S.

Shanmugasundaram
V.R.S.College of Engineering
Villupuram

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 Force Vector

Vector Operation and Force Analysis

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2
 Scalar vs. Vector
• Scalar Quantity
– A mathematical expression possessing only
magnitude characterized by a positive or negative
number
– The following are classified as Scalar Quantities
• Mass
• Volume
• Length

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 Scalar vs. Vector
• Vector
– Physical quantity that requires both a magnitude
and a direction for its complete description.
– possessing magnitude and direction and must be
added using Vector Operations
– The following are classified as Vectors
• Displacements
• Velocities
• Accelerations
• Moments

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 SCALARS AND VECTORS

Scalars Vectors
Examples: Mass, Volume Force, Velocity

Characteristics: It has a magnitude It has a magnitude

(positive or negative) and direction

Addition rule: Simple arithmetic Parallelogram law

Special Notation: None Bold font, a line, an
arrow or a “carrot”

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 Vector Notation
• In Slides and handouts Vectors will be
denoted as a BOLD letter.
• Example;
• (a+b) will denote a scalar addition
• (A+B) will denote a vector addition
• When hand writing a Vector use an arrow
A [ ]
over the letter to denote it is a Vector.

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 Vector Notation
• Vector Notation for Rectangular Components of a
Vector (Force) - Because the directional sense of the
axes of the rectangular coordinate system are
known, Rectangular Vector Components can be
written in a couple of different ways.
– Cartesian Vector Notation – Cartesian unit vectors (i and j)
are used to designate the x-axis and y-axis respectively
where F=Fxi+Fyj.
– Magnitude and Direction – Define the Vector by
magnitude, units, and angle it makes with respect to the x-
axis - F= 45N 38°

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 Components of a Vector

Vector Magnitude
Vector Designation
500 N
A Head

Tail

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 Vector Operations
• Multiplication and Division of a Vector by a
Scalar
– Product of Vector (A) and Scalar (b) = bA = a
vector with the same direction as A but with the
magnitude multiplied by the scalar (b).
– Example – If a 500 lb force acting along the x-axis
is doubled, it becomes a 1000 lb force acting along
the x-axis.

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 Vector classifications
 Fixed or bound vectors have well defined points of
application that cannot be changed without
affecting
an analysis.
 Free vectors may be freely moved in space without
changing their effect on an analysis.
 Sliding vectors may be applied anywhere along
 their
Equalline of action
vectors without
have affecting
the same an analysis.
magnitude and
direction.
 Negative vector of a given vector has the same
magnitude and the opposite direction.
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 Vector Addition
• Vectors can be compared to giving directions.
Go north 4 steps, Go east 3 steps.
• The vector would be defined as the arrow
pointing from where you started to where you
are now.
• The magnitude would be defined by how far
are you from where you started (not how far
you traveled to get there)

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 VECTOR OPERATIONS

Scalar Multiplication
and Division

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 APPLICATION OF VECTOR ADDITION

FR

There are three concurrent forces

acting on the hook due to the chains.
We need to decide if the hook will fail
(bend or break)?

To do this, we need to know the

resultant force acting on the hook.

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 Vector Addition
• The addition of two
vectors results in a
resultant vector Resultant Vector
(P+Q=R) where R is a
vector pointing from
the starting point of P
to the ending point of
Q.

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 Successive Triangle Method
– If there are multiple vectors to be added together,
add the first two vectors to find the first resultant.
Once the first Resultant (R1) is found, add the next
vector to the resultant to find (R2).
– Can be repeated as many times as necessary to
add all the vectors (it also does not matter what
order they are added in, the end resultant will be
the same).

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 Polygon Method

 Polygon method is
similar to the Successive
Triangle Method but no
intermediate resultants
are calculated

Graphically measure length and direction

of R!!

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See HO, do example
board
 Dot Product
The dot product of vectors A and B is
defined as A•B = A B cos .
The angle  is the smallest angle
between the two vectors and is always in
a range of 0 to 180º.
Dot Product Characteristics:
1. The result of the dot product is a scalar (a positive or
negative number).
2. The units of the dot product will be the product of the units
of the A and B vectors.

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Dot Product(continued)
Finding a dot product using Cartesian coordinates:
By definition,
i•j =j•i =i•k =k•i =j•k =k•j =0
i•i =j•j =k•k = 1
so
A•B = (Ax i + Ay j + Az k) • (Bx i + By j + Bz k)
= Ax Bx + AyBy + AzBz

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 USING THE DOT PRODUCT TO DETERMINE THE ANGLE
BETWEEN TWO VECTORS

For the given two vectors in the Cartesian

form, one can find the angle by

a) Finding the dot product, A • B = (AxBx + AyBy +

AzBz ),
b) Finding the magnitudes (A & B) of the vectors A & B, and
c) Using the definition of dot product and solving for , i.e.,

 = cos-1 [(A • B)/(A B)], where 0º    180º .

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 CROSS PRODUCT
In general, the cross product of two vectors A and B results in another
vector, C , i.e.,
C = A  B.
The magnitude of vector C is
C = |A  B| = A B sin 
The direction of C is perpendicular to the plane containing vectors A
and B as determined using the right-hand rule.
The result of the cross product can be expressed as a vector as follows:Using the RIGHT
C = A  B = A B sin  uC HAND RULE to show
the direction of C
where uC is the unit vector perpendicular to the plane containing
vectors A and B.

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 CROSS PRODUCT (continued)

• Cross product of Cartesian unit vectors: Memory Aid:

       
i i  0 j  i  k k  i  j
       
i j k j j 0 k  j  i
       
i k   j j k  i k k  0

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 CROSS PRODUCT (continued)

• Cross product in terms of rectangular coordinates

      
  
V  Px i  Py j  Pz k  Q x i  Q y j  Q z k 
 
 Py Q z  Pz Q y i  Pz Q x  Px Q z  j Memory Aid:

 Px Q y  Py Q x k +
   i j k i j k
i j k
 Px Py Pz
-
Qx Qy Qz

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 Rectangular Components of a force

• We ‘resolve’ vectors into

components using the x and y
axis system.
• Each component of the vector is
shown as a magnitude and a
direction.

• The directions are based on the x and y axes. We use the

“unit vectors” i and j to designate the x and y axes.

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 For example,
F = Fx i + Fy j or F' = F'x i + ( F'y ) j

The x and y axis are always perpendicular to each other.

Together, they can be directed at any inclination.

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 ADDITION OF SEVERAL VECTORS

• Step 1 is to resolve each force

into its components.
• Step 2 is to add all the x-
components together, followed by
adding all the y components
together. These two totals are the
x and y components of the
resultant vector.
• Step 3 is to find the magnitude
and angle of the resultant vector.

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 An example of the process:

Break the three vectors into components, then add them.

FR = F1 + F2 + F3
= F1x i + F1y j  F2x i + F2y j + F3x i  F3y j
= (F1x  F2x + F3x) i + (F1y + F2y  F3y) j
= (FRx) i + (FRy) j

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Remember! You can also represent a 2-D vector with a magnitude and
angle:

Or, Cartesian Vector Notation:

FR = (FRx) i + (FRy) j

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 EXAMPLE
Given: Three concurrent forces
acting on a tent post.
Find: The magnitude and
angle of the resultant
force.

Plan:
a) Resolve the forces into their x-y components.
b) Add the respective components to get the resultant vector.
c) Find magnitude and angle from the resultant components.

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 EXAMPLE (continued)

F1 = {0 i + 300 j } N

F2 = {– 450 cos (45°) i + 450 sin (45°) j } N

= {– 318.2 i + 318.2 j } N
F3 = { (3/5) 600 i + (4/5) 600 j } N
= { 360 i + 480 j } N
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 EXAMPLE
(continued)
Summing up all the i and j components respectively, we get,
FR = { (0 – 318.2 + 360) i + (300 + 318.2 + 480) j } N
= { 41.80 i + 1098 j } N

Using magnitude and direction: y

FR
FR = ((41.80)2 + (1098)2)1/2 = 1099 N
 = tan-1(1098/41.80) = 87.8° 
x

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 GROUP PROBLEM SOLVING

Given: Three concurrent

forces acting on a
bracket
Find: The magnitude and
angle of the
resultant force.

Plan:
a) Resolve the forces into their x and y components.
b) Add the respective components to get the resultant vector.
c) Find magnitude and angle from the resultant components.
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 GROUP PROBLEM SOLVING (continued)

F1 = { (5/13) 300 i + (12/13) 300 j } N

= { 115.4 i + 276.9 j } N
F2 = {500 cos (30°) i + 500 sin (30°) j } N
= { 433.0 i + 250 j } N
F3 = { 600 cos (45°) i  600 sin (45°) j } N
{ 424.3 i  424.3 j } N
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 GROUP PROBLEM SOLVING (continued)

Summing up all the i and j components respectively, we get,

FR = { (115.4 + 433.0 + 424.3) i + (276.9 + 250 – 424.3) j }N
= { 972.7 i + 102.7 j } N

y
Now find the magnitude and angle, FR
FR = ((972.7)2 + (102.7)2) ½ = 978.1 N

 = tan ( 102.7 / 972.7 ) = 6.03°
–1
x
From Positive x axis,  = 6.03°

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 ATTENTION QUIZ
1. Resolve F along x and y axes and write it in
vector form. F = { ___________ } N
y
A) 80 cos (30°) i – 80 sin (30°) j x
B) 80 sin (30°) i + 80 cos (30°) j
C) 80 sin (30°) i – 80 cos (30°) j 30°
F = 80 N
D) 80 cos (30°) i + 80 sin (30°) j

2. Determine the magnitude of the resultant (F1 + F2) force in N

when F1 = { 10 i + 20 j } N and F2 = { 20 i + 20 j } N .
A) 30 N B) 40 N C) 50 N
D) 60 N E) 70 N
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Rectangular Components inSpace


• With the angles between F and the axes,
Fx  F cos  x Fy  F cos  y Fz  F cos  z
   
F  Fx i  Fy j  Fz k

  

 F cos  x i  cos  y j  cos  z k

 F
   
  cos  x i  cos  y j  cos  z k
 
•  is a unit vector along the line of action of F
andcosare
x , the
cos  y , and cosines
direction cos z for
F

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 Rectangular Components in Space
Direction of the force is defined by the
location of two points,
M x1 , y1 , z1  and N x2 , y 2 , z 2 

d  vector joining M and N
  
 d xi  d y j  d z k
d x  x2  x1 d y  y 2  y1 d z  z 2  z1
 
F  F
 1   

  d xi  d y j  d z k
d

Fd x Fd y Fd z
Fx  Fy  Fz 
d d d

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 APPLICATIONS

Many structures and machines involve

3-Dimensional Space.

In this case, the power pole has guy

wires helping to keep it upright in
high winds. How would you
represent the forces in the cables
using Cartesian vector form?

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 APPLICATIONS (continued)

In the case of this radio tower, if you know the forces in the three cables,
how would you determine the resultant force acting at D, the top of the
tower?

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 Coordinate Angles

 


Note, book uses 

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 Coordinate Angles
• The values of the three angles are not
independent, they are related by the identity:
– cos2(θx) + cos2(θy) + cos2(θz) = 1

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 Resolving a 3D Force Vector into its
Rectangular Components
• Given the magnitude of a force vector (F) and
its Coordinate angles (θx, θy, θz):
– Fx = Fcos(θx)
– Fy = Fcos(θy)
– Fz = Fcos(θz)
Note, book uses 

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 Resultant of a 3D Force Vector from its
Rectangular Components
– If given the components of a 3D force (Fx, Fy, Fz),
the force can be determined by:
• Magnitude (F) = √(Fx2+Fy2+Fz2)
– The Coordinate Angles of the Force Vector can be
found by
• cos(θx) = Fx/F
• cos(θy) = Fy/F
• cos(θz) = Fz/F

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 Addition of 3D Force Vectors
• Forces are easy to add once they are broken
down into their rectangular components. The
components of the resultant force can be
found as follows:
– Rx=ΣFx
– Ry=ΣFy
– Rz=ΣFz

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 3D Resultant Force
• The magnitude of the resultant force is equal
to the square root of the addition of the scalar
quantity of each leg squared:
– R = √(Rx2+Ry2+Rz2)
• The Coordinate Angles of the resultant can be
found by:
– cos(θx) = Rx/R
– cos(θy) = Ry/R
– cos(θz) = Rz/R
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 ADDITION OF CARTESIAN 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 = BX i + BY j + BZ 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 .
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 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 .

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 Sample Problem
SOLUTION:
• Based on the relative locations of the points
A and B, determine the unit vector pointing
from A towards B.
• Apply the unit vector to determine the
components of the force acting on A.

• Noting that the components of the unit

vector are the direction cosines for the
vector, calculate the corresponding angles.
The tension in the guy wire is 2500 N.
Determine:
a) components Fx, Fy, Fz of the force
acting on the bolt at A,
b) the angles x, y, zdefining the
direction of the force
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 Sample Problem(con)
SOLUTION:
• Determine the unit vector pointing from A towards B.

  
AB   40 m i  80 m  j  30 m k
AB   40 m 2  80 m 2  30 m 2
 94.3 m
   40    80    30  
  i    j  k
 94.3   94.3   94.3 
  
 0.424 i  0.848 j  0.318k
• Determine the components of the force.
 
F  F
  
 2500 N  0.424 i  0.848 j  0.318k 
  
  1060 N i  2120 N  j  795 N k
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 Sample Problem(con)
• Noting that the components of the unit vector are the
direction cosines for the vector, calculate the
corresponding angles.

   
  cos  x i  cos  y j  cos  z k
  
 0.424 i  0.848 j  0.318k

 x  115 .1
 y  32.0
 z  71.5

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 EXAMPLE
Given: Two forces F1 and F2 are
G applied to a hook.

Find: The resultant force in

Cartesian vector form.

Plan:

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

Cartesian vector form.

2) Then add the two forces (by adding x and y components).

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 Solution :
First, resolve force F1.

Fx = 0 = 0 lb
Fy = 500 (4/5) = 400 lb
Fz = 500 (3/5) = 300 lb

Now, write F1 in Cartesian vector form

(don’t forget the units!).
F1 = {0 i + 400 j + 300 k} lb

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Now resolve force F2.
We are given only two direction angles,  and .
So we need to find the value of .
Recall that cos ² () + cos ² () + cos ² () = 1.
Now substitute what we know:
cos ² (30°) + cos ² () + cos ² (45) = 1.
Solving,  = 75.5° or 104.5°.
Since the vector is pointing in the
positive direction,  = 75.5°

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 Now that we have the coordinate direction
angles, we can find uG and use it to
determine F2 = 800 uG lb.

So, using u A = cos  i + cos  j + cos  k .

F2 = {800 cos (30°) i + 800 cos (75.5°) j  800 cos (45°) k )} lb

F2 = {712.8 i + 200.3 j  608.3 k } lb

Now, R = F1 + F2 or

R = {713 i + 600 j  308 k} lb

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 MOMENT OF A FORCE – VECTOR FORMULATION

Moments in 3D are generally calculated using a vector cross product.

Using the vector cross product, MO = r  F .

Here r is the position vector from point O to any point on the line of action of F.

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 MOMENT OF A FORCE – VECTOR FORMULATION (continued)

So, using the cross product, a moment can be

expressed as

By expanding the above equation using 2  2 determinants (see Section 4.2), we get
(sample units are N-m or lb-ft)

MO = (ry FZ - rZ Fy) i - (rx Fz - rz Fx ) j + (rx Fy - ry Fx ) k

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EXAMPLE – Finding a moment in 3D
Find the moment due to force F about point O.
Plan:

1) Find the position vector, rOB:

o
o 2) Determine MO = rOA  F .

Solution:

rOB = {0i + 3j + 1.5k} m

MO = rOA  F = (0i + 3j + 1.5k) x (-6i + 3j + 10k)

MO = i j k = [{3(10) – 1.5(3)} i – {0(10) – 1.5(– 6)} j +

0 3 1.5 {0(3) – 3(– 6)} k] N·m
– 6 3 10
= {25.5 i + 9 j + 18 k} N·m
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EXAMPLE – Finding a moment in 3D
A wooden board AB, which is used as a
temporary prop to support a small roof, exerts at
point A of the roof a 228 N force directed along
BA. Determine the moment about C of that force.

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 MOMENT ABOUT AN AXIS – Application
With the force P, a person is creating a
moment MA. Does all of MA act to turn
the socket?
•No. We need to calculate the
component of the moment that is along
the axis of the socket.)
•Sketch MA and the component of MA
along the axis of the socket.

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 MOMENT ABOUT AN AXIS – Application
Sleeve A of this bracket can provide
a maximum resisting moment of 125
N·m about the x-axis. How would
you determine the maximum
magnitude of F before turning about
the x axis occurs?

•Only the x-component of the

moment causes the bracket to turn.

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Finding the Moment about an axis

Our goal is to find the moment of F (the

tendency to rotate the body) about the axis a’-
a.

First compute the moment of F about any

arbitrary point O that lies on the a’- a axis
using the cross product.

MO = r  F

Now, find the component of MO along the axis a’- a using the dot product.

Ma’-a = ua • MO
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Finding the Moment about an axis - continued

Ma’- a can also be obtained as

The above equation is also called the triple scalar

product.

ua represents the unit vector along the axis a’-a axis,

r is the position vector from any point on the a’-a axis to any point A on the line
of action of the force, and
F is the force vector.
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 EXAMPLE – Finding the moment about an axis
Given: A force is applied to the tool to
open a gas valve.
A
Find: The magnitude of the moment
of this force about the z axis of the
value.
B
Plan:

1) Use Mz = u • (r  F).
2) Note that u = 1 k.
3) The vector r is the position vector from A to B.
4) Force F is already given in Cartesian vector form.

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 EXAMPLE (continued)

u = 1k

A rAB = {0.25 sin 30° i + 0.25 cos30° j} m

A
B = {0.125 i + 0.2165 j} m
B F = {–60 i + 20 j + 15 k} N
Now find Mz = u • (rAB  F)

0 0 1
Mz = 0 0.125 0.2165
0 10 = 1 {0.125(20) – 0.2165(–60)} =15.5 N·m
0.125-60 0.2165
20 015
-60 20 15

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EXAMPLE – VECTOR APPROACH

Given: A 35 N force couple acting on the

rod.
Find: The couple moment acting on the
rod in Cartesian vector notation.
Plan:

1) Use M = r  F to find the couple moment.

2) Set r = rAB and F = {35 k} N .
3) Calculate the cross product to find M.

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EXAMPLE – Continued
rAB = { 0 i – (0.25) j + (0.25 tan 30°) k} m
rAB = {– 0.25 j + 0.1443 k} m
F = {0 i + 0 j + 35 k} N

M = rAB  F

= i j k
0 – 0.25 0.1443 N·m
0 0 35

= {(– 8.75 – 0) i – (0 – 0) j – (0 – 0) k} N·m

= {– 8.75 i + 0 j + 0 k} N·m

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