2.
4 Components in 3 Dimensions
Review of drawing objects in 3 dimensions:
(a) A cube viewed with the line of sight
perpendicular to a face
(b) An oblique view of the cube
(c) A cartesian coordinate system aligned with
the edges of the cube
(d) 3-D representation of the coordinate system
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2.4 Components in 3 Dimensions
Right-handed coordinate system:
Express vector U in terms of vector
components Ux, Uy & Uz parallel to the x, y & z
axes respectively:
U = Ux + Uy + Uz (2.11)
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2.4 Components in 3 Dimensions
Introducing unit vectors i, j & k that point in the
positive x, y & z directions, U can be expressed
in terms of scalar components:
U = Uxi + Uyj + Uz k (2.12)
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2.4 Components in 3 Dimensions
Magnitude of a Vector in Terms of
Components:
Consider a vector U & its vector components:
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2.4 Components in 3 Dimensions
Magnitude of a Vector in Terms of
Components:
From the right triangles formed by vectors Uy,
Uz & their sum Uy + Uz:
|Uy + Uz|2 = |Uy|2 + |Uz|2 (2.13)
The vector U is the sum of the vectors Ux &
Uy + Uz. The 3 vectors form a right triangle:
|U|2 = |Ux|2 + |Uy + Uz|2
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2.4 Components in 3 Dimensions
Magnitude of a Vector in Terms of
Components:
Substituting Eq. (2.13):
|U|2 = |Ux|2 + |Uy| + |Uz|2 = U x2 U y2 U z2
Thus, magnitude of vector U:
2 2 2
U Ux Uy Uz (2.14)
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2.4 Components in 3 Dimensions
Direction Cosines:
One way to describe the direction of a vector is
by specifying the angles x, y & z between the
vector & the positive coordinate axes:
Ux = |U| cos x, Uy = |U| cos y, Uz = |U| cos z (2.15)
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2.4 Components in 3 Dimensions
Direction Cosines:
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2.4 Components in 3 Dimensions
Direction Cosines:
Direction cosines: cos x, cos y & cos z
Direction cosines satisfy the relation:
cos2 x + cos2 y + cos2 z = 1 (2.16)
Suppose that e is a unit vector with the same
direction as U:
U = |U| e
In terms of components:
Uxi + Uyj + Uzk = |U| (exi + eyj + ezk)
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2.4 Components in 3 Dimensions
Direction Cosines:
Thus:
Ux = |U| ex, Uy = |U| ey, Uz = |U| ez
By comparing these equations to Eqs. (2.15):
cos x = ex, cos y = ey, cos z = ez
The direction cosines of a vector U are the
components of a unit vector with the same
direction as U
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2.4 Components in 3 Dimensions
Position Vectors in Terms of Components:
Consider point A with
coordinates (xA, yA, zA) &
point B with coordinates
(xB, yB, zB)
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2.4 Components in 3 Dimensions
Position Vectors in Terms of Components:
The position vector rAB from A
to B:
rAB = (xB xA)i + (yB yA)j + (zB zA)k (2.17)
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2.4 Components in 3 Dimensions
Components of Vector Parallel to a Given
Line:
In 3-D applications, the
direction of a vector U is
often defined by specifying
the coordinates of 2 points
A & B on a line that is
parallel to U
Determine position vector
rAB using Eq. (2.17)
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2.4 Components in 3 Dimensions
Components of Vector Parallel to a Given
Line:
Divide rAB by its magnitude unit vector eAB
that points from A to B
eAB has the same direction as U
Determine U as the product of its magnitude
& eAB: U = |U| eAB
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Example 2.6 Magnitude & Direction Cosines
of a Vector
The coordinates of point C of the truss in Fig. 2.26
are xC = 4 m, yC = 0, zC = 0 & the coordinates of
point D are xD = 2 m, yD = 3 m, zD = 1 m. Let rCD be
the position vector from C to D.
(a) What is the magnitude of rCD?
(b) What are the direction
cosines of rCD?
(c) Determine the components of
a unit vector eCD that points
form point C towards
point D. Fig. 2.26
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Example 2.6 Magnitude & Direction
Cosines of a Vector
Strategy
(a) We can obtain the components of rCD by subtracting
the coodinates of C from the coordinates of D
(b) Once the components of rCD are knowm, we
can determine the direction cosines from Eqs.
(2.15)
(c) Dividing the vector rCD by its magnitude yields the
unit vector eCD
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Example 2.6 Magnitude & Direction
Cosines of a Vector
Solution
(a) The components of rCD are given by:
rCD = (xD xC)i + (yD yC)j + (zD zC)k
= (2 4) i + (3 0)j + (1 0)k
= 2i + 3j + k
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Example 2.6 Magnitude & Direction
Cosines of a Vector
Solution
(a) The magnitude of rCD is:
rCD rCD 2x rCD 2y rCD 2z
2
2
2 m 3 m 1m 2
3.74 m
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Example 2.6 Magnitude & Direction
Cosines of a Vector
Solution
(b) The direction cosines of rCD are:
rCDx 2m
cos x 0.535,
rCD 3.74 m
rCD y 3m
cos y 0.802,
rCD 3.74 m
rCDz 1m
cos z 0.267
rCD 3.74 m
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Example 2.6 Magnitude & Direction
Cosines of a Vector
Solution
(c) The unit vector that points from C to D is:
rCD
eCD
rCD
2i 3 j k m
3.74 m
0.535i 0.802 j 0.267k
(Notice that we already knew these components
because the direction cosines of rCD are the
components of a unit vector with the same
direction as rCD.)
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Example 2.6 Magnitude & Direction
Cosines of a Vector
Critical Thinking
Useful to know the components of a unit vector
that points from C toward D:
To analyze the internal forces in the members
of 3-D trusses (Chapter 6)
Need to know components of unit vectors
parallel to the members to express those
forces in terms of their components
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Example 2.7 Determining Components in 3
Dimensions
The crane in Fig. 2.27 exerts a 3000-N force F on
the caisson. The angle between F & the x axis is
54° & the angle between F & the y axis is 40°. The
z component of F is positive. Express F in terms of
components.
Fig. 2.27
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Example 2.7 Determining Components in 3
Dimensions
Strategy
Only 2 of the angles between the vector & the
positive coordinate axes are given but we can
use Eq. (2.16) to determine the third angle
Then we can determine the components of F
using Eqs. (2.15)
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Example 2.7 Determining Components in 3
Dimensions
Solution
The angles between F & the positive coordinate
axes are related by:
cos2 x + cos2 y + cos2 z = 1
(cos 54°)2 + (cos 40°)2 + cos2 z = 1
Solving this equation for cos z , we obtain two
solutions:
cos z = 0.260 & cos z = 0.260
z = 74.9° or z = 105.1°
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Example 2.7 Determining Components in 3
Dimensions
Solution
The z component of F is positive, so the angle
between F & the z axis < 90°. Therefore, z = 74.9°.
The components of F are:
Fx = |F| cos x = 3000 cos 54° = 1760 N,
Fy = |F| cos y = 3000 cos 40° = 2300 N,
Fz = |F| cos z = 3000 cos 74.9° = 17820 N
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Example 2.7 Determining Components in 3
Dimensions
Critical Thinking
x & y are sufficient to define a line parallel to F
but not the direction along that line:
Knowledge of x & y solve Eq. (2.16) for
value of cos2 z
Two possible values of cos z
Correspond to the 2 possible directions of F
along the line
Additional information needed to indicate the
direction: z component of F is positive
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Example 2.8 Determining Components in 3
Dimensions
The tether of the balloon in Fig. 2.28 exerts an 800-N
force F on the hook at O. the vertical line AB
intersects the x-z plane at point A. The angle
between the z axis & the line OA is 60° & the angle
between the line OA
& F is 45°. Express F in
terms of components.
Fig. 2.28
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Example 2.8 Determining Components in 3
Dimensions
Strategy
We can determine the components of F from the
given geometric information in 2 steps
First, express F as the sum of 2 vector
components parallel to the lines OA & AB
Then use the component parallel to OA to
determine the vector components Fx & Fy
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Example 2.8 Determining Components in 3
Dimensions
Solution
Magnitude of Fy is:
|Fy| = |F| cos 45° = (800 N) cos 45°
= 566 N
Magnitude of Fh is:
|Fh| = |F| cos 45° = (800 N) cos 45°
= 566 N
Fy : y component of F
Fh : component parallel to OA
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Example 2.8 Determining Components in 3
Dimensions
Solution
Express Fh in terms of vector components Fx & Fz.
Magnitude of Fx:
|Fx| = |Fh| sin 60° = (566 N) sin 60°
= 490 N
Magnitude of Fz:
|Fz| = |Fh| cos 60° = (566 N) cos 60°
= 283 N
F = 490i + 566j + 283k (N)
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Example 2.8 Determining Components in 3
Dimensions
Critical Thinking
2 angles are required to specify a vector’s
direction relative to a 3-D coordinate system:
May not be defined in the same way as in the
example (see problem 2.84)
But you can determine the components of the
vector in terms of the magnitude & the two
specified angles by a procedure similar to the
one used here
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Example 2.9 Vector whose Direction is
Specified by 2 Points
The bar AB in Fig. 2.29 exerts a 140-N force F on its
support at A. The forces is parallel to the bar &
points toward B. Express F in terms of components.
Fig. 2.29
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Example 2.9 Vector whose Direction is
Specified by 2 Points
Strategy
Since we are given the coordinates of points A
& B components of the position vector from
A to B.
By dividing the position vector by its magnitude
unit vector with the same direction as F
Multiply the unit vector by |F| F in terms of its
components
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Example 2.9 Vector whose Direction is
Specified by 2 Points
Solution
Position vector from A to B:
rAB = (xB xA)i + (yB yB)j + (zB zA)k
= (800 200) i + (500 200)j
+ [(300 ) (100)]k
= 600i + 300j 200k (mm)
Magnitude:
rAB 600m 2 300 2 200 2 700 mm
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Example 2.9 Vector whose Direction is
Specified by 2 Points
Solution
By dividing rAB by its magnitude
unit vector with the same
direction as F:
rAB 6 3 2
e AB i j k
rAB 7 7 7
In terms of its components:
6 3 2
F F e AB 140 N i j k 120i 60 j 40k
7 7 7
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Example 2.9 Vector whose Direction is
Specified by 2 Points
Critical Thinking
Prescribing the positions of 2 points on the line of
action of a vector is a common method of
specifying the direction of a vector in 3 dimensions
This example involves 3 distinct types of vectors:
Force vector: |F| (N)
Position vector: |rAB| (mm)
Unit vector: |eAB| (dimensionless)
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Example 2.10 Determining Components
in 3 Dimensions
The rope in Fig. 2.30 extends from point B through
a metal loop attached to the wall at A to point C. the
rope exerts forces FAB & FAC on the loop at A with
magnitudes |FAB| = |FAC| = 200 N. What is the
magnitude of the total force F = FAB + FAC exerted on
the loop by the rope?
Fig. 2.30
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Example 2.10 Determining Components
in 3 Dimensions
Strategy
FAB is parallel to the line from A to B
FAC is parallel to the line from A to C
Determine the coordinates of points A, B & C
from the given dimensions components of
unit vectors that have the same direction as the
2 forces
Use the unit vectors to express the forces in
terms of scalar components
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Example 2.10 Determining Components
in 3 Dimensions
Solution
Let rAB be the position
vector from A to B & rAC
be the position vector
from A to C:
From the given dimensions, coordinates of points:
A: (6, 7, 0) m, B: (2, 0, 4) m, C: (12, 0, 6) m
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Example 2.10 Determining Components
in 3 Dimensions
Solution
Components of rAB & rAC:
rAB = (xB xA)i + (yB yB)j + (zB zA)k
= (2 6) i + (0 7)j + (4 0)k
= 4i 7j + 4k (m)
rAC = (xC xA)i + (yC yB)j + (zC zA)k
= (12 6) i + (0 7)j + (6 0)k
= 6i 7j + 6k (m)
Magnitudes: |rAB| = 9 m & |rAC| = 11 m
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Example 2.10 Determining Components
in 3 Dimensions
Solution
Dividing rAB & rAC by their magnitudes
unit vectors eAB & eAC that point in the directions of
FAB & FAC
rAB
e AB 0.444i 0.778 j 0.444k
rAB
rAC
e AC 0.545i 0.636 j 0.545k
rAC
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Example 2.10 Determining Components
in 3 Dimensions
Solution
The forces FAB & FAC:
FAB 200 N e AB 88.9i 155.6 j 88.9k (N),
FAC 200 N e AC 109.1i 127.3 j 109.1k (N)
Total force exerted on the loop by the rope:
F FAB FAC 20.2i 282.8 j 198.0k (N)
Magnitude:
F 20.2 2 282.8 2 198.0 2 346
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Example 2.10 Determining Components
in 3 Dimensions
Critical Thinking
Assume that force is a vector:
Magnitude & direction of total force exerted
on the metal loop at A: F = FAB + FAC
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Example 2.11 Determining Components
of a Force
The cable AB in Fig. 2.31 exerts a 50-N force T on
the collar at A. Express T in terms of components.
Fig. 2.31
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Example 2.11 Determining Components
of a Force
Strategy
Let rAB be the position vector from A to B
Divide rAB by its magnitudes unit vector eAB
having the same direction as T:
Obtain T in terms of scalar components by
expressing it as the product of its magnitude
& eAB
To begin, determine coordinates of collar A:
obtain a unit vector eCD pointing from C toward
D
Multiply eCD by 0.2 position of collar A
relative to C
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Example 2.11 Determining Components
of a Force
Solution
Determining the Coordinates of Point A:
rCD = (0.2 0.4) i + (0 0.3)j + (0.25 0)k
= 0.2i 0.3j + 0.25k (m)
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Example 2.11 Determining Components
of a Force
Solution
Determining the Coordinates of Point A:
Dividing this vector by its magnitude
unit vector eCD:
rCD 0.2i 0.3j 0.25k
eCD
rCD 0.2 0.3 0.25
2 2 2
0.456i 0.684 j 0.570k
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Example 2.11 Determining Components
of a Force
Solution
Using eCD position vector from C to A:
rCA = (0.2 m) eCD = 0.091i 0.137j + 0.1145k (m)
Position vector from origin to C:
rOC = 0.4i + 0.3j (m)
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Example 2.11 Determining Components
of a Force
Solution
Position vector from origin to A:
rOA = rOC + rCA
= (0.4i + 0.3j) + (0.091i 0.137j + 0.1145k )
= 0.309i + 0.163j + 0.114k (m)
Coordinates of A: (0.309, 0.163, 0.114) m.
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Example 2.11 Determining Components
of a Force
Solution
Determining the Components of T:
Position vector from A to B:
rAB = (0 0.309) i + (0.5 0.163)j + (0.15 0.114)k
= 0.309i + 0.337j + 0.036k (m)
Divide this vector by its magnitude unit vector eAB:
rAB 0.309i 0.337 j 0.036k
e AB
rAB 0.30 2 0.337 2 0.036 2
0.674i 0.735 j 0.079k
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Example 2.11 Determining Components
of a Force
Solution
The force T:
T T e AB 50 N 0.674i 0.735 j 0.079k
33.7i 36.7 j 3.9k (N)
Critical Thinking
Look at the 2 ways unit vectors were used:
eCD components of rCA coordinates of A
Coordinates of A eAB
eAB express T in terms of its components
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