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ST 2
ST 2
STATICS
(ENGINEERING MECHANICS-I)
LECTURE # 2
Vectors
Contents
2
Scalar Vector
A -A
B R=B-A
R=B-A
O O B
-A -A
Components of a Vector
6
Fy F
F2 F
q
q Fx F1
q = 90 0 F = Fx + Fy q ¹ 90 0 F = F1 + F2
Unit Vector(s)
7
!
The unit vector of a vector A is defined as
! !
A A !
nA = = where A ¹ 0 is the magnitude of vector A.
A A
Note : 1. Unit vector is dimensionless (with its magnitude unity)
! !
2. The direction of unit vector n A is same as A.
Cartesian or Standard Unit Vectors
The positive directions of the x, y, and z axes are defined by the cartesian unit vectors
!
i , j and k respectively. Consequently any vector A with scalar components Ax , Ay and Az
can be written in the Cartesian vector form
z
!
! k !
A = Ax i + Ay j + Az k j
! y
i
x
Direction Cosines
8
l = cosq x ü
ï z
m = cosq y ýDirection cosines of A
ï
n = cosq z þ Az k
Note : l 2 + m 2 + n 2 = 1 A
qz
Ax = A cosq x ; Ay = A cosq y ; Az = A cosq z qy
! ! y
Ax i Ay j
2
A = Ax + Ay2 + Az2 qx
x y
!
A = Ax i + Ay j + AZ k A
!
Þ A = ( A cos q x )i + ( A cos q y ) j + ( A cos q z )k A cos q y j q
!
y
qx
! x
A = A(li + m j + n k ) A cos q x i
Multiplication and division by a scalar
9
A -A 2A
1 !
A
2
Vector Multiplications
10
Dot (Scalar) Product Cross (Vector) Product
B
! r
r = rx i + ry j + rz k ( x2 , y2 , z2 )
! A
Þ r = ( x2 - x1 )i + ( y2 - y1 ) j + ( z 2 - z1 )k ( x1, y1, z1 )
y
O