Professional Documents
Culture Documents
Force Vectors-2: The Invasion of Three Dimensional Space
Force Vectors-2: The Invasion of Three Dimensional Space
VECTORS-2
FORCE
e Invasion of ThreeVECTORS-2
Dimensional Space
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
"all i know
is that i know nothing
Text Book: Engineering Mechanics Statics
Socrates
R.C. Hibbeler 12th Edition
Force Vectors
r
F=Fu
r
A
r
B
objectives
z
B x B , yB , z B
A x A , yA , zA
r
A
Acos
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
y
Text Book: Engineering Mechanics Statics
R.C. Hibbeler 12th Edition
Force Vectors
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
Three
Threedimensional
dimensionalForce
ForceVectors
Vectors
Geometrical Considerations
The Force Vector
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
Geometrical Considerations
The Cartesian Coordinate System
Space Lines
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
u
r
F
x
If the force F is parallel to the
line shown axis, then we
expressr it as
F=Fu
Where u is the unit vector of the line
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
r
F
r
F
r
F
j
y
Force Vectors
Space Lines
1- The unit vector in terms of two points on the line
2- The unit vector in terms of direction angles of the line
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
B x B , yB , z B
r
rA =x A i+y A j+z A k
r
rB/A
r
rB =x Bi+y B j+z B k
A x A , yA , zA
r
rB
r
r r
rB/A =rB -rA
r
rA
r
rB/A = x B i+y Bj+z B k x A i+y A j+z A k
r
rB/A = x B -x A i+ y B -y A j+ z B -z A k
O
x
Statics
R.C. Hibbeler 12th Edition
B x B , yB , z B
u B/A
Force Vectors
r
rB/A
A x A , yA , z A
r
rB/A =rB/A u B/A
r
rB/A = x B -x A i+ y B -y A j+ z B -z A k
rB/A = (x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
r
r
u B/A = B/A
rB/A
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Thus we
get
(x B -x A )i+(y
B -y A )j+(z B -z A )k
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Text Book: Engineering Mechanics Statics
R.C. Hibbeler 12th Edition
Force Vectors
u B/A =
(x B -x A )i+(y
B -y A )j+(z B -z A )k
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
u B/A =u x i+u y j+u z k
where
ux =
uy =
uz =
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
(x B -x A )
2
(x B -x A ) +(y B -y A ) +(z B -z A )
(y B -y A )
2
(x B -x A ) +(y B -y A ) +(z B -z A )
(z B -z A )
2
(x B -x A ) +(y B -y A ) +(z B -z A )
1
Text Book: Engineering Mechanics Statics
R.C. Hibbeler 12th Edition
Force Vectors
the line
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
The direction
z
cosines
s the projection (component) of rB/A parallel to the x axis
E
AC= rB/A x =x B -x A
cos=
rB/A x
rB/A
r
rB/A
(x B -x A )
rB/A
cos =
(x B -x A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
B x B , yB , zB
A x A , yA , zA
Force Vectors
The direction
z
cosines
s the projection (component) of rB/A parallel to the y axis
E
AD= rB/A y =y B -y A
cos =
rB/A y
rB/A
r
rB/A
(y -y )
= B A
rB/A
cos =
(y B -y A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
B x B , yB , zB
A x A , yA , zA
The direction
z
cosines
s the projection (component) of rB/A parallel to the z axis
Force Vectors
AE= rB/A z =z B -z A
cos =
rB/A z
rB/A
r
rB/A
(z B -z A )
rB/A
cos =
(z B -z A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
B x B , yB , zB
A x A , yA , zA
Force Vectors
since
u B/A =
(x B -x A )i+(y
B -y A )j+(z B -z A )k
cos =
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
cos =
then
cos =
(x B -x A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
(y B -y A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
(z B -z A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
2
2
u= cos+cos
+cos
2 1
2
2
cos
+ cos +
cos 2 1
The above relation is used if two out of three direction angles are given and its
required to get the third
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Given
F=Fu=F
cos i+cos j+cos k
u
F
Force Vectors
Fx =Fcos
Fy =Fcos
Fz =Fcos
2
If only two angles are given use cos
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
2
+ cos +
cos 2 1
Text Book: Engineering Mechanics Statics
R.C. Hibbeler 12th Edition
Force Vectors
Given
(x B -x A )i+(y
B -y A )j+(z B -z A )k
u B/A =
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
B x B , yB , z B
cos =
cos =
(x B -x A )
2
(x B -x A ) +(y B -y A ) +(z B -z A )
A x A , yA , z A
(y B -y A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
(z B -z A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
r
F=Fu=F
(x B -x A )i+(y
B -y A )j+(z B -z A )k
(x B -x A ) +(y B -y A ) +(z B -z A )
Fx =F
(x B -x A ) +(y B -y A ) +(z B -z A )
(x B -x A ) +(y B -y A ) +(z B -z A )
z B -z A
Fz =F
y B -y A
Fy =F
x B -x A
(x B -x A ) +(y B -y A ) +(z B -z A )
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
Given
Fz
Fy
r
x i+Fy j+Fz k
F=Fu=F
Fx
r
F Fx Fy Fz
u = = i+ j+ k
F F
F
F
F
cos = x
F
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
cos =
Fy
F
cos =
Fz
F
Text Book: Engineering Mechanics Statics
R.C. Hibbeler 12th Edition
Force Vectors
Example - 3
r
the following is required;
For the given vectorA=10i-5j+8k
a- Its magnitude
b- The unit vector of its line of action
For the unit vector of its line of action use
Solution
Method of solution
e vector is given in terms of its components
A x =10
A y =-5
A z =8
r
A A x i+A y j+A z k
u A = =
A
A 2x +A 2y +A 2z
A= A 2x +A 2y +A 2z
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
21
Force Vectors
a- The magnitude
A x =10
A y =-5
A z =8
A= A 2x +A 2y +A 2z
10i-5j+8k
u A
13.75
A= 102 52 82 13.75
j+0.582 k
u A 0.727i-0.34
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
22
Force Vectors
Example - 4
The magnitude of the Force vector F is 7N. The direction angles the vector makes with the x, y, and
z axes are
he following is required;
a- The unit vector of its line of action
b- Its Cartesian components
Method of solution
F=Fu=F
cos i+cos j+cos k
Fx =Fcos
Fy =Fcos
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
remember
If only two angles are
given, then use
2
2
cos
+ cos +
cos 2 1
Fz =Fcos
23
F=Fu=F
u x i+u y j+u z k
Then use
i+cos j+cos k
u=cos
i+cos73.4 j+cos31k
u=cos115
i+0.286 j+0.857 k
u=-0.423
remember
If only two angles are
given, then use
Force Vectors
2
2
cos
+ cos +
cos 2 1
24
Force Vectors
Example - 5
A force F of magnitude 10 N is along (or parallel to) line AB
as shown, the following is required
B(4, 3, 2)
r
F
A(2,1, 3)
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
25
Force Vectors
Method of Solution
u B/A =
(x B -x A )i+(y
B -y A )j+(z B -z A )k
2
(x B -x A ) +(y B -y A ) +(z B -z A )
r
F= Fcos i+ Fcos j+ Fcos k
r
F=F
B(4, 3, 2)
r
F
A(2,1, 3)
(x B -x A )i+(y
B -y A )j+(z B -z A )k
(x B -x A ) +(y B -y A ) +(z B -z A )
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
26
Force Vectors
Solution
a- Unit vector of the line AB
Given two points on the line of
action and the force is pointing
from A to B, then
u B/A =
(4-2)i+(3-1)j +(2+3)k
(4-2) 2 +(3-1) 2 +(2+3) 2
B(4, 3, 2)
F=10N
A(2,1, 3)
u B/A =
(x B -x A )i+(y B -y A )j +(z B -z A )k
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
27
Force Vectors
u B/A =0.348i+0.348j+0.871k
and
i+cos j+cos k
u=cos
Or use
F=Fu
then
cos =0.348
F=Fu=10
0.348 i+0.348 j+0.871k
r
i+3.48 j+8.71k
F=Fu=3.48
cos =0.348
cos =0.871
Fx =3.48N
Fy =3.48N
Fz =8.71 N
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
28
Force Vectors
Example - 6
Rod OA is attached to the two cables as shown, AB and AC. The direction
angles for cable AB are =60, and =45. The following is required
C -2,0,4
TC/A =40N
A 0,4,3
TB/A =20N
y
x
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
B
29
Solution
The unit vector is
e 20 N force (Cable AB)
The direction angles
for cable AB are
=60, and =45.
Thus to get the third
angle , apply
u =cosi+cosj+cosk
0.5j
u = cos60i +cos45j
u =0.5i+0.707j+0.5k
Fx =Fcos
Fx1 =20cos60
Fy =Fcos
Fy1 =20cos45
cos2 0.25
cos 0.5
Fz =Fcos
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
30
(x C -x A )i+(y
(-2-0)i+(0-4)j+(4-3)k
C -y A )j+(z C -z A )k
u C/A =
=
2
2
2
(x C -x A ) +(y C -y A ) +(z C -z A )
(-2-0) 2 +(0-4) 2 +(4-3) 2
-2i-4j+k
u C/A =
=-0.43i-0.87j+0.22k
4.6
Force Vectors
C -2,0,4
TC/A =40N
A 0,4,3
TB/A =20N
y
e Cartesian components
Fx =Fcos
Fy =Fcos
Fz =Fcos
Fz2 =40 0.22
Text Book: Engineering Mechanics Statics
R.C. Hibbeler 12th Edition
Fx1 =20cos60
Fy1 =20cos45
Force Vectors
R x =Fx1 +Fx2 =
R y =Fy1 +Fy2 =
R z =Fz1 +Fz2 =
R= R 2x +R 2y +R 2z
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
32
u=
Force Vectors
Rx Ry Rz
i+
j+
k
R
R
R
u=cos
i+cos j+cos k
Rx
R
Ry
cos =
R
R
cos = z
R
cos =
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
33
Force Vectors
Force Vectors
Vector
VectorDot
DotProduct
Product
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
ethod of vector dot (scalar) product provides a simple and direct method to obtain 1
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
36
Force Vectors
r
B
r r r r r r
A.B=B.A= A B cos=ABcos
Where,
r
A
A is the magnitude of vector
r
B
B is the magnitude of vector
is the angle between both vectors
r
A
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
37
Force Vectors
r
B
r r
A.B=ABcos
j.j=(1)(1)cos0=1
k.k=(1)(1)cos0=1
i.j=j.i=(1)(1)cos90=0
j.k=k.j=(1)(1)cos90=0
k.i=i.k=(1)(1)cos90=0
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
r
A
38
Force Vectors
r
A=A x i+A y j+A z k
i.i=j.j=k.k=1
i.j=j.k=k.i=0
r
B=Bx i+B y j+Bz k
r r
i+B j+B k)
r r
A.B = A x Bx + A y B y + A z Bz
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
39
Force Vectors
r r
A.B=ABcos
r
B
r r
A.B
cos=
AB
r
A
u A
r
A=A x i+A y j+A z k
r
B=Bx i+B y j+Bz k
r r
A.B
=
Thus: cos=
AB
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
A= A 2x +A 2y +A z2
B= B2x +B2y +Bz2
A x B x +A y B y +A z Bz
A 2x +A 2y +A z2
40
Force Vectors
r
B
r
A=Au A
r
B=Bu B
then
u B
r
A
u A
r r
r
r
A.B
A
B
cos=
= . =u A .u B =u Ax u Bx +u Ay u By +u Az u Bz
AB A B
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
41
Force Vectors
r
B
Q'
Bcos
BQQ' =Bcos
A.B=ABcos
r r
r
A.B
=u A .B
Bcos=
A
Thus, the projection (component) of a vector along any line is simply the
dot product of the vector and the unit vector of the line
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
42
Force Vectors
Example - 7
r
A=10i-5j+8k
r
B=2i+6j-3k
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
43
Force Vectors
Solution
1- Evaluate
the dot product ofrthe two vectors
r
A=10i-5j+8k
B=2i+6j-3k
r r
A.B= A x Bx +A y B y +A z Bz
r r
A.B= 10 2 + -5 6 + 8 -3 34
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
44
he rule to be used is
We have:
A.B
cos=
=
AB
Force Vectors
A x Bx +A y B y +A z Bz
A 2x +A 2y +A 2z
r r
A.B= 34
A= 102 52 82 =13.75
B= 2 2 6 2 32 =7
cos=
-34
0.353
13.75 7
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
=110.686o
45
Force Vectors
r
A=10i-5j+8k
r
B=2i+6j-3k
he rule to be used is
he unit vector of B is
r
A B =A.u B = A x u Bx +A y u By +A z u Bz
r
B 2i+6j-3k
u B = =
=0.28i+0.86j-0.43k
B
7
r
A.u B = 10 0.286 -5 0.857 + 8 -0.428 4.86
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
46
Force Vectors
r
A=10i-5j+8k
r
B=2i+6j-3k
A B =Acos
he rule to be used is
We have:
A= 102 52 82 =13.75
=110.686o
47
Force Vectors
Assignment -1
Please go to the e-learning page
and lecture one for more
information
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
A1-2
Force Vectors
r= a +b +2abcos
Faculty of Engineering
Force Vectors
N
F=2000i + 3000j-4000k
A1-6 Determine the component of the force of problem [A1-5] along a line having
directionFaculty
cosines
(-0.3, 0.1, 0.9487).
of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
2600 N
12 m
5m
A
A1-8 Can two forces which are the components of the 300
N force intersect at C?
300 N
A
5
12
4
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
B
3
1000 N
Force Vectors
A1-10
7
4
C
O
9
10-3 Define the angles that define the direction of the force
exerted on point A
10-4 Define the angles that define the direction of the
force exerted on point C
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
A1-11
The 150 N force F is directed along the line from point
A(2,-5,2) to point B(-4,6,8), the direction angles for line
AD are ==60. The following is required;
The unit vector of line AB
The direction cosines of line AB
The direction cosines of line OC
The rectangular components of the force F
The angle between F and OC
The projection of F on OC
The projection of F on AD
z
B -4,6,8
F=150N
C 2,3,6
A 2,-5,2
x
D
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
A1-12
800N
600N
400N
5m
4m
6m
4m
B
3m
-2m
Force Vectors
Next week
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Equilibrium
of a
Particle