Sim 1

UNIVERSITY OF MINDANAO
College of Engineering Education

Civil Engineering Program
Physically Distanced but Academically Engaged
Self-Instructional Manual (SIM) for

Self-Directed Learning (SDL)
Course/Subject: CEE 117 – STATICS OF RIGID BODIES

Name of Teacher: ENGR. DANNY MAR NAIPA
THIS SIM/SDL MANUAL IS A DRAFT VERSION ONLY; NOT FOR REPRODUCTION AND DISTRIBUTION
OUTSIDE OF ITS INTENDED USE. THIS IS INTENDED ONLY FOR THE USE OF THE STUDENTS WHO ARE
OFFICIALLY ENROLLED IN THE COURSE/SUBJECT.
EXPECT REVISIONS OF THE MANUAL.
Table of Contents
Course Outline: CEE 117 – Statics of Rigid Bodies ........................................................................... 3

Course Outline Policy ......................................................................................................................... 3
Course Information ............................................................................................................................. 6
Big Picture (Week 1-3) ........................................................................................................................ 6
Big Picture in Focus: ULO-1a ............................................................................................................. 6
Metalanguage ........................................................................................................................... 6
Essential Knowledge ................................................................................................................. 7
Introduction ................................................................................................................... 7
Newtonian Mechanics ..................................................................................................... 8
Mass, Force and Weight................................................................................................... 9
Self-Help ................................................................................................................................ 10
Let’s Check ............................................................................................................................. 10
Let’s Analyze .......................................................................................................................... 11
Keywords Index ...................................................................................................................... 12
Big Picture in Focus: ULO-1b ........................................................................................................... 12
Metalanguage ......................................................................................................................... 12
Essential Knowledge ............................................................................................................... 13
Fundamental Properties of Vectors ................................................................................ 13
Representation of Vectors using Rectangular Components............................................... 17
Vector Multiplication .................................................................................................... 29
Self-Help ................................................................................................................................ 34
Let’s Analyze .......................................................................................................................... 34
Keywords Index ...................................................................................................................... 38
Big Picture in Focus: ULO-1c ........................................................................................................... 39
Metalanguage ......................................................................................................................... 39
Essential Knowledge ............................................................................................................... 39
Equivalence of Vectors .................................................................................................. 39
Force and their Characteristics ...................................................................................... 40
Reduction of Concurrent Force Systems .......................................................................... 40
Moment of a Force about a Point ................................................................................... 44
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Moment of a Force about an Axis ................................................................................... 50
Couples ........................................................................................................................ 54
Changing the Line of Action of a Force ........................................................................... 62
Self-Help ................................................................................................................................ 65
Let’s Analyze .......................................................................................................................... 66
Keywords Index ...................................................................................................................... 72
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Course Outline: CEE 117 – Statics of Rigid Bodies
Course Facilitator: Danny Mar Naipa, RCE

Email: dnaipa@umindanao.edu.ph
Student Consultation: Done by online (LMS) or emails
Mobile:
Phone: (082) 3005456 or 3000647 loc. 131
Effectivity Date: May 2020
Mode of Delivery: Blended (On-Line with face to face or virtual sessions)
Time Frame: 54 Hours
Student Workload: Expected Self-Directed Learning
Requisites: CEE 102/L – Physics 1 for Engineers
CEE 101 – Engineering Calculus 1
Credit: 3.0 lecture units
Attendance Requirements: A minimum of 95% attendance is required at all
scheduled Virtual or face to face sessions.
Course Outline Policy
Areas of Concern Details

Contact and Non-contact Hours This 3-unit course self-instructional manual is designed
for blended learning mode of instructional delivery with
scheduled face to face or virtual sessions. The expected
number of hours will be 54 including the face to face or
virtual sessions. The face to face sessions shall include the
summative assessment tasks (exams) since this course is
crucial in the licensure examination for engineers.
Assessment Task Submission Submission of assessment tasks shall be on 3rd, 5th, 7th and
9th week of the term. The assessment paper shall be
attached with a cover page indicating the title of the
assessment task (if the task is performance), the name of
the course coordinator, date of submission and name of the
student. The document should be emailed to the course
coordinator. It is also expected that you already paid your
tuition and other fees before the submission of the
assessment task.
If the assessment task is done in real time through the

features in the Blackboard Learning Management
System, the schedule shall be arranged ahead of time by
the course coordinator.
Since this course is included in the licensure examination

for engineers, you will be required to take the exam
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inside the University. This should be scheduled ahead of
time by your course coordinator. This is non-negotiable
for all licensure-based programs.
Penalties for Late The score for an assessment item submitted after the
Assignments/Assessments designated time on the due date, without an approved
extension of time, will be reduced by 5% of the possible
maximum score for that assessment item for each day or
part day that the assessment item is late.
However, if the late submission of assessment paper has a

valid reason, a letter of explanation should be submitted
and approved by the course coordinator. If necessary, you
will also be required to present/attach
evidences.
Return of Assignments/ Assessment tasks will be returned to you two (2) weeks
Assessments after the submission. This will be returned by email or via
Blackboard portal.
For group assessment tasks, the course coordinator will

require some or few of the students for online or virtual
sessions to ask clarificatory questions to validate the
originality of the assessment task submitted and to ensure
that all the group members are involved.
Assignment Resubmission You should request in writing addressed to the course
coordinator his/her intention to resubmit an assessment
task.
The resubmission is premised on the student’s failure to

comply with the similarity index and other reasonable
grounds such as academic literacy standards or other
reasonable circumstances e.g. illness, accidents financial
constraints.
Re-marking of Assessment Papers You should request in writing addressed to the program
and Appeal coordinator your intention to appeal or contest the score
given to an assessment task. The letter should explicitly
explain the reasons/points to contest the grade. The
program coordinator shall communicate with the students
on the approval and disapproval of the request.
If disapproved by the course coordinator, you can elevate

your case to the program head or the dean with the
original letter of request. The final decision will come from
the dean of the college.
Grading System All culled from BlackBoard sessions and traditional
contact
Course discussions/exercises – 30%
1st formative assessment – 10%
2nd formative assessment – 10%
3rd formative assessment – 10%
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All culled from on-campus/onsite sessions (TBA):
Final exam – 40%
Submission of the final grades shall follow the usual

University system and procedures.
Student Communication You are required to create a umindanao email account
which is a requirement to access the BlackBoard portal.
Then, the course coordinator shall enroll the students to
have access to the materials and resources of the course.
All communication formats: chat, submission of
assessment tasks, requests etc. shall be through the portal
and other university recognized platforms.
You can also meet the course coordinator in person

through the scheduled face to face sessions to raise your
issues and concerns.
For students who have not created their student email,

please contact the course coordinator or program head.
Contact Details of the Dean Dr. Charlito L. Cañesares
Email: ccanesares@umindanao.edu.ph Phone:
0956 211 2181
Contact Details of the Program Engr. Showna Lee T. Sales
Head Email: ssales@umindanao.edu.ph
Phone: 0966 305 3851
Students with Special Needs Students with special needs shall communicate with the
course coordinator about the nature of his or her special
needs. Depending on the nature of the need, the course
coordinator with the approval of the program coordinator
may provide alternative assessment tasks or extension of
the deadline of submission of assessment tasks. However,
the alternative assessment tasks should still be in the
service of achieving the desired course learning outcomes.
Contact Details of CEE Blackboard Jetron J. Adtoon
Administrator 0905 526 7834
jadtoon@umindanao.edu.ph
Help Desk Contact Frida Santa O. Dagatan
0956 208 2442 or (082) 227 2902
library@umindanao.edu.ph
Library Contact Brigida E. Bacani
0951 376 6681
library@umindanao.edu.ph
Well-being Welfare Support Help Ronadora E. Deala
Desk Contact Details 0921 212 2846
ronadora_deala@umindanao.edu.ph
Silvino P. Josol
0906 075 7721
gstcmain@umindanao.edu.ph
5
2nd Floor, BE Building
Matina Campus, Davao City
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Course Information - see/download course syllabus in the Black Board LMS

CF’s Voice: Hello future engineers! Welcome to this course CEE 117 – Statics of Rigid
Bodies. Engineering Mechanics is an integral component in the
engineering profession especially about mechanical design,
civil/structural engineering, robotics, aerospace engineering, etc. We
need to understand the basic concepts of mechanics to maximize its
application on the engineering field.
CO Solve and evaluate forces and moments acting on rigid bodies at rest:
coplanar and non-coplanar forces, concurrent and non-concurrent
forces, two dimensional and three dimensional force system equilibrium,
stresses of trusses, frames, beams, cables, and friction forces with
undertakings in vector mechanics, free body diagrams and equilibrium
equations.
Let us begin!
Big Picture (Week 1-3)
Week 1-3: Unit Learning Outcomes (ULO-1): At the end of the unit, you are expected to
a. Explain the general field of engineering mechanics and its key subjects and fundamental
principles;
b. Examine vectors including its properties, representation and operations;
c. Use vector algebra in reducing force systems to a simpler equivalent system and solve
problems involving moment of a force and couples
Big Picture in Focus: ULO-1a. Explain the general field of engineering

mechanics and its key subjects and fundamental principles
Metalanguage
In this section, the most essential terms relevant to the study of engineering
mechanics and to demonstrate ULO-1a will be operationally defined to establish a common
frame of reference.
1. Engineering – application of mathematical and physical sciences to the design and
analysis of things for the benefit of mankind.
2. Mechanics – branch of physics that considers the action of forces on bodies or fluids that
are at rest or in motion.
3. Physics – the science that relates the properties of matter and energy including
thermodynamics, electricity, magnetism and nuclear physics.
4. Rigid body – idealization of a solid body in which deformation is neglected.
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5. Fluids – idealization of liquid and gases.

6. Law of universal gravitation - the law states that the two particles are attracted to each
other by forces that act along the line connecting the particles.
7. Mass – a measure of quantity of matter (scalar) contained in a body, referred to as a
measure of resistance to change in velocity which is known as inertia of a body.
8. Force – is the product of mass of a particle to its acceleration vector.
9. Weight – is the force of gravitation acting on a body.
Essential Knowledge
To perform the ULO for the first 3 weeks of the course, you need to understand the
following key concepts that will be presented in the succeeding pages. You are also expected
to use other references, books, and other resource material that is available in the
university’s library.
Introduction
The branches of engineering mechanics are presented in the figure below and its
definitions.
Engineering Mechanics
Mechanics of Mechanics of Mechanics of

Fluids Deformable Rigid Bodies
Bodies
Statics Dynamics
Kinematics Kinetics
1. Engineering Mechanics – branch of engineering that applies the principles of mechanics

to mechanical design that must take account the effect of forces.
2. Mechanics of Fluids – deals with the study of liquids and gases that are at rest of in
motion.
3. Mechanics of Deformable Bodies – deals with the internal force and deformation
developed from actual engineering structures and components.
4. Mechanics of Rigid Bodies – deals with the external effects of rigid bodies which is
classified into statics and dynamics.
5. Statics – deals with the distribution and effect of forces on bodies which are at rest and
remain at rest.
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6. Dynamics – deals with the study motion of bodies and their correlation with the forces
causing them which is classified into kinematics and kinetics.
7. Kinematics – study of motion of bodies without considering the forces causing the
motion.
8. Kinetics – study of motion of bodies together with the forces causing the motion.
Newtonian Mechanics
In 1687, Sir Isaac Newton published his celebrated laws of motion in Principia
(Mathematical Principles of Natural Philosophy). The book being considered as one of the
most influential scientific books ever published produced major impact in the field of
engineering and sciences. Using modern terminology, Newton’s laws of particle motion may
be stated as follows:
1. If a particle is at rest (or moving with constant velocity in a straight line), it will remain
at rest (or continue to move with constant velocity in a straight line) unless acted upon
by a force.
2. A particle acted upon by a force will accelerate in the direction of the force. The
magnitude of the acceleration is proportional to the magnitude of the force and inversely
proportional to the mass of the particle.
3. For every action, there is an equal and opposite reaction; that is, the forces of interaction
between two particles are equal in magnitude and oppositely directed along the same
line of action.
One of the major accomplishments of Newton is the proposed law of universal

gravitation. If two particles of mass mA and mB separated at a distance R, the law states that
the two particles are attracted to each other by forces of magnitude F that act along the line
connecting the particles.
The equation shown below is the mathematical representation of the proposed law
of universal gravitation where G is the universal gravitational constant equal to 3.44x10-8
ft4/(lb-s4) of 6.67x10-11 m3/(kg-s2).
𝑚𝐴 𝑚𝐵
𝐹=𝐺
𝑅2
Example:
Find the gravitational force exerted by the earth on a 70-kg man whose elevation
above the surface of the earth equals the radius of the earth. The mass and radius of the earth
are Me = 5.9742×1024 kg and Re = 6378 km, respectively.
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Given:
Mass of man, mA = 70 kg
Mass of earth, mB = 5.9742×1024 kg
Distance between man and earth = 2Re = 2(6,378,000 m) = 12,756,000 m
Solution:
𝑚𝐴 𝑚𝐵 −11
m3 70 kg(5.9742 × 1024 kg)
𝐹=𝐺 = 6.67 × 10 [ ]
𝑅2 kg − s2 (12,756,000 m)2
Answer:
𝐹 = 171.4 N
Mass, Force and Weight
Another important concept in studying engineering mechanics is to define and know

the difference between mass, force and weight. The definitions and formulas relating these
three functions are presented below:
1. Mass – a measure of quantity of matter (scalar) contained in a body, referred to as a
measure of resistance to change in velocity which is known as inertia of a body.
2. Force – is the product of mass of a particle to its acceleration vector. As stated in
Newton’s second law of motion:
𝐅 = 𝑚𝐚
3. Weight – is the force of gravitation acting on a body, using g as the gravitational

acceleration (g = 9.81 m/s2 or 32.2 ft/s2 on earth), the weight of a body with mass m is
given by:
𝑊 = 𝑚𝑔
Common units used for mass, force and weight. Note: 1 slug = 14.594 kg
S.I. Units U.S. Customary

Mass kilogram (kg), gram (g) slug
Force, Weight newton (N), kilonewton (kN) pound (lb), kips (k)
Example:
A person weighs 30 lb on the moon, where g = 5.32 ft/s2. Determine (a) the mass of
the person in slugs, (b) the mass of the person in kg, (c) the weight of the person on earth in
lb, (d) the weight of the person on earth in N.
Given:
Weight of person on the moon, W = 30 lb
Gravitational acceleration on the moon, g = 5.32 ft/s2
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Solution (a):
𝑊 30 lb
𝑚= =
𝑔 5.32 ft/s 2
Answer (a):
𝑚 = 5.64 slugs
Solution (b):
14.594 kg
𝑚 = 5.64 slugs ( )
1 slug
Answer (b):
𝑚 = 82.3 kg
Solution (c):
𝑊 = 𝑚𝑔 = 5.64 slugs(32.2 ft/s 2 )
Answer (c):
𝑊 = 181.61 lb
Solution (d):
𝑊 = 𝑚𝑔 = 82.3 kg(9.81 m/s 2 )
Answer (d):
𝑊 = 807.36 N
Self-Help: You can also refer to the sources below to help you further
understand the lesson
*Kuisalaas, J and Pytel, A (2017). Engineering Mechanics: Statics. 3rd Ed., Cengage Learning
*Beer, F (2013). Vector Mechanics for Engineers: Statics. 10th Ed., Boston: McGraw Hill
Higher Education
* Meriam, J.L. (2016). Engineering Mechanics. 8th Ed., Hoboken, NJ Wiley
Let’s Check
Activity 1:
Now that you know the basic terms and concepts in the study of engineering
mechanics, let’s try to check your understanding of these terms. Write the term/s on the
space provided for the statement in each item.
___________________1. Refers to the measure of quantity of matter in a body.
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___________________2. Deals with the study of motion of bodies without considering the forces
causing the motion.
___________________3. States that a particle acted upon by a force will accelerate in the
direction of the force and the magnitude of the acceleration is proportional to the magnitude
of the force and inversely proportional to the mass of the particle.
___________________4. A branch of engineering mechanics which deals with the distribution
and effect of forces on bodies which are at rest and remain at rest.
___________________5. A branch of engineering that applies the principles of mechanics to
mechanical design that must take account the effect of forces.
___________________6. A well-known physicist who published his celebrated laws of motion in
Principia (Mathematical Principles of Natural Philosophy).
___________________7. States that if two particles separated at a distance are attracted to each
other by forces that act along the line connecting the particles.
___________________8. A vector quantity which is obtained from the product of mass of a
particle to its acceleration.
___________________9. It is the U.S. Customary System unit used for mass.
__________________10. Deals with the study of motion of bodies together with the forces
causing the motion.
Let’s Analyze
Activity 1:
Solve the following problems related to the fundamental principles of engineering
mechanics. The approach in solving the problems must be expressed in the following parts:
a. Given: After reading the problem, write down all the data provided, if a figure is
required, neatly sketch the figure.
b. Solution: Solve the problem, show all the formulas and steps used in the analysis. Write
your solution as neatly as possible.
c. Answer: Write your final answer with the corresponding unit/s used. The final answer
must be connected with the solution.
Problem No. 1:
Determine the gravitational force in N which the copper sphere exerts on the steel
sphere. Both spheres are homogeneous, and the value of 𝑟 is 50 mm. Density of copper and
steel are 8910 kg/m3 and 7830 kg/m3, respectively.
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Problem No. 2:
A car has a mass of 1400 kg. Calculate the following: (a) the weight of the car in N, (b)
the mass of the car in slugs, (c) the weight of the car in pounds.
Problem No. 3:
Using Newton’s law of universal gravitation, calculate the weight of a 70-kg man
standing on the surface of the earth. Verify your answer by calculating the weight using 𝑊 =
𝑚𝑔. The mass and radius of the earth are 𝑀𝑒 = 5.976×1024 kg and 𝑅𝑒 = 6371 km, respectively.
Problem No. 4:
If a man weighs 155 lb on earth, specify (a) his mass in slugs, (b) his mass in kilograms,
(c) his weight in newtons. If the man is on the moon, where the acceleration due to gravity is
5.30 ft/s2, determine (d) his weight in pounds, and (e) his mass in kilograms.
Keywords Index
Engineering
Engineering Physics Rigid Body
Mechanics
Law of Universal
Mechanics of Fluids Mass Force
Gravitation
Mechanics of
Weight Laws of Motion Statics
Deformable Bodies
Newtonian
Dynamics Kinematics Kinetics
Mechanics
Big Picture in Focus: ULO-1b. Examine vectors including its

properties, representation and operations
Metalanguage
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To demonstrate ULO-1b, it is essential to have an operational understanding of the

following terms shown below. This section will also allow us to fully understand the
preceding topics that will be discussed.
1. Scalar – is a quantity that possess magnitude only. (i.e. mass, time, temperature, speed).
2. Vector – is a quantity that possess both magnitude and direction. (i.e. force, velocity,
displacement).
3. Triangle law and parallelogram law of addition – two common methods in calculating
addition of vectors.
4. Cartesian coordinate system – a coordinate system that specifies each point uniquely in
a plane by a set of numerical coordinates, which are distances to the point from two fixed
perpendicular oriented lines, measured in the same unit of length.
5. Position vector – defined as a fixed vector which locates a point in space relative to
another point.
Essential Knowledge
One of the most important concepts in the study of statics is knowledge in vectors. In
this section, we will study the fundamental properties of vectors, including its representation
and operations.
Fundamental Properties of Vectors
Before we discuss vectors, we must establish an algebraic notation that we will use to
indicate scalar and vector. Scalar quantities will be written as italicized English or Greek
letters (i.e. 𝐴, 𝑡, 𝜃) while vector quantities will be written as bold letters (i.e. 𝐀, 𝐅). We will
also use a line segment to represent vectors geometrically with its sense and direction is
specified with an arrow (or head). Example below shows vector 𝐀 with a magnitude of 4
units directed from point 𝑂 to point 𝑃 at 20° counterclockwise from the horizontal axis.
If two vectors 𝐀 and 𝐁 are equal, such that 𝐀 = 𝐁, their magnitudes must be equal
(𝐴 = 𝐵), and they must have the same direction. This property is called equality of vectors.
A unit vector is a dimensionless vector with magnitude 1. We will use the Greek letter,
λ, to represent a unit vector. If the unit vector has the same direction as vector 𝐀 with
magnitude A, we can say that:
𝐀 = 𝐴𝛌
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The addition of two vectors using a geometric approach can be done using two
methods: parallelogram law for addition and triangle law. Say we have two vectors A and B,
the sum of the two vectors which is the resultant vector 𝐑 can be obtained with
parallelogram law of addition using the following procedure:
1. Join the tails of the two vectors A and B at a single point to make it concurrent.
2. From the head of B, draw a line parallel to A. Draw a second line from the head of A that
is parallel to B. The two lines will intersect at point P forming a parallelogram shape.
3. The diagonal formed from the tail of vectors A and B to point P represents the resultant
(sum) vector R such that R = A + B.
If triangle law is applied, the two vectors must be connected in a “head to tail” manner.
Using same vectors, A and B, connect the head of A to the tail of B, the resultant R is obtained
from the tail of A to the head of B, we get R = A + B. In a similar approach, R can also be
obtained by connecting the head of B to the tail of A, where R is from the tail of B to the head
of A. The resultant R = B + A making vector addition a commutative property.
In vector subtraction, the difference between two vectors A and B of the same form
may be stated as R’ = A - B = R = A + (-B).
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Since the geometric configuration of vector addition is composed of triangles, the

calculation of the magnitude of the vectors can be obtained using the laws of sines and
cosines. The sides of the triangle can be represented as the magnitude of the vector and can
be calculated using an analytical approach.
Example:
In the given figure shown (on the left), two position vectors of magnitudes 𝐴 = 60 ft
and 𝐵 = 100 ft. (A position vector is a vector drawn between two points in space.) Determine
the resultant 𝐑 = 𝐀 + 𝐁 (magnitude and direction) analytically, using the triangle law.
Given:
Solution:
Connecting the head of 𝐴 to the tail of 𝐵 (head to tail) we get the resultant 𝐑 = 𝐀 + 𝐁 by
drawing a line segment from the tail of 𝐴 to the head of 𝐵. The angle between vector 𝐴 and 𝐵
from the triangle formed can be calculated using concepts of trigonometry (180° − 70° +
30° = 140°).
To get the magnitude of 𝐑, we will use the laws of cosines. We can get 𝑅 from the triangle
formed in the figure above.
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𝑅 2 = 602 + 1002 − 2(60)(100) cos 140° = 150.97 ft ≈ 151 ft
To determine the direction of 𝑅, we simply calculate 𝛼 using the laws of sines then add its
value to 30°.
100 150.97
=
sin ∝ sin 140°
∝= 25.2°
30°+∝= 55.2°
Answer:
R = 151 ft at 55.2° CCW with the horizontal axis (or as represented in the sketch below)
Example:
Using parallelogram law of addition, determine the magnitude of vector F and the
magnitude of the resultant force FR (resultant of F and the 200 lb force) if FR is directed along
the positive y-axis.
Given:
Solution:
Using parallelogram law of addition, we draw a line from the head of the 200 lb force parallel
to F, and another line from the head of F parallel to the 200 lb force. Since the resultant is
directed along the positive y-axis the two drawn lines must intersect exactly at the positive
y-axis as shown in the figure.
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Calculating the necessary angles by trigonometry and using the figure, we can apply laws of
sines to determine the magnitude of F and FR.
𝐹 200
=
sin 60 ° sin 45°
𝐹𝑅 200
=
sin(45° + 30°) sin 45°
Answer:
𝐹 = 244.95 lb, 𝐹𝑅 = 273.2 lb
Representation of Vectors using Rectangular Components
Using a two-dimensional system, the rectangular components of vector 𝐅 in the figure shown
can be calculated analytically. Using the parallelogram law of addition we can say that 𝐅 =
𝐅𝑥 + 𝐅𝑦 . The magnitude of the components 𝐅𝑥 and 𝐅𝑦 forms a right triangle and can be
calculated using 𝐹𝑥 = 𝐹 cos 𝜃 and 𝐹𝑦 = 𝐹 sin 𝜃. The magnitude of 𝐹 and the angle 𝜃 can be
calculated using
𝐹𝑦
𝐹 = √𝐹𝑥 2 + 𝐹𝑦 2 𝜃 = 𝑡𝑎𝑛−1
𝐹𝑥
In a three-dimensional system, a right handed, rectangular Cartesian coordinate

system will be used throughout this course is shown below. To create the system, you simply
curl your right hand fingers and extend your thumb at the same time. The coordinate axes
direction should be directed with your hand as follows: (1) x-axis parallel to the palm, (2) y-
axis in the direction of the fingers, (3) z-axis in the direction of the thumb.
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If a vector A is resolve into components directed on the Cartesian coordinate system

as shown below, along the positive directions i, j, and k, we can express vector A as:
𝐀 = 𝐴𝑥 𝐢 + 𝐴𝑦 𝐣 + 𝐴𝑧 𝐤
The magnitude of vector 𝐀 which is denoted as 𝐴 is simply the diagonal line from the
parallelepiped that is formed by the components 𝐴𝑥 , 𝐴𝑦 and 𝐴𝑧 .
𝐴 = √𝐴𝑥 2 + 𝐴𝑦 2 + 𝐴𝑧 2
To calculate the magnitude of components 𝐴𝑥 , 𝐴𝑦 and 𝐴𝑧 , we will form three right

triangles with common hypotenuse in the direction of 𝐀 and adjacent sides along each of the
three axes as shown below.
𝐴𝑥 𝐴𝑦 𝐴𝑧
cos 𝛼 = cos 𝛽 = cos 𝛾 =
𝐴 𝐴 𝐴
𝐴𝑥 = 𝐴 cos 𝛼 𝐴𝑦 = 𝐴 cos 𝛽 𝐴𝑧 = 𝐴 cos 𝛾
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The direction cosines can now be calculated by simply replacing the 𝐴 with 1 (as
definition of unit vector) and the components 𝐴𝑥 , 𝐴𝑦 and 𝐴𝑧 with 𝜆𝑥 , 𝜆𝑦 and 𝜆𝑧 , we get:
𝜆𝑥 = cos 𝛼 𝜆𝑦 = cos 𝛽 𝜆𝑧 = cos 𝛾
Therefore, the magnitude of components 𝐴𝑥 , 𝐴𝑦 and 𝐴𝑧 can also be expressed in terms

of the direction cosines:
𝐴𝑥 = 𝐴𝜆𝑥 𝐴𝑦 = 𝐴𝜆𝑦 𝐴𝑧 = 𝐴𝜆𝑧
From the vector representation 𝐀 = 𝐴𝑥 𝐢 + 𝐴𝑦 𝐣 + 𝐴𝑧 𝐤, we now substitute the above

equations and we will obtain:
𝐀 = 𝐴𝜆𝑥 𝐢 + 𝐴𝜆𝑦 𝐣 + 𝐴𝜆𝑦 𝐤
𝐀 = 𝐴(𝜆𝑥 𝐢 + 𝜆𝑦 𝐣 + 𝜆𝑦 𝐤)
Since 𝛌 = 𝜆𝑥 𝐢 + 𝜆𝑦 𝐣 + 𝜆𝑦 𝐤, we now verify that 𝐀 = 𝐴 𝛌. Thus, the vector

representation of 𝐀 is simply the product of its magnitude and unit vector. We also need to
remember that since the magnitude of the unit vector is 1, the following identity must be
satisfied:
1 = 𝜆𝑥 2 + 𝜆𝑦 2 + 𝜆 𝑧 2
In other occasions, the direction of vector 𝐀 is directed using two different angles: a
transverse angle 𝜃 and azimuth angle 𝜙, as shown below. The components of 𝐀 can then be
determined by applying trigonometry first at the triangle where 𝜙 is present.
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𝐴𝑧 = 𝐴 cos 𝜙 𝐴′ = 𝐴 sin 𝜙
After calculating 𝐴′ , we can now calculate 𝐴𝑥 and 𝐴𝑦 using the triangle where 𝜃 is
present.
𝐴𝑥 = 𝐴′ cos 𝜃 = 𝐴 sin 𝜙 cos 𝜃
𝐴𝑦 = 𝐴′ sin 𝜃 = 𝐴 sin 𝜙 sin 𝜃
Therefore, 𝐀 = 𝐴𝑥 𝐢 + 𝐴𝑦 𝐣 + 𝐴𝑧 𝐤 can also be written as:

𝐀 = 𝐴 sin 𝜙 cos 𝜃 𝐢 + 𝐴 sin 𝜙 sin 𝜃 𝐣 + 𝐴 cos 𝜙 𝐤
Example:
From the given figure, determine (a) the rectangular representation of the position
vector 𝐀; and (b) the angles between 𝐀 and each of the positive coordinate axes.
Given:
Solution (a):
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Calculate first 𝐴𝑧 and 𝐴𝑥𝑦 = 𝐴′ where 𝜙 = 30°, using the figure below.
𝐴𝑧 = 𝐴 cos 𝜙 = 12 cos 30° = 10.39 m

𝐴𝑥𝑦 = 𝐴′ = 𝐴 sin 𝜙 = 12 sin 30° = 6 m
Next is we resolve 𝐴𝑥𝑦 into components along x and y axes with 𝜃 = 40°, using the figure
below.
𝐴𝑥 = 𝐴𝑥𝑦 cos 𝜃 = 6 cos 40° = 4.596 m
𝐴𝑦 = 𝐴𝑥𝑦 sin 𝜃 = 6 sin 40° = 3.857 m
Answer (a):
𝐀 = 4.596𝐢 + 3.857𝐣 + 10.39𝐤 m
Solution (b):
𝐴𝑥 4.596
∝ = 𝜃𝑥 = cos −1 = cos −1
𝐴 12
𝐴
−1 𝑦 −1
3.857
𝛽 = 𝜃𝑦 = cos = cos
𝐴 12
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𝐴𝑧 10.392
𝛾 = 𝜃𝑧 = cos−1 = cos −1
𝐴 12
Answer (b):
𝜃𝑥 = 67.5°, 𝜃𝑦 = 71.3°, 𝜃𝑧 = 30°
In some cases, you might encounter problems where vectors pass through some
points in space with specified coordinates. Thus, it is important to have knowledge in
coordinate system in space. As an example, points 𝐴 and 𝐵 in space as shown in the figure
has the following coordinates: 𝐴 (4 m, 2 m, -6 m) and 𝐵 (6 m, -1 m, 4 m).
To have a better understanding with these type of problem, you must know the
concept of position vector. A position vector is defined as a fixed vector which locates a point
in space relative to another point. For example, if vector 𝐫 is directed from the origin 𝑂 to a
point 𝑃 (𝑥, 𝑦, 𝑧), from the figure below, we can represent the position vector 𝐫 as
𝐫 = 𝑥𝐢 + 𝑦𝐣 + 𝑧𝐤
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Note how the head-to-tail vector addition of the three components yields vector r.
A position may also be directed point 𝐴 to point 𝐵 in space as shown in the figure
below. By using the triangle law of addition, we can obtain the equation 𝐫𝐴 + 𝐫 = 𝐫𝐵 . Note
that 𝐫 can also be expressed with a subscript of the two points where it is directed. In this
case, since 𝐫 is directed from 𝐴 to 𝐵 it can also be expressed as 𝐫𝐴𝐵 , where the first letter
indicates the tail and the second letter as the head of the line segment representing 𝐫.
It is necessary to express 𝐫 using the coordinates of points 𝐴 and 𝐵. In doing so, we

get
𝐫𝐴 + 𝐫 = 𝐫𝐵
𝐫 = 𝐫𝐵 − 𝐫𝐴
𝐫 = (𝑥𝐵 𝐢 + 𝑦𝐵 𝐣 + 𝑧𝐵 𝐤) − (𝑥𝐴 𝐢 + 𝑦𝐴 𝐣 + 𝑧𝐴 𝐤)
simplifying the equation

𝐫 = (𝑥𝐵 − 𝑥𝐴 )𝐢 + (𝑦𝐵 − 𝑦𝐴 )𝐣 + (𝑧𝐵 − 𝑧𝐴 )𝐤
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In other words, we can determine the components of position vector 𝐫 by subtracting the
coordinates of the tail (point 𝐴) from the coordinates of the head (point 𝐵) as shown in the
figure below.
Example:
A rubber band is attached to points 𝐴 and 𝐵 as shown in the given figure. Determine
its (a) overall length and (b) direction angles measured from 𝐴 to 𝐵.
Given:
Solution (a):
First thing to do is to determine the coordinates of points 𝐴 and 𝐵. From the figure, the
coordinates are 𝐴(1 m, 0, -3 m) and 𝐵(-2 m, 2 m, 3 m). We can now calculate the position
vector from point 𝐴 to 𝐵.
𝐫 = (𝑥𝐵 − 𝑥𝐴 )𝐢 + (𝑦𝐵 − 𝑦𝐴 )𝐣 + (𝑧𝐵 − 𝑧𝐴 )𝐤
𝐫 = (−2 − 1)𝐢 + (2 − 0)𝐣 + [3 − (−3)]𝐤
𝐫 = −3𝐢 + 2𝐣 + 6𝐤 m
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The components of 𝐫 can also be determined by direct inspection in the figure, realizing the
direction and distance each component must travel in order to move from point 𝐴 to 𝐵 which
is shown in the figure below.
The length of the rubber band can now be obtained by calculating the magnitude of position
vector 𝐫
𝑟 = √(−3 m)2 + (2 m)2 + (6 m)2
Answer (a):
𝑟 = 7m
Solution (b):
To determine the direction angles of position vector 𝐫, we need to calculate first the
direction cosines from the components of the unit vector.
𝐫
𝐫 = 𝑟𝛌 𝛌=
𝑟
−3𝐢 + 2𝐣 + 6𝐤 m 3 2 6
𝛌= =− 𝐢+ 𝐣+ 𝐤
7m 7 7 7
The direction cosines (or the components of the unit vector) are
3
𝜆𝑥 = −
7
2
𝜆𝑦 =
7
6
𝜆𝑧 =
7
We can now calculate the direction angles:
3
𝛼 = cos−1 (− )
7
2
𝛽 = cos −1 ( )
7
6
𝛾 = cos −1 ( )
7
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Answer (a):
𝛼 = 115.4°, 𝛽 = 73.4°, and 𝛾 = 31°
Note that this direction angles are measured from the positive axes of a localized coordinate
system placed at the tail of 𝐫 (at point 𝐴) as shown in the figure below.
When we understand the concept of position vectors, it will now be easier to idealized
a force vector that is directed along a line in space. An example of a force vector directed
along a line is shown in the figure below.
The force vector 𝐅 can be represented using two points 𝐴 and 𝐵 along the line of action
of the force. We can calculate the unit vector 𝛌 of force vector 𝐅 since it is also equal to the
unit vector of the position vector directed from 𝐴 to 𝐵.
𝐫𝐴𝐵
𝐅 = 𝐹𝛌 = 𝐹 ( )
𝑟𝐴𝐵
(𝑥𝐵 − 𝑥𝐴 )𝐢 + (𝑦𝐵 − 𝑦𝐴 )𝐣 + (𝑧𝐵 − 𝑧𝐴 )𝐤
𝐅 = 𝐹[ ]
√(𝑥𝐵 − 𝑥𝐴 )2 + (𝑦𝐵 − 𝑦𝐴 )2 + (𝑧𝐵 − 𝑧𝐴 )2
Example:
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A cable attached to the eyebolt shown in the given figure is pulled with the force 𝐅
with magnitude of 500 lb. Determine the vector representation of this force.
Given:
Magnitude of the force, 𝐹 = 500 lb
Solution:
By inspection we can establish the position vector from point 𝐴 to 𝐵. That is 𝐫𝐴𝐵 = −4𝐢 +
6𝐣 − 𝟑𝐤 ft. Using this, we can now calculate the unit vector of 𝐫𝐴𝐵 which is also the unit vector
of 𝐅.
𝐫𝐴𝐵 −4𝐢 + 6𝐣 − 𝟑𝐤 ft
𝛌= =
𝑟𝐴𝐵 √(−4)2 + (6)2 + (−3)2 ft
𝛌 = −0.5121𝐢 + 0.7682𝐣 − 0.3841𝐤
Using the equation 𝐅 = 𝐹𝛌,

𝐅 = 500(−0.5121𝐢 + 0.7682𝐣 − 0.3841𝐤)
Answer:
𝐅 = −256𝐢 + 384𝐣 − 192𝐤 lb
The rectangular components of the force vector 𝐅 is shown below.
Another way of performing addition of vectors is by using its corresponding

rectangular components. Say we have two vectors 𝐀 and 𝐁, and its resultant vector is 𝐑, as
shown in the figure below, we can say that
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𝐑 = 𝐀 + 𝐁 = (𝐴𝑥 𝐢 + 𝐴𝑦 𝐣 + 𝐴𝑧 𝐤) + (𝐵𝑥 𝐢 + 𝐵𝑦 𝐣 + 𝐵𝑧 𝐤)
𝐑 = (𝐴𝑥 + 𝐵𝑥 )𝐢 + (𝐴𝑦 + 𝐵𝑦 )𝐣 + (𝐴𝑧 + 𝐵𝑧 )𝐤
In general, if the vector addition is composed of several concurrent forces, then the
components of the resultant vector 𝐑 is simply the algebraic sum of the rectangular
components of each vector in every direction.
𝐑 = ∑𝐹𝑥 𝐢 + ∑𝐹𝑦 𝐣 + ∑𝐹𝑧 𝐤
Example:
The pulley shown in the given figure is subjected by forces 𝐏 and 𝐐 with their
magnitudes indicated. Using rectangular components, determine the magnitude and
direction of the resultant force.
Given:
Solution:
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The rectangular components 𝐏 and 𝐐 of can be calculated using the figure below.
𝐏 = 120 cos 30° 𝐢 + 120 sin 30° 𝐣 = 103.92𝐢 + 60𝐣 lb

𝐐 = −100 cos 70° 𝐢 − 100 sin 70° 𝐣 = −34.2𝐢 − 93.97𝐣 lb
The resultant can now be calculated using the components of 𝐏 and 𝐐.

𝐑 = 𝐏 + 𝐐 = (𝑃𝑥 + 𝑄𝑥 )𝐢 + (𝑃𝑦 + 𝑄𝑦 )𝐣
𝐑 = (103.92 − 34.2)𝐢 + (60 − 93.97)𝐣 lb
𝐑 = 69.72𝐢 − 33.97𝐣 lb
The magnitude and direction of 𝑅 can now be calculated.

𝑅 = √(69.72)2 + (−33.97)2 = 77.6 lb
33.97
𝜃 = tan−1 = 25.98° ≈ 26.0°
69.72
Answer:
𝑅 = 77.6 lb at 𝜃 = 26.0° CW from the positive 𝑥-axis
Vector Multiplication
Another essential operation in vectors than can be useful in the foregoing topics is
vector multiplication. There are three possible ways in performing vector multiplication
with different uses and approach, these are: (1) dot product, (2) cross product, and (3) scalar
triple product.
The dot product also referred to as the scalar product can be performed between two
vectors 𝐀 and 𝐁 with an angle of 𝜃 between their positive direction is expressed as
𝐀 • 𝐁 = 𝐴𝐵 cos 𝜃
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Note that 0 ≤ 𝜃 ≤ 180°, the dot product is positive if 𝜃 < 90°, negative if 𝜃 > 90°, and zero
if 𝜃 = 90°. The following are the important properties of dot product:
1. Commutative property:
𝐀•𝐁 =𝐁•𝐀
2. Distributive property:
𝐀 • (𝐁 + 𝐂) = 𝐀 • 𝐁 + 𝐀 • 𝐂
3. Since at 𝜃 = 90° the dot product is zero, by definition we can say that
𝐢•𝐣= 𝐣•𝐤= 𝐤•𝐢 =0
4. Subsequently at 𝜃 = 0 dot product is equal to 1, we can also say that

𝐢•𝐢=𝐣•𝐣= 𝐤•𝐤 =1
5. Using the principles at items 3 and 4, we can express the dot product in terms of its
components as
𝐀 • 𝐁 = (𝐴𝑥 𝐢 + 𝐴𝑦 𝐣 + 𝐴𝑧 𝐤) • (𝐵𝑥 𝐢 + 𝐵𝑦 𝐣 + 𝐵𝑧 𝐤)
𝐀 • 𝐁 = 𝐴𝑥 𝐵𝑥 + 𝐴𝑦 𝐵𝑦 + 𝐴𝑧 𝐵𝑧
6. Another way of calculating 𝜃 is by calculating the dot product of the unit vectors of 𝐀
and 𝐁 as shown in the figure below
𝐀•𝐁 𝐀 𝐁
cos 𝜃 = = •
𝐴𝐵 𝐴 𝐵
cos 𝜃 = 𝛌𝐴 • 𝛌𝐵
7. If we project 𝐁 onto 𝐀, the projected length of 𝐵 cos 𝜃 is what we called the orthogonal
component of 𝐁 in the direction of 𝐀 can be calculated using the definition of dot product
𝐀•𝐁 𝐀
𝐵 cos 𝜃 = =𝐁•
𝐴 𝐴
𝐵 cos 𝜃 = 𝐁 • 𝛌𝐴
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Example:
Given the following vectors shown, calculate the following: (a) 𝐀 • 𝐁, (b) the orthogonal
component of 𝐁 in the direction of 𝐂, (c) the angle between 𝐀 and 𝐂.
Given:
𝐀 = 8𝐢 + 4𝐣 − 2𝐤 lb
𝐁 = 2𝐣 + 6𝐤 ft
𝐂 = 3𝐢 − 2𝐣 + 4𝐤 ft
Solution (a):
𝐀 • 𝐁 = 𝐴𝑥 𝐵𝑥 + 𝐴𝑦 𝐵𝑦 + 𝐴𝑧 𝐵𝑧
𝐀 • 𝐁 = 8(0) + 4(2) + (−2)(6)
Answer (a):
𝐀 • 𝐁 = −4 lb ∙ ft
Solution (b):
𝐂 3𝐢 − 2𝐣 + 4𝐤 ft
𝛌𝐶 = = = 0.5571𝐢 − 0.3714𝐣 + 0.7428𝐤
𝐶 √(3)2 + (−2)2 + (4)2 ft
𝐵 cos 𝜃 = 𝐁 • 𝛌𝐶 = 0(0.5571) + 2(−0.3714) + 6(0.7428)
Answer (b):
𝐵 cos 𝜃 = 𝐁 • 𝛌𝐶 = 3.714 ft
Solution (c):
𝐀 8𝐢 + 4𝐣 − 2𝐤 ft
𝛌𝐴 = = = 0.8729𝐢 + 0.4364𝐣 − 0.2182𝐤
𝐴 √(8)2 + (4)2 + (−2)2 ft
cos 𝜃 = 𝛌𝐴 • 𝛌𝑐 = 0.8729(0.5571) + 0.4364(−0.3714) + (−0.2182)(0.7428)
cos 𝜃 = 0.162
𝜃 = cos −1(0.162)
Answer (c):
𝜃 = 80.7°
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The cross product also referred to as the vector product can be performed between
two vectors 𝐀 and 𝐁 with an angle of 𝜃 between their positive direction as shown in the figure
below is expressed as
𝐂=𝐀×𝐁
where the magnitude of 𝐂 can be calculated as

𝐶 = 𝐴𝐵 sin 𝜃
Note that 0 ≤ 𝜃 ≤ 180° and 𝐶 is always a positive number. The following are the
important properties of cross product:
1. 𝐂 is perpendicular to 𝐀 and 𝐁 with its direction is determined by the right-hand rule,
which states that the direction of 𝜃 (directed from 𝐀 to 𝐁) is the same as the direction of
your right-hand fingers curled at the same time your thumb pointing the direction of 𝐂
as shown.
2. Distributive property:
𝐀 × (𝐁 + 𝐂) = (𝐀 × 𝐁) + (𝐀 × 𝐂)
3. The cross product is not associative nor commutative:

𝐀×𝐁 ≠𝐁×𝐀
𝐀 × (𝐁 × 𝐂) ≠ (𝐀 × 𝐁) × 𝐂
4. Since at 𝜃 = 90° the cross product is 1, by definition we can say that

𝐢×𝐣=𝐤 𝐣×𝐤=𝐢 𝐤×𝐢=𝐣
5. Subsequently at 𝜃 = 0 cross product is equal to 0, we can also say that

𝐢×𝐢 = 𝐣×𝐣 =𝐤×𝐤 =0
6. Using the principles at items 4 and 5, we can express the dot product in terms of its
components as
𝐀 × 𝐁 = (𝐴𝑥 𝐢 + 𝐴𝑦 𝐣 + 𝐴𝑧 𝐤) × (𝐵𝑥 𝐢 + 𝐵𝑦 𝐣 + 𝐵𝑧 𝐤)
𝐀 × 𝐁 = (𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 )𝐢 − (𝐴𝑥 𝐵𝑧 − 𝐴𝑧 𝐵𝑥 )𝐣 + (𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 )𝐤
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We can also get an identical expression by obtaining the determinant of the 3×3 matrix
shown below
𝐢 𝐣 𝐤
𝐀 × 𝐁 = [𝐴𝑥 𝐴𝑦 𝐴𝑧 ]
𝐵𝑥 𝐵𝑦 𝐵𝑧
Example:
Given the following vectors shown, calculate the (a) cross vector 𝐀 × 𝐁, (b) the unit vector
that is perpendicular to both 𝐀 and 𝐁.
Given:
𝐀 = 8𝐢 + 4𝐣 − 2𝐤 lb
𝐁 = 2𝐣 + 6𝐤 ft
Solution (a):
𝐢 𝐣 𝐤 𝐢 𝐣 𝐤
𝐀 × 𝐁 = [𝐴𝑥 𝐴𝑦 𝐴𝑧 ] = [8 4 −2]
𝐵𝑥 𝐵𝑦 𝐵𝑧 0 2 6
𝐢 𝐣 𝐤 𝐢 𝐣
𝐀 × 𝐁 = [8 4 −2] 8 4 = (24𝐢 + 0𝐣 + 16𝐤) − (0𝐤 − 4𝐢 + 48𝐣)
0 2 6 0 2
Answer (a):
𝐀 × 𝐁 = 28𝐢 − 48𝐣 + 16𝐤 lb ∙ ft
Solution (b):
Since the cross product 𝐀 × 𝐁 is perpendicular to both 𝐀 and 𝐁, we can say that the unit
vector of cross product 𝐀 × 𝐁 is also perpendicular to both 𝐀 and 𝐁.
28𝐢 − 48𝐣 + 16𝐤 lb ∙ ft
𝛌= = 0.484𝐢 − 0.830𝐣 + 0.277𝐤
√(28)2 + (−48)2 + (16)2 lb ∙ ft
Answer (b):
Since the negative of 𝛌 also perpendicular to both 𝐀 and 𝐁, therefore the final answer will be
𝛌 = ±(0.484𝐢 − 0.830𝐣 + 0.277𝐤).
A vector multiplication that involves three or more vectors is what we called scalar
triple product. The scalar triple products arise when the cross product of two vector is dotted
with a third vector (i.e. 𝐀 × 𝐁 • 𝐂). Remember that the cross product must always be done
first before the dot product.
𝐀 × 𝐁 • 𝐂 = (𝐴𝑥 𝐢 + 𝐴𝑦 𝐣 + 𝐴𝑧 𝐤) × (𝐵𝑥 𝐢 + 𝐵𝑦 𝐣 + 𝐵𝑧 𝐤) • (𝐶𝑥 𝐢 + 𝐶𝑦 𝐣 + 𝐶𝑧 𝐤)
𝐀 × 𝐁 • 𝐂 = [(𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 )𝐢 − (𝐴𝑥 𝐵𝑧 − 𝐴𝑧 𝐵𝑥 )𝐣 + (𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 )𝐤] • (𝐶𝑥 𝐢 + 𝐶𝑦 𝐣 + 𝐶𝑧 𝐤)
𝐀 × 𝐁 • 𝐂 = (𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 )𝐶𝑥 − (𝐴𝑥 𝐵𝑧 − 𝐴𝑧 𝐵𝑥 )𝐶𝑦 + (𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 )𝐶𝑧
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The scalar triple product can also be calculated from the determinant of the matrix
form which is easier to remember.
𝐴𝑥 𝐴𝑦 𝐴𝑧
𝐀 × 𝐁 • 𝐂 = [ 𝐵𝑥 𝐵𝑦 𝐵𝑧 ]
𝐶𝑥 𝐶𝑦 𝐶𝑧
Example:
Given the following vectors shown, calculate the scalar triple product 𝐀 × 𝐁 • 𝐂.
Given:
𝐀 = 8𝐢 + 4𝐣 − 2𝐤 lb
𝐁 = 2𝐣 + 6𝐤 ft
𝐂 = 3𝐢 − 2𝐣 + 4𝐤 ft
Solution:
𝐴𝑥 𝐴𝑦 𝐴𝑧 8 4 −2
𝐀 × 𝐁 • 𝐂 = [ 𝐵𝑥 𝐵𝑦 𝐵𝑧 ] = [0 2 6]
𝐶𝑥 𝐶𝑦 𝐶𝑧 3 −2 4
8 4 −2 8 4
𝐀 × 𝐁 • 𝐂 = [0 2 6 ] 0 2 = (64 + 72 + 0) − (−12 − 96 + 0)
3 −2 4 3 −2
Answer:
𝐀 × 𝐁 • 𝐂 = 244 lb ∙ ft 2
Higher Education
Let’s Analyze
The approach in solving the problems must be expressed in the following parts:
b. Solution: Solve the problem, show all the formulas and steps used in the analysis. Write
your solution as neatly as possible.
c. Answer: Write your final answer with the corresponding unit/s used. The final answer
must be connected with the solution.
Activity 1:
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Solve the following problems related to the fundamental properties of vectors.
Problem No. 1:
For the given vectors shown below, determine (a) the magnitude of the resultant 𝐕1 +
𝐕2 using the parallelogram law of addition, (b) the angle between the resultant 𝐕1 + 𝐕2 and
the positive 𝑥-axis.
Problem No. 2:
Using the figure below, if the magnitude of the resultant of the 700 N force and 𝐅 is a
500 N force directed along the positive 𝑦-axis, determine (a) the magnitude of force F, (b)
the angle θ.
Activity 2:
Solve the following problems related to the representation of vectors using
rectangular components.
Problem No. 1:
From the given figure, determine the rectangular representation of the following: (a)
the 800 N force, (b) the 500 N force.
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Problem No. 2:
From the given figure shown, determine (a) the rectangular representation of the
tensile force on cable 𝐶𝐷 where 𝑇 = 3 kN, (b) the direction angles of 𝐓 measured from 𝐶 to
𝐷.
Problem No. 3:
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From the given figure, the roof is supported by two cables shown. The force being
exerted by the cables are 𝐹𝐴𝐵 = 100 N and 𝐹𝐴𝐶 = 120 N on the wall hook at 𝐴. Calculate the
following: (a) the rectangular representation of 𝐹𝐴𝐵 , (b) the rectangular representation of
𝐹𝐴𝐶 , (c) the magnitude of the resultant force of 𝐹𝐴𝐵 and 𝐹𝐴𝐶 .
Problem No. 4:
Using the given figure, the resultant force of the three forces acting on the bracket is
a 750 N force directed along the positive 𝑥-axis, determine the magnitude of 𝐹 and its
direction 𝜃.
Activity 3:
Solve the following problems related to vector multiplication.
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Problem No. 1:
From the given figure, two cables attached from A to B and A to C with a tensile force
of 𝐹1 = 70 N and 𝐹2 = 40 N, respectively. Calculate the following: (a) the dot product 𝐅1 • 𝐅2 ,
(b) the angle 𝜃 between 𝐅1 and 𝐅2 , (c) the orthogonal component of 𝐅1 in the direction of 𝐅2 .
Problem No. 2:
Given two vectors: 𝐀 = 5𝐢 − 2𝐣 + 2𝐤 ft and 𝐁 = −3𝐢 + 2𝐣 + 4𝐤 ft. Calculate the
following: (a) the cross product 𝐀 × 𝐁, and (b) the unit vector that is perpendicular to both
𝐀 and 𝐁.
Problem No. 3:
Calculate the scalar triple product 𝐀 × 𝐁 • 𝐂, given the following three vectors shown:
𝐀 = 32𝐢 + 22𝐣 − 17𝐤 N
𝐁 = −5𝐢 − 8𝐣 + 12𝐤 m
𝐂 = 2𝐢 − 4𝐣 + 3𝐤 m.
Keywords Index
Triangle Law of Parallelogram Law

Scalar Vector
Addition of Addition
Cartesian Rectangular
Position Vector Vector Addition
Coordinate System Components
Vector
Unit Vector Dot Product Cross Product
Multiplication
Scalar Triple Orthogonal
Determinants Right Hand Rule
Product Component
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Big Picture in Focus: ULO-1c. Use vector algebra in reducing force

systems to a simpler equivalent system and solve problems involving
moment of a force and couples
Metalanguage
To demonstrate ULO-1c, it is essential to have a working understanding of the

following terms below.
1. Force – considered to be an interaction by one body to another by direct contact with
each other.
2. Force systems – an arrangement of two or more forces in a body or group of bodies.
3. Concurrent force system – a force system where all the forces intersects at a single point.
4. Fixed vectors – equivalent vectors having the same magnitude, direction and point of
application.
5. Sliding vectors – equivalent vectors having the same magnitude, direction and line of
action.
6. Free vectors – equivalent vectors having the same magnitude and direction.
Essential Knowledge
Force systems plays a vital role in the study of engineering mechanics. In this section
we will focus on using vector algebra to reduce force systems to an equivalent simplest form.
The basic principles including properties and operation of vectors will allow us to simplify
force systems without changing its nature.
Equivalence of Vectors
From the fundamental properties of vectors, we already know that two vectors are
considered equal if they have the same direction and magnitude. But this doesn’t mean that
these two vectors also indicate equivalence.
In other words, two vectors may be equal but not equivalent in a certain scenario. For
example, if a certain force is applied to a point in a body does not necessarily respond the
same if that force is apply to a different point.
In short, the equivalence of vectors is applied only if the two vectors produce the same
effect on the body. From this idea, physical quantities of vectors are classified as follows:
1. Fixed vectors – equivalent vectors having the same magnitude, direction and point of
application.
2. Sliding vectors – equivalent vectors having the same magnitude, direction and line of
action.
3. Free vectors – equivalent vectors having the same magnitude and direction.
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Force and their Characteristics
Due to direct contact of bodies, the forces arise from it will result in both motion and
deformation to which it will act. To understand forces, some of its important characteristics
are listed below.
1. If the contact between two bodies is so small that it may be considered as a point (also
called as point of contact), the force acting on it is classified as a concentrated force.
2. The line of action of a concentrated force is the line that passes through the point of
contact that is parallel to the force
3. A force may be considered as fixed vector, since it possesses magnitude, direction and
point of application.
4. The principle of transmissibility states that a force may be moved anywhere along its
line of action without changing its external effects on a rigid body. Thus, force may be
treated as a sliding vector in this case.
Reduction of Concurrent Force Systems
In this section, we will apply vector addition using rectangular components to reduce
a concurrent force system into a singular equivalent force. To do this, let’s consider forces
𝐅1, 𝐅2 , and 𝐅3 acting on a rigid body as shown. All the forces are concurrent at point 𝑂.
Using the following procedure, we can reduce these forces to a single equivalent force:
1. Using the principle of transmissibility, transfer all the forces along their lines of action
to point 𝑂 where they intersect each other. This operation will not change the external
effects of the rigid body.
2. With the forces now concurrent, the single equivalent force is the resultant 𝐑 which is
the vector sum of all the concurrent forces
𝐑 = 𝐅1 + 𝐅2 + 𝐅3
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The components of 𝐑 can also be calculated using scalar equations by summing up

components in each direction.
𝑅𝑥 = ∑𝐹𝑥 𝑅𝑦 = ∑𝐹𝑦 𝑅𝑧 = ∑𝐹𝑧
In solving two-dimensional problems, the resultant 𝐑 can be calculated using scalar

equations by summing up the components in the 𝑥 and 𝑦 axes.
𝑅𝑥 = ∑𝐹𝑥 𝑅𝑦 = ∑𝐹𝑦
Example:
Using the given figure shown, calculate the magnitude and direction of the resultant
of the three concurrent forces acting at point A.
Given:
Solution:
Using scalar equations, we can calculate the components of the resultant force by using the
components of 𝐹1 , 𝐹2 and 𝐹3 as shown in the figure below:
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𝑅𝑥 = ∑𝐹𝑥 → +
𝑅𝑥 = 30 − 5 = 25 N
𝑅𝑦 = ∑𝐹𝑦 ↑ +
𝑅𝑦 = 40 + 8.66 − 60 = −11.34 N
Therefore, the resultant of the three concurrent force is 𝐑 = 25𝐢 − 11.34𝐣 N. The magnitude
of the resultant force is:
𝑅 = √252 + (−11.34)2 = 27.5 N
The direction of the resultant force is down to the right based on the direction of its
components. The angle that the resultant makes with the positive 𝑥-axis is:
11.34
𝜃 = tan−1 ( ) = 24.4°
27.5
Another way in calculating the resultant force is using the vector equation, we can do this
using the vector form of the concurrent forces 𝐅1 = 30𝐢 + 40𝐣 N, 𝐅2 = −5𝐢 + 8.66𝐣 N and 𝐅3 =
−60𝐣 N which can be easily calculated analytically.
𝐑 = 𝐅1 + 𝐅2 + 𝐅3 = (30𝐢 + 40𝐣) + (−5𝐢 + 8.66𝐣) + (−60𝐣 )
𝐑 = 25𝐢 − 11.34𝐣 N
Using either scalar or vector notation will come up with the same result.
Answer:
𝑅 = 27.5 N at 24.4° CW from the positive 𝑥-axis
Example:
Three ropes are attached to the post at 𝐴 as shown in the given figure. The forces in
the ropes are 𝐹1 = 260 lb, 𝐹2 = 75 lb and 𝐹3 = 60 lb. Calculate (a) the magnitude of the force
𝐑 that is equivalent to the three forces, (b) the coordinates of the point where the line of
action of 𝐑 intersects the 𝑦𝑧-plane.
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Given:
Solution (a):
Since the three forces are concurrent at 𝐴, we can immediately determine the resultant by
simply calculating the vector sum of the three forces. Using the vector notation, we need to
calculate first the rectangular representation of the three forces using 𝐅 = 𝐹𝛌, we get:
−3𝐢 − 𝟏2𝐣 + 4𝐤 ft
𝐅1 = 𝐹1 𝛌𝐴𝐵 = 260 lb ( ) = −60𝐢 − 240𝐣 + 80𝐤 lb
√32 + 122 + 42
−3𝐢 + 4𝐤 ft
𝐅2 = 𝐹2 𝛌𝐴𝐵 = 75 lb ( ) = −45𝐢 + 60𝐤 lb
√32 + 42
𝐅3 = −60𝐣 lb
The resultant force is:

𝐑 = 𝐅1 + 𝐅2 + 𝐅3 = (−60𝐢 − 240𝐣 + 80𝐤) + (−45𝐢 + 60𝐤) + (−60𝐣 )
𝐑 = −105𝐢 − 300𝐣 + 140𝐤 lb
We can now calculate the magnitude of 𝐑:

𝑅 = √(−105)2 + (−300)2 + 1402
Answer (a):
𝑅 = 347.3 lb
Solution (b):
To calculate the point of intersection of 𝐑 on the 𝑦𝑧-plane, we need to calculate first the unit
vector of 𝐑 to project its direction.
𝐑 −105𝐢 − 300𝐣 + 140𝐤 lb
𝛌= = = −0.3023𝐢 − 0.8638𝐣 + 0.4031𝐤
𝑅 347.3 lb
From the figure below, we let 𝐷 with coordinates of (0, 𝑦𝐷 , 𝑧𝐷 ) as the point where 𝐑 intersects
the 𝑦𝑧-plane. To determine the coordinates of point 𝐷, we need to apply ratio and proportion
between the components of 𝛌 and the unknown coordinates.
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|𝜆𝑥 | |𝜆𝑦 | |𝜆𝑧 |

= =
3 12 − 𝑦𝐷 𝑧𝐷
0.3023 0.8638 0.4031
= =
3 12 − 𝑦𝐷 𝑧𝐷
Calculating we get:
𝑦𝐷 = 3.43 ft and 𝑧𝐷 = 4 ft
Answer (b):
Coordinates of the point of intersection is 𝐷(0, 3.43 ft, 4 ft)
Moment of a Force about a Point
There are two possible effect a force acting on a rigid body can do, it is the ability to
translate and rotate. In this section we will discuss the tendency of a force to rotate a body,
which is called the moment of a force about a point. The rotational effect is dependent to the
magnitude of the force and the distance of its line of action from the point of interest.
From the figure shown, a force 𝐅 is acting on a plane and a point 𝑂 is also determined
which is not located in the line of action of the force 𝐅. The moment of the force 𝐅 about point
𝑂 can be determined using vector notation as:
𝐌𝑂 = 𝐫 × 𝐅
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To perform this operation, we need to remember the important concepts and

parameters that will guide us in the calculations.
1. By definition, point 𝑂 is called the moment center, where the moment 𝐌𝑂 is acting.
2. Moment 𝐌𝑂 is the cross product of the position vector 𝐫 and the force vector 𝐅. Which
means 𝐌𝑂 is perpendicular to the plane that is determined by point 𝑂 and 𝐅 by definition
of cross product.
3. Note that the position vector 𝐫 is directed from the moment center (point 𝑂) to any point
on the line of action of 𝐅 (which is point 𝐴 in the figure). In other words, we can come up
with multiple representation of position vector 𝐫 since there is an indefinite number of
points along the line of action of 𝐅.
We can also perform moment about a point using the scalar method. The magnitude
of 𝐌𝑂 is given by the formula:
𝑀𝑜 = 𝐹𝑑
where 𝐹 is the magnitude of the vector force 𝐅 and 𝑑 is the perpendicular distance (which is
also the closest distance) from the moment center point 𝑂 and the line of action of 𝐅. The
distance is also sometimes called the moment arm.
Most of the two-dimensional problems in statics requires you to calculate the

combined or resultant moment of multiple forces in a point. In that case, the forces may have
a difference in sense or direction of rotation as shown in the figure below. The forces 𝐅1 and
𝐅3 has a counter-clockwise rotation (which is 𝐌1 and 𝐌3 ), while 𝐅2 has a clockwise rotation
(which is 𝐌3 ) about point 𝑂. As a convention, we will use a sign convention of positive for
the counter-clockwise and negative for clockwise. To calculate the combined moment of the
three forces about point 𝑂, we get:
𝑀𝑜 = ∑𝐹𝑑 ↺ +
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𝑀𝑜 = 𝐹1 𝑑1 − 𝐹2 𝑑2 + 𝐹3 𝑑3
Also note that the magnitude of moment 𝐌𝑂 will depend only on the magnitude of the
force and the perpendicular distance. The force can be transferred to anywhere along its line
of action without changing the magnitude of the moment 𝐌𝑂 , thus, treating the force as a
sliding vector. This is also the reason why point 𝐴 can be any point on the line of action of
the force.
The direction of the moment is also another important thing to remember in three-
dimensional problems. From the given figure below the direction of 𝐌𝑂 = 200𝐤 N ∙ m is
positive, since the rotation is counter-clockwise as viewed from the positive axis. By the
right-hand rule, the curling of the right-hand fingers corresponds to the direction of the
thumb which represents the double-headed arrow shown (directed along the positive 𝑧-
axis).
On the other hand, using the figure below the direction of 𝐌𝑂 = −200𝐤 N ∙ m is
negative, since the rotation is clockwise as viewed from the positive axis. By the right-hand
rule, the curling of the right-hand fingers corresponds to the direction of the thumb which
represents the double-headed arrow shown (directed along the negative 𝑧-axis).
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To have a better understanding another figure below shows a right hand (with the
direction of the rotation) alongside with the direction of the thumb.
The Varignon’s Theorem (principle of moments) also states that the moment of a
force about a point is equal to the sum of the moments of its components about a point. This
principle is shown in the figure below and can be proven analytically:
𝐌𝑂 = ∑(𝐫 × 𝐅) = (𝐫 × 𝐅1 ) + (𝐫 × 𝐅2 ) + (𝐫 × 𝐅3 ) = 𝐫 × (𝐅1 + 𝐅2 + 𝐅3 )
𝐌𝑂 = 𝐫 × 𝐑
Example:
From the given figure, determine (a) the moment of the force 𝐅 about point 𝐶, and (b)
the perpendicular distance between 𝐶 and the line of action of 𝐅.
Given:
Solution (a):
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In problems involving three-dimensional systems, it is more convenient to use the vector

method where the moment can be calculated using 𝐌 = 𝐫 × 𝐅. To solve the moment of 𝐅
about point 𝐶, the first thing to do is to decide what position vector 𝐫 will be used.
In this problem we can have two different values of 𝐫, we have the position vector from point
𝐶 to 𝐴, and the position vector from 𝐶 to 𝐵. In this problem we will use position vector from
point 𝐶 to 𝐴, which will be denoted as 𝐫𝐶𝐴 .
𝐫𝐶𝐴 = −2𝐢 m
Next is write 𝐅 in vector form:

2𝐢 − 4𝐣 + 3𝐤
𝐅 = 𝐹𝛌𝐴𝐵 = 500 ( ) = 185.7𝐢 − 371.4𝐣 + 278.6𝐤 N
√22 + 42 + 32
Calculate the moment about the moment center (point 𝐶):

𝐢 𝐣 𝐤
𝐌𝐶 = 𝐫𝐶𝐴 × 𝐅 = [ −2 0 0 ]
185.7 −371.4 278.6
𝐌𝐶 = 𝐫𝐶𝐴 × 𝐅 = [ −2 0 0 ] −2 0
185.7 −371.4 278.6 185.7 −371.4
𝐌𝐶 = (742.8𝐤) − (−557.2𝐣) N ∙ m
Answer (a):
𝐌𝐶 = 557.2𝐣 + 742.8𝐤 N ∙ m
Solution (b):
The perpendicular distance d can be calculated by the scalar method using the formula 𝑀 =
𝐹𝑑. From the formula, we need the magnitude of 𝐌𝐶 which can be easily calculated:
𝑀𝐶 = √557.22 + 742.82 = 928.6 N ∙ m
Calculating d:
𝑀𝐶 = 𝐹𝑑
928.6 N ∙ m = (500 N)𝑑
Answer (b):
𝑑 = 1.857 m
Example:
Determine the magnitude of the moment of the force 𝐅 about point 𝐴 using the given
figure below. Use the scalar method.
Given:
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Solution:
We can calculate the moment of 𝐹 about point 𝐴 directly using 𝑀 = 𝐹𝑑, but we need to
calculate first the perpendicular distance 𝑑. However, there is an easier way in calculating
the moment without solving 𝑑. We can resolve the force 𝐹 into its horizontal and vertical
components where each component will have their perpendicular distance as shown in the
figure below.
We have the horizontal component which is 𝐹1 = (4/5)(200) = 160 lb with a perpendicular

distance of 𝑑1 = 6 in and the vertical component which is 𝐹2 = (3/5)(200) = 120 lb with a
perpendicular distance of 𝑑2 = 4 in. Note that 𝐹1 has a counter-clockwise rotation (positive)
and 𝐹2 has a clockwise rotation (negative). Calculating the moment about point 𝐴:
𝑀𝐴 = ∑𝐹𝑑 ↺ +
𝑀𝐴 = 160(6) − 120(4) = 480 lb ∙ in (CCW)
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Recall that the force is a sliding vector, which can be moved to any point on its line of action
without changing its moment. To prove that lets move 𝐹1 and 𝐹2 at point 𝐶. Note that 𝐹2 will
not have a perpendicular distance (𝑑2 = 0) since 𝐹2 is passing through point 𝐴, then it will
not have a moment effect (𝐹2 𝑑2 = 0). In the case of 𝐹1 the perpendicular distance is 𝑑1 =
3 in. Note that 𝐹1 has a counter-clockwise rotation (positive) about point 𝐴.
𝑀𝐴 = ∑𝐹𝑑 ↺ +
𝑀𝐴 = 160(3) = 480 lb ∙ in (CCW)
Answer:
𝑀𝐴 = 480 lb ∙ in counter-clockwise
Example:
Determine the resultant moment of the four forces acting on the rod about point 𝑂 in the
given figure shown.
Given:
Solution:
𝑀𝑂 = ∑𝐹𝑑 ↺ +
𝑀𝑂 = −50(2) + 60(0) + 20(3 sin 30°) − 40(4 + 3 cos 30°) = −334 N ∙ m (CW)
Answer:
𝑀𝑂 = 334 N ∙ m clockwise
Moment of a Force about an Axis
The tendency of a force to rotate a body about the axis is called the moment of a force
about an axis. Basically, the moment of a force about an axis, which is referred to as the
moment axis, is easier to understand if we think of it as the moment of the force about a point
on the axis.
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From the given figure, the moment of 𝐅 about the axis 𝐴𝐵 (denoted as 𝑀𝐴𝐵 ) is the
orthogonal component of 𝐌𝑂 along the axis 𝐴𝐵, where 𝑂 is any point on 𝐴𝐵. Relating it to
our previous topic about dot product we can say:
𝑀𝐴𝐵 = 𝐌𝑂 • 𝛌
Substituting the formula of the moment of a force about a point, 𝐌𝑂 = 𝐫 × 𝐅

𝑀𝐴𝐵 = 𝐫 × 𝐅 • 𝛌
The following concepts will guide us in calculating the moment of a force about an
axis:
1. 𝑀𝐴𝐵 is the magnitude of the moment of force 𝐅 about axis 𝐴𝐵.
2. 𝐌𝑂 represents the moment of force 𝐅 about point 𝑂, where 𝑂 is any point on axis 𝐴𝐵.
3. 𝛌 is the unit vector of the moment axis 𝐴𝐵 (directed from point 𝐴 to 𝐵).
4. Position vector 𝐫 is drawn from any point on the moment axis to any point on the line of
action of the force, which means we can have many possible values of 𝐫 since there is an
indefinite number of points on the moment axis as well as on the line of action of the
force.
5. The sense of 𝑀𝐴𝐵 is determined by the direction of axis 𝐴𝐵 by using the right hand rule
as shown in the figure.
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Example:
Using the given figure, determine (a) the moment of force 𝐅 about each of the
coordinate axes (𝑀𝑥 , 𝑀𝑦 and 𝑀𝑧 ) using scalar method, (b) Find the moment of 𝐅 about point
𝑂 using vector method and verify that 𝐌𝑂 = 𝑀𝑥 𝐢 + 𝑀𝑦 𝐣 + 𝑀𝑧 𝐤. (c) the moment of 𝐅 about
axis 𝐶𝐸, (d) express the moment of 𝐅 about axis 𝐶𝐸 in vector form.
Given:
Solution (a):
Calculate first the vector representation of 𝐅 which is already given in the figure:
3𝐢 + 12𝐣 − 4𝐤
𝐅 = 𝐹𝛌𝐴𝐵 = 195 ( ) = 45𝐢 + 180𝐣 − 60𝐤 kN
√32 + 122 + 42
To determine the moments about the coordinate axis by scalar method, we need to project
the plane that is perpendicular to the axis of interest. For example, in the figure below, to
determine the moment of 𝐅 about the x-axis we need to project the 𝑦𝑧-plane that is
perpendicular to the 𝑥-axis following the right-hand rule. The moment about 𝑥-axis is:
𝑀𝑥 = −180(4) = −720 kN ∙ m
Note that the 45 kN force has no moment effect about x-axis since a force that is parallel to
an axis will not provide a rotational effect on the axis. The 60 kN force also has no moment
effect since the force passes through the 𝑥-axis.
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Repeating the same process, for moment about the y-axis we project the 𝑥𝑧-plane, calculating
𝑀𝑦 we get:
𝑀𝑦 = 45(4) = 180 kN ∙ m
Also take note that the moment of 𝐅 about z-axis is 𝑀𝑧 = 0 since force 𝐅 passes through the
z-axis.
Answer (a):
𝑀𝑥 = −720 kN ∙ m, 𝑀𝑦 = 180 kN ∙ m, 𝑀𝑧 = 0
Solution (b):
To determine the moment of 𝐅 about point 𝑂, we will establish first a position vector from
point 𝑂 to any point on the line of action. We can use position vector from point 𝑂 to point
𝐴, 𝐫𝑂𝐴 = 4𝐤 m. Calculating 𝐌𝑂 :
𝐢 𝐣 𝐤
𝐌𝑂 = 𝐫𝑂𝐴 × 𝐅 = [ 0 0 4 ]
45 180 −60
𝐌𝑂 = 𝐫𝐶𝐴 × 𝐅 = [ 0 0 4 0] 0
45 180 −60 45 180
𝐌𝑂 = −720𝐢 + 180𝐣 kN ∙ m
Answer (b):
𝐌𝑂 = −720𝐢 + 180𝐣 kN ∙ m
Comparing the answers from (b) to (a) we verify that 𝐌𝑂 = 𝑀𝑥 𝐢 + 𝑀𝑦 𝐣 + 𝑀𝑧 𝐤.
Solution (c):
To calculate the moment of 𝐅 about axis 𝐶𝐸, we need to calculate first the unit vector of the
moment axis 𝐶𝐸:
𝐫𝐶𝐸 −3𝐢 + 2𝐣 − 4𝐤
𝛌𝐶𝐸 = = = −0.5571𝐢 + 0.3714𝐣 − 0.7428𝐤
𝑟𝐶𝐸 √32 + 22 + 42
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Next is to establish position vector r, which is directed from any point on the moment axis to
any point on the line of action of the force. In this problem we can use position vectors,
𝐫𝐶𝐵 , 𝐫𝐶𝐴 , 𝐫𝐸𝐵 and 𝐫𝐸𝐴 . Note that even if you use any of the position vectors indicated, it will
come up with the same answer. In this example we will use 𝐫𝐶𝐵 = −4𝐤 m.
0 0 −4
𝑀𝐶𝐸 = 𝐫𝐶𝐵 × 𝐅 • 𝛌𝐶𝐸 = [ 45 180 −60 ]
−0.5571 0.3714 −0.7428
0 0 −4 0 0
𝑀𝐶𝐸 = [ 45 180 −60 ] 45 180
−0.5571 0.3714 −0.7428 −0.5571 0.3714
𝑀𝐶𝐸 = (0 + 0 − 66.852) − (401.112 + 0 + 0)
Answer (c):
𝑀𝐶𝐸 = −468 kN ∙ m
Solution (d):
𝐌𝐶𝐸 = 𝑀𝐶𝐸 𝛌𝐶𝐸 = −468(−0.5571𝐢 + 0.3714𝐣 − 0.7428𝐤)
Answer (d):
𝐌𝐶𝐸 = 260.7𝐢 − 173.8𝐣 + 347.6𝐤 kN ∙ m
The negative sign on 468 kN ∙ m indicates that the rotational effect of the moment is opposite
to the sense of 𝛌𝐶𝐸 . The rotation of 𝑀𝐶𝐸 about axis 𝐶𝐸 is shown in the figure below.
Couples
By definition, a couple is composed of two parallel, non-collinear forces that are equal
in magnitude and opposite in direction as shown in the figure below. As stated before, a force
produces two effects in a body which is translation due to the force itself and rotation due to
moment. A couple on the other hand produces rotational effect only. It has a moment but no
resultant force.
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If scalar formulation is used the magnitude of the moment of a couple can be

calculated using the equation below. Note that 𝐹 is the magnitude of the two forces which
are equal, and 𝑑 is the closest distance between there line of action.
𝐶 = 𝐹𝑑
Using vector formulation in the other hand can be done if the application of the
equation shown below is performed when the moments of both forces are calculated about
a point lying on the line of action in one of the forces.
𝐂=𝐫×𝐅
Equivalent couples occur when two couples produce the same effect on a rigid body.
There are four ways for a couple to be equivalent with each other:
1. Changing the magnitude of both 𝐹 and 𝑑 while keeping the product 𝐹𝑑 constant.
2. Rotating the couple to its plane without changing its sense.
3. Moving the couple to a parallel position on its plane
4. Moving a couple to a parallel plane
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Consider a couple shown in the figure below, note that the magnitude of the couple is
𝐶 = 600(3) = 1800 N. To differentiate the scalar and vector notation of a couple, we will
establish a geometric representation of couples as shown below.
Because couples are vectors, using the basic principles of vector addition, they can
also be added. The difference is that couples are free vectors where they are not needed to
be applied in a common point. In short, you can directly apply vector addition on couples
even if they are not concurrent.
Example:
For the couple shown in the figure, determine (a) the corresponding couple-vector,
(b) the moment of the couple about axis 𝐺𝐻.
Given:
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Solution (a):
Using vector formulation, we can calculate the moment of the couple by selecting a
convenient point that is lying on the line of action of either forces. From the figure, we can
use any of the following points: 𝐴, 𝐵, 𝐷 and 𝐸. For this particular problem, let’s try to use
point 𝐵 as the moment center. The force that will be calculated for the moment of the couple
will be the 100 kN force acting at 𝐷, and we can use position vector 𝐫𝐵𝐷 .
−400𝐣 + 300𝐤 mm
𝐅 = 𝐹𝛌𝐷𝐸 = 100 ( ) = −80𝐣 + 60𝐤 N
√4002 + 3002 mm
𝐫𝐵𝐷 = −0.60𝐢 m
𝐢 𝐣 𝐤
𝐂 = 𝐫𝐵𝐷 × 𝐅 = [−0.6 0 0]
0 −80 60
𝐂 = [−0.6 0 0 ] −0.6 0 = (48𝐤) − (−36𝐣) kN ∙ m
0 −80 60 0 −80
Answer (a):
𝐂 = 36𝐣 + 48𝐤 kN ∙ m
Solution (b):
The moment of the couple 𝐂 about axis 𝐺𝐻 is the orthogonal component of couple 𝐂 about
axis 𝐺𝐻.
𝐫𝐺𝐻 −0.3𝐢 + 0.3𝐤 m
𝛌𝐺𝐻 = = = −0.7071𝐢 + 0.7071𝐤
𝑟𝐺𝐻 √0.32 + 0.32 m
𝑀𝐺𝐻 = 𝐂 • 𝛌𝐺𝐻 = 0(−0.7071) + 36(0) + 48(0.7071)
Answer (b):
𝑀𝐺𝐻 = 33.9 kN ∙ m
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Since the result is positive, the moment 𝑀𝐺𝐻 corresponds to the direction of axis 𝐺𝐻 by right
hand rule as shown in the figure.
Example:
For the given figure, a flat plate is acted on by three couples. Replace the couple with
(a) a couple vector; (b) two forces, one acting along the line 𝑂𝑃 and the other acting at point
𝐴; (c) the smallest pair of forces, with one force acting at point 𝑂 and the other at point 𝐴.
Given:
Solution (a):
The magnitude and sense of all couples acting on the plate are listed below.
Couple at H: 350 lb∙in clockwise
Couple acting at G and E: 150 lb (3 in) = 450 lb∙in counter-clockwise
Couple acting at D and B: 60 lb (5 in) = 300 lb∙in clockwise
The couples can be added algebraically since it is acting on the same plane. Calculating the
resultant couple, we get:
↺ + 𝐶 𝑅 = −350 + 450 − 300 = −200 lb ∙ in
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Answer (a):
The negative sign of 𝐶 𝑅 shows that its direction is clockwise. Following the right-hand rule,
the couple-vector 𝐂𝑅 will be directed in the negative 𝑧-direction. The couple-vector is 𝐂𝑅 =
−200𝐤 lb ∙ in.
Solution (b):
Since the problem states that one force must act along line 𝑂𝑃, from the definition of couple,
the other force acting on 𝐴 must be parallel with line 𝑂𝑃. From the given figure, we can see
that the perpendicular distance that is being formed is 𝑑 = 8 sin 30° = 4 in. Note that the
200 lb∙in must be constant to show equivalence and the clockwise direction must be
consistent as shown below. The magnitude of the force will be: 𝐹 = 𝐶 𝑅 /𝑑 = 200/4 = 50 lb.
Answer (b):
Solution (c):
To obtain the smallest possible pair of forces acting at points 𝑂 and 𝐴, we will make the value
of 𝑑 as large as possible while maintaining the magnitude of couple 200 lb∙in. We can see in
the figure that the largest possible of 𝑑 which is 8 in can be obtained when the forces are
parallel with the vertical. The smallest pair of forces will be 𝐹 = 𝐶 𝑅 /𝑑 = 200/8 = 25 lb.
Answer (c):
Example:
A piping system in the figure shown is acted by three couples shown. Determine (a) the
magnitude of the resultant couple-vector (b) and its direction cosines. Given that the
magnitudes of the three couples are 𝐶1 = 50 N ∙ m, 𝐶2 = 90 N ∙ m and 𝐶3 = 140 N ∙ m.
Given:
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Solution (a):
To calculate the magnitude of the resultant couple-vector 𝐂𝑅 , we need to express the three
couples in vector form, by right hand rule as shown in the figure below:
0.4𝐣 − 0.5𝐤
𝐂1 = 𝐶1 𝛌𝐷𝑂 = 50 ( ) = 31.24𝐣 − 39.04𝐤 N ∙ m
√0.42 + 0.52
𝐂2 = 𝐶2 𝛌𝑂𝐵 = 90𝐢 N ∙ m
−0.2𝐢 − 0.3𝐣 + 0.6𝐤
𝐂3 = 𝐶3 𝛌𝐴𝐵 = 140 ( ) = −40𝐢 − 60𝐣 + 120𝐤 N ∙ m
√0.22 + 0.32 + 0.62
The resultant couple-vector 𝐂𝑅 , can be obtained by calculating the vector sum of the three
couples:
𝐂𝑅 = 𝐂1 + 𝐂2 + 𝐂3 = (31.24𝐣 − 39.04𝐤) + (90𝐢) + (−40𝐢 − 60𝐣 + 120𝐤)
𝐂𝑅 = 50𝐢 − 28.76𝐣 + 80.96𝐤 N ∙ m
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The magnitude of 𝐂𝑅 :
𝐶 𝑅 = √502 + (−28.76)2 + 80.962 = 99.41 N ∙ m
Answer (a):
𝐶 𝑅 = 99.41 N ∙ m
Solution (b):
The direction cosines is obtained from the unit vector of 𝐂𝑅 :
𝐂𝑅 50𝐢 − 28.76𝐣 + 80.96𝐤 N ∙ m
𝛌= 𝑅= = 0.503𝐢 − 0.289𝐣 + 0.814𝐤
𝐶 99.41 N ∙ m
Answer (b):
𝝀𝒙 = 0.503, 𝝀𝒚 = −0.289, 𝝀𝒛 = 0.814
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Changing the Line of Action of a Force
In this section, we will discuss about how to change (or transfer) the line of action of
a force without affecting its external effect on a body. This topic will be important on the
preceding sections especially in the resultants of force systems. The steps in performing such
method is provided in the figure below. Considering force 𝐹 at 𝐵 to be transferred to 𝐴.
1. The first step is to introduce two forces at 𝐴, that are both equal in magnitude at the
force 𝐵, oppositely directed, and parallel to the force at 𝐵 as shown in (b).
2. The force at 𝐴 which is opposite the direction of the force at 𝐵 will create a couple with
the same force at 𝐵 as shown in (c).
3. We now convert the two forces as a couple 𝐶 𝑇 = 𝐹𝑑, along with the transferred force at
𝐴.
Note that 𝐶 𝑇 is also called the couple transfer, which is equal to the moment of the original
force (acting at 𝐵) about the transfer point (which is point 𝐴).
In vector terminology, the line of action of 𝐅 can be transferred to a parallel line

provided that we introduce the couple transfer:
𝐂𝑇 = 𝐫 × 𝐅
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where 𝐫 is the vector drawn from the transfer point 𝐴 to the point of application 𝐵 of the
original force as illustrated in the figure below. It is not necessary that 𝐂 𝑇 is acting at the point
of transfer since a couple is a free vector which means that it can be transferred anywhere.
Note that 𝐂 𝑇 is perpendicular to both 𝐫 and 𝐅 from the definition of cross product.
Example:
For the given figure shown, replace the applied load of 150 kN acting at point 𝐴 by (a)
an equivalent force-couple system with the force acting at point 𝐵; (b) two horizontal forces,
one acting at point 𝐵 and the other acting at point 𝐶.
Given:
Solution (a):
We first move the 150 kN force to point B, and we introduce a couple transfer equal to the
moment of 150 kN about point B.
↺ + 𝐶 𝑇 = −150 kN(0.08 m + 0.04 m) = −18 kN ∙ m
The negative sign indicates that the sense of 𝐶 𝑇 is clockwise.
Answer (a):
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Solution (b):
Note that the 18 kN∙m couple can be resolve into two forces acting at 𝐵 and 𝐶 with a
magnitude of 𝐹 = 18/0.04 = 450 kN as shown below.
We can now simplify the two forces on B which is equal to 450 + 150 = 600 kN.
Answer (b):
Example:
Replace the force-couple system shown in the figure with an equivalent force-couple system,
with the force acting at A, given that 𝐹 = 100 lb and 𝐶 = 120 lb ∙ in.
Given:
Solution:
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First thing to do is to express 𝐹 and 𝐶 into vector form:

−4𝐢 + 2𝐤
𝐅 = 𝐹𝛌𝐵𝐸 = 100 ( ) = −89.44𝐢 + 44.72𝐤 lb
√42 + 22
4𝐢 + 4𝐣 − 2𝐤
𝐂 = 𝐶𝛌𝐷𝐵 = 120 ( ) = 80𝐢 + 80𝐣 − 40𝐤 lb ∙ in
√42 + 42 + 22
To transfer 𝐅 from 𝐵 to 𝐴, we need to introduce a couple transfer with a position vector from
𝐴 to 𝐵, which is 𝐫𝐴𝐵 = 4𝐣 − 2𝐤 in.
𝐢 𝐣 𝐤
𝑇
𝐂 = 𝐫𝐴𝐵 × 𝐅 = [ 0 4 −2 ] = 178.9𝐢 + 178.9𝐣 + 357.8𝐤 lb ∙ in
−89.44 0 44.72
Simplifying 𝐂 𝑇 and 𝐂 by calculating its couple resultant:

𝐂𝑅 = 𝐂 𝑇 + 𝐂 = (178.9𝐢 + 178.9𝐣 + 357.8𝐤) + (80𝐢 + 80𝐣 − 40𝐤 )
𝐂𝑅 = 258.9𝐢 + 258.9𝐣 + 317.8𝐤 lb ∙ in
The magnitude of 𝐂𝑅 will be:

𝐶 𝑅 = √258.92 + 258.92 + 317.82 = 485 lb ∙ in
Answer:
The equivalent force-couple system is shown below, with force 𝐅 acting at point 𝐴. Note that
it is not necessary to place the resultant couple 𝐂𝑅 at point 𝑂 (as shown in the figure) since
it is a free vector and it can be placed anywhere.
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Higher Education
Let’s Analyze
The approach in solving the problems must be expressed in the following parts:
b. Solution: Solve the problem, show all the formulas and steps used in the analysis.
Write your solution as neatly as possible.
c. Answer: Write your final answer with the corresponding unit/s used. The final
answer must be connected with the solution.
Activity 1:
Solve the following problems related to the reduction of concurrent force systems.
Problem No. 1:
For the given figure below, determine (a) the magnitude and (b) coordinate direction
angles of the resultant force acting at point 𝐴.
Problem No. 2:
From the figure shown, determine (a) the magnitude of the resultant force and (b) its
direction angle measured counter-clockwise from the positive 𝑥-axis.
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Activity 2:
Solve the following problems related to the moment of a force about a point.
Problem No. 1:
For the given figure, a 30-N force 𝐏 is applied perpendicular to the portion 𝐵𝐶 of the
bent bar. Determine the magnitude of the moment of 𝐏 about (a) point 𝐵, and (b) point 𝐴.
Problem No. 2:
For the figure shown below, calculate the magnitude of the moment of the tension
force, 𝑇 = 575 N about point 𝑂.
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Problem No. 3:
Determine the magnitude and sense of the resultant moment of the three forces
shown in the figure about point A.
Activity 3:
Solve the following problems related to the moment of a force about an axis.
Problem No. 1:
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For the given figure, the 23-inch vertical rod 𝐶𝐷 is welded to the midpoint 𝐶 of the
50-inch rod 𝐴𝐵. Determine the moment of (a) the force 𝐏 with magnitude of 235 lb and (b)
the force 𝐐 with magnitude of 174 lb about the axis 𝐴𝐵.
Problem No. 2:
Determine the magnitude of the moment of force 𝐅 about segment 𝑂𝐴 of the pipe
system shown in the figure. Also, express the moment of the force 𝐅 about segment 𝑂𝐴 in
vector form.
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Activity 3:
Solve the following problems related to couples.
Problem No. 1:
Replace the two couples acting on the pipe column shown in the figure by a resultant
couple moment.
Problem No. 2:
The ends of the triangular plate are subjected to three couples as shown. Determine
the plate dimension d so that the resultant couple is a 350 N∙m clockwise.
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Problem No. 3:
Calculate the combined moment of the couple 𝐂 and the force 𝐏 about the axis 𝐴𝐵 in
the figure shown. The magnitudes are 𝐶 = 80 N ∙ m and 𝑃 = 400 N.
Activity 4:
Solve the following problems related to changing the line of action of forces.
Problem No. 1:
For the given figure, a 500-N force is applied to a bent bar as shown. Determine (a)
an equivalent force-couple system acting at 𝐵, (b) an equivalent system formed by a vertical
force at 𝐴 and a force at 𝐵.
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Problem No. 2:
A 2.6-kip force is applied at point D of the cast iron bent post as shown in the given
figure below. Replace the force with an equivalent force-couple system at point 𝐴 which is
the base section.
Keywords Index
Concurrent Force
Force Force Systems Fixed Vectors
System
Moment of a Force
Sliding Vectors Free Vectors Concentrated Force
about a Point
Moment of a Force Line of Action of a Equivalent Force-
Couples
about an Axis Force Couple System
72

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UNIVERSITY OF MINDANAO

College of Engineering Education

Physically Distanced but Academically Engaged

Self-Instructional Manual (SIM) for

Course/Subject: CEE 117 – STATICS OF RIGID BODIES

Course Outline: CEE 117 – Statics of Rigid Bodies ........................................................................... 3

Course Facilitator: Danny Mar Naipa, RCE

Course Outline Policy

Areas of Concern Details

If the assessment task is done in real time through the

Since this course is included in the licensure examination

However, if the late submission of assessment paper has a

For group assessment tasks, the course coordinator will

The resubmission is premised on the student’s failure to

If disapproved by the course coordinator, you can elevate

Submission of the final grades shall follow the usual

You can also meet the course coordinator in person

For students who have not created their student email,

Course Information - see/download course syllabus in the Black Board LMS

Big Picture (Week 1-3)

Big Picture in Focus: ULO-1a. Explain the general field of engineering

5. Fluids – idealization of liquid and gases.

Mechanics of Mechanics of Mechanics of

1. Engineering Mechanics – branch of engineering that applies the principles of mechanics

One of the major accomplishments of Newton is the proposed law of universal

Mass, Force and Weight

Another important concept in studying engineering mechanics is to define and know

3. Weight – is the force of gravitation acting on a body, using g as the gravitational

S.I. Units U.S. Customary

___________________1. Refers to the measure of quantity of matter in a body.

Big Picture in Focus: ULO-1b. Examine vectors including its

To demonstrate ULO-1b, it is essential to have an operational understanding of the

Fundamental Properties of Vectors

Since the geometric configuration of vector addition is composed of triangles, the

𝑅 2 = 602 + 1002 − 2(60)(100) cos 140° = 150.97 ft ≈ 151 ft

Representation of Vectors using Rectangular Components

In a three-dimensional system, a right handed, rectangular Cartesian coordinate

If a vector A is resolve into components directed on the Cartesian coordinate system

To calculate the magnitude of components 𝐴𝑥 , 𝐴𝑦 and 𝐴𝑧 , we will form three right

Therefore, the magnitude of components 𝐴𝑥 , 𝐴𝑦 and 𝐴𝑧 can also be expressed in terms

From the vector representation 𝐀 = 𝐴𝑥 𝐢 + 𝐴𝑦 𝐣 + 𝐴𝑧 𝐤, we now substitute the above

Since 𝛌 = 𝜆𝑥 𝐢 + 𝜆𝑦 𝐣 + 𝜆𝑦 𝐤, we now verify that 𝐀 = 𝐴 𝛌. Thus, the vector

Therefore, 𝐀 = 𝐴𝑥 𝐢 + 𝐴𝑦 𝐣 + 𝐴𝑧 𝐤 can also be written as:

𝐴𝑧 = 𝐴 cos 𝜙 = 12 cos 30° = 10.39 m

It is necessary to express 𝐫 using the coordinates of points 𝐴 and 𝐵. In doing so, we

simplifying the equation

Magnitude of the force, 𝐹 = 500 lb

Using the equation 𝐅 = 𝐹𝛌,

Another way of performing addition of vectors is by using its corresponding

𝐏 = 120 cos 30° 𝐢 + 120 sin 30° 𝐣 = 103.92𝐢 + 60𝐣 lb

The resultant can now be calculated using the components of 𝐏 and 𝐐.

The magnitude and direction of 𝑅 can now be calculated.

4. Subsequently at 𝜃 = 0 dot product is equal to 1, we can also say that

where the magnitude of 𝐂 can be calculated as

3. The cross product is not associative nor commutative:

4. Since at 𝜃 = 90° the cross product is 1, by definition we can say that

5. Subsequently at 𝜃 = 0 cross product is equal to 0, we can also say that