Chapter 2:

Force Vectors
Engineering Mechanics: Statics
 2.6 Addition and Subtraction of
Cartesian Vectors
Example
Given: A = Axi + Ayj + AZk
and B = Bxi + Byj + BZk
Vector Addition
Resultant R = A + B
= (Ax + Bx)i + (Ay + By )j + (AZ + BZ) k
Vector Substraction
Resultant R = A - B
= (Ax - Bx)i + (Ay - By )j + (AZ - BZ) k
 2.6 Addition and Subtraction of
Cartesian Vectors
• Concurrent Force Systems
- Force resultant is the vector sum of all the forces
in the system

FR = ∑F = ∑Fxi + ∑Fyj + ∑Fzk

where ∑Fx , ∑Fy and ∑Fz represent the algebraic

sums of the x, y and z or i, j or k components of
each force in the system
 2.6 Addition and Subtraction of
Cartesian Vectors

• Force, F that the tie down rope exerts on the ground support at
O is directed along the rope
• Angles α, β and γ can be solved with axes x, y and z
 2.6 Addition and Subtraction of
Cartesian Vectors

• Cosines of their values forms a unit vector u that acts in the

direction of the rope
• Force F has a magnitude of F
F = Fu = Fcosαi + Fcosβj + Fcosγk
 2.6 Addition and Subtraction of
Cartesian Vectors
Example 3
Express the force F as Cartesian vector
 2.6 Addition and Subtraction of
Cartesian Vectors
Solution
Since two angles are specified, the third
angle is found by
cos 2   cos 2   cos 2   1
cos 2   cos 2 60  cos 2 45  1
cos   1  0.5  0.707   0.5
2 2

Two possibilities exit, namely

  cos 0.5  60   cos 1  0.5  120

1  or
 2.6 Addition and Subtraction of
Cartesian Vectors
Solution
By inspection, α = 60° since Fx is in the +x direction
Given F = 200N
F = Fcosαi + Fcosβj + Fcosγk
= (200cos60°N)i + (200cos60°N)j
+ (200cos45°N)k
= {100.0i + 100.0j + 141.4k}N
Checking:
F  Fx  Fy  Fz
2 2 2

 100.0  100.0  141.4  200 N

2 2 2
 2.7 Position Vectors
• x,y,z Coordinates
- Right-handed coordinate system
- Positive z axis points upwards, measuring
the height of an object or the altitude of a
point
- Points are measured relative to the origin, O.
 2.7 Position Vectors
• x,y,z Coordinates
Example 4:
For Point A, xA = +4m along the x axis, yA = -6m along the
y axis and zA = -6m along the z axis. Thus, A (4, 2, -6)
Similarly, B (0, 2, 0) and C (6, -1, 4)
 2.7 Position Vectors
• Position Vector
- Position vector r is defined as a fixed vector
which locates a point in space relative to another
point.
Eg: If r extends from the
origin, O to point P (x, y, z)
then, in Cartesian vector
form
r = xi + yj + zk
 2.7 Position Vectors
• Position Vector
Note the head to tail vector addition of the three components

Start at origin O, one travels x in the +i direction,

y in the +j direction and z in the +k direction,
arriving at point P (x, y, z)
 2.7 Position Vectors
• Position Vector
- Position vector maybe directed from point A to
point B
- Designated by r or rAB
Vector addition gives
rA + r = rB
Solving
r = rB – rA = (xB – xA)i + (yB – yA)j + (zB –zA)k
or
r = (xB – xA)i + (yB – yA)j + (zB –zA)k
 2.7 Position Vectors
• Position Vector
- The i, j, k components of the positive vector r may be
formed by taking the coordinates of the tail, A (xA, yA, zA)
and subtract them from the head B (xB, yB, zB)

Note the head to tail vector addition of the three components

 2.7 Position Vectors
• 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 r represent
the length of cable
 2.7 Position Vectors
• Angles, α, β and γ
represent the direction
of the cable
• Unit vector, u = r/r
 2.7 Position Vectors
Example 5
An elastic rubber band is
attached to points A and B.
Determine its length and its
direction measured from A
towards B.
 2.7 Position Vectors
Solution
Position vector
r = [-2m – 1m]i + [2m – 0]j + [3m – (-3m)]k
= {-3i + 2j + 6k}m
Magnitude = length of the rubber band

Unit vector in the director of r

u = r /r
= -3/7i + 2/7j + 6/7k
 2.7 Position Vectors
• Solution
α = cos-1(-3/7) = 115°
β = cos-1(2/7) = 73.4°
γ = cos-1(6/7) = 31.0°
2.8 Force Vector 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 units of

forces (N) unlike r, with
units of length (m)
 2.8 Force Vector Directed along a
Line

• 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
2.8 Force Vector Directed along a
Line

• Unit vector, u = r/r that defines the direction of

both the chain and the force
• We get F = Fu
2.8 Force Vector Directed along a
Line
Example 6
The man pulls on the cord
with a force of 350N.
Represent this force acting
on the support A, as a
Cartesian vector and
determine its direction.
2.8 Force Vector Directed along a
Line
Solution

End points of the cord are A (0m, 0m, 7.5m)

and B (3m, -2m, 1.5m)
r = (3m – 0m)i + (-2m – 0m)j + (1.5m – 7.5m)k
= {3i – 2j – 6k}m

Magnitude = length of cord AB

Unit vector, u = r /r
= 3/7i - 2/7j - 6/7k
2.8 Force Vector Directed along a
Line
Solution
Force F has a magnitude of 350N, direction
specified by u
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k} N

α = cos-1(3/7) = 64.6°
β = cos-1(-2/7) = 107°
γ = cos-1(-6/7) = 149°
 2.9 Dot Product
• Dot product of vectors A and B is written as A·B
(Read A dot B)
• Define the magnitudes of A and B and the angle
between their tails
A·B = AB cosθ where 0°≤ θ ≤180°
• Referred to as scalar
product of vectors as
result is a scalar
 2.9 Dot Product
Laws of Operation
1. Commutative law
A·B = B·A
2. Multiplication by a scalar
a(A·B) = (aA)·B = A·(aB) = (A·B)a
3. Distribution law
A·(B + D) = (A·B) + (A·D)
 2.9 Dot Product
Cartesian Vector Formulation
- Dot product of Cartesian unit vectors
Eg: i·i = (1)(1)cos0° = 1 and
i·j = (1)(1)cos90° = 0
- Similarly
i·i = 1 j·j = 1 k·k = 1
i·j = 0 i·k = 1 j·k = 1
 2.9 Dot Product
• Cartesian Vector Formulation
- Dot product of 2 vectors A and B
A·B = (Axi + Ayj + Azk)· (Bxi + Byj + Bzk)
= AxBx(i·i) + AxBy(i·j) + AxBz(i·k)
+ AyBx(j·i) + AyBy(j·j) + AyBz(j·k)
+ AzBx(k·i) + AzBy(k·j) + AzBz(k·k)
= AxBx + AyBy + AzBz
Note: since result is a scalar, be careful of
including any unit vectors in the result
 2.9 Dot Product
• Applications
The angle formed between two vectors or
intersecting lines
θ = cos-1 [(A·B)/(AB)] 0°≤ θ ≤180°
Note: if A·B = 0, cos-10= 90°, A is perpendicular to B
 2.9 Dot Product
• Applications
- If A║ is positive, A║ has a directional sense
same as u
- If A║ is negative, A║ has a directional sense
opposite to u
- A║ expressed as a vector
A║ = A cos θ u
= (A·u)u
 2.9 Dot Product
• Applications
For component of A perpendicular to line aa’
1. Since A = A║ + A┴,
then A┴ = A - A║
2. θ = cos-1 [(A·u)/(A)]
then A┴ = Asinθ
3. If A║ is known, by Pythagorean Theorem
A  A2  A||2
 2.9 Dot Product
• For angle θ between the
rope and the beam A,
- Unit vectors along the
beams, uA = rA/rA
- Unit vectors along the
ropes, ur=rr/rr
- Angle θ = cos-1
(rA.rr/rArr)
= cos-1 (uA· ur)
 2.9 Dot Product
• For projection of the
force along the beam A
- Define direction of the
beam
uA = rA/rA
- Force as a Cartesian
vector
F = F(rr/rr) = Fur
- Dot product
F║ = F║·uA
 2.9 Dot Product
Example 7
The frame is subjected to a horizontal force
F = {300j} N. Determine the components of
this force parallel and perpendicular to the
member AB.
 2.9 Dot Product
Solution
Since
   
 rB 2i  6 j  3k
uB   
rB 22  62  32
  
 0.286i  0.857 j  0.429k
Then
 
FAB  F cos
    
 F .u B  300 j   0.286i  0.857 j  0.429k 
 (0)(0.286)  (300)(0.857)  (0)(0.429)
 257.1N
 2.9 Dot Product
Solution
Since result is a positive scalar,
FAB has the same sense of
direction as uB. Express in
Cartesian form
  
FAB  FAB u AB
  
 257.1N 0.286i  0.857 j  0.429k 
  
 {73.5i  220 j  110k }N
Perpendicular component
         
F  F  FAB  300 j  (73.5i  220 j  110k )  {73.5i  80 j  110k }N
 2.9 Dot Product
Solution
Magnitude can be determined
From F┴ or from Pythagorean
Theorem
 2  2
F  F  FAB

 300 N 2  257.1N 2
 155 N