Statics of Rigid Bodies: BASAEN, RV

STATICS OF RIGID BODIES COURSE OUTCOMES

Upon satisfactory completion of the course, the student

Textbook: will be able to:
Understanding Engineering Mechanics (Statics)
By: Pytel and Kiusalaas 1. Express force and position in Cartesian vector
form and explain how to determine the resultant
References: vector’s magnitude and direction.
Other books about Statics and Dynamics of the following 2. Understand moment of a force, moment of a
authors: couple and their application.
- Singer 3. Show the resultant of a 2D force system in terms
- Pytel (older edition) of a single force having a specified location.
- Beer and Johnston 4. Show the resultant of a 3D force system in terms
- Hibbeler of a ‘wrench” having a specified location.
- Gere 5. Show how to solve particle equilibrium problems
- Reviewers of Engineering Mechanics for various using the equations of equilibrium.
Engineering disciplines 6. Understand distributed loadings and show how
to reduce them to a resultant force having a
Topics: specified location.
1. Introduction to Engineering Mechanics 7. Show how to solve rigid-body equilibrium
2. Basic Operations of Force Systems problems using the equations of equilibrium.
3. Resultant of Force Systems 8. Show how to determine the forces in the
4. Coplanar Equilibrium Analysis members of truss using the methods of joints and
5. Non-coplanar Equilibrium Analysis the method of sections.
6. Friction 9. Show how to analyze the equilibrium of rigid
7. Centroids and Centers of Gravity bodies subjected to dry friction.
8. Moments of Inertia 10. Show how to determine the location of the
9. Kinematics centroid and center of gravity for a system of
10. Kinetics composite shapes and bodies.
11. Determine the moment of inertia for an area and
Mechanics mass.
It is a branch of science that predicts and describes
the condition of rest or motion of bodies under the action
of forces.

COURSE DESCRIPTION

STATICS OF RIGID BODIES deals with the study

of the effects of forces on rigid bodies only. It is a
continuation of physics and a foundation course of
STRUCTURAL DESIGN and MACHINE DESIGN.
It includes in-depth discussion of forces and their
effects on structures or bodies at rest. Equilibrium analysis
are treated for both coplanar and non-coplanar systems (2d
and 3d). Other topics include analysis of friction and
calculations involving centroids and moments of inertia.

COURSE OBJECTIVE

The course aims to develop the student’s specialized

knowledge and skill in analyzing forces and their effects on
rigid bodies at rest.
It also aims to enhance the students’ analytical skills
in solving engineering mechanics problems leading
towards structural analysis and design of machines.

1
 Statics of Rigid Bodies: BASAEN, RV

Components of a Force:
1. INTRODUCTORY CONCEPTS a) Rectangular Components

Coverage of Engineering Mechanics 𝐹𝐹𝑥𝑥 = 𝐹𝐹 cos 𝜃𝜃

Fy F 𝐹𝐹𝑦𝑦 = 𝐹𝐹 𝑠𝑠𝑠𝑠𝑠𝑠 𝜃𝜃
Mechanics of Solids 𝛳𝛳
Rigid bodies
Statics Fx
Dynamics
Kinematics As a standard reference, the horizontal component
Kinetics is also known as the ‘x-component’ and the
Deformable bodies vertical component, ‘y-component’. Through
Mechanics of Materials these components the magnitude of the vector can
Theory of Elasticity be determined using the Pythagorean theorem, i.e.
Theory of Plasticity

Mechanics of Fluids 𝐹𝐹 = �𝐹𝐹𝑥𝑥2 + 𝐹𝐹𝑦𝑦2

Ideal Fluids
Non-ideal Fluids
b) Arbitrary Components
Axioms of Mechanics
1. Parallelogram Law
The resultant of two forces is equal to the A
diagonal of the parallelogram formed from the F
vectors of the forces. FOA 𝛽𝛽
𝛼𝛼 𝜙𝜙
O
2. Equilibrium FOB B

Two forces are in equilibrium if they These components may be taken at any
have equal magnitude, oppositely directed and convenient reference axes. Through these
are colinear in action. components the magnitude of the vector can be
A set of forces in equilibrium can be determined using the Cosine Law:
added to a system without changing its effect on
the original system.
2 2
𝐹𝐹 = �𝐹𝐹𝑂𝑂𝑂𝑂 + 𝐹𝐹𝑂𝑂𝑂𝑂 − 2𝐹𝐹𝑂𝑂𝑂𝑂 𝐹𝐹𝑂𝑂𝑂𝑂 𝑐𝑐𝑐𝑐𝑐𝑐∅
3. Action and Reaction
Action and reaction forces are always
equal in magnitude, oppositely directed and with
the same line of action. Conversely, the components can also be
determined through the law of sines:
4. Newton’s Laws of Motion
1st law. (Law of Inertia)
𝐹𝐹𝑂𝑂𝑂𝑂 𝐹𝐹𝑂𝑂𝑂𝑂 𝐹𝐹
2nd law. (Law of Acceleration) = =
3rd law. (Law of Action and Reaction) 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑠𝑠𝑠𝑠𝑠𝑠∅

Characteristics of a Force: RESULTANT OF CONCURRENT FORCES

1. Magnitude 1. Two Dimensional (2D) systems
2. Direction or line of action A. Two forces only
3. Point of application The resultant R of two forces 𝐹𝐹1 𝑎𝑎𝑎𝑎𝑎𝑎 𝐹𝐹2 that
are at an angle ϴ apart can be determined
Scalar vs. Vector quantities: using the law of cosines:
Scalar quantity - with magnitude only
Vector quantity - with both magnitude and
direction

2
 Statics of Rigid Bodies: BASAEN, RV

Likewise, the orientation or direction of the resultant force

𝑅𝑅 can be expressed of the angle 𝜃𝜃 and is computed from
F1 R
the over-all components of forces themselves.
𝛳𝛳 𝜙𝜙 𝛳𝛳
O Σ𝐹𝐹𝑦𝑦
F2 𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 =
Σ𝐹𝐹𝑥𝑥
From the law of Cosines: Or,

𝑅𝑅2 = 𝐹𝐹12 + 𝐹𝐹22 − 2𝐹𝐹1 𝐹𝐹2 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝚺𝚺𝑭𝑭𝒚𝒚

𝜽𝜽 = 𝐭𝐭𝐭𝐭𝐭𝐭−𝟏𝟏 � �
𝚺𝚺𝑭𝑭𝒙𝒙
Then,
Where:
𝑅𝑅 = �𝐹𝐹12 + 𝐹𝐹22 − 2𝐹𝐹1 𝐹𝐹2 𝑐𝑐𝑐𝑐𝑐𝑐∅
Σ𝐹𝐹𝑥𝑥 = algebraic sum of all the x-components
Σ𝐹𝐹𝑦𝑦 = algebraic sum of all the y-components
R = magnitude of the resultant force
But,
θ = angle of inclination of R with the x-axis
cos 𝜃𝜃 = − cos(𝜙𝜙) : 𝜃𝜃 = (180 − 𝜙𝜙)

Thus, a more convenient means of getting the 2. Three Dimensional (3D) systems
resultant of two coplanar forces is to make use of the
magnitudes of the forces themselves 𝐹𝐹1 𝑎𝑎𝑎𝑎𝑎𝑎 𝐹𝐹2 and the 3D Representation of a Vector
angle 𝜃𝜃 separating them (instead of the angle
𝜙𝜙 opposite the resultant 𝑅𝑅). z

Therefore,
` A A = Axi + Ayj + Azk

𝑹𝑹 = �𝑭𝑭𝟐𝟐𝟏𝟏 + 𝑭𝑭𝟐𝟐𝟐𝟐 + 𝟐𝟐𝑭𝑭𝟏𝟏 𝑭𝑭𝟐𝟐 𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄

k Az
λ

B. Three or more forces 0 j

y
i
Ax
For three or more forces, the more x Ay
recommended method is the ‘Component
Method’. This method is also convenient to be where:
used in determining the resultant of two forces Ax = component of vector A along the x-axis
only. Ay = component of vector A along the y-axis
The method consists of forming all the Az = component of vector A along the z-axis
horizontal and vertical components i = base vector along the x-axis
(𝑥𝑥 𝑎𝑎𝑎𝑎𝑎𝑎 𝑦𝑦 −components) of the given forces. Then j = base vector along the y-axis
from these components, compute the over-all k = base vector along the z-axis
horizontal and over-all vertical components, or λ = unit vector of A
the Σ𝐹𝐹𝑥𝑥 and Σ𝐹𝐹𝑦𝑦 . The magnitude of the resultant of A = magnitude of vector A
the given forces is then the resultant of the over- A = Aλ
all components.
(𝑥𝑥𝑓𝑓 − 𝑥𝑥𝑖𝑖 )𝒊𝒊 + (𝑦𝑦𝑓𝑓 − 𝑦𝑦𝑖𝑖 )𝒋𝒋 + (𝑧𝑧𝑓𝑓 − 𝑧𝑧𝑖𝑖 )𝒌𝒌
𝑹𝑹 = �𝚺𝚺𝑭𝑭𝟐𝟐𝒙𝒙 + 𝚺𝚺𝑭𝑭𝟐𝟐𝒚𝒚 A = 𝐴𝐴
�(𝑥𝑥𝑓𝑓 − 𝑥𝑥𝑖𝑖 )2 + (𝑦𝑦𝑓𝑓 − 𝑦𝑦𝑖𝑖 )2 + (𝑧𝑧𝑓𝑓 − 𝑧𝑧𝑖𝑖 )2

F1 • f = a subscript indicating the final

position of the vector
F2 i = a subscript indicating the initial
ΣFy R •
position of the vector
θ
0 = 0 ΣFx Resultant of Concurrent 3D Forces
F3 The resultant of vectors can be determined by the
addition of vectors of the forces involved.
𝑹𝑹 = Σ𝑭𝑭
3
 Statics of Rigid Bodies: BASAEN, RV

Thus, for forces, this process is done by the algebraic computed using the previous concept as mentioned above
addition of all similar force components at their respective (i.e. resultant of two concurrent forces separated by an
axes. angle.
R=ΣF = F1+F2+F3+…+Fn
y
R=Rxi + Ryj + Rzk y
F2 F2 R
where = F1 = F1
33.13o 33.13o
Rx = Fx1+Fx2 + Fx3 + …+ Fxn
O O
x x
Ry = Fy1+Fy2 + Fy3 + …+ Fyn

Rz = Fz1+Fz2 + Fz3 + …+ Fzn Using the modified cosine law formula:

INTRODUCTORY SAMPLE PROBLEMS 𝑹𝑹 = �𝑭𝑭𝟐𝟐𝟏𝟏 + 𝑭𝑭𝟐𝟐𝟐𝟐 + 𝟐𝟐𝑭𝑭𝟏𝟏 𝑭𝑭𝟐𝟐 𝒄𝒄𝒄𝒄𝒄𝒄𝒄𝒄

Example 1:
Compute for the resultant of the given forces below. 𝑅𝑅 = �3002 + 4002 + 2(300)(400)𝑐𝑐𝑐𝑐𝑐𝑐33.13𝑜𝑜
Also specify its direction with respect to the x-axis.
Then substituting the given values of the forces and 𝜃𝜃 =
a) Two coplanar, concurrent forces as shown 53.13𝑜𝑜 − 20𝑜𝑜 = 33.13𝑜𝑜 , the magnitude of the resultant
force is then
y
F1= 300 N 𝑹𝑹 = 𝟔𝟔𝟔𝟔𝟔𝟔. 𝟔𝟔 𝑵𝑵 (𝑨𝑨𝑨𝑨𝑨𝑨. )
F2 4 F2= 400 N
3 F1 The angle of inclination of this resultant force is shown as
20o 𝜙𝜙 and is solved as follows:
O
x

b) Three coplanar, concurrent forces as shown y F2

R 33.13o
𝛽𝛽
y =
30o F1= 300 N 𝛼𝛼
F2 F1
𝛽𝛽 = 180o – 33.13o
F3 F2= 500 N =146.87o
O
5 F3= 600N x
12
O
F1 x
From the law of sines,
Solution: 𝐹𝐹2 𝑅𝑅
a) Resultant of two coplanar forces =
𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠

y
y F1= 300 N
F2 angle 𝛼𝛼 is solved to be 18.99o, and thus the resulting
F2= 400 N
F2 4 = F1 orientation of the resultant force with the x-axis is then
F1 53.13o
3 𝜙𝜙 = 𝛼𝛼 + 20𝑜𝑜 = 38.99𝑜𝑜 .
20o 20o
O O y
x x R = 671.6 N
=
𝜙𝜙 = 38.99o
The given slope of F2 corresponds to an angle of 53.13o,
4 O x
that is tan−1 � �. The given forces are then at an angle of Thus,
3
33.13o apart. The magnitude of their resultant force is then
𝑹𝑹 = 𝟔𝟔𝟔𝟔𝟔𝟔. 𝟔𝟔𝟔𝟔, 𝒂𝒂𝒂𝒂
𝝓𝝓 = 𝟑𝟑𝟑𝟑. 𝟗𝟗𝟗𝟗𝒐𝒐 𝒘𝒘𝒘𝒘𝒘𝒘𝒘𝒘 𝒕𝒕𝒕𝒕𝒕𝒕 𝒙𝒙 − 𝒂𝒂𝒂𝒂𝒂𝒂𝒂𝒂 (𝑨𝑨𝑨𝑨𝑨𝑨. )

4
 Statics of Rigid Bodies: BASAEN, RV

b) Resultant of three coplanar, concurrent forces where

Fx and Fy = x and y-components, respectively
y i and j = base vectors along x and y-axis,
30o F1= 300 N respectively
F2
F3 13
F2= 500 N F = force vector
5 F3= 600N F = magnitude of the vector
12
O λ = unit vector (its magnitude is unity or
F1 x

Using the method of components, the forces are to be 𝝀𝝀 = 𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑥𝑥 𝒊𝒊 + 𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑦𝑦 𝒋𝒋

collapsed to their respective x and y-components, where:
12 1 = �𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑥𝑥2 + 𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑦𝑦2
Σ𝐹𝐹𝑥𝑥 = 300 + 500 � � − 600(𝑠𝑠𝑠𝑠𝑠𝑠30) = 461.54𝑁𝑁;
13
Or,
(The x-component of 𝐹𝐹3 is negative in this case!) 1 = 𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑥𝑥2 + 𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑦𝑦2
5
Σ𝐹𝐹𝑦𝑦 = 0 + 500 � � + 600(𝑐𝑐𝑐𝑐𝑐𝑐30) = 711.92 𝑁𝑁 𝐹𝐹 = �𝐹𝐹𝑥𝑥2 + 𝐹𝐹𝑦𝑦2 = magnitude of the vector
13
Thus, the magnitude of the resultant force is then 𝐹𝐹𝑥𝑥 = 𝐹𝐹 cos 𝜃𝜃𝑥𝑥 ; 𝐹𝐹𝑦𝑦 = 𝐹𝐹 cos 𝜃𝜃𝑦𝑦
determined as
cos 𝜃𝜃𝑥𝑥 ; 𝑐𝑐𝑐𝑐𝑐𝑐𝜃𝜃𝑦𝑦 = direction cosines of
𝑅𝑅 = �Σ𝐹𝐹𝑥𝑥2 + Σ𝐹𝐹𝑦𝑦2 = 848.44N
the vectors
And its angle of orientation is from Thus,
Fx = 500(cos36.87) = 400N
Σ𝐹𝐹𝑦𝑦 Fy = 500(sin36.87) = 300N
𝛳𝛳 = tan−1 � � = 57.04𝑜𝑜
Σ𝐹𝐹𝑥𝑥
Hence, the rectangular form of the force vector is:
Thus, R = 848.44 N at 𝜭𝜭 = 57.04 (Ans.) o F = 400i + 300j N (Ans.)

Similarly, the vector can also be expressed as:

y F = F λ ; where the unit vector is
R = 848.44 N
= 𝑭𝑭 𝐹𝐹𝑥𝑥 𝒊𝒊 + 𝐹𝐹𝑦𝑦 𝒋𝒋 𝐹𝐹𝑥𝑥 𝐹𝐹𝑦𝑦
𝛳𝛳 = 57.04o 𝝀𝝀 = = = � � 𝒊𝒊 + � � 𝒋𝒋
𝐹𝐹 𝐹𝐹 𝐹𝐹 𝐹𝐹
O
x
400𝒊𝒊 + 300𝒋𝒋
𝝀𝝀 = cos 𝜃𝜃𝑥𝑥 𝒊𝒊 + cos 𝜃𝜃𝑦𝑦 𝒋𝒋; 𝝀𝝀 =
500
Example 2. 𝝀𝝀 = 0.8𝒊𝒊 + 0.6𝒋𝒋
Express the given force in terms of its rectangular
form. F = 500(0.8i + 0.6j)
F = 400i + 300j N (Ans.)
y

F = 500 N Note:
= In 3D systems, the expression becomes:
𝛳𝛳 = 36.87o
𝑭𝑭 = 𝐹𝐹𝑥𝑥 𝒊𝒊 + 𝐹𝐹𝑦𝑦 𝒋𝒋 + 𝐹𝐹𝑧𝑧 𝒌𝒌 = F λ
O
x

Solution:
In terms of its rectangular form, the vector is
expressed in the following format:
𝑭𝑭 = 𝐹𝐹𝑥𝑥 𝒊𝒊 + 𝐹𝐹𝑦𝑦 𝒋𝒋 = F λ

5
 Statics of Rigid Bodies: BASAEN, RV

3D Representation of a Vector Example 3.

Express the given forces in a) and in b) in terms of
z
their rectangular form if their magnitude is 500 N.

a) z
F F = Fxi + Fyj + Fzk
ϴz
k Fz
ϴx λ ϴy F F = 500N
j 120o 50o
0
y
i o y
Fx
x Fy

𝑭𝑭 = 𝐹𝐹𝑥𝑥 𝒊𝒊 + 𝐹𝐹𝑦𝑦 𝒋𝒋 + 𝐹𝐹𝑧𝑧 𝒌𝒌 = 𝐹𝐹𝝀𝝀 x b)

z
A
B
where:
F
F = 500N
𝐹𝐹𝑥𝑥 = 𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝜃𝜃𝑥𝑥 : 𝐹𝐹𝑦𝑦 = 𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝜃𝜃𝑦𝑦 : 𝐹𝐹𝑧𝑧 = 𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝜃𝜃𝑧𝑧 60o
o y
40 o C
𝐹𝐹 = �𝐹𝐹𝑥𝑥2 + 𝐹𝐹𝑦𝑦2 + 𝐹𝐹𝑧𝑧2
x

Methods in representing a vector in its rectangular Solution:

form.
1. By using its direction cosines: 𝑐𝑐𝑐𝑐𝑐𝑐𝜃𝜃𝑥𝑥 , 𝑐𝑐𝑐𝑐𝑐𝑐𝜃𝜃𝑦𝑦 and
𝑐𝑐𝑐𝑐𝑐𝑐𝜃𝜃𝑧𝑧 .
Using the property of a unit vector (its magnitude
is 1), if two of the above angles are known, the
remaining angle can be solved from:
1 = 𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑥𝑥2 + 𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑦𝑦2 + 𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑧𝑧2
a) From the data given ϴx and ϴy are 120o and 50o,
respectively. Thus, ϴz can be solved from:
1 = 𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑥𝑥 2 + 𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑦𝑦 2 + 𝑐𝑐𝑐𝑐𝑐𝑐𝛳𝛳𝑧𝑧 2
1 = (𝑐𝑐𝑐𝑐𝑐𝑐120)2 + (𝑐𝑐𝑐𝑐𝑐𝑐50)2 + (𝑐𝑐𝑐𝑐𝑐𝑐𝜃𝜃𝑧𝑧 )2
⸫𝛳𝛳𝑧𝑧 = 54.52𝑜𝑜
The components of the force are then computed
from

2. By means of its position vector 𝐹𝐹𝑥𝑥 = 𝐹𝐹 cos 𝜃𝜃𝑥𝑥 ; 𝐹𝐹𝑦𝑦 = 𝐹𝐹 cos 𝜃𝜃𝑦𝑦 ; 𝐹𝐹𝑧𝑧 = 𝐹𝐹 cos 𝜃𝜃𝑧𝑧

If a force vector F has the same direction as that

… giving the following values:
of a position vector A, then the said vectors have
𝐹𝐹𝑥𝑥 = −250; 𝐹𝐹𝑦𝑦 = 321.4 and 𝐹𝐹𝑧𝑧 = 290.2
the same unit vector 𝝀𝝀. Thus F = FλA. Generally,
the unit vector of the position vector A is
Thus, the rectangular form of the force is then
expressed in terms of its coordinates:

�𝑥𝑥𝑓𝑓 − 𝑥𝑥𝑖𝑖 �𝒊𝒊 + �𝑦𝑦𝑓𝑓 − 𝑦𝑦𝑖𝑖 �𝒋𝒋 + �𝑧𝑧𝑓𝑓 − 𝑧𝑧𝑖𝑖 �𝒌𝒌 ⎡ ⎤

�𝑥𝑥𝑓𝑓 − 𝑥𝑥𝑖𝑖 �𝒊𝒊 + �𝑦𝑦𝑓𝑓 − 𝑦𝑦𝑖𝑖 �𝒋𝒋 + �𝑧𝑧𝑓𝑓 − 𝑧𝑧𝑖𝑖 �𝒌𝒌
𝝀𝝀 = 𝑭𝑭 = 𝐹𝐹 ⎢ ⎥
2 2
��𝑥𝑥𝑓𝑓 − 𝑥𝑥𝑖𝑖 � + �𝑦𝑦𝑓𝑓 − 𝑦𝑦𝑖𝑖 � + �𝑧𝑧𝑓𝑓 − 𝑧𝑧𝑖𝑖 �
2 ⎢ 2 2 2⎥
��𝑥𝑥𝑓𝑓 − 𝑥𝑥𝑖𝑖 � + �𝑦𝑦𝑓𝑓 − 𝑦𝑦𝑖𝑖 � + �𝑧𝑧𝑓𝑓 − 𝑧𝑧𝑖𝑖 �
⎣ ⎦

Then the force vector is then

𝑭𝑭 = −250𝒊𝒊 + 321.5𝒋𝒋 + 290.2 𝑁𝑁 (𝑨𝑨𝑨𝑨𝑨𝑨. )
⎡ ⎤
�𝑥𝑥𝑓𝑓 − 𝑥𝑥𝑖𝑖 �𝒊𝒊 + �𝑦𝑦𝑓𝑓 − 𝑦𝑦𝑖𝑖 �𝒋𝒋 + �𝑧𝑧𝑓𝑓 − 𝑧𝑧𝑖𝑖 �𝒌𝒌
𝑭𝑭 = 𝐹𝐹 ⎢ ⎥
⎢ 2 2 2⎥ The magnitude of the given force may be rechecked from
��𝑥𝑥𝑓𝑓 − 𝑥𝑥𝑖𝑖 � + �𝑦𝑦𝑓𝑓 − 𝑦𝑦𝑖𝑖 � + �𝑧𝑧𝑓𝑓 − 𝑧𝑧𝑖𝑖 �
⎣ ⎦ the following relation:
where the subscripts f and i correspond to the
terminal and initial coordinates of the position 𝐹𝐹 = �𝐹𝐹𝑥𝑥2 + 𝐹𝐹𝑦𝑦2 + 𝐹𝐹𝑧𝑧2 : F ≈ 500N
vector, respectively.
6
 Statics of Rigid Bodies: BASAEN, RV

b) From the given data, since the force lies on the (−5)𝒊𝒊 + (−9)𝒋𝒋 + (1)𝒌𝒌
rectangular plane bounded by OABC, it is evident 𝑭𝑭 = 400 � �
�(5)2 + (9)2 + (1)2
that angle 𝛳𝛳𝑧𝑧 = 90-60= 30o. The components of
the force are then computed using its component −5𝒊𝒊 − 9𝒋𝒋 + 𝒌𝒌
along line OC, 𝑭𝑭 = 400 � �
�(5)2 + (9)2 + (1)2
where FOC = Fcos60.
−5𝒊𝒊 − 9𝒋𝒋 + 𝒌𝒌
; 𝑭𝑭 = 400 � �
Thus, √107

𝐹𝐹𝑥𝑥 = 𝐹𝐹𝑂𝑂𝑂𝑂 cos 40 = [500(𝑐𝑐𝑐𝑐𝑐𝑐60)] (𝑐𝑐𝑐𝑐𝑐𝑐40) = 191.5 𝑭𝑭 = −193.3𝒊𝒊 − 348.0𝒋𝒋 + 38.67𝒌𝒌 N (Ans.)
𝐹𝐹𝑦𝑦 = 𝐹𝐹𝑂𝑂𝑂𝑂 cos(90 − 40) = [500(𝑐𝑐𝑐𝑐𝑐𝑐60)] (𝑐𝑐𝑐𝑐𝑐𝑐50)
= 160.1 Also, the angles 𝜃𝜃𝑥𝑥 , 𝜃𝜃𝑦𝑦 and 𝜃𝜃𝑧𝑧 are then determined using
𝐹𝐹𝑥𝑥 = 𝐹𝐹 cos 30 = 500(𝑐𝑐𝑐𝑐𝑐𝑐30) = 433.01 the direction cosines:

⸫ 𝑭𝑭 = 191.5𝒊𝒊 + 160.1𝒋𝒋 + 433.0𝒌𝒌 N (Ans.) 𝐹𝐹𝑥𝑥 𝐹𝐹𝑦𝑦 𝐹𝐹𝑧𝑧

cos 𝜃𝜃𝑥𝑥 = : cos 𝜃𝜃𝑦𝑦 = ∶ cos 𝜃𝜃𝑧𝑧 =
𝐹𝐹 𝐹𝐹 𝐹𝐹

−193.3
Example 4. ⸫ 𝜃𝜃𝑥𝑥 = 𝑐𝑐𝑐𝑐𝑐𝑐 −1 � � ∶ 𝜃𝜃𝑥𝑥 = 118.9𝑜𝑜
400
Write the rectangular form of the given force. Also −348
compute for the angles that the force makes with the x, y 𝜃𝜃𝑦𝑦 = 𝑐𝑐𝑐𝑐𝑐𝑐 −1 � � ; 𝜃𝜃𝑦𝑦 = 150.5𝑜𝑜
400
and z-axes. 38.67
z
𝜃𝜃𝑧𝑧 = 𝑐𝑐𝑐𝑐𝑐𝑐 −1 � � : 𝜃𝜃𝑧𝑧 = 84.45𝑜𝑜
400

F = 400N
B Note:
1 4 As a rule, the angles are to be based on the + x, +
2
F o y y and + z axes as indicated below.
3
5 A z

x
F = 400N
B
Solution: ϴz
ϴy
F o y
The given force is shown to be lying along line AB, starting
from point A (3,5,0) and ending at point B (-2,-4,1). The ϴx A
unit vector λ of the position vector �����⃗
𝐴𝐴𝐴𝐴 is then equal to that x
of the given force F. It should be noted that the terminal
point f of the vector is point B and its initial point i is point
A. Using the pattern in expressing a vector in terms of its OPERATIONS OF VECTORS
position vector, we have: A. Vector Addition
B. Vector Subtraction
⎡ ⎤ C. Vector Multiplication
�𝑥𝑥𝑓𝑓 − 𝑥𝑥𝑖𝑖 �𝒊𝒊 + �𝑦𝑦𝑓𝑓 − 𝑦𝑦𝑖𝑖 �𝒋𝒋 + �𝑧𝑧𝑓𝑓 − 𝑧𝑧𝑖𝑖 �𝒌𝒌
𝑭𝑭 = 𝐹𝐹 ⎢ ⎥ 1. Dot Product
⎢ 2 2 2⎥ 2. Cross Product
�
⎣ �𝑥𝑥𝑓𝑓 − 𝑥𝑥𝑖𝑖 � + �𝑦𝑦𝑓𝑓 − 𝑦𝑦𝑖𝑖 � + �𝑧𝑧𝑓𝑓 − 𝑧𝑧𝑖𝑖 � ⎦ 3. Triple Product

From which, substitution follows: A. VECTOR ADDITION

This operation provides the resultant of the vectors
(−2 − 3)𝒊𝒊 + (−4 − 5)𝒋𝒋 + (1 − 0)𝒌𝒌 involved.
𝑭𝑭 = 400 � �
�(−2 − 3)2 + (−4 − 5)2 + (1 − 0)2