Prepared by;

Gabriel I. Gamana, CE, M.Sc.

1. Force Vectors
2. Equilibrium of a Particle
3. Force System Resultant
4. Equilibrium of Rigid Bodies
Table of Contents 5. Structural Analysis
6. Friction
Statics of 7. Center of Gravity and Centroid
Rigid Bodies 8. Moment of Inertia
Engr. Gabriel I. Gamana, M.Sc.

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1.1 Introduction

1.1 Introduction
1.2 Scalars and Vectors
1. Force 1.3 Vector Operations
1.4 System of Coplanar Forces
Vectors 1.5 Cartesian Vectors
1.6 Position Vectors
1.7 Dot Products

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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.1 Introduction 1.1 Introduction

• Mechanics is a branch of the physical sciences that is • Rigid-body mechanics is divided into two areas: statics and
concerned with the state of rest or motion of bodies that are dynamics.
subjected to the action of forces. • Statics deals with the equilibrium of bodies, that is, those that
are either at rest or move with a constant velocity;
• whereas dynamics is concerned with the accelerated motion
Mechanics of bodies.

Deformable-
Rigid-body Fluid
body
Mechanics Mechanics
Mechanics

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1.2 Scalars and Vectors 1.2 Scalars and Vectors

• Scalar - A scalar is any positive or negative physical quantity
that can be completely specified by its magnitude.

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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.2 Scalars and Vectors 1.2 Scalars and Vectors

• Vector - A vector is any physical quantity that requires both a
magnitude and a direction for its complete description.
• A vector is shown graphically by an arrow. The length of the
arrow represents the magnitude of the vector, and the angle 𝜃
between the vector and a fixed axis defines the direction of its
line of action.

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1.3 Vectors Operations 1.3 Vectors Operations

Multiplication and Division Vector Addition
• If a vector is multiplied by a positive scalar, its magnitude is • All vector quantities obey the parallelogram law of addition.
increased by that amount. Multiplying by a negative scalar will To illustrate, the two “component” vectors A and B are added
also change the directional sense of the vector. to form a “resultant” vector R = A + B.
• Parallelogram law is generally referred as the Graphical
Solution for vector addition.

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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.3 Vectors Operations 1.3 Vectors Operations

Vector Addition Vector Subtraction
• We can also add B to A, using the triangle rule, which is a • This vector sum is shown graphically in the figure below .
special case of the parallelogram law, whereby vector B is Subtraction is therefore defined as a special case of addition,
added to vector A in a “head-to-tail” fashion. so the rules of vector addition also apply to vector subtraction.

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1.3 Vectors Operations 1.3 Vectors Operations

Cosine Law Sine Law

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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.3 Vectors Operations 1.3 Vectors Operations

Problem 1-1 Problem 1-2
Determine the magnitude of the resultant force and its direction, Two forces act on the hook. Determine the magnitude of the
measured counterclockwise from the positive x axis. resultant force.

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1.3 Vectors Operations 1.3 Vectors Operations

Problem 1-3 Problem 1-4
The force F = 450 lb acts on the frame. Resolve this force into If the resultant force of the two tugboats is required to be
components acting along members AB and AC, and determine directed towards the positive x axis, and FB is to be a minimum,
the magnitude of each component.. determine the magnitude of FR and FB and the angle 𝜃.

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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.3 Vectors Operations 1.4 System of Coplanar Forces

Problem 1-5 • When a force is resolved into two components along the x
Three chains act on the bracket such that they create a resultant and y axes, the components are then called rectangular
force having a magnitude of 500 lb. If two of the chains are components.
subjected to known forces, as shown, determine the angle 𝜃 of • For Analytical solution we can represent these components
the third chain measured clockwise from the positive x axis, so in one of two ways, using either scalar notation or Cartesian
that the magnitude of force F in this chain is a minimum. All vector notation.
forces lie in the x – y plane. What is the magnitude of F?.

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1.4 System of Coplanar Forces 1.4 System of Coplanar Forces

Scalar Notation Scalar Notation

𝐹 = 𝐹 sin 𝜃 𝑏
𝐹 = −𝐹
𝐹 = 𝐹 cos 𝜃 𝑐
𝑎
𝐹 =𝐹
𝑐
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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.4 System of Coplanar Forces 1.4 System of Coplanar Forces

Cartesian Vector Notation Coplanar Force Resultants
It is also possible to represent the x and y components of a • We can use either of the two methods just described to
force in terms of Cartesian unit vectors i and j . They are called determine the resultant of several coplanar forces .
unit vectors because they have a dimensionless magnitude of 1, • To do this, each force is first resolved into its x and y
and so they can be used to designate the directions of the x and components, and then the respective components are added
y axes using scalar algebra since they are collinear.
𝐅 = 𝐹 𝐢+𝐹 𝐣

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1.4 System of Coplanar Forces 1.4 System of Coplanar Forces

Problem 1-6
Determine the magnitude of the resultant force and its direction,
measured counterclockwise from the positive x axis.

𝐹 = 𝐹

𝐹 = 𝐹

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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.4 System of Coplanar Forces 1.4 System of Coplanar Forces

Problem 1-7 Problem 1-8
If the resultant force acting on the bracket is to be 750 N directed Determine the magnitude of the resultant force and its direction,
along the positive x axis, determine the magnitude of F and its measured counterclockwise from the positive x axis.
direction 𝜃.

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1.5 Cartesian Vectors 1.5 Cartesian Vectors

• The operations of vector algebra, when applied to solving Right-Hand Rule
problems in three dimensions, are greatly simplified if the • A rectangular coordinate system is said to be right-handed if
vectors are first represented in Cartesian vector form. the thumb of the 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.

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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.5 Cartesian Vectors 1.5 Cartesian Vectors

Cartesian Vector Representation Cartesian Representation of Force Vector
• A vector A may have one, two, or three rectangular 𝐀 =𝐴 𝐢+𝐴 𝐣+𝐴 𝐤
components along the x, y, z coordinate axes, depending on
how the vector is oriented relative to the axes.

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1.5 Cartesian Vectors 1.5 Cartesian Vectors

Direction of a Cartesian Vector Direction of a Cartesian Vector
• We will define the direction of A by the coordinate direction 𝐴 𝐴 𝐴
angles a (alpha), b (beta), and g (gamma), measured cos 𝛼 = , cos 𝛽 = ̅ , 𝑎𝑛𝑑 cos 𝛾 = ̅
𝐴 ̅ 𝐴 𝐴
between the tail of A and the positive x, y, z axes provided
they are located at the tail of A.

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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.5 Cartesian Vectors 1.5 Cartesian Vectors

Direction of a Cartesian Vector Cartesian Representation of Direction Vector

cos 𝛼 + cos 𝛽 + cos 𝛾 = 1 𝐴 𝐴 𝐴

𝐮 = 𝐢+ ̅ 𝐣+ ̅ 𝐤
𝐴̅ 𝐴 𝐴

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1.5 Cartesian Vectors 1.5 Cartesian Vectors

Problem 1-9 Problem 1-10
The beam is subjected to the two forces shown. Express each The cables attached to the screw eye are subjected to the three
force in Cartesian vector form and determine the magnitude and forces shown. Express each force in Cartesian vector form and
coordinate direction angles of the resultant force. determine the magnitude and coordinate direction angles of the
resultant force.

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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.6 Position Vectors 1.6 Position Vectors

Cartesian Representation of Position Vector Problem 1-11

𝐫= 𝑥 −𝑥 𝐢+ 𝑦 −𝑦 𝐣+ 𝑧 −𝑧 𝐤 Express the position vector 𝑟 in Cartesian vector form, then

determine its magnitude and coordinate direction angles.

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1.6 Position Vectors 1.6 Position Vectors

Problem 1-12 Problem 1-13
At a given instant, the position of a plane at A and a train at B Express the force as a Cartesian vector.
are measured relative to a radar antenna at O. Determine the
distance d between A and B at this instant.

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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.6 Position Vectors 1.7 Dot Products

Problem 1-14 Occasionally in statics one has to find the angle between two
The tower is held in place by three cables. If the force of each lines or the components of a force parallel and perpendicular to
cable acting on the tower is shown, determine the magnitude a line
and coordinate direction angles a, b, g of the resultant force. 𝐀 𝐁 = 𝐴̅𝐵 cos 𝜃
Take x = 20 m, y = 15 m. 𝐀 𝐁=𝐴 𝐵 +𝐴 𝐵 +𝐴 𝐵

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1.7 Dot Products 1.7 Dot Products

The components of a vector parallel and perpendicular to a line Problem 1-15
𝐴 = 𝐴 cos 𝜃 = 𝐀 𝐮 Find the magnitude of the projected component of the force
along the pipe AO.

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 Prepared by;
Gabriel I. Gamana, CE, M.Sc.

1.7 Dot Products

Problem 1-16
Determine the angle 𝜃 between the pipe segments BA and BC.

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