Chapter 1

Chapter I Vectors and Scalars
fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I
ADDIS ABABA UNIVERSITY Faculty of Technology
Engineering Mechanics
material by Karsten Schlesier
Department of Civil Engineering
How do I get my course material ???
Copies of Lecture Notes + Meriam, Kraige Textbook @ library
elboon.net
update on course assessment:
Lecture Overview
1.) - Scalars and Vectors definition - Representation of Vectors - Classification of Vectors 2.) - Fundamental Principles - Newtons Laws - Law of Gravitation, Units 3.) - Vector operations, addition, multiplication
Lecture Overview
Scalars and Vectors,

definition and properties Scalars: quantaties described by their magnitude alone
e.g. time, volume, area, density, distance, energy mass
10
20
Scalars and Vectors,

definition and properties Vectors: quantaties described by their magnitude and direction
e.g. displacement, velocity, force, acceleration, momentum
10
20
Graphical representation of a Vector

- line segment of certain length (magnitude) and orientation () - arrowhead indicating direction
y
10 20
(scale to be predetermined)
v
(reference axis to be predetermined) x
Symbolic representation of a Vector

- magnitude, length of vector: V, |V| or V
e.g. in scalar equations
- vector quantities respecting the orientation: V, V

e.g. mathematical vector operations
y
v
x
Symbolic representation of a Vector

- magnitude, length of vector: V, |V| or V
e.g. in scalar equations
most common
- vector quantities respecting the orientation: V, V

e.g. mathematical vector operations
y
v
x
Representation of Vectors
Algebraically a vector is represented by its components along the three dimensions.
vx r V = vy v z
expression by unit vectors:
r r r i = j = k =1
vx r r r r V = vy = vx i + vy j + vzk v z
r r r i = j = k =1
vx r r r r V = vy = vx i + vy j + vzk v z
v x = V cos x v y = V cos y v z = V cos z
V =v +v +v
2 2 x 2 y
2 z
(magnitude)
r r r i = j = k =1
vx r r r r V = vy = vx i + vy j + vzk v z v x = V cos x v y = V cos y v z = V cos z
V =v +v +v
2 2 x 2 y
2 z
(magnitude)
r r r i = j = k =1
V =v +v +v
2 2 x 2 y
2 z
(magnitude)
r r r i = j = k =1
V =v +v +v
2 2 x 2 y
2 z
(magnitude)
Orientation of Vectors
collinear coplanar same line of action located in the same plane passing through a common point
concurrent -
Classification of Vectors
1. Free Vector 2. Sliding Vector 3. Fixed Vector
Vectors,
classifications 1. Free Vector: action in space not associated with a unique line
e.g. uniform displacement of a body
Vectors,
Vectors,
Vectors,
classifications 2. Sliding Vector: action in space described by a unique line e.g. action of force on rigid body
Vectors,
Vectors,
Vectors,
classifications 3. Fixed Vector: action in space described by a unique point
e.g. action of force on non rigid body
Vectors,
classifications 3. Fixed Vector: action in space described by a unique point
e.g. action of force on non rigid body
Lecture Overview
Fundamental Principles
Preconditions to deal with problems in mechanics.
Basic concepts used in mechanics: space, time, mass, force, particle, rigid body
Basic concepts used in mechanics: space, time, mass, force, particle, rigid body coordinates - position of a point P (x, y, z) measured from a certain point of reference
y P (x,y,z)
z
x
Basic concepts used in mechanics: space, time, mass, force, particle, rigid body time of an event taking place, determination of velocity and acceleration
Basic concepts used in mechanics: space, time, mass, force, particle, rigid body mass of a body [kg, to] action of weight, behaviour under the action of an external force
Basic concepts used in mechanics: space, time, mass, force, particle, rigid body magnitude, direction, point of application e.g. action on a rigid body, action of one body onto another y
x
ADDIS ABABA UNIVERSITY Faculty of Technology Department of Civil Engineering
Basic concepts used in mechanics: space, time, mass, force, particle, rigid body infinitesimal small piece of a body, single point in space
y
z
x
Basic concepts used in mechanics: space, time, mass, force, particle, rigid body body consisting of a non-deformable material (no displacement under the action of forces)
Fundamental Principles Newtons Laws

Sir Isaac Newton (1642-1727)

Sir Isaac Newton (1642-1727) 1st Law: A particle remains at rest or continues to move with constant velocity if the resultant force acting on it is zero.

Sir Isaac Newton (1642-1727) 2nd Law: The acceleration of a particle is proportional to the resultant force acting on it (magnitude and direction).
F = ma
m = mass of particle a = acceleration

Sir Isaac Newton (1642-1727) 3rd Law: The forces of action and reaction between bodies in contact are equal in magnitude, opposite in direction and collinear (same line of action).
Action Reaction

Law of Gravitation Two particles of mass m1 and m2 are mutually attracted with equal and opposite forces F and F of magnitude F.
m1
m1m 2 F=G 2 r
G = constant of graviation
m2

Law of Gravitation Weight = Gravitational Force acting on a body (attraction between earth and body)
W = m g g = acceleration of gravity = 9.81 m/s2

Law of Gravitation Weight = Gravitational Force acting on a body (attraction between earth and body)
W[N ] = m[kg] g[m s 2 ]
g = 9.81 m/s2
Units International System of Units (SI units) Mass Force Time Length m F t L [to, kg] [kN, N] [s] [m, cm, mm]
Units International System of Units (SI units)

example Express a body mass of 80 kg in the unit of Newton.

example Express a body mass of 80 kg in the unit of Newton. W = 80 kg 9.81 m/s2 = 784.8 N

example Express a body mass of 80 kg in the unit of Newton. W = 80 kg 9.81 m/s2 = 784.8 N = 0.785 kN

example Express a body mass of 80 kg in the unit of Newton. W = 80 kg 9.81 m/s2 = 784.8 N = 0.785 kN approximation: e.g. 100 kg = 1.0 kN
commonly used in the field of civil engineering

Lecture Overview
Vector Operations
- vector addition - parallelogram law, triangle rule - composition and decomposition of forces - vector multiplication - dot and cross products
Vector Addition graphical method

the parallelogram law resultant force Two forces maybe replaced by a single force (resultant) obtained by drawing the diagonal of the parallelogram having sides equal to the given forces.

A
B

scale
A A
particle
20
10
B
B

A A B
B

A A B
B

scale
A A B
B

r r r r A+B = B+A
Vector addition is commutative!
A B

r r r r AB BA
Vector subtraction is not commutative!
A B

the triangle rule (from parallelogram law) for two forces
r r r r r R = A+B = B+A
B A R B R A

the triangle rule (from parallelogram law) for three forces
r r r r r r r R = A + B + C = B + A + C = ...
B A R C B R A C
Vector Addition analytic method

trigonometric rules applying sine and cosine rules
c a = cosc
b = sinc

trigonometric rules c a
c 2 = a 2 + b 2 2ab cos
sin sin = b c

trigonometric rules
A
2 2 2
R = A + B 2 A B cos
magnitude
sin sin = B R
Inclination of R from A
Decomposition of Vectors
Components, perpendicular
y
horizontal component of V:
Components
y
horizontal component of V:
Vx = V cos
Components
y
horizontal component of V: vertical component of V:
Vx = V cos
Components
y
Vx = V cos Vy = V sin
Components
y
Vx = V cos Vy = V sin
Multiplication
Multiplication of vectors by scalars
r nA r r r r n A + B = nA + nB r r r (n + m ) A = nA + mA
Multiplication
Multiplication of vectors by vectors - dot product (scalar product) - cross product (vector product)
Dot Product (scalar product) Vectors A and B are inclined from each other
r r r r A.B = A B cos
r r A.B = a x b x + a y b y + a z b z
result = scalar
Cross Product (vector product)

Vectors A and B are inclined from each other. Result : Vector of determined magnitude and direction perpendicular to the plane formed by A and B
r r r r A B = A B sin

r r r r A B = A B sin

r r r r A B = A B sin r r r r r A B = (a y b z - a z b y )i + (a z b x - a x b z ) j + (a x b y - a y b x )k

Determination of resulting vector by three by three matrix
r i ax bx
r j ay by
r k az bz
r r r r r A B = (a y b z - a z b y )i + (a z b x - a x b z ) j + (a x b y - a y b x )k

r i ax bx
r j ay by
r k az bz

r i ax bx
r j ay by
r k az bz

r i ax bx
r j ay by
r k az bz

Moment of a vector V about any point 0 r is a position vector from point 0 to any point on the line of action of vector V.
r r r M0 = r V r r i j r M 0 = rx ry Vx Vy
r k rz Vz
r V
thank you

Chapter 1

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Chapter I Vectors and Scalars

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

How do I get my course material ???

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

Copies of Lecture Notes + Meriam, Kraige Textbook @ library

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

update on course assessment:

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

Department of Civil Engineering

Department of Civil Engineering

Scalars and Vectors,

e.g. time, volume, area, density, distance, energy mass

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

Scalars and Vectors,

e.g. displacement, velocity, force, acceleration, momentum

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

Graphical representation of a Vector

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

Symbolic representation of a Vector

- vector quantities respecting the orientation: V, V

Department of Civil Engineering

Symbolic representation of a Vector

- vector quantities respecting the orientation: V, V

Department of Civil Engineering

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

v x = V cos x v y = V cos y v z = V cos z

Department of Civil Engineering

vx r r r r V = vy = vx i + vy j + vzk v z v x = V cos x v y = V cos y v z = V cos z

Department of Civil Engineering

vx r r r r V = vy = vx i + vy j + vzk v z v x = V cos x v y = V cos y v z = V cos z

Department of Civil Engineering

vx r r r r V = vy = vx i + vy j + vzk v z v x = V cos x v y = V cos y v z = V cos z

Department of Civil Engineering

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

e.g. uniform displacement of a body

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

e.g. uniform displacement of a body

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

e.g. uniform displacement of a body

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

ADDIS ABABA UNIVERSITY Faculty of Technology

Department of Civil Engineering

ADDIS ABABA UNIVERSITY Faculty of Technology