01 CESTAT30 Statics of Rigid Bodies Principles Fundamentals of Statics Part2

CESTAT30
STATICS OF
RIGID BODIES
(1st Term – AY: 2023 – 2024 )
LESSON 1: PRINCIPLES & FUNDAMENTALS OF
STATICS; FORCE VECTORS
1.1 Introduction and General Principles
Force Vectors – Vector Operations and Vector Addition of

1.2
Forces
Force Vectors – Addition of a System of Coplanar Forces and

1.3
Cartesian Vectors
1.4 Force Vectors – Position Vectors and Dot Product

1.3 ADDITION OF A SYSTEM OF COPLANAR FORCES
• In the plane, a force can be resolved into two rectangular components by the following two
separate notations:
1. Scalar Notation
𝑭𝒙 = 𝑭𝒄𝒐𝒔 𝒂
𝑭𝒙 = 𝑭
𝑭𝒚 = 𝑭𝒔𝒊𝒏 𝒄
𝒃
𝑭𝒚 = − 𝑭
𝒄
• Y-component is a
negative scalar since Fy
is directed along the
negative y-axis
2. Cartesian Vector Notation
• We write the force F:
𝑭 = 𝑭𝒙 i + 𝑭 𝒚 j
• 𝒊 𝒂𝒏𝒅 𝒋 𝒓𝒆𝒑𝒓𝒆𝒔𝒆𝒏𝒕 𝒕𝒉𝒆 𝒑𝒐𝒔𝒊𝒕𝒊𝒗𝒆 𝒅𝒊𝒓𝒆𝒄𝒕𝒊𝒐𝒏𝒔 𝒐𝒇 𝒕𝒉𝒆 𝒙 −

𝒂𝒏𝒅 𝒚 − 𝒂𝒙𝒆𝒔, 𝒓𝒆𝒔𝒑𝒆𝒄𝒕𝒊𝒗𝒆𝒍𝒚
3. Coplanar Force Resultant
• For example, consider the three concurrent forces in Fig. a, which have x and y components
shown in Fig. b. Using Cartesian vector notation, each forces represented as a Cartesian
vector, i.e.,
𝑭𝟏 = 𝑭𝟏𝒙𝒊 + 𝑭𝟏𝒚𝒋
𝑭𝟐 = −𝑭𝟐𝒙𝒊 + 𝑭𝟐𝒚𝒋
𝑭𝟑 = 𝑭𝟑𝒙𝒊 − 𝑭𝟑𝒚𝒋
• Then the resultant is:
𝑭𝑹 = 𝑭𝟏 + 𝑭𝟐 + 𝑭𝟑
= 𝑭𝟏𝒙 + 𝑭𝟐𝒙 + 𝑭𝟑𝒙 𝒊 + 𝑭𝟏y + 𝑭𝟐y + 𝑭𝟑y 𝒋
𝑭𝑹 = (𝑭𝑹𝒙)i + (𝑭𝑹y)j
3. Coplanar Force Resultant
• In the general case, the x and y components of the resultant of any number of coplanar forces
can be represented symbolically by the algebraic sum of the x and y components of all the
forces i.e.
𝑭𝑹𝒙 = ∑ 𝑭𝒙
𝑭𝑹𝒙 = ∑ 𝑭𝒚
• Then the magnitude and direction of the resultant force are given by:
𝟐 𝟐
|𝑭𝑹| = 𝑭𝑹𝑿+ 𝑭𝑹𝒚
𝑭𝑹𝒚
 = 𝒕𝒂𝒏 |
−𝟏 |
𝑭𝑹𝒙
1.3 CARTESIAN VECTORS
(+𝑧 𝑎𝑥𝑖𝑠) (−𝑥 𝑎𝑥𝑖𝑠)
𝐹2
𝐹1
(−𝑦 𝑎𝑥𝑖𝑠) (+𝑦 𝑎𝑥𝑖𝑠)
𝐹3
(+𝑥 𝑎𝑥𝑖𝑠)
(−𝑧 𝑎𝑥𝑖𝑠)
Method in Solving:
1. Right-Handed Coordinate System
• We will use a right-handed coordinate
system to develop the theory of vector
algebra that follows.
• A rectangular coordinate system is

said to be right-handed if the thumb
of the right hand points in the
direction of the positive z axis,
positive x-axis when the right-hand
fingers are curled about this axis
and directed from the positive x
towards the positive y-axis.
Method in Solving:
2. Rectangular Components of a Vector
• A vector A may have one, two, or three
rectangular components along the x, y,
z coordinate axes. It is represented by:
𝑨 = 𝑨𝒙 + 𝑨𝒚 + 𝑨𝒛
3. Cartesian Unit Vectors
• Cartesian Unit Vectors: In three
dimensions, the set of Cartesian unit
vectors i,j,k is used to designate the
directions of x,y,z axes respectively.
𝑨′ = 𝑨𝒙 + 𝑨𝒚
𝑨 = 𝑨′ + 𝑨𝒛
Method in Solving:
4. Cartesian Vector Representation

• Since the three components of A act in
the positive i, j, and k directions, now
we can write A in cartesian vector
form as;
𝑨 = 𝐴𝑥𝒊 + 𝐴𝑦𝒋 + 𝐴𝑧𝒌

𝐢, 𝐣, 𝐤 = 𝐝𝐢𝐫𝐞𝐜𝐭𝐢𝐨𝐧𝐬
(Ax,Ay,Az) = magnitudes of
components
Method in Solving:
5. Magnitude of a Cartesian Vector
• It is always possible to obtain the
magnitude of A provided it is
expressed in Cartesian vector form.
• As shown in the figure:
o Blue right triangle:

o Gray right triangle:
• Combining these equations to

eliminate A yields:
𝐴 = 𝐴 𝑥 2 + 𝐴 𝑦 2 + 𝐴𝑧2
Method in Solving:
6. Direction of a Cartesian Vector
• Coordinate Direction angles:
 (alpha);  (beta);  (gamma)
o These are measured between the tail of A and the
positive x, y, z axes provided they are located at the
tail of A.
o NOTE that regardless of where A is directed, each
of these angles will be between 0° and 180°
𝑨𝒙 𝑨𝒚 𝑨𝒛
𝒄𝒐𝒔 = 𝒄𝒐𝒔 = 𝒄𝒐𝒔 =
|𝑨| |𝑨| |𝑨|
o These numbers are known as the direction
cosines of A. Once they have been obtained, the
coordinate direction angles can be determined
from the inverse cosines.
Method in Solving:
7. Unit Vectors
o The easy way of obtaining the direction cosines is to form a unit vector 𝒖𝑨 in the direction of A.
𝑨 𝑨𝒙 𝑨𝒙 𝑨𝒛
𝒖𝑨 = = 𝒊+ 𝒋+ 𝒌
|𝑨| |𝑨| |𝑨| |𝑨|
Method in Solving:
Other formulas for unit vector in the direction of A:
𝒖𝑨 = 𝒄𝒐𝒔 𝒊 + 𝒄𝒐𝒔 𝒋 + 𝒄𝒐𝒔 𝐤

o From here we can also derive the relationship:
𝒄𝒐𝒔𝟐 + 𝒄𝒐𝒔𝟐 + 𝒄𝒐𝒔𝟐 = 𝟏

Method in Solving:
o Sometimes the direction of A can be specified using two
angles,  and :
𝐴𝑧 = 𝐴 𝑐𝑜𝑠
𝐴′ = 𝐴 𝑠𝑖𝑛
𝐴𝑥 = 𝐴′𝑐𝑜𝑠 = 𝐴 𝑠𝑖𝑛𝑐𝑜𝑠
𝐴𝑦 = 𝐴′𝑠𝑖𝑛 = 𝐴 𝑠𝑖𝑛𝑠𝑖𝑛
𝐀 = 𝐴 𝑠𝑖𝑛 𝑐𝑜𝑠 𝐢 + 𝐴 𝑠𝑖𝑛 𝑠𝑖𝑛 𝐣 + 𝐴 𝑐𝑜𝑠𝐤

Example
o Express the force F shown as a Cartesian Vector
Example
Solution:
1. Given and unknowns:
Given:  ,, F
Unknowns: =?, F = ?
Example
Solution:
2. Find coordinate direction angles
Recall:
𝒄𝒐𝒔𝟐 +𝒄𝒐𝒔𝟐 +𝒄𝒐𝒔𝟐=1
Example
Solution:
Recall:
𝑐𝑜𝑠2 +𝑐𝑜𝑠260° +𝑐𝑜𝑠245°=1

Example
Solution:
Recall:
𝑐𝑜𝑠2 +𝑐𝑜𝑠260° +𝑐𝑜𝑠245°=1

cos  = 1 − 0.5 2 − 0.707 2 = ±0.50
 = 𝑐𝑜𝑠−1(0.5) = 60°  = 𝑐𝑜𝑠−1(−0.5) = 120°

Example
Solution:
Recall:
𝑐𝑜𝑠2 +𝑐𝑜𝑠260° +𝑐𝑜𝑠245°=1

cos  = 1 − 0.5 2 − 0.707 2 = ±0.50
 = 𝑐𝑜𝑠−1(0.5) = 60°  = 𝑐𝑜𝑠−1(−0.5) = 120°
Choose
 = 𝟔𝟎°
Example
Solution:
3. Cartesian vector 𝑭
Recall:
𝑭 = Fx î + Fy ĵ + Fz k
𝑭 = Fcos î+ Fcos ĵ + Fcosk
= 200𝑐𝑜𝑠60° î + 200𝑐𝑜𝑠60° ĵ + 200𝑐𝑜𝑠45° 𝑘

Example
Solution:
3. Cartesian vector 𝑭
Recall:
𝑭 = Fx î + Fy ĵ + Fz k
𝑭 = Fcos î+ Fcos ĵ + Fcosk
= 200𝑐𝑜𝑠60° î + 200𝑐𝑜𝑠60° ĵ + 200𝑐𝑜𝑠45° k
𝑭 = 100 î + 100 ĵ + 141.40 k

Example
o Two forces act on the hook shown in the figure. Specify the
magnitude of 𝑭𝟐 and its coordinate direction angles so that
the resultant force 𝑭𝑹 acts along the positive y-axis and has
a magnitude of 800 N.
Example
Solution:
Given: 𝐹1 = 300 𝑁; 1,1,1

𝐹𝑅 = 800 𝑁
Unknowns: 2=?,2 =? ,2 =? ,𝐹2 =? 800 𝑁
Example
Solution:
2. Cartesian Vector of 𝑭𝑹, 𝑭𝟏, 𝑭𝟐

Recall:
𝑭𝑹 = 𝑭𝟏 + 𝑭𝟐
𝐹1 = 𝐹1cos1 i + 𝐹1cos1j + 𝐹1𝑐𝑜𝑠1k 800 𝑁

Example
Solution:

Recall:
𝑭𝑹 = 𝑭𝟏 + 𝑭𝟐

𝐹1 = 300cos45° i + 300cos60° j + 300𝑐𝑜𝑠120° k
Example
Solution:

Recall:
𝑭𝑹 = 𝑭𝟏 + 𝑭𝟐
𝐹1 = 𝐹1cos1 i + 𝐹1cos1 j + 𝐹1𝑐𝑜𝑠1k 800 𝑁

𝐹1 = 300cos45° i + 300cos60° j + 300𝑐𝑜𝑠120° k
𝐹1 = 212.1 i + 150 j − 150 k 𝑁
Example
Solution:

Recall:
𝑭𝑹 = 𝑭𝟏 + 𝑭𝟐

𝐹1 = 300cos45° i + 300cos60° j + 300𝑐𝑜𝑠120° k
𝐹1 = 212.1 i + 150 j − 150k 𝑁
𝐹2 = {𝐹2𝑥 i + 𝐹2𝑦 j + 𝐹2𝑧k} 𝑁
Example
Solution:

Recall:
𝑭𝑹 = 𝑭𝟏 + 𝑭𝟐

𝐹1 = 300cos45° i + 300cos60° j + 300𝑐𝑜𝑠120° k
𝐹1 = 212.1 i + 150 j − 150 k 𝑁
𝐹2 = {𝐹2𝑥 i + 𝐹2𝑦 j + 𝐹2𝑧k} 𝑁
𝐹𝑅 = (800 𝑁)(+j)= {800 j} 𝑁
Example
Solution:

Recall:
𝑭𝑹 = 𝑭𝟏 + 𝑭𝟐
𝐹1 = 212.1 i + 150 j − 150k 𝑁 𝐹𝑅 = 800 𝑁 +j = {800 j} 𝑁

800 𝑁
𝐹2 = {𝐹2𝑥 i + 𝐹2𝑦 j + 𝐹2𝑧k} 𝑁
800 j = 212.1 i + 150 j − 150 k + 𝐹2𝑥 i + 𝐹2𝑦 j + 𝐹2𝑧k

Example
Solution:

Recall:
𝑭𝑹 = 𝑭𝟏 + 𝑭𝟐
𝐹1 = 212.1 i + 150 j − 150k 𝑁 𝐹𝑅 = 800 𝑁 +j = {800 j} 𝑁

800 𝑁
𝐹2 = {𝐹2𝑥 i + 𝐹2𝑦 j + 𝐹2𝑧k} 𝑁
800 j = 212.1 i + 150 j − 150 k + 𝐹2𝑥 i + 𝐹2𝑦 j + 𝐹2𝑧k

800 j = (212.1 + 𝐹2𝑥 ) i + (150 + 𝐹2𝑦 ) j +(− 150 + 𝐹2𝑧) k
Example
Solution:
3. Find components of 𝑭𝟐
• Components of 𝐹𝑅 must be equal to the corresponding i,j,k
components of (𝐹1 + 𝐹2)
800 j = (212.1 + 𝐹2𝑥 ) i + (150 + 𝐹2𝑦 ) j +(− 150 + 𝐹2z) k 800 𝑁

Example
Solution:
800 j = (212.1 + 𝐹2𝑥 ) i + (150 + 𝐹2𝑦 ) j +(− 150 + 𝐹2z) k 800 𝑁
0 = 212.1 + 𝐹2𝑥
800 = 150 + 𝐹2𝑦
0 = −150 + 𝐹2𝑧
Example
Solution:
800 j = (212.1 + 𝐹2𝑥 ) i + (150 + 𝐹2𝑦 ) j +(− 150 + 𝐹2z) k 800 𝑁
0 = 212.1 + 𝐹2𝑥 𝐹2𝑥 = −212.1 𝑁

800 = 150 + 𝐹2𝑦 𝐹2𝑦 = 650 𝑁
0 = −150 + 𝐹2𝑧
𝐹2𝑧 = 150 𝑁
Example
Solution:
800 j = (212.1 + 𝐹2𝑥 ) i + (150 + 𝐹2𝑦 ) j +(− 150 + 𝐹2z) k 800 𝑁
0 = 212.1 + 𝐹2𝑥 𝐹2𝑥 = −212.1 𝑁

800 = 150 + 𝐹2𝑦 𝐹2𝑦 = 650 𝑁
0 = −150 + 𝐹2𝑧
𝐹2𝑧 = 150 𝑁 𝐹 = {−212.1 i + 650 j + 150k} 𝑁
Example
Solution:
4. Magnitude of 𝑭𝟐
𝐹2 = −212.1 2 + 650 2 + 150 2 𝑁
800 𝑁
Example
Solution:
4. Magnitude of 𝑭𝟐
𝐹2 = −212.1 2 + 650 2 + 150 2 𝑁

= 𝟕𝟎𝟎 𝑵
800 𝑁
1.3 CARTESIAN VECTORS 700 𝑁
Example
o Two forces act on the hook shown in the figure. Specify the 800 𝑁
Solution:
5. Coordinate Direction angles

Recall: 𝑨𝒙 𝑨𝒚 𝑨𝒛
|𝑨| |𝑨| |𝑨|
Example
Solution:

|𝑨| |𝑨| |𝑨|
−212.1
c𝑜𝑠2 =
700
650
c𝑜𝑠2 =
700
150
c𝑜𝑠2 =
700
Example
Solution:

|𝑨| |𝑨| |𝑨|
−212.1 2 = 108°
c𝑜𝑠 2 =
700
650
c𝑜𝑠 2 = 2 = 21.8°
700
150 2 = 77.6°
c𝑜𝑠 2 =
700
Example
Solution:

|𝑨| |𝑨| |𝑨|
−212.1 2 = 108° Therefore:
c𝑜𝑠 2 =
700
𝐹2 = 700 𝑁
650
c𝑜𝑠 2 = 2 = 21.8° 𝐹2 = {−212.1 i + 650 j + 150 k} 𝑁
700
2 = 108°
150 2 = 77.6° 2 = 21.8°
c𝑜𝑠 2 =
700 2 = 77.6°
LESSON 1: PRINCIPLES & FUNDAMENTALS OF
STATICS; FORCE VECTORS
1.1 Introduction and General Principles
Force Vectors – Vector Operations and Vector Addition of

1.2
Forces
Force Vectors – Addition of a System of Coplanar Forces and

1.3
Cartesian Vectors
1.4 Force Vectors – Position Vectors and Dot Product

1.4 POSITION VECTORS
Position Vectors
𝑨
𝑩
Position Vectors
𝑨 (𝒙𝑨, 𝒚𝑨, 𝒛𝑨)

𝑧𝐴
𝑦𝐵
𝑦𝐴
𝑧𝐵
𝑩(𝒙𝑩, 𝒚𝑩, 𝒛𝑩)
Position Vectors
• The position vector r is defined as a fixed vector which locates a point in space relative to
another point.
𝒓 = x i+yj +zk
Position Vectors
• More generally, the position vector may be directed from point A to point B in space as shown
in the figure.
𝒓𝑨𝑩 = 𝒓𝑩 − 𝒓𝑨
▪ Example: A (xA, yA, zA), B (xB, yB, zB)

▪ 𝑟𝐴 = 𝑥𝐴 𝑖 + 𝑦𝐴 𝑗 + 𝑧𝐴 𝑘
▪ 𝑟𝐵 = 𝑥𝐵 𝑖 + 𝑦𝐵 𝑗 + 𝑧𝐵 𝑘
▪ 𝑟𝐴𝐵 = (𝑥𝐵 − 𝑥𝐴 ) 𝑖 + (𝑦𝐵 −𝑦𝐴 ) 𝑗 + (𝑧𝐵 −𝑧𝐴 ) 𝑘
Example
o An elastic rubber band is attached to points A and B as
shown. Determine its length and its direction measured
from A toward B.
Example
from A toward B.
Given: 𝑟𝐴 , 𝑟𝐵
Unknowns: r = ? ; , , =?
Example
from A toward B.
2. Position vector of A and B (from origin)
𝑟𝐴 = 1 i + 0 j − 3 k 𝑚
𝑟𝐵 = −2 i + 2 j + 3 k 𝑚
Example
from A toward B.
𝑟𝐴 = 1 i + 0 j − 3 k 𝑚
𝑟𝐵 = −2 i + 2 j + 3 k 𝑚

Recall:
𝑟𝐴𝐵 = −2 − 1 𝑖 + 2 − 0 𝑗 + 3 − −3 𝑘 𝑚
𝒓𝑨𝑩 = −𝟑𝒊 + 𝟐𝒋 + 𝟔𝒌 𝒎
Example
from A toward B.
4. Magnitude / Length of rubber band
𝑟𝐴𝐵 = −3 2 + 2 2 + 6 2 =𝟕𝒎
Example
from A toward B.
𝑟𝐴𝐵 = −3 2 + 2 2 + 6 2 =𝟕𝒎
5. Coordinate Direction Angles

Recall: 𝒓 𝑨𝑩
𝒖𝑨𝑩 =
𝒓𝑨𝑩
𝑟𝐴𝐵 −3i + 2j +6k

𝑢𝐴𝐵 = =
𝑟𝐴𝐵 7
Example
from A toward B.
𝑟𝐴𝐵 = −3 2 + 2 2 + 6 2 =𝟕𝒎
5. Coordinate Direction Angles

Recall: 𝒓 𝑨𝑩
𝒖𝑨𝑩 =
𝒓𝑨𝑩
𝑟𝐴𝐵 −3i + 2j +6k

𝑢𝐴𝐵 = =
𝑟𝐴𝐵 7
Example
from A toward B.
• Length of rubber band & Coordinate Direction Angles
𝐿𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑟𝑢𝑏𝑏𝑒𝑟 𝑏𝑎𝑛𝑑 = 𝟕 𝒎

 = 𝟏𝟏𝟓°
 = 𝟕𝟑. 𝟒°
 = 𝟑𝟏°
Example
o The man shown pulls on the chord with a force of 70 lb.
Represent this force acting on the support A as a Cartesian
vector and determine its direction.
Example
vector and determine its direction. 𝑭
Solution:
Given: 𝑟𝐴 , 𝑟𝐵, 𝐹
Unknowns: 𝐹𝐴𝐵 = ? ; , , =?

Example
Solution:
2. Position vector of A and B

𝑟𝐴 = 0i + 0j + 30k 𝑚
𝑟𝐵 = 12i − 8j + 6k 𝑚
Example
Solution:

𝑟𝐴 = 0i + 0j + 30k 𝑚
𝑟𝐵 = 12i − 8j + 6k 𝑚

Recall:
𝑟𝐴𝐵 = 12 − 0 𝑖 + −8 − 0 𝑗 + 6 − 30 𝑘 𝑚
𝒓𝑨𝑩 = −𝟏𝟐𝒊 − 𝟖𝒋 − 𝟐𝟒𝒌 𝒎
Example
Solution:
4. Magnitude / Length of cord
𝑟𝐴𝐵 = 12 2 + −8 2 + −24 2 = 𝟐𝟖 𝒇𝒕
Example
Solution:
5. Cartesian vector of 𝑭𝑨𝑩 𝒖𝑨𝑩 = 𝒖𝑭

𝒓𝑨𝑩
Recall:
𝒓𝑨𝑩
𝒖𝑨𝑩 =
𝒓𝑨𝑩
𝑭
𝒖𝑭 =
𝑭
𝒖𝑨𝑩 = 𝒖𝑭
Example
Solution:

𝒓𝑨𝑩
Recall:
𝒓𝑨𝑩
𝒖𝑨𝑩 = 𝑟𝐴𝐵 12𝑖 − 8𝑗 − 24𝑘
𝒓𝑨𝑩 𝑢𝐴𝐵 = =
𝑟𝐴𝐵 28
𝑭
𝒖𝑭 = 12 8 24
𝑭 𝐹 = 𝑢𝐴𝐵 𝐹 = 70 𝑖− 𝑗− 𝑘
28 28 28
Example
Solution:

𝒓𝑨𝑩
Recall:
𝒓𝑨𝑩
𝒖𝑨𝑩 = 𝑟𝐴𝐵 12𝑖 − 8𝑗 − 24𝑘
𝒓𝑨𝑩 𝑢𝐴𝐵 = =
𝑟𝐴𝐵 28
𝑭
𝒖𝑭 = 12 8 24
𝑭 𝐹 = 𝑢𝐴𝐵 𝐹 = 70 𝑖− 𝑗− 𝑘
28 28 28
𝐹 = 30𝑖 − 20𝑗 − 60𝑘 𝑙𝑏
Example
Solution:
6. Coordinate direction angle 𝒖𝑨𝑩 = 𝒖𝑭

𝒓𝑨𝑩
Recall:
𝒓𝑨𝑩 𝟏𝟐i − 𝟖j − 24k
𝒖𝑨𝑩 = =
𝒓𝑨𝑩 𝟐𝟖
12
= 𝑐𝑜𝑠−1 = 𝟔𝟒. 𝟔°
28
−8
= 𝑐𝑜𝑠−1 = 𝟏𝟎𝟕°
28
−24
 = 𝑐𝑜𝑠−1 = 𝟏𝟒𝟗°
28
1.4 POSITION VECTORS 
Example
o The man shown pulls on the chord with a force of 70 lb. 𝒚

Solution:
𝒙 
• Cartesian Vector and Direction angles 𝒖𝑨𝑩 = 𝒖𝑭
𝒓𝑨𝑩
𝑭 = 𝟑𝟎i − 𝟐𝟎j − 60k 𝒍𝒃
 = 𝟔𝟒. 𝟔°
 = 𝟏𝟎𝟕°
 = 𝟏𝟒𝟗°

01 CESTAT30 Statics of Rigid Bodies Principles Fundamentals of Statics Part2

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01 CESTAT30 Statics of Rigid Bodies Principles Fundamentals of Statics Part2

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CESTAT30

1.1 Introduction and General Principles

Force Vectors – Vector Operations and Vector Addition of

Force Vectors – Addition of a System of Coplanar Forces and

1.4 Force Vectors – Position Vectors and Dot Product

• 𝒊 𝒂𝒏𝒅 𝒋 𝒓𝒆𝒑𝒓𝒆𝒔𝒆𝒏𝒕 𝒕𝒉𝒆 𝒑𝒐𝒔𝒊𝒕𝒊𝒗𝒆 𝒅𝒊𝒓𝒆𝒄𝒕𝒊𝒐𝒏𝒔 𝒐𝒇 𝒕𝒉𝒆 𝒙 −

• A rectangular coordinate system is

4. Cartesian Vector Representation

𝑨 = 𝐴𝑥𝒊 + 𝐴𝑦𝒋 + 𝐴𝑧𝒌

• As shown in the figure:

o Blue right triangle:

• Combining these equations to

𝒖𝑨 = 𝒄𝒐𝒔 𝒊 + 𝒄𝒐𝒔 𝒋 + 𝒄𝒐𝒔 𝐤

𝒄𝒐𝒔𝟐 + 𝒄𝒐𝒔𝟐 + 𝒄𝒐𝒔𝟐 = 𝟏

𝐀 = 𝐴 𝑠𝑖𝑛 𝑐𝑜𝑠 𝐢 + 𝐴 𝑠𝑖𝑛 𝑠𝑖𝑛 𝐣 + 𝐴 𝑐𝑜𝑠𝐤

1. Given and unknowns:

2. Find coordinate direction angles

2. Find coordinate direction angles

𝑐𝑜𝑠2 +𝑐𝑜𝑠260° +𝑐𝑜𝑠245°=1

2. Find coordinate direction angles

𝑐𝑜𝑠2 +𝑐𝑜𝑠260° +𝑐𝑜𝑠245°=1

 = 𝑐𝑜𝑠−1(0.5) = 60°  = 𝑐𝑜𝑠−1(−0.5) = 120°

2. Find coordinate direction angles

𝑐𝑜𝑠2 +𝑐𝑜𝑠260° +𝑐𝑜𝑠245°=1

 = 𝑐𝑜𝑠−1(0.5) = 60°  = 𝑐𝑜𝑠−1(−0.5) = 120°

𝑭 = Fcos î+ Fcos ĵ + Fcosk

= 200𝑐𝑜𝑠60° î + 200𝑐𝑜𝑠60° ĵ + 200𝑐𝑜𝑠45° 𝑘

𝑭 = Fcos î+ Fcos ĵ + Fcosk

= 200𝑐𝑜𝑠60° î + 200𝑐𝑜𝑠60° ĵ + 200𝑐𝑜𝑠45° k

𝑭 = 100 î + 100 ĵ + 141.40 k

1. Given and unknowns:

Given: 𝐹1 = 300 𝑁; 1,1,1

2. Cartesian Vector of 𝑭𝑹, 𝑭𝟏, 𝑭𝟐

𝐹1 = 𝐹1cos1 i + 𝐹1cos1j + 𝐹1𝑐𝑜𝑠1k 800 𝑁

2. Cartesian Vector of 𝑭𝑹, 𝑭𝟏, 𝑭𝟐

𝐹1 = 𝐹1cos1 i + 𝐹1cos1j + 𝐹1𝑐𝑜𝑠1k 800 𝑁

2. Cartesian Vector of 𝑭𝑹, 𝑭𝟏, 𝑭𝟐

𝐹1 = 𝐹1cos1 i + 𝐹1cos1 j + 𝐹1𝑐𝑜𝑠1k 800 𝑁

2. Cartesian Vector of 𝑭𝑹, 𝑭𝟏, 𝑭𝟐

𝐹1 = 𝐹1cos1 i + 𝐹1cos1j + 𝐹1𝑐𝑜𝑠1k 800 𝑁

2. Cartesian Vector of 𝑭𝑹, 𝑭𝟏, 𝑭𝟐

𝐹1 = 𝐹1cos1 i + 𝐹1cos1j + 𝐹1𝑐𝑜𝑠1k 800 𝑁

2. Cartesian Vector of 𝑭𝑹, 𝑭𝟏, 𝑭𝟐

𝐹1 = 212.1 i + 150 j − 150k 𝑁 𝐹𝑅 = 800 𝑁 +j = {800 j} 𝑁

800 j = 212.1 i + 150 j − 150 k + 𝐹2𝑥 i + 𝐹2𝑦 j + 𝐹2𝑧k

2. Cartesian Vector of 𝑭𝑹, 𝑭𝟏, 𝑭𝟐

𝐹1 = 212.1 i + 150 j − 150k 𝑁 𝐹𝑅 = 800 𝑁 +j = {800 j} 𝑁

800 j = 212.1 i + 150 j − 150 k + 𝐹2𝑥 i + 𝐹2𝑦 j + 𝐹2𝑧k

800 j = (212.1 + 𝐹2𝑥 ) i + (150 + 𝐹2𝑦 ) j +(− 150 + 𝐹2z) k 800 𝑁

800 j = (212.1 + 𝐹2𝑥 ) i + (150 + 𝐹2𝑦 ) j +(− 150 + 𝐹2z) k 800 𝑁

800 j = (212.1 + 𝐹2𝑥 ) i + (150 + 𝐹2𝑦 ) j +(− 150 + 𝐹2z) k 800 𝑁

0 = 212.1 + 𝐹2𝑥 𝐹2𝑥 = −212.1 𝑁

800 j = (212.1 + 𝐹2𝑥 ) i + (150 + 𝐹2𝑦 ) j +(− 150 + 𝐹2z) k 800 𝑁

0 = 212.1 + 𝐹2𝑥 𝐹2𝑥 = −212.1 𝑁

𝐹2 = −212.1 2 + 650 2 + 150 2 𝑁

𝐹2 = −212.1 2 + 650 2 + 150 2 𝑁

5. Coordinate Direction angles

5. Coordinate Direction angles

5. Coordinate Direction angles

5. Coordinate Direction angles

1.1 Introduction and General Principles

Force Vectors – Vector Operations and Vector Addition of

Force Vectors – Addition of a System of Coplanar Forces and