TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES

COLLEGE OF ENGINEERING
DEPARTMENT OF MECHANICAL ENGINEERING

VECTORS
 Mechanism Analyis
➢ Process of studying and understanding the behavior and performance of
mechanical systems or devices, known as mechanisms. The primary
performance characteristics of a mechanism are displacement, velocity,
acceleration, and force, all of which are vectors.

➢In this chapter, both graphical and analytical methods are introduced as
problem-solving approaches.
 VECTORS AND SCALARS
➢ a vector is a mathematical quantity that
possesses both magnitude and direction.
➢ Examples of properly stated vectors include
“the crate is being pulled to the right with 5 lb”
or “the train is traveling at a speed of 50 mph
in a northerly direction.” Displacement, force,
and velocity are vector quantities.
➢ a scalar is a quantity that is entirely
described by its magnitude without considering
any direction.
➢ The example "a dozen donuts" perfectly
illustrates this concept. In this case, the
quantity of donuts is specified by the
magnitude "12," and no direction is relevant to
understanding the total number of donuts in the
box.
 VECTORS AND SCALARS
• Vectors are identified from scalar quantities by utilizing boldface
type (𝐯). The standard notation for graphical representation involves
a line segment with an arrowhead at one end. In a graphical analysis,
the length of this line segment is drawn in proportion to the
magnitude of the vector.
 VECTORS AND SCALARS
The arrowhead and the angle of the line relative to a reference axis define the
direction. It's important to note that the direction is consistently measured at
the base of the arrow, not at its tip. Figure below illustrates a velocity vector
that is fully defined in terms of both magnitude and direction.
GRAPHICAL VECTOR ANALYSIS
A significant portion of studying mechanisms and analyzing vectors
revolves around geometry. The use of graphical methods in these
analyses is preferred because they enable a clear and visual
representation of the motion of a mechanism.
 GRAPHICAL VECTOR ANALYSIS
Analyzing information graphically includes sketching scaled lines at
particular angles, with a key focus on achieving precision to maintain
alignment with analytical methods. Accuracy has been a primary goal in
mechanism analyses for many years, involving meticulous attention to
detail and the use of appropriate drafting tools. Despite their widespread
use, graphical techniques faced criticism for perceived lack of precision.
 GRAPHICAL VECTOR ANALYSIS
the emergence of computer-aided design (CAD) and its precise
geometric capabilities has enabled the accurate application of graphical
techniques.
DRAFTING TECHNIQUES
REQUIRED IN GRAPHICAL
VECTOR ANALYSIS
DRAFTING TECHNIQUES REQUIRED
IN GRAPHICAL VECTOR ANALYSIS
• The techniques for graphical mechanism and vector analysis remain
consistent, whether utilizing traditional drafting tools or modern
computer-aided design (CAD) software. While drafting may be
considered somewhat outdated in industrial analyses, it still proves
effective for learning and comprehending these techniques.
DRAFTING TECHNIQUES REQUIRED
IN GRAPHICAL VECTOR ANALYSIS
• When employing drafting equipment, the use of fine lines and circular arcs
is essential to achieve accurate results. Precise linework becomes crucial
for accurately determining intersection points. Consequently, it is
imperative to exercise care in maintaining sharp drawing equipment to
ensure precision in the outputs.
DRAFTING TECHNIQUES REQUIRED
IN GRAPHICAL VECTOR ANALYSIS
• Accurate measurement is just as crucial as maintaining line quality. The
length of lines must be drawn with precision according to a specific scale,
and linear measurements should be as accurate as possible. Consequently,
employing an appropriate engineering scale with inches divided into 50
parts is recommended. Similarly, angular measurements need to be equally
precise.
DRAFTING TECHNIQUES REQUIRED
IN GRAPHICAL VECTOR ANALYSIS
• Choosing an appropriate drawing scale is a crucial consideration.
Generally, larger constructions allow for more accurate measurements.
Drawing with a precision to 0.05 inches results in less error for a 10-inch
line compared to a 1-inch line. While there are limits to size, with very
large constructions requiring special equipment, the effort should be made
to create constructions as large as possible.
• A drawing textbook should be consulted for the details of general drafting
techniques and geometric constructions
CAD KNOWLEDGE
REQUIRED IN GRAPHICAL
VECTOR ANALYSIS
CAD KNOWLEDGE REQUIRED IN
GRAPHICAL VECTOR ANALYSIS
The methods for graphical mechanism and vector analysis remain consistent, whether
employing traditional drafting equipment or a Computer-Aided Design (CAD) package.

CAD offers enhanced precision. Fortunately, achieving a satisfactory level of proficiency on

a CAD system is sufficient for effectively conducting graphical vector analysis. Hence,
opting for a CAD system is preferred, and the learning curve is relatively minimal, not
necessitating a substantial investment of time and effort.
CAD KNOWLEDGE REQUIRED IN
GRAPHICAL VECTOR ANALYSIS
The following list outlines the CAD abilities required for vector analysis. The
user should be able to:
• Draw lines at a specified length and angle;
• Insert lines, perpendicular to existing lines;
• Extend existing lines to the intersection of another line;
• Trim lines at the intersection of another line;
• Draw arcs, centered at a specified point, with a specified radius;
• Locate the intersection of two arcs;
• Measure the length of existing lines;
• Measure the included angle between two lines
TRIGONOMETRY
REQUIRED IN
ANALYTICAL VECTOR
ANALYSIS
 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
In the analytical analysis of vectors, a foundational understanding of basic
trigonometry concepts is necessary. Trigonometry involves the study of the
properties of triangles.
 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
Right Triangle
In vector analysis, a crucial aspect involves employing
basic trigonometric functions, which are specifically
relevant to right triangles. Illustrated in figure shown is
a right triangle with sides labeled as a, b, and c, and
interior angles designated as A, B, and C. It's important
to note that angle C forms a 90° right angle, classifying
the triangle as a right triangle.
 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
The basic trigonometric relationships are defined as:
 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
These definitions can also be applied to angle B:
 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
The Pythagorean theorem establishes the relationship among the three sides of a
right triangle. For the triangle depicted in Figure 3.2, it is expressed as:

Finally, the sum of all angles in a triangle is 180°. Given that angle C is 90°, the
sum of the other two angles must be 90° to complete the total of 180°.
 Example Problem 3.1
A front loader with cylinder BC in a vertical position. Use trigonometry to
determine the required length of the cylinder to orient arm AB in the
configuration shown
 Solution
1. Determine Length BC 2. Determine Length AC

Focus on the triangle formed by points , and Although not required, notice that the
Figure 3.3. The triangle side BC can be distance between and can similarly be
found using equation (3.1) determined using equation (3.2). Thus

oppositeside adjacentside
sin ∠ A = cos ∠ A =
hypotenuse hypotenuse
AC
BC cos 35°= (
sin 35° = (96 in.)
(96 in.)

Solving: Solving:

BC = (96 in.) sin 35° = 55.06 in. AC = (96 in.) cos 35° = 78.64 in
 EXAMPLE PROBLEM
A tow truck with an 8-ft boom, 3.2
which is inclined at a 25° angle. Use
trigonometry to determine the horizontal distance that the boom extends from
the truck.
 Solution
1. Determine the Horizontal 2. Determine Horizontal Projection of
Projection of the Boom Truck and Boom
The horizontal projection of the boom can be The horizontal distance from the front
determined from equation (3.2): end of the truck to the end of the boom is

horizontal projection 6 ft + 7.25 ft = 13.25 ft

cos 25° =
(8ft)
3. Determine the Overhang
horizontal projection = (8 ft)cos 25° (
Because the overall length of the truck
is 11 ft, the horizontal distance that the
horizontal projection 7.25 ft
boom extends from the truck is

13.25 ft - 11 ft = 2.25 ft
 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
OBLIQUE TRIANGLE
In the earlier discussion, the analysis was confined to
right triangles. However, an examination of general,
or oblique, triangles is also significant in the study of
mechanisms. Illustrated in figure is a general
triangle, where a, b, and c denote the lengths of the
sides, and A, B, and C. represent the interior angles.
 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
In this general case, the basic trigonometric functions discussed in the previous
section are not applicable. To analyze a general triangle, the law of sines and the
law of cosines have been developed.

The law of sines can be stated as:

The law of cosines can be stated as:

 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
Additionally, in a general triangle, the sum of all interior angles must
amount to 180°. Expressed in the context of Figure 3.4, the equation
would be:
 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
Problems involving the solution of a general triangle fall into one of four cases:
Case 1: Given one side (a) and two angles and
To solve a problem of this nature, equation (3.8) can be used to find the third angle:

The law of sines can be rewritten to find the remaining sides.

 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
Case 2: Given two sides (a and b) and and the angle opposite to one of the sides
To solve a Case 2 problem, the law of sines can be used to find the second angle. Equation (3.6)
is rewritten as:

Equation (3.8) can be used to find the third angle:

The law of cosines can be used to find the third side. Equation (3.7) is rewritten as:
 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
Case 3 Given two sides (a and b) and and the included angle
To solve a Case 3 problem, the law of cosines can be used to find the third side:

The law of sines can be used to find a second angle. Equation (3.6) is rewritten as

Equation (3.8) can be used to find the third angle:

 TRIGONOMETRY REQUIRED IN
ANALYTICAL VECTOR ANALYSIS
Case 4 Given three sides
To solve a Case 4 problem, the law of cosines can be used to find an angle. Equation (3.7) is
rewritten as:

The law of sines can be used to find a second angle. Equation (3.6) is rewritten as

Equation (3.8) can be used to find the third angle:

Once familiarity in solving problems involving general triangles is gained, referring to the
specific cases will be unnecessary.
 Example Problem 3.3
In a front loader figure, use trigonometry to determine the required length of
the cylinder to orient arm AB in the configuration shown
 Solution
1. Determine Length BC

By focusing on the triangle created by points A, B, and C, it is apparent that this

is a Case 3 problem. The third side can be found by using the law of cosines:

Because determining the remaining angles was not required, the procedure
described for Case 3 problems will not be completed.
 Example Problem 3.4
Figure shows the drive mechanism for an engine system. Use trigonometry to
determine the crank angle as shown in the figure
 Solution
1. Determine Angle BAC
By focusing on the triangle created by points
A, B, and C, it is apparent that this is a Case
4 problem. Angle BAC can be determined by
redefining the variables in the law of cosines:
2. Determine the Crank Angle
Angle BAC is defined between side AC (the
vertical side) and leg AB. Because the crank
angle is defined from a horizontal axis, the
crank angle can be determined by the
following:
(
 Solution
3. Determine the Other Interior Angles
Although not required in this problem, angle ACB can be determined by

(
Finally, angle ABC can be found by
 VECTORS MANIPULATION
Vector quantities such as displacement or velocity undergo various
manipulations. Similar to scalar quantities, vectors can be added and subtracted.
However, unlike scalar operations, these involve more than mere algebraic
calculations. Defining a vector requires accounting for its direction during
mathematical operations. The subsequent sections delve into vector addition and
subtraction separately.
 VECTORS MANIPULATION
Adding vectors is equivalent to determining the combined, or net, effect of two quantities
as they act together.

For example, in playing a round of golf, the first shot off the tee travels 200 yards but
veers off to the right. A second shot then travels 120 yards but to the left of the hole. A
third shot of 70 yards places the golfer on the green. As this golfer looks on the score
sheet, she notices that the hole is labeled as 310 yards; however, her ball traveled 390
yards (200 + 120 + 70 yards).
 VECTORS MANIPULATION

As emphasized earlier, the direction of a vector is just as crucial as its

magnitude. In vector addition, the result does not always equal the sum
of the magnitudes; it depends on the direction of the individual vectors.
GRAPHICAL VECTOR
ADDITION(+>)
GRAPHICAL VECTOR
ADDITION(+>)
Graphical addition is an operation that determines the net effect of vectors. In a
graphical approach to vector addition, vectors are drawn to scale and in the correct
orientation. These vectors are then repositioned while maintaining the scale and
orientation. The tail of the first vector is designated as the origin (point O). The
second vector is then relocated so that its tail is placed at the tip of the first vector.
This process is repeated for all remaining vectors. This technique is known as the
tip-to-tail method of vector addition, a name derived from observing a completed
vector polygon where the tip of one vector aligns with the tail of the next.
GRAPHICAL VECTOR
ADDITION(+>)
The combined effect is represented by a vector extending from the tail of the first
vector to the tip of the last vector in the series.Mathematically, an equation can be
written to express the combined effect of vectors:

R = A +> B +> C +> D +> . . .

Vector R commonly denotes the resultant of a series of vectors, describing their
combined effect. The symbol "Σ" is specifically used to represent vector addition,
differentiating it from algebraic addition [Ref. 5].
GRAPHICAL VECTOR
ADDITION(+>)
It's important to note that vectors adhere to the commutative law of addition,
meaning that the order in which the vectors are added does not change the result.

Combining vectors can be done graphically, using either manual drawing techniques
or CAD software. Regardless of the chosen method, the underlying concepts remain
consistent. The subsequent example problems serve to illustrate this concept.
 Example Problem 3.5
Graphically determine the combined effect of velocity vectors A and B, as
shown in figure below.
 Solution
1. Construct Vector Diagrams
To find the resultant, the vectors should be
repositioned with the tail of B at the tip of A.
Confirming the commutative law involves
redrawing the vectors with the tail of A at the
tip of B. The resultant is the vector drawn
from the tail of the first vector (origin) to the
tip of the second vector. Both vector
diagrams are illustrated in Figure.
2. Measure the Resultant
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°. Therefore, the
proper manner of presenting the solution is
as follows:
(
 Solution

The combined effect of vectors A and B for

Example Problem 3.5
 Example Problem 3.6
Graphically determine the combined effect of force vectors A, B, C, and D, as
shown in Figure 3.10.
 Solution
1. Construct Vector Diagrams
To determine the resultant, rearrange the
vectors by placing the tail of B at the tip of
A, then the tail of C at the tip of B, and
finally the tail of D at the tip of C. The
ordering of vectors is not crucial, and various
combinations could be used. In this example,
an arbitrary combination is illustrated. The
resultant is the vector drawn from the tail of
the first vector (origin) to the tip of the fourth
vector.
2. Measure the Resultant
The length vector R is measured as 521 lb.
The direction is also required to fully define
the vector R. The angle from the horizontal
to vector R is measured as 68°. Therefore,
the proper manner of presenting the solution
is as follows:
(
 Solution

The combined effect of vectors A, B, C, and D

ANALYTICAL VECTOR
ADDITION (+>): TRIANGLE
METHOD
 ANALLYTICAL VECTOR
ADITION (+>): TRIANGLE
METHOD
There are two analytical approaches to ascertain the combined effect of
vectors. The initial method is especially handy when computing the
resultant of only two vectors. In a manner akin to the graphical
method, the two vectors in question are aligned tip-to-tail. The
resulting vector is established by linking the tail of the first vector to
the tip of the second vector, thus creating the third side of a triangle.
 ANALLYTICAL VECTOR
ADITION (+>): TRIANGLE
METHOD
The determination of the length of the third side and a reference angle is
achieved using the principles of the laws of sines and cosines, providing a
comprehensive definition of the resultant vector.
To ensure clarity in distinguishing quantities, vectors are represented in
boldface type (D), while the magnitude of the vector is expressed in non-
bold, italic type (D). This method can be elucidated through the
examination of a sample problem.
 Example Problem 3.7
Analytically determine the resultant of two acceleration vectors as shown
 Solution
1. Sketch a Rough Vector Diagram
The vectors are placed tip-to-tail. Note that
only a rough sketch is required because the
resultant is analytically determined.
2. Determine an Internal Angle
The angle between A and the horizontal is
20°. By examining Figure 3.13, the angle
between vectors A and B is:
Therefore, the problem of determining the (
resultant of two vectors is actually a general
triangle situation described in Case 3.
 Solution
3. Determine Resultant Magnitude
By following the procedure outlined for a Case 3 problem, the law of
cosines is used to find the magnitude of the resultant:

(
 Solution
4. Determine Magnitude Direction
The law of sines can be used to find the angle between vectors A and R:

5. Fully Specify Resultant

The angle from the horizontal is . The resultant can be properly written as:

or
COMPONENTS
OF VECTOR
 COMPONENTS OF VECTOR
• Resolution of vectors involves breaking down a single vector into two
separate components along convenient directions, essentially reversing the
process of combining vectors. These two components collectively replicate
the original vector's effect.

• Typically, solving a problem involves determining the horizontal and

vertical components of a vector. This can be accomplished by employing a
reversed tip-to-tail approach.
 COMPONENTS OF VECTOR
• To illustrate the method, let's consider a general vector, denoted as A.
 COMPONENTS OF VECTOR
• Two vectors can be arranged tip-to-tail along the horizontal and vertical directions to
collectively produce the same net effect as the original vector. The tail of the
horizontal vector aligns with the tail of the original, while the tip of the vertical vector
aligns with the tip of the original.

• Notably, the order of vector addition is inconsequential, making it irrelevant whether

the horizontal or vertical vector is drawn first.
 COMPONENTS OF VECTOR
• An alternative method for finding a vector's rectangular components entails
determining its angle (θ) with the positive x-axis in a Cartesian coordinate system,
followed by calculating the component magnitudes using basic trigonometric
relations.
 COMPONENTS OF VECTOR

A vector directed into the second quadrant of a standard

Cartesian coordinate system has an angle (θ) between 90° and
180°. In this range, the cosine of the angle yields a negative
value, while the sine results in a positive value.
 Example Problem 3.8
A force, F, of 3.5 kN as shown below. Using the analytical
triangle method, determine the horizontal and vertical
components of this force.
 Solution
1. Sketch the Vector Components
The horizontal component of the vector is drawn from the tail of vector F, and
the vertical component is drawn from the horizontal vector to the tip of the
original force vector.

(
 Solution
2. Use Triangle Method
Working with the right triangle, an expression for both components can be
written using trigonometric functions:

(
Both these expressions can be solved in terms of the magnitude of the desired
components
 Solution
3. Use x-axis, Angle Method
The angle from the positive x-axis to the vector F is 215°. The components are
computed as follows:

(
ANALYTICAL
VECTOR ADDITION
ANALYTICAL VECTOR ADDITION
➢ The net effect of a series of vectors can be determined by resolving each
vector into horizontal and vertical components, using the algebraic sign
convention. These components can be added together to form a single vector
component, representing the net horizontal effect, with positive or negative
signs. This concept can be summarized in the following equation.

➢ Rh = Ah + Bh + Ch + Dh + …….. (3.11)
 ANALYTICAL VECTOR ADDITION

➢ Similarly, all vertical components may be added together into a single vector
component. This component represents the net vertical effect of the series of vectors.

➢ Rv = Av + Bv + Cv + Dv + …….. (3.11)
ANALYTICAL VECTOR ADDITION
➢ The two net components may then be added vectorally into a resultant.
Trigonometric relationships can be used tp produce the following
equations.
ANALYTICAL VECTOR ADDITION

➢ This resultant is the combined effect of the entire series of vectors.

This procedure can be conducted most efficiently when the
computations are arranged in a table, as demonstrated in the following
example problems.
 Example Problem 3.9
Three forces act on a hook as shown in illustration from next slide. Using the analytical
component method, determine the net effect of these forces.

SOLUTION: 1. Use x-axis, Angle Method to Determine Resultant Components

This horizontal and vertical components of each force are determined by trigonometry
and shown in Figure 3.18. Also shown are the vectors rearrange in a tip-to-tail fashion.
The components are organized in Table 3.1.
Example Problem 3.9

Forces of Example Problem 3.9.

 Example Problem 3.9
Notice that adding the magnitudes of the horizontal components tracks the
total distance navigated by the vectors in the horizontal direction. The same
holds true for adding the magnitudes of the vertical components. This is the
logic behind the component method of combining vectors. For this problem,
adding the individual horizontal and vertical components gives the
components of the resultant as follows:

Rh = 19.14 lb. and Rv = 57.44 lb.

 Solution
2. COMBINE THE RESULTANT COMPONENTS

The resultant is the vector sum of two perpendicular vectors, as shown in

figure.
 Solution
The magnitude of the resultant can be found from equation (2.13)

The angle of the resultant can be found

Thus, the resultant of the three forces can be formally stated as

VECTOR
SUBTRACTION
 VECTOR SUBTRACTION
➢ Vector subtraction is a method used to subtract vector quantities,
separating them from algebraic subtraction. It adds the negative of the vector
to be subtracted, which is equal in magnitude but opposite in direction.

Negative Factor.
 VECTOR SUBTRACTION
➢ A vector diagram is essential for understanding the procedure,
whether graphical or analytical, when a general problem requires
removing vector B from A.
 VECTOR SUBTRACTION
➢ To perform a subtraction, draw the negative of vector B and add it
to vector A, as illustrated in figure a and c respectively.

➢ J = A - > B = A + > ( - >B)

 VECTOR SUBTRACTION
➢ The expression is similar to scalar quantity subtraction using basic
algebraic methods, with vector subtraction outcome designated J.
Vector addition results are represented by R. The method of placing
vector B onto vector A, opposite to the tip-to-tail orientation, is
preferred as it eliminates negative vector redrawing.
GRAPHICAL VECTOR
SUBTRACTION
 GRAPHICAL VECTOR
SUBTRACTION
➢ Vector subtraction is a process of graphically subtracting vectors,
using manual drawing techniques or CAD software. The process
involves relocating vectors to scale and treating the subtracted vector
 Example Problem 3.10
Graphically determine the result of subtracting the velocity vector B
from A, J = A -> B, as shown.

To determine the result, the vectors are located in the tip-to-tail form, but
vector B points toward vector A. Again, this occurs because B is being
subtracted (opposite to addition).
 SOLUTION

J = A - 7 B for Example Problem 3.10

The resultant extends from the tail of A, the origin, to the tail of
B. The length vector J is measured as 56.8 in./s
The direction is also required to fully define the vector J. The
angle from the horizontal to vector J is measured as 99°.
Therefore, the proper manner of presenting the solution is as
follows

or
 Example Problem 3.11
Graphically determine the result, , of the force vectors as shown in
figure.
 SOLUTION

1. Construct the Vector Diagram To determine 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.
SOLUTION
From viewing the vector polygon in figure from previous slide,
it appears that vectors B and C were placed in backward, which
occurs with vector subtraction.

The length of vector J is measured as 365 lb. The angle from the
horizontal to vector J is measured as 81°. Therefore, the proper
manner of presenting the solution is as follows:
ANALYTICAL VECTOR
SUBSTRUCTION
( - > ) TRIANGLE METHOD
 TRIANGLE METHOD

The triangle method is ideal for manipulating two vectors, using

a vector diagram and triangle laws to determine the result of
vector subtraction.
Example Problem 3.12
Analytically determine the result of the vectors shown
in figure.
 SOLUTION
1. Sketch a Rough Vector Diagram The vectors are placed into a vector polygon,
as shown in figure. Again, vector B is placed pointing toward vector A because it
is to be subtracted. Also note that only a rough sketch is required because the
resultant is analytically determined.
2. Determine an Internal Angle Because the angle between A and the
horizontal is 15° , the angle between A and the vertical is 75° . Notice
that the angle between the vertical and A is the same as the angle labeled
; thus, . The problem of determining the result of is actually a general
triangle situation as described in Case 3.

3. Determine the Magnitude of the Result Following the procedure

outlined for a Case 3 problem, the law of cosines is used to find the
magnitude of the resultant:
4. Determine the Direction of the Result The law of sines can be used to
find the angle between vectors A and J:

5. Fully Specify the Result From examining figure, the angle that J makes
with the horizontal is . The solution can be properly written as
ANALYTICAL VECTOR
SUBSTRUCTION
( - > ): COMPONENT METHOD
The component method is a method used to determine the result of
subtraction of a series of vectors, similar to vector addition. It involves
determining the horizontal and vertical components of each vector and
using a sign convention to denote the component’s sense. The process can
be most efficient when the computations are arranged in a table, as it
follows for algebraic combination of individual components.
 Example Problem 3.13
Analytically determine the result for the velocity vectors shown
in figure below
 SOLUTION
1. Sketch a Rough Vector Diagram The horizontal and vertical
components of each velocity are determined by trigonometry using
equations (3.9) and (3.10) and shown in figure. Also shown are the
vectors rearranged in a series: tip-to-tail for addition and tail-to-tip
for subtraction
2. Use x-axis, Angle Method to Determine Components The values
of the component are listed in Table 3.2.
3. Determine the Components of the Solution Algebraic
manipulation of the individual horizontal and vertical components
gives the components of the resultant:
4. Combine the Components of the Solution The magnitude and direction
of the resultant may be determined by vectorally adding the components.

The magnitude of the solution can be determined from equation (3.13):

The angle of the solution can be found from the tangent function:

Thus, the solution can be formally stated as

VECTORS
EQUATION
Vector operations can be expressed in equation form, such as subtracting two
vectors. Vectors equations can be manipulated similarly to algebraic equations,
with terms transposed by changing signs. Vector equations are significant, as
they create a vector that extends from the origin to the end. Vector equations can
be rewritten into various forms, maintaining the magnitude and directions of all
vectors. This principle allows vector equations to describe vector diagrams,
allowing for manipulation without altering their meaning.

can be rearranged as::

to
The equation can be rewritten as
 Example Problem 3.14
Write a vector equation for the arrangement of vectors shown in figure
below.
 SOLUTION
1. Write an Equation to Follow the Two Paths from to Use point as the origin for the
vector equation and follow the paths to point P1.

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
 SOLUTION
2. Write an Equation to Follow the Two Paths from to Another equation can be written by
using point as the origin and following the paths to point P1.

Thus, the equation can be written as follows:

Notice that these are two forms of the same equation.

 Example Problem 3.15
Write a vector equation for the arrangement of vectors shown in figure.
Then rewrite the equation to eliminate the negative terms and draw the
associated vector diagram
 SOLUTION
1. Write an Equation to Follow the Two Paths from to
Use point as the origin for the vector equation and follow the paths to the
point P1.

Thus, the following equation can be written as

 SOLUTION

2. Rewrite the Equation To eliminate the negative terms, vectors B, D, and E all
must be transposed to their respective opposite sides of the equation. This yields
the following equation
 SOLUTION
Note that the order of addition is not significant. Rearranging the vectors into a new
diagram is shown. Familiarity with vector equations should be gained, as they are used
extensively in mechanism analysis. For example, determining the acceleration of even
simple mechanisms involves vector equations with six or more vectors
SAMPLE PROBLEMS
 Example Problem 1
Determine the angle, ß, and the length, s, of the two identical support
links in Figure when x = 150 mm and .
 Solution
From triangle ABC
x 150
tan ß = tan ß =
y 275

tan ß = 0.5454 ß = 28.61

By Pythagorean theorem, AC = 2s
(
 Example Problem 2
For the farm conveyor shown in Figure, deter?mine the required
length of the support rod. The angle is ß=28 and the distances are x =
20 ft. and d = 16 ft. Also determine the vertical height of the end of
the conveyor when L = 25 ft.
 Solution
For length of support rod,

(
For vertical height
 Example Problem 3
If the height, h, of the trailer shown in figure is 52 in., determine the
length of ramp needed to maintain an angle, ß, of 30°.
 Solution
Assume the length of the ramp is ‘L’
Calculating by using height distance method:

Length of the ramp needed is 104 in.

Thank you!