ENGINEERING MECHANICS:

STATIC
FORCE VECTOR
 LECTURE 1:
FORCE VECTOR
➢ ABLE TO SHOW HOW TO ADD FORCES AND RESOLVE
THEM INTO COMPONENTS USING THE PARALLELOGRAM
LAW

➢ ABLE TO EXPRESS FORCE AND POSITION IN CARTESIAN

VECTOR FORM AND EXPLAIN HOW TO DETERMINE THE
VECTOR’S MAGNITUDE AND DIRECTION.
 OUTLINE

• Scalar and vectors • Addition and Subtraction of

• Vector operations Cartesian Vector

• Vector Addition of Forces • Position Vectors

• Addition of a system of • Force Vector Directed along a
Coplanar forces Line
• Cartesian Vectors
 1.1 SCALARS AND VECTORS
• Scalar • Vector
• A quantity that has only • A quantity that has both magnitude and
magnitude direction
• Eg: Mass, volume and length • Eg: Force, acceleration, velocity
• A quantity characterized by a
positive or negative number
 1.1 SCALARS AND VECTORS

• Vector A
• Represented graphically as an arrow
2A
• Length of arrow = Magnitude of Vector
• Angle between the reference axis and
arrow’s line of action = Direction of
Vector
• Arrowhead = Sense of Vector
θ
 1.1 SCALARS AND VECTORS
• Example
• Magnitude of Vector = 4 units
• Direction of Vector = 20° measured
counterclockwise from the horizontal axis
• Sense of Vector = Upward and to the
right
• The point O is called tail of the vector
and the point P is called the tip or head
 1.2 VECTOR OPERATIONS
• Multiplication and Division of a Vector by
a Scalar 2A
• Product of vector A and scalar a = aA
• If a is positive, direction of aA is the same as -2A
sense of A
• If a is negative, direction of aA, it is opposite
to the sense of A
1A
• Law of multiplication applies
• Eg: A/a = ( 1/a ) A, a≠0 -1A
 1.2 VECTOR OPERATIONS
• Vector Addition
• Addition of two vectors A
and B gives a resultant
vector R by the
parallelogram law
• Result R can be found by
triangle construction
• Eg: R = A + B = B + A
 1.2 VECTOR OPERATIONS
• Vector Addition
• Special case: Vectors A and
B are collinear (both have
the same line of action)
 1.2 VECTOR OPERATIONS
• Vector Subtraction
• Special case of addition
• Eg: R’ = A – B = A + ( - B )
• Rules of Vector Addition Applies
 1.2 VECTOR OPERATIONS
• Resolution of Vector
• Any vector can be resolved into two components by the parallelogram law
• The two components A and B are drawn such that they extend from the tail or R
to points of intersection
 1.3 VECTOR ADDITION OF FORCES
Procedure of
❖ Make a sketch using the analysis ❖ Resultant force can be determined by
parallelogram law the law of cosines
❖ Two components forces add to form ❖ Direction if the resultant force can be
the resultant force Parallelogram Trigonometry determined by the law of sines
Law
❖ To resolve a force into components
along two axes directed from the tail
of the force
❖ Start at the head, constructing lines
parallel to the axes
❖ Label all the known and unknown
force magnitudes and angles
❖ Identify the two unknown components
 1.3 VECTOR ADDITION OF FORCES
• When two or more forces are
added, successive applications of
the parallelogram law is carried
out to find the resultant
• Eg: Forces F1, F2 and F3 acts at a
point O
• First, find resultant of F1 + F2
• Resultant, FR = ( F1 + F2 ) + F3
 1.3 VECTOR ADDITION OF FORCES
• EXAMPLE
• Fa and Fb are forces exerting on the
hook.
• Resultant, Fc can be found using the
parallelogram law
• Lines parallel to a and b from the
heads of Fa and Fb are drawn to
form a parallelogram
•
 1.3 VECTOR ADDITION OF FORCES
• EXAMPLE 1.1
• The screw eye is subjected to
two forces F1and F2.
Determine the magnitude
and direction of the resultant
force.
 1.3 VECTOR ADDITION OF FORCES
• SOLUTION
1. Parallelogram Law
• Unknown: magnitude
of FR and angle θ
 1.3 VECTOR ADDITION OF FORCES
• SOLUTION
2. Trigonometry
 1.3 VECTOR ADDITION OF FORCES
• SOLUTION
2. Trigonometry
 1.3 VECTOR ADDITION OF FORCES
• SOLUTION
2. Trigonometry
 1.3 VECTOR ADDITION OF FORCES
• EXAMPLE 1.3
• The force F acting on the frame has a
magnitude of 500N and is to be
resolved into two components acting
along the members AB and AC.
Determine the angle θ, measured
below the horizontal, so that
components FAC is directed from A
towards C and has a magnitude of
400N.
 1.3 VECTOR ADDITION OF FORCES
SOLUTION
 1.3 VECTOR ADDITION OF FORCES
SOLUTION
 1.3 VECTOR ADDITION OF FORCES
SOLUTION
 1.4 ADDITION OF A SYSTEM OF COPLANAR
FORCES

• Coplanar Force System

• Refers to the number of forces which remain in same plane
• The number of forces in a system which remains in single
plane
• Convenient to decompose a single force into two distinct
forces
• Components that correspond with the X and Y axis
• When acting together, the component force have the same
external effect on a body as the original force
1.4 ADDITION OF A SYSTEM OF COPLANAR
FORCES
• Scalar Notation
• In this subject, we resolve each
force into rectangular forces
along the x and y axes
• x and y axes are designated
positive and negative
θ
Trigonometrical relationships:

Fx = F cos θ
Fy = F sin θ
 1.4 ADDITION OF A SYSTEM OF COPLANAR
FORCES
Fy Fy
F

-Fx
θ Fx -Fx Fx
θ

F
-Fy -Fy

Sense of direction along positive x and y axes Sense of direction along positive x but negative y axes

F = Fx + Fy F = FFx=- Fx
Fy - Fy
F = F cos θ + F sin θ F = F cos θ - F sin θ
1.4 ADDITION OF A SYSTEM OF COPLANAR
FORCES

Magnitude of the Resultant force

1.4 ADDITION OF A SYSTEM OF COPLANAR
FORCES
Coplanar Force Resultants
• Positive scalars = sense of direction along
the positive coordinate axes
• Negative scalars = sense of direction along
the negative coordinate axes

Magnitude of the Resultant force

 1.4 ADDITION OF A SYSTEM OF COPLANAR
FORCES
Coplanar Force Resultants
• Direction angle θ (orientation of the
force) can be found by trigonometry

How to find the sense of resultant force?

Direction of the Resultant force

*Beware of the positive sign (+ve) or negative

sign (-ve) of coplanar force resultant!
 1.4 ADDITION OF A SYSTEM OF COPLANAR
FORCES
• EXAMPLE 1.6
• The link is subjected to two
forces F1 and F2. Determine the
magnitude and orientation of
the resultant force.
1.4 ADDITION OF A SYSTEM OF COPLANAR
FORCES
SOLUTION

Scalar Notation
1.4 ADDITION OF A SYSTEM OF COPLANAR
FORCES
1.5 CARTESIAN VECTORS

• Cartesian representation of the vector in

three dimensions
• We begin with two dimensions. We have
the following picture illustrating how to
construct the Cartesian form of a point Q in
the XOY plane.
• The vector OR is xi. The vector OS is yj.
• The vector OQ is the sum of OR and OS
OQ = xi + yj
 1.5 CARTESIAN VECTORS
Cartesian Unit Vectors
• Cartesian unit vectors, i, j and k are used to
designate the directions of x, y and z axes
• Sense (or arrowhead) of these vectors are
described by a plus or minus sign (depending on
pointing towards the positive or negative axes)
1.5 CARTESIAN VECTORS

Right-Handed Coordinate System

• Use for 3 dimensional operation
• A rectangular or Cartesian coordinate system is said
to be right-handed provided:
❖Thumb of 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
❖z-axis for the 2D problem would be
perpendicular, directed out of the page
 1.5 CARTESIAN VECTORS
Rectangular Components of a Vector
• A vector A may have one, two or three
rectangular components along the x, y and z
axes, depending on orientation
• Magnitude of vector A expressed as
A = Ax + Ay + Az

A’ = Ax + Ay
A = A’ + Az
 1.5 CARTESIAN VECTORS
Cartesian Vector Representations
• Three components of A act in the positive i, j
and k directions

A = Axi + Ayj + Azk

*Note the magnitude and direction of each

components are separated, easing vector
algebraic operations.
 1.5 CARTESIAN VECTORS
Magnitude of a Cartesian Vector
 1.5 CARTESIAN VECTORS

Direction of a Cartesian Vector

• Orientation of A is defined as the
coordinate direction angles α, β and γ
measured between the tail of A and
the positive x, y and z axes

0° ≤ α, β and γ ≤ 180 °
 1.5 CARTESIAN VECTORS

• Direction of a Cartesian Vector

• - For angles α, β and γ (blue colored
triangles), we calculate the direction
cosines of A
 1.5 CARTESIAN VECTORS

• Direction of a Cartesian Vector

• - For angles α, β and γ (blue coloured
triangles), we calculate the direction
cosines of A
 1.5 CARTESIAN VECTORS

• Direction of a Cartesian Vector

• - For angles α, β and γ (blue colored
triangles), we calculate the direction
cosines of A
 1.5 CARTESIAN VECTORS
Unit Vector
• Direction of A can be specified using a unit vector
• Unit vector has a magnitude of 1
• A ( a positive scalar) defines magnitude of A, and uA
defines the direction and sense of A
• If A is a vector having a magnitude of A ≠ 0, unit vector
having the same direction as A is expressed by
uA = A / A
• So that
A = A.uA
 1.5 CARTESIAN VECTORS

• Direction of a Cartesian Vector

• Angles α, β and γ can be determined
by the inverse cosines
 1.5 CARTESIAN VECTORS
• EXAMPLE
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
Concurrent Force Systems
• Force resultant is the vector sum of all the forces in the system

*where ΣFx , ΣFy and ΣFz represent the algebraic sums of the x, y and z or i, j or k
components of each force in the system
1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
• Force, F that the tie down rope exerts on
the ground support at O is directed along
the rope
• Angles α, β and γ can be solved with
axes x, y and z
• Cosines of their values forms a unit vector
u that acts in the direction of the rope
• Vector F has a magnitude of F
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
SOLUTION
EXAMPLE 1.8
• Since two angles are specified, the third
• Express the force F as Cartesian vector
angle is found by

• Two possibilities exit, namely

1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
SOLUTION
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
EXAMPLE 1.9
• Determine the magnitude
and coordinate direction
angles of resultant force
acting on the ring
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
SOLUTION
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
SOLUTION

0.1617 80.79°
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
EXAMPLE 1.10
• Express the force F1 as a
Cartesian vector
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
SOLUTION
• The angles of 60° and 45°
are not coordinate direction
angles.
• By two successive
applications of
parallelogram law
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
SOLUTION
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
SOLUTION
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
EXAMPLE 1.11
• Two forces act on the hook.
Specify the coordinate direction
angles of F2, so that the
resultant force FR acts along the
positive y axis and has a
magnitude of 800N
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
SOLUTION
• Cartesian vector form
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
SOLUTION

-150
 1.6 ADDITION AND SUBTRACTION OF CARTESIAN
VECTORS
SOLUTION
 1.7 POSITION VECTORS
• x,y,z Coordinates
• Right-handed coordinate system
• Positive z axis points upwards, measuring the
height of an object or the altitude of a point
• Points are measured relative to the origin, O.
• Eg: For Point A, xA = +4m along the x
axis,
• yA = -6m along the y axis and zA = -6m
along the z axis. Thus, A (4, 2, -6)
• Similarly, B (0, 2, 0) and C (6, -1, 4)
 1.7 POSITION VECTORS
• Position Vector
• Position vector r is defined as a fixed
vector which locates a point in space
relative to another point.
• Eg: If r extends from the origin, O to
point P (x, y, z) then, in Cartesian
vector form
 1.7 POSITION VECTORS
• Position Vector
• Note the head to tail vector addition of
the three components
• Start at origin O, one travels x in the +i
direction, y in the +j direction and z in
the +k direction, arriving at point P (x, y,
z)
 1.7 POSITION VECTORS
• Position Vector
• Position vector maybe
directed from point A to
point B
• Designated by r or rAB
• Vector addition gives
 1.7 POSITION VECTORS
• Position Vector
• The i, j, k components of the
positive vector r may be formed
by taking the coordinates of the
tail, A (x , y , z ) and subtract
A A A

them from the head B (x , y , z )

B B B

• Note the head to tail vector

addition of the three components
 1.7 POSITION VECTORS
• Position Vector
• Length and direction of cable AB can be
found by measuring A and B using the x, y, z
axes
• Position vector r can be established
• Magnitude r represent the length of cable
• Angles, α, β and γ represent the direction of
the cable
• Unit vector, u = r/r
 1.7 POSITION VECTORS
EXAMPLE 1.12
• An elastic rubber band is
attached to points A and B.
• Determine its length and Its
direction measured from A
towards B
 1.7 POSITION VECTORS
SOLUTION
 1.7 POSITION VECTORS
SOLUTION
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
• In 3D problems, direction of F is
specified by 2 points, through which its
line of action lies
• F can be formulated as a Cartesian
vector

• Note that F has units of forces (N) unlike r,

with units of length (m)
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
• Force F acting along the chain can
be presented as a Cartesian vector
by
• Establish x, y, z axes
• Form a position vector r along length
of chain
• Unit vector, u = r/r that defines the
direction of both the chain and the force
• We get F = Fu
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
EXAMPLE 1.13
• The man pulls on the cord with a force
of 350N.
• Represent this force acting on the
support A as a Cartesian vector, and
determine its direction.
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
SOLUTION
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
SOLUTION
• Force F has a magnitude of 350N,
direction specified by u
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
EXAMPLE 1.14
• The circular plate is partially
supported by the cable AB. If the
force of the cable on the hook at A is
F = 500N, express F as a Cartesian
vector.
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
SOLUTION
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
SOLUTION
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
EXAMPLE 1.15
• The roof is supported by cables. If the
cables exert FAB = 100N and FAC =
120N on the wall hook at A,
determine the magnitude of the
resultant force acting at A.
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
SOLUTION
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
SOLUTION
 1.8 FORCE VECTOR DIRECTED ALONG A LINE
SOLUTION
LECTURE SUMMARY

PARALLELOGRAM LAW
• Addition of two vectors
• Components form the side and resultant form the diagonal of
the parallelogram
• To obtain resultant, use tip to tail addition by triangle rule
• To obtain magnitudes and directions, use Law of Cosines and
Law of Sines
LECTURE SUMMARY

CARTESIAN VECTORS
• Vector F resolved into Cartesian vector form

• Magnitude of F
F = √ Fx² + Fy²+ Fz²
• Coordinate direction angles α, β and γ are determined by the
formulation of the unit vector in the direction of F
LECTURE SUMMARY

CARTESIAN VECTORS
• Components of u represent cosα, cosβ and cosγ
• These angles are related by
LECTURE SUMMARY

FORCE AND POSITION VECTORS

• Position Vector is directed between 2 points
• Formulated by distance and direction moved along the x, y
and z axes from tail to tip
• For line of action through the two points, it acts in the same
direction of u as the position vector
• Force expressed as a Cartesian vector