Department Of Mechatronics

Engg

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ME-112 Engineering Statics

by
Nasir Rashid, PhD

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ME-112 Engineering Statics

CHAPTER-2
Force Vectors

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 ME-112 Engineering Statics
Force Vectors
• Scalars & Vectors
• Vector Operation
• Vector Addition of Forces
• Addition of a System of Coplanar Forces
• Cartesian Vectors
• Addition of Cartesian Vectors
• Position Vectors
• Force Vector Directed along a Line
• Dot Product
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 ME-112 Engineering Statics
Position Vectors
• Position Vector “r” is a fixed vector which locates a point in space relative to another point
• If r extends from the origin of coordinates, O, to point P(x, y, z), r can be expressed in Cartesian
vector form as:
r = xi + yj + zk
• Starting at the origin O, one “travels” x in the +i direction, then y in the +j direction, and finally z
in the +k direction to arrive at point P(x, y, z)

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 ME-112 Engineering Statics
Position Vectors
• For a more general case, position vector r may be directed
from point A to point B in space
– r can also be designated as rAB, to indicate from and to the point
where it is directed
• By the Head-to-tail vector addition, using the triangle rule:
rA + r = rB
• Solving for r and expressing rA and rB in Cartesian vector
form yields:
r = rB - rA = (xB i + yB j + zB k) - (xA i + yA j + zA k)

or

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 ME-112 Engineering Statics
Force Vector Directed along a Line
• In 3D-statics Problems, the direction of a Force is specified by
two points through which its line of action passes
• e.g. Force F is directed along the cord AB
• F can be formulated as a Cartesian vector by realizing that it
has the same direction and sense as the position vector r
directed from point A to point B on the cord
• This common direction is specified by the unit vector:
u=r/r
• Hence:

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 ME-112 Engineering Statics
Position Vectors
Examples:
2.12, 2.13, 2.14, 2.15
Fundamental Problems:
F2-21, F2-24
Practice Problems:
2-89, 2-91, 2-95, 2-96, 2-98, 2-104

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 ME-112 Engineering Statics
EXAMPLE 2-12
An elastic rubber band is attached to points A and B as shown in figure. Determine its
length and its direction measured from A toward B.

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 ME-112 Engineering Statics
EXAMPLE 2-12

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 ME-112 Engineering Statics
EXAMPLE 2-13
The man shown pulls on the
cord with a force of 70 lb.
Represent this force acting
on the support A as a
Cartesian vector and
determine its direction.

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 ME-112 Engineering Statics
EXAMPLE 2-13

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 ME-112 Engineering Statics
EXAMPLE 2-104
The antenna tower is supported by three cables. If the forces of these cables acting on the
antenna are FB=520N, FC = 680N, and FD = 560N, determine the magnitude and
coordinate direction angles of the resultant force acting at A.

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 ME-112 Engineering Statics
EXAMPLE 2-104

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 ME-112 Engineering Statics
EXAMPLE 2-104

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 ME-112 Engineering Statics
DOT Product
– In statics, one has to find the angle between two lines or the components of a force
parallel and perpendicular to a line

– In two dimensions, these problems can readily be solved by trigonometry since the
geometry is easy to visualize

– In three dimensions, however, this is often difficult, and consequently vector methods
should be employed for the solution

– The dot product, defines a particular method for “multiplying” two vectors, and can
be used to solve the problems

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 ME-112 Engineering Statics
DOT Product
• The dot product of vectors A and B, written A . B, and read “A dot
B” is defined as the product of the magnitudes of A and B and the
cosine of the angle θ between their tails.
• Expressed in equation form,

• The dot product is often referred to as the scalar product of vectors

since the result is a scalar and not a vector

• Laws of Operation:
– Commutative Law: A.B = B.A
– Multiplication by a scalar: a(A.B) = (aA).B = A.(aB)
– Distributive Law: A.(B+D) = (A.B) + (A.D)
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 ME-112 Engineering Statics
• Cartesian Vector Formulation
– If we want to find the dot product of two general vectors A and B that are expressed in
Cartesian vector form, then we have:

– Carrying out the dot-product operations, the final result becomes:

– Thus, to determine the dot product of two Cartesian vectors, multiply their corresponding x,
y, z components and sum these products algebraically
– The result will be either a positive or negative scalar 18
 ME-112 Engineering Statics
DOT Product
• The angle formed between two vectors or intersecting
lines:
– The angle between the tails of vectors A and B can be
determined using dot product equation as:

– If A.B = 0, then θ = Cos-1 0 = 90˚, so that A will be

perpendicular to B

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 ME-112 Engineering Statics
• The components of a vector parallel and perpendicular to a
line:
– The component of vector A parallel to or collinear with the line
aa is defined by Aa where Aa = A Cos θ.
– This component is sometimes referred to as the projection of A
onto the line, since a right angle is formed in the construction.
– If the direction of the line is specified by the unit vector ua, then
since ua = 1, we can determine the magnitude of Aa directly
from the dot product as:

– Hence, the scalar projection of A along a line is determined

from the dot product of A and the unit vector ua which defines
the direction of the line
– Directional sense
– The component Aa represented as a vector is therefore:
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 ME-112 Engineering Statics
• The components of a vector parallel and
perpendicular to a line:
– The component of A that is perpendicular to
line aa can also be obtained
– Since A = Aa + A┴ , then A┴ = A - Aa
– There are two possible ways of obtaining A┴
• One way would be to determine θ from the
dot product, θ = cos-1 (A.ua /A)
• Then A┴ = A Sin θ
• Alternatively, if Aa is known, then by
Pythagorean’s theorem we can also write
A┴ = √ (A2 – Aa2)

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 ME-112 Engineering Statics
DOT Product
Examples:
2.16, 2.17, 2.18
Fundamental Problems:
F2-26, F2-29
Practice Problems:
2-112, 2-115, 2-119, 2-123, 2-128, 2-132

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 ME-112 Engineering Statics
EXAMPLE 2-17
The frame is subjected to a horizontal force F = {300j}. Determine the magnitude of the
components of this force parallel and perpendicular to member AB.

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 ME-112 Engineering Statics
EXAMPLE 2-17

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 ME-112 Engineering Statics
EXAMPLE 2-18
The pipe in figure is subjected to the force of F = 80 lb. Determine the angle θ between
F and the pipe segment BA and the projection of F along this segment.

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 ME-112 Engineering Statics
EXAMPLE 2-18

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 ME-112 Engineering Statics
EXAMPLE 2-18

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 ME-112 Engineering Statics
EXAMPLE 2-112
Determine the projected component of the force FAB = 560 N acting along cable AC.
Express the result as a Cartesian vector.

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 ME-112 Engineering Statics
EXAMPLE 2-112

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 ME-112 Engineering Statics
EXAMPLE 2-132
Determine the magnitudes of the projected components of the force F = 300 N acting
along line OA.

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 ME-112 Engineering Statics
EXAMPLE 2-132

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