Vector calculations in kinematics

•Scalar quantities are those quantities, which have magnitude only, e.g.
mass, time, volume, density etc.

•Vector quantities are those quantities which have magnitude as well as

direction e.g. velocity, acceleration, force etc

•Since the vector quantities have both magnitude and direction,

therefore, while adding or subtracting vector quantities, their directions
are also taken into account
Vector Representation
 Magnitude
Sense
 Direction Magnitude

 Sense Direction

F1 = 20 lb
F2 = 10 lb

600 200
Basic triangle rules
Example: Use trigonometry to determine the horizontal distance that the boom extends from the truck.

Dimensions are in feet [3.28 feet = 1m]

Determine Horizontal Projection of Boom

Determine Horizontal Projection of Truck and Boom

Determine the Overhang

Vector Addition

• AC is the sum of P and Q vectors

Vector Subtraction
P & Q directions are different and AC is the resultant vector
Analytical Method:
Use triangles & trigonometry when working with two vectors.

A c c  a 2  b 2  2ab cos C
b
B
C sin A sin B sin C
a  
a b c

R = A +> B

A = 20 lb
B = 10 lb
600 200
Example: Determine stroke length BC for required
position of AB.
Three or More vectors: Component method

F=30 FY FX
F Y
sin 35  cos 35 
350 F F
FX
F Y  F sin 35 F X  F cos 35

SX SY
sin 20  cos 20 
S=30 20
0
S S
SY
S X  S sin 20 S Y  S cos 20
SX
Vector Subtraction ()
The difference between vector quantities.
J=A B

Same effect as adding a negative vector.

J = A +> (B)

A negative vector has the same magnitude, but opposite sense.

 A B
B C

B
J = A +> (B) A

B subtracted vector
J=AB A is placed tip-to-tip

B
K = A  B +> C A
C
K
Example: Graphically determine the resultant
velocity

1 in/s = 0.0254 m/s

The vectors must be relocated so that the tail of B is located at the tip of A. To verify
the commutative law, the vectors were redrawn so that the tail of A is placed at the tip of
B. The resultant is the vector drawn from the tail of the first vector, the origin, to the tip
of the second vector. ⁰
The length vector R is measured as 66 in./s. The direction is also required to fully
define vector R. The angle from the horizontal to vector R is measured as 57°.
Vector Equations
Equations can be written to describe vector polygons.
B
A

Write the vector equation for the following polygon.

D
C

A = C +> D +> B

A  B = C +> D
Graphical Method: Practice problems
• Place the vector being subtracted tip-to-tip, maintaining direction.
• The next vector will be placed on the tail of vector being subtracted.

J=AB A = 20 lb
B = 10 lb
600 200

K = A  B +> C
A = 15 in 200 C = 7 in
300
400
B = 12 in
Vector Equations
Vectors represent magnitude and direction.

We can solve for either:

• The magnitude & direction of one vector
• The magnitude of two vectors.
B = 10 lb
A = 20 lb 200 C = 7 lb
200
600

E=?
D = 5 lb 40 0 150

F=?
300

A+> B +> C = D  E +> F

Example: Determine resultant of 2 acceleration
vectors using analytical method [triangle ]

1 in/s2 = 0.0254 m/s2

1. Draw a vector diagram:

2. Determine the internal angle

3. Determine the magnitude using law of cosines

4. Determine magnitude and direction
sin A sin B sin C
 
a b c

5. Specify Resultant
Horizontal and Vertical components

A force, F, of 3.5 kN is shown in Figure . Using the analytical triangle method,

determine the horizontal and vertical components of this force
1. Determine the vector components

2. Use triangle method

3. Analytical method
(Measure angle from +x axis)
Example: Analytically determine the resultant force
and direction [ Addition – components method]
 Rh = 19.14N and Rv= 57.44N

Magnitude and direction of resultant

Graphically determine the result of the force
vectors :
1 Construct the Vector Diagram

2 Measure the Result

The vectors must be relocated tip-to-tail

or tip-to-tip, depending on whether they
are added or subtracted.
Vector B must be drawn pointing toward
vector A because B
is being subtracted.
A similar approach is taken with vector C.
The tail of vector D is then placed on the
tail of C because D is to be added to the
series of previously assembled vectors.
Example: Analytically determine the result of the vectors [subtraction –triangle
method]
1. Sketch a Rough Vector Diagram
2. Determine an Internal Angle
3. Determine the Magnitude of the Result
4. Determine the Direction of the Result
5. Fully Specify the Result
Write a vector equation for the arrangement of vectors
Write an Equation to Follow the Two Paths from to O1 to P1
Use point as the origin for the vector equation and follow the paths to
point :

Because they start at a common point and end at a common point,

both paths must be vectorally equal. Thus, the following equation can
be written as:
• Write an Equation to Follow the Two Paths from O2 to P1
Another equation can be written by using point O2 as the origin and
following the paths P1

The equation can be written as

Assignment 4: Determine the angle beta and length s of
the identical support links when x=150mm and y=275mm
a. Generate an equation that describes the vector diagram.
b. Rewrite the equations to eliminate the negative terms.
c. Roughly scale the vectors and rearrange them according to the equation
generated in part b
A vector equation can be written as
The directions of all vectors and magnitudes of A, B, and D are shown in Figure. Graphically determine the magnitudes of vectors C and E.
Analytically determine the result using components method