Vektorska notacija

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Klasifikacija vektora
Slobodni vektor. To je vektor koji se moe pomjerati slobodno u
prostoru i nije vezan za jedinstvenu liniju.
Klizni vektor. To je vektor koji je vaan za jednu liniju pri
djelovanju, ali nije vezan za jedinstvenu taku pri djelovanju. On
se moe pomjerati du linije u prostoru.
prostoru

Fiksni vektor.
vektor To je vektor koji je vaan za za jedinstvenu taku.
taku

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Notacija skalara i vektora

Vektori se podvrgavaju zakonu paralelograma ili zakonu

trougla, kombinujui vektore.
Algebarska suma vektora

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Notacija skalara i vektora

Negativni vektor

Razlika vektora

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Zakon paralograma

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Zakon paralelograma i sinusni i kosinusni

zakoni

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Primjer

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Rezultatna tri i vie sueljnih slia

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Rezultatna tri i vie sueljnih sila, primjer

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Introduction
The objective for the current chapter is to investigate the effects of forces
on particles:
- replacing multiple forces acting on a particle with a single
equivalent or resultant force,
- relations between forces acting
g on a p
particle that is in a
state of equilibrium.
The focus on particles does not imply a restriction to miniscule bodies.
Rather, the study is restricted to analyses in which the size and shape of
the bodies is not significant so that all forces may be assumed to be
applied at a single point.

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Resultant of Two Forces

force: action of one body on another;
characterized by its point of application,
magnitude, line of action, and sense.

Experimental evidence shows that the

combined effect of two forces may be
represented by a single resultant force.
force
The resultant is equivalent to the diagonal of
a parallelogram which contains the two forces
in adjacent legs.
Force is a vector quantity.

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Vectors
Vector: parameters possessing magnitude and direction
which add according to the parallelogram law. Examples:
displacements, velocities, accelerations.
Scalar: parameters possessing magnitude but not
direction. Examples: mass, volume, temperature
Vector classifications:
- Fixed or bound vectors have well defined points of
application that cannot be changed without affecting
an analysis.
- Free vectors may be freely moved in space without
changing their effect on an analysis.
- Sliding vectors may be applied anywhere along their
line of action without affecting an analysis
analysis.
Equal vectors have the same magnitude and direction.
Negative vector of a given vector has the same magnitude
and the opposite direction.
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Addition of Vectors
Trapezoid rule for vector addition
Triangle rule for vector addition
Law of cosines,
C

R 2 = P 2 + Q 2 2 PQ
Q cos B
r r r
R = P+Q
Law of sines,

sin A sin B sin C

=
=
Q
R
A
Vector addition is commutative
commutative,

r r r r
P+Q = Q+ P
Vector subtraction

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Addition of Vectors
Addition of three or more vectors through
repeated application of the triangle rule

The polygon rule for the addition of three or

more vectors.
Vector addition is associative,

r r r
r r r r r r
P + Q + S = (P + Q ) + S = P + (Q + S )

Multiplication of a vector by a scalar

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Resultant of Several Concurrent Forces

Concurrent forces: set of forces which all
pass through the same point.
A set of concurrent forces applied to a
particle may be replaced by a single
resultant force which is the vector sum of the
applied forces
forces.

Vector force components: two or more force

vectors which, together, have the same effect
as a single force vector.

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Sample Problem 2.1

SOLUTION:
Graphical solution - construct a
parallelogram with sides in the same
direction as P and Q and lengths in
proportion. Graphically evaluate the
resultant which is equivalent in direction
and proportional in magnitude to the the
diagonal.
The
e two
o forces
o ces ac
act o
on a bo
bolt a
at A.
Determine their resultant.

Trigonometric solution - use the triangle

rule for vector addition in conjunction with
the law of cosines and law of sines to find
th resultant.
the
lt t

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Sample Problem 2.1

Graphical solution - A parallelogram with sides
equal to P and Q is drawn to scale. The
magnitude and direction of the resultant or of
the diagonal to the parallelogram are
measured,

R = 98 N = 35
Graphical
p
solution - A triangle
g is drawn with P
and Q head-to-tail and to scale. The magnitude
and direction of the resultant or of the third side
of the triangle are measured,

R = 98 N = 35

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Sample Problem 2.1

Trigonometric solution - Apply the triangle rule.
From the Law of Cosines,

R 2 = P 2 + Q 2 2 PQ cos B
= (40 N )2 + (60 N )2 2(40 N )(60 N ) cos155
R = 97.73N
From the Law of Sines,

sin A sin B
=
Q
R
sin A = sin B

Q
R

= sin 155
A = 15.04
= 20 + A
= 35.04

60 N
97.73N

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Sample Problem 2.2

SOLUTION:
Find a graphical solution by applying the
Parallelogram Rule for vector addition. The
parallelogram has sides in the directions off
the two ropes and a diagonal in the direction
of the barge axis and length proportional to
5000 lbf.
A barge is pulled by two tugboats.
If the resultant of the forces
exerted by the tugboats is 5000 lbf
directed along the axis of the
barge, determine
a) the tension in each of the ropes
for = 45o,
b) the value of for which the
tension in rope 2 is a minimum.

Find a trigonometric solution by applying the

Triangle
g Rule for vector addition. With the
magnitude and direction of the resultant
known and the directions of the other two
sides parallel to the ropes given, apply the
Law of Sines to find the rope tensions
tensions.
The angle for minimum tension in rope 2 is
determined by
y applying
pp y g the Triangle
g Rule and
observing the effect of variations in .

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Sample Problem 2.2

Graphical solution - Parallelogram Rule

with known resultant direction and
magnitude,
it d kknown di
directions
ti
ffor sides.
id

T1 = 3700 lbf

T2 = 2600 lbf

Trigonometric solution - Triangle Rule

with Law of Sines

T1
T2
5000 lbf
=
=
sin 45 sin 30 sin 105
T1 = 3660 lbf

T2 = 2590 lbf

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Sample Problem 2.2

The angle for minimum tension in rope 2 is
determined by applying the Triangle Rule and
observing the effect of variations in .
The minimum tension in rope 2 occurs when
T1 and T2 are perpendicular
perpendicular.

T2 = (5000 lbf ) sin 30

T2 = 2500 lbf

T1 = (5000 lbf ) cos 30

T1 = 4330 lbf

= 90 30

= 60

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Rectangular Components of a Force: Unit

Vectors
May resolve a force vector into perpendicular
components so that the resulting parallelogram is a
rectangle. Fr and Fr are referred to as rectangular
x
y
vector
t components
t and
d

r
r r
F = Fx + Fy
Define perpendicular unit vectors
parallel to the x and y axes.

r
r
i and j which are

Vector components may be expressed as products of

the unit vectors with the scalar magnitudes of the
vector components.

r
r
r
F = Fx i + Fy j

Fx and Fy are referred to as the scalar components of r

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Addition of Forces by Summing Components

Wish to find the resultant of 3 or more
concurrent forces,

r r r r
R = P+Q+S

Resolve each force into rectangular components

r
r
r
r
r
r
r
r
R x i + R y j = Px i + Py j + Q x i + Q y j + S x i + S y j
r
r
= ( Px + Q x + S x )i + (Py + Q y + S y ) j
The scalar components of the resultant are equal
to the sum of the corresponding scalar
components of the given forces.

R x = Px + Q x + S x
= Fx

R y = Py + Q y + S y
= Fy

To find the resultant magnitude and direction,

R = R x2 + R y2

= tan 1

Ry
Rx

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Sample Problem 2.3

SOLUTION:
Resolve each force into rectangular
components.
t
Determine the components of the
resultant by adding the corresponding
force components.

Four forces act on bolt A as shown.

Determine the resultant of the force
on the bolt.

Calculate the magnitude and direction

of the resultant.

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Sample Problem 2.3

SOLUTION:
Resolve each force into rectangular
components.
force mag
r
F1 150
r
F2
80
r
F3 110
r
F4 100

x comp

y comp

+ 129.9

+ 75.0

27.4

+ 75.2

110.0

+ 96.6

25.9

R x = +199.1 R y = +14.3
Determine the components of the resultant by
adding the corresponding force components.
Calculate the magnitude and direction.

R = 199.12 + 14.32
14.3 N
tan =
199.1 N

R = 199.6 N

= 4.1

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Equilibrium of a Particle
When the resultant of all forces acting on a particle is zero, the particle is
in equilibrium.
Newtons First Law: If the resultant force on a particle is zero, the particle will
remain at rest or will continue at constant speed in a straight line.

Particle acted upon by

two forces:
- equal magnitude
- same line of action
- opposite sense

Particle acted upon by three or more forces:

- graphical solution yields a closed polygon
- algebraic solution

r
r
R = F = 0

Fx = 0

Fy = 0

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Free-Body Diagrams

Space Diagram: A sketch showing

the physical conditions of the
problem
problem.

Free-Body Diagram: A sketch showing

only the forces on the selected particle.

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Sample Problem 2.4

SOLUTION:
Construct a free-body diagram for the
particle
ti l att the
th jjunction
ti off th
the rope and
d
cable.
Apply the conditions for equilibrium by
creating a closed polygon from the forces
applied to the particle.

In a ship-unloading operation, a
3500-lb
3500
lb automobile is supported by
a cable. A rope is tied to the cable
and pulled to center the automobile
over its intended position. What is
th ttension
the
i iin th
the rope?
?

A
Apply
l ttrigonometric
i
t i relations
l ti
tto
determine the unknown force
magnitudes.

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Sample Problem 2.4

SOLUTION:
Construct a free-body diagram for the
particle
ti l att A.
A
Apply the conditions for equilibrium.
Solve for the unknown force magnitudes.

T
T AB
3500 lb
= AC =
sin
i 120 sin
i 2 sin
i 58
T AB = 3570 lb

T AC = 144 lb

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Sample Problem 2.6

SOLUTION:
Choosing the hull as the free body,
draw a free-body diagram.
Express the condition for equilibrium
y writing
g that the sum of all
for the hull by
forces must be zero.
It is desired to determine the drag force
at a given speed on a prototype sailboat
h ll A model
hull.
d l iis placed
l
d iin a ttestt channel
h
l
and three cables are used to align its
bow on the channel centerline. For a
given
g
e speed, tthe
e te
tension
s o is
s 40
0 lb
b in
cable AB and 60 lb in cable AE.

Resolve the vector equilibrium

equation into two component
equations. Solve for the two unknown
cable tensions.

Determine the drag force exerted on the

hull and the tension in cable AC.

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Sample Problem 2.6

SOLUTION:
Choosing the hull as the free body, draw a
free-body diagram.

7 ft
= 1.75
4 ft
= 60.25

tan =

1.5 ft
= 0.375
4 ft
= 20.56

tan =

Express the condition for equilibrium

for the hull by writing that the sum of all
forces must be zero.

r r
r
r
r
R = T AB + T AC + T AE + FD = 0

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Sample Problem 2.6

Resolve the vector equilibrium equation into
two component equations. Solve for the two
unknown cable tensions.

r
r
r
T AB = (40 lb ) sin 60.26 i + (40 lb ) cos 60.26 j
r
r
= (34.73 lb ) i + (19.84 lb ) j
r
r
r
T AC = T AC sin 20.56 i + T AC cos 20.56 j
r
r
= 0.3512 T AC i + 0.9363 T AC j
r
r
T = (60 lb ) i
r
r
FD = FD i
r
R=0

r
= ( 34.73 + 0.3512 T AC + FD ) i
r
+ (19.84 + 0.9363 T AC 60 ) j

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Sample Problem 2.6

r
R=0

r
= ( 34.73 + 0.3512 T AC + FD ) i
r
+ (19.84 + 0.9363 T AC 60 ) j

This equation is satisfied only if each component

of the resultant is equal to zero

( Fx = 0) 0 = 34.73 + 0.3512 TAC + FD

( Fy = 0) 0 = 19.84 + 0.9363TAC 60
T AC = +42.9 lb
FD = +19.66 lb

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Rectangular Components in Space

The vector F is
contained in the
plane OBAC.

Resolve F into
horizontal and vertical
components.

Resolve F h into
rectangular components

Fx = Fh cos

Fy = F cos y

= F sin y cos

Fh = F sin y

Fy = Fh sin
= F sin y sin

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Rectangular Components in Space

With the angles between F and the axes,

Fx = F cos x Fy = F cos y Fz = F cos z

r
r
r
r
F = Fx i + Fy j + Fz k
r
r
r
= F cos x i + cos y j + cos z k
r
= F
r
r
r
r
= cos x i + cos y j + cos z k
r
r
is a unit vector along the line of action of F
and cos , cos , and cos are the direction
x
y
z
cosines for Fr

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Rectangular Components in Space

Direction of the force is defined by
y
the location of two points,

M ( x1 , y1 , z1 ) and N ( x2 , y 2 , z 2 )

r
d = vector joining M and N
r
r
r
= d xi + d y j + d z k
d x = x2 x1 d y = y 2 y1 d z = z 2 z1
r
r
F = F
r
r 1
r
r
= d xi + d y j + d z k
d
Fd y
Fd x
Fd z
Fz =
Fy =
Fx =
d
d
d

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Sample Problem 2.7

SOLUTION:
Based on the relative locations of the
points A and B,
B determine the unit vector
pointing from A towards B.
Apply the unit vector to determine the
components of the force acting on A.

The tension in the guy wire is 2500 N.

Determine:

Noting that the components of the unit

t are the
th direction
di ti cosines
i
ffor th
the
vector
vector, calculate the corresponding
angles.

a) components Fx, Fy, Fz of the force

acting on the bolt at A,
b)) the angles
g
x, y, z defining
g the
direction of the force
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Sample Problem 2.7

SOLUTION:
Determine the unit vector pointing from A towards
B.

r
r
r
AB = ( 40 m ) i + (80 m ) j + (30 m )k

( 40 m )2 + (80 m )2 + (30 m )2

AB =

= 94.3 m
r

40 r 80 r 30 r
i +
j +
k
94.3 94.3 94.3
r
r
r
= 0.424 i + 0.848 j + 0.318k

Determine the components

p
of the force.

r
r
F = F

r
r
r
= (2500 N )( 0.424 i + 0.848 j + 0.318k )
r
r
r
= ( 1060 N )i + (2120 N ) j + (795 N )k

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Sample Problem 2.7

Noting that the components of the unit vector are
the direction cosines for the vector, calculate the
corresponding angles.

= cos x i + cos y j + cos z k

r
r
r
= 0.424 i + 0.848 j + 0.318k

x = 115.1o
y = 32.0o
z = 71.5o

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