Forces in Space PDF

Engineering Mechanics:
Module 1
1
ANANTHITHA
DEPT. OF CIVIL ENGINEERING
FISAT
Engineering Mechanics, Module 1 1/8/2013

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Basic Civil Engineering, Module 4 1/8/2013

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Learning Objectives
4
Force systems in Space

Introduction to Vector approach
Elements of vector algebra
Position Vector
Moment of a force about a point & axis
Resultant of forces
Equilibrium of forces in space using vector

approach

Forces in Space
Fx = Fcos x
Y Fy = Fcos y
Fz = Fcos z
O X
Z
(OE)2 = (OD)2 + (DE)2
= (OA)2 + (OC)2+ (DE)2
Y
B
A
O X
D
Z
(OE)2 = (OD)2 + (DE)2
Y = (OA)2 + (OC)2+ (DE)2
= (Fx)2 + (Fz)2+ (Fy)2
B
A
O X
D
Z
(OE)2 = (F)2
Y (F)2 = (Fx)2 + (Fz)2+ (Fy)2
Fx = Fcos x ; Fy = Fcos y; Fz = Fcos z
B
A
O X
D
Z
A force of magnitude 5 kN makes 30o, 50o &
100o with X, Y & Z axes respectively. Find
the magnitude of its components along X, Y
& Z axes
x = 30o ,y = 50o ,z = 100o

Fx = 4.33 kN, Fy = 3.21 kN, Fz = -0.868 kN

Direction cosines
10
The cosines of x, y & z are known as

direction cosines of the force F
Denoted by l, m & n
l = cos x
m = cos y
n = cos z
l2 + m2 + n2 =1

A force acts at the origin in a direction defined by the
angles y = 60o & z= 45o. Taking the component of
the force along X direction as -800N, (1) find the
value of x. (2) find the other components and the
value of the force
Fcos x = -800 N
y = 60o & z= 45o
l = cos x , m = cos y & n = cosz
l2 + m2 +n2 =1 x =120
Fx = Fcos x F =1600 N
Fy= 800 N, Fz = 1131.37 N
F passes through the origin and the co-ordinates
of a point along the line of action of F is known
Y
dx dy
O X
D
Z
d2 = (dx)2 + (dy)2+ (dz)2
Fx = (F X dx) /d ; Fy = (F X dy)/ d ; Fz= (F X dz)/d
Y
dx dy
O X
D
Z
Calculate the components of force 1000 N
shown in figure along X, Y & Z co-ordinates.
Y
120 mm
40 mm
O X
Z
Co-ordinate of A is (120, 40,50) dx =120, dy
=40, dz = 50 2
d = (dx) + (dy) + (dz)
2 2 2
Fx = (F X dx) /d ; Fy = (F X dy)/ d ; Fz= (F X dz)/d

Distance of A from the origin, d = sqrt ( 1202+ 402+ 502)
= 136.01 mm
Fx = 882.29 N, Fy = 294.1 N, Fz = 367.62 N
Y 120 mm
A
40 mm
O X
Z
When A & B are 2 points on the line of action
of F, neither of which is at the origin
Y
B (xb,yb,zb)
dx = (xb- xa)
dy = (yb-ya)
A (xa,ya,za)
dz = (zb- za)
d2 = dx2 + dy2 +dz2
X
Z
A force has a line of action that goes through the
coordinates (2,4,3) & (1, -5,2). If the magnitude of
the force is 100 N, find the components of the force
and its angles with the axes
dx = -1 , dy = -9 , dz = -1, d = 9.11
Fx = -10.976 N, Fy = -98.792 N, Fz = -10.976 N
x = 96.30, y = 171.085, z = 96.30

Unit Vector
18
Unit Vector Vector having unit length

Unit Vector = (Force Vector)/ Magnitude of force vector
= F/ |F|
Unit vectors along X, Y &Z i, j, k
Vector F= Fxi + Fyj + Fzk

and its angles with the axes. Find the force vector.
Fx = -10.976 N, Fy = -98.792 N, Fz = -10.976 N
Force Vector is F = Fxi + Fyj + Fzk

F = -10.976 i 98.792 j -10.976k

and its angles with the axes. Find the force
vector in terms of unit vectors
The vector joining the points =
(1-2)i + (-5-4)j + (2-3)k
Unit vector along this vector = (-i -9j-k)/ 9.11
Unit vector = F/|F|
Hence F = Unit Vector X |F|
= ((-i -9j-k)/ 9.11 ) X 100
= -10.976i 98.79j 10.976k
A force has a line of action that goes through
points A(4,2,5) & point B(12,4,6). If the
magnitude of the force in the direction of AB is
100N, find the force vector in terms of unit vector
Practice
Problem
Vector joining A & B = 8i + 2 j + k

Unit vector along AB = 8i + 2 j + k/ 8.30
Force vector = unit vector X magnitude of
the force
= (8i + 2 j + k/ 8.30) X 100
=96.38i + 24.096j + 12.04k
A force P acts as shown in fig. Express the
force P as a vector. Magnitude of force P is
100N. Length of the side of the cube is 2 cm.
(0, 2, 2)
A
(2, 0,0)
B

Express the force P as a vector. Magnitude of force
P is 100N. Length of the side of the cube is 2 cm.
Vector joining A&B is 2i-2j-2k, |AB| = 3.46
Unit vector along AB = 0.577i -0.577j-0.577k
(0, 2, 2)
A
(2, 0,0)
B

Express the force P as a vector. Magnitude of force
P is 100N. Length of the side of the cube is 2 cm.
Force Vector = 57.7i -57.7j 57.7k
(0, 2, 2)
A
(2, 0,0)
B

A vertical post guy wire is anchored by means of a
bolt at A as shown in fig. The tension in the wire
is 2000N. Determine, (1) the components of the
force acting on the bolt (2) the angles defining
the direction of the force and (3) the force vector
Coordinates of A (40, 0, -30)
Y Coordinates of B (0,80,0)
B Vector joining A&B is -40i+80j+30k
|AB| = 94.33
Unit vector in the direction of AB = -.424i +
0.848 j +0.318 k
80 m
40 m A
X
Z

The force in the bolt is the same as the tension
B in the wire
40 m
A
80 m

Hence the Force vector is
B -848i + 1696j +636k
Direction of force
x = 115.09o
y = 32o
z = 71.46o
40 m
A
80 m

Vector addition
The sum of the vectors can be obtained by adding the

respective components of the vectors
If A= Axi + Ayj+ Azk &
B = Bxi + Byj+ Bzk, then,
A+B = B+A = (Ax+Bx)i + (Ay+By)j + (Az+Bz)k

Find the unit vector in the direction of the
resultant of vectors A = (2i-j+k), B= (i+j+2k) ,
C= (2i+2j+4k)
Resultant R = A+B+C
= 5i + 2j + 7k
Unit Vector = R/|R|
= 0.57i + 0.23j + 0.79k

Resultant of forces in space
The horizontal component of R= Rx = Fx
Ry = Fy
Rz= Fz
R = sqrt ( Rx2+ Ry2 + Rz2)
Cos x = Rx/ R
Cos y = Ry/R
Cos z = Rz/R

4 forces act on a particle as shown in fig.
Determine the resultant of the forces in vector
form R= (140 cos 30-100cos70+100cos15)i +
(140sin30+100sin70-120-100sin15)j
=183.63i +18.09j
100 N 140 N
70o 30o
100 N
120 N

4 forces 30 kN, 20 kN, 25 kN & 100kN are
respectively directed through the points whose co-
ordinates are A(2,1,5), B(3,-1,4) C(-3,-2,1) &
D(4,1,-2). If these forces are concurrent at the
origin, calculate the resultant of the forces in
vector form
Practice
Problem
90.01i +10.01j + 6.68 k

2 cables AB & AC are attached at A as shown
in fig. Determine the resultant of the forces
exerted at A by the 2 cables, if the tension is
2000 N in cable AB & 1500 N in the cable AC.
Also calculate the angles that this resultant
makes with the X, Y & Z axes

Y
C
62 Z
50
O 52 A X
Z
Co-ordinates of A (52,0,0)
Coordinates of B (0, 50,40)
Co-ordinates of C (0, 62,-50)
Y
C
62 Z
50
O 52 A X
Z
Unit vector along AB = -0.63i + 0.606j + 0.485k
FAB = -1260i + 1212 j +970k
Unit vector along AC = -0.546i +0.6518j -0.5256k
FAC= -819i +977.7j -788.4k
R = -2079i +2189.7j +181.6k
|R| = 3024.39
x = 133.42o
y = 43.61o
z = 86.56o

A post is held in vertical position by 3 cables AB,
AC &AD as shown the fig. If the tension in the
cable AB is 40 N, calculate the required tension in
AC& AD so that the resultant of the 3 forces
applied at A is vertical

Y
A
X
D C
B X
Z
Y

Y
A
X
D C
B X
Z
Y

A (0,48, 0)
B(16,0,12)
C(16,0,-24)
Vector along AB = 16i-48j+12k
Unit Vector along AB = 0.307i-0.923j+0.23k
Vector along AC = 16i-48j-24k
Unit Vector along AC = 0.2857i-0.857j-0.4257k
Vector along AD = -14i-48j
Unit Vector along AD= -0.28i-0.96j
FAB = 12.28i -36.92j +9.2k

Given , Rx = 0 & Rz= 0
Rx=0 12.28 +0.287 FAC 0.28 FAD = 0
Rz= 0 9.2- 0.42587 FAC= 0
FAC = 21.47N
FAD = 65.86 N

Equilibrium of forces in space
42
For equilibrium, the components Rx, Ry & Rz must

be zero
Fx= Rx = 0,
Fy = Ry= 0 &
Fz= Rz= 0

A horizontal force P normal to the wall
holds the cylinder in the position shown in
fig. Determine the magnitude of P and the
tensions in the cables AB & AC

Y C
Z
1m A P
2m Mass -250 kg
B
X
14 m
Z
Engineering Mechanics, Module 1
1/8/2013
Y C (0,14,-12)
Z
1m A (1,2,0) P
Mass =250 kg
2m
B
(0,14,9) X
14 m
Z
Engineering Mechanics, Module 1
1/8/2013
Unit vector along AB= -0.06i +0.798j +0.5988k
Unit vector along AC = -0.0588i+ 0.705j-0.705k
Since the cylinder is in equilibrium, Fx= 0, Fy=0 &
Fz = 0
Fy=0 0.798 FAB + 0.705 FAC -250X9.81= 0
Fz=0 0.598 FAB - 0.705 FAC = 0
Fx=0 P- 0.06 FAB - 0.058 FAC = 0
P = 193.02 N, FAB = 1755.47 N, FAC=1491.48 N

A tripod supports a load of 2 kN as shown in fig.
A, B & C are in XZ plane. Find the forces in the 3
legs of the tripod
Y
D
Z
1.8 m
C 1m
1.2 m A X
Z
A (1.2, 0,0) ; B (0, 0,1.2) ; C(-1, 0, -0.8);
D(0,1.8,0)
Y
D
Z
1.8 m
C 1m
1.2 m A X
Z
A (1.2, 0,0) ; B (0, 0,1.2) ; C(-1, 0, -0.8);
D(0,1.8,0)
FAD= FAD( -0.55i + 0.833j)
FBD= FBD(+0.833j 0.55k)
FCD = FCD(+0.452i + 0.815j + 0.362k)
Fx= 0 , Fy= 0 & Fz= 0
-0.556 FAD + 0 FBD + 0.453 FCD = 0
0.333 FAD + 0.833 FBD + 0.815 FCD = 0
0 FAD 0.556 FBD + 0.362 FCD = 0
FAD = 0.801 kN
FBD = 0.641 kN
FCD = 0.983 kN

Dot Product
50
A . B = |A||B| cos , where is the angle between

the vectors
Dot product Scalar quantity
A = Axi + Ayj + Azk
B = Bxi + Byj + Bzk
A . B = AxBx + AyBy + AzBz

Angle between A&B , cos = A.B/ (|A||B|)

Dot Product
51
Application
Work done by a force F in causing a displacement s
is given by
W = Fs cos
W=F .s

The point of application of a force F(5i+10j-15k)
is displaced from point A(i+oj+3k) to the point
(3i-j-6k). Find the work done by the force
W = F.s
s = 2i-j-9k
W = 135 Nm

Dot Product
53
Another Application to find the component or

projection of a force along a line
F = Fxi+ Fyj +Fzk
Projection of F along a line AB = F. Unit vector
along AB

A force F= 3i-4j+12k acts at a point A(1,-2,3).
Compute the component of F along line AB if B
has co-ordinates (2,1,2)
Vector along AB = i+3j-k

Unit vector along AB = 0.301i+0.904j-0.301k
Component of F along AB = (3i-4j+12k) .
(.301i+0.904j-0.301k)
= -6.325.
To convert this in vector form, -6.325(0.301i+0.904j-
0.301k)
= -1.895i-5.717j+1.903k

Cross Product
55
A x B = |A| |B| sin
i j k
AxB= Ax Ay Az
Bx By Bz
A x B = i(AyBz AzBy) j(AxBz AzBx) + k( AxBy AyBx)

Moment of a force in space
56
Moment of a force F about a point is given by

M = r x F where r = xi + yj + zk; r is the position
vector
i j k
M=rxF= x y z
Fx Fy Fz
M = i(yFz-zFy) j(xFz- zFx) + k (xFy- yFx)

Mx = yFz-zFy ; My= -xFz+zFx ; Mz = xFy- yFx
Mx,My& Mz are the moments about the X,Y & Z axes

Position Vector
57
Position Vector of a point passing through the origin

Y
A (x, y, z)
x
y X
Z
r = xi + yj + zk
Magnitude of position vector r = sqrt (x2+ y2+z2)
Position Vector of a point wrt another point
58
Position vector of point A, wrt point B

rAB is given by the line BA
If A (xa,ya,za) & B(xb,yb,zb) then
rAB is given by line BA (xa-xb)i + (ya-yb)j+ (za-zb)k

A force F= 2i+ 3j-4k is applied at the point
A(1, -1,2).Find the moment of the force about
a point B(2,-1,3).
A(1, -1, 2) B(2, -1,3)

M=rxF
r = Position vector of the point A wrt point B = (1-

2)i + (-1- -1)j + (2-3)k
= -i + 0j k
Moment of force at A about B = r x F
M = 3i -6j -3k

A force of magnitude 44 N acts through the point
A(4,-1,7) in the direction of vector 9i+6j-2k. Find
the moment of the force about the point O(1,-3,2)
Unit vector in the direction of 9i+6j-2k is 0.818i +

0.545j + 0.181k
Force vector, F = 36i +24j -8k
Position vector of A wrt point O is 3i+2j+5k
M = -136i + 204j

Moment of a force about an axis
Y
(1) Calculate the Moment of F
about O= Mo= r x F
O
X
(2) Calculate the component
Z
(projection) of Mo on the line OL
MOL = Mo .Unit vector along OL
Find the moment of a force F(20i+30j) kN
acting at a point with position vector (6i+10j)
about the line passing through the points
B(6i+10j-4k) and C(-4i+5j-2k)
(1) Calculate the Moment of F about point B.

(2) Find the projection of this moment MB about the
line BC
(1) Moment of F about B
=Position vector of A wrt B x F
= 4k x (20i+30j) = -120i +80j

(1) Moment of F about point B = -120i +80j
(2) Find the projection of this moment MB about the
line BC
Vector along BC = -10i-5j+2k
Unit vector along BC = -0.88i-0.44j+0.176k
MBC = (-120i +80j). (-0.88i-0.44j+0.176k)
= 70.4 kNm

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Engineering Mechanics:

Engineering Mechanics, Module 1 1/8/2013

Basic Civil Engineering, Module 4 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Force systems in Space

Moment of a force about a point & axis

Equilibrium of forces in space using vector

Engineering Mechanics, Module 1 1/8/2013

x = 30o ,y = 50o ,z = 100o

Engineering Mechanics, Module 1 1/8/2013

The cosines of x, y & z are known as

Engineering Mechanics, Module 1 1/8/2013

Fx = (F X dx) /d ; Fy = (F X dy)/ d ; Fz= (F X dz)/d

Fx = -10.976 N, Fy = -98.792 N, Fz = -10.976 N

x = 96.30, y = 171.085, z = 96.30

Engineering Mechanics, Module 1 1/8/2013

Unit Vector Vector having unit length

Engineering Mechanics, Module 1 1/8/2013

Force Vector is F = Fxi + Fyj + Fzk

Engineering Mechanics, Module 1 1/8/2013

Vector joining A & B = 8i + 2 j + k

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

The sum of the vectors can be obtained by adding the

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

90.01i +10.01j + 6.68 k

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

For equilibrium, the components Rx, Ry & Rz must

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

A . B = |A||B| cos , where is the angle between

A . B = AxBx + AyBy + AzBz

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Engineering Mechanics, Module 1 1/8/2013

Another Application to find the component or

Engineering Mechanics, Module 1 1/8/2013

Vector along AB = i+3j-k

Engineering Mechanics, Module 1 1/8/2013

A x B = |A| |B| sin

A x B = i(AyBz AzBy) j(AxBz AzBx) + k( AxBy AyBx)

Engineering Mechanics, Module 1 1/8/2013

Moment of a force F about a point is given by

M = i(yFz-zFy) j(xFz- zFx) + k (xFy- yFx)

Engineering Mechanics, Module 1 1/8/2013

Position Vector of a point passing through the origin

Position vector of point A, wrt point B