Engineering Physics

Unit One
FORCE SYSTEMS

Fundamental Properties of Vectors

A scalar is a quantity that has magnitude only. Scalars are written as italicized English or
Greek letters.
A vector is a quantity that possesses magnitude and direction. Vectors are written in
boldface letters or a letter with an arrow above the letter.
Examples:
F or F = vector force
F or F = the magnitude of force F

Any vector A can be represented geometrically as a directed line segment (an arrow), as
shown.

Unit Vectors

A unit vector is a dimensionless vector with magnitude 1. Therefore, if λ represents a

unit vector (|λ| = 1) with the same direction as A, we can write

A= Aλ

This representation of a vector often is useful because it separates the magnitude A and
the direction λ of the vector.

Parallelogram Law and Triangle Law for Addition of Vectors

The addition of two vectors A and B is defined to be the vector C that results from the
geometric construction shown. The operation depicted in the figure below, written as A + B = C,
is called the parallelogram law for addition. The vectors A and B are referred to as components
of C, and C is called the resultant of A and B. The process of replacing a resultant with its
components is called resolution.
 An equivalent statement of the parallelogram law is the triangle law, which is shown in
in the figure below. Here the tail of B is placed at the tip of A, and C is the vector that completes
the triangle. The result is identical if the tail of A is placed at the tip of B and C is drawn from
the tail of B to the tip of A.

If E, F, and G represent any three vectors, we have the following two important
properties:
 Addition is commutative: E + F = F + E
 Addition is associative: E + (F + G) = (E + F) + G

It is convenient to find the sum E + F + G by adding the vectors from tip to tail as shown
below. The sum of the three vectors is seen to be the vector drawn from the tail of the first
vector (E) to the tip of the last vector (G). This method is called the polygon rule for addition.

The subtraction of two vectors A and B, written as A – B, is defined as A – B = A + (−B),

as shown below.

Because of the geometric nature of the parallelogram law and the triangle law, vector
addition can be accomplished graphically. A second technique is to determine the relationships
between the various magnitudes and angles analytically by applying the laws of sines and
cosines to a sketch of the parallelogram (or the triangle).
Sample Problem 1
The vertical force P of magnitude 100 kN is applied to the frame shown. Resolve P into
components that are parallel to the members AB and AC of the frame.

Solution:

The triangle law is applied to draw the triangle of the force and its components.
By using sine law,

100 𝑃𝐴𝐵 𝑃𝐴𝐶

𝑜
= 𝑜
=
𝑠𝑖𝑛35 𝑠𝑖𝑛35 𝑠𝑖𝑛 110𝑜

∴ 𝑃𝐴𝐵 = 100.0 𝑘𝑁 , 𝑃𝐵𝐶 = 163.8 𝑘𝑁

Sample Problem 2
The two tugboats apply the forces P and Q to the barge, where P = 76 kN and Q = 52 kN.
Determine the resultant of P and Q.

β
Q
φ

P
 R
α θ
Solution:

By inspection,

32 12
𝛼 = tan−1 16 = 63.4o 𝛽 = tan−1 24 = 26.6o

 = 𝛼 − 𝛽 = 63.4o − 26.6o = 36.8o

Using Cosine Law

𝑅= 𝑃2 + 𝑄 2 − 2𝑃𝑄 cos  = 762 + 522 − 2 76 52 cos 36.8o

𝑅 = 46.4 𝑘𝑁

Using Sine Law,

sin  sin  sin  sin 36.8o

= , = ∴  = 42.2o
𝑄 𝑅 52 46.4

∴ θ = 180 − 𝛼 −  = 180 − 63.4 − 42.2 = 74.4o

∴ 𝐑 = 46.4 𝑘𝑁 𝑎𝑐𝑡𝑖𝑛𝑔 𝑢𝑝 𝑡𝑜 𝑡ℎ𝑒 𝑟𝑖𝑔ℎ𝑡 𝑎𝑡 74.4o 𝑤𝑖𝑡ℎ 𝑡ℎ𝑒 ℎ𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙

REPRESENTATION OF VECTORS USING RECTANGULAR COMPONENTS

Rectangular Components and Direction Cosines

The reference frame we use throughout is shown below. Shown in the figure are the
base unit vectors i, j, and k of the coordinate system. They are dimensionless vectors of unit
magnitude directed in the positive coordinate directions.

If a vector A is resolved into its rectangular components, it can be written as

𝐀 = 𝐴𝑥 𝐢 + 𝐴𝑦 𝐣 + 𝐴𝑧 𝐤

where Axi, Ay j, and Azk are the vector components of A. The scalar components of A are

𝐴𝑥 = 𝐴𝑐𝑜𝑠𝜃𝑥 𝐴𝑦 = 𝐴𝑐𝑜𝑠𝜃𝑦 𝐴𝑧 = 𝐴𝑐𝑜𝑠𝜃𝑧

where 𝜃𝑥 , 𝜃𝑦 , 𝑎𝑛𝑑 𝜃𝑧 are the angles between A and the positive coordinate axes. The cosine
functions of theses angle and the magnitude of A is related to its scalar components by

𝐴= 𝐴𝑥2 + 𝐴2𝑦 + 𝐴2𝑧

Vector Addition Using Rectangular Components

Relative Position Vectors

Relative Position Vector

Magnitude of Position Vector

Unit Position Vector

How to Express a Vector in Rectangular Form

𝐀𝐁 𝑥𝐵 − 𝑥𝐴 𝐢 + 𝑦𝐵 − 𝑦𝐴 𝐣 + 𝑧𝐵 − 𝑧𝐴 𝐤
𝐅 = 𝐹𝛌 = 𝐹 =𝐹
𝐴𝐵 𝑑
Vector Multiplication

a. Dot or Scalar Product

𝐀 ∙ 𝐁 = 𝐴𝐵 𝑐𝑜𝑠 𝜃

𝐀 ∙ 𝐁 = 𝐴𝑥 𝐵𝑥 + 𝐴𝑦 𝐵𝑦 + 𝐴𝑧 𝐵𝑧

𝐀∙𝐁
cos 𝜃 = 𝐴𝐵

The projection of B onto A, which is

Bcosθ, is called the orthogonal component
of B in the direction of A.

b. Cross or Vector Product

𝐂=𝐀 ×𝐁

𝐶 = 𝐴𝐵 sin 𝜃

The cross product C has the following

properties:

 The magnitude of C is

𝐶 = 𝐴𝐵 sin 𝜃

 C is perpendicular to the plane containing vectors A and B.

 The sense of C is determined by the right-hand rule as shown.

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

𝐀 × 𝐁 = 𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 𝐢 − 𝐴𝑥 𝐵𝑧 − 𝐴𝑧 𝐵𝑥 𝐣 + 𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 𝐤

𝐢 𝐣 𝐤
𝐀 × 𝐁 = 𝐴𝑥 𝐴𝑦 𝐴𝑧
𝐵𝑥 𝐵𝑦 𝐵𝑧
 c. Scalar Triple Product

𝐀×𝐁∙𝐂 = 𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 𝐢 − 𝐴𝑥 𝐵𝑧 − 𝐴𝑧 𝐵𝑥 𝐣 + 𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 𝐤 ∙ 𝐶𝑥 𝐢 + 𝐶𝑦 𝐣 + 𝐶𝑧 𝐤

𝐀 × 𝐁 ∙ 𝐂 = 𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 𝐶𝑥 − 𝐴𝑥 𝐵𝑧 − 𝐴𝑧 𝐵𝑥 𝐶𝑦 + 𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 𝐶𝑧

𝐴𝑥 𝐴𝑦 𝐴𝑧
𝐀 × 𝐁 ∙ 𝐂 = 𝐵𝑥 𝐵𝑦 𝐵𝑧
𝐶𝑥 𝐶𝑦 𝐶𝑧

Force and Force Systems

Force is the term used to describe the mechanical interaction between bodies. A force
can affect both the motion and the deformation of the body on which it acts. Forces may arise
from direct contact between bodies, or they may be applied at a distance such as gravitational
force, electric force, and magnetic force.
A force system may be considered as coplanar (two-dimensional) or non-coplanar
(three-dimensional). A co-planar or non-coplanar force system may be classified as follows:

1. Concurrent Force System - Forces whose lines of action intersect at a common

point.

2. Parallel Force System – Forces whose lines of action are parallel.

 3. Non-Concurrent Force System – Forces whose lines of action are not concurrent and
not parallel.

Definition of Resultant

The resultant of a force system is defined to be the simplest system that can replace the
original system without changing its external effect on a rigid body.

Calculation of Resultant of Concurrent Force System

Solution:

𝐑= 𝐅 = 𝐅1 + 𝐅2 + 𝐅3 ∙∙∙∙∙

𝑅𝑥 = 𝐹𝑥 𝑅𝑦 = 𝐹𝑦 𝑅𝑧 = 𝐹𝑧
Moment of a Force About a Point

The tendency of a force to rotate a body is called the moment of a force about a point.
The moment of the force F about point O, called the moment center, is defined the vector
equation

𝐌𝑂 = 𝐫 × 𝐅

where r = the position vector directed from the moment to any point along the line of
action of F

The moment of a force about a point can always be computed using the cross product.
However, a scalar computation of the magnitude of the moment can be obtained from a
geometric interpretation which gives the equation

𝑀𝑂 = 𝐹𝑑

where d = moment arm defined as the perpendicular distance from the moment center
to the line of action of the force

Principle of Moments

The moment of a force about a point is equal to the sum of the moments of its
components about that point.

𝐌𝑂 = 𝐫 × 𝐅1 + 𝐅2 + 𝐅3 = 𝐫 × 𝐑
Moment of a Force about an Axis

The magnitude of the moment of F about the axis AB is the orthogonal component of
MO along the axis AB, where O is any point on AB.

Expressing the moment in vector form,

simply multiply MAB by the unit vector along line AB.

The rectangular components of Mo in the xyz-coordinate system are:

The rectangular components of the moment of a force about the origin are equal to the
moments of the force about the coordinate axes.
Couples

Two parallel, noncollinear forces that are

equal in magnitude and opposite direction are
known as a couple.

The moment of a couple about a point using scalar calculation is given by

Using vector solution, the moment of a

couple about a point is given by the equation

where the vector rBA connects points B and A.

Note: The moment of a couple is the same about every point.

 Supplementary Problems

01. The total aerodynamic force F acting on

the airplane has a magnitude of 6250 lb.
Resolve this force into vertical and
horizontal components (called
the lift and the drag, respectively).

02. Resolve the 200-lb force into components

along (a) the x- and y axes and
(b) the x’- and y-axes

03. The 500-N weight is supported by two

cables, the cable forces being F1 and F2.
Knowing that the resultant of F1 and F2
is a force of magnitude 500 N acting
in the y-direction, determine F1 and F2.

04. The two forces shown act on the member AB.

Determine the magnitude of P such that the
resultant of these forces is directed along AB.

05. The resultant of the two forces has a magnitude

of 650 lb. Determine the direction of the
resultant and the magnitude of P.

06. The supporting cables AB and AC are oriented so

that the components of the 360-lb force
along AB and AC are 185 lb and 200 lb,
respectively. Determine the angles α and β.
07. Find the rectangular representation of the
force F, given that its magnitude 240 N.

08. The pulley shown in the figure is subjected to

the belt forces P and Q. Using rectangular
components, detrmine the magnitude and
direction of gthe resultant force.

09. Determine the resultant of the three

forces acting on the gusset plate of a truss.

10. The resultant of the three concurrent

forces acting on the eyebolt is the force
R = 800j lb. Determine the magnitude
of the force P and the angle θ that
specifies the direction of the 900-lb force.

11. The magnitude of the force F is 120 lb.

Find its rectangular representation.
12. Determine the resultant of the two forces shown.

13. The magnitide of the three forces

are F1 = 1.6 kN, F2 = 1.2 kN, and
F3 = 1.0 kN. Compute their resultant
in the form
(a) R = Rxi + Ryj + Rzk; and
(b) R = Rλ

14. The magnitude of the three forces acting

on the plate are T1 = 100 kN, T2 = 80 kN,
and T3 = 50 kN. Replace this force system
by an equivalent resultant force R. What is
the magnitude R of this resultant force?

15. The vertical post is secured by three cables.

The cables are pre-tensioned so that the
resultant of the cable forces F, Q, and P is
directed along the z-axis. If F = 120 lb,
find P and Q.
16. Given the vectors
A = 8i + 4j -2k N
B = 2j + 6k m
C = 3i -2j + 4k m

Calculate the following:

a. 𝐀 ∙ 𝐁
b. The orthogonal component of B in the direction of C
c. The angle between A and C
d. A x B
e. a unit vector λ that is perpendicular to both A and B
f. 𝐀 x 𝐁 ∙ 𝐂

17. Use the dot product to find the angle between the position vectors A and B.

18. Determine the magnitude and sense

of the moment of the 800-N force
about point A.

19. Given that T = 28.3 kN and W = 25 kN,

determine the magnitude and sense of t
he moments about point B of the following:
a. the force T;
b. the force W;
c. forces T and W combined.

20. Compute the magnitude of the moment

of the force P about point A.
21. Find the combined moment of the forces
P and Q about point O. The magnitude
of the forces are P = 80 lb and Q = 60 lb.

22. In problem 21, what is the combined

moment magnitude of the forces P and Q about
a. x-axis;
b. y-axis; and
c. z-axis

23. Calculate the combined moment of the three

forces about each of the coordinate axes using
a. the scalar method; and
b. the vector method.

24. Determine the magnitude of the single

couple that is equivalent to the two
couples shown.

25. Express the moment of

the couple acting on
the pipe assembly shown
in rectangular form.
The force magnitude
F = 100 N.