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CHAPTER
ENGINEERING
VECTOR MECHANICS FOR ENGINEERS:

11
02 DYNAMICS
MECHANICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
R.C. HIBBELER

Phillip J. Cornwell Kinematics of Particles

Lecture Notes:
Brian P. Self
STATICS
California Polytechnic State University

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Cartesian Vectors

𝑨 = 𝑨′ + 𝑨 𝒛

𝑨′ = 𝑨𝒙 + 𝑨𝒚

𝑨 = 𝑨𝒙 + 𝑨𝒚 + 𝑨𝒛

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Cartesian Vector Representation

𝑨 = 𝑨𝒙 𝒊 + 𝑨𝒚 𝒋 + 𝑨𝒛 𝒌

Magnitude:

𝑨= 𝑨𝟐𝒙 + 𝑨𝟐𝒚 + 𝑨𝟐𝒛

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Cartesian Vector Representation
Direction Cosines:

Alpha

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Beta Gamma

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𝑨 = 𝑨𝒙 𝒊 + 𝑨𝒚 𝒋 + 𝑨𝒛 𝒌

𝑨 𝑨𝒙 𝐀𝐲 𝑨𝒛
𝒖𝑨 = = 𝐢 + + k
A A A A

𝒖𝑨 = cos 𝛼𝑖 + cos 𝛽𝑗 + cos 𝛾𝑘

𝐜𝐨𝐬𝟐 𝒂 + 𝐜𝐨𝐬𝟐 𝜷 + 𝐜𝐨𝐬𝟐 𝜸 = 𝟏

𝐴 = 𝐴𝑢𝐴
= 𝐴 cos 𝒂𝑖 + 𝐴 cos β𝑗 + 𝐴 cos 𝜸𝑘
= 𝐴𝑥 𝑖 + 𝐴𝑦 𝑗 + 𝐴𝑧 𝑘

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Direction

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Addition of Cartesian Vectors

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Example No.1
Express the force F shown as a Cartesian vector.

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Example No.2
Determine the magnitude and the coordinate direction angles of the
resultant force acting on the ring in the figure.

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Vector Mechanics for Engineers: Dynamics
Position vectors
Position vector r
• A fixed vector which locates a
point in space relative to another
point

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Example No.3
An elastic rubber band is attached to points A and B as shown in the
figure. Determine its length and its direction measured from A toward B .

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Dot Product
• defined as the product of the magnitudes of A and
B and the cosine of the angle u between their tails
• The result is scalar

Where:
0° ≤ 𝜃 ≤ 180°

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Vector Mechanics for Engineers: Dynamics
Applications
• Finding the angle formed between two vectors or intersecting
lines

• The components of a vector parallel and perpendicular to a line.

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Two ways in Finding

If 𝐴𝑎 is aready known

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Example No.4
The frame shown in the figure is subjected to a horizontal force F = {300 j }.
Determine the magnitude of the components of this force parallel and
perpendicular to member AB .

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