Engineering Mechanics :

STATICS
BDA10203
Lecture #05

Group of Lecturers
Faculty of Mechanical and Manufacturing Engineering
Universiti Tun Hussein Onn Malaysia
2
 3D VECTORS (Section 2.5)
Todays Objectives:
Students will be able to :
1. Represent a 3-D vector in a Cartesian coordinate system.
2. Find the magnitude and coordinate angles of a 3-D vector
3. Add vectors (forces) in 3-D space

Learning Topics:
Applications / Relevance
A unit vector
3-D vector terms
Adding vectors
3
APPLICATIONS

Example problems in real-life

involve 3-Dimensional Space.

How will you represent

each of the cable forces in
Cartesian vector form?

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 3D CARTESIAN VECTOR

The unit vectors in the Cartesian

axis system are i, j, and k. They
are unit vectors along the positive x,
y, and z axes respectively.

E.g : Consider a box with sides AX,

AY, and AZ meters (m) long.

The vector A can be defined as

A = (AX i + AY j + AZ k) m

*Note: Separating the magnitude and

direction of each components simplifies
5
the operation*
 MAGNITUDE OF 3D CARTESIAN VECTOR

By two successive application of the parallelogram

law
A = A + Az Recall 2D force
A = Ax + Ay

Combining the equations, A can be expressed as

(substitute A into A)
A = Ax + Ay + Az
The magnitude of this projection, A, is found
by using the same approach as a 2-D vector:
|A| = (AX2 + AY2)1/2 .

For 3D vector; | A | Ax2 Ay2 Az2

 MAGNITUDE OF CARTESIAN VECTOR

Once individual vectors are written in Cartesian form, it is easy

to add or subtract them. The process is essentially the same as
when 2-D vectors are added.
For example, if
F1 = F1X i + F1Y j + F1Z k and
F2 = F2X i + F2Y j + F2Z k ,
then

F1 + F2 = (F1X + F2X) i + (F1Y + F2Y) j + (F1Z + F2Z) k

|A | = [ (F1X + F2X)2 i + (F1Y + F2Y)2 j + (F1Z + F2Z)2 k ]1/2

AX Ay Az
 DIRECTION OF CARTESIAN VECTOR

The direction or orientation of vector A is defined by the angles ,

, and .measured between the tail of A and +ve x, y, x axes
located at the tail of A

These angles are not independent. They must satisfy the

following equation.
cos + cos + cos = 1

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MAGNITUDE & DIRECTION OF CARTESIAN
VECTOR

Resolve F into horizontal and vertical

component

Then, resolve Fxy into x-component and y-component

into horizontal and vertical component

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 MAGNITUDE & DIRECTION OF CARTESIAN
VECTOR
Direction,

| A | Ax2 Ay2 Az2

or written another way,

u A = cos i + cos j + cos k .

A as expressed in Cartesian vector form

Direction
Vector, A = |A |uA
magnitude = |A | cos i + |A| cos j + |A| cos k
F = |F| cos i + |F |cos j + | F| cos k
 IMPORTANT NOTES

Sometimes 3-D vector information is given as:

a) Magnitude and the coordinate direction angles, or
b) Magnitude and projection angles.

You should be able to use both these types of

information to change the representation of
the vector into the Cartesian form, i.e.,
F = {10 i 20 j + 30 k} N .

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Example 2.9
Determine the magnitude and coordinate direction angles of
resultant force acting on the ring
Solution
F1 & F2 already resolve in x y z direction

Resultant force
FR = F
= F1 + F2
= {60j + 80k}kN
+ {50i - 100j + 100k}kN
= {50i -40j + 180k}kN
| FR | 502 402 1802
Magnitude of FR is found by 191.0
191kN
Solution

Unit vector acting in the direction of FR

uFR = FR / |FR|
= (50/191.0)i +(-40/191.0)j + (180/191.0)k
= 0.2617i - 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

 How to change from Magnitude to Vector

Example 2.8
Express the force F as Cartesian vector

Hint:
The answer should be in this form
A = (AX i + AY j + AZ k)
Solution
Since two angles are specified, the third
angle is found by
cos 2 cos 2 cos 2 1
cos 2 cos 2 60 cos 2 45 1
cos 1 0.5 0.707 0.5
2 2

Two possibilities exit, namely

cos 1 0.5 60 or cos 1
0.5 120
By inspection, = 60 since Fx is in the +x direction
Given F = 200N
F = Fcosi + Fcosj + Fcosk
= (200cos60N)i + (200cos60N)j + (200cos45N)k
Vector, F = {100.0i + 100.0j + 141.4k}N

Note: You can check the answer :

F Fx2 Fy2 Fz2

100.02 100.02 141.42 200 N

 WHAT IF COORDINATE DIRECTION ANGLES ARE NOT GIVEN?

Example 2.10
(a)Express the force F1 as a Cartesian vector.
(b) Prove that F2 = {106i + 184j - 212k} kN
( c) Direction of F1
(d) Find the resultant Force
 Solution (a)
The angles of 60 and 45 are not coordinate
direction angles.
Hint:Resolve the force into Fx, Fy & Fz
The answer should be in this form
A = (AX i + AY j + AZ k)
By trigonometry,
F1z = 100sin60 kN = 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
Solution (c )

F1 = {35.4i 35.4j + 86.6k}kN

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
Solution (d)
F1 = {35.4i 35.4j + 86.6k}kN
F2 = {106i + 184j - 212k} kN
Resultant force
FR = F
= F1 + F2
= {35.4i -35.4j + 88.6k}kN
+ {106i +184j 212 k}kN
= {141.4i +148.6j -123.4k}kN

Magnitude of FR is found by

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 uFR = FR / |FR |

|FR |= {(141.4)2 + (148.6)2 + (-123.4)2}1/2

=239 kN

u1 = FR / |FR|
= (141.4/239)i +(148.6/239)j -(123.4/239)k
= 0.59i + 0.62j - 0.52k

1 = cos-1(0.59) = 53.84
1 = cos-1(0.62) = 51.68
1 = cos-1(-0.52) = 148.6

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IN CLASS TUTORIAL (GROUP PROBLEM SOLVING)

Given: The screw eye is subjected

to two forces.
Find: The magnitude and the
coordinate direction angles
of the resultant force.

Plan:

1) Using the geometry and trigonometry, write F1 and F2 in the

Cartesian vector form.
2) Add F1 and F2 to get FR .
3) Determine the magnitude and , , .
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GROUP PROBLEM SOLVING (continued)

First resolve the force F1 .

F1z
F1z = 300 sin 60 = 259.8 N
F
F = 300 cos 60 = 150.0 N
F can be further resolved as,
F1x = -150 sin 45 = -106.1 N
F1y = 150 cos 45 = 106.1 N

Now we can write :

F1 = {-106.1 i + 106.1 j + 259.8 k } N

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 GROUP PROBLEM SOLVING (continued)
The force F2 can be represented in the
Cartesian vector form as:
F2 = 500{ cos 60 i + cos 45 j +
cos 120 k } N
= { 250 i + 353.6 j 250 k } N
FR = F1 + F2
= { 143.9 i + 459.6 j + 9.81 k } N
FR = (143.9 2 + 459.6 2 + 9.81 2) = 481.7 = 482 N
= cos-1 (FRx / FR) = cos-1 (143.9/481.7) = 72.6
= cos-1 (FRy / FR) = cos-1 (459.6/481.7) = 17.4
= cos-1 (FRz / FR) = cos-1 (9.81/481.7) = 88.8
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Example 2.11
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
Hint: Since FR has a magnitude of 800N and acts
in the +j direction
FR = F1 + F2 = 800 j

FR = F1 + F2
F1 = F1cos1i + F1cos1j + F1cos1k
= (300cos45N)i + (300cos60N)j
+ (300cos120N)k
= {212.1i + 150j - 150k}N

F2 = F2xi + F2yj + F2zk

Solution
FR = F1 + F2 = 800 j

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
Solution
Hence,
0 = 212.1 + F2x >> F2x = -212.1N
800 = 150 + F2y >> F2y = 650N
0 = -150 + F2z >> 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
 HOMEWORK TUTORIAL

Q1 (2.81):
Determine the magnitude and direction of the force
F=(3.6 kN) i+(1.2 kN )j (1.5 kN )k.

Q2 (2.82):
Determine the magnitude and direction of the force
F =(400 N )i (1200 N ) j +(300 N )k.

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 HOMEWORK TUTORIAL (continued)

Q3 (2.93):
Find the magnitude and direction of the resultant of the two forces
shown knowing that P = 2.25 kN and Q = 2.7 kN.

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 HOMEWORK TUTORIAL (continued)
Q4 (2-61):
The stock S mounted on the lathe is subjected to a force F, which is
caused by the die D. Determine the coordinate direction angle and
express the force as a Cartesian vector.
Given:
F = 60N
= 60deg
= 30deg

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 HOMEWORK TUTORIAL (continued)

Q5 (2-66):
The shaft S exerts three force components on the die D. Find the
magnitude and direction of the resultant force. Force F2 acts within
the octant shown.
Given :
F1 = 400N
F2 = 300N
F3 = 200N
2 = 60
2 = 60
c=3
d=4

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 HOMEWORK TUTORIAL (continued)

Q6 (2-74):
The eye bolt is subjected to the cable force F which has a component
Fx along the x axis, a component Fz along the z axis, and a
coordinate direction angle . Determine the magnitude of F.
Given:
Fx = 60N
Fz = 80N
= 80

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 HOMEWORK TUTORIAL (continued)

Q7

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 HOMEWORK TUTORIAL (continued)

Q8

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