Chap.

2 Force Vectors
 Chapter Outline
„ Scalars and Vectors
„ Vector Operations
„ Vector Addition of Forces
„ Addition of a System of Coplanar Forces
„ Cartesian Vectors
„ Addition and Subtraction of Cartesian Vectors
„ Position Vectors
„ Force Vector Directed along a Line
„ Dot Product
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Scalar and Vectors

3
 Vector Operations
„ Multiplication and Division by a Scalar

„ Vector Addition

4
Vector Operations
„ Vector Subtraction

* draw the vector from the head of B to the head of A

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Vector Operations
„ Resolution of a Vector

1. 已知R和A求B
2. 已知R和A、B的作用線

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Vector Operations
„ Vector Addition of Forces

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p.29, Problem 2-17
Resolve the force F2 into components acting along the u and v axes
and determine the magnitudes of the components.
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p.31, Problem 2-29
The beam is to be hoisted using two chains. If the resultant
force is to be 600 N directed along the positive y axis,
determine the magnitudes of forces FA and FB acting on each
chain and the angle θ of FB so that the magnitude of FB is a
minimum. FA acts at 30° from the y axis as shown.

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Addition of a System of Coplanar
Forces
„ Cartesian Vector
F = Fx i + Fy j
„ Resultants

FR = F1 + F2 + F3
= (F1x + F2x + F3x ) i
+ ( F1y + F2y + F3y ) j
= (FRx ) i + (FRy ) j
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Addition of a System of Coplanar
Forces

FR x = ΣFx
FRy = ΣFy

2
FR = FRx + FRy 2
FRy
θ = tan −1

FRx
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p.41, Problem 2-50
The three forces are applied to the bracket. Determine the range of
values for the magnitude of force P so that the resultant of the
three forces does not exceed 2400 N.

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Cartesian Vectors
„ Right-Handed Coordinate System
„ Rectangular Components of
a Vector

A=Ax+Ay+Az

A A
„ Unit Vector uA=
A
=
A
„ Cartesian Unit Vector i,j,k

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Cartesian Vectors

„ Cartesian Vector Representation

A = Ax i + Ay j + Az k

„ Magnitude
2 2 2 2
|A| = Ax + Ay + Az = A' + Az
2

A在xy平面上的投影

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Cartesian Vectors

„ Direction
α, β, γ 及方向餘弦(direction cosine)
A Ay A
cosα = x cosβ = cos γ = z
A A A

„ 單位向量 (unit vector)

A Ax Ay A
uA = = i+ j+ z k
A A A A
= cosα i + cosβ j + cosγ k
又 cos 2α + cos 2β + cos 2γ = 1
A = Au A
= Acosα i + Acosβ j + Acosγ k
= Ax i + A y j + Az k
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Cartesian Vectors
„ Addition and Subtraction of Cartesian
Vectors
R = A+B = (Ax+Bx)i + (Ay+By)j
+ (Az+Bz)k
R’= A-B = (Ax - Bx)i + (Ay - By)j
+ (Az - Bz)k
„ Concurrent Force Systems
FR = Σ F = ΣFx i + ΣFy j + ΣFz k

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p.55, Problem 2-84
Determine the coordinate direction angles of F1 and FR.

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Position Vectors

„ x, y, z Coordinates 座標 (位置向量)

(0,2,0)
(6,-1,4)

(4,2,-6)

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Position Vectors
„ Position Vector 位置向量
相對於固定點O的向量

r = xi + yj +zk

„ Relative Position Vector

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Force Vector Directed along a Line

AB = rB - rA
AB
F = Fu F = F ( )
AB

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p.62, Ex.2-15,

Determine the resultant force acting at A.

A(0,0,4 )
B(4,0,0 )
C (4,2,0 )
AB = (4,0,−4) L AB = 5.657 m
AC = (4,2,−4) L AC = 6.0m
AB
F AB = FAB‧
AB
100
= (4,0,-4)
5.657
= ( 70.71 , 0 , - 70.71 ) N
AC
F AC = FAC‧
AC
120
= (4,2,-4)
6
= ( 80 , 40 , - 80 ) N
∴ R = FAB + F AC = (150.71 , 40 , - 150.71) N
R = 150.712 + 40 2 + (-150.71) 2 = 217 N
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p.65, Problem 2-93
The chandelier is supported by three chains which are concurrent
at point O. If the force in each chain has a magnitude of 300 N,
express each force as a Cartesian vector and determine the
magnitude and coordinate direction angles of the resultant force.

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Dot Product
A ⋅ B = AB cosθ , 0 o ≤ θ ≤ 180 o

ex: Work = F ⋅ r

„ Cartesian Vector Formulation

i ⋅i = 1 i⋅k = 0 i⋅ j = 0
j ⋅i = 0 j⋅k = 0 j ⋅ j =1
k ⋅i = 0 k ⋅k =1 k⋅ j =0

A⋅ B = ( Ax i + Ay j + AZ k ) ⋅ (Bx i + By j + BZ k )
= Ax B x + Ay B y + Az B z
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Dot Product
„ Applications
1. angle
A⋅ B
θ = cos-1( )
AB
when θ = 90o , cosθ = 0 , A ⋅ B = 0 ⇒ A⊥B
2. components of a vector parallel and perpendicular to a line
A|| = A cos θ = A ⋅ u
∴ A|| = A cos θ ⋅ u = ( A ⋅ u ) ⋅ u
又 A⊥ = A − A||
A⊥ = A sin θ

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p.72, Ex. 2-17,
Determine the parallel and perpendicular components of
the force to member AB.
A( 0 , 0 , 0 ) B( 2 , 6 , 3 )
AB (2,6,3) 1
u AB = = = (2,6,3)
AB 2 2 + 6 2 + 32 7
F AB = ( F ⋅ u AB )u AB
6 1
= 300 ⋅ ⋅ (2,6,3)
7 7
= ( 73.5 , 220 , 110.2 ) N
F ⊥ = F - F AB
= ( - 73.5 , 80 , - 110.2 ) N
FAB = 73.52 + 220 2 + 110.2 2 = 257 N
F⊥ = (−73.5) 2 + 80 2 + (−110.2) 2 = 154.7 N

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p.76, Problem 2-116
Two forces act on the hook. Determine the angle between
them.Also, what are the projections of F1 and F2 along the y axis?

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p.78, Problem 2-133
Two cables exert forces on the pipe. Determine the magnitude of the
projected component of F1 along the line of action of F2.

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