2.4 Components in 3 Dimensions

2.
4 Components in 3 Dimensions
 Review of drawing objects in 3 dimensions:
(a) A cube viewed with the line of sight
perpendicular to a face
(b) An oblique view of the cube
(c) A cartesian coordinate system aligned with
the edges of the cube
(d) 3-D representation of the coordinate system
(C) 2005 Pearson Education South Asia Pte Ltd 1

2.4 Components in 3 Dimensions
 Right-handed coordinate system:
 Express vector U in terms of vector

components Ux, Uy & Uz parallel to the x, y & z
axes respectively:
U = Ux + Uy + Uz (2.11)
 Introducing unit vectors i, j & k that point in the
positive x, y & z directions, U can be expressed
in terms of scalar components:
U = Uxi + Uyj + Uz k (2.12)

 Magnitude of a Vector in Terms of
Components:
 Consider a vector U & its vector components:

Components:
 From the right triangles formed by vectors Uy,
Uz & their sum Uy + Uz:
|Uy + Uz|2 = |Uy|2 + |Uz|2 (2.13)
 The vector U is the sum of the vectors Ux &

Uy + Uz. The 3 vectors form a right triangle:
|U|2 = |Ux|2 + |Uy + Uz|2

Components:
 Substituting Eq. (2.13):
|U|2 = |Ux|2 + |Uy| + |Uz|2 = U x2  U y2  U z2
 Thus, magnitude of vector U:
2 2 2
U Ux Uy Uz (2.14)

 Direction Cosines:
 One way to describe the direction of a vector is
by specifying the angles x, y & z between the
vector & the positive coordinate axes:
Ux = |U| cos x, Uy = |U| cos y, Uz = |U| cos z (2.15)


 Direction cosines: cos x, cos y & cos z
 Direction cosines satisfy the relation:
cos2 x + cos2 y + cos2 z = 1 (2.16)
 Suppose that e is a unit vector with the same
direction as U:
U = |U| e
 In terms of components:
Uxi + Uyj + Uzk = |U| (exi + eyj + ezk)

 Thus:
Ux = |U| ex, Uy = |U| ey, Uz = |U| ez
 By comparing these equations to Eqs. (2.15):
cos x = ex, cos y = ey, cos z = ez
 The direction cosines of a vector U are the
components of a unit vector with the same
direction as U

 Position Vectors in Terms of Components:
 Consider point A with
coordinates (xA, yA, zA) &
point B with coordinates
(xB, yB, zB)

 Position Vectors in Terms of Components:
 The position vector rAB from A
to B:
rAB = (xB  xA)i + (yB  yA)j + (zB  zA)k (2.17)

 Components of Vector Parallel to a Given
Line:
 In 3-D applications, the
direction of a vector U is
often defined by specifying
the coordinates of 2 points
A & B on a line that is
parallel to U
 Determine position vector
rAB using Eq. (2.17)

 Components of Vector Parallel to a Given
Line:
 Divide rAB by its magnitude  unit vector eAB
that points from A to B
 eAB has the same direction as U
 Determine U as the product of its magnitude
& eAB: U = |U| eAB

Example 2.6 Magnitude & Direction Cosines
of a Vector
The coordinates of point C of the truss in Fig. 2.26
are xC = 4 m, yC = 0, zC = 0 & the coordinates of
point D are xD = 2 m, yD = 3 m, zD = 1 m. Let rCD be
the position vector from C to D.
(a) What is the magnitude of rCD?
(b) What are the direction
cosines of rCD?
(c) Determine the components of
a unit vector eCD that points
form point C towards
point D. Fig. 2.26
Example 2.6 Magnitude & Direction
Cosines of a Vector
Strategy
(a) We can obtain the components of rCD by subtracting
the coodinates of C from the coordinates of D
(b) Once the components of rCD are knowm, we
can determine the direction cosines from Eqs.
(2.15)
(c) Dividing the vector rCD by its magnitude yields the
unit vector eCD

Cosines of a Vector
Solution
(a) The components of rCD are given by:
rCD = (xD  xC)i + (yD  yC)j + (zD  zC)k
= (2  4) i + (3  0)j + (1  0)k
= 2i + 3j + k

Cosines of a Vector
Solution
(a) The magnitude of rCD is:
rCD  rCD 2x  rCD 2y  rCD 2z
  2
  2

  2 m  3 m  1m  2
 3.74 m

Cosines of a Vector
Solution
(b) The direction cosines of rCD are:
rCDx 2m
cos  x    0.535,
rCD 3.74 m
rCD y 3m
cos  y    0.802,
rCD 3.74 m
rCDz 1m
cos  z    0.267
rCD 3.74 m

Cosines of a Vector
Solution
(c) The unit vector that points from C to D is:
rCD
eCD 
rCD
 2i  3 j  k  m 

3.74 m
 0.535i  0.802 j  0.267k
(Notice that we already knew these components
because the direction cosines of rCD are the
components of a unit vector with the same
direction as rCD.)
Cosines of a Vector
Critical Thinking
 Useful to know the components of a unit vector
that points from C toward D:
 To analyze the internal forces in the members
of 3-D trusses (Chapter 6)
 Need to know components of unit vectors
parallel to the members to express those
forces in terms of their components

Example 2.7 Determining Components in 3
Dimensions
The crane in Fig. 2.27 exerts a 3000-N force F on
the caisson. The angle between F & the x axis is
54° & the angle between F & the y axis is 40°. The
z component of F is positive. Express F in terms of
components.
Fig. 2.27
Dimensions
Strategy
 Only 2 of the angles between the vector & the
positive coordinate axes are given but we can
use Eq. (2.16) to determine the third angle
 Then we can determine the components of F
using Eqs. (2.15)

Dimensions
Solution
The angles between F & the positive coordinate
axes are related by:
cos2 x + cos2 y + cos2 z = 1
(cos 54°)2 + (cos 40°)2 + cos2 z = 1
Solving this equation for cos z , we obtain two
solutions:
cos z = 0.260 & cos z = 0.260
z = 74.9° or z = 105.1°
Dimensions
Solution
The z component of F is positive, so the angle
between F & the z axis < 90°. Therefore, z = 74.9°.
The components of F are:
Fx = |F| cos x = 3000 cos 54° = 1760 N,
Fy = |F| cos y = 3000 cos 40° = 2300 N,
Fz = |F| cos z = 3000 cos 74.9° = 17820 N

Dimensions
Critical Thinking
 x & y are sufficient to define a line parallel to F
but not the direction along that line:
 Knowledge of x & y  solve Eq. (2.16) for
value of cos2 z
 Two possible values of cos z
 Correspond to the 2 possible directions of F
along the line
 Additional information needed to indicate the
direction: z component of F is positive

Dimensions
The tether of the balloon in Fig. 2.28 exerts an 800-N
force F on the hook at O. the vertical line AB
intersects the x-z plane at point A. The angle
between the z axis & the line OA is 60° & the angle
between the line OA
& F is 45°. Express F in
terms of components.
Fig. 2.28
Dimensions
Strategy
 We can determine the components of F from the
given geometric information in 2 steps
 First, express F as the sum of 2 vector
components parallel to the lines OA & AB
 Then use the component parallel to OA to
determine the vector components Fx & Fy

Dimensions
Solution
Magnitude of Fy is:
|Fy| = |F| cos 45° = (800 N) cos 45°
= 566 N
Magnitude of Fh is:
|Fh| = |F| cos 45° = (800 N) cos 45°
= 566 N
Fy : y component of F
Fh : component parallel to OA
Dimensions
Solution
Express Fh in terms of vector components Fx & Fz.
Magnitude of Fx:
|Fx| = |Fh| sin 60° = (566 N) sin 60°
= 490 N
Magnitude of Fz:
|Fz| = |Fh| cos 60° = (566 N) cos 60°
= 283 N
 F = 490i + 566j + 283k (N)
Dimensions
Critical Thinking
 2 angles are required to specify a vector’s
direction relative to a 3-D coordinate system:
 May not be defined in the same way as in the
example (see problem 2.84)
 But you can determine the components of the
vector in terms of the magnitude & the two
specified angles by a procedure similar to the
one used here

Example 2.9 Vector whose Direction is
Specified by 2 Points
The bar AB in Fig. 2.29 exerts a 140-N force F on its
support at A. The forces is parallel to the bar &
points toward B. Express F in terms of components.
Fig. 2.29
Strategy
 Since we are given the coordinates of points A
& B  components of the position vector from
A to B.
 By dividing the position vector by its magnitude
 unit vector with the same direction as F
 Multiply the unit vector by |F|  F in terms of its
components

Solution
Position vector from A to B:
rAB = (xB  xA)i + (yB  yB)j + (zB  zA)k
= (800  200) i + (500  200)j
+ [(300 )  (100)]k
= 600i + 300j  200k (mm)
Magnitude:
rAB   600m 2   300 2    200 2  700 mm
Solution
By dividing rAB by its magnitude
 unit vector with the same
direction as F:
rAB 6 3 2
e AB   i  j k
rAB 7 7 7
In terms of its components:
 6 3 2 
F  F e AB  140 N   i  j  k   120i  60 j  40k
7 7 7 
Critical Thinking
 Prescribing the positions of 2 points on the line of
action of a vector is a common method of
specifying the direction of a vector in 3 dimensions
 This example involves 3 distinct types of vectors:
 Force vector: |F| (N)
 Position vector: |rAB| (mm)
 Unit vector: |eAB| (dimensionless)

Example 2.10 Determining Components
in 3 Dimensions
The rope in Fig. 2.30 extends from point B through
a metal loop attached to the wall at A to point C. the
rope exerts forces FAB & FAC on the loop at A with
magnitudes |FAB| = |FAC| = 200 N. What is the
magnitude of the total force F = FAB + FAC exerted on
the loop by the rope?
Fig. 2.30
in 3 Dimensions
Strategy
 FAB is parallel to the line from A to B
 FAC is parallel to the line from A to C
 Determine the coordinates of points A, B & C
from the given dimensions  components of
unit vectors that have the same direction as the
2 forces
 Use the unit vectors to express the forces in
terms of scalar components

in 3 Dimensions
Solution
Let rAB be the position
vector from A to B & rAC
be the position vector
from A to C:
From the given dimensions, coordinates of points:

A: (6, 7, 0) m, B: (2, 0, 4) m, C: (12, 0, 6) m

in 3 Dimensions
Solution
Components of rAB & rAC:
rAB = (xB  xA)i + (yB  yB)j + (zB  zA)k
= (2  6) i + (0  7)j + (4  0)k
= 4i  7j + 4k (m)
rAC = (xC  xA)i + (yC  yB)j + (zC  zA)k
= (12  6) i + (0  7)j + (6  0)k
= 6i  7j + 6k (m)
Magnitudes: |rAB| = 9 m & |rAC| = 11 m

in 3 Dimensions
Solution
Dividing rAB & rAC by their magnitudes
 unit vectors eAB & eAC that point in the directions of
FAB & FAC
rAB
e AB   0.444i  0.778 j  0.444k
rAB
rAC
e AC   0.545i  0.636 j  0.545k
rAC

in 3 Dimensions
Solution
The forces FAB & FAC:
FAB   200 N  e AB  88.9i  155.6 j  88.9k (N),
FAC   200 N  e AC  109.1i  127.3 j  109.1k (N)
Total force exerted on the loop by the rope:
F  FAB  FAC  20.2i  282.8 j  198.0k (N)
Magnitude:
F  20.2 2    282.8 2  198.0 2  346

in 3 Dimensions
Critical Thinking
 Assume that force is a vector:
 Magnitude & direction of total force exerted
on the metal loop at A: F = FAB + FAC

of a Force
The cable AB in Fig. 2.31 exerts a 50-N force T on
the collar at A. Express T in terms of components.
Fig. 2.31
of a Force
Strategy
 Let rAB be the position vector from A to B
 Divide rAB by its magnitudes  unit vector eAB
having the same direction as T:
 Obtain T in terms of scalar components by
expressing it as the product of its magnitude
& eAB
 To begin, determine coordinates of collar A:
 obtain a unit vector eCD pointing from C toward
D
 Multiply eCD by 0.2  position of collar A
relative to C
of a Force
Solution
 Determining the Coordinates of Point A:
rCD = (0.2  0.4) i + (0  0.3)j + (0.25  0)k
= 0.2i  0.3j + 0.25k (m)

of a Force
Solution
Determining the Coordinates of Point A:
Dividing this vector by its magnitude
 unit vector eCD:
rCD  0.2i  0.3j  0.25k

eCD  
rCD   0.2    0.3   0.25
2 2 2
 0.456i  0.684 j  0.570k

of a Force
Solution
Using eCD  position vector from C to A:
rCA = (0.2 m) eCD = 0.091i  0.137j + 0.1145k (m)
Position vector from origin to C:

rOC = 0.4i + 0.3j (m)

of a Force
Solution
Position vector from origin to A:
rOA = rOC + rCA
= (0.4i + 0.3j) + (0.091i  0.137j + 0.1145k )
= 0.309i + 0.163j + 0.114k (m)
Coordinates of A: (0.309, 0.163, 0.114) m.

of a Force
Solution
 Determining the Components of T:
Position vector from A to B:
rAB = (0  0.309) i + (0.5  0.163)j + (0.15  0.114)k
= 0.309i + 0.337j + 0.036k (m)
Divide this vector by its magnitude  unit vector eAB:
rAB  0.309i  0.337 j  0.036k
e AB  
rAB   0.30 2   0.337  2   0.036 2
 0.674i  0.735 j  0.079k
of a Force
Solution
The force T:
T  T e AB   50 N    0.674i  0.735 j  0.079k 
 33.7i  36.7 j  3.9k (N)
Critical Thinking
 Look at the 2 ways unit vectors were used:
 eCD  components of rCA  coordinates of A
 Coordinates of A  eAB
 eAB  express T in terms of its components

2.4 Components in 3 Dimensions

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2.

(C) 2005 Pearson Education South Asia Pte Ltd 1

 Express vector U in terms of vector

U = Uxi + Uyj + Uz k (2.12)

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 The vector U is the sum of the vectors Ux &

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 Thus, magnitude of vector U:

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Ux = |U| cos x, Uy = |U| cos y, Uz = |U| cos z (2.15)

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rCD  rCD 2x  rCD 2y  rCD 2z

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From the given dimensions, coordinates of points:

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rCD  0.2i  0.3j  0.25k

 0.456i  0.684 j  0.570k

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Position vector from origin to C:

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Coordinates of A: (0.309, 0.163, 0.114) m.

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