MEE 105: Engineering Mechanics I

Last Class

• Free Body Diagram

• Problems on Equilibrium of a Coplanar Force System

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MEE 105: Engineering Mechanics I Lecture 5

3-D Particle Equilibrium

- Forces in Space

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MEE 105: Engineering Mechanics I

3-D Cartesian Vector Terminology

• The vector A can be defined as

A = (AX i + AY j + AZ k)

• The magnitude of the position vector

A can be obtained as

A = (AX2 + AY2 + AZ2)½

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MEE 105: Engineering Mechanics I

3-D Cartesian Vector Terminology

• Using trigonometry, “direction cosines” are

found using the formulas

• The unit vector of any position vector:

or, Written another way, uA = cos  i + cos  j + cos  k

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MEE 105: Engineering Mechanics I

Unit Vector

For a vector A with a magnitude of A, an

unit vector is defined as UA or λAB = A / A
.
Characteristics of a unit vector:

a) Its magnitude is 1.
b) It is dimensionless.
c) It points in the same direction as the original
vector (A).

• The unit vectors in the Cartesian axis

system are i, j, and k. They are unit
vectors along the positive x, y, and z
axes, respectively.
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MEE 105: Engineering Mechanics I

POSITION VECTOR
A position vector is defined as a fixed vector that locates a
point in space relative to another point.

• Consider two points, A & B, in 3-D

space. Let their coordinates be A
(XA, YA, ZA) and B ( XB, YB, ZB ).

• The position vector directed from A to B, rAB , is defined as

rAB = {(XB – XA) i + (YB – YA) j +( ZB – ZA )k} m

• Note that B is the ending point and A is the starting point. So ALWAYS
subtract the “tail” coordinates from the “tip” coordinates!
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MEE 105: Engineering Mechanics I

POSITION VECTOR

If a force is directed along a line, then

we can represent the force vector in
Cartesian Coordinates by using a unit
vector and the force magnitude.

So we need to:

• Find the position vector, r AB , along two points on that line

r AB = {(XB – XA) i + (YB – YA) j +( ZB – ZA ) k}

• Find the unit vector describing the line’s direction,

uAB or λAB = (rAB/rAB)

• Multiply the unit vector by the magnitude of the force,

F = F uAB or F λAB
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MEE 105: Engineering Mechanics I

3-D Particle Equilibrium

When a particle is in equilibrium, the vector sum of all the forces acting
on it must be zero ( F = 0 ) .

This equation can be written in terms of its x, y and z components.

This form is written as follows.

(Fx) i + (Fy) j + (Fz) k = 0

This vector equation will be satisfied only when

Fx = 0
Fy = 0
Fz = 0

• They are valid at any point in equilibrium and allow you to

solve for up to three unknowns.
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MEE 105: Engineering Mechanics I

Example:01

Given: Two forces are acting on a pipe as shown in the figure.

Find: The magnitude and the coordinate direction angles of

the resultant force.
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MEE 105: Engineering Mechanics I

Solution:
FCA = 100 {rCA/rCA}
FCA = 100 (-3 sin 40º i + 3 cos 40º j – 4 k)/5
FCA = {-38.57 i + 45.96 j – 80 k} lb

FCB = 81 {rCB/rCB}
FCB = 81 (4i – 7j – 4k)/9
FCB = {36i – 63j – 36k} lb

FR = FCA + FCB = {-2.57 i – 17.04 j – 116 k} lb

FR = (2.572 + 17.042 + 1162) = 117.3 lb

 = cos-1(-2.57/117.3) = 91.3°,  = cos-1(-17.04/117.3) = 98.4°

 = cos-1(-116/117.3) = 172° 10
MEE 105: Engineering Mechanics I

Example:02

The weight is supported by three cables as

shown. Two are attached to the ceiling. One
A
is attached to the wall and is horizontal.

Find the tension in each cable.

B

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MEE 105: Engineering Mechanics I

Solution: Find rPA, rPB, rPC

λAB = (rAB/rAB)

F = F λAB
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MEE 105: Engineering Mechanics I

Solution:
Fx = 0
Fy = 0
Fz = 0

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MEE 105: Engineering Mechanics I

Solution:

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MEE 105: Engineering Mechanics I

Example: 03

The bucket is supported by three cables as shown.

Find the tension in each cable.

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MEE 105: Engineering Mechanics I

Solution: Find rOA, rOB, rOC Free body diagram

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MEE 105: Engineering Mechanics I

Solution:

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MEE 105: Engineering Mechanics I

Solution:

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MEE 105: Engineering Mechanics I

Solution:

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