzk

where ∑Fx , ∑Fy and ∑Fz represent the algebraic

sums of the x, y and z or i, j or k components of
each force in the system
 2.6
2.6 Addition
Addition and
and Subtraction
Subtraction of
of
Cartesian
Cartesian Vectors
Vectors

• Force, F that the tie down rope exerts on the ground support at
O is directed along the rope
• Angles α, β and γ can be solved with axes x, y and z
 2.6
2.6 Addition
Addition and
and Subtraction
Subtraction of
of
Cartesian
Cartesian Vectors
Vectors

• Cosines of their values forms a unit vector u that acts in the

direction of the rope
• Force F has a magnitude of F
F = Fu = Fcosαi + Fcosβj + Fcosγk
 2.6
2.6 Addition
Addition and
and Subtraction
Subtraction of
of
Cartesian
Cartesian Vectors
Vectors
Example 3
Express the force F as Cartesian vector
 2.6
2.6 Addition
Addition and
and Subtraction
Subtraction of
of
Cartesian
Cartesian Vectors
Vectors
Solution
Since two angles are specified, the third
angle is found by
cos 2   cos 2   cos 2   1
cos 2   cos 2 60  cos 2 45  1
cos   1   0.5   0.707   0.5
2 2

Two possibilities exit, namely

  cos  0.5  60
1  or
  cos 1   0.5  120
 2.6
2.6 Addition
Addition and
and Subtraction
Subtraction of
of
Cartesian
Cartesian Vectors
Vectors
Solution
By inspection, α = 60° since Fx is in the +x direction
Given F = 200N
F = Fcosαi + Fcosβj + Fcosγk
= (200cos60°N)i + (200cos60°N)j
+ (200cos45°N)k
= {100.0i + 100.0j + 141.4k}N
Checking:
F  Fx  Fy  Fz
2 2 2

 100.0  100.0  141.4  200 N

2 2 2
 2.7 Position Vectors
• x,y,z Coordinates
- Right-handed coordinate system
- Positive z axis points upwards, measuring
the height of an object or the altitude of a
point
- Points are measured relative to the origin, O.
 2.7 Position Vectors
• x,y,z Coordinates
Example 4:
For Point A, xA = +4m along the x axis, yA = -6m along the
y axis and zA = -6m along the z axis. Thus, A (4, 2, -6)
Similarly, B (0, 2, 0) and C (6, -1, 4)
 2.7 Position Vectors
• Position Vector
- Position vector r is defined as a fixed vector
which locates a point in space relative to another
point.
Eg: If r extends from the
origin, O to point P (x, y, z)
then, in Cartesian vector
form
r = xi + yj + zk
 2.7 Position Vectors
• Position Vector
Note the head to tail vector addition of the three components

Start at origin O, one travels x in the +i direction,

y in the +j direction and z in the +k direction,
arriving at point P (x, y, z)
 2.7 Position Vectors
• Position Vector
- Position vector maybe directed from point A to
point B
- Designated by r or rAB
Vector addition gives
rA + r = rB
Solving
r = rB – rA = (xB – xA)i + (yB – yA)j + (zB –zA)k
or
r = (xB – xA)i + (yB – yA)j + (zB –zA)k
 2.7 Position Vectors
• Position Vector
- The i, j, k components of the positive vector r may be
formed by taking the coordinates of the tail, A (xA, yA, zA)
and subtract them from the head B (xB, yB, zB)

Note the head to tail vector addition of the three components

 2.7 Position Vectors
• Length and direction
of cable AB can be
found by measuring A
and B using the x, y, z
axes
• Position vector r can
be established
• Magnitude r represent
the length of cable
 2.7 Position Vectors
• Angles, α, β and γ
represent the direction
of the cable
• Unit vector, u = r/r
 2.7 Position Vectors
Example 5
An elastic rubber band is
attached to points A and B.
Determine its length and its
direction measured from A
towards B.
 2.7 Position Vectors
Solution
Position vector
r = [-2m – 1m]i + [2m – 0]j + [3m – (-3m)]k
= {-3i + 2j + 6k}m
Magnitude = length of the rubber band

Unit vector in the director of r

u = r /r
= -3/7i + 2/7j + 6/7k
 2.7 Position Vectors
• Solution
α = cos-1(-3/7) = 115°
β = cos-1(2/7) = 73.4°
γ = cos-1(6/7) = 31.0°
 2.8 Force Vector Directed along
a Line
• In 3D problems, direction of F is specified by 2
points, through which its line of action lies
• F can be formulated as a Cartesian vector
F = F u = F (r/r)

Note that F has units of

forces (N) unlike r, with
units of length (m)
 2.8 Force Vector Directed along a
Line

• Force F acting along the chain can be presented as

a Cartesian vector by
- Establish x, y, z axes
- Form a position vector r along length of chain
2.8 Force Vector Directed along
a Line

• Unit vector, u = r/r that defines the direction of

both the chain and the force
• We get F = Fu
 2.8 Force Vector Directed along
a Line
Example 6
The man pulls on the cord
with a force of 350N.
Represent this force acting
on the support A, as a
Cartesian vector and
determine its direction.
 2.8 Force Vector Directed along
a Line
Solution

End points of the cord are A (0m, 0m, 7.5m)

and B (3m, -2m, 1.5m)
r = (3m – 0m)i + (-2m – 0m)j + (1.5m – 7.5m)k
= {3i – 2j – 6k}m

Magnitude = length of cord AB

Unit vector, u = r /r
= 3/7i - 2/7j - 6/7k
 2.8 Force Vector Directed along
a Line
Solution
Force F has a magnitude of 350N, direction
specified by u
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k} N

α = cos-1(3/7) = 64.6°
β = cos-1(-2/7) = 107°
γ = cos-1(-6/7) = 149°
 2.9 Dot Product
• Dot product of vectors A and B is written as A·B
(Read A dot B)
• Define the magnitudes of A and B and the angle
between their tails
A·B = AB cosθ where 0°≤ θ ≤180°
• Referred to as scalar
product of vectors as
result is a scalar
 2.9 Dot Product
Laws of Operation
1. Commutative law
A·B = B·A
2. Multiplication by a scalar
a(A·B) = (aA)·B = A·(aB) = (A·B)a
3. Distribution law
A·(B + D) = (A·B) + (A·D)
 2.9 Dot Product
Cartesian Vector Formulation
- Dot product of Cartesian unit vectors
Eg: i·i = (1)(1)cos0° = 1 and
i·j = (1)(1)cos90° = 0
- Similarly
i·i = 1 j·j = 1 k·k = 1
i·j = 0 i·k = 1 j·k = 1
 2.9 Dot Product
• Cartesian Vector Formulation
- Dot product of 2 vectors A and B
A·B = (Axi + Ayj + Azk)· (Bxi + Byj + Bzk)
= AxBx(i·i) + AxBy(i·j) + AxBz(i·k)
+ AyBx(j·i) + AyBy(j·j) + AyBz(j·k)
+ AzBx(k·i) + AzBy(k·j) + AzBz(k·k)
= AxBx + AyBy + AzBz
Note: since result is a scalar, be careful of
including any unit vectors in the result
 2.9 Dot Product
• Applications
The angle formed between two vectors or
intersecting lines
θ = cos-1 [(A·B)/(AB)] 0°≤ θ ≤180°
Note: if A·B = 0, cos-10= 90°, A is perpendicular to B
 2.9 Dot Product
• Applications
- If A║ is positive, A║ has a directional sense
same as u
- If A║ is negative, A║ has a directional sense
opposite to u
- A║ expressed as a vector
A║ = A cos θ u
= (A·u)u
 2.9 Dot Product
• Applications
For component of A perpendicular to line aa’
1. Since A = A║ + A┴,
then A┴ = A - A║
2. θ = cos-1 [(A·u)/(A)]
then A┴ = Asinθ
3. If A║ is known, by Pythagorean Theorem
A  A2  A||2
 2.9 Dot Product
• For angle θ between the
rope and the beam A,
- Unit vectors along the
beams, uA = rA/rA
- Unit vectors along the
ropes, ur=rr/rr
- Angle θ = cos-1
(rA.rr/rArr)
= cos-1 (uA· ur)
 2.9 Dot Product
• For projection of the
force along the beam A
- Define direction of the
beam
uA = rA/rA
- Force as a Cartesian
vector
F = F(rr/rr) = Fur
- Dot product
F║ = F║·uA
 2.9 Dot Product
Example 7
The frame is subjected to a horizontal force
F = {300j} N. Determine the components of
this force parallel and perpendicular to the
member AB.
 2.9 Dot Product
Solution
Since
   
 rB 2i  6 j  3k
uB   
rB  2  2   6  2   3 2
  
 0.286i  0.857 j  0.429k
Then
 
FAB  F cos
 F .u B   300 j    0.286i  0.857 j  0.429k 
    

 (0)(0.286)  (300)(0.857)  (0)(0.429)

 257.1N
 2.9 Dot Product
Solution
Since result is a positive scalar,
FAB has the same sense of
direction as uB. Express in
Cartesian
  form

FAB  FAB u AB
  257.1N   0.286i  0.857 j  0.429k 
  
  
 {73.5i  220 j  110 k }N
Perpendicular component
         
F  F  FAB  300 j  (73.5i  220 j  110 k )  {73.5i  80 j  110 k }N
 2.9 Dot Product
Solution
Magnitude can be determined
From F┴ or from Pythagorean
Theorem
 2  2
F  F  FAB

  300 N  2   257.1N  2
 155 N