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ENGINEERING MECHANICS
CHAPTER 2: FORCE VECTOR
PREPARED BY:
NORHAYATI BINTI AHMAD
CHAPTER OBJECTIVES
Understand scalars and vectors
Scalar
A quantity characterized by a positive or negative number
Indicated by letters in italic such as A
Eg: Mass, volume and length
Vector
A quantity that has both magnitude and direction
Eg: Position, force and moment
Vector
Arrowhead = Sense of Vector
JJ205/CH.2/ FORCE VECTOR
Example 2.1
Magnitude of Vector = 4 units
Direction of Vector = 20 measured counterclockwise from
the horizontal axis
Sense of Vector = Upward and to the right
The point O is called tail of the vector and the point P is
called the tip or head
VECTOR OPERATIONS
Multiplication and Division of a Vector by a Scalar
Vector Addition
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JJ205/CH.2/ FORCE VECTOR
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JJ205/CH.2/ FORCE VECTOR
Vector Subtraction
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RESOLUTION OF A VECTOR
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Example 2.2
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Example 2.3
Fa and Fb are forces exerting on the hook.
Solution:
Resultant, Fc can be found using the
parallelogram law
Lines parallel to a and b from the heads of Fa
and Fb are drawn to form a parallelogram
Similarly, given Fc, Fa and Fb can be found
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Trigonometry
Redraw half portion of the parallelogram
Magnitude of the resultant force can be determined by the
law of cosines
Direction if the resultant force can be determined by the law
of sines
Magnitude of the two components can be determined by the
law of sines
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Example 2.4
The screw eye is subjected to
two forces F1 and F2.
Determine the magnitude and
direction of the resultant force.
Solution
Parallelogram Law
Unknown: magnitude of FR and angle
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Trigonometry
Law of Cosines
Law of Sines
Direction of FR measured from the horizontal
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Example 2.5
Resolve the 1000 N ( 100kg) force
acting on the pipe into the components
in the
(a) x and y directions, and
(b) x and y directions.
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Solution
Parallelogram Law
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(b)
Parallelogram Law
Law of Sines
Example 2.6
The ring is subjected to two forces F1 and F2. If it is
required that the resultant force have a magnitude of
1kN and be directed vertically downward, determine
(a) magnitude of F1 and F2 provided = 30, and
(b) the magnitudes of F1 and F2 if F2 is to be a
minimum.
Solution
(a) Parallelogram Law
Unknown: Forces F1 and F2
Law of Sines
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Scalar Notation
x and y axes are designated positive and negative
Components of forces expressed as algebraic scalars
Eg: (a)
(b)
Sense of direction along positive x and y axes
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Step 2 is to add all the x components together and add all the y
components together. These two totals become the resultant vector.
FR = F1 + F 2 + F3
= F1xi + F1yj - F2xi + F2yj + F3xi F3yj
= (F1x - F2x + F3x)i + (F1y + F2y F3y)j
= (FRx)i + (FRy)j
If scalar notation are used
FRx = (F1x - F2x + F3x)
FRy = (F1y + F2y F3y)
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In all cases,
FRx = Fx
FRy = Fy
* Take note of sign conventions
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Example 2.7
Determine x and y components of F1 and F2 acting on the
boom. Express each force as a Cartesian vector
Solution
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Example 2.8
The link is subjected to two forces F1
and F2. Determine the magnitude
and orientation of the resultant force
Solution
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Example 2.9
Given three concurrent forces acting on a bracket. Find the
magnitude and angle of the resultant force.
Solution
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Cartesian Vectors
(3 Dimensional Vectors)
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Unit vector
So that
A = A uA
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Given
A = Axi + Ayj + AZk
then,
uA = A /A
= (Ax/A)i + (Ay/A)j + (AZ/A)k
where
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and magnitude of uA = 1,
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Force, F that the tie down rope exerts on the ground support at O is
directed along the rope. Angles , and can be solved with axes
x, y and z
Cosines of their values forms a unit vector u that acts in the
direction of the rope
Force F has a magnitude of F
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Example 2.10
Express the force F as Cartesian vector
Solution:
Since two angles are specified, the third
angle is found by
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Given F = 200N
F = Fcosi + Fcosj + Fcosk
= (200cos60N)i + (200cos60N)j + (200cos45N)k
= {100.0i + 100.0j + 141.4k}N
Checking:
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Example 2.11
Determine the magnitude and coordinate direction
angles of resultant force acting on the ring
Solution:
Resultant force
FR = F
= F1 + F2
= {60j + 80k}kN + {50i - 100j + 100k}kN
= {50j -40k + 180k}kN
Magnitude of FR is found by
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Example 2.12
Express the force F1 as a Cartesian vector.
Solution
The angles of 60 and 45 are not coordinate
direction angles. By two successive applications
of parallelogram law,
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By trigonometry,
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Example 2.13
Two forces act on the hook. Specify the
coordinate direction angles of F2, so that the
resultant force FR acts along the positive y axis
and has a magnitude of 800N.
Solution:
Cartesian vector form
FR = F1 + F2
F1 = F1cos1i + F1cos1j + F1cos1k
= (300cos45N)i + (300cos60N)j+ (300cos120N)k
= {212.1i + 150j - 150k}N
F2 = F2xi + F2yj + F2zk
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0 = 212.1 + F2x
800 = 150 + F2y
0 = -150 + F2z
F2x = -212.1N
F2y = 650N
F2z = 150N
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Position Vectors
Right-handed coordinate system
Positive z axis points upwards, measuring the height of
an object or the altitude of a point
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Position Vector
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Example 2.14
An elastic rubber band is attached to points A and B. Determine its
length and its direction measured from A towards B.
Solution:
Position vector
r = [-2m 1m]i + [2m 0]j + [3m (-3m)]k
= {-3i + 2j + 6k}m
Magnitude = length of the rubber band
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Example 2.15
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.
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
Force F has a magnitude of 350N, direction
specified by u
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k} N
= cos-1(3/7)
= 64.6
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FORCE VECTOR
= cos-1(-2/7) = 107
= cos-1(-6/7) = 149
Example 2.16
The circular plate is partially supported by the cable AB. If the force of
the cable on the hook at A is F = 500N, express F as a Cartesian vector.
Solution:
End points of the cable are (0m, 0m, 2m) and
B(1.707m, 0.707m, 0m)
r = (1.707m 0m)i + (0.707m 0m)j+ (0m 2m)k
= {1.707i + 0.707j - 2k}m
Magnitude = length of cable AB
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Unit vector,
u = r /r
= (1.707/2.723)i + (0.707/2.723)j (2/2.723)k
= 0.6269i + 0.2597j 0.7345k
For force F,
F = Fu
= 500N(0.6269i + 0.2597j 0.7345k)
= {313i - 130j - 367k} N
Checking
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Example 2.17
The roof is supported by cables. If the cables exert FAB = 100N and
FAC = 120N on the wall hook at A, determine the magnitude of the
resultant force acting at A.
Solution:
rAB = (4m 0m)i + (0m 0m)j + (0m 4m)k
= {4i 4k}m
FAB = 100N (rAB/r AB)
= 100N {(4/5.66)i - (4/5.66)k}
= {70.7i - 70.7k} N
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Dot product
Dot product of vectors A and B is written as AB (Read A dot B)
Define the magnitudes of A and B and the angle between their tails
AB = AB cos where 0 180
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Applications
The angle formed between two vectors or intersecting
lines
= cos-1 [(AB)/(AB)] 0 180
Note: if AB = 0, cos-10= 90, A is perpendicular to B
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= (Au)u
For component of A perpendicular to line aa
1. Since A = A + A, then A = A - A
2. = cos-1 [(Au)/(A)] then A = Asin
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Example 2.18
The frame is subjected to a horizontal force F = {300j} N. Determine the
components of this force parallel and perpendicular to the member AB.
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Solution
Since
Then
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Since result is a positive scalar, FAB has the same sense of direction
as uB. Express in Cartesian form
Perpendicular component
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Chapter Summary
Parallelogram Law
Addition of two vectors
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Cartesian Vectors
Vector F resolved into Cartesian vector form
F = Fxi + Fyj + Fzk
Magnitude of F
Coordinate direction angles , and are determined by
the formulation of the unit vector in the direction of F
u = (Fx/F)i + (Fy/F)j + (Fz/F)k
Components of u represent cos, cos and cos
These angles are related by
cos2 + cos2 + cos2 = 1
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Chapter Review
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