Chapter 2:

Force Vectors

Engineering Mechanics:
Statics

Objectives
To

show how to add forces and resolve them

into components using the Parallelogram
Law.
To express force and position in Cartesian
vector form and explain how to determine
the vectors magnitude and direction.
To introduce the dot product in order to
determine the angle between two vectors
or the projection of one vector onto another.

Chapter Outline
Scalars

and Vectors
Vector Operations
Vector Addition of Forces
Addition of a System of
Coplanar Forces
Cartesian Vectors

Chapter Outline
Addition

and Subtraction of
Cartesian Vectors
Position Vectors
Force Vector Directed along a
Line
Dot Product

2.1 Scalars and Vectors

Scalar

A quantity characterized by a
positive or negative number
Indicated by letters in italic such as
A
Eg: Mass, volume and length

2.1 Scalars and Vectors

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 A or A

Magnitude is designated asA

or simply A
In this subject, vector is presented as A
and its magnitude (positive quantity) as A

2.1 Scalars and Vectors

Vector

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

2.1 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

2.2 Vector Operations

Multiplication

and Division of a
Vector by a Scalar
- Product of vector A and scalar a = aA
- Magnitude =aA
- If a is positive, sense of aA is the same as
sense of A
- If a is negative sense of
aA, it is opposite to the
sense of A

2.2 Vector Operations

Multiplication

and Division of a
Vector by a Scalar
- Negative of a vector is found by
multiplying the vector by ( -1 )
- Law of multiplication applies
Eg: A/a = ( 1/a ) A, a0

2.2 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
- Communicative
Eg: R = A + B = B + A

2.2 Vector Operations

Vector

Addition

2.2 Vector Operations

Vector

Addition

- Special case: Vectors A and B are

collinear (both have the same line of
action)

2.2 Vector Operations

Vector

Subtraction

- Special case of addition

Eg: R = A B = A + ( - B )
- Rules of Vector Addition Applies

2.2 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

2.3 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

2.3 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
Similarly, given Fc, Fa and Fb
can be found

2.3 Vector Addition of

Forces
Procedure for Analysis
Parallelogram Law
- Make a sketch using the parallelogram
law
- Two components forces add to form the
resultant force
- Resultant force is shown by the diagonal
of the parallelogram
- The components is shown by the sides of
the parallelogram

2.3 Vector Addition of

Forces
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

2.3 Vector Addition of

Forces
Procedure for Analysis
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

2.3 Vector Addition of

Forces
Procedure for Analysis
Trigonometry
- Magnitude of the two components
can be determined by the law of
sines

2.3 Vector Addition of

Forces
Example 2.1
The screw eye is subjected to two forces F1
and F2. Determine the
magnitude and direction
of the resultant force.

2.3 Vector Addition of

Forces
Solution
Parallelogram Law
Unknown: magnitude of
FR and angle

2.3 Vector Addition of

Forces
Solution
Trigonometry
Law of Cosines

100 N 2 150 N 2 2100 N 150 N cos115

10000 22500 30000 0.4226

FR

212.6 N
213 N

2.3 Vector Addition of

Forces
Solution
Trigonometry
Law of Sines
150 N 212.6 N

sin sin 115

150 N
0.9063
sin
212.6 N
sin 39.8

2.3 Vector Addition of

Forces
Solution
Trigonometry
Direction of FR measured from the horizontal

39.8 15

54.8

2.3 Vector Addition of

Forces
Example 2.2
Resolve the 1000 N ( 100kg) force
acting on the pipe into the components in the
(a) x and y directions,
(b) and (b) x and y
directions.

2.3 Vector Addition of

Forces
Solution
(a) Parallelogram
Law
F Fx Fy
From the vector
Fx diagram,
1000 cos 40 766 N

Fy 1000 sin 40 643 N

2.3 Vector Addition of

Forces
Solution
(b) Parallelogram
Law

F Fx Fy '

2.3 Vector Addition of

Forces
Solution
(b) Law of Sines
Fx '
1000 N

sin 50
sin 60
sin 50
884.6 N
Fx ' 1000 N

sin 60
Fy

1000 N

sin 70
sin 60
sin 70
1085 N
Fy 1000 N

sin 60

NOTE: A rough sketch drawn to scale will give some idea of the
relative magnitude of the components, as calculated here.

2.3 Vector Addition of

Forces
Example 2.3
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 ,
measured below the horizontal,
so that components FAC is directed
from A towards C and has a
magnitude of 400N.

2.3 Vector Addition of

Forces
Solution
Parallelogram
Law

500 N FAB FAC

2.3 Vector Addition of

Forces
Solution
Law of Sines
400 N 500 N

sin sin 60
400 N

sin
sin 60
500 N
sin 0.6928

43.9

2.3 Vector Addition of

Forces
Solution

Hence,

180 60 43.9 76.1

By Law of Cosines or
Law of Sines
Hence, show that FAB
has a magnitude of 561N

2.3 Vector Addition of

Forces
Solution
F can be directed at an angle above the
horizontal to produce the component FAC.
Hence, show that
= 16.1 and FAB = 161N

2.3 Vector Addition of

Forces
Example 2.4
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.

2.3 Vector Addition of

Forces
View Free Body Diagram

Solution
(a) Parallelogram Law
Unknown: Forces F1 and F2

2.3 Vector Addition of

Forces
Solution
Law of Sines
F1
1000 N

sin 30
sin 130
F1 653 N
F2
1000 N

sin 20
sin 130
F2 446 N

2.3 Vector Addition of

Forces
Solution
(b) Minimum length of F2
occur when its line of
action is perpendicular
to F1. Hence when
90 20 70

F2 is a minimum

2.3 Vector Addition of

Forces
Solution
(b) From the vector
diagram
F1 1000 sin 70 N 940 N
F2 1000 cos 70 N 342 N

2.4 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.

F Fx Fy

Scalar

2.4 Addition of a
System of Coplanar
Forces

Notation

- x and y axes are designated positive and

negative
- Components of forces expressed as
algebraic scalars
Eg: F Fx Fy
Sense of direction
along positive x and
y axes

2.4 Addition of a
System of Coplanar
Forces
Scalar Notation
Eg: F ' F ' x F ' y
Sense of direction
along positive x and
negative y axes

Scalar

2.4 Addition of a
System of Coplanar
Forces

Notation

- 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

2.4 Addition of a
System of Coplanar
Forces

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

Cartesian

2.4 Addition of a
System of Coplanar
Forces

Vector Notation

F = Fxi + Fyj

F = Fxi + Fy(-j)
F = Fxi Fyj

2.4 Addition of a
System of Coplanar
Forces
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

2.4 Addition of a
System of Coplanar
Forces
Coplanar

Force Resultants

Example: Consider three coplanar

forces
Cartesian vector notation
F1 = F1xi + F1yj
F2 = - F2xi + F2yj
F3 = F3xi F3yj

Coplanar

2.4 Addition of a
System of Coplanar
Forces

Force Resultants

Vector resultant is therefore

FR = F1 + F2 + F3
= F1xi + F1yj - F2xi + F2yj + F3xi F3yj
= (F1x - F2x + F3x)i + (F1y + F2y F3y)j
= (FRx)i + (FRy)j

Coplanar

2.4 Addition of a
System of Coplanar
Forces

Force Resultants

If scalar notation are used

FRx = (F1x - F2x + F3x)
FRy = (F1y + F2y F3y)

In all cases,
FRx = Fx
FRy = Fy
* Take note of sign conventions

2.4 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 FR can be found by
Pythagorean Theorem

FR F

Rx

Ry

Coplanar

2.4 Addition of a
System of Coplanar
Forces

Force Resultants

- Direction angle (orientation of the

force) can be found by trigonometry
tan

FRy
FRx

2.4 Addition of a
System of Coplanar
Forces

Example 2.5
Determine x and y components of F1 and F2

acting on the boom. Express each force as a

Cartesian vector

2.4 Addition of a
System of Coplanar
Forces

Solution
Scalar Notation

F1x 200 sin 30 N 100 N 100 N

F1 y 200 cos 30 N 173 N 173N

Hence, from the slope

triangle

5
tan
12
1

Solution
Alt, by similar
Ftriangles
12
2x

260 N

2.4 Addition of a
System of Coplanar
Forces

13

12
F2 x 260 N
240 N
13

Similarly, 5
F2 y 260 N

13

100 N

Solution

2.4 Addition of a
System of Coplanar
Forces

Scalar Notation
F2 x 240 N 240 N
F2 y 100 N 100 N

Cartesian Vector
Notation
F1 = {-100i +173j }N
F2 = {240i -100j }N

2.4 Addition of a
System of Coplanar
Forces
Example 2.6
The link is subjected to two forces F1
and
F2. Determine the magnitude and
orientation of the resultant force.

Solution
Scalar Notation

2.4 Addition of a
System of Coplanar
Forces

FRx Fx :
FRx 600 cos 30 N 400 sin 45 N
236.8 N
FRy Fy :
FRy 600 sin 30 N 400 cos 45 N
582.8 N

Solution
Resultant Force
FR

2.4 Addition of a
System of Coplanar
Forces

236.8 N 2 582.8 N 2

629 N

From vector addition,

Direction angle is
582.8 N
tan

236.8 N
1

67.9

Solution

2.4 Addition of a
System of Coplanar
Forces

Cartesian Vector Notation

F1 = { 600cos30i + 600sin30j } N
F2 = { -400sin45i + 400cos45j } N
Thus,
FR = F1 + F2
= (600cos30N - 400sin45N)i +
(600sin30N + 400cos45N)j
= {236.8i + 582.8j}N

2.4 Addition of a
System of Coplanar
Forces

Example 2.7
The end of the boom O is subjected to three
concurrent and coplanar forces. Determine
the magnitude and orientation of the
resultant force.

2.4 Addition of a
System of Coplanar
View Free Body Diagram
Forces
Solution
Scalar Notation

FRx Fx :
4
FRx 400 N 250 sin 45 N 200 N
5
383.2 N 383.2 N
FRy Fy :
3
FRy 250 cos 45 N 200 N
5
296.8 N

Solution
Resultant Force
FR

2.4 Addition of a
System of Coplanar
Forces

383.2 N 2 296.8 N 2

485 N
From vector addition,

Direction angle is
296.8 N
tan

383.2 N
1

37.8

2.5 Cartesian 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

2.5 Cartesian Vectors

Right-Handed

Coordinate System

- z-axis for the 2D problem would be

perpendicular, directed out of the
page.

2.5 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
- By two successive application of the
parallelogram law
A = A + Az
A = Ax + Ay
- Combing the equations, A can be
expressed as
A = Ax + Ay + Az

2.5 Cartesian Vectors

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

2.5 Cartesian Vectors

Unit

Vector

- 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

2.5 Cartesian Vectors

Cartesian

Unit Vectors

- Cartesian unit vectors, i, j and k are

used to designate the directions of z, 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)

2.5 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.

2.5 Cartesian Vectors

Magnitude

of a Cartesian Vector

- From the colored triangle,

A A'2 Az2

- From the shaded triangle,

A' Ax2 Ay2

- Combining the equations gives

magnitude of A
A Ax2 Ay2 Az2

2.5 Cartesian Vectors

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

2.5 Cartesian Vectors

Direction

of a Cartesian Vector

- For angles , and (blue

colored triangles), we calculate
the direction cosines of A
Ax
cos
A

2.5 Cartesian Vectors

Direction

of a Cartesian Vector

- For angles , and (blue colored

triangles), we calculate the direction
cosines of A
cos

Ay
A

2.5 Cartesian Vectors

Direction

of a Cartesian Vector

- For angles , and (blue colored

triangles), we calculate the direction
cosines of A
Az
cos
A

2.5 Cartesian Vectors

Direction

of a Cartesian Vector

- 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

A Ax2 Ay2 Az2

2.5 Cartesian Vectors

Direction

of a Cartesian Vector

- uA can also be expressed as

uA = cosi + cosj + cosk
A magnitude
Ax2 Ay2 Az2 of uA = 1,
- Since and

cos 2 cos 2 cos 2 1

- A as expressed in Cartesian vector form
A = AuA
= Acosi + Acosj + Acosk
= Axi + Ayj + AZk