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Alberto Cuitino, Heather Emady, Sara Salahi, Bereket Yohannes Instructors Juan Ren, Jingjin Xie
Assistants
Based on Textbook Material: Engineering Mechanics Statics, 12th Edition, R.C. Hibbeler, Pearson 2010.
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Topics to be reviewed
What is a Cartesian vector representation? What is a Cartesian component? How do we add vectors using Cartesian components? What is a unit vector? What is a vector position? How do find a force along a given direction? What is the inner (or dot) product? What is the inner product useful for?
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Scalar Notation 2D
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F = Fx i + Fy j
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Break the three vectors into components, then add them. FR = F1 + F2 + F3 = F1x i + F1y j F2x i + F2y j + F3x i F3y j = (F1x F2x + F3x) i + (F1y + F2y F3y) j = (FRx) i + (FRy) j
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Examples
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Examples
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Cartesian Vectors 3D
A = Ax + Ay + Az
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The unit vectors in the Cartesian axis system are i, j, and k. They are unit vectors along the positive x, y, and z axes respectively.
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The projection of vector A in the x-y plane is A. The magnitude of A is found by using the same approach as a 2-D vector: A = (AX2 + AY2)1/2 .
The magnitude of the position vector A can now be obtained as A = ((A)2 + AZ2) =
School of Engineering, Spring 2014
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These angles are not independent. They must satisfy the following equation:
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A + B = (AX + BX) i + (AY + BY) j + (AZ + BZ) k or A B = (AX - BX) i + (AY - BY) j + (AZ - BZ) k .
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Examples
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Examples
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Vector Position
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Vector Position
A position vector is defined as a fixed vector that locates a point in space relative to another point.
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Vector Position
Consider two points, A and B, in 3-D space. Let their coordinates be (XA, YA, ZA) & (XB, YB, ZB ), respectively.
The position vector directed from A to B, r AB , is defined as r AB = {( XB XA ) i + ( YB YA ) j + ( ZB ZA ) k } Please note that B is the ending point and A is the starting point. ALWAYS subtract the tail coordinates from the tip coordinates!
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Example
Direction from A to B Distance
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Example
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Example
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If a force is directed along a line, then we can represent the force vector in Cartesian coordinates by using a unit vector and the forces magnitude. So we need to:
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Procedure
1) Find the position vector, rAB , along two points on that line. 2) Find the unit vector describing the lines direction, uAB = (rAB/rAB). 3) Multiply the unit vector by the magnitude of the force, F = F uAB .
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Example
Find Force at A
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Example
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Example
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Dot Product
A
A B = A B cos
AB=BA a (A B ) = (a A ) B = A (a B ) A (B + D) = (A B) + (A D) Commutative Multiplication by a scalar Distributive Law
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Dot Product
A B = Ax Bx + Ay By + Az Bz
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A B
= cos-1 (A B / A B)
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Example
Find Projections parallel and perpendicular to AB
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Example
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Example
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Take-home message
Addition using Cartesian components is simple
Add all components in each direction using scalar addition Similar procedure for 2 and 3 dimensional cases Quite practical for 3D problems
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