3/6/2021

Vector Mechanics for Engineers: Statics

Edition
Ninth
Ninth Edition
Contents
VECTOR MECHANICS FOR ENGINEERS:

2
CHAPTER

STATICS Introduction
Resultant of Two Forces
Sample Problem 2.3
Equilibrium of a Particle
Vectors Free-Body Diagrams
Ferdinand P. Beer
E. Russell Johnston, Jr. Addition of Vectors Sample Problem 2.4
Statics of Particles Resultant of Several Concurrent Sample Problem 2.6
Lecture Notes:
Forces Rectangular Components in Space
J. Walt Oler Sample Problem 2.1 Sample Problem 2.7
Texas Tech University Sample Problem 2.2
Rectangular Components of a
Force: Unit Vectors
Addition of Forces by Summing
Components

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
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Introduction Ninth Resultant of Two Forces
• The objective for the current chapter is to investigate the effects of forces
• force: action of one body on another;
on particles:
characterized by its point of application,
- replacing multiple forces acting on a particle with a single magnitude, line of action, and sense.
equivalent or resultant force,
- relations between forces acting on a particle that is in a
state of equilibrium.
• Experimental evidence shows that the
• The focus on particles does not imply a restriction to miniscule bodies. combined effect of two forces may be
Rather, the study is restricted to analyses in which the size and shape of represented by a single resultant force.
the bodies is not significant so that all forces may be assumed to be
applied at a single point. • 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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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
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Vectors Addition of Vectors

• Vector: parameters possessing magnitude and direction
• Trapezoid rule for vector addition
which add according to the parallelogram law. Examples:
displacements, velocities, accelerations. • Triangle rule for vector addition
• Scalar: parameters possessing magnitude but not
direction. Examples: mass, volume, temperature • Law of cosines,
C
B R 2  P 2  Q 2  2 PQ cos B
• Vector classifications:   
C R  PQ
- Fixed or bound vectors have well defined points of
application that cannot be changed without affecting • Law of sines,
an analysis.
sin A sin B sin C
- Free vectors may be freely moved in space without  
changing their effect on an analysis. B Q R A
- Sliding vectors may be applied anywhere along their • Vector addition is commutative,
line of action without affecting an analysis.    
PQ  Q P
• Equal vectors have the same magnitude and direction.
• Vector subtraction
• Negative vector of a given vector has the same magnitude
and the opposite direction.
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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
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Ninth
Addition of Vectors Resultant of Several Concurrent Forces
• Addition of three or more vectors through • Concurrent forces: set of forces which all
repeated application of the triangle rule 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
• The polygon rule for the addition of three or applied forces.
more vectors.
• Vector addition is associative,
         • Vector force components: two or more force
P  Q  S  P  Q   S  P  Q  S  vectors which, together, have the same effect
as a single force vector.

• Multiplication of a vector by a scalar

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Edition
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Sample Problem 2.1 Ninth Sample Problem 2.1
SOLUTION:
• Graphical solution - A parallelogram with sides
• Graphical solution - construct a equal to P and Q is drawn to scale. The
parallelogram with sides in the same magnitude and direction of the resultant or of
direction as P and Q and lengths in the diagonal to the parallelogram are measured,
proportion. Graphically evaluate the
resultant which is equivalent in direction R  98 N   35
and proportional in magnitude to the the
diagonal.
The two forces act on a bolt at • Graphical solution - A triangle is drawn with P
A. Determine their resultant. • Trigonometric solution - use the triangle and Q head-to-tail and to scale. The magnitude
rule for vector addition in conjunction and direction of the resultant or of the third side
with the law of cosines and law of sines of the triangle are measured,
to find the resultant.
R  98 N   35

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
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Sample Problem 2.1 Sample Problem 2.2

• Trigonometric solution - Apply the triangle rule. SOLUTION:
From the Law of Cosines, • Find a graphical solution by applying the
R 2  P 2  Q 2  2 PQ cos B Parallelogram Rule for vector addition. The
parallelogram has sides in the directions of
 40 N 2  60 N 2  240 N 60 N  cos155 the two ropes and a diagonal in the direction
R  97.73N of the barge axis and length proportional to
5000 lbf.
From the Law of Sines, A barge is pulled by two tugboats.
If the resultant of the forces • Find a trigonometric solution by applying
sin A sin B the Triangle Rule for vector addition. With
 exerted by the tugboats is 5000 lbf
Q R directed along the axis of the the magnitude and direction of the resultant
Q barge, determine known and the directions of the other two
sin A  sin B
R sides parallel to the ropes given, apply the
60 N Law of Sines to find the rope tensions.
 sin 155 a) the tension in each of the ropes
97.73N for  = 45o,
A  15.04 • The angle for minimum tension in rope 2 is
  20  A b) the value of  for which the determined by applying the Triangle Rule
  35.04 tension in rope 2 is a minimum. and observing the effect of variations in .

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Edition
Ninth

Edition
Ninth
Sample Problem 2.2 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 .

• Graphical solution - Parallelogram Rule

with known resultant direction and • The minimum tension in rope 2 occurs when
magnitude, known directions for sides. T1 and T2 are perpendicular.

T1  3700 lbf T2  2600 lbf T2  5000 lbf sin 30 T2  2500 lbf

• Trigonometric solution - Triangle Rule T1  5000 lbf  cos 30 T1  4330 lbf
with Law of Sines
T1 T2 5000 lbf   90  30   60
 
sin 45 sin 30 sin 105

T1  3660 lbf T2  2590 lbf

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
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Rectangular Components of a Force: Unit Vectors Ninth Addition of Forces by Summing Components
• May resolve a force vector into perpendicular • Wish to find the resultant of 3 or more
components so that the resulting parallelogram is a concurrent forces,
   
rectangle. Fx and Fy are referred to as rectangular R  PQ S
vector components and
   • Resolve each force into rectangular components
F  Fx  Fy
       
  R x i  R y j  Px i  Py j  Qx i  Q y j  S x i  S y j
 Px  Q x  S x i  Py  Q y  S y  j
• Define perpendicular unit vectors i and j which are  
parallel to the x and y axes.
• The scalar components of the resultant are equal
to the sum of the corresponding scalar
• Vector components may be expressed as products of components of the given forces.
the unit vectors with the scalar magnitudes of the
R x  Px  Q x  S x R y  Py  Q y  S y
vector components.
   Fx   Fy
 
F  Fx i  Fy j
 • To find the resultant magnitude and direction,
Fx and Fy are referred to as the scalar components of F Ry
R  Rx2  R 2y   tan 1
Rx
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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
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Sample Problem 2.3 Sample Problem 2.3

SOLUTION:
SOLUTION:
• Resolve each force into rectangular components.
• Resolve each force into rectangular force mag x  comp y  comp
components. 
F1 150  129.9  75.0

• Determine the components of the F2 80  27.4  75.2
resultant by adding the corresponding 
F3 110 0  110.0
force components. 
F4 100  96.6  25.9
• Calculate the magnitude and direction R x  199.1 R y  14.3
Four forces act on bolt A as shown. of the resultant.
Determine the resultant of the force • Determine the components of the resultant by
on the bolt. adding the corresponding force components.
• Calculate the magnitude and direction.
R  199.12  14.32 R  199.6 N
14.3 N
tan     4.1
199.1 N
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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
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Equilibrium of a Particle Free-Body Diagrams
• When the resultant of all forces acting on a particle is zero, the particle is
in equilibrium.
• Newton’s 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.

Space Diagram: A sketch showing Free-Body Diagram: A sketch showing

• Particle acted upon by • Particle acted upon by three or more forces: the physical conditions of the only the forces on the selected particle.
two forces: problem.
- graphical solution yields a closed polygon
- equal magnitude - algebraic solution
- same line of action  
R  F  0
- opposite sense
 Fx  0  Fy  0
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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
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Sample Problem 2.4 Ninth Sample Problem 2.4
SOLUTION: SOLUTION:
• Construct a free-body diagram for the • Construct a free-body diagram for the
particle at the junction of the rope and particle at A.
cable.
• Apply the conditions for equilibrium.
• Apply the conditions for equilibrium by
creating a closed polygon from the • Solve for the unknown force magnitudes.
forces applied to the particle. T AB T 3500 lb
 AC 
• Apply trigonometric relations to sin 120 sin 2 sin 58
determine the unknown force T AB  3570 lb
In a ship-unloading operation, a magnitudes.
3500-lb automobile is supported by T AC  144 lb
a cable. A rope is tied to the cable
and pulled to center the automobile
over its intended position. What is
the tension in the rope?

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
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Sample Problem 2.6 Sample Problem 2.6

SOLUTION: SOLUTION:
• Choosing the hull as the free body, • Choosing the hull as the free body, draw a
draw a free-body diagram. free-body diagram.
• Express the condition for equilibrium 7 ft 1.5 ft
tan    1.75 tan    0.375
for the hull by writing that the sum of 4 ft 4 ft
all forces must be zero.   60.25   20.56
It is desired to determine the drag force
at a given speed on a prototype sailboat • Resolve the vector equilibrium
hull. A model is placed in a test equation into two component
• Express the condition for equilibrium
channel and three cables are used to equations. Solve for the two unknown
for the hull by writing that the sum of
align its bow on the channel centerline. cable tensions.
all forces must be zero.
For a given speed, the tension is 40 lb     
in cable AB and 60 lb in cable AE. R  T AB  T AC  T AE  FD  0
Determine the drag force exerted on the
hull and the tension in cable AC.

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Edition
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Edition
Ninth
Sample Problem 2.6 Sample Problem 2.6

• Resolve the vector equilibrium equation into R0
two component equations. Solve for the two 
  34.73  0.3512 T AC  FD  i
unknown cable tensions. 
    19.84  0.9363T AC  60  j
T AB  40 lb sin 60.26 i  40 lb  cos 60.26 j
 
 34.73 lb  i  19.84 lb  j This equation is satisfied only if each component
   of the resultant is equal to zero
T AC  TAC sin 20.56 i  T AC cos 20.56 j
 
 0.3512 T AC i  0.9363T AC j  Fx  0  0  34.73  0.3512 TAC  FD
 

T  60 lb  i

 Fy  0 0  19.84  0.9363TAC  60
FD  FD i
T AC  42.9 lb
 FD  19.66 lb
R0

  34.73  0.3512 T AC  FD  i

 19.84  0.9363T AC  60  j

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
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Rectangular Components in Space Ninth Rectangular Components in Space


• With the angles between F and the axes,
Fx  F cos x Fy  F cos y Fz  F cos z
   
  F  Fx i  Fy j  Fz k
• The vector F is 
 F cos x i  cos y j  cos z k 
• Resolve F into • Resolve F h into  
contained in the horizontal and vertical rectangular components 
plane OBAC. components.  F
Fx  Fh cos   
 
Fy  F cos y  F sin  y cos    cos x i  cos y j  cos z k
 
Fh  F sin  y Fy  Fh sin  •  is a unit vector along the line of action of F
and cos  , cos  , and cos  z are the direction
 F sin  y sin  x  y
cosines for F
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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
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Rectangular Components in Space Sample Problem 2.7

SOLUTION:
• Based on the relative locations of the
Direction of the force is defined by
points A and B, determine the unit
the location of two points,
vector pointing from A towards B.
M  x1 , y1 , z1  and N  x2 , y2 , z 2 
• Apply the unit vector to determine the
components of the force acting on A.

d  vector joining M and N • Noting that the components of the unit
  
 d xi  d y j  d z k vector are the direction cosines for the
The tension in the guy wire is 2500 N. vector, calculate the corresponding
d x  x2  x1 d y  y2  y1 d z  z 2  z1
  Determine: angles.
F  F
 1  a) components Fx, Fy, Fz of the force

d
  
  d xi  d y j  d z k  acting on the bolt at A,

Fd x Fd y Fd z
b) the angles x, y, z defining the
Fx  Fy  Fz  direction of the force
d d d
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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Edition
Ninth

Edition
Ninth
Sample Problem 2.7 Sample Problem 2.7
SOLUTION: • Noting that the components of the unit vector are
• Determine the unit vector pointing from A the direction cosines for the vector, calculate the
towards B. corresponding angles.
  
AB   40 m  i  80 m  j  30 m k    
  cos  x i  cos  y j  cos  z k
AB   40 m 2  80 m 2  30 m 2   
 0.424 i  0.848 j  0.318k
 94.3 m
  40    80    30    x  115.1
   i    j  k
 94.3   94.3   94.3   y  32.0
  
 0.424 i  0.848 j  0.318k
 z  71.5
• Determine the components of the force.
 
F  F

 2500 N  0.424 i  0.848 j  0.318k 
 
  
  1060 N i  2120 N  j  795 N k

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