Engineering Mechanics :

STATICS

BNJ 10203
Lecture #04
By,
Dalila Binti Mohd Harun
Universiti Tun Hussein Onn Malaysia
(UTHM)
2
 3D VECTORS (Section 2.5)
Today’s Objectives:
Students will be able to :
a) Represent a 3-D vector in a 1. Projection Angle (PA)
Cartesian coordinate system. 2. Coordinate Direction
Angle (CDA)
b) Find the magnitude and
coordinate angles of a 3-D vector
c) Add vectors (forces) in 3-D
space Learning Topics:
Applications / Relevance
• A unit vector
• 3-D vector terms
• Adding vectors
3
 READING QUIZ

1. Vector algebra, as we are going to use it, is based on a

___________ coordinate system.
A) Euclidean B) left-handed
C) Greek D) right-handed E) Egyptian

2. The symbols , , and  designate the __________ of a

3-D Cartesian vector.
A) unit vectors B) coordinate direction angles
C) Greek societies D) x, y and z components
4
APPLICATIONS

Many problems in real-life

involve 3-Dimensional Space.

How will you represent

each of the cable forces in
Cartesian vector form?

5
 APPLICATIONS (continued)

Given the forces in the cables, how will you determine

the resultant force acting at D, the top of the tower?

6
 A UNIT VECTOR

For a vector A with a magnitude of

A, an unit vector is defined as UA =
A/A.
Characteristics of a unit vector:
a) Its magnitude is 1.
b) It is dimensionless.
c) It points in the same direction as the
original vector (A).

The unit vectors in the Cartesian axis

system are i, j, and k. They are unit
vectors along the positive x, y, and z
axes respectively.
7
 ADDITION/SUBTRACTION OF VECTORS (Section 2.6)

Once individual vectors are written in Cartesian form, it is easy

to add or subtract them. The process is essentially the same as
when 2-D vectors are added.

For example, if
A = AX i + AY j + AZ k and
B = B X i + BY j + B Z k , then
A + B = (AX + BX) i + (AY + BY) j + (AZ + BZ) k
or
A – B = (AX - BX) i + (AY - BY) j + (AZ - BZ) k .

9
 EXAMPLE

Given: Force F is applied to a hook.

Force F is shown in the figure
and it makes 60° angle with the
X-Y plane.
Find: The force in the Cartesian vector
form.
Plan:

1) Using geometry and trigonometry, write F in the

Cartesian vector form.

11
Solution : First, resolve force F.
Fz = 100 sin 60° = 86.60 N
F' = 100 cos 60° = 50.00 N

Fx = 50 cos 45° = 35.4 N

Fy = 50 sin 45° = 35.4 N

Now, you can write:

F = {35.4 i – 35.4 j + 86.60 k} N

12
 TERMS (continued)
The direction or orientation of vector A is
defined by the angles , , and . (Coordinate
Direction Angles CDA - 3D angle and no
colour!)
These angles are measured between the vector
and the, positive X, Y and Z axes! Their
range of values are from 0° to 180°
Using trigonometry, “direction cosines” are found using the formulas

These angles are not independent. They must satisfy the following equation.
cos ²  + cos ²  + cos ²  = 1
This result can be derived from the definition of a Coordinate Direction Angles
(CDA) and the unit vector. Recall, the formula for finding the unit vector of
any position vector:

13
or written another way, u A = cos  i + cos  j + cos  k .
 TERMS (continued)
 Directionof a Ax
Cartesian Vector cos  
A
- For angles α, β and γ
(blue colored
triangles), we
calculate the direction
cosines of A

Ay
cos  
Az A
cos  
A

14
(continued)

F1 F1X F1Y F1Z

U1   i j k
1 1 1 1
35.4 35.4 86.6
 i j k
100 100 
 0.354i  0.354 j  0.866k

Since magnitude of F and its components are known,

α = cos-1(0.354) = 69.3°
β = cos-1(-0.354) = 111°
γ = cos-1(0.866) = 30.0°

15
 IMPORTANT NOTES

Sometimes 3-D vector information is given as:

a) Magnitude and the coordinate direction angles, or
b) Magnitude and projection angles.

You should be able to use both these types of

information to change the representation of
the vector into the Cartesian form, i.e.,
F = {10 i – 20 j + 30 k} N .

16
IN CLASS TUTORIAL (GROUP PROBLEM SOLVING)

Given: The screw eye is subjected

to two forces.
Find: The magnitude and the
coordinate direction angles
of the resultant force.

Plan:

1) Using the geometry and trigonometry, write F1 and F2 in the

Cartesian vector form.
2) Add F1 and F2 to get FR .
3) Determine the magnitude and , ,  . 17
 F1z

F´

18
GROUP PROBLEM SOLVING (continued)

First resolve the force F1 .

F1z
F1z = 300 sin 60° = 259.8 N
F´ F1xy´ = 300 cos 60° = 150.0 N
F1xy’ can be further resolved as,
F1x = -150 sin 45° = -106.1 N
F1y = 150 cos 45° = 106.1 N
Now we can write :
F1 = {-106.1 i + 106.1 j + 259.8 k } N

19
 GROUP PROBLEM SOLVING (continued)

The force F2 can be represented in the

Cartesian vector form as:
F2 = 500{ cos 60° i + cos 45° j +
cos 120° k } N
= { 250 i + 353.6 j – 250 k } N
FR = F1 + F2
= { 143.9 i + 459.6 j + 9.81 k } N
FR = (143.9 2 + 459.6 2 + 9.81 2) ½ = 481.7 = 482 N
 = cos-1 (FRx / FR) = cos-1 (143.9/481.7) = 72.6°
 = cos-1 (FRy / FR) = cos-1 (459.6/481.7) = 17.4°
 = cos-1 (FRz / FR) = cos-1 (9.81/481.7) = 88.8° 20
 HOMEWORK TUTORIAL

Q1 (2.81):
Determine the magnitude and direction of the force
F=(3.6 kN) i+(1.2 kN )j −(1.5 kN )k.

Q2 (2.82):
Determine the magnitude and direction of the force
F =(400 N )i − (1200 N ) j +(300 N )k.

Q1(2.81)
F  4.05 kN, X  27.3 , Y  73.2 ,  Z  110.8
Q2 (2.82)
F 1300N, X  72.1 , Y 157.4 ,  Z  76.7
21
 HOMEWORK TUTORIAL (continued)

Q3 (2.93):
Find the magnitude and direction of the resultant of the two forces
shown knowing that P = 2.25 kN and Q = 2.7 kN.

22
 HOMEWORK TUTORIAL (continued)
Q4 (2-61):
The stock S mounted on the lathe is subjected to a force F, which is
caused by the die D. Determine the coordinate direction angle β and
express the force as a Cartesian vector.
Given:
F = 60N
α = 60deg
γ = 30deg

23
 HOMEWORK TUTORIAL (continued)

Q5 (2-66):
The shaft S exerts three force components on the die D. Find the
magnitude and direction of the resultant force. Force F2 acts within
the octant shown.
Given :
F1 = 400N
F2 = 300N
F3 = 200N
α2 = 60°
γ2 = 60°
c=3
d=4

24
 HOMEWORK TUTORIAL (continued)

Q6 (2-74):
The eye bolt is subjected to the cable force F which has a
component Fx along the x axis, a component Fz along the z axis, and
a coordinate direction angle β. Determine the magnitude of F.
Given:
Fx = 60N
Fz = −80N
β = 80°

25
26