Chapter 02 Force Vectors

BMCG 1113 STATICS
Dr. Isa Halim

Faculty of Manufacturing Engineering
Learning Objectives
At the end of this chapter, students should be able to:
Differentiate between scalars and vectors.
Apply Parallelogram (PG) Law, Scalar Notation, and
Cartesian Vector Notation to perform forces addition.
Calculate the Resultant Force (F
R
), its magnitude and
direction.
APPLICATIONS OF FORCE VECTORS
Scalar

- A scalar is physical quantity that has a magnitude
and does not depend on direction.
- It does not changed by coordinate system rotations.
- It can be indicated by a positive or negative number.
- Examples of scalar: mass, volume, time and length.

SCALARS AND VECTORS
Vector
- A vector is quantity that has both magnitude and
direction. For e.g., position, force and moment.
- Represented by a letter with an arrow over it
- Magnitude (positive quantity) is designated by
- In figure below, the vector is shown by an arrow.
- The length of arrow is magnitude.
- The angle () is direction.
- The arrow head is sense of direction.
SCALARS AND VECTORS (cont)
A
VECTOR OPERATIONS
Multiplication and Division of a Vector by a Scalar
- If vector (A) is multiplied by a positive scalar (a), its
magnitude increase. Magnitude =
- If vector (A) is multiplied by a negative scalar (-a), its
sense of direction changed.

aA
Vector Addition (+)
- Addition of two vectors A and B gives a resultant
vector R by the parallelogram law.
- Resultant R can be found by triangle construction.
- Resultant e.g. R = A + B = B + A
- Special case when vectors A and B are collinear (both
have the same line of action).

VECTOR OPERATIONS (cont)
triangle construction
VECTOR OPERATIONS (cont)
Vector Subtraction (-)
- Vector subtraction is special case of addition.
- So, the rules of Vector Addition also apply to vector
subtraction.
- Example: R = A B = A + ( - B )

VECTOR ADDITION OF FORCES
Finding a Resultant Force
Parallelogram law is carried out to find the resultant
force

Resultant force, F
R

F
R
= ( F
1
+ F
2
)
Problem
Parallelogram
Triangle construction
VECTOR ADDITION OF FORCES (cont)
Procedures for Analysis:
Step 1: Parallelogram Law.
Step A: Sketch a thin line from the
arrow head of F
1
, parallel to F
2
.
Step B: Sketch a thin line from the
arrow head of F
2
, parallel to F
1
.
Step C: Sketch a diagonal line
from the origin of F
1
and F
2
to
intersection point of the two thin
lines.
- Resultant force (F
R
) is shown by
the diagonal of the parallelogram.

VECTOR ADDITION OF FORCES (cont)
Procedures for Analysis:
Step 2: Trigonometry.
Step A: Redraw half portion of the
parallelogram.
Step B: Apply the cosines law
to determine the magnitude of the
resultant force (F
R
) .
Step C: Apply the sines law to
determine the direction of the
resultant force (F
R
) .
Step D: Apply the sines law to
determine the magnitude of the two
components.

Copyright 2011 Pearson Education South Asia Pte Ltd
EXAMPLE 1
The hook is subjected to two forces,
F
1
and F
2
.
Determine:
1) The magnitude of resultant
force (F
R
).
2) The direction of the resultant
force (F
R
) measured from the
positive x-axis.

EXAMPLE 1 (cont)
Step 1: Parallelogram
Law

Unknown:
1) Magnitude of resultant
force, F
R
.
2) Direction of resultant
force, measured from
the positive x-axis.
x-axis
EXAMPLE 1 (cont)
Solution
Step 2: Trigonometry
Cosines law

Sines law
75 . 39
639 . 0 sin
578 . 234
150
sin
578 . 234
sin
150
115 sin
6 . 212
sin
150
=
=
=
=
=
u
u
u
u
u
N
N
N N
( ) ( ) ( )( )
( ) N
N N N N C F
R
6 . 212 4226 . 0 30000 22500 10000
115 cos 150 100 2 150 100
2 2
= + =
+ = =

A
B
C
c
C
b
B
sin sin
=
EXAMPLE 1 (cont)
Solution
Trigonometry
Direction of F
R

measured from the
positive x-axis:

75 . 54
15 75 . 39
=
+ = |
) (|
ADDITION OF A SYSTEM OF COPLANAR FORCES
Scalar Notation
x and y axes are designated positive and negative
Components of forces expressed as algebraic
scalars
u
u
sin
and , cos
,
F F
F F
but
F F F
y
x
y x
=
=
+ =
F
y
u
u
cos
/ cos
F F
F F
x
x
=
=
u
u
sin
/
F F
F F Sin
y
y
=
=
(cont)
Cartesian Vector Notation
Cartesian unit vectors i and j are used to designate
the x and y directions.
Unit vectors i and j have dimensionless magnitude
of unity ( = 1 ).
Magnitude is always a
positive quantity,
represented by
scalars F
x
and F
y

j F i F F
y x
+ =
Coplanar Force Resultants
To determine resultant of
several coplanar forces:
Resolve force into x and y
components.
Addition of the respective
components using scalar
algebra.
Resultant force is found
using the parallelogram law
Cartesian vector notation on
top right:

j F i F F
j F i F F
j F i F F
y x
y x
y x
3 3 3
2 2 2
1 1 1
=
+ =
+ =
(cont)
Definition of Coplanar
Coplanar is a set of points, lines, or any other
geometrical shapes that lie on the same plane.

(cont)
ADDITION OF SEVERAL VECTORS
Step 3: Find the magnitude and
direction (angle) of the resultant
vector.
Step 1: Resolve each force into
its components.
Step 2: Add all the x components
together. Then add all the y
components together. These two
totals become the resultant vector.
Vector resultant is therefore:

If scalar notation is used:

( ) ( )j F i F
F F F F
Ry Rx
R
+ =
+ + =

3 2 1
y y y Ry
x x x Rx
F F F F
F F F F
3 2 1
3 2 1
+ =
+ =
(cont)
F
1
F
2
F
3
In all cases we have

Magnitude of F
R
can be found by Pythagorean Theorem:

=
=
y Ry
x Rx
F F
F F * Take note of sign conventions
(cont)

2 2
Ry Rx R
F F F + =
Rx
Ry
F
F
Therefore
1 -
tan , = u
Rx
Ry
F
F
= u tan
EXAMPLE 1
Given: Three concurrent forces
acting on a bracket.
Find: The magnitude and
direction (angle) of the
resultant force.

Solution Steps:
Step 1: Resolve the forces in their x-y components.
Step 2: Add the respective components to get the resultant vector.
Step 3: Find magnitude and angle from the resultant components.
Solution 1 (using Cartesian vector notation)
Component x - axis y axis
F
1
{15 sin 40 i } kN
= {9.642 i } kN

{15 cos 40 j } kN
{11.49 j } kN

F
2
{-(12/13)26 i } kN
= {-24 i } kN

{(5/13)26 j } kN
= {10 j } kN

F
3
{ 36 cos 30 i } kN
{ 31.18 i } kN

{ 36 sin 30 j } kN
{ 18 j } kN

Summing up all the i and j components respectively, we get,
F
R
= { (9.642 24 + 31.18) i + (11.49 + 10 18) j } kN
= { 16.82 i + 3.49 j } kN x
y
F
R

3.49
16.82
Step 1:
Step 2:
Solution 2 (using scalar notation)
F
1
{15 sin 40} kN
= {9.642} kN

{15 cos 40} kN
= {11.49} kN

F
2
{-(12/13)26} kN
= {-24} kN

{(5/13)26} kN
= {10} kN

F
3
{ 36 cos 30} kN
= { 31.18} kN

{ 36 sin 30 } kN
= { 18 } kN

Summing up all the x axis, we get,
F
R(x)
= { (9.642 24 + 31.18) } kN
= 16.82 kN
Summing up all the y axis, we get,
F
R(y)
= { (11.49 + 10 18) } kN
= 3.49 kN
x
y
F
R

3.49
16.82
EXAMPLE (continued)
x
y
|
F
R

F
R
= ((16.82)
2
+ (3.49)
2
)
1/2
= 17.2 kN
The angle:
| = tan
-1
(3.49/16.82) = 11.7

The magnitude:
16.82
3.49
Rx
Ry
Ry Rx R
F
F
F F F Magnitude
1 -
2 2
tan Direction,
,
=
+ =
|
Formula:
Step 3:
EXAMPLE 2
Determine x and y
components of F
1
and
F
2
acting on the boom.

Express each force as
a Cartesian vector.

F
1
{- 200 sin 30}N
= -100 N

{200 cos 30}N
= 173.205 N

F
2
{260 (12/13)}N
= 240 N

{-260 (5/13)}N
= -100 N

F
R(x)
= { (-100 + 240) } N
= 140 N
F
R(y)
= { (173.205 100) } N
= 73.205 N
Step 2:
Step 1:
F
1
{- 200 sin 30i}N
= -100i N

{200 cos 30j}N
= 173.205j N

F
2
{260 (12/13) i}N
= 240i N

{-260 (5/13) j}N
= -100j N

F
R
= { (-100 + 240) i + (173.205 - 100) j } N
= { 140 i + 73.205 j } N
Expression of each force in Cartesian vector:
F
1
= { (-100 ) i + (173.205 ) j } N
F
2
= { 240 i - 100 j } N
EXAMPLE 2 (cont)
Scalar Notation:

Cartesian Vector Notation:

| = = =
= = =
N N N F
N N N F
y
x
173 173 30 cos 200
100 100 30 sin 200
1
1
Solution (if you want to solve without table)

(for component F
1
)
{ }N j i F 173 100
1
+ =
EXAMPLE 2 (cont)

Scalar Notation:

Cartesian Vector Notation:

N 100
13
5
260
N 240
13
12
260
2
2
=
|
.
|
\
|
=
=
|
.
|
\
|
=
N F
N F
y
x
+ = =
=
N N F
N F
y
x
100 100
240
2
2
{ }N j i F 100 240
2
=
13
12
N 260
2
=
|
.
|
\
|
x
F
Solution (if you want to solve without table)

(for component F
2
)
Use triangle ratio.
13
5
N 260
2
=
|
|
.
|
\
|
y
F
Use triangle ratio.
EXAMPLE 3
The link is subjected to two forces F1
and F2. Determine the magnitude and
orientation of the resultant force.

F
1
{600 cos 30}N
= 519.615 N

{600 sin 30}N
= 300 N

F
2
{-400 sin 45}N
= -282.843 N

{400 cos 45}N
= 282.843 N

F
R(x)
= { (519.615 282.843) } N
= 236.772 N
F
R(y)
= { (300 + 282.843) } N
= 582.843 N
Step 1:
Step 2:
F
1
{600 cos 30 i}N
= 519.615 i N

{600 sin 30 j}N
= 300 j N

F
2
{-400 sin 45 i}N
= -282.843 i N

{400 cos 45 j}N
= 282.843 j N

F
R
= { (519.615 282.843) i + (300 + 282.843) j } N
= { 236.772 i + 582.843 j } N

EXAMPLE 3 (cont)
Resultant Force

Direction angle is:

( ) ( )
N
N N F
R
1 . 629
843 . 582 772 . 236
2 2
=
+ =
89 . 67
772 . 236
843 . 582
tan
1
=
|
.
|
\
|
=

N
N
u
Step 3:

2 2
Ry Rx R
F F F + =
Rx
Ry
F
F
1 -
tan = u
CARTESIAN VECTORS (3D)
Right-Handed
Coordinate System

A rectangular or Cartesian
coordinate system is said to
be right-handed provided:
Thumb of right hand
points in the direction of
the positive z axis
z-axis for the 2D problem
would be perpendicular,
directed out of the page.

CARTESIAN VECTORS (cont)
Rectangular Components of a Vector
A vector A may have one, two or three rectangular
components along the x, y and z axes, depending on
orientation.
By two successive applications
of the parallelogram law,
A = A + A
z
A = A
x
+ A
y
Combing the equations,
A can be expressed as
A = A
x
+ A
y
+ A
z

Unit Vector

Direction of A can be
specified using a unit vector.
Unit vector has a magnitude
of 1.
Cartesian Vector Representations

3 components of A act in the positive i, j and k
directions

A = A
x
i + A
y
j + A
Z
k

*Note the magnitude and direction
of each components are separated,
easing vector algebraic operations.
1. Magnitude of a Cartesian Vector
From the colored triangle,

From the shaded triangle,

Combining the equations
gives magnitude of A

2 2 2
z y x
A A A A
+ + =
2 2
'
y x
A A A
+ =
2 2
'
z
A A A
+ =
2. Direction of a Cartesian Vector
Orientation of A is defined as the coordinate direction
angles , and measured between the tail of A and
the positive x, y and z axes.
Angle of , and is between 0to 180
The direction cosines of A are:
A
A
x
= o cos
A
A
y
= | cos
A
A
z
= cos
Note: cos = adjacent / hypotenuse
Direction of a Cartesian Vector
Angles , and can be determined by the
inverse cosines
Given
A = A
x
i + A
y
j + A
Z
k

then,
u
A
= A /A = (A
x
/A)i + (A
y
/A)j + (A
Z
/A)k

where
2 2 2
z y x
A A A A + + =
Direction of a Cartesian Vector
u
A
can also be expressed as
u
A
= cos i + cos j + cos k

Since and u
A
= 1, we have

A as expressed in Cartesian vector form is
A = A u
A

= A cosi + A cosj + A cosk
= A
x
i + A
y
j + A
Z
k

2 2 2
z y x
A A A A + + =
1 cos cos cos
2 2 2
= + + | o
Addition and Subtraction of
Forces - Concurrent Force
Systems:

Resultant force (F
R
) is the
vector summation of all
the forces in the system

F
R
= F
= F
x
i + F
y
j + F
z
k
ADDITION AND SUBTRACTION OF
CARTESIAN VECTORS
EXAMPLE 4
Question:
Express the force F as Cartesian vector.
Given:
1.F = 200 N
2. | = 60
3. = 45

Solution Plan:
1.Find .
2.Express all forces in
Cartesian notation.

EXAMPLE 4 (cont)
Since two angles are specified, the third angle can be found by:

Two possibilities of will exist:
( )

120 5 . 0 cos
1
= =

o
( )

60 5 . 0 cos
1
= =

o
( ) ( )

5 . 0 707 . 0 5 . 0 1 cos
1 45 cos 60 cos cos
1 cos cos cos
2 2
2 2 2
2 2 2

= =
= + +
= + +
o
o
| o
Solution
EXAMPLE 4 (cont)
Solution
By inspection, = 60 since Fx must be in the +x direction

Given F = 200N
F = F cos i + F cos j + F cos k
= (200N cos 60)i + (200N cos 60)j + (200N cos 45)k
= {100.0i + 100.0j + 141.4k}N

Checking:
( ) ( ) ( ) N
F F F F
z y x
200 4 . 141 0 . 100 0 . 100
2 2 2
2 2 2
= + + =
+ + =
Wing strut
APPLICATIONS
How can we
represent the force
along the wing
strut in a 3-D
Cartesian vector
form?
POSITION VECTORS
POSITION VECTORS
x,y,z Coordinates
Apply right-handed
coordinate system.
Positive z axis points
upwards and downwards
is negative, measuring the
height of an object or
point.
Points are measured
relative to the origin, O.
Example:
Point A = 4xi + 2yj 6zk
Point B = 6xi 1yj + 4zk
POSITION VECTORS (cont)
Position Vector (r) Note: pls. dont get confuse with resultant force (F
R
)
Position vector r is defined as a fixed vector which
locates a point in space relative to another point.
Example: r = xi + yj + zk
Position Vector (r)
Vector addition gives r
A
+ r = r
B

Solving using the triangle construction:
r = r
B

r
A
= (x
B
x
A
)i + (y
B
y
A
)j + (z
B
z
A
)k
hence,
r = (x
B
x
A
)i + (y
B
y
A
)j + (z
B
z
A
)k
Length and direction of cable AB can be found by
measuring A and B using the x, y, z axes.
Position vector (r) can be established.
Magnitude of r represents the length of cable AB.
Angles, , and
represent the
direction of the cable.
Unit vector, u
u = position vector/ magnitude
u = r/r
EXAMPLE 5
An elastic rubber band is
attached to points A and B.
Determine its length and its
direction measured from A
towards B.
EXAMPLE 5 (cont)
Solution
Step 1: Position vector (r)
r = (x
B
x
A
)i + (y
B
y
A
)j + (z
B
z
A
)k
r = [-2m 1m]i + [2m 0]j + [3m (-3m)]k
= {-3i + 2j + 6k}m

Step 2: Magnitude = length of the rubber band

Step 3: Unit vector in the direction of r
u = r /r
= -3/7i + 2/7j + 6/7k
( ) ( ) ( ) m r 7 6 2 3
2 2 2
= + + =
cos = xi /r
cos = yj /r
cos = zk /r

EXAMPLE 5 (cont)
Solution
Step 4: Direction from A
FORCE VECTOR (F) DIRECTED ALONG A LINE
In 3D problems, direction
of F is specified by 2 points,
through which its line
of action lies.
F can be formulated
as a Cartesian vector:
F = F u = F (r/r)
Note that F has
the unit of force (N)
unlike r, with the
unit of length (m)
Force F acting along the chain can be presented as a
Cartesian vector by:
- Establish x, y, z axes.
- Form a position vector r along length of chain.

Unit vector, u = r/r that
defines the direction
of both the chain
and the force.

We get F = Fu

*Note: F = in Cartesian vector (i, j, k)
F = magnitude of force (e.g.: 100 N, 30 kN)

FORCE VECTOR DIRECTED ALONG A LINE
(cont)
EXAMPLE 6
The man pulls on the cord
with a force of 350 N.

Questions:
1) Express the force acting on
the support A, as a Cartesian
vector,
2) Determine its direction.
EXAMPLE 6 (cont)
Solution
End points of the cord are:
At support, A: (0m, 0m, 7.5m) and
At mans hold, B: (3m, -2m, 1.5m)
Step 1: Position vector (r)
r = (x
B
x
A
)i + (y
B
y
A
)j + (z
B
z
A
)k
r = (3m 0m)i + (-2m 0m)j + (1.5m 7.5m)k
r = {3i 2j 6k}m

Step 2: Magnitude = length of cord AB

Step 3: Unit vector (u)
u = r /r
= 3/7i - 2/7j - 6/7k
( ) ( ) ( ) m m m m r 7 6 2 3
2 2 2
= + + =
EXAMPLE 6 (cont)
Solution
Force F has a magnitude of
350 N, direction specified by u.
Step 4: Force vector (F) along the cord
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k}N

Step 5: Direction

= cos
-1
(3/7) = 64.6
= cos
-1
(-2/7) = 107
= cos
-1
(-6/7) = 149

Chapter 02 Force Vectors

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Chapter 02 Force Vectors

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BMCG 1113 STATICS

Dr. Isa Halim

Solution (if you want to solve without table)

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