2 PDF

Problem 2.
1 The magnitudes |F
A
| = 60 N and
|F
B
| = 80 N. The angle = 45
. Graphically de-
termine the magnitude of the sum of the forces F =
F
A
+F
B
and the angle between F
B
and F.
Strategy: Construct the parallelogramfor determining
the sumof the forces, drawing the lengths of F
A
and F
B
proportional to their magnitudes and accurately measur-
ing the angle , as we did in Example 2.1. Then you
can measure the magnitude of their sum and the angle
between their sum and F
B
.
F
A
F
B
Solution: The graphical construction is shown:
The angle is graphically determined to be about 26
and the angle

is about = 19
. The magnitude of the sum |F| = |F

A
+F
B
| is
about |F| = 130 N. (These values check with a determination using
trigonometry, = 25.9
, = 19.1
, and |F| = 129.6 N .)

45
F
A
F
B
F
Problem 2.2 The magnitudes |F
A
| = 40 N and
|F
A
+ F
B
| = 80 N. The angle = 60
. Graphically
determine the magnitude of F
B
.
Solution: Measuring, F
B

= 52 N
F
A
F
B
60
0 40 50 80 100 N
F
A
F
A
+ F
B
F
B
A
| = 100 lb and
|F
B
| = 140 lb. The angle = 40
. Use trigonom-
etry to determine the magnitude of the sum of the forces
F = F
A
+F
B
and the angle between F
B
and F.
Strategy: Use the laws of sines and cosines to analyze
the triangles formed by the parallelogram rule for the
sum of the forces as we did in Example 2.1. The laws of
sines andcosines are giveninSectionA.2of AppendixA.
Solution: The construction is shown. Use the cosine law to de-
termine the magnitude |F|.
|F|
2
= |F
A
|
2
+|F
B
|
2
2|F
A
||F
B
| cos 140
|F|
2
= (100)
2
+ (140)
2
2 (100) (140) cos 140
or |F| =
_
5.1049 . . . (10
4
) = 225.94 . . . = 225.9 lb
Use the law of sines to determine the angle ., i.e.,
|F|
sin 140
=
|F
B
|
sin
.
From which we get sin =
|F
B
|
|F|
sin 140
= 0.398, and =
23.47
. The angle between F

B
and F is
Thus = 40 23.47 = 16.53
40
140
F
A
F
B
F
Problem2.4 The magnitudes |F
A
| = 40 Nand |F
A
+
F
B
| = 80 N. The angle = 60
. Use trigonometry to
determine the magnitude of F
B
.
Solution: Draw the force triangle.
From the law of sines
|F
A
+F
B
|
sin 120
=
|F
A
|
sin
sin =
|F
A
|
|F
A
+F
B
|
sin 120
sin =
_
40
80
_
(0.866)
= 25.66
+ + 120
= 180
= 34.34
From the law of sines,

|F
B
|
sin
=
|F
A
+F
B
|
sin 120
|F
B
| =
_
sin
sin 120
_
(80 N)
|F
B
| = 52.1 N
F
A
F
B
60
1
2
0
F
A
F
B
F A

F B
A
| = 100 lb and
|F
B
| = 140 lb. If can have any value, what are the
minimum and maximum possible values of the magni-
tude of the sum of the forces F = F
A
+ F
B
, and what
are the corresponding values of ?
Solution: A graphical construction shows that the magnitude is
a minimum when the two force vectors are opposed, and a maximum
when both act in the same direction. The corresponding values are
|F|max = |F
A
+F
B
| = |100 + 140| = 240 lb, and = 0
.
|F|
min
= |F
A
+F
B
| = |100 140| = 40 lb, and = 180
.
Problem 2.6 The angle = 30
. What is the magni-

tude of the vector r
AC
?
60 mm
150 mm
A
C
B
r
AB
r
BC
r
AC
Solution:
A
30
6
0
m
m
1
5
0
m
m
B
r
AC
C
BC
sin 30
=
AB
sin
=
AC
sin
We know BC and AB. Thus
150
sin 30
=
60
sin
= 11.54
Also 30
+ + = 180
= 138.46
Now, from the law of sines

150
sin 30
=
AC
sin 138.46
AC = |r
AC
| = 199 mm
Problem 2.7 The vectors F
A
and F
B
represent the
forces exerted on the pulley by the belt. Their magni-
tudes are |F
A
| = 80 N and |F
B
| = 60 N. What is the
magnitude |F
A
+ F
B
| of the total force the belt exerts
on the pulley?
45
F
A
F
B
10
Solution:
35
35
45 1
4
5
45
10
10
F
B
F
B
F
A
F A

+

F B
F
A
Law of cosines
|F
A
+F
B
| = (80)
2
+ (60)
2
2(80)(60) cos 145
|F
A
+F
B
| = 133.66 134 N
Law of sines
|F
B
|
sin
=
|F
A
+F
B
|
sin 145

60
sin
=
133.66
sin 145
= 14.92
|F
A
+F
B
| = 134 N
Problem 2.8 The magnitude of the vertical force F is
80 N. If you resolve it into components F
AB
and F
AC
that are parallel to the bars AB and AC, what are the
magnitudes of the components?
B
C
20
30
A
F
Solution: F is made up of components in the two known direc-
tions. Since we also know the direction of F, we can draw a force
triangle (F
AB
+F
AC
= F).
Thus, we have a triangle DEF as shown
+ 110
+ 30
= 180
= 40
From the law of sines,

80
sin 40
=
|F
AC
|
sin 30
=
|F
AB
|
sin 110
|F
AB
| = 117 N |F
AC
| = 62.2 N
60
80 N
80 N
110
30
30
20
F
AC
F
D
E
F
AC
F
AB
F
AB
Problem2.9 The rocket engine exerts an upward force
of 4 MN (meganewtons) magnitude on the test stand. If
you resolve the force into vector components parallel to
the bars AB and CD, what are the magnitudes of the
components?
30 45
A
B D
C
Solution: The vector diagram construction is shown. From the
law of sines,
|F
AB
|
sin 45
=
|F|
sin 75
,
from which
|F
AB
| = |F|
_
sin 45
sin 75
_
= (4)(0.732) = 2.928 . . . = 2.93 MN
|F
BC
| = |F|
_
sin 60
sin 75
_
= (4)(0.8966) = 3.586 . . . = 3.59 MN
30
45 A
B
D
C

A
38
68
45
45
45
45
C
D
F
B
F
BA F
BC
Problem 2.10 If Fis resolved into components paral-
lel to the bars AB and BC, the magnitude of the compo-
nent parallel to bar AB is 4 kN. What is the magnitude
of F?
C A
B
F
150 mm
100 mm 400 mm
Solution:
C A
B
F
150 mm
100 mm
400 mm
Call the force in AB F
AB
and the force in BC F
BC
. Then
F
AB
+F
BC
= F. We know the geometry and that |F
AB
| = 4 kN.
Draw a diagram of the geometry, get the angles, then draw the force
triangle.
C
B
A

500 mm
100 mm
150 mm
tan =
150
400
= 20.6
tan =
150
100
= 56.3
F
AB
F
BC
F
F
AB
= 4 kN
+ = 90
= 69.4
+ = 90
= 33.7
+ + = 180
= 76.9

|F|
sin
=
|F
AB
|
sin
|F| =
_
sin(76.9
)
sin(33.7
)
_
(4) = 7.02 kN
Problem 2.11 The forces acting on the sailplane are
represented by three vectors. The lift L and drag Dare
perpendicular, the magnitude of the weight Wis 3500 N,
and W+ L + D = 0. What are the magnitudes of the
lift and drag?
W
D
L
25
Solution: Draw the force triangle and then use the geometry plus
W
D
L
25
cos 25
=
|L|
|W|
sin 25
=
|D|
|W|
|W| = 3500 N
|L| = 3500 cos 25
|D| = 3500 sin 25
|L| = 3170 N
|D| = 1480 N
25
65
25
W
L
D
Problem 2.12 The suspended weight exerts a down-
ward 2000-lb force F at A. If you resolve F into vector
components parallel to the wires AB, AC, and AD, the
magnitude of the component parallel to AC is 600 lb.
What are the magnitudes of the components parallel to
AB and AD?
A
B
C D
60 70 45
Solution: We resolve the force exerted by the weight into com-
ponents parallel to the wires:
F
AD
F
AC
F
AB
45
70
60
W
We see that
|F
AD
| sin 45
+|F
AC
| sin 70
+|F
AB
| sin 60
= |W|,
|F
AD
| cos 45
+|F
AC
| cos 70
|F
AB
| cos 60
= 0.
Setting |W| = 2000 lb and |F
AC
| = 600 lb and solving, we obtain F
AB
=
1202 lb, F
AD
= 559 lb.
Problem 2.13 The wires in Problem 2.12 will safely
support the weight if the magnitude of the vector compo-
nent of F parallel to each wire does not exceed 2000 lb.
Based on this criterion, how large can the magnitude of
F be? What are the corresponding magnitudes of the
vector components of F parallel to the three wires?
Solution: From Problem 2.12 above, we have F
AC
= 600 lb., F
AB
=
1202 lb. The largest force is F
AB
= 1202 lb. We want this value to be 2000 lb
and to have all other values scaled accordingly. Hence, we multiply all forces
by k =
2000
1202
= 1.664. Multiplying all of the forces in Problem 2.12 by this
factor, we get
F
AB
= 2000 lb, F
AC
= 999 lb,
F
AD
= 931 lb, and F = 3329 lb.
Problem 2.14 Two vectors r
A
and r
B
have magni-
tudes |r
A
| = 30 m and |r
B
| = 40 m. Determine the
magnitude of their sum r
A
+r
B
(a) if r
A
and r
B
have the same direction.
(b) if r
A
and r
B
are perpendicular.
Solution: The vector constructions are shown.
(a) The magnitude of the sum is the sum of the magnitudes for vectors in the
same direction:
|r
A
+r
B
| = 30 + 40 = 70 m
From the cosine law (which reduces to the Pythagorean Theorem for a right
triangle)
|r
A
+r
B
|
2
= |r
2
A
+|r
2
B
= (30)
2
+ (40)
2
= 2500 |r
A
+r
B
| = 50 m .
r
A
r
A
r
B
r
B
(b)
(a)
r
A
+ r
B
Problem 2.15 A spherical storage tank is sup-
ported by cables. The tank is subjected to three
forces: the forces F
A
and F
B
exerted by the ca-
bles and the weight W. The weight of the tank is
|W| = 600 lb. The vector sum of the forces acting on
the tank equals zero. Determine the magnitudes of F
A
and F
B
(a) graphically and (b) by using trigonometry.
40
F
A
W
F
B
20 20
Solution: The vector construction is shown.
(a) The graphical solution is obtained from the construction by the recognition
that since the opposite interior angles of the triangle are equal, the sides (magni-
tudes of the forces exerted by the cables) are equal. A measurement determines
the magnitudes. (b) The trigonometric solution is obtained fromthe lawof sines:
|W|
sin 140
=
|F
A
|
sin 20
=
|F
B
|
sin 20
Solving:
|F
A
| = |F
B
| = |W|
_
sin 20
sin 140
_
= 319.25 . . . = 319.3 lb
40
F
A
W
F
B
20
20
F
B
F
A
W
20
20
20
20
140
Problem 2.16 The rope ABC exerts the forces F
BA
and F
BC
on the block at B. Their magnitudes are
|F
BA
| = |F
BC
| = 800 N. Determine |F
BA
+ F
BC
|
20
F
BC
F
BA
B
C
A
B
Solution: The vector graphical construction is shown.
(a) The angles are derived from the rule that for equal legs in a tri-
angle the opposite interior angles are equal, and the rule that the
sum of the interior angles is 180 deg. Thus from the problem
statement the 70
angle is determined; from the equality of an-

gles and the sum of interior angles the other two 55
angles are
derived. The magnitude of the sum of the two vectors is then
measured from the graph.
(b) The trigonometric solution follows from the law of sines:
|F
AB
+F
BC
|
sin 70
=
|F
AB
|
sin 55
=
|F
BC
|
sin 55
.
Solve:
|F
AB
+F
BC
| = |F
AB
|
_
sin 70
sin 55
_
= 800(1.1471 . . .)
= 917.72 . . . |F
A
+F
B
| = 917.7 N
20
20
55
70
55
20
F
BC
F
BA
F
BA
+ F
BC
B
Problem 2.17 Two snowcats tow a housing unit to a
new location at McMurdo Base, Antarctica. (The top
view is shown. The cables are horizontal.) The sum of
the forces F
A
and F
B
exerted on the unit is parallel to
the line L, and |F
A
| = 1000 lb. Determine |F
B
| and
|F
A
+F
B
| (a) graphically and (b) by using trigonometry.
50
30
F
A
F
B
L
TOP VIEW
Solution: The graphical construction is shown. The sum of
the interior angles must be 180
. (a) The magnitudes of |F

B
| and
|F
A
+F
B
| are determined from measurements. (b) The trigonomet-
ric solution is obtained from the law of sines:
|F
A
+F
B
|
sin 100
=
|F
A
|
sin 30
=
|F
B
|
sin 50
from which |F
B
| = |F
A
|
_
sin 50
sin 30
_
= 1000(1.532) = 1532 lb
|F
A
+F
B
| = |F
A
|
_
sin 100
sin 30
_
= 1000(1.9696) = 1970 lb
50 30
F
A
F
B
L
TOP VIEW
F
B
F
A
F
B
F
A
+

F
B
38
38
50 50
156
38
Problem2.18 Asurveyor determines that the horizon-
tal distance fromAto B is 400 m and that the horizontal
distance fromAto C is 600 m. Determine the magnitude
of the horizontal vector r
BC
from B to C and the angle
East
North
60
20
C
B
A
r
BC
Solution: (a) The graphical solution is obtained by drawing the
gure to scale and measuring the unknowns. (b) The trigonometric
solution is obtained by breaking the gure into three separate right
triangles. The magnitude |r
BC
| is obtained by the cosine law:
|r
BC
|
2
= (400)
2
+ (600)
2
2(400)(600) cos 40
or |r
BC
| = 390.25 = 390.3 m
The three right triangles are shown. The distance BD is BD =
(400) sin 60
= 346.41 m. The distance CE is CE =

600 sin 20
= 205.2 m. The distance FC is FC = (346.4

205.2) = 141.2 m.
The angle is sin =
141.2
390.3
= 0.36177 . . ., or = 21.2
60
20
C
B
F
A D E
Problem 2.19 The vector r extends from point A to
the midpoint between points B and C. Prove that
r =
1
2
(r
AB
+r
AC
).
A
C
B
r
AC
r
r
AB
Solution: The proof is straightforward:
r = r
AB
+r
BM
, and r = r
AC
+r
CM
.
Add the two equations and note that r
BM
+r
CM
= 0, since the two
vectors are equal and opposite in direction.
Thus 2r = r
AC
+r
AB
, or r =
_
1
2
_
(r
AC
+r
AB
)
r
AC
r
AB
r
M
C
A
Problem 2.20 By drawing sketches of the vectors,
explain why
U+ (V+W) = (U+V) +W.
Solution: Additive associativity for vectors is usually given as an
axiom in the theory of vector algebra, and of course axioms are not
subject to proof. However we can by sketches show that associativity
for vector addition is intuitively reasonable: Given the three vectors to
be added, (a) shows the addition rst of V+W, and then the addition
of U. The result is the vector U+ (V+W).
(b) shows the addition of U+V, and then the addition of W, leading
to the result (U+V) +W.
The nal vector in the two sketches is the same vector, illustrating that
associativity of vector addition is intuitively reasonable.
(a)
U
W
V
U
W
V
V+W
U+V
U+[V+W]
[U+V]+W
(b)
Problem 2.21 A force F = 40 i 20 j (N). What is
its magnitude |F|?
Strategy: The magnitude of a vector in terms of its
components is given by Eq. (2.8).
Solution: |F| =
40
2
+ 20
2
= 44.7 N
Problem2.22 An engineer estimating the components
of a force F = F
x
i + F
y
j acting on a bridge abutment
has determined that F
x
= 130 MN, |F| = 165 MN, and
F
y
is negative. What is F
y
?
Solution:
|F| =
_
|Fx|
2
+|Fy|
2
Thus |Fy| =
_
|F|
2
|Fx|
2
(mN)
|Fy| =
_
165
2
130
2
(mN)
|Fy| = 101.6 mN
Fy = 102 mN
Problem 2.23 A support is subjected to a force F =
F
x
i + 80j (N). If the support will safely support a force
of 100 N, what is the allowable range of values of the
component F
x
?
Solution: Use the denition of magnitude in Eq. (2.8) and reduce alge-
braically.
100
_
(Fx)
2
+ (80)
2
, from which (100)
2
(80)
2
(Fx)
2
.
Thus |Fx|
3600, or 60 (Fx) +60 (N)

Problem 2.24 If F
A
= 600i 800j (kip) and F
B
=
200i 200j (kip), what is the magnitude of the force
F = F
A
2F
B
?
Solution: Take the scalar multiple of F
B
, add the components of the two
forces as in Eq. (2.9), and use the denition of the magnitude. F = (600
2(200))i + (800 2(200))j = 200i 400j
|F| =
_
(200)
2
+ (400)
2
= 447.2 kip
Problem 2.25 If F
A
= i 4.5j (kN) and F
B
=
2i 2j (kN), what is the magnitude of the force F =
6F
A
+ 4F
B
?
Solution: Take the scalar multiples and add the components.
F = (6 + 4(2))i + (6(4.5) + 4(2))j = 2i 35j, and
|F| =
_
(2)
2
+ (35)
2
= 35.1 kN
Problem2.26 Two perpendicular vectors Uand Vlie
in the x-y plane. The vector U = 6i 8j and |V| = 20.
What are the components of V?
Solution: The two possible values of Vare shown in the sketch.
The strategy is to (a) determine the unit vector associated with U,
(b) express this vector in terms of an angle, (c) add 90
to this
angle, (d) determine the two unit vectors perpendicular to U, and
(e) calculate the components of the two possible values of V. The unit
vector parallel to Uis
e
U
=
6i
_
6
2
+ (8)
2

8j
_
6
2
+ (8)
2
= 0.6i 0.8j
Expressed in terms of an angle,
e
U
= i cos j sin = i cos(53.1
) j sin(53.1
)
Add 90
to nd the two unit vectors that are perpendicular to this

unit vector:
e
p1
= i cos(143.1
) j sin(143.1
) = 0.8i 0.6j
e
p2
= i cos(36.9
) j sin(36.9
) = 0.8i + 0.6j
Take the scalar multiple of these unit vectors to nd the two vectors
perpendicular to U.
V
1
= |V|(0.8i 0.6j) = 16i 12j.
The components are Vx = 16, Vy = 12
V
2
= |V|(0.8i + 0.6j) = 16i + 12j.
The components are Vx = 16, Vy = 12
y
x
6
8
U
V
2
V
1
Problem 2.27 A sh exerts a 40-N force on the line
that is represented by the vector F. Express F in terms
of components using the coordinate system shown.
y
x
60
F
Solution:
Fx = |F| cos 60
= (40)(0.5) = 20 (N)
Fy = |F| sin 60
= (40)(0.866) = 34.6 (N)

F = 20i 34.6j (N)
y
x
60
F
Problem 2.28 A person exerts a 60-lb force Fto push
a crate onto a truck. Express F in terms of components.
F
20
x
y
Solution: The strategy is to express the force Fin terms of the angle. Thus
F = (i|F| cos(20
) +j|F| sin(20
))
F = (60)(0.9397i + 0.342j) or F = 56.4i + 20.5j (lb)
F
20
x
y
Problem 2.29 The missiles engine exerts a 260-kN
force F. Express F in terms of components using the
coordinate system shown.
y
x
F
40
Solution:
Fx = |F| cos 40
Fx = 199 N
Fy = |F| sin 40
Fy = 167 N
F = 199i + 167j (N)
y
F
40
x
Problem 2.30 The coordinates of two points Aand B
of a truss are shown. Express the position vector from
point A to point B in terms of components.
A
B
y
x
(2, 1) m
(6, 4) m
Solution: The strategy is nd the distance along each axis by
taking the difference between the coordinates.
r
AB
= (2 6)i + (1 4)j = 4i 3j (m)
A(6, 4)
B(2, 1)
Problem2.31 The points A, B, . . . are the joints of the
hexagonal structural element. Let r
AB
be the position
vector from joint A to joint B, r
AC
the position vector
from joint A to joint C, and so forth. Determine the
components of the vectors r
AC
and r
AF
.
2 m
x
y
A B
E
F
C
D
Solution: Use the xy coordinate system shown and nd the loca-
tions of C and F in those coordinates. The coordinates of the points
in this system are the scalar components of the vectors r
AC
and r
AF
.
For r
AC
, we have
r
AC
= r
AB
+r
BC
= (x
B
x
A
)i + (y
B
y
A
)j
+ (x
C
x
B
)i + (y
C
y
B
)j
or r
AC
= (2m0)i + (0 0)j + (2mcos 60
0)i
+ (2mcos 60
0)j,
giving
r
AC
= (2m+ 2mcos 60
)i + (2msin 60
)j. For r
AF
, we have
r
AF
= (x
F
x
A
)i + (y
F
y
A
)j
= (2mcos 60
x
F
0)i + (2msin 60
0)j.
y
x
B
A
F
C
2 m
r
AC
r
AF
E D
Problem2.32 For the hexagonal structural element in
Problem 2.31, determine the components of the vector
r
AB
r
BC
.
Solution: r
AB
r
BC
.
The angle between BC and the x-axis is 60
.
2 m
x
y
A
B
E
F
C
D
r
BC
= 2 cos(60
)i + 2(sin(60
)j (m)
r
BC
= 1i + 1.73j (m)
r
AB
r
BC
= 2i 1i 1.73j (m)
r
AB
r
BC
= 1i 1.73j (m)
Problem 2.33 The coordinates of point A are (1.8,
3.0) m. The y coordinate of point B is 0.6 m and the
magnitude of the vector r
AB
is 3.0 m. What are the
components of r
AB
?
x
y
A
B
r
AB
Solution: Let the x-component of point B be x
B
. The vector
from A to B can be written as
r
AB
= (x
B
x
A
)i + (y
B
y
A
)j (m)
or r
AB
= (x
B
1.8)i + (0.6 3.0)j (m)
r
AB
= (x
B
1.8)i 2.4j (m)
We also know |r
AB
| = 3.0 m. Thus
3
2
= (x
B
1.80)
2
+ (2.4)
2
Solving, x
B
= 3.60. Thus
r
AB
= 1.80i 2.40j (m)
Problem 2.34 (a) Express the position vector from
point A of the front-end loader to point B in terms of
components.
(b) Express the position vector from point B to point C
in terms of components.
(c) Use the results of (a) and (b) to determine the distance
from point A to point C.
45 in.
98 in.
50 in.
55 in.
35 in.
A
50 in.
y
x
C
B
Solution: The coordinates are A(50, 35); B(98, 50); C(45, 55).
(a) The vector from point A to B:
r
AB
= (98 50)i + (50 35)j = 48i + 15j (in.)
(b) The vector from point B to C is
r
BC
= (45 98)i + (55 50)j = 53i + 5j (in.).
(c) The distance from A to C is the magnitude of the sum of the
vectors,
r
AC
= r
AB
+r
BC
= (48 53)i + (15 + 5)j = 5i + 20j.
The distance from A to C is
|r
AC
| =
_
(5)
2
+ (20)
2
= 20.62 in.
45 in.
98 in.
50 in.
55 in.
35 in.
A
50 in.
y
x
C
B
Problem 2.35 Consider the front-end loader in Prob-
lem 2.34. To raise the bucket, the operator increases the
length of the hydraulic cylinder AB. The distance be-
tween points B and C remains constant. If the length
of the cylinder AB is 65 in., what is the position vector
from point A to point B?
Solution: Assume that the two points A and C are xed. The
strategy is to determine the unknown angle fromthe geometry. From
Problem 2.34 |r
AC
| = 20.6 and the angle is tan =
_
20
5
_
=
4, = 76
. Similarly, |r
CB
| =
53
2
+ 5
2
= 53.2. The angle a
is found from the cosine law:
cos =
(20.6)
2
+ (65)
2
(53.2)
2
2(20.6)(65)
= 0.6776,
= 47.3
. Thus the angle is

= 180
47.34
75.96
= 56.69 . . . = 56.7
. The vector
r
AB
= 65(i cos +j sin ) = 35.69 . . . i + 54.32 . . . j
= 35.7i + 54.3j (in.)
A
B
C
53.2
65
20.6
Problem 2.36 Determine the position vector r

AB
in
terms of its components if: (a) = 30
, (b) = 225
.
60 mm
150 mm
x
y
A
C
B
r
AB
r
BC
Solution:
(a) r
AB
= (60) cos(30
)i + (60) sin(30
)j, or
r
AB
= 51.96i + 30j mm. And
(b) r
AB
= (60) cos(225
)i + (60) sin(225
)j or
r
AB
= 42.4i 42.4j mm.
F
BC F
AB
60
mm
150
mm
y
x
C
F
A
B
Problem 2.37 In problem 2.36 determine the position

vector r
BC
in terms of its components if: (a) = 30
,
(b) = 225
.
Solution:
(a) From Problem 2.36, r
AB
= 51.96i + 30j mm. Thus, the
coordinates of point B are (51.96, 30) mm. The vector r
BC
is
given by r
BC
= (x
C
x
B
)i + (y
C
y
B
)j, wherey
C
= 0.
The magnitude of the vector r
BC
is 150 mm. Using these facts,
we nd that y
BC
= 30 mm, and x
BC
= 146.97 mm.
(b) r
AB
= (60) cos(225
)i + (60) sin(225
)j or
r
AB
= 42.4i 42.4j mm.
From Problem 2.36, r
AB
= 42.4i 42.4j mm. Thus, the
coordinates of point Bare (42.4, 42.4) mm. The vector r
BC
is given by r
BC
= (x
C
x
B
)i +(y
C
y
B
)j, where y
C
= 0.
The magnitude of the vector r
BC
is 150 mm. Using these facts,
we nd that y
BC
= 42.4 mm, and x
BC
= 143.9 mm.
Problem 2.38 A surveyor measures the location of
point A and determines that r
OA
= 400i + 800j (m).
He wants to determine the location of a point B so that
|r
AB
| = 400 m and |r
OA
+r
AB
| = 1200 m. What are
the cartesian coordinates of point B?
x
y
A
B
O
r
AB
r
OA
Proposed
roadway
N
Solution: Two possibilities are: The point Blies west of point A,
or point B lies east of point A, as shown. The strategy is to determine
the unknown angles , , and . The magnitude of OA is
|r
OA
| =
_
(400)
2
+ (800)
2
= 894.4.
The angle is determined by
tan =
800
400
= 2, = 63.4
.
The angle is determined from the cosine law:
cos =
(894.4)
2
+ (1200)
2
(400)
2
2(894.4)(1200)
= 0.9689.
= 14.3
. The angle is = = 49.12
, 77.74
.
The two possible sets of coordinates of point B are
_
r
OB
= 1200(i cos 77.7 +j sin 77.7) = 254.67i + 1172.66j (m)
r
OB
= 1200(i cos 49.1 +j sin 49.1) = 785.33i + 907.34j (m)
The two possibilities lead to B(254.7 m, 1172.7 m) or B(785.3 m,
907.3 m)
B
y
x
0
B A
Problem 2.39 Bar AB is 8.5 m long and bar AC is
6 m long. Determine the components of the position
vector r
AB
from point A to point B.
A
B C
x
y
3 m
Solution: The key to this solution is to nd the coordinates of
point A. We know the lengths of all three sides of the triangle. The
law of cosines can be used to give us the angle .
|r
AC
|
2
= |r
AB
|
2
+|r
BC
|
2
2|r
AB
||r
BC
| cos
6
2
= 8.5
2
+ 3
2
2(8.5)(3) cos
cos = 0.887 = 27.5
r
AB
= |r
AB
| cos i |r
AB
| sin j
r
AB
= (8.5) cos 27.5
i (8.5) sin 27.5
j (m)
r
AB
= 7.54i 3.92j m
y
x
3 m
B C
A
8.5 m
6 m
Problem2.40 For the truss inProblem2.39, determine
the components of a unit vector e
AC
that points from
point A toward point C.
Strategy: Determine the components of the position
vector from point A to point C and divide the position
vector by its magnitude.
Solution: From the solution of Problem 2.39, point A is located
at (7.54, 3.92). From the diagram, Point C is located at (3.0, 0).
The vector from A to C is
r
AC
= (x
C
x
A
)i + (y
C
y
A
)j (m)
r
AC
= (3 7.54)i + (0 (3.92))j (m)
r
AC
= 4.54i + 3.92j (m)
and |r
AC
| = 6 m
Thus e
AC
=
r
AC
|r
AC
|
=
4.54
6
i +
3.92
6
j
e
AC
= 0.757i + 0.653j
Problem 2.41 The x and y coordinates of points A,
B, and C of the sailboat are shown.
(a) Determine the components of a unit vector that is
parallel to the forestay AB and points from A to-
ward B.
(b) Determine the components of a unit vector that is
parallel to the backstay BC and points from C to-
ward B.
y
x
B (4,13) m
C
(9,1) m
A
(0,1.2) m
Solution:
r
AB
= (x
B
x
A
)i + (y
B
y
A
)j
r
CB
= (x
B
x
C
)i + (y
C
y
B
)j
Points are: A (0, 1.2), B (4, 13) and C (9, 1)
Substituting, we get
r
AB
= 4i + 11.8j (m), |r
AB
| = 12.46 (m)
r
CB
= 5i + 12j (m), |r
CB
| = 13 (m)
The unit vectors are given by
e
AB
=
r
AB
|r
AB
|
and e
CB
=
r
CB
|r
CB
|
e
AB
= 0.321i + 0.947j
e
CB
= 0.385i + 0.923j
y
x
B (4, 13) m
C
(9, 1) m
A
(0, 1.2) m
Problem 2.42 Consider the force vector F = 3i 4j
(kN). Determine the components of a unit vector e that
has the same direction as F.
Solution: The magnitude of the force vector is
|F| =
_
3
2
+ 4
2
= 5.
The unit vector is
e =
F
|F|
=
3
5
i
4
5
j = 0.6i 0.8j As a check, the magnitude:
|e| =
_
0a.6
2
+ 0.8
2
= 1
Problem 2.43 Determine the components of a unit
vector that is parallel to the hydraulic actuator BC and
points from B toward C.
1 m
0.6 m Scoop
A
B
D
C
0.15 m
0.6 m
1 m
x
y
Solution: Point B is at (0.75, 0) and point C is at (0, 0.6). The
vector
r
BC
= (x
C
x
B
)i + (y
C
y
B
)j
r
BC
= (0 0.75)i + (0.6 0)j (m)
r
BC
= 0.75i + 0.6j (m)
|r
BC
| =
_
(0.75)
2
+ (0.6)
2
= 0.960 (m)
e
BC
=
r
BC
|r
BC
|
=
0.75
0.96
i +
0.6
0.96
j
e
BC
= 0.781i + 0.625j
1 m
0.6 m Scoop
A B
D
C
0.15 m
0.6 m
1 m
x
y
Problem 2.44 The hydraulic actuator BC in Problem
2.43 exerts a 1.2-kN force F on the joint at C that is
parallel to the actuator and points from B toward C.
Determine the components of F.
Solution: From the solution to Problem 2.43,
e
BC
= 0.781i + 0.625j
The vector F is given by F = |F|e
BC
F = (1.2)(0.781i + 0.625j) (k N)
F = 937i + 750j (N)
Problem 2.45 A surveyor nds that the length of the
line OA is 1500 m and the length of line OB is 2000 m.
(a) Determine the components of the position vector
from point A to point B.
(b) Determine the components of a unit vector that
points from point A toward point B.
x
y
60
B
A
O
Proposed bridge
River 30
N
Solution: We need to nd the coordinates of points A and B
r
OA
= 1500 cos 60
i + 1500 sin 60
j
r
OA
= 750i + 1299j (m)
Point A is at (750, 1299) (m)
r
OB
= 2000 cos 30
i + 2000 sin 30
j (m)
r
OB
= 1723i + 1000j (m)
Point B is at (1732, 1000) (m)
(a) The vector from A to B is
r
AB
= (x
B
x
A
)i + (y
B
y
A
)j
r
AB
= 982i 299j (m)
(b) The unit vector e
AB
is
e
AB
=
r
AB
|r
AB
|
=
982i 299j
1026.6
e
AB
= 0.957i 0.291j
x
y
A
B
60
30
O
Proposed
bridge
River
N
Problem 2.46 The positions at a given time of the
Sun (S) and the planets Mercury (M), Venus (V), and
Earth (E) are shown. The approximate distance from
the Sun to Mercury is 57 10
6
km, the distance from
the Sun to Venus is 10810
6
km, and the distance from
the Sun to the Earth is 150 10
6
km. Assume that the
Sun and planets lie in the x y plane. Determine the
components of a unit vector that points from the Earth
toward Mercury.
40
20
S
M
E
V
x
y
Solution: We need to nd r
E
and r
M
in the coordinates shown
r
E
= |r
E
|(sin 20
i) +|r
E
|(cos 20
)j (km)
r
M
= |r
M
| cos 0
i (km)
r
E
= (51.3 10
6
)i + (141 10
6
)j (km)
r
M
= 57 10
6
i (km)
r
EM
= (x
M
x
E
)i + (y
M
y
E
)j (km)
r
EM
= (108.3 10
6
)i (141 10
6
j) (km)
|r
EM
| = 177.8 10
6
(km)
e
EM
=
r
EM
|r
EM
|
= +0.609i 0.793j
40
20
S
M
E
V
x
y
Problem 2.47 For the positions described in Prob-
lem 2.46, determine the components of a unit vector that
points from Earth toward Venus.
r
E
= (51.3 10
6
)i + (141 10
6
)j (km)
The position of Venus is
r
V
= |r
V
| cos 40
i |r
V
| sin 40
j (km)
r
V
= (82.7 10
6
)i (69.4 10
6
)j (km)
r
EV
= (x
V
x
E
)i + (y
V
y
E
)j (km)
r
EV
= (31.4 10
6
)i (210.4 10
6
)j (km)
|r
EV
| = 212.7 10
6
(km)
e
EV
=
r
EV
|r
EV
|
e
EV
= 0.148i 0.989j
Problem 2.48 The rope ABC exerts forces F
BA
and F
BC
on the block at B. Their magnitudes are
|F
BA
| = |F
BC
| = 800 N. Determine the magnitude
of the vector sum of the forces by resolving the forces
into components, and compare your answer with that of
Problem 2.16.
20
F
BC
F
BA
B
C
A
B
Solution: The strategy is to use the magnitudes and the angles to
determine the force vectors, and then to determine the magnitude of
their sum. The force vectors are:
F
BA
= 0i 800j, and
F
BC
= 800(i cos 20
+j sin 20
) = 751.75i + 273.6j
The sum is given by: F
BA
+F
BC
= 751.75i 526.4j
The magnitude is given by
|F
BA
+F
BC
| =
_
(751.75)
2
+ (526.4)
2
= 917.7 N
B
F
BA
F
BC
x
y
20
Problem2.49 The magnitudes of the forces are |F
1
| =
|F
2
| = |F
3
| = 5 kN. What is the magnitude of the vector
sum of the three forces?
F
1
F
2
F
3
30
45
x
y
Solution: The strategy is to use the magnitudes and the angles to
determine the force vectors, and then to take the magnitude of their
sum. The force vectors are:
F
1
= 5i + 0j (kN),
F
2
= 5(i cos(45
) +j sin(45
)) = 3.54i 3.54j
F
3
= 5(i cos 210
+j sin 210
) = 4.33i 2.50j
The sum is given by F
1
+ F
2
+ F
3
= 4.21i 6.04j and the mag-
nitude is
|F
1
+F
2
+F
3
| =
_
(4.21)
2
+ (6.04)
2
= 7.36 kN
y
x
F
2
F
1
F
3
30
45
Problem 2.50 Four groups engage in a tug-of-war.
The magnitudes of the forces exerted by groups B, C,
and D are |F
B
| = 800 lb, |F
C
| = 1000 lb, |F
D
| =
900 lb. If the vector sum of the four forces equals zero,
what are the magnitude of F
A
and the angle ?
F
B
x
y
70
30
20
F
C
F
A
F
D
Solution: The strategy is to use the angles and magnitudes to
determine the force vector components, to solve for the unknown force
F
A
and then take its magnitude. The force vectors are
F
B
= 800(i cos 110
+j sin 110
) = 273.6i + 751.75j
F
C
= 1000(i cos 30
+j sin 30
) = 866i + 500j
F
D
= 900(i cos(20
) +j sin(20
)) = 845.72i 307.8j
F
A
= |F
A
|(i cos(180 +) +j sin(180 +))
= |F
A
|(i cos j sin )
The sum vanishes:
F
A
+F
B
+F
C
+F
D
= i(1438.1 |F
A
| cos )
+j(944 |F
A
| sin ) = 0
From which F
A
= 1438.1i + 944j. The magnitude is
|F
A
| =
_
(1438)
2
+ (944)
2
= 1720 lb
The angle is: tan =
944
1438
= 0.6565, or = 33.3
y
x
F
B
F
A
F
D
F
C
30
20
70
Problem 2.51 The total thrust exerted on the launch

vehicle by its main engines is 200,000 lb parallel to the
y axis. Each of the two small vernier engines exert a
thrust of 5000 lb in the directions shown. Determine the
magnitude and direction of the total force exerted on the
booster by the main and vernier engines.
30
y
15
x
Vernier
engines
Solution: The strategy is to use the magnitudes and angles to
determine the force vectors. The force vectors are:
F
ME
= 0i 200j (kip)
F
LV
= 5(i cos 240
+j sin 240
) = 2.5i 4.33j (kip)

F
RV
= 5(i cos 285
+j sin 285
) = 1.29i 4.83j (kip)

The sum of the forces:
F
ME
+F
RV
+F
LV
= 1.21i 209.2j (kip).
The magnitude of the sum is
|F
R
| =
_
(1.21)
2
+ (209.2)
2
= 209.2 (kip)
The direction relative to the y-axis is
tan =
1.21
209.2
= 0.005784, or = 0.3314
measured clockwise from the negative y-axis.

30 15
5k 5k
200k
Problem 2.52 The magnitudes of the forces acting on
the bracket are |F
1
| = |F
2
| = 2 kN. If |F
1
+ F
2
| =
3.8 kN, what is the angle ? (Assume 0 90
)
F
2
F
1
Solution:
Let |F
1
| = |F
2
| = a = 2 kn
and |F
1
+F
2
| = b
F
2
F
1
F
1
F
1
+ F
2
F
2
Angle is given by
2
+ +

2
= 180
= 180
b = 3.8 kN
a = 2 kN
From the law of cosines
b
2
= a
2
+a
2
2a
2
cos
= 143.6
= 180
= 36.4
Problem2.53 The gure shows three forces acting on

a joint of a structure. The magnitude of F
c
is 60 kN, and
F
A
+ F
B
+ F
C
= 0. What are the magnitudes of F
A
and F
B
?
y
x
F
B
F
C
F
A
15
40
Solution: We need to write each force in terms of its components.
F
A
= |F
A
| cos 40i +|F
A
| sin 40j (kN)
F
B
= |F
B
| cos 195
i +|F
B
| sin 195j (kN)
F
C
= |F
C
| cos 270
i +|F
C
| sin 270
j (kN)
Thus F
C
= 60j kN
Since F
A
+F
B
+F
C
= 0, their components in each direction must
also sum to zero.
_
F
Ax
+F
Bx
+F
Cx
= 0
F
Ay
+F
By
+F
Cy
= 0
Thus,
_
|F
A
| cos 40
+|F
B
| cos 195
+ 0 = 0
|F
A
| sin 40
+|F
B
| sin 195
60 (kN) = 0
Solving for |F
A
| and |F
B
|, we get
|F
A
| = 137 kN, |F
B
| = 109 kN
F
B
F
C
F
A
195
270
40
x
y
x
F
B
F
C
F
A
15
40
Problem 2.54 Four forces act on a beam. The vector
sumof the forces is zero. The magnitudes |F
B
| = 10 kN
and |F
C
| = 5 kN. Determine the magnitudes of F
A
and F
D
.
F
D
30
F
B
F
C
F
A
Solution: Use the angles andmagnitudes todetermine the vectors,
and then solve for the unknowns. The vectors are:
F
A
= |F
A
|(i cos 30
+j sin 30
) = 0.866|F
A
|i + 0.5|F
A
|j
F
B
= 0i 10j, F
C
= 0i + 5j, F
D
= |F
D
|i + 0j.
Take the sum of each component in the x- and y-directions:
Fx = (0.866|F
A
| |F
D
|)i = 0
and
Fy = (0.5|F
A
| (10 5))j = 0.
From the second equation we get |F
A
| = 10 kN . Using this value in the rst
equation, we get |F
D
| = 8.7 kN
F
D
30
F
B
F
C
F
A
Problem2.55 Six forces act on a beamthat forms part
of a buildings frame. The vector sum of the forces is
zero. The magnitudes |F
B
| = |F
E
| = 20 kN, |F
C
| =
16 kN, and |F
D
| = 9 kN. Determine the magnitudes of
F
A
and F
G
.
70
40 40 50
F
A
F
C
F
D
F
G
F
E
F
B
Solution: Write each force in terms of its magnitude and direction
as
F = |F| cos i +|F| sin j
where is measured counterclockwise from the +x-axis.
Thus, (all forces in kN)
F
A
= |F
A
| cos 110
i +|F
A
| sin 110
j (kN)
F
B
= 20 cos 270
i + 20 sin 270
j (kN)
F
C
= 16 cos 140
i + 16 sin 140
j (kN)
F
D
= 9 cos 40
i + 9 sin 40
j (kN)
F
E
= 20 cos 270
i + 20 sin 270
j (kN)
F
G
= |F
G
| cos 50
i +|F
G
| sin 50
j (kN)
We know that the x components and y components of the forces must
add separately to zero.
Thus
_
F
Ax
+F
Bx
+F
Cx
+F
Dx
+F
Ex
+F
Gx
= 0
F
Ay
+F
By
+F
Cy
+F
Dy
+F
Ey
+F
Gy
= 0
_
|F
A
| cos 110
+ 0 12.26 + 6.89 + 0 +|F

G
| cos 50
= 0
|F
A
| sin 110
20 + 10.28 + 5.79 20 +|F

G
| sin 50
= 0
Solving, we get
|F
A
| = 13.0 kN |F
G
| = 15.3 kN
x
y
70
40 40 50
F
A
F
C
F
D
F
G
F
E
F
B
Problem2.56 The total weight of the man and parasail
is |W| = 230 lb. The drag force D is perpendicular to
the lift force L. If the vector sum of the three forces is
zero, what are the magnitudes of L and D?
20
x
y
L
D
W
Solution: Three forces in equilibrium form a closed triangle. In this in-
stance it is a right triangle. The law of sines is
|W|
sin 90
=
|L|
sin 70
=
|D|
sin 20
From which:
|L| = |W| sin 70
= (230)(0.9397) = 216.1 lb
|D| = |W| sin 20
= (230)(0.3420) = 78.66 lb
x
y
W
L
D
20
W
L
D
20
Problem 2.57 Two cables AB and CD extend from
the rocket gantry to the ground. Cable AB exerts a force
of magnitude 10,000 lb on the gantry, and cable CD
exerts a force of magnitude 5000 lb.
(a) Using the coordinate systemshown, express each of
the two forces exerted on the gantry by the cables in
terms of scalar components.
(b) What is the magnitude of the total force exerted on
the gantry by the two cables?
x
y
A
C
D B
40
30
Solution: Use the angles and magnitudes to determine the com-
ponents of the two forces, and then determine the magnitude of their
sum. The forces:
(a) F
AB
= 10(i cos(50
) +j sin(50
))
= 6.428i 7.660j kip
F
CD
= 5(i cos(60
) +j sin(60
)) = 2.50i 4.330j kip

The sum: F
AB
+F
CD
= 8.928i 11.990j,
The magnitude is:
(b) |F
AB
+F
CD
| =
_
(8.928)
2
+ (11.99)
2
= 14.95 kip
A
C
D B
40
50
60
30
Problem 2.58 The cables A, B, and C help support a
pillar that forms part of the supports of a structure. The
magnitudes of the forces exerted by the cables are equal:
|F
A
| = |F
B
| = |F
C
|. The magnitude of the vector sum
of the three forces is 200 kN. What is |F
A
|? F
A
F
B
F
C
4 m
A
B
C 6 m
4 m 4 m
Solution: Use the angles and magnitudes to determine the vector
components, take the sum, and solve for the unknown. The angles
between each cable and the pillar are:
A
= tan
1
_
4 m
6 m
_
= 33.7
B
= tan
1
_
8
6
_
= 53.1
C
= tan
1
_
12
6
_
= 63.4
.
Measure the angles counterclockwise form the x-axis. The force vec-
tors acting along the cables are:
F
A
= |F
A
|(i cos 303.7
+j sin 303.7
) = 0.5548|F
A
|i 0.8319|F
A
|j
F
B
= |F
B
|(i cos 323.1
+j sin 323.1
) = 0.7997|F
B
|i 0.6004|F
B
|j
F
C
= |F
C
|(i cos 333.4
+j sin 333.4
) = 0.8944|F
C
|i0.4472|F
C
|j
The sum of the forces are, noting that each is equal in magnitude, is
F = (2.2489|F
A
|i 1.8795|F
A
|j).
The magnitude of the sum is given by the problem:
200 = |F
A
|
_
(2.2489)
2
+ (1.8795)
2
= 2.931|F
A
|,
from which |F
A
| = 68.24 kN
4 m
A B C
6 m
4 m 4 m
Problem 2.59 The cable from B to A on the sailboat
shown in Problem 2.41 exerts a 230-N force at B. The
cable from B to C exerts a 660-N force at B. What is
the magnitude of the total force exerted at B by the two
cables? What is the magnitude of the downward force
(parallel to the y axis) exerted by the two cables on the
boats mast?
Solution: Find unit vectors in the directions of the two forces-
express the forces in terms of magnitudes times unit vectors-add the
forces.
Unit vectors:
e
BA
=
r
BA
|r
BA
|
=
(x
A
x
B
)i + (y
A
y
B
)j
_
(x
A
x
B
)
2
+ (y
A
y
B
)
2
=
(0 4)i + (1.2 13)j
4
2
+ 11.8
2
e
BA
= 0.321i 0.947j
Similarly,
e
BC
= 0.385i 0.923j
F
BA
= |F
BA
|e
BA
= 73.8i 217.8j kN
F
BC
= |F
BC
|e
BC
= 254.1i 609.2j kN
Adding
F = F
BA
+F
BC
= 180.3i 827j kN
|F| =
_
F
2
x
+F
2
y
= 846 kN (Total force)
Fy = 827 kN (downward force)
y
x
B (4, 13) m
C
(9, 1) m
A
(0, 1.2) m
Problem 2.60 The structure shown forms part of a
truss designed by an architectural engineer to support
the roof of an orchestra shell. The members AB, AC,
and AD exert forces F
AB
, F
AC
, and F
AD
on the joint
A. The magnitude |F
AB
| = 4 kN. If the vector sum of
the three forces equals zero, what are the magnitudes of
F
AC
and F
AD
?
F
AB
A
(4, 1) m
B
C
D
x
y
F
AC
F
AD
(2, 3) m
(4, 2) m
Solution: Determine the unit vectors parallel to each force:
e
AD
=
2
2
2
+ 3
2
i +
3
2
2
+ 3
2
j = 0.5547i 0.8320j
e
AC
=
4
4
2
+ 1
2
i +
1
4
2
+ 1
2
j = 0.9701i + 0.2425j
e
AB
=
4
4
2
+ 2
2
i +
2
4
2
+ 2
2
j = 0.89443i + 0.4472j
The forces are F
AD
= |F
AD
|e
AD
, F
AC
= |F
AC
|e
AC
,
F
AB
= |F
AB
|e
AB
= 3.578i + 1.789j. Since the vector sum of
the forces vanishes, the x- and y-components vanish separately:
Fx = (0.5547|F
AD
| 0.9701|F
AC
| + 3.578)i = 0, and
Fy = (0.8320|F
AD
| + 0.2425|F
AC
| + 1.789)j = 0
These simultaneous equations in two unknowns can be solved by any
standard procedure. An HP-28S hand held calculator was used here:
The results: |F
AC
| = 2.108 kN , |F
AD
| = 2.764 kN
A
B
C
D
Problem 2.61 The distance s = 45 in.
(a) Determine the unit vector e
BA
that points from B
toward A.
(b) Use the unit vector you obtained in (a) to determine
the coordinates of the collar C.
y
x
s
A
B
C
(14, 45) in
(75, 12) in
Solution: The unit vector from B to A is the vector from B to A divided
by its magnitude. The vector from B to A is given by
r
BA
= (x
A
x
B
)i + (y
A
y
B
)j or r
BA
= (14 75)i + (45 12)j in.
Hence, vector from B to A is given by r
BA
= (61)i + (33)j in. The
magnitude of the vector from B to A is 69.4 in. and the unit vector from B
toward A is e
BA
= 0.880i + 0.476j.
s
A
B
C
(14, 45) in
(75, 12) in
y
x
Problem 2.62 In Problem 2.61, determine the x and y
coordinates of the collar C as functions of the distance s.
Solution: The coordinates of the point C are given by
x
C
= x
B
+s(0.880) and y
C
= y
B
+s(0.476).
Thus, the coordinates of point C are x
C
= 75 0.880s in. and y
C
=
12+0.476s in. Note fromthe solution of Problem2.61 above, 0 s 69.4in.
Problem 2.63 The position vector r goes from point
A to a point on the straight line between B and C. Its
magnitude is |r| = 6 ft. Express r in terms of scalar
components.
x
y
A
(7, 9) ft
(12, 3) ft
(3, 5) ft
B
C
r
Solution: Determine the perpendicular vector to the line BC
from point A, and then use this perpendicular to determine the an-
gular orientation of the vector r. The vectors are
r
AB
= (7 3)i + (9 5)j = 4i + 4j, |r
AB
| = 5.6568
r
AC
= (12 3)i + (3 5)j = 9i 2j, |r
AC
| = 9.2195
r
BC
= (12 7)i + (3 9)j = 5i 6j, |r
BC
| = 7.8102
The unit vector parallel to BC is
e
BC
=
r
BC
|r
BC
|
= 0.6402i 0.7682j = i cos 50.19
j sin 50.19
.
Add 90
to the angle to nd the two possible perpendicular vectors:

e
AP1
= i cos 140.19
j sin 140.19
, or
e
AP2
= i cos 39.8
+j sin 39.8
.
Choose the latter, since it points from A to the line.
Given the triangle dened by vertices A, B, C, then the magnitude of
the perpendicular corresponds to the altitude when the base is the line
BC. The altitude is given by h =
2(area)
base
. From geometry, the area
of a triangle with known sides is given by
area =
_
s(s |r
BC
|)(s |r
AC
|)(s |r
AB
|),
where s is the semiperimeter, s =
1
2
(|r
AC
| +|r
AB
| +|r
BC
|). Substituting
values, s = 11.343, and area = 22.0 and the magnitude of the perpendicular
is |r
AP
| =
2(22)
7.8102
= 5.6333. The angle between the vector r and the per-
pendicular r
AP
is = cos
1 5.6333
6
= 20.1
. Thus the angle between the

vector r and the x-axis is = 39.8 20.1 = 59.1
or 19.7
. The rst angle

is ruled out because it causes the vector r to lie above the vector r
AB
, which is
at a 45
angle relative to the x-axis. Thus:

r = 6(i cos 19.7
+j sin 19.7
) = 5.65i + 2.02j
y
x
B[7,9]
A[3,5]
C[12,3]
P
r
Problem 2.64 Let r be the position vector from point
C to the point that is a distance s meters from point A
along the straight line between A and B. Express r in
terms of scalar components. (Your answer will be in
terms of s.)
x
y
A
(9, 3) m
(10, 9) m
(3, 4) m
B
C
r
s
Solution: Determine the ratio of the parts of the line AB and use
this value to determine r. The vectors are:
r
AB
= (10 3)i + (9 4)j = 7i + 5j, |r
AB
| = 8.602
r
CA
= (3 9)i + (4 3) = 6i + 1j, |r
CA
| = 6.0828
r
CB
= (10 9)i + (9 3)j = 1i + 6j, |r
CB
| = 6.0828
The ratio of the magnitudes of the two parts of the line is
|r
BP
|
|r
PA
|
= R =
s
|r
BC
| s
Since the ratio is a scalar, then r
BP
= Rr
PA
, from which (r
r
CA
) = R(r
CB
r).
Solve for the vector r, r =
Rr
CB
+r
CA
1+R
. Substitute the values of the
vectors, note that R =
s
8.602s
, and reduce algebraically:
r = (0.8138s 6)i + (0.5813s + 1)j (m) :
Check: An alternate solution: Find the angle of the line AB:
= tan
1
_
5
7
_
= 35.54
.
The components of s,
s = |s|(i cos +j sin ) = |s|(0.8138i + 0.5812j).
The coordinates of point P (3+0.8138|s|, 4+0.5812|s|). Subtract coordinates
of point C to get
r = (0.8135|s| 6)i + (0.5812|s| + 1)j . check.
y
x
A[3,4] m
C[9,3] m
B[10,9] m
r
8
P
Problem 2.65 A vector U = 3i 4j 12k. What is
its magnitude?
Strategy: The magnitude of a vector is given in terms
of its components by Eq. (2.14).
Solution: Use denition given in Eq. (14). The vector magni-
tude is
|U| =
_
3
2
+ (4)
2
+ (12)
2
= 13
Problem 2.66 A force vector F = 20i + 60j 90k
(N). Determine its magnitude.
Solution: Use denition given in Eq. (14). The magnitude of the
vector is
|F| =
_
(20)
2
+ (60)
2
+ (90)
2
= 110 N
Problem 2.67 An engineer determines that an attach-
ment point will be subjected to a force F = 20i +F
y
j
45k (kN). If the attachment point will safely support a
force of 80-kN magnitude in any direction, what is the
acceptable range of values for F
y
?
Solution:
80
2
F
2
x
+F
2
y
+F
2
z
80
2
20
2
+F
2
y
+ (45)
2
To nd limits, use equality.
F
2
y
LIMIT
= 80
2
20
2
(45)
2
F
2
y
LIMIT
= 3975
Fy
LIMIT
= +63.0, 63.0 (kN)
|Fy
LIMIT
| 63.0 kN 63.0 kN Fy 63.0 kN
Problem 2.68 A vector U = U
x
i + U
y
j + U
z
k. Its
magnitude is |U| = 30. Its components are related by
the equations U
y
= 2U
x
and U
z
= 4U
y
. Determine
the components.
Solution: Substitute the relations between the components, de-
termine the magnitude, and solve for the unknowns. Thus
U = Uxi + (2Ux)j + (4(2Ux))k = Ux(1i 2j 8k)
where Ux can be factored out since it is a scalar. Take the magnitude,
noting that the absolute value of |Ux| must be taken:
30 = |Ux|
_
1
2
+ 2
2
+ 8
2
= |Ux|(8.31).
Solving, we get |Ux| = 3.612, or Ux = 3.61. The two possible
vectors are
U = +3.61i + (2(3.61))j + (4(2)(3.61))k
= 3.61i 7.22j 28.9k
U = 3.61i + (2(3.61))j
+ 4(2)(3.61)k = 3.61i + 7.22j + 28.9k
Problem 2.69 A vector U = 100i + 200j 600k,
and a vector V = 200i +450j +100k. Determine the
magnitude of the vector 2U+ 3V.
Solution: The resultant is
2U+ 3V = (2(100) + 3(200))i + (2(200) + 3(450))j
+ (2(600) + 3(100))k
2U+ 3V = 800i + 950j + 1500k
The magnitude is:
| 2U+ 3V| =
_
(800)
2
+ (950)
2
+ (1500)
2
= 1947.4
Problem 2.70 Two vectors U = 3i 2j + 6k and
V = 4i + 12j 3k.
(a) Determine the magnitudes of Uand V.
(b) Determine the magnitude of the vector 3U+ 2V.
Solution: The magnitudes:
(a) |U| =
3
2
+ 2
2
+ 6
2
= 7 and |V| =
4
2
+ 12
2
+ 3
2
= 13
The resultant vector
3U+ 2V = (9 + 8)i + (6 + 24)j + (18 6)k
= 17i + 18j + 12k
(b) The magnitude |3U+ 2V| =
17
2
+ 18
2
+ 12
2
= 27.51
Problem 2.71 A vector U = 40i 70j 40k.
(a) What is its magnitude?
(b) What are the angles
x
,
y
, and
z
between U and
the positive coordinate axes?
Strategy: Since you know the components of U,
you can determine the angles
x
,
y
, and
z
from
Eqs. (2.15).
Solution: The magnitude:
(a) |U| =
40
2
+ 70
2
+ 40
2
= 90
(b) The direction cosines:
U = 90
_
40
90
i
70
90
j
40
90
_
= 90(0.4444i 0.7777j 0.4444k)
U = 90(i cos 63.6
+j cos 141.1
+kcos 116.4
)
Problem 2.72 A force F = 600i 700j +600k (lb).
What are the angles
x
,
y
, and
z
between the vector F
and the positive coordinate axes?
Solution: The magnitude:
|F| =
600
2
+ 700
2
+ 600
2
= 1100
The unit vector is:
e =
F
|F|
=
600
1100
i
700
1100
j +
600
1100
k = 0.5455i 0.6364j + 0.5455k
The angles are
x = cos
1
(0.5455) = 56.9
, y = cos
1
(0.6364) = 129.5
,
and z = cos
1
(0.5455) = 56.9
Problem 2.73 The cable exerts a 50-lb force F on the

metal hook at O. The angle between F and the x axis is
40
, and the angle between F and the y axis is 70
. The
z component of F is positive.
(a) Express F in terms of components.
(b) What are the direction cosines of F?
Strategy: Since you are given only two of the an-
gles between F and the coordinate axes, you must
rst determine the third one. Then you can obtain
the components of F from Eqs. (2.15).
y
x
z
O
70
40
F
Solution: Use Eqs. (2.15) and (2.16).
The force F = 50(i cos 40
+j cos 70
+kcos z). Since

1
2
= cos
2
40
+ cos
2
70
+ cos
2
z, by denition (see
Eq. (2.16)) then
cos z =
1 0.5868 0.1170 = 0.5442.

Thus the components of F are
(a) F = 50(0.7660i + 0.3420j + 0.5442k),
= 38.3i + 17.1j + 27.2k (lb)
(b) the direction cosines are
cos x = 0.7660, cos y = 0.3420, cos z = 0.5442
Problem 2.74 A unit vector has direction cosines
cos
x
= 0.5 and cos
y
= 0.2. Its z component is
positive. Express it in terms of components.
Solution: Use Eq. (2.15) and (2.16). The third direction cosine is
cos z =
_
1 (0.5)
2
(0.2)
2
= +0.8426.
The unit vector is
u = 0.5i + 0.2j + 0.8426k
Problem 2.75 The airplanes engines exert a total
thrust force T of 200-kN magnitude. The angle be-
tween T and the x axis is 120
, and the angle between

T and the y axis is 130
. The z component of T is
positive.
(a) What is the angle between T and the z axis?
(b) Express T in terms of components.
130
120
y
x
z
T
y
x
z
Solution: The x- and y-direction cosines are
l = cos 120
= 0.5, m = cos 130
= 0.6428
from which the z-direction cosine is
n = cosz =
_
1 (0.5)
2
(0.6428)
2
= +0.5804.
Thus the angle between Tand the z-axis is
(a) z = cos
1
(0.5804) = 54.5
, and the thrust is

T = 200(0.5i 0.6428j + 0.5804k), or:
(b) T = 100i 128.6j + 116.1k (kN)
Problem 2.76 The position vector from a point A to
a point B is 3i + 4j 4k (ft). The position vector from
point A to point C is 3i + 13j 2k. ft
(a) What is the distance from point B to point C?
(b) What are the direction cosines of the position vector
from point B to point C?
Solution: The vector from point B to point C is r
BC
= r
AC
r
AB
.
Thus
r
BC
= (3 3)i + (13 4)j + (2 (4))k = 6i + 9j + 2k.
The distance between points B and C is
(a) |r
BC
| =
6
2
+ 9
2
+ 2
2
= 11 (ft). The direction cosines are
(b)
cos x =
6
11
= 0.5454, cos y =
9
11
= 0.8182,
cos z =
2
11
= 0.1818
Problem 2.77 A vector U = 3i 2j + 6k. Deter-
mine the components of the unit vector that has the same
direction as U.
Solution: By denition, the unit vector is the vector whose components
are the direction cosines of U. (See discussion following Eq. (2.15)). The
magnitude is |U| =
3
2
+ 2
2
+ 6
2
= 7. Thus the unit vector is
u =
U
|U|
=
3
7
i
2
7
j +
6
7
k
Problem 2.78 A force vector F = 3i 4j 2k (N).
(a) What is the magnitude of F?
(b) Determine the components of the unit vector that
has the same direction as F.
Solution: By denition, the unit vector is the vector whose components are
the direction cosines of F. The magnitude is
(a) |F| =
_
3
2
+ 4
2
+ 2
2
= 5.385 (N) The unit vector is
(b) e =
3
5.385
i
4
5.385
j
2
5.385
k
= 0.5571i 0.7428j 0.3714k
Problem 2.79 A force vector F points in the same
direction as the unit vector e =
2
7
i
6
7
j
3
7
k. The
magnitude of F is 700 lb. Express F in terms of com-
ponents.
Solution: By denition, F = |F|e, where e is a unit vector in the direction
of F. (See discussion following Eq. (2.16).) Thus
F = 700
_
2
7
i
6
7
j
3
7
k
_
= 200i 600j 300k
Problem 2.80 A force vector F points in the same
direction as the position vector r = 4i + 4j 7k (m).
The magnitude of F is 90 kN. Express F in terms of
components.
Solution: By denition, F = |F|e, where e is a unit vector in the direction
of F. Find the unit vector from the position vector. The magnitude is |r| =
4
2
+ 4
2
+ 7
2
= 9; the unit vector is e =
4
9
i +
4
9
j
7
9
k. The components
are
F = 90
_
4
9
i +
4
9
j
7
9
k
_
= 40i + 40j 70k (kN)
Problem 2.81 Astronauts on the space shuttle use
radar to determine the magnitudes and direction cosines
of the position vectors of two satellites A and B. The
vector r
A
from the shuttle to satellite A has magnitude
2 km, and direction cosines cos
x
= 0.768, cos
y
=
0.384, cos
z
= 0.512. The vector r
B
from the shuttle
to satellite B has magnitude 4 km and direction cosines
cos
x
= 0.743, cos
y
= 0.557, cos
z
= 0.371.
What is the distance between the satellites?
x
r
B
z
B
A
r
A
y
Solution: The two position vectors are:
r
A
= 2(0.768i+ 0.384j+ 0.512k)=1.536i + 0.768j + 1.024k (km)
r
B
= 4(0.743i+ 0.557j0.371k)=2.972i + 2.228j 1.484k (km)
The distance is the magnitude of the difference:
|r
A
r
B
|
=
_
(1.5362.927)
2
+ (0.7682.228)
2
+ (1.024(1.484))
2
= 3.24 (km)
x
r
B
B
A
r
A
y
z
Problem 2.82 Archaeologists measure a pre-Colum-
bian ceremonial structure and obtain the dimensions
shown. Determine (a) the magnitude and (b) the di-
rection cosines of the position vector from point A to
point B.
4 m
y
10 m
z
b
x
A
C
10 m
B
4 m
8 m
8 m
Solution: The coordinates are A(0, 16, 14), and B(10, 8, 4). The
vector from A to B is
r
AB
= (10 0)i + (8 16)j + (4 14)k = 10i 8j 10k.
The magnitude is
(a) |r
AB
| =
10
2
+ 8
2
+ 10
2
= 16.2 m , and
(b) The direction cosines are
cos x =
10
16.2
= 0.6155,
cos y =
8
16.2
= 0.4938,
and cos z =
10
16.2
= 0.6155 .
4 m
y
10 m
b
x
A
C
10 m
B
4 m
8 m
8 m
z
Problem2.83 Consider the structure described in Pro-
blem 2.82. After returning to the United States, an arc-
haeologist discovers that he lost the notes containing the
dimension b, but other notes indicate that the distance
frompoint Bto point C is 16.4 m. What are the direction
cosines of the vector from B to C?
Solution: The coordinates of B and C are B(10, 8, 4) and C(10 +b, 0,
18). The vector from B to C is
r
BC
= (10 +b 10)i + (0 8)j + (18 4)k = bi 8j + 14k.
The magnitude of this vector is known:
16.4 =
_
b
2
+ 8
2
+ 14
2
=
_
b
2
+ 260, from which
b
2
= (16.4)
2
260 = 8.96, or b = 3 = +3 m.
The direction cosines are
cos x =
3
16.4
= 0.1829, cos y =
8
16.4
= 0.4878,
cos z =
14
16.4
= 0.8537
Problem 2.84 Observers at A and B use theodolites
to measure the direction from their positions to a rocket
in ight. If the coordinates of the rockets position at a
given instant are (4, 4, 2) km, determine the direction
cosines of the vectors r
AR
and r
BR
that the observers
would measure at that instant.
B (5,0,2) km
A
r
AR
r
BR
x
y
z
Solution: The vector r
AR
is given by
r
AR
= 4i + 4j + 2k km
and the magnitude of r
AR
is given by
|r
AR
| =
_
(4)
2
+ (4)
2
+ (2)
2
km = 6 km.
The unit vector along AR is given by
u
AR
= r
AR
/|r
AR
|.
Thus, u
AR
= 0.667i + 0.667j + 0.333k
and the direction cosines are
cos x = 0.667, cos y = 0.667, and cos z = 0.333.
The vector r
BR
is given by
r
BR
= (x
R
x
B
)i + (y
R
y
B
)j + (z
R
z
B
)k km
= (4 5)i + (4 0)j + (2 2)k km
and the magnitude of r
BR
is given by
|r
BR
| =
_
(1)
2
+ (4)
2
+ (0)
2
km = 4.12 km.
The unit vector along BR is given by
e
BR
= r
BR
/|r
BR
|.
Thus, u
BR
= 0.242i + 0.970j + 0k
and the direction cosines are
cos x = 0.242, cos y = 0.970, and cos z = 0.0.
B (5,0,2) km
A
r
AR r
BR
x
y
z
Problem 2.85 In Problem 2.84, suppose that the co-
ordinates of the rockets position are unknown. At a
given instant, the person at A determines that the direc-
tion cosines of r
AR
are cos
x
= 0.535, cos
y
= 0.802,
and cos
z
= 0.267, and the person at B determines
that the direction cosines of r
BR
are cos
x
= 0.576,
cos
y
= 0.798, and cos
z
= 0.177. What are the
coordinates of the rockets position at that instant.
Solution: The vector from A to B is given by
r
AB
= (x
B
x
A
)i + (y
B
y
A
)j + (z
B
z
A
)k or
r
AB
= (5 0)i + (0 0)j + (2 0)k = 5i + 2k km.
The magnitude of r
AB
is given by |r
AB
| =
_
(5)
2
+ (2)
2
=
5.39 km. The unit vector along AB, u
AB
, is given by
u
AB
= r
AB
/|r
AB
| = 0.928i + 0j + 0.371k km.
The unit vector along the line AR,
u
AR
= cos xi + cos yj + cos zk = 0.535i + 0.802j + 0.267k.
Similarly, the vector along BR, u
BR
= 0.576i +0.7980.177k.
Fromthe diagraminthe problemstatement, we see that r
AR
= r
AB
+
r
BR
. Using the unit vectors, the vectors r
AR
and r
BR
can be written
as
r
AR
= 0.535r
AR
i + 0.802r
AR
j + 0.267r
AR
k, and
r
BR
= 0.576r
BR
i + 0.798r
BR
j 0.177r
BR
k.
Substituting into the vector addition r
AR
= r
AB
+r
BR
and equating
components, we get, in the x direction, 0.535r
AR
= 0.576r
BR
,
and in the y direction, 0.802r
AR
= 0.798r
BR
. Solving, we get that
r
AR
= 4.489 km. Calculating the components, we get
r
AR
= r
AR
e
AR
= 0.535(4.489)i + 0.802(4.489)j + 0.267(4.489)k.
Hence, the coordinates of the rocket, R, are (2.40, 3.60, 1.20) km.
Problem2.86 The height of Mount Everest was origi-
nally measured by a surveyor using the following proce-
dure. He rst measured the distance between two points
AandBof equal altitude. Suppose that theyare 10,000ft
above sea level and are 32,000 ft apart. He then used a
theodolite to measure the direction cosines of the vectors
frompoint Ato the top of the mountain P and frompoint
B to P. Suppose that for r
AP
, the direction cosines are
cos
x
= 0.509, cos
y
= 0.509, cos
z
= 0.694, and
for r
BP
they are cos
x
= 0.605, cos
y
= 0.471,
cos
z
= 0.642. The z axis of the coordinate system is
vertical. What is the height of Mount Everest above sea
level?
P
y
A
z
B
x
Solution: Construct the two triangles: (a) Triangle ABP, which
has one known side, AB, and two known adjacent interior angles
A
and
B
(b) Triangle AOP, which is a right triangle with a derived
known interior angle
AO
. From triangle ABP, determine the length
of AP, and from triangle APO and the derived interior angle, deter-
mine the height above the base, OP. The interior angles of the triangle
ABP are
A
=
AX
= cos
1
(0.509) = 59.4
B
= 180
BX
= 180 cos
1
(0.605)
= 180
127.2
= 52.77
and
= 180 59.4 52.77 = 67.83
.
From the law of sines:
|r
AB
|
sin 67.83
=
|r
BP
|
sin 59.4
=
|r
AP
|
sin 52.77
.
Therefore the length of side AP is
|r
AP
| = |r
AB
|
_
sin 52.77
sin 67.83
_
= 32000(0.8598) = 27512.9 ft.
The interior angle of the triangle APO is
AO
= 90
AZ
=
90 cos
1
(0.694) = 90 46.05 = 43.95
. Therefore the length

of the side OP is h
OP
= |r
AP
| sin 43.95
= 27512.9(0.6940) =
19093.9 ft. Check: The z-component of |r
AP
| is hop =
|r
AP
| sin
AZ
= 19093.9 ft. check.
The base is 10000 ft above sea level, hence the height of P above sea
level is
P = 19093.9 + 10000 = 29094 ft
A
x
y
z
B
P
A
O
x y
z
B
P
AZ

Problem 2.87 The distance from point O to point A
is 20 ft. The straight line AB is parallel to the y axis,
and point B is in the x-z plane. Express the vector r
OA
in terms of scalar components.
Strategy: You can resolve r
OA
into a vector from O
to B and a vecotr fromB to A. You can then resolve the
vector form O to B into vector components parallel to
the x and z axes. See Example 2.9.
y
x
z
30
B
O
A
r
OA
60
Solution: See Example 2.10. The length BA is, from the right
triangle OAB,
|r
AB
| = |r
OA
| sin 30
= 20(0.5) = 10 ft.
Similarly, the length OB is
|r
OB
| = |r
OA
| cos 30
= 20(0.866) = 17.32 ft
The vector r
OB
can be resolved into components along the axes by
the right triangles OBP and OBQand the condition that it lies in the
x-z plane.
Hence,
r
OB
= |r
OB
|(i cos 30
+j cos 90
+kcos 60
) or
r
OB
= 15i + 0j + 8.66k.
The vector r
BA
can be resolved into components from the condition
that it is parallel to the y-axis. This vector is
r
BA
= |r
BA
|(i cos 90
+j cos 0
+kcos 90
) = 0i + 10j + 0k.
The vector r
OA
is given by r
OA
= r
OB
+r
BA
, from which
r
OA
= 15i + 10j + 8.66k (ft)
P
r
OA
B
Q
O
A
z
y
x
60
30
Problem2.88 The magnitude of r is 100 in. The strai-
ght line from the head of r to point A is parallel to the x
axis, and point A is contained in the y-z plane. Express
r in terms of scalar components.
Bedford
Falls
Bedford
Falls
45
60
O
x
y
r
z
A
Solution: The vector r can be expressed as the sum of the two
vectors, r = r
OA
+r
AP
, both of which can be resolved into direction
cosine components. The magnitudes can be determined from the law
of sines for the triangle OAP.
r
OA
= |r
OA
|(i cos 90
+j cos 30
+kcos 60
)
r
OA
= |r
OA
|(0i + 0.866j + 0.5k). Similarly,
r
AP
= |r
AP
|(i cos 0 +j cos 90 +kcos 90) = |r
AP
|(1i + 0j + 0k)
Since r
AP
is parallel to the x-axis, it makes an angle of 90
with the
y-z plane, and the triangle OAP is a right triangle. From the law of
sines
|r|
sin 90
=
|r
AP
|
sin 45
=
|r
OA
|
sin 45
,
from which |r
AP
| = |r
OA
| = 100(0.707) = 70.7. Substituting
these values into the vectors
r = r
OA
+r
AP
= 70.7(1i + 0.866j + 0.5k)
= 70.7i + 61.2j + 35.4k (in.)
y
x
z
A
P
45
60
r
Problem 2.89 The straight line from the head of F to
point Ais parallel to the y axis, and point Ais contained
in the x-z plane. The x component of F is F
x
= 100 N.
(a) What is the magnitude of F?.
(b) Determine the angles
x
,
y
, and
z
between F and
the positive coordinate axes.
y
z
x
A
F
20
60
O
Solution: The triangle OpA is a right triangle, since OA lies in
the x-z plane, and Ap is parallel to the y-axis. Thus the magnitudes
are given by the sine law:
|r
Ap
|
sin 20
=
|F|
sin 90
=
|r
OA
|
sin 70
,
thus |r
Ap
| = |F|(0.342) and |r
OA
| = |F|(0.9397). The compo-
nents of the two vectors are from the geometry
r
OA
= |r
OA
|(i cos 30
+j cos 90
+kcos 60
)
= |r
OA
|(0.866i + 0j + 0.5k) and
r
Ap
= |r
Ap
|(i cos 90
+j cos 0
+kcos 90
) = |r
Ap
|(0i + 1j + 0k)
Noting F = r
OA
+r
Ap
, then from above
F = |F|(0.3420)(0i + 1j + 0k) +|F|(0.9397)(0.866i + 0j + 0.5k)
F = |F|(0.8138i + 0.342j + 0.4699k)
The x-component is given to be 100 N. Thus,
(a) |F| =
100
0.8138
= 122.9 N The angles are given by
(b) x = cos
1
(0.8138) = 35.5
,
y = cos
1
(0.342) = 70
and z = cos
1
(0.4699) = 62
y
z
x
A
O
60
20
F
q
P
Problem 2.90 The position of a point P on the sur-
face of the earth is specied by the longitude , measured
from the point Gon the equator directly south of Green-
wich, England, and the latitude L measured from the
equator. Longitude is given as west (W) longitude or east
(E) longitude, indicating whether the angle is measured
west or east from point G. Latitude is given as north (N)
latitude or south (S) latitude, indicating whether the an-
gle is measured north or south fromthe equator. Suppose
that P is at longitude 30
W and latitude 45
N. Let R
E
be the radius of the earth. Using the coordinate system
shown, determine the components of the position vector
of P relative to the center of the earth. (Your answer will
be in terms of R
E
.)
G
x
y
N
Equator
z
O
L
P
Solution: Dropa vertical line frompoint P tothe equatorial plane.
Let the intercept be B (see gure). The vector position of P is the
sum of the two vectors: P = r
OB
+ r
BP
. The vector r
OB
=
|r
OB
|(i cos + 0j + ksin ). From geometry, the magnitude is
|r
OB
| = R
E
cos .
The vector r
BP
= |r
BP
|(0i + 1j + 0k). From geometry, the
magnitude is |r
BP
| = R
E
sin
P
. Substitute: P = r
OB
+
r
BP
= R
E
(i cos cos + j sin + ksin cos ). Substitute
from the problem statement: = +30
, = 45
. Hence
P = R
E
(0.6124i + 0.707j + 0.3536k)
y
z
x
P
B
O
Problem 2.91 An engineer calculates that the magni-
tude of the axial force in one of the beams of a geodesic
dome is |P = 7.65 kN. The cartesian coordinates of
the endpoints A and B of the straight beam are (12.4,
22.0, 18.4) m and (9.2, 24.4, 15.6) m, respectively.
Express the force P in terms of scalar components.
B
P
A
Solution: The components of the position vector from B to A are
r
BA
= (Ax Bx)i + (Ay By)j + (Az Bz)k
= (12.4 + 9.2)i + (22.0 24.4)j
+(18.4 + 15.6)k
= 3.2i 2.4j 2.8k (m).
Dividing this vector by its magnitude, we obtain a unit vector that points from
B toward A:
e
BA
= 0.655i 0.492j 0.573k.
Therefore
P = |P|e
BA
= 7.65 e
BA
= 5.01i 3.76j 4.39k (kN).
Problem 2.92 The cable BC exerts an 8-kN force F
on the bar AB at B.
(a) Determine the components of a unit vector that
points from B toward point C.
(b) Express F in terms of components.
y
B (5, 6, 1) m
A
C (3, 0, 4) m
z
x
F
Solution:
(a) e
BC
=
r
BC
|r
BC
|
=
(x
C
x
B
)i + (y
C
y
B
)j + (z
C
z
B
)k
_
(x
C
x
B
)
2
+ (y
C
y
B
)
2
+ (z
C
z
B
)
2
e
BC
=
2i 6j + 3k
2
2
+ 6
2
+ 3
2
=
2
7
i
6
7
j +
3
7
k
e
BC
= 0.286i 0.857j + 0.429k
(b) F = |F|e
BC
= 8e
BC
= 2.29i 6.86j + 3.43k (kN)
x
y
B (5, 6, 1) m
C (3, 0, 4) m
z
A
F
Problem 2.93 A cable extends from point C to point
E. It exerts a 50-lb force T on plate C that is directed
along the line fromC to E. Express Tin terms of scalar
components.
D
x
C
B
A
20
4 ft
4 ft
6 ft
2 ft
E
z
y
T
Solution: Find the unit vector e
CE
and multiply it times the mag-
nitude of the force to get the vector in component form,
e
CE
=
r
CE
|r
CE
|
=
(x
E
x
C
)i + (y
E
y
C
)j + (z
E
z
C
)k
_
(x
E
x
C
)
2
+ (y
E
y
C
)
2
+ (z
E
z
C
)
2
The coordinates of point C are (4, 4 sin 20
, 4 cos 20
) or
(4, 1, 37, 3.76) (ft) The coordinates of point E are (0, 2, 6) (ft)
e
CE
=
(0 4)i + (2 (1.37))j + (6 3.76)k
4
2
+ 3.37
2
+ 2.24
2
e
CE
= 0.703i + 0.592j + 0.394k
T = 50e
CE
(lb)
T = 35.2i + 29.6j + 19.7k (lb)
D
x
C
B
A
20
4 ft
4 ft
6 ft
2 ft
E
z
y
T
T
Problem 2.94 What are the direction cosines of the
force T in Problem 2.93?
e
CE
= 0.703i + 0.592j + 0.394k
However
e
CE
= cos xi + cos yj + cos zk
Hence,
cos x = 0.703
cos y = 0.592
cos z = 0.394
Problem 2.95 The cable AB exerts a 200-lb force
F
AB
at point A that is directed along the line from A to
B. Express F
AB
in terms of scalar components.
A (6, 0, 10) ft
B
C
8 ft
x
z
y
6 ft
F
AB
F
AC
8 ft
Solution: The coordinates of Bare B(0,6,8). The position vector
from A to B is
r
AB
= (0 6)i + (6 0)j + (8 10)k = 6i + 6j 2k
The magnitude is |r
AB
| =
6
2
+ 6
2
+ 2
2
= 8.718 ft.
The unit vector is
u
AB
=
6
8.718
i +
6
8.718
j
2
8.718
k
F
AB
= |F
AB
|u
AB
= 200(0.6882i + 0.6882j 0.2294k) or
u
AB
= 0.6882i + 0.6882j 0.2294k.
The components of the force are
F
AB
= |F
AB
|u
AB
= 200(0.6882i + 0.6882j 0.2294k) or
F
AB
= 137.6i + 137.6j 45.9k
A(6, 0, 10) ft
B
C
8 ft
x
z
y
6 ft
8 ft
Problem 2.96 Consider the cables and wall described
in Problem 2.95. Cable AB exerts a 200-lb force F
AB
at point A that is directed along the line from A to B.
The cable AC exerts a 100-lb force F
AC
at point A that
is directed along the line from A to C. Determine the
magnitude of the total force exerted at point A by the
two cables.
Solution: Refer to the gure in Problem2.81. FromProblem2.81
the force F
AB
is
F
AB
= 137.6i + 137.6j 45.9k
The coordinates of C are C(8,6,0). The position vector fromAto C is
r
AC
= (8 6)i + (6 0)j + (0 10)k = 2i + 6j 10k.
The magnitude is |r
AC
| =
2
2
+ 6
2
+ 10
2
= 11.83 ft.
The unit vector is
u
AC
=
2
11.83
i +
6
11.83
j
10
11.83
k = 0.1691i + 0.5072j 0.8453k.
The force is
F
AC
= |F
AC
|u
AC
= 100u
AC
= 16.9i + 50.7j 84.5k.
The resultant of the two forces is
F
R
= F
AB
+F
AC
= (137.6 + 16.9)i + (137.6 + 50.7)j
+ (84.5 45.9)k.
F
R
= 120.7i + 188.3j 130.4k.
The magnitude is
|F
R
| =
120.7
2
+ 188.3
2
+ 130.4
2
= 258.9 lb
Problem 2.97 The 70-m-tall tower is supported by
three cables that exert forces F
AB
, F
AC
, and F
AD
on it.
The magnitude of each force is 2 kN. Express the total
force exerted on the tower by the three cables in terms
of scalar components.
A
x
y
40 m
60 m
40 m
40 m
60 m
B
C
D
z
F
AB
F
AC
F
AD
A
Solution: The coordinates of the points are A (0, 70, 0), B (40,
0, 0), C (40, 0, 40) D (60, 0, 60).
The position vectors corresponding to the cables are:
r
AD
= (60 0)i + (0 70)j + (60 0)k
r
AD
= 60i 70k 60k
r
AC
= (40 0)i + (0 70)j + (40 0)k
r
AC
= 40i 70j + 40k
r
AB
= (40 0)i + (0 70)j + (0 0)k
r
AB
= 40i 70j + 0k
The unit vectors corresponding to these position vectors are:
u
AD
=
r
AD
|r
AD
|
=
60
110
i
70
110
j
60
110
k
= 0.5455i 0.6364j 0.5455k
u
AC
=
r
AC
|r
AC
|
=
40
90
i
70
90
j +
40
90
k
= 0.4444i 0.7778j + 0.4444k
u
AB
=
r
AB
|r
AB
|
=
40
80.6
i
70
80.6
j + 0k = 0.4963i 0.8685j + 0k
The forces are:
F
AB
= |F
AB
|u
AB
= 0.9926i 1.737j + 0k
F
AC
= |F
AC
|u
AC
= 0.8888i 1.5556j + 0.8888
F
AD
= |F
AD
|u
AD
= 1.0910i 1.2728j 1.0910k
The resultant force exerted on the tower by the cables is:
F
R
= F
AB
+F
AC
+F
AD
= 0.9872i 4.5654j 0.2022k kN
A
x
A
40 m
60 m
40 m
40 m
60 m
B
C
D
E
F
AB
F
AC
F
AD
A
Problem 2.98 Consider the tower described in Pro-
blem 2.97. The magnitude of the force F
AB
is 2 kN.
The x and z components of the vector sum of the forces
exerted on the tower by the three cables are zero. What
are the magnitudes of F
AC
and F
AD
?
Solution: Fromthe solution of Problem2.83, the unit vectors are:
u
AC
=
r
AC
|r
AC
|
=
40
90
i
70
90
j +
40
90
k
= 0.4444i 0.7778j + 0.4444k
u
AD
=
r
AD
|r
AD
|
=
60
110
i
70
110
j
60
110
= 0.5455i 0.6364j 0.5455k
From the solution of Problem 2.83 the force F
AB
is
F
AB
= |F
AB
|u
AB
= 0.9926i 1.737j + 0k
The forces F
AC
and F
AD
are:
F
AC
= |F
AC
|u
AC
= |F
AC
|(0.4444i 0.7778j + 0.4444k)
F
AD
= |F
AD
|u
AD
= |F
AD
|(0.5455i 0.6364j 0.5455k)
Taking the sum of the forces:
F
R
= F
AB
+F
AC
+F
AD
= (0.9926 0.4444|F
AC
| 0.5455|F
AD
|)i
+(1.737 0.7778|F
AC
| 0.6364|F
AD
|)j
+(0.4444|F
AC
| 0.5455|F
AD
|)k
The sum of the x- and z-components vanishes, hence the set of simultaneous
equations:
0.4444|F
AC
| + 0.5455|F
AD
| = 0.9926 and
0.4444|F
AC
| 0.5455|F
AD
| = 0
These can be solved by means of standard algorithms, or by the use of com-
mercial packages such as TK Solver Plus or Mathcad. Here a hand held
calculator was used to obtain the solution:
|F
AC
| = 1.1168 kN |F
AD
| = 0.9098 kN
Problem 2.99 Express the position vector from point
O to the collar at A in terms of scalar components.
O
x
y
A
6 ft
7 ft
4 ft
4 ft
z
Solution: The vector from O to A can be expressed as the sum
of the vectors r
OT
from O to the top of the slider bar, and r
TA
from
the top of the slider bar to A. The coordinates of the top and base of
the slider bar are: T (0, 7, 0), B (4, 0, 4). The position vector of the
top of the bar is: r
OT
= 0i + 7j + 0k. The position vector from the
top of the bar to the base is:
r
TB
= (4 0)i + (0 7)j + (4 0)k. or
r
TB
= 4i 7j + 4k. The unit vector pointing from the top of the
bar to the base is
u
TB
=
r
TB
|r
TB
|
=
4
9
i
7
9
j +
4
9
k = 0.4444i 0.7778j + 0.4444k.
The collar position is
r
TA
= |r
TA
|u
TB
= 6(0.4444i 0.7778j + 0.4444k)
= 2.6667i 4.6667j + 2.6667,
measured along the bar. The sum of the two vectors is the position
vector of A from origin O:
r
OA
= (2.6667 + 0)i + (4.6667 + 7)j + (2.6667 + 0)k
= 2.67i + 2.33j + 2.67k ft
O
A
6 ft
7 ft
4 ft
4 ft
Problem 2.100 The cable AB exerts a 32-lb force T
on the collar at A. Express T in terms of scalar compo-
nents.
x
y
A
6 ft
B
4 ft
4 ft
7 ft
4 ft
z
T
Solution: The coordinates of point B are B (0, 7, 4). The vector
position of B is r
OB
= 0i + 7j + 4k.
The vector from point A to point B is given by
r
AB
= r
OB
r
OA
.
From Problem 2.86, r
OA
= 2.67i + 2.33j + 2.67k. Thus
r
AB
= (0 2.67)i + (7 2.33)j + (4 2.67)j
r
AB
= 2.67i + 4.67j + 1.33k.
The magnitude is
|r
AB
| =
_
2.67
2
+ 4.67
2
+ 1.33
2
= 5.54 ft.
The unit vector pointing from A to B is
u
AB
=
r
AB
|r
AB
|
= 0.4819i + 0.8429j + 0.2401k
The force Tis given by
T
AB
= |T
AB
|u
AB
= 32u
AB
= 15.4i + 27.0j + 7.7k (lb)
x
y
A
6 ft
B
4 ft
4 ft
7 ft
4 ft
z
Problem 2.101 The circular bar has a 4-m radius and
lies in the x-y plane. Express the position vector from
point B to the collar at Ain terms of scalar components.
z
y
x
A
B
4 m
4 m
3 m
20
Solution: From the gure, the point B is at (0, 4, 3) m. The coordinates of
point Aare determined by the radius of the circular bar and the angle shown in the
gure. The vector fromthe origin to Ais r
OA
= 4 cos(20
)i+4 sin(20
)j m.
Thus, the coordinates of point A are (3.76, 1.37, 0) m. The vector from B
to A is given by r
BA
= (x
A
x
B
)i + (y
A
y
B
)j + (z
A
z
B
)k =
3.76i 2.63j 3k m. Finally, the scalar components of the vector from B to
A are (3.76, 2.63, 3) m.
z
y
x
A
B
4ft
4 ft
3 ft
20
Problem2.102 The cable ABin Problem2.101 exerts
a 60-N force T on the collar at A that is directed along
the line from A toward B. Express T in terms of scalar
components.
Solution: We know r
BA
= 3.76i 2.63j 3k m from Problem 2.101.
The unit vector u
AB
= r
BA
/|r
BA
|. The unit vector is u
AB
= 0.686i +
0.480j + 0.547k. Hence, the force vector T is given by
T=|T|(0.686i+ 0.480j+ 0.547k) N=41.1i + 28.8j + 32.8k N
Problem 2.103 Determine the dot product of the vec-
tors
U = 8i 6j + 4k
and V = 3i + 7j + 9k.
Solution:
U V = UxVx +UyVy +UzVz
= (8)(3) + (6)(7) + (4)(9)
U V = 18
Problem 2.104 Determine the dot product U V of
the vectors U = 40i +20j +60k and V = 30i +15k.
Solution: Use Eq. 2.23.
U V = (40)(30) + (20)(0) + (15)(60) = 300
Problem2.105 What is the dot product of the position
vector r = 10i + 25j (m) and the force
F = 300i + 250j + 300k (N)?
Solution: Use Eq. (2.23).
F r = (300)(10) + (250)(25) + (300)(0) = 3250 N-m
Problem2.106 What is the dot product of the position
vector r = 4i 12j 3k (ft) and the force F = 20i +
30j 10k (lb)?
r F = 4(20) + 30(12) 10(3) = 250 ft lb
Problem 2.107 Two perpendicular vectors are given
in terms of their components by
U = U
x
i 4j + 6k
and V = 3i + 2j 3k.
Use the dot product to determine the component U
x
.
Solution: When the vectors are perpendicular, U V 0.
Thus
U V = UxVx +UyVy +UzVz = 0
= 3Ux + (4)(2) + (6)(3) = 0
3Ux = 26
Ux = 8.67
Problem 2.108 Three vectors
U = U
x
i + 3j + 2k
V = 3i +V
y
j + 3k
W = 2i + 4j +W
z
k
are mutually perpendicular. Use the dot product to de-
termine the components U
x
, V
y
, and W
z
Solution: For mutually perpendicular vectors, we have three equations,
i.e.,
U V = 0
U W = 0
V W = 0
Thus
3Ux + 3Vy + 6 = 0
2Ux + 12 + 2Wz = 0
+6 + 4Vy + 3Wz = 0
_
_
_
3 Eqns
3 Unknowns
Solving, we get
Ux = 2.857
Vy = 0.857
Wz = 3.143
Problem 2.109 The magnitudes |U| = 10 and |V| =
20.
(a) Use the denition of the dot product to determine
U V.
(b) Use Eq. (2.23) to obtain U V.
x
y
V
45
U
30
Solution:
(a) The denition of the dot product (Eq. (2.18)) is
U V = |U||V| cos . Thus
U V = (10)(20) cos(45
30
) = 193.2
(b) The components of Uand Vare
U = 10(i cos 45
+j sin 45
) = 7.07i + 7.07j
V = 20(i cos 30
+j sin 30
) = 17.32i + 10j
From Eq. (2.23)
U V=(7.07)(17.32) + (7.07)(10) = 193.2
U
V
y
x
30
45
Problem 2.110 By evaluating the dot product U V,
prove the identity cos(
1

2
) = cos
1
cos
2
+
sin
1
sin
2
.
Strategy: Evaluate the dot product both by using the
denition and by using Eq. (2.23).
x
y
V
2
U
Solution: The strategy is to use the denition Eq. (2.18) and the
Eq. (2.23). From Eq. (2.18) and the gure,
U V = |U||V| cos(
1
2
). From Eq. (2.23) and the gure,
U = |U|(i cos
1
+j sin
2
), V = |V|(i cos
2
+j sin
2
),
and the dot product is UV = |U||V|(cos
1
cos
2
+sin
1
sin
2
).
Equating the two results:
U V = |U||V| cos(
1
2
) = |U||V|(cos
1
cos
2
+ sin
1
sin
2
),
from which if |U| = 0 and |V| = 0, it follows that
cos(
1
2
) = cos
1
cos
2
+ sin
1
sin
2
, Q.E.D.
y
2
x
U
V
Problem 2.111 Use the dot product to determine the
angle between the forestay (cable AB) and the backstay
(cable BC) of the sailboat in Problem 2.41.
Solution: The unit vector from B to A is
e
BA
=
r
BA
|r
BA
|
= 0.321i 0.947j
The unit vector from B to C is
e
BC
=
r
BC
|r
BC
|
= 0.385i 0.923j
From the denition of the dot product, e
BA
e
BC
= 1 1 cos ,
where is the angle between BA and BC. Thus
cos = (0.321)(0.385) + (0.947)(0.923)
cos = 0.750
496
= 41.3
y
x
B (4,13) m
C
(9,1) m
A
(0,1.2) m
Problem 2.112 What is the angle between the str-
aight lines AB and AC?
A
(8, 6, 4) ft
(4, 5, 4) ft
(6, 0, 6) ft
B
C
x
y
z
Solution: From the given coordinates, the position vectors are:
r
OB
= 4i + 5j 4k, r
OA
= 8i + 6j + 4k, and
r
OC
= 6i + 0j + 6k.
The straight lines correspond to the vectors:
r
AB
= r
OB
r
OA
= 12i j 8k,
r
AC
= r
OC
r
AC
= 2i 6j + 2k
The dot product is given by
r
AB
r
AC
= (2)(12) + (1)(6) + (+2)(8) = 14.
The magnitudes of the vectors are:
|r
AC
=
_
2
2
+ 6
2
+ 2
2
| = 6.6333, and
|r
AB
=
_
12
2
+ 1
2
+ 8
2
| = 14.456.
From the denition of the dot product, the angle is
cos =
r
AC
r
AB
|r
AC
||r
AB
|
=
14
(14.456)(6.633)
= 0.1460.
Take the principal value: = 81.6
A(8, 6, 4)
(4, 5, 4)
(6, 0, 6)
B
C
x
y
z
Problem 2.113 The ship O measures the positions of
the ship Aand the airplane Band obtains the coordinates
shown. What is the angle between the lines of sight
OA and OB?
x
y
z
A
B
O
(6, 0, 3) km
(4, 4, 4) km
Solution: From the coordinates, the position vectors are:
r
OA
= 6i + 0j + 3k and r
OB
= 4i + 4j 4k
The dot product: r
OA
r
OB
= (6)(4) + (0)(4) + (3)(4) = 12
The magnitudes: |r
OA
| =
_
6
2
+ 0
2
+ 3
2
= 6.71 km and
|r
OA
| =
_
4
2
+ 4
2
+ 4
2
= 6.93 km.
From Eq. (2.24) cos =
r
OA
r
OB
|r
OA
||r
OB
|
= 0.2581, from which =
75
. From the problem and the construction, only the positive angle
makes sense, hence = 75
x
y
z
A
B
O
(6, 0, 3) km
(4, 4, 4) km
Problem 2.114 Astronauts on the space shuttle use
radar to determine the magnitudes and direction cosines
of the position vectors of two satellites A and B. The
vector r
A
from the shuttle to satellite A has magnitude
2 km and direction cosines cos
x
= 0.768, cos
y
=
0.384, cos
z
= 0.512. The vector r
B
from the shuttle
to satellite B has magnitude 4 km and direction cosines
cos
x
= 0.743, cos
y
= 0.557, cos
z
= 0.371.
What is the angle between the vectors r
A
and r
B
?
x
r
B
z
B
A
r
A
y
Solution: The direction cosines of the vectors along r

A
and r
B
are the components of the unit vectors in these directions (i.e., u
A
=
cos xi + cos yj + cos zk, where the direction cosines are those
for r
A
). Thus, through the denition of the dot product, we can nd
an expression for the cosine of the angle between r
A
and r
B
.
cos = cos x
A
cos x
B
+ cos y
A
cos y
B
+ cos z
A
cos z
B
.
Evaluation of the relation yields
cos = 0.594 = 53.5
.
x
r
B
z
B
A
r
A
y
Problem 2.115 The cable BC exerts an 800-N force

F on the bar AB at B. Use Eq. (2.26) to determine the
vector component of F parallel to the bar.
y
B (5, 6, 1) m
A
C (3, 0, 4) m
z
x
F
Solution: Eqn. 2.26 is U
P
= (e U)e where U is the vector
for which you want the component parallel to the direction indicated
by the unit vector e.
For the problem at hand, we must nd two unit vectors. We need
e
BC
to be able to write the force F(F = |F|e
BC
) and e
BA
the
direction parallel to the bar.
e
BC
=
r
BC
|r
BC
|
=
(x
C
x
B
)i + (y
C
y
B
)j + (z
C
z
B
)k
_
(x
C
x
B
)
2
+ (y
C
y
B
)
2
+ (z
C
z
B
)
2
e
BC
=
(3 5)i + (0 6)j + (4 1)k
2
2
+ 6
2
+ 3
2
e
BC
=
2
7
i
6
7
j +
3
7
k
Similarly
e
BA
=
5i 6j 1k
5
2
+ 6
2
+ 1
2
e
BA
= 0.635i 0.762j 0.127k
Now F = |F|e
BC
= 800 e
BC
F = 228.6i 685.7j + 342.9k N
F
P
= (F e
BA
)e
BA
F
P
= (624.1)e
BA
F
P
= 396.3i 475.6j 79.3k N
B (5, 6, 1) m
A
C (3, 0, 4) m
z
x
F
Problem2.116 The force F = 21i +14j (kN). Resol-
ve it into vector components parallel and normal to the
line OA.
A (6, 2, 3) m
x
y
z
F
O
Solution: The position vector of point A is
r
A
= 6i 2j + 3k
The magnitude is |r
A
| =

6
2
+ 2
2
+ 3
2
= 7. The unit vector
parallel to OA is e
OA
=
r
A
|r
A
|
=
6
7
i
2
7
j +
3
7
k
(a) The component of F parallel to OA is
(F e
OA
) e
OA
= ((3)(6) + (2)(2))
_
1
7
_
(6i 2j + 3k)
F
P
= 12i 4j + 6k (kN)
(b) The component of F normal to OA is
F
N
= F Fp = (21 12)i + (14 (4))j + (0 6)k
= 9i + 18j 6k (kN)
A
(6, 2, 3) m
x
y
z
F
Problem 2.117 At the instant shown, the Harriers
thrust vector is T = 3800i +15,300j 1800k (lb), and
its velocity vector is v = 24i +6j2k (ft/s). Resolve T
into vector components parallel and normal to v. (These
are the components of the airplanes thrust parallel and
normal to the direction of its motion.)
x
y
T
v
Solution: The magnitude of the velocity vector is given by
|v| =
_
v
2
x
+v
2
y
+v
2
z
=
_
24
2
+ 6
2
+ (2)
2
.
Thus, |v| = 24.8 ft/s. The components of the unit vector in the
direction of the velocity vector are given by
ex =
vx
|v|
, ey =
vy
|v|
, and ez =
vz
|v|
.
Substituting numerical values, we get ex = 0.967, ey = 0.242, and
ez = 0.0806. The dot product of T and this unit vector gives the
component of T parallel to the velocity. The resulting equation is
T
parallel
= Txex + Tyey + Tzez. Substituting numerical values,
we get T
parallel
= 7232.12 lb. The magnitude of the vector T is
15870 lb. Using the Pythagorean Theorem, we get
T
normal
=
_
|T|
2
(T
parallel
)
2
= 14130 lb.
x
y
T
v
Problem 2.118 Cables extend from A to B and from
A to C. The cable AC exerts a 1000-lb force F at A.
(a) What is the angle between the cables AB and AC?
(b) Determine the vector component of Fparallel to the
cable AB.
F
A
(0, 7, 0) ft
B
C
x
y
z
(14, 0, 14) ft
(0, 0, 10) ft
Solution: Use Eq. (2.24) to solve.
(a) From the coordinates of the points, the position vectors are:
r
AB
= (0 0)i + (0 7)j + (10 0)k
r
AB
= 0i 7j + 10k
r
AC
= (14 0)i + (0 7)j + (14 0)k
r
AC
= 14i 7j + 14k
The magnitudes are:
|r
AB
| =
_
7
2
+ 10
2
= 12.2 (ft) and
|r
AB
| =
_
14
2
+ 7
2
+ 14
2
= 21.
The dot product is given by
r
AB
r
AC
= (14)(0) + (7)(7) + (10)(14) = 189.
The angle is given by
cos =
189
(12.2)(21)
= 0.7377,
from which = 42.5
. From the construction: = +42.5
(b) The unit vector associated with AB is

e
AB
=
r
AB
|r
AB
|
= 0i 0.5738j + 0.8197k.
The unit vector associated with AC is
e
AC
=
r
AC
|r
AC
|
= 0.6667i 0.3333j + 0.6667k.
Thus the force vector along AC is
F
AC
= |F|e
AC
= 666.7i 333.3j + 666.7k.
The component of this force parallel to AB is
(F
AC
e
AB
)e
AB
= (737.5)e
AB
= 0i 423.2j + 604.5k (lb)
A
(0, 7, 0) ft
B
C
x
y
z
(14, 0, 14) ft
(0, 0, 10) ft
Problem 2.119 Consider the cables AB and AC
shown in Problem 2.118. Let r
AB
be the position vector
from point A to point B. Determine the vector compo-
nent of r
AB
parallel to the cable AC.
Solution: From Problem 2.100, r
AB
= 0i 7j + 10k, and e
AC
=
0.6667i0.3333j+0.6667k. Thus r
AB
e
AC
= 9, and (r
AB
e
AC
)e
AC
=
6i 3j + 6k
Problem 2.120 The force F = 10i + 12j 6k (N).
Determine the vector components of F parallel and nor-
mal to line OA.
y
x
z
(0, 6, 4) m
O
A
F
Solution: Find e
OA
=
r
OA
|r
OA
|
Then
F
P
= (F e
OA
)e
OA
and F
N
= F F
P
e
OA
=
0i + 6j + 4k
6
2
+ 4
2
=
6j + 4k
52
e
OA
=
6
7.21
j +
4
7.21
k = 0.832j + 0.555k
F
P
= [(10i + 12j 6k) (0.832j + 0.555k)]e
OA
F
P
= [6.656]e
OA
= 0i + 5.54j + 3.69k (N)
F
N
= F F
P
F
N
= 10i + (12 5.54)j + (6 3.69k)
F
N
= 10i + 6.46j 9.69k N
y
x
z
(0, 6, 4) m
O
A
F
Problem2.121 The rope AB exerts a 50-Nforce Ton
collar A. Determine the vector component of T parallel
to bar CD.
0.4 m
0.5 m
0.15 m
0.3 m 0.2 m
0.25 m
0.2 m
z
x
y
A
B
C
D
O
T
Solution: The vector from C to D is r
CD
= (x
D
x
C
)i +
(y
D
y
C
)j + (z
D
z
C
)k. The magnitude of the vector
|r
CD
| =
_
(x
D
x
C
)
2
+ (y
D
y
C
)
2
+ (z
D
z
C
)
2
.
The components of the unit vector along CD are given by u
CDx
=
(x
D
x
C
)/|r
CD
|, u
CDy
= (y
D
y
C
)/|r
CD
|, etc. Numerical
values are |r
CD
| =0.439 m, u
CDx
=0.456, u
CDy
= 0.684,
and u
CDz
= 0.570. The coordinates of point A are given by x
A
=
x
C
+|r
CA
|e
CDx
, y
A
= y
C
+|r
CA
|u
CDy
, etc. The coordinates
of point A are (0.309, 0.163, 0.114) m. The vector from A to B and
the corresponding unit vector are found in the same manner as from
C to D above. The results are |r
AB
| = 0.458 m, u
ABx
= 0.674,
u
ABy
= 0.735, and u
ABz
= 0.079. The force T is given by
T = |T|u
AB
. The result is T = 33.7i + 36.7j + 3.93k N.
The component of T parallel to CD is given
T
parallel
= T u
CD
= 7.52 N.
The negative sign means that the component of Tparallel to CDpoints
from D toward C (opposite to the direction of the unit vector from C
to D).
0.4 m
0.5 m
0.15 m
0.3 m
0.2 m
0.25 m
0.2 m z
x
y
A
B
C
D
O
T
Problem 2.122 In Problem 2.121, determine the vec-
tor component of T normal to the bar CD.
Solution: From the solution of Problem 2.121, |T| = 50 N, and the com-
ponent of T parallel to bar CD is T
parallel
= 7.52 N. The component of T
normal to bar CD is given by
T
normal
=
_
|T|
2
(T
parallel
)
2
= 49.4 N.
Problem 2.123 The disk A is at the midpoint of the
sloped surface. The string from A to B exerts a 0.2-
lb force F on the disk. If you resolve F into vector
components parallel and normal to the sloped surface,
what is the component normal to the surface?
y
z
A
B
F
(0, 6, 0) ft
2 ft
8 ft
10 ft
x
Solution: Consider a line on the sloped surface fromAperpendic-
ular to the surface. (see the diagram above) By SIMILAR triangles we
see that one such vector is r
N
= 8j +2k. Let us nd the component
of F parallel to this line.
The unit vector in the direction normal to the surface is
e
N
=
r
N
|r
N
|
=
8j + 2k
8
2
+ 2
2
= 0.970j + 0.243k
The unit vector e
AB
can be found by
e
AB
=
(x
B
x
A
)i + (y
B
y
A
)j + (z
B
z
A
)h
_
(x
B
x
A
)
2
+ (y
B
y
A
)
2
+ (z
B
z
A
)
2
Point B is at (0, 6, 0) (ft) and A is at (5, 1, 4) (ft).
e
AB
= 0.615i + 0.615j 0.492k
Now F = |F|e
AB
= (0.2)e
AB
F = 0.123i + 0.123j 0.0984k (lb)
The component of F normal to the surface is the component parallel
to the unit vector e
N
.
F
NORMAL
= (F e
N
)e
N
= (0.955)e
N
F
NORMAL
= 0i + 0.0927j + 0.0232k lb
y
z
8
8
2
2
y
z
A
B
F
C
(0, 6, 0) ft
2 ft
8 ft
10 ft
x
Problem 2.124 In Problem 2.123, what is the vector
component of F parallel to the surface?
F = 0.123i + 0.123j 0.0984k (lb) and
F
NORMAL
= 0i + 0.0927j + 0.0232k (lb)
The component parallel to the surface and the component normal to
the surface add to give F(F = F
NORMAL
+F
parallel
).
Thus
F
parallel
= F F
NORMAL
F
parallel
= 0.1231i + 0.0304j 0.1216k lb
Problem 2.125 An astronaut in a maneuvering unit
approaches a space station. At the present instant, the
station informs himthat his position relative to the origin
of the stations coordinate system is r
G
= 50i + 80j +
180k (m) and his velocity is v = 2.2j 3.6k (m/s).
The position of the airlock is r
A
= 12i + 20k (m).
Determine the angle between his velocity vector and the
line from his position to the airlocks position.
Solution: Points G and A are located at G: (50, 80, 180) m and
A: (12, 0, 20) m. The vector r
GA
is r
GA
= (x
A
x
G
)i +(y
A
y
G
)j +(z
A
z
G
)k = (1250)i +(080)j +(20180)k m.
The dot product between v and r
GA
is v r
GA
= |v||r
GA
| cos =
vxx
GA
+vyy
GA
+vzz
GA
, where is the angle between v and r
GA
.
Substituting in the numerical values, we get = 19.7
.
y
z
x
A
G
Problem 2.126 In Problem 2.125, determine the vec-
tor component of the astronauts velocity parallel to the
line from his position to the airlocks position.
Solution: The dot product v r
GA
= vxx
GA
+ vyy
GA
+
vzz
GA
= 752 (m/s)
2
and the component of v parallel to GA is
v
parallel
= |v| cos where is dened as in Problem 2.125 above.
v
parallel
= (4.22)(0.941) = 3.96 m/s
Problem 2.127 Point P is at longitude 30
W and lat-
itude 45
N on the Atlantic Ocean between Nova Scotia

and France. (See Problem 2.90.) Point Qis at longitude
60
E and latitude 20
N in the Arabian Sea. Use the dot

product to determine the shortest distance along the sur-
face of the earth from P to Q in terms of the radius of
the earth R
E
.
Strategy: Use the dot product to detrmine the angle
between the lines OP and OQ; then use the denition
of an angle in radians to determine the distance along the
surface of the earth from P to Q.
Equator
y
z
x
P
N
O
45
30 60
G
20
Q
Solution: The distance is the product of the angle and the radius of
the sphere, d = R
E
, where is in radian measure. From Eqs. (2.18)
and (2.24), the angular separation of P and Q is given by
cos =
_
P Q
|P||Q|
_
.
The strategy is to determine the angle in terms of the latitude and
longitude of the two points. Drop a vertical line from each point P
and Q to b and c on the equatorial plane. The vector position of P is
the sum of the two vectors: P = r
OB
+ r
BP
. The vector r
OB
=
|r
OB
|(i cos
P
+ 0j + ksin
P
). From geometry, the magnitude
is |r
OB
| = R
E
cos
P
. The vector r
BP
= |r
BP
|(0i + 1j + 0k).
From geometry, the magnitude is |r
BP
| = R
E
sin
P
. Substitute
and reduce to obtain:
P = r
OB
+r
BP
= R
E
(i cos
P
cos
P
+j sin
P
+ksin
P
cos
P
).
A similar argument for the point Q yields
Q = r
OC
+r
CQ
= R
E
(i cos
Q
cos
Q
+j sin
Q
+ksin
Q
cos
Q
)
Using the identity cos
2
+ sin
2
= 1, the magnitudes are
|P| = |Q| = R
E
The dot product is
P Q = R
2
E
(cos(
P

Q
) cos
P
cos
Q
+ sin
P
sin
Q
)
Substitute:
cos =
P Q
|P||Q|
= cos(
P

Q
) cos
P
cos
Q
+ sin
P
sin
Q
Substitute
P
= +30
,
Q
= 60
, p = +45
Q
= +20
, to obtain cos = 0.2418, or = 1.326 radians.

Thus the distance is d = 1.326R
E
y
x
30
45
60
20
R
E
Q
P
G
b
c
N
Problem 2.128 Determine the cross product U V
of the vectors U = 8i 6j +4k and V = 3i +7j +9k.
Strategy: Sine the vectors are expressed in terms of
their components, you can use Eq. (2.34) to determine
their cross product.
Solution:
UV =
i j k
8 6 4
3 7 9
= (54 28)i + (12 72)j + (56 + 18)k

UV = 82i 60j + 74k
Problem 2.129 Two vectors U = 3i + 2j and V =
2i + 4j.
(a) What is the cross product UV?
(b) What is the cross product VU?
Solution: Use Eq. (2.34) and expand into 2 by 2 determinants.
UV =
i j k
3 2 0
2 4 0
= i((2)(0) (4)(0)) j((3)(0) (2)(0))

+k((3)(4) (2)(2)) = 8k
VU =
i j k
2 4 0
3 2 0
= i((4)(0) (2)(0)) j((2)(0) (3)(0))

+k((2)(2) (3)(4)) = 8k
Problem 2.130 What is the cross product r F of
the position vector r = 2i + 2j + 2k (m) and the force
F = 20i 40k (N)?
Solution: Use Eq. (2.34) and expand into 2 by 2 determinants.
r F =
i j k
2 2 2
20 0 40
= i((2)(40) (0)(2)) j((2)(40)

(20)(2)) +k((2)(0) (2)(20))
r F = 80i + 120j 40k (N-m)
Problem 2.131 Determine the cross product r F of
the position vector r = 4i 12j + 3k (m) and the force
F = 16i 22j 10k (N).
Solution:
r F =
i j k
4 12 3
16 22 10
r F = (120 (66))i + (48 (40))j

+ (88 (192))k (N-m)
r F = 186i + 88j + 104k (N-m)
Problem2.132 Consider the vectors U = 6i2j3k
and V = 12i + 4j + 6k.
(a) Determine the cross product UV.
(b) What can you conclude about U and V from the
result of (a)?
Solution: For (a) Use Eq. (2.34) and expand into 2 by 2 determi-
nants.
UV =
i j k
6 2 3
12 4 6
= i((2)(6) (4)(3)) +j((6)(6)

(12)(2)) +k((6)(4) (12)(2))
UV = 0i + 0j + 0k
(b) From the denition of the cross product (see Eq. (2.28)) U V =
|U||V| sin e, where is the angle between the two vectors, and e is a unit
vector perpendicular to both U and V. If U V = 0 and if |U| = 0 and
|V| = 0 then since by denition e = 0, sin must be zero: sin = 0, and
= 0
or = 180
, and the two vectors are said to be parallel. (A graphical

construction conrms this interpretation.)
Problem 2.133 The cross product of two vectors U
and V is U V = 30i + 40k. The vector V =
4i 2j + 3k. Determine the components of U.
Solution: We know
UV =
i j k
Ux Uy Uz
4 2 3
UV = (3Uy + 2Uz)i + (4Uz 3Ux)j + (2Ux 4Uy)k (1)

We also know
UV = 30i + 0j + 40k (2)
Equating components of (1) and (2), we get
3Uy + 2Uz = 30
4Uz 3Ux = 0
2Ux 4Uy = 40
Setting Ux = 4 and solving, we get
U = 4i 12j + 3k
Problem 2.134 The magnitudes |U| = 10 and |V| =
20.
(a) Use the denition of the cross product to determine
UV.
(b) Use the denition of the cross product to determine
VU.
(c) Use Eq. (2.34) to determine UV.
(d) Use Eq. (2.34) to determine VU.
U
V
x
y
45
30
Solution: From Eq. (228) U V = |U||V| sin e. From the
sketch, the positive z-axis is out of the paper. For UV, e = 1k
(points into the paper); for VU, e = +1k(points out of the paper).
The angle = 15
, hence (a) U V = (10)(20)(0.2588)(e) =

51.8e = 51.8k. Similarly, (b) VU = 51.8e = 51.8k (c) The
two vectors are:
U = 10(i cos 45
+j sin 45) = 7.07i + 0.707j,

V = 20(i cos 30
+j sin 30
) = 17.32i + 10j
UV =
i j k
7.07 7.07 0
17.32 10 0
= i(0) j(0) +k(70.7 122.45)

= k51.8
(d) VU =
i j k
17.32 10 0
7.07 7.07 0
= i(0) j(0) +k(122.45 70.7)

= 51.8k
y
x
V
U
45
30
Problem 2.135 The force F = 10i 4j (N). Deter-
mine the cross product r
AB
F.
y
x
B
A
r
AB
(6, 3, 0) m
(6, 0, 4) m
F
z
Solution: The position vector is
r
AB
= (6 6)i + (0 3)j + (4 0)k = 0i 3j + 4k
The cross product:
r
AB
F =
i j k
0 3 4
10 4 0
= i(16) j(40) +k(30)

= 16i + 40j + 30k (N-m)
y
x
B
A
r
AB
(6, 3, 0)
(6, 0, 4)
F
z
Problem 2.136 By evaluating the cross product U
V, prove the identity sin(
1

2
) = sin
1
cos
2

cos
1
sin
2
.
x
y
V
2
U
Solution: Assume that both U and V lie in the x-y plane. The
strategy is to use the denition of the cross product (Eq. 2.28) and
the Eq. (2.34), and equate the two. From Eq. (2.28) U V =
|U||V| sin(
1

2
)e. Since the positive z-axis is out of the pa-
per, and e points into the paper, then e = k. Take the dot product
of both sides with e, and note that k k = 1. Thus
sin(
1
2
) =
_
(UV) k
|U||V|
_
The vectors are:
U = |U|(i cos
1
+j sin
2
), and V = |V|(i cos
2
+j sin
2
).
The cross product is
UV =
i j k
|U| cos
1
|U| sin
1
0
|V| cos
2
|V| sin
2
0
= i(0) j(0) +k(|U||V|)(cos

1
sin
2
cos
2
sin
1
)
Substitute intothe denitiontoobtain: sin(
1
2
) = sin
1
cos
2
cos
1
sin
2
. Q.E.D.
y
x
U
V
1
2
Problem2.137 Use the cross product to determine the
components of a unit vector e that is normal to both of
the vectors U = 8i 6j + 4k and V = 3i + 7j + 9k.
Solution: First, nd UV = R
R = UV =
i j k
8 6 4
3 7 9
R = (54 28)i + (12 72)j + (56 (18)) k

R = 82i 60j + 74k
e
R
=
R
|R|
=
_
82i 60j + 74k
125.7
_
er = (0.652i 0.477j + 0.589k)
Problem 2.138 (a) What is the cross product r
OA
r
OB
? (b) Determine a unit vector e that is perpendicular
to r
OA
and r
OB
.
A (6, 2, 3) m
( 4, 4, 4) m B
x
y
z
O
r
OB
r
OA
Solution: The two radius vectors are
r
OB
= 4i + 4j 4k, r
OA
= 6i 2j + 3k
(a) The cross product is
r
OA
r
OB
=
i j k
6 2 3
4 4 4
= i(8 12) j(24 12)

+k(24 + 8)
= 4i + 36j + 32k (m
2
)
The magnitude is
|r
OA
r
OB
| =
_
4
2
+ 36
2
+ 32
2
= 48.33 m
2
(b) The unit vector is
e =
_
r
OA
r
OB
|r
OA
r
OB
|
_
= (0.0828i + 0.7448j + 0.6621k)
(Two vectors.)
A(6, 2, 3)
( 4, 4, 4) B
x
y
z
O
r
OB
r
OA
Problem 2.139 For the points O, A, and B in Pro-
blem2.138, use the cross product to determine the length
of the shortest straight line from point B to the straight
line that passes through points O and A.
Solution:
r
OA
= 6i 2j + 3k (m)
r
OB
= 4i + 4j 4k (m)
r
OA
r
OB
= C
(C is to both r
OA
and r
OB
)
C =
i j k
6 2 3
4 4 4
=
(+8 12)i
+(12 + 24)j
+(24 + 8)k
C = 4i + 36j + 32k
Cis to both r
OA
and r
OB
. Any line to the plane formed by C
and r
OA
will be parallel to the line BP on the diagram. C r
OA
is such a line. We then need to nd the component of r
OB
in this
direction and compute its magnitude.
Cr
OA
=
i j k
4 +36 32
6 2 3
C = 172i + 204j 208k

The unit vector in the direction of Cis
e
C
=
C
|C|
= 0.508i + 0.603j 0.614k
(The magnitude of Cis 338.3)
We now want to nd the length of the projection, P, of line OB in direction ec.
P = r
OB
e
C
= (4i + 4j 4k) e
C
P = 6.90 m
A(6, 2, 3) m
( 4, 4, 4) m B
x
y
z
O
r
OB
r
OA
P
Problem 2.140 The cable BC exerts a 1000-lb force
F on the hook at B. Determine r
AB
F.
r
AB
A
B
C
z
x
y
r
AC
F
6 ft
8 ft
4 ft
4 ft 12 ft
Solution: The coordinates of points A, B, and C are A (16, 0,
12), B (4, 6, 0), C (4, 0, 8). The position vectors are
r
OA
= 16i + 0j + 12k, r
OB
= 4i + 6j + 0k, r
OC
= 4i + 0j + 8k.
The force F acts along the unit vector
e
BC
=
r
BC
|r
BC
|
=
r
OC
r
OB
|r
OC
r
OB
|
=
r
AB
|r
AB
|
Noting r
OC
r
OB
= (44)i+(06)j+(80)k = 0i6j+8k
|r
OC
r
OB
| =
6
2
+ 8
2
= 10. Thus
e
BC
= 0i 0.6j + 0.8k, and F = |F|e
BC
= 0i 600j + 800k (lb).
The vector
r
AB
= (4 16)i + (6 0)j + (0 12)k = 12i + 6j 12k
Thus the cross product is
r
AB
F =
i j k
12 6 12
0 600 800
= 2400i + 9600j + 7200k (ft-lb)

r
A
B
C
x
y
6 ft
8 ft
4 ft
4 ft
12 ft
Problem 2.141 The cable BC shown in Prob-
lem 2.140 exerts a 300-lb force F on the hook at B.
(a) Determine r
AB
F and r
AC
F.
(b) Use the denition of the cross product to explain
why the result of (a) are equal.
Solution: (a) From Problem 2.140, the unit vector
e
BC
= 0i 0.6j + 0.8k, and r
AB
= 12i + 6j 12k
Thus F = |F|e
BC
= 0i 180j + 240k, and the cross product is
r
AB
F =
i j k
12 6 12
0 180 240
= 720i + 2880j + 2160k (ft-lb)

The vector r
AC
= (4 16)i +0j +(8 12)k = 12i +0j 4k.
Thus the cross product is
r
AC
F =
i j k
12 0 4
0 180 240
= 720i + 2880j + 2160k (ft-lb)

(b) The denition of the cross product is r F = |r||F| sin e.
Since the two cross products above are equal, |r
AB
||F| sin
1
e =
|r
AC
||F| sin
2
e. Note that r
AC
= r
AB
+ r
BC
from Prob-
lem 2.116, hence r
AC
F = r
AB
F + r
BC
F =
|r
AB
||F| sin
1
e + |r
BC
||F| sin 0e = |r
AB
||F| sin
1
e, since
r
BC
and F are parallel. Thus the two results are equal.
Problem2.142 The rope AB exerts a 50-Nforce Ton
the collar at A. Let r
CA
be the position vector frompoint
C to point A. Determine the cross product r
CA
T.
0.4 m
0.5 m
0.15 m
0.3 m 0.2 m
0.25 m
0.2 m
z
x
y
A
B
C
D
O
T
Solution: The vector from C to D is r
CD
= (x
D
x
C
)i +
(y
D
y
C
)j + (z
D
z
C
)k. The magnitude of the vector
|r
CD
| =
_
(x
D
x
C
)
2
+ (y
D
y
C
)
2
+ (z
D
z
C
)
2
.
The components of the unit vector along CD are given by u
CDx
=
(x
D
x
C
)/|r
CD
|, u
CDy
= (y
D
y
C
)/|r
CD
|, etc. Numerical
values are |r
CD
| = 0.439 m, u
CDx
= 0.456, u
CDy
= 0.684,
and u
CDz
= 0.570. The coordinates of point A are given by x
A
=
x
C
+|r
CA
|u
CDx
, y
A
= y
C
+|r
CA
|u
CDy
, etc. The coordinates
of point A are (0.309, 0.162, 0.114) m. The vector r
CA
is given by
r
CA
= (x
A
x
C
)i+(y
A
y
C
)j+(z
A
z
C
)k. The vector r
CA
is
r
CA
= (0.091)i +(0.137)j +(0.114)k m. The vector from A
to B and the corresponding unit vector are found in the same manner
as from C to D above. The results are |r
AB
| = 0.458 m, u
ABx
=
0.674, u
ABy
= 0.735, and u
ABz
= 0.079. The force T is given
by T = |T|u
AB
. The result is T = 33.7i + 36.7j + 3.93k N.
The cross product r
CA
Tcan now be calculated.
r
CA
T =
i j k
0.091 0.138 0.114
33.7 36.7 3.93
= (4.65)i + (3.53)j + (7.98)k N-m

0.4 m
0.5 m
0.15 m
0.3 m
0.2 m
0.25 m
0.2 m
z
x
y
B
C
A
D
O
T
Problem 2.143 In Problem 2.142, let r
CB
be the po-
sition vector from point C to point B. Determine the
cross product r
CB
Tand compare your answer to the
answer to Problem 2.142.
Solution: We need r
CB
and Tin component form.
r
CB
= (x
B
x
C
)i + (y
B
y
C
)j + (z
B
z
C
)k
where B is at (0, 0.5, 0.15) (m) and C is at (0.4, 0.3, 0) (m)
r
CB
= 0.4i + 0.2j + 0.15k (m)
We now need to nd T. From Problem 2.142, its magnitude is 50 N.
We need a unit vector e
AB
to be able to write T as T = 50 e
AB
and then perform the required cross product. We need the coordinates
of point A. Let us nd e
CA
= e
CD
and use this plus the known
location of C to get the location of A. Point D is located at (0.2, 0,
0.25)
e
CD
= e
CA
=
r
CD
|r
CD
|
= 0
e
CD
= 0.456i 0.684j + 0.570k
From the diagram, d
AC
= 0.2 m
x
A
= x
C
+d
AC
(e
CDx
)
y
A
= y
C
+d
AC
(e
CDy
)
z
A
= z
C
+d
AC
(e
CDz
)
Recall C is at (0.4, 0.3, 0)
Substituting, we nd A is at (0.309, 0.163, 0.114).
We now need the unit vector from A to B.
e
AB
=
r
AB
|r
AB
|
=
(x
B
x
A
)i + (y
B
y
A
)j + (z
B
z
A
)k
|r
AB
|
or
e
AB
= 0.674i + 0.735j + 0.078k
We now want T = |T|e
AB
= 50 e
AB
we get
T = 33.69i + 36.74j + 3.93k (N)
we can now form r
CB
T
r
CB
T =
i j k
0.4 +0.2 +0.15
33.69 36.74 3.93
r
CB
T = 4.72i + 6.626j 21.434k (N-m)
0.4 m
0.5 m
0.15 m
0.3 m 0.2 m
0.25 m
0.2 m
z
x
y
B
C
A
D
O
T
Problem2.144 The bar AB is 6 mlong and is perpen-
dicular to the bars AC and AD. Use the cross product
to determine the coordinates x
B
, y
B
, z
B
of point B.
C
A
B
(0, 0, 3) m
(4, 0, 0) m
x
y
(0, 3, 0) m
(x
B
, y
B
, z
B
)
D
z
Solution: The strategy is to determine the unit vector perpendic-
ular to both AC and AD, and then determine the coordinates that will
agree with the magnitude of AB. The position vectors are:
r
OA
= 0i + 3j + 0k, r
OD
= 0i + 0j + 3k, and
r
OC
= 4i + 0j + 0k. The vectors collinear with the bars are:
r
AD
= (0 0)i + (0 3)j + (3 0)k = 0i 3j + 3k, r
AC
= (4 0)i + (0 3)j + (0 0)k = 4i 3j + 0k.
The vector collinear with r
AB
is
R = r
AD
r
AC
=
i j k
0 3 3
4 3 0
= 9i + 12j + 12k
The magnitude |R| = 19.21 (m). The unit vector is
e
AB
=
R
|R|
= 0.4685i + 0.6247j + 0.6247k.
Thus the vector collinear with AB is
r
AB
= 6e
AB
= +2.811i + 3.75j + 3.75k.
Using the coordinates of point A:
x
B
= 2.81 + 0 = 2.81 (m)
y
B
= 3.75 + 3 = 6.75 (m)
z
B
= 3.75 + 0 = 3.75 (m)
x
y
B
C
z
D
A
[0,3,0]
[4,0,0]
[0,0,3]
Problem 2.145 Determine the minimum distance
from point P to the plane dened by the three points
A, B, and C.
A
(3, 0, 0) m
(0, 5, 0) m B
x
y
z
C
(0, 0, 4) m
P
(9, 6, 5) m
Solution: The strategy is to nd the unit vector perpendicular to
the plane. The projection of this unit vector on the vector OP: r
OP
e
is the distance fromthe origin to P along the perpendicular to the plane.
The projection on e of any vector into the plane (r
OA
e, r
OB
e, or
r
OC
e) is the distance from the origin to the plane along this same
perpendicular. Thus the distance of P from the plane is
d = r
OP
e r
OA
e.
The position vectors are: r
OA
= 3i, r
OB
= 5j, r
OC
= 4k and
r
OP
= 9i + 6j + 5k. The unit vector perpendicular to the plane is
found from the cross product of any two vectors lying in the plane.
Noting: r
BC
= r
OC
r
OB
= 5j + 4k, and r
BA
= r
OA

r
OB
= 3i 5j. The cross product:
r
BC
r
BA
=
i j k
0 5 4
3 5 0
= 20i + 12j + 15k.

The magnitude is |r
BC
r
BA
| = 27.73, thus the unit vector is
e = 0.7212i + 0.4327j + 0.5409k. The distance of point P from
the plane is d = r
OP
er
OA
e = 11.7922.164 = 9.63 m. The
second term is the distance of the plane from the origin; the vectors
r
OB
, or r
OC
could have been used instead of r
OA
.
y
z
x
B[0,5,0]
P[9,6,5]
A[3,0,0]
C[0,0,4]
O
Problem 2.146 Consider vectors U = 3i 10j, V =
6j + 2k, and W = 2i + 6j 4k.
(a) Determine the value of the mixed triple product U
(VW) by rst evaluating the cross product V
Wand then taking the dot product of the result with
the vector U.
(b) Determine the value of the mixed triple product U
(VW) by using Eq. (2.36).
Solution: (a) The cross product
VW =
i j k
0 6 2
2 6 4
= (+24 12)i (0 4)j + (0 + 12)k

= 12i + 4j + 12k
Take the dot product: U(VW) = (3)(12)+(4)(10)+0 = 4
(b) Eq. (2.36) expresses the mixed triple product as a 3X3 determinant.
U (VW)=
3 10 0
0 6 2
2 6 4
=(3)(24 12) (10)(4) + (0)

= 36 40 = 4
Problem 2.147 For the vectors U = 6i + 2j 4k,
V = 2i +7j, and W = 3i +2k, evaluate the following
mixed triple products: (a) U(VW); (b) W(VU);
(c) V (WU).
(a) U (VW) =
6 2 4
2 7 0
3 0 2
= 6(14) 2(4) + (4)(21) = 160

(b) W (VU) =
3 0 2
2 7 0
6 2 4
= 3(28) (0) + 2(4 42) = 160

(c) V (WU) =
2 7 0
3 0 2
6 2 4
= 2(4) 7(12 12) + (0) = 160

Problem 2.148 Use the mixed triple product to calcu-
late the volume of the parallelepiped.
x
y
z
(140, 90, 30) mm
(200, 0, 0) mm
(160, 0, 100) mm
Solution: We are given the coordinates of point D. From the
geometry, we need to locate points A and C. The key to doing this
is to note that the length of side OD is 200 mm and that side OD
is the x axis. Sides OD, AE, and CG are parallel to the x axis
and the coordinates of the point pairs (O and D), (A and E), and
(C and D) differ only by 200 mm in the x coordinate. Thus, the
coordinates of point A are (60, 90, 30) mm and the coordinates of
point C are (40, 0, 100) mm. Thus, the vectors r
OA
, r
OD
, and
r
OC
are r
OD
= 200i mm, r
OA
= 60i + 90j + 30k mm, and
r
OC
= 40i +0j +100k mm. The mixed triple product of the three
vectors is the volume of the parallelepiped.
The volume is
r
OA
(r
OC
r
OD
) =
60 90 30
40 0 100
200 0 0
= 60(0) + 90(200)(100) + (30)(0) mm

3
= 1,800,000 mm
3
y
z
A
B
C
O
F
G
D
E
x
(140, 90, 30)
mm
(200, 0, 0)
mm
(160, 0, 100)
mm
Problem2.149 By using Eqs. (2.23) and (2.34), show
that
U (VW) =
U
x
U
y
U
z
V
x
V
y
V
z
W
x
W
y
W
z
.
Solution: One strategy is to expand the determinant in terms of
its components, take the dot product, and then collapse the expan-
sion. Eq. (2.23) is an expansion of the dot product: Eq. (2.23):
U V = U
X
V
X
+ U
Y
V
Y
+ U
Z
V
Z
. Eq. (2.34) is the determi-
nant representation of the cross product:
Eq. (2.34) UV =
i j k
U
X
U
Y
U
Z
V
X
V
Y
V
Z
For notational convenience, write P = (UV). Expand the deter-

minant about its rst row:
P = i
U
Y
U
Z
V
Y
V
Z
U
X
U
Z
V
X
V
Z
+k
U
X
U
Z
V
X
V
Z
Since the two-by-two determinants are scalars, this can be written in the form:
P = iP
X
+jP
Y
+kP
Z
where the scalars P
X
, P
Y
, and P
Z
are the two-by-
two determinants. Apply Eq. (2.23) to the dot product of a vector Q with P.
Thus Q P = Q
X
P
X
+Q
Y
P
Y
+Q
Z
P
Z
. Substitute P
X
, P
Y
, and P
Z
into
this dot product
Q P = Q
X
U
Y
U
Z
V
Y
V
Z
Q
Y
U
X
U
Z
V
X
V
Z
+Qz
U
X
U
Z
V
X
V
Z
But this expression can be collapsed into a three-by-three determinant di-

rectly, thus:
Q (UV) =
Q
X
Q
Y
Q
Z
U
X
U
Y
U
Z
V
X
V
Y
V
Z
. This completes the demonstration.

Problem 2.150 The vectors U = i +U
Y
j +4k, V =
2i +j 2k, and W = 3i +j 2k are coplanar (they
lie in the same plane). What is the component U
y
?
Solution: Since the non-zero vectors are coplanar, the cross pro-
duct of any two will produce a vector perpendicular to the plane, and
the dot product with the third will vanish, by denition of the dot
product. Thus U (VW) = 0, for example.
U (VW) =
1 U
Y
4
2 1 2
3 1 2
= 1(2 + 2) (U
Y
)(4 6) + (4)(2 + 3)
= +10U
Y
+ 20 = 0
Thus U
Y
= 2
Problem 2.151 The magnitude of F is 8 kN. Express
F in terms of scalar components.
F
x
y
(7, 2) m
(3, 7) m
Solution: The unit vector collinear withthe force Fis developedas follows:
The collinear vector is r = (7 3)i + (2 7)j = 4i 5j
The magnitude: |r| =
4
2
+ 5
2
= 6.403 m. The unit vector is
e =
r
|r|
= 0.6247i 0.7809j. The force vector is
F = |F|e = 4.997i 6.247j = 5i 6.25j (kN)
x
y
F
(3,7)m
(7,2)m
Problem2.152 The magnitude of the vertical force W
is 600 lb, and the magnitude of the force B is 1500 lb.
Given that A+B+W = 0, determine the magnitude
of the force Aand the angle .
50
B
W
A
Solution: The strategy is to use the condition of force balance to

determine the unknowns. The weight vector is W = 600j. The
vector Bis
B = 1500(i cos 50
+j sin 50
) = 964.2i + 1149.1j
The vector Ais A = |A|(i cos(180 +) +j sin(180 +))
A = |A|(i cos j sin ). The forces balance, hence A +
B+ W = 0, or (964.2 |A| cos )i = 0, and (1149.1 600
|A| sin )j = 0. Thus |A| cos = 964.2, and |A| sin = 549.1.
Take the ratio of the two equations to obtain tan = 0.5695, or
= 29.7
. Substitute this angle to solve: |A| = 1110 lb

50
B W
A
Problem 2.153 What are the direction cosines of F?

x
y
z
F = 20i + 10j 10k (lb)
A
(8, 1, 2) ft
(4, 4, 2) ft
B
Solution: Use the denition of the direction cosines and the en-
suing discussion.
The magnitude of F: |F| =
20
2
+ 10
2
+ 10
2
= 24.5.
The direction cosines are cos x =
Fx
|F|
=
20
24.5
= 0.8165,
cos y =
Fy
|F|
=
10
24.5
= 0.4082
cos z =
Fz
|F|
=
10
24.5
= 0.4082
x
y
z
F = 20i + 10j 10k (lb)
A
(8, 1, 2) ft
(4, 4, 2) ft
B
Problem 2.154 Determine the scalar components of

a unit vector parallel to line AB that points from A to-
ward B.
Solution: Use the denition of the unit vector, we get
The position vectors are: r
A
= 4i +4j +2k, r
B
= 8i +1j 2k. The vector
from A to B is r
AB
= (8 4)i + (1 4)j + (2 2)k = 4i 3j 4k.
The magnitude: |r
AB
| =
4
2
+ 3
2
+ 4
2
= 6.4. The unit vector is
e
AB
=
r
AB
|r
AB
|
=
4
6.4
i
3
6.4
j
4
6.4
k = 0.6247i 0.4688j 0.6247k
Problem 2.155 What is the angle between the line
AB and the force F?
Solution: Use the denition of the dot product Eq. (2.18), and
Eq. (2.24):
cos =
r
AB
F
|r
AB
||F|
.
From the solution to Problem 2.130, the vector parallel to AB is
r
AB
= 4i 3j 4k, with a magnitude |r
AB
| = 6.4. From Prob-
lem 2.129, the force is F = 20i + 10j 10k, with a magnitude of
|F| = 24.5. The dot product is r
AB
F = (4)(20) + (3)(10) +
(4)(10) = 90. Substituting, cos =
90
(6.4)(24.5)
= 0.574,
= 55
Problem2.156 Determine the vector component of F

that is parallel to the line AB.
Solution: Use the denition in Eq. (2.26): U
P
= (e U)e, where e is
parallel to a line L. From Problem 2.130 the unit vector parallel to line AB is
e
AB
= 0.6247i 0.4688j 0.6247k. The dot product is
e F = (0.6247)(20) + (0.4688)(10) + (0.6247)(10) = 14.053.
The parallel vector is
(e F)e = (14.053)e = 8.78i 6.59j 8.78k (lb)
Problem 2.157 The magnitude of F
B
is 400 N and
|F
A
+F
B
| = 900 N. Determine the components of F
A
.
x
y
z
60
30
50
40
F
A
F
B
Solution:
|F
B
| = 400 N
We need to write each vector in terms of its known or unknown com-
ponents. From the diagram
F
Ax
= (|F
A
| cos 40
) cos 40
= 0.587
F
Az
= (|F
A
| cos 40
) cos 50
= 0.492
F
Ay
= |F
A
| sin 40
= 0.642
F
Bx
= (400 cos 60
) cos 60
F
Bz
= (400 cos 60
) cos 30
F
By
= 400 sin 60
Let F
A
= |F
A
| and F
B
= |F
B
| = 400 N.
The components of the vectors are
F
A
= F
A
cos 40
sin 50
i +F
A
sin 40
j +F
A
cos 40
cos 50
k
= F
A
(0.587i + 0.643j + 0.492k), (1)
F
B
= F
B
cos 60
sin 30
i +F
B
sin 60
j +F
B
cos 60
cos 30
k
= 100i + 346j + 173k (N).
Setting
900 N = |F
A
+F
B
|
= [(0.587F
A
100)
2
+ (0.643F
A
+ 346)
2
+(0.492F
A
+ 173)
2
]
1/2
and solving, we obtain F
A
= 595 N. Substituting this result into Eq. (1),
F
A
= 349i + 382j + 293k (N).
x
y
z
60
30
20
50
40
40
F
A
F
B
Problem 2.158 Suppose that the forces F
A
and F
B
shown in Problem 2.163 have the same magnitude and
F
A
F
B
= 600 N
2
. What are F
A
and F
B
?
Solution: From Problem 2.163, the forces are:
F
A
= |F
A
|(i cos 40
sin 50
+j sin 40
+kcos 40
cos 50
)
= |F
A
|(0.5868i + 0.6428j + 0.4924k)
F
B
= |F
B
|(i cos 60
sin 30
+j sin 60
+kcos 60
cos 30
)
= |F
B
|(0.25i + 0.866j + 0.433k)
The dot product: F
A
F
B
= |F
A
||F
B
|(0.6233) = 600 N
2
, from
|F
A
| = |F
B
| =
_
600
0.6233
= 31.03 N,
and
F
A
= 18.21i + 19.95j + 15.28k (N)
F
B
= 7.76i + 26.87j + 13.44k (N)
Problem 2.159 The rope CE exerts a 500-N force T
on the door ABCD. Determine the vector component
of T in the direction parallel to the line from point A to
point B.
x
y
z
A (0.5,0,0) m
E
B
C
D
T
(0,0.2,0) m
(0.35,0,0.2) m
(0.4,0.25,0.1) m
Solution: Two vectors are needed, r
CE
and r
AB
. The end
points of these vectors are given in the gure. Thus, r
CE
=
(x
E
x
C
)i +(y
E
y
C
)j +(z
E
z
C
)k and a similar form holds
for r
AB
. Calculating these vectors, we get
r
CE
= 0.4i + 0.05j 0.1k m and r
AB
= 0.15i + 0j + 0.2k m.
The unit vector along CE is e
CE
= 0.963i + 0.120j 0.241k
and the force T, is T = |T|e
CE
. Hence, T = 500(0.963i +
0.120j 0.241k) = 482i +60.2j 120k N. The unit vector along
AB is given by e
AB
= 0.6i + 0j + 0.8k and the component of
T parallel to AB is given by T
AB
= T e
AB
. Thus, T
AB
=
(482)(0.6) + (60.2)(0) + (120)(0.8) = 385.2 N
x
y
z
A (0.5,0,0) m
E
B
C
D
T
(0,0.2,0) m
(0.35,0,0.2) m
(0.4,0.25,0.1) m
Problem 2.160 In Problem 2.169, let r
BC
be the po-
sition vector from point B to point C. Determine the
cross product r
BC
T.
Solution: The vector from B to C is
r
BC
= (x
C
x
B
)i + (y
C
y
B
)j + (z
C
z
B
)k
= 0.35i + 0.2j 0.2k m.
The vector T is T = 482i + 60.2j 120k N. The cross product of
these vectors is given by
r
BC
T =
i j k
0.35 0.2 0.2
482 60.2 120
= 12.0i 138j 117k N m

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Problem 2.

and the angle

. The magnitude of the sum |F| = |F

, and |F| = 129.6 N .)

. The angle between F

From the law of sines,

. What is the magni-

Now, from the law of sines

From the law of sines,

From the law of sines

|D| = 3500 sin 25

angle is determined; from the equality of an-

. (a) The magnitudes of |F

= 346.41 m. The distance CE is CE =

= 205.2 m. The distance FC is FC = (346.4

3600, or 60 (Fx) +60 (N)

to nd the two unit vectors that are perpendicular to this

= (40)(0.866) = 34.6 (N)

. Thus the angle is

Problem 2.36 Determine the position vector r

Problem 2.37 In problem 2.36 determine the position

. The angle is = = 49.12

i (8.5) sin 27.5

Problem 2.51 The total thrust exerted on the launch

) = 2.5i 4.33j (kip)

) = 1.29i 4.83j (kip)

measured clockwise from the negative y-axis.

Problem2.53 The gure shows three forces acting on

+ 0 12.26 + 6.89 + 0 +|F

20 + 10.28 + 5.79 20 +|F

)) = 2.50i 4.330j kip

to the angle to nd the two possible perpendicular vectors:

. Thus the angle between the

. The rst angle

angle relative to the x-axis. Thus:

Problem 2.73 The cable exerts a 50-lb force F on the

, and the angle between F and the y axis is 70

+kcos z). Since

1 0.5868 0.1170 = 0.5442.

, and the angle between

= 0.5, m = cos 130

, and the thrust is

. Therefore the length

Solution: The direction cosines of the vectors along r

Problem 2.115 The cable BC exerts an 800-N force

. From the construction: = +42.5

(b) The unit vector associated with AB is

N on the Atlantic Ocean between Nova Scotia

N in the Arabian Sea. Use the dot

, to obtain cos = 0.2418, or = 1.326 radians.

= (54 28)i + (12 72)j + (56 + 18)k

= i((2)(0) (4)(0)) j((3)(0) (2)(0))

= i((4)(0) (2)(0)) j((2)(0) (3)(0))

= i((2)(40) (0)(2)) j((2)(40)

r F = (120 (66))i + (48 (40))j

= i((2)(6) (4)(3)) +j((6)(6)

, and the two vectors are said to be parallel. (A graphical

UV = (3Uy + 2Uz)i + (4Uz 3Ux)j + (2Ux 4Uy)k (1)

, hence (a) U V = (10)(20)(0.2588)(e) =

+j sin 45) = 7.07i + 0.707j,

= i(0) j(0) +k(70.7 122.45)

= i(0) j(0) +k(122.45 70.7)