JJ205
ENGINEERING MECHANICS
CHAPTER 2: FORCE VECTOR
PREPARED BY:
NORHAYATI BINTI AHMAD
DEPARTMENT OF MECHANICAL ENGINEERING
CHAPTER OBJECTIVES
Understand scalars and vectors
Understand vectors and vector operations
Understand the resultant force of coplanar forces by addition
Understand Cartesian vectors
Understand the magnitude of Cartesian vector
Understand resultant Cartesian vector by addition and subtraction
Understand position vectors and x, y, z coordinates
Understand the force vector directed along the line
Understand the dot product
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Scalar
A quantity characterized by a positive or negative number
Indicated by letters in italic such as A
Eg: Mass, volume and length
Vector
A quantity that has both magnitude and direction
Eg: Position, force and moment
Represent by a letter with an arrow over it such as or A
Magnitude is designated as ||or simply A
In this subject, vector is presented as A and its magnitude (positive quantity)
as A
Represented graphically as an arrow
Length of arrow = Magnitude of Vector
Angle between the reference axis and arrows line of action = Direction of
Vector
Arrowhead = Sense of Vector
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Example 2.1
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
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VECTOR OPERATIONS
Multiplication and Division of a Vector by a Scalar
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Vector Addition
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Vector Subtraction
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RESOLUTION OF A VECTOR
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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
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Example 2.2
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Example 2.3
Fa and Fb are forces exerting on the hook.
Solution:
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
Similarly, given Fc, Fa and Fb can be found
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Procedure for Analysis
Parallelogram 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
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Trigonometry
Redraw half portion of the parallelogram
Magnitude of the resultant force can be determined by the
law of cosines
Direction if the resultant force can be determined by the law
of sines
Magnitude of the two components can be determined by the
law of sines
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Example 2.4
The screw eye is subjected to
two forces F1 and F2.
Determine the magnitude and
direction of the resultant force.
Solution
Parallelogram Law
Unknown: magnitude of FR and angle
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Trigonometry
Law of Cosines
Law of Sines
Direction of FR measured from the horizontal
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Example 2.5
Resolve the 1000 N ( 100kg) force
acting on the pipe into the components
in the
(a) x and y directions, and
(b) x and y directions.
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Solution
Parallelogram Law
From the vector diagram,
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(b)
Parallelogram Law
Law of Sines
Example 2.6
The ring is subjected to two forces F1 and F2. If it is
required that the resultant force have a magnitude of
1kN and be directed vertically downward, determine
(a) magnitude of F1 and F2 provided = 30, and
(b) the magnitudes of F1 and F2 if F2 is to be a
minimum.
Solution
(a) Parallelogram Law
Unknown: Forces F1 and F2
Law of Sines
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(b) Minimum length of F2 occur when its line of
action is perpendicular to F1. Hence
90 20 70
when F2 is a minimum
From the vector diagram
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Addition of a System of Coplanar Forces
For resultant of two or more forces:
Find the components of the forces in the specified axes
Add them algebraically
Form the resultant
In this subject, we resolve each force into rectangular
forces along the x and y axes.
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Scalar Notation
x and y axes are designated positive and negative
Components of forces expressed as algebraic scalars
Eg: (a)
(b)
Sense of direction along positive x and y axes
Head of a vector arrow = sense of the vector graphically
(algebraic signs not used)
Vectors are designated using boldface notations
Magnitudes (always a positive quantity) are designated using italic
symbols
Cartesian Vector Notation
Cartesian unit vectors i and j are used to designate the x and y
directions
Unit vectors i and j have dimensionless magnitude of unity ( = 1 )
Their sense are indicated by a positive or negative sign (pointing in the
positive or negative x or y axis)
Magnitude is always a positive quantity, represented by scalars Fx and Fy
Coplanar Force Resultants
To determine resultant of several coplanar forces:
Resolve force into x and y components
Addition of the respective components using scalar
algebra
Resultant force is found using the parallelogram law
Example: Consider three coplanar forces
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Step 1 is to resolve each force into its
components
F1 = F1xi + F1yj
F2 = - F2xi + F2yj
F3 = F3xi F3yj
Step 2 is to add all the x components together and add all the y
components together. These two totals become the resultant vector.
FR = F1 + F 2 + F3
= F1xi + F1yj - F2xi + F2yj + F3xi F3yj
= (F1x - F2x + F3x)i + (F1y + F2y F3y)j
= (FRx)i + (FRy)j
If scalar notation are used
FRx = (F1x - F2x + F3x)
FRy = (F1y + F2y F3y)
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In all cases,
FRx = Fx
FRy = Fy
* Take note of sign conventions
Step 3 is to find the magnitude and angle of the resultant vector
Positive scalars = sense of direction along the positive
coordinate axes
Negative scalars = sense of direction along the
negative coordinate axes
Magnitude of FR can be found by Pythagorean Theorem
Direction angle (orientation of the force) can be found
by trigonometry
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Example 2.7
Determine x and y components of F1 and F2 acting on the
boom. Express each force as a Cartesian vector
Solution
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Example 2.8
The link is subjected to two forces F1
and F2. Determine the magnitude
and orientation of the resultant force
Solution
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Example 2.9
Given three concurrent forces acting on a bracket. Find the
magnitude and angle of the resultant force.
Solution
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Cartesian Vectors
(3 Dimensional Vectors)
Right-Handed Coordinate System
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
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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
By two successive application of the
parallelogram law
A = A + Az
A = Ax + Ay
Combining the equations, A can be expressed as
A = Ax + Ay + Az
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Unit vector
Direction of A can be specified using a unit
vector
Unit vector has a magnitude of 1
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
Since A is of a certain type, like force vector,
a proper set of units are used for the
description
Magnitude A has the same sets of units,
hence unit vector is dimensionless
A ( a positive scalar) defines magnitude of A
uA defines the direction and sense of A
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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)
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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.
Magnitude of a Cartesian Vector
From the colored triangle,
From the shaded triangle,
Combining the equations gives magnitude of A
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Direction of a Cartesian Vector
Orientation of A is defined as the coordinate direction
angles , and measured between the tail of A and the
positive x, y and z axes
0 , and 180
For angles , and (blue colored triangles), we
calculate the direction cosines of A
Angles , and can be determined by the inverse
cosines
Given
A = Axi + Ayj + AZk
then,
uA = A /A
= (Ax/A)i + (Ay/A)j + (AZ/A)k
where
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uA can also be expressed as
uA = cosi + cosj + cosk
Since
and magnitude of uA = 1,
A as expressed in Cartesian vector form
A = AuA
= Acos i + Acos j + Acos k
= Axi + Ayj + Azk
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Addition and Subtraction of Cartesian
Vectors
Given: A = Axi + Ayj + Azk and,
B = Bxi + Byj + Bzk
Solution
Vector Addition
Resultant R = A + B
= (Ax + Bx)i + (Ay + By )j + (Az+ Bz)k
Vector Subtraction
Resultant R = A - B
= (Ax - Bx)i + (Ay - By )j + (Az - Bz)k
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Concurrent Force Systems
Force resultant is the vector sum of all the forces in the system
FR = F = Fxi + Fyj + Fzk
where Fx , Fy and Fz represent the algebraic sums of the x, y
and z or i, j or k components of each force in the system
Force, F that the tie down rope exerts on the ground support at O is
directed along the rope. Angles , and 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
Force F has a magnitude of F
F = Fu = Fcosi + Fcosj + Fcosk
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Example 2.10
Express the force F as Cartesian vector
Solution:
Since two angles are specified, the third
angle is found by
Two possibilities exit, namely
or
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By inspection, = 60 since Fx is in the +x direction
Given F = 200N
F = Fcosi + Fcosj + Fcosk
= (200cos60N)i + (200cos60N)j + (200cos45N)k
= {100.0i + 100.0j + 141.4k}N
Checking:
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Example 2.11
Determine the magnitude and coordinate direction
angles of resultant force acting on the ring
Solution:
Resultant force
FR = F
= F1 + F2
= {60j + 80k}kN + {50i - 100j + 100k}kN
= {50j -40k + 180k}kN
Magnitude of FR is found by
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Unit vector acting in the direction of FR
uFR = FR /FR
= (50/191.0)i + (40/191.0)j + (180/191.0)k
= 0.1617i - 0.2094j + 0.9422k
So that
cos = 0.2617; = 74.8
cos = -0.2094; = 102
cos = 0.9422; = 19.6
*Note > 90 since j component of uFR is negative
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Example 2.12
Express the force F1 as a Cartesian vector.
Solution
The angles of 60 and 45 are not coordinate
direction angles. By two successive applications
of parallelogram law,
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By trigonometry,
F1z = 100sin60kN = 86.6kN
F = 100cos60 kN = 50kN
F1x = 50cos45 kN = 35.4kN
F1y = 50sin45 kN = 35.4kN
F1y has a direction defined by j, Therefore
F1 = {35.4i 35.4j + 86.6k}kN
Checking:
Unit vector acting in the direction of F1
u1 = F1 /F1
= (35.4/100)i - (35.4/100)j + (86.6/100)k
= 0.354i - 0.354j + 0.866k
1 = cos-1(0.354) = 69.3
1 = cos-1(-0.354) = 111
1 = cos-1(0.866) = 30.0
Using the same method,
F2 = {106i + 184j - 212k}kN
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Example 2.13
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.
Solution:
Cartesian vector form
FR = F1 + F2
F1 = F1cos1i + F1cos1j + F1cos1k
= (300cos45N)i + (300cos60N)j+ (300cos120N)k
= {212.1i + 150j - 150k}N
F2 = F2xi + F2yj + F2zk
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Since FR has a magnitude of 800N and acts in the +j direction
FR = F1 + F 2
800j = 212.1i + 150j - 150k + F2xi + F2yj + F2zk
800j = (212.1 + F2x)i + (150 + F2y)j + (- 50 + F2z)k
To satisfy the equation, the corresponding components on left and right
sides must be equal
Hence,
0 = 212.1 + F2x
800 = 150 + F2y
0 = -150 + F2z
F2x = -212.1N
F2y = 650N
F2z = 150N
Since magnitude of F2 and its components are known,
1 = cos-1(-212.1/700) = 108
1 = cos-1(650/700) = 21.8
1 = cos-1(150/700) = 77.6
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Position Vectors
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)
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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
r = xi + yj + zk
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)
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Position vector maybe directed from point A to point B
-Designated by r or rAB
Vector addition gives
rA + r = rB
Solving
r = rB rA = (xB xA)i + (yB yA)j + (zB zA)k
The i, j, k components of the positive vector r may be formed by taking
the coordinates of the tail, A (xA, yA, zA) and subtract them from the
head B (xB, yB, zB)
Note the head to tail vector addition
of the three components
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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, , and represent the direction of the cable
Unit vector, u = r/r
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Example 2.14
An elastic rubber band is attached to points A and B. Determine its
length and its direction measured from A towards B.
Solution:
Position vector
r = [-2m 1m]i + [2m 0]j + [3m (-3m)]k
= {-3i + 2j + 6k}m
Magnitude = length of the rubber band
Unit vector in the director of r
u = r /r
= -3/7i + 2/7j + 6/7k
= cos-1(-3/7) = 115
= cos-1(2/7) = 73.4
= cos-1(6/7) = 31.0
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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
F = Fu = F(r/r)
Note that F has units of forces (N) unlike r,
with units of length (m)
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
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Example 2.15
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.
Solution:
End points of the cord are A (0m, 0m, 7.5m)
and B (3m, -2m, 1.5m)
r = (3m 0m)i + (-2m 0m)j + (1.5m 7.5m)k
= {3i 2j 6k}m
Magnitude = length of cord AB
Unit vector, u = r /r
= 3/7i - 2/7j - 6/7k
Force F has a magnitude of 350N, direction
specified by u
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k} N
= cos-1(3/7)
= 64.6
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= cos-1(-2/7) = 107
= cos-1(-6/7) = 149
Example 2.16
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.
Solution:
End points of the cable are (0m, 0m, 2m) and
B(1.707m, 0.707m, 0m)
r = (1.707m 0m)i + (0.707m 0m)j+ (0m 2m)k
= {1.707i + 0.707j - 2k}m
Magnitude = length of cable AB
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Unit vector,
u = r /r
= (1.707/2.723)i + (0.707/2.723)j (2/2.723)k
= 0.6269i + 0.2597j 0.7345k
For force F,
F = Fu
= 500N(0.6269i + 0.2597j 0.7345k)
= {313i - 130j - 367k} N
Checking
Show that = 137 and indicate this angle on
the diagram
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Example 2.17
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.
Solution:
rAB = (4m 0m)i + (0m 0m)j + (0m 4m)k
= {4i 4k}m
FAB = 100N (rAB/r AB)
= 100N {(4/5.66)i - (4/5.66)k}
= {70.7i - 70.7k} N
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rAC = (4m 0m)i + (2m 0m)j + (0m 4m)k
= {4i + 2j 4k}m
FAC = 120N (rAB/r AB)
= 120N {(4/6)i + (2/6)j - (4/6)k}
= {80i + 40j 80k} N
FR = FAB + FAC
= {70.7i - 70.7k} N + {80i + 40j 80k} N
= {150.7i + 40j 150.7k} N
Magnitude of FR
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Dot product
Dot product of vectors A and B is written as AB (Read A dot B)
Define the magnitudes of A and B and the angle between their tails
AB = AB cos where 0 180
Referred to as scalar product of vectors as result is a scalar
Laws of Operation
1. Commutative law
AB = BA
2. Multiplication by a scalar
a(AB) = (aA)B = A(aB) = (AB)a
3. Distribution law
A(B + D) = (AB) + (AD)
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Cartesian Vector Formulation
Dot product of Cartesian unit vectors
Eg: ii = (1)(1)cos0 = 1 and
ij = (1)(1)cos90 = 0
Similarly
ii = 1 jj = 1 kk = 1
ij = 0 ik = 1 jk = 1
Dot product of 2 vectors A and B
AB = (Axi + Ayj + Azk) (Bxi + Byj + Bzk)
= AxBx(ii) + AxBy(ij) + AxBz(ik) + AyBx(ji) + AyBy(jj) + AyBz(jk)
+ AzBx(ki) + AzBy(kj) + AzBz(kk)
= AxBx + AyBy + AzBz
Note: since result is a scalar, be careful of including any unit vectors in
the result
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Applications
The angle formed between two vectors or intersecting
lines
= cos-1 [(AB)/(AB)] 0 180
Note: if AB = 0, cos-10= 90, A is perpendicular to B
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The components of a vector parallel and perpendicular to a line
Component of A parallel or collinear with line aa is defined by A (projection
of A onto the line)
A = A cos
If direction of line is specified by unit vector u (u =1),
A = A cos = Au
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 u
= (Au)u
For component of A perpendicular to line aa
1. Since A = A + A, then A = A - A
2. = cos-1 [(Au)/(A)] then A = Asin
3. If A is known, by Pythagorean Theorem
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For angle between the rope and the beam A,
Unit vectors along the beams, uA = rA/rA
Unit vectors along the ropes, ur=rr/rr
Angle = cos-1 ([Link]/rArr)
= cos-1 (uA ur)
For projection of the force along the beam A
Define direction of the beam
uA = rA/rA
Force as a Cartesian vector
F = F(rr/rr) = Fur
Dot product
F = FuA
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Example 2.18
The frame is subjected to a horizontal force F = {300j} N. Determine the
components of this force parallel and perpendicular to the member AB.
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Solution
Since
Then
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Since result is a positive scalar, FAB has the same sense of direction
as uB. Express in Cartesian form
Perpendicular component
Magnitude can be determined from F or
from Pythagorean Theorem
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Chapter 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
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Cartesian Vectors
Vector F resolved into Cartesian vector form
F = Fxi + Fyj + Fzk
Magnitude of F
Coordinate direction angles , and are determined by
the formulation of the unit vector in the direction of F
u = (Fx/F)i + (Fy/F)j + (Fz/F)k
Components of u represent cos, cos and cos
These angles are related by
cos2 + cos2 + cos2 = 1
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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
F = Fu = F(r/r)
Dot Product
Dot product between two vectors A and B
AB = AB cos
Dot product between two vectors A and B (vectors expressed as
Cartesian form)
AB = AxBx + AyBy + AzBz
For angle between the tails of two vectors
= cos-1 [(AB)/(AB)]
For projected component of A onto an axis defined by its unit vector u
A = A cos = Au
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Chapter Review
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