ENGINEERING MECHANICS

BAA1113

Chapter 2: Force Vectors (Static)

by
Pn Rokiah Bt Othman
Faculty of Civil Engineering & Earth Resources
[email protected]
 Chapter Description

• Aims
– To review the Parallelogram Law and Trigonometry
– To explain the Force Vectors
– To explain the Vectors Operations ( Parlaw & Cartesian)
– To express force and position in Cartesian Vectors

• Expected Outcomes
– Able to solve the problems of force and position vectors in the
mechanics applications by using Cartesian Coordinate System

• References
– Russel C. Hibbeler. Engineering Mechanics: Statics & Dynamics,
14th Edition
 Chapter Outline

2.1 Scalars and Vectors – part I

2.2 Vectors Operations – part I
2.3 Vectors Addition of Forces – part I
2.4 Cartesian Vectors – part II
2.5 Force and Position Vectors – part III
 2.5 Position Vector

What is Position
Vector?

 It is a fixed vector that locates a point

in space relative to another point
 A Position can be defined by its
coordinate in 3-D space
 A Position vector directed from A to B
 B is the ending point and A
is denoted as rAB
is the starting point  Let point A (XA, YA, ZA) and B (XB, YB, ZB)
 Must subtract the tail
coordinates from the tip
rAB = {( XB – XA ) i + ( YB – YA ) j + ( ZB – ZA ) k }m
 Application of Position Vector

Measure the
Position vector r can
length of cable
be established
AB

r = xi + yj + zk

Magnitude r Measure the

represent the direction of cable
length of cable AB

Angles 𝛼, 𝛽, 𝛾
Unit vector u = r/r represent the
direction of cable
AB
Force Vector Directed Along a Line

If a force is directed along a line

 It can represent the force vector in Cartesian
coordinates by using a unit vector and the
force’s magnitude

 Step 1: Established position vector rAB

 Step 2: Established unit vector uAB = rAB rAB )
 Step 3: Magnitude of force F = F uAB
 Example 2.12
The elastic rubber band is attached to points A and B. Determine the length and
direction measured from A to B
Step 1  Established position vector rAB

Step 2  Established unit vector uAB = rAB rAB )

Magnitude rAB = length of the rubber band

Step 3
Direction = coordinate angles of rAB

uAB = cos  i + cos  j + cos  k

 Solution Example 2.12
The elastic rubber band is attached to points A and B. Determine the length and
direction measured from A to B
Step 1  Established position vector rAB

 From A to B, it’s need to go -3 m in the x-

direction, 2 m in the y-direction, and 6 m
in the z-direction
rAB = { -3 i + 2 j + 6 k }m

or
-point A (XA, YA, ZA) and B (XB, YB, ZB )
-point A (1, 0, -3) and B (-2, 2, 3 )

rAB = {( XB – XA ) i + ( YB – YA ) j + ( ZB – ZA ) k }m

rAB = {( -2 – 1 )i + ( 2 – 0 ) j + (3 – (- 3) ) k }m

rAB = {( -3 )i + (2 ) j + ( 6) k }m
 Solution Example 2.12
The elastic rubber band is attached to points A and B. Determine the length and
direction measured from A to B
Step 2  Established unit vector uAB = rAB rAB )

rAB   3  2  6

2 2 2
 7m
Magnitude = length of the rubber band =7m
uAC = (-3/7) i + (2/7) j + (6/7) k) } N

uAC = -0.428 i + 0.285 j + 0.857 k) } N

 Direction A to B
Step 3 uAB = cos  i + cos  j + cos  k

 = cos-1(-3/7) = 115°
 = cos-1(2/7) = 73.4°
 = cos-1(6/7) = 31°
 Example 2.13

Determine the force FAC in the Cartesian vectors. Given , the 420 N
Force along the cable AC
Step 1
 Established position vector rAC

Step 2

 Established unit vector uAC = rAC rAC )

Step 3  Magnitude of force F = F uAC

 Solution Example 2.13

Determine the force FAC in the Cartesian vectors. Given , the 420 N
Force along the cable AC
Step 1  Established position vector rAC
 From A to C, it’s need to go 2 m in the x-
direction, 3 m in the y-direction, and -6 m
in the z-direction

rAC = { 2 i + 3 j – 6 k }m

or -point A (XA, YA, ZA) and C (XC, YC, ZC )

-point A (0, 0, 6) and C (2, 3, 0 )
rAC = {( XC – XA ) i + ( YC – YA ) j + ( ZC – ZA ) k }m

rAC = {( 2 – 0 ) i + ( 3 – 0 ) j + ( 0 – 6) k }m

rAC = {( 2 ) i + (3 ) j + ( – 6) k }m
 Solution Example 2.13

Determine the force FAC in the Cartesian vectors. Given , the 420 N
Force along the cable AC Step 2

 Established unit vector uAC = rAC rAC )

rAC  22  32   62  7m

Step 3  Magnitude of force F = F uAC
F = 420N uAC
FAC = 420{ (2 i + 3 j  6 k) / 7 } N

FAC = {120 i + 180 j  360 k } N

 Example 2.14

Two forces are acting on the flag pole which FB = 560N and FC = 700N.
Determine the magnitude and coordinate direction angles of the
resultant force FR Step 1  Established position vector
rAB
rAC
Step 2  Established unit vector
uAB = rAB rAB )
uAC = rAC rAC )
Step 3
 Magnitude of force FAB = FAB /uAB
FAC = FAC /uAC
 Add the two forces to get FR
 Calculate the magnitude and direction of FR
 Example 2.14

Two forces are acting on the flag pole which FB = 560N and FC = 700N.
Determine the magnitude and coordinate direction angles of the
resultant force FR Step 1  Established position vector
rAB = {2 i  3 j  6 k} m

rAC = {3 i + 2 j  6 k} m

Step 2  Established unit vector

uAB = rAB rAB

rAB  22   32   62  7m

uAC = rAC rAC

rAC  32  22   62  7m

 Example 2.14

Two forces are acting on the flag pole which FB = 560N and FC = 700N.
Determine the magnitude and coordinate direction angles of the
resultant force FR  Magnitude of force
Step 3
FAB = FAB /uAB
FAB = 560 (rAB / rAB) N
FAB = 560 ( 2 i – 3 j – 6 k) / 7 N
FAB = (160 i – 240 j – 480 k) N

FAC = FAC /uAC

FAC = 700 (rAC / rAC) N

FAC = 700 (3 i + 2 j – 6 k) / 7 N
FAC = {300 i + 200 j – 600 k} N
 Example 2.14

Two forces are acting on the flag pole which FB = 560N and FC = 700N.
Determine the magnitude and coordinate direction angles of the
resultant force FR  Magnitude of F
Step 3 R
FAB = (160 i – 240 j – 480 k) N
FAC = {300 i + 200 j – 600 k} N
FR = FAB + FAC
= {460 i – 40 j – 1080 k} N

FR  4602   402   10802  1174.5 N

FR = 1175 N  Direction angles of FR
 = cos-1(460/1175) = 66.9°
 = cos-1(–40/1175) = 92.0°
 = cos-1(–1080/1175) = 157°
 Dot Product

 A dot product of vectors A and B can be

defined by A∙ B = AB cos 𝜃
 Use to determine the angle between two
vectors and its magnitude
 Its angle  is the smallest angle between the
two vectors and is always in a range of 0º to
180º
 The result of dot product is a scalar
(±Number)
 Units of the dot product will be the product
of the units of the A and B vectors

A • B= (Ax i + Ay j + Az k) • (Bx i + By j + Bz k)
= Ax Bx + AyBy + AzBz
i•j = 0 & i•i = 1
 Application of Dot Product

Angle Components
between two of vectors
vectors

 The components of a vector parallel and

 The angle formed between two perpendicular to a line
vectors or intersecting lines  Component of A parallel or collinear with line
θ = cos-1 [(A·B)/(AB)] aa’ is defined by A║ (projection of A onto the
0°≤ θ ≤180° line)
Note: if A·B = 0, cos-10 = 90°, A║ = A cos θ
A is perpendicular to B  If direction of line is specified by unit vector u
(u = 1),
A║ = A cos θ = A·u
 Application of Dot Product

 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
 Application of Dot Product

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
 Law of Operation of Dot Product

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)
 Law of Operation of 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
 Law of Operation of 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
 Example 2.15

The force are acting on the hook at point A. Determine the angle
between the force and the line AO, and the magnitude of the projection
of force along the line AO Step 1  Established position vector
rAO

Step 2  Established dot product

F • rAO

 = cos-1{(F • rAO)/(F rAO)}

Step 3

 Magnitude of the projection of force, FAO

FAO = F • uAO or F cos 
 Solution Example 2.15

The force are acting on the hook at point A. Determine the angle
between the force and the line AO, and the magnitude of the projection
of force along the line AO Step 1  Established position vector
rAO = {1 i + 2 j  2 k} m

rAO   12  22   22  3m

F = { 6 i + 9 j + 3 k} kN

F  62  92  32  11.22m

 Established dot product i•j = 0 & i•i = 1
Step 2 F • rAO = Ax Bx + AyBy + AzBz
F • rAO = ( 6)(1) + (9)(2) + (3)(2) = 18 kNm

 = cos-1{(F • rAO)/(F rAO)}  = cos-1 {18 / (11.22  3)} = 57.67°

 Solution Example 2.15

Step 3  Magnitude of the projection of force, FAO

FAO = F • uAO or F cos 
uAO = rAO / rAO = (1/3) i + (2/3) j + (2/3) k

FAO = F • uAO = ( 6)(1/3) + (9)(2/3) + (3)(2/3) = 6.00 kN

or

FAO = F cos  = 11.22 cos (57.67°) = 6.00 kN

 Example 2.16

The frame is subjected to a horizontal force, F = {300j} at point B.

Determine the components of this force parallel and perpendicular to
the member AB Step 1  Established position vector
uB

Step 2  Established dot product

FAB= F cos  = F • uB

Step 3 Express in Cartesian form:

 Parallel component
 Perpendicular componet

Step 4 A = A║ + A┴,
then A┴ = A - A║
 Solution Example 2.16

The frame is subjected to a horizontal force, F = {300j} at point B.

Determine the components of this force parallel and perpendicular to
the member AB Step 1  Established position & unit vector
   
 r 2i  6 j  3k
u B  B 
Step 2
rB  2 2
 6 2
 3 2
  
 0.286i  0.857 j  0.429k
Step 2 , dot
 
FAB  F cos product
    
 F .u B  300 j   0.286i  0.857 j  0.429k 
 (0)(0.286)  (300)(0.857)  (0)(0.429)
 257.1N
 Solution Example 2.16

The frame is subjected to a horizontal force, F = {300j} at point B.

Determine the components of this force parallel and perpendicular to
the member AB
Step 3 Since result is a positive scalar, FAB has
the same sense of direction as uB.
Express in Cartesian form:
Step 2   
FAB  FAB u AB
 
  
 257.1N  0.286i  0.857 j  0.429k
  
 {73.5i  220 j  110k }N
Step 4 Perpendicular component
      
F  F  FAB  300 j  (73.5i  220 j  110k )
  
 {73.5i  80 j  110k }N
 Solution Example 2.16

The frame is subjected to a horizontal force, F = {300j} at point B.

Determine the components of this force parallel and perpendicular to
the member AB Step 5
Magnitude can be determined
From F┴ or from Pythagorean
Step 2 Theorem

A = A║ + A┴,
then A┴ = A - A║
 2  2
F  F  FAB

 300 N 2  257.1N 2
 155 N
 Example 2.17

The pipe is subjected to force, F = 800 N at point B. Determine the

angle 𝜃between F and pipe segment BA, and the magnitude of the
components of force F, which are parallel and perpendicular to
the member BA
 Solution Example 2.17

For angle θ
rBA = {-2i - 2j + 1k}m
rBC = {- 3j + 1k}m
Thus,
 
rBA  rBC  20   2 3  11
cos    
rBA rBC 3 10
 0.7379
   
rAB (2i  2 j  1k )
  42.5  
u AB   
rAB 3
2  2  1 
   i     j   k
 3   3   3
Express in Cartesian form:  
FAB  F .u B
 Parallel component   2  2  1 
 Perpendicular componet   758.9 j  253.0k     i     j   k
 3   3   3
 0  506.0  84.3
 590 N
 Solution Example 2.17

Checking from trigonometry,

 
FAB  F cos
 800 cos 42.5 N
 540 N
Magnitude can be determined
From F┴
  
F  F sin   800 sin 42.5  540N  2  2
F  F  FAB

8002  5902
Magnitude can be determined from F┴
or from Pythagorean Theorem 
 540 N
 Conclusion of The Chapter 2 part III

• Conclusions

- The Force and Position vector have been identified and

determined in the mechanics
- The Dot Product has been implemented in determine an
angle between two vectors
 Credits to:
Dr Nurul Nadhrah Bt Tukimat
[email protected]

En Khalimi Johan bin Abd Hamid

[email protected]

Roslina binti Omar

[email protected]