ENS 161

(Statics of Rigid Bodies)

Lecture 2: Force Vectors

Scalar
A scalar is any positive or negative physical quantity that can
be completely specified by its magnitude.
Vector
A vector is any physical quantity that requires both a magnitude
and a direction for its complete description

Vector Operations
[1] Multiplication or division of a vector by a scalar will change
only the magnitude of the vector. If the scalar is negative, the
sense of the vector will change so that it acts in the opposite
sense.

[2] Vector Addition (esp. of forces)

[a] Using Parallelogram Law of addition and Triangle Rule
[b] Using Rectangular-component Method
Parallelogram Law:
[1] Two forces add according to the
parallelogram law. The components
form the sides of the parallelogram and
the resultant is the diagonal.
[2] To find the components of a force along any two axes, extend
lines from the head of the force, parallel to the axes, to form the
components.
Triangle Rule:
• To obtain the components or the resultant, show how the forces
add by tip-to-tail using the triangle rule (actually half portion of the
parallelogram), and then use the law of cosines and the law of
sines to calculate their values.
𝐹1 𝐹2 𝐹𝑅
= = (sine law)
sin θ1 sin θ2 sin θ𝑅

𝐹𝑅 = 𝐹1 2 + 𝐹2 2 − 2𝐹1 𝐹2 cos θ𝑅 (cosine law)

Rectangular-Component Method:
[1] An x-y coordinate system is established and the force vectors
are resolved into their two components along the axes (x-axis and
y-axis). The direction of each force is specified by the angle its line
of action makes with one of the axes, or by a sloped triangle.
𝐼𝑛 𝑠𝑐𝑎𝑙𝑎𝑟 𝑛𝑜𝑡𝑎𝑡𝑖𝑜𝑛:
𝐹𝑥 = 𝐹 cos θ 𝐹𝑦 = 𝐹 sin θ
𝐼𝑛 𝑐𝑎𝑟𝑡𝑒𝑠𝑖𝑎𝑛 𝑣𝑒𝑐𝑡𝑜𝑟 𝑛𝑜𝑡𝑎𝑡𝑖𝑜𝑛:
𝐅 = 𝐹𝑥 𝐢 + 𝐹𝑦 𝐣 = (𝐹 cos θ) 𝐢 + (𝐹 sin θ)𝐣
(opposite)

Recall trigonometric functions for a right triangle:

𝑂𝑝𝑝𝑜𝑠𝑖𝑡𝑒 𝐴𝑑𝑗𝑎𝑐𝑒𝑛𝑡 𝑂𝑝𝑝𝑜𝑠𝑖𝑡𝑒
(adjacent) sin θ = 𝑐𝑜𝑠 θ = 𝑡𝑎𝑛 θ =
𝐻𝑦𝑝𝑜𝑡𝑒𝑛𝑢𝑠𝑒 𝐻𝑦𝑝𝑜𝑡𝑒𝑛𝑢𝑠𝑒 𝐴𝑑𝑗𝑎𝑐𝑒𝑛𝑡
(SOH) (CAH) (TOA)
𝐼𝑛 𝑠𝑐𝑎𝑙𝑎𝑟 𝑛𝑜𝑡𝑎𝑡𝑖𝑜𝑛:
𝑎 𝑏
𝐹𝑥 = 𝐹 𝐹𝑦 = −𝐹
𝑐 𝑐
𝐼𝑛 𝑐𝑎𝑟𝑡𝑒𝑠𝑖𝑎𝑛 𝑣𝑒𝑐𝑡𝑜𝑟 𝑛𝑜𝑡𝑎𝑡𝑖𝑜𝑛:
𝑎 𝑏
𝐅 = 𝐹𝑥 𝐢 − 𝐹𝑦 𝐣 = 𝐹 𝐢−𝐹 𝐣
𝑐 𝑐
Rectangular-Component Method: (cont.)
[2] The x and y components of the resultant force are simply the
algebraic addition of the components of all the coplanar forces.
𝐹𝑅𝑥 = Σ 𝐹𝑥 𝐹𝑅𝑦 = Σ 𝐹𝑦

[3] The magnitude of the resultant force is determined from the

Pythagorean theorem, and when the components are sketched on
the x and y axes, the direction can be determined from trigonometry.

𝐹𝑅 = 𝐹𝑅𝑥 2 + 𝐹𝑅𝑦 2

−1
𝐹𝑅𝑦
θ = 𝑡𝑎𝑛
𝐹𝑅𝑥
Addition of Coplanar Forces
Sample Problems
(Vector Addition Application)
Sample Problem 1
The screw eye in the figure shown is subjected to two
forces, F1 and F2. Determine the magnitude and
direction of the resultant force.

Solution 1 (using Parallelogram and Triangle Rule)

3. Complete drawing the
parallelogram.
1. Draw the force vectors.
4. Draw the Resultant vector. 6. Draw the half portion of the
2. Compute the angles
5. Compute the 2nd angle of the parallelogram. Parallel lines
between them. 900 is the
parallelogram. 3600 is the total of all of parallelogram are equal.
angle between any two
perpendicular lines. the internal angles of any 4-side 7. Apply the sine and cosine
polygon. laws to solve for unknown
required data.
Solution 1 (cont.)
Using cosine law:

𝐹𝑅 = (100 𝑁)2 +(150 𝑁)2 −2 100 𝑁 150 𝑁 cos 1150

𝐹𝑅 = 212.55 𝑁 = 𝟐𝟏𝟑 𝑵
Using sine law:
150 𝑁 212.55 𝑁 150 𝑁
= sin θ = (sin 1150)
sin θ sin 1150 212.55 𝑁

θ = 39.760 = 39.80
Compute for direction, ϕ (phi) of the FR, measured from horizontal:
ϕ = 39.80 + 15.00 = 𝟓𝟒. 𝟖𝟎
Solution 2 (using rectangular-component method)
y axis

𝐹𝑅 = (122.64 𝑁)2 +(173.60 𝑁)2

𝐹𝑅 = 212.55 𝑁 = 𝟐𝟏𝟑 𝑵

173.60 𝑁
x axis θ = 𝑡𝑎𝑛−1
122.64 𝑁
θ = 54.760 = 𝟓𝟒. 𝟖𝟎

θ (relative
F Fx Fy
to + x-axis)
F1 100 N 150 100 cos(150) = 96.59 N 100 sin(150) = 25.88 N

F2 150 N 90-10 = 800 150 cos(800) = 26.05 N 150 sin(800) = 147.72 N

FR 122.64 N 173.60 N
Sample Problem 2
Determine the magnitude of the component force F in the figure shown, and
the magnitude of the resultant force FR, if FR is directed along the positive y
axis.
Solution:
• Rectangular component method will be used because
of its simplicity.
From ΣFx:
𝐹𝑅𝑥 = Σ 𝐹𝑥 173.20 𝑙𝑏 − 𝐹 𝑠𝑖𝑛(450) = 0
𝐹 = 244.94 𝑙𝑏 = 𝟐𝟒𝟓 𝒍𝒃
x axis From ΣFy:
𝐹𝑅𝑦 = Σ 𝐹𝑦 𝐹𝑅 = 100 𝑙𝑏 + (244.94 𝑙𝑏) 𝑐𝑜𝑠(450)
𝐹𝑅 = 273.2 𝑙𝑏 = 𝟐𝟕𝟑 𝒍𝒃
θ (relative to
F Fx Fy
+ x-axis)
F1 200 lb 300 (wrt +x) 200 cos(300) = 173.20 lb 200 sin(300) = 100 lb
F2 F 450 (wrt +y) - F sin(450) F cos(450)
FR 0 lb FR

“FR is directed along the positive y axis” means FRx = 0 and FR = FRy
Sample Problem 3
It is required that the resultant force acting on the
eyebolt in the figure be directed along the positive x
axis and that F2 have a minimum magnitude.
Determine this magnitude, the angle θ, and the
corresponding FR.
Solution: (Rectangular component method)
θ (relative
F Fx Fy
to + x-axis)
F1 800 N 600 800 cos(600) = 400 N 800 sin(600) = 692.82 N
F2 F2 θ F2 cos θ - F2 sin θ
FR FR 0
“FR is directed along the positive x axis” means FRy = 0 and FR = FRx

From ΣFy:
𝐹𝑅𝑦 = Σ 𝐹𝑦 692.82 𝑁 − 𝐹2 sin θ = 0
692.82 𝑁 F is minimum, if 𝐹2 = 𝟔𝟗𝟑 𝑵
𝐹2 =
sin θ sinθ = 1. Thus, θ = 𝑠𝑖𝑛−1 1 = 𝟗𝟎𝟎
From ΣFy:
𝐹𝑅𝑥 = Σ 𝐹𝑥 𝐹𝑅 = 400 𝑁 + (692.82 𝑁) 𝑐𝑜𝑠(900) 𝐹𝑅 = 𝟒𝟎𝟎 𝑵
Sample Problem 4
Resolve the horizontal 600-lb force in the figure into
components acting along the u and v axes, and determine
the magnitudes of these components.
Solution:
• Parallelogram law and Triangle rule will be used,
since the u and v axes are not perpendicular to
each other
1. Draw the parallelogram with the 2. Insert the given angles. Geometrically
given force as its diagonal and the Then, solve for the other the same.
two components on the axes as its angles geometrically.
two sides.

1200 = 1800 – 300 – 300

Geometrically
the same.
Solution: (cont.)

3. Draw the half portion of the 4. Apply the sine and cosine laws
parallelogram with the calculated to solve for unknown required
internal angles. Parallel lines of data.
parallelogram are equal.
Using sine law:
𝐹𝑢 600 𝑙𝑏
=
sin 1200 sin 300
𝐹𝑢 = 𝟏𝟎𝟑𝟗 𝒍𝒃

𝐹𝑣 600 𝑙𝑏
=
sin 300 sin 300
𝐹𝑣 = 𝟔𝟎𝟎 𝒍𝒃
Sample Problem 5
The end of the boom O in the figure is
subjected to three concurrent and coplanar
forces. Determine the magnitude and direction
of the resultant force.
Solution: (Rectangular component method)

F θ Fx Fy

F1 400 N 00 (wrt -x) - 400 cos(00) = -400 N 400 sin(00) = 0 N

F2 250 N 450 (wrt +y) 250 sin(450) = 176.78 N 250 cos(450) = 176.78 N
F3 200 N 3-4-5 triangle - 200 (4/5) = -160 N 200 (3/5) = 120 N
FR -383.22 N 296.78 N

296.78𝑁
𝐹𝑅 = (−383.22 𝑁)2 +(296.78 𝑁)2 θ = 𝑡𝑎𝑛−1
−383.22 𝑁
𝐹𝑅 = 484.70 𝑁 = 𝟒𝟖𝟓 𝑵 θ = 37.760 = 𝟑𝟕. 𝟖𝟎 (wrt -x axis)
• Since the Fx is negative and Fy is positive, the resultant force is in the
2nd quadrant of Cartesian plane. Thus, the calculated θ is with respect to
the negative (–) x axis.
Three-Dimensional Cartesian
Vectors
Cartesian Vector Representation:
The positive directions of the x, y, z axes are defined
by the Cartesian unit vectors i, j, k, respectively.
𝐀 = 𝐴𝑥𝐢 + 𝐴𝑦𝐣 + 𝐴𝑧𝐤

where 𝐴= 𝐴𝑥 2 + 𝐴𝑦 2 + 𝐴𝑧 2 (A = magnitude of A)

Unit Vector:
The unit vector uA has a length of one, no units,
and its points in the direction of the vector A. Its
components represent the direction cosines of
the direction angles α, β, and γ.
𝐀 𝐴𝑥 𝐴𝑦 𝐴𝑧
𝐮𝐴 = = 𝐢+ 𝐣 + 𝐤 (direction)
𝐴 𝐴 𝐴 𝐴
𝐮𝐴 = cos α 𝐢 + cos β 𝐣 + cos γ 𝐤
𝐴𝑥 𝐴𝑦 𝐴𝑧
where, direction cosines cos α = cos β = cos γ =
𝐴 𝐴 𝐴

and cos𝟐 α + cos 𝟐 β + cos 𝟐 γ = 𝟏

Cartesian Vector Representation:
𝐀 = 𝐴𝐮𝐴 (magnitude and direction)
= 𝐴 (cos α 𝐢 + cos β 𝐣 + cos γ 𝐤)
= 𝐴 cos α 𝐢 + 𝐴 cos β 𝐣 + 𝐴 cos γ 𝐤
= 𝐴𝑥𝐢 + 𝐴𝑦𝐣 + 𝐴𝑧𝐤

Addition of Cartesian Vectors: (esp. force Vectors)

𝐅𝑅 = Σ𝐅 = Σ𝐹𝑥𝐢 + Σ𝐹𝑦𝐣 + Σ𝐹𝑧𝐤

Position Vectors:
𝐫 = 𝑥𝐢 + 𝑦𝐣 + 𝑧𝐤 [from origin O to point P(x,y,z)]
𝐫 = (𝑥𝐵 − 𝑥𝐴 )𝐢 + (𝑦𝐵 − 𝑦𝐴 )𝐣 + (𝑧𝐵 − 𝑧𝐴 )𝐤 [from point A to point B]
• If the line of action of a force F passes through points A and B, then the
force acts in the same direction as the position vector r, which is defined by
the unit vector u. The force can then be expressed as a Cartesian vector.
𝐫
𝐅 = 𝐹𝐮 = 𝐹
𝑟
Sample Problem 6
Express the force F shown in the figure as a
Cartesian vector.
Solution:
𝐅 = 𝐹 cos α 𝐢 + 𝐹 cos β 𝐣 + 𝐹 cos γ 𝐤
(but α, or cos α should be solved first)
cos 2 𝛼 + cos 2 𝛽 + cos 2 𝛾 = 1

𝑐𝑜𝑠 𝛼 = 1 − (cos 600)2 −(𝑐𝑜𝑠 450)2

𝑐𝑜𝑠 𝛼 = ± 0.5 (since the force F is on the + side of x-axis,
we’ll be using the + value)
Thus,
𝐅 = 200 𝑁 0.5 𝐢 + 200 𝑁 cos 600 𝐣 + 200 𝑁 cos 450 𝐤
𝐅 = 100.0𝐢 + 100.0𝐣 + 141.4𝐤 𝑁
Sample Problem 7
Determine the magnitude and the coordinate direction angles of the
resultant force acting on the ring in the figure.
Solving for direction angles,
50
cos α = α = 74.80
191.0
−40
cos β = β = 1020
191.0
180
cos γ = γ = 19.60
191.0

Solution:
𝐅R = 60𝐣 + 80𝐤 𝑙𝑏 + 50𝐢 − 100𝐣 + 100𝐤 𝑙𝑏
= 50𝐢 − 40𝐣 + 180𝐤 𝑙𝑏
The magnitude of FR
𝐹𝑅 = (50 𝑙𝑏)2 +(−40 𝑙𝑏)2 +(180 𝑙𝑏)2
𝐹𝑅 = 𝟏𝟗𝟏. 𝟎 𝒍𝒃
Sample Problem 8
Express the force F shown in the figure
as a Cartesian vector
Solution:
𝐹𝑧 = 100 lb sin 600 = 86.6 lb
𝐹𝑦 = − 100 lb cos 600 sin 450 = −35.4 lb
𝐹𝑥 = 100 lb cos 600 scos 450 = 35.4 lb
𝐅 = 35.4𝐢 − 35.4𝐣 + 86.6𝐤 𝑙𝑏
Sample Problem 9
Two forces act on the hook shown in the figure. Specify the magnitude of
F2 and its coordinate direction angles of F2, that the resultant force FR acts
along the positive y axis and has a magnitude of 800 N.
Solution:
F Fx Fy Fz
F1 300 N 300cos(45) 300cos(60) 300cos(120)
= 212.1 N = 150 N = -150 N
F2 F2 F2x F2y F2z
FR 800 N 0 800 N 0

𝐹𝑅𝑥 = 212.1 N + 𝐹2𝑥 = 0 𝐹2𝑥 = −212.1 N Solving for direction angles,

𝐹𝑅𝑦 = 150 N + 𝐹2𝑦 = 800 N 𝐹2𝑦 = 650 N −212.1
cos α = α = 1080
700
𝐹𝑅𝑧 = −150 N + 𝐹2𝑧 = 0 𝐹2𝑧 = 150 N
650
𝐹2 = (−212.1 𝑁)2 +(650 𝑁)2 +(150 𝑁)2 cos β = β = 21.80
700
𝐹2 = 𝟕𝟎𝟎 𝑵 150
cos γ = γ = 77.60
700
Sample Problem 10
The man shown in the figure pulls on the cord with
a force of 70 lb. Represent this force acting on the
support A as a Cartesian vector and determine its
direction.
Solution:
(solve first for the unit vector of the position vector
from A to B)
𝐫 = 12𝐢 − 8𝐣 − (30 − 6)𝐤 𝑓𝑡
= 12𝐢 − 8𝐣 − 24𝐤 𝑓𝑡
𝑟= (12 𝑓𝑡)2 +(−8 𝑓𝑡)2 +(−24 𝑓𝑡)2 = 28 𝑓𝑡
𝐫 12 8 24 Solving for direction angles,
𝐮= = 𝐢 − 𝐣 − 𝐤
𝑟 28 28 28 12
cos α = α = 64.60
12 8 24 28
𝐅 = 𝐹𝐮 = 70 𝑙𝑏 𝐢 − 𝐣 − 𝐤
28 28 28 −8
cos β = β = 1070
𝐅 = 30𝐢 − 20𝐣 − 60𝐤 𝑙𝑏 28
−24
cos γ = γ = 1490
28
Sample Problem 11
The roof is supported by cables as shown in
the figure. If the cables exert forces FAB =
100 N and FAC = 120 N on the wall hook at
A, determine the resultant force acting at A.
Express the result as a Cartesian vector.
Solution:
1
𝐅AB = 100 𝑁 (4 𝑚)𝐢 − (4 𝑚)𝐤
(4 𝑚)2 +(−4 𝑚)2
𝐅AB = 70.7𝐢 − 70.7𝐤 𝑁
1
𝐅AC = 120 𝑁 4 𝑚 𝐢 + 2 𝑚 𝐣 − (4 𝑚)𝐤
(4 𝑚)2 +(2 𝑚)2 +(−4 𝑚)2
𝐅AC = 80𝐢 + 40𝐣 − 40𝐤 𝑁
𝐅R = 70.7 + 80 𝐢 + 40𝐣 − (70.7 + 80)𝐤 𝑁
𝐅R = 151𝐢 + 40𝐣 − 151𝐤 𝑁
Dot Product:
Dot product is used in three dimensional vector problems to determine
the angle between two lines (vectors) or the projection of a vector in a
specified direction.
𝐀 ∙ 𝐁 = 𝐴𝐵 cos θ 𝐀 ∙ 𝐁 = 𝐴𝑥𝐵𝑥 + 𝐴𝑦𝐵𝑦 + 𝐴𝑧𝐵𝑧
Applications:
The angle formed between two vectors or intersecting lines

−𝟏
𝐀∙𝐁
θ = cos 00 ≤ θ ≤ 1800
𝐴𝐵
The projection of a vector in a specified direction
𝐴𝑎 = 𝐀 ∙ 𝐮a
Thus, the perpendicular component of a vector to a line

𝐴⟂ = 𝐴2 − 𝐴𝑎2
Sample Problem 12
The frame shown in the figure is subjected
to a horizontal force F = {300j} N.
Determine the magnitude of the
components of this force parallel and
perpendicular to member AB.

Solution:
𝐹𝐴𝐵 = 𝐅 ∙ 𝐮AB = 𝐹𝑥𝑢𝐴𝐵𝑥 + 𝐹𝑦𝑢𝐴𝐵𝑦 + 𝐹𝑧𝑢𝐴𝐵𝑧 (F has only y component)

6𝑚
𝐹𝐴𝐵 = 300 𝑁
(2 𝑚)2 +(6 𝑚)2 +(3 𝑚)2

𝐹𝐴𝐵 = 257.1 𝑁 = 𝟐𝟓𝟕 𝑵

𝐹⟂ = 𝐹 2 − 𝐹𝐴𝐵2 = (300 𝑁)2 −(257.1 𝑁)2

𝐹⟂ = 154.5 𝑁 = 𝟏𝟓𝟒 𝑵
Sample Problem 13
The pipe in the figure is subjected to the force
of F = 80 lb. Determine the angle θ between F
and the pipe segment BA and the projection of
F along this segment.
Solution:
(To solve for θ)
𝐅 ∙ 𝐫BA 𝐅 ∙ 𝐮BA (We will use this 2nd option to solve
θ = cos −𝟏 (or) θ = cos −𝟏
𝐹𝑟𝐵𝐴 𝐹𝑢𝐵𝐴 the two required simultaneously)
(Solve for F and uBA first)
1
𝐅 = 80 𝑙𝑏 − 3 𝑓𝑡 𝐣 + (1 𝑓𝑡)𝐤 𝐅 = −75.9𝐣 + 25.3𝐤 𝑙𝑏
(−3 𝑓𝑡)2 +(1 𝑓𝑡)2
1 2 2 1
𝐮BA = −(2)𝐢 − (2)𝐣 + (1)𝐤 𝐮BA = − 𝐢 − 𝐣 + 𝐤
(−2)2 +(−2)2 +(1)2 3 3 3
(Solve for 𝐅 ∙ 𝐮BA, the projection, and the θ)
2 1
𝐅 ∙ 𝐮BA = −75.9 lb − + 25.3 lb 𝐅 ∙ 𝐮BA = 𝟓𝟗. 𝟎 𝒍𝒃
3 3
59.0 𝑙𝑏 (Take note that uBA
𝜃 = cos−1 𝜃 = 42.40
80 𝑙𝑏 (1) is always equal to 1)
 “The most effective way of learning the
principles of engineering mechanics is to
solve problems.”
ASSIGNMENT!
Answer the following problems from Chapter 2 review problems
of our textbook in page 82-83: Problems 2-135, 2-138, 2-139, 2-
142, and 2-143.

Write the solutions neatly and in an organized manner on short

bond papers (Do not encode). Scan them and save them to one
file as PDF.

Due date: October 6, 2021