Cartesian vector notation of 3D forces is explained with the examples of

2D forces.

Consider the vector acting along the line AC as shown in fig.1.

Fig. 1

To cover the distance ‘d’ along AC, we have to move a distance of dX in the x
direction.

To cover a distance of one unit along AC, the distance we have to move in the x
direction = (dX/d)

Similarly, for one unit distance along AC, the distance we have to move in the y
direction = (dY/d)

From fig. 1, it is clear that the components of the unit vector are, (dX/d) and
(dY/d).

Therefore the vector of unit magnitude in the direction of AC can be

represented as

𝑑𝑥 𝑑𝑦
λ = Unit vector = 𝑖+ 𝑗=
𝑑 𝑑

𝑑𝑥 𝑑𝑦
But = cos ϴx and = cos ϴy ;
𝑑 𝑑

Therefore unit vector can also be represented as

λ = cos ϴx i + cos ϴy j

Unit vector is dimensionless

Please note:
 𝑑 2 𝑑𝑦 2 𝑑𝑥2 +𝑑𝑦
2
𝑑2
( 𝑑𝑥 ) + ( 𝑑 ) = 𝑑2
=
𝑑2
= 1; Therefore cos2 ϴx + cos2 ϴy = 1

Refer fig. 2. Let us give a symbol λ to the unit vector. The components of a force
F are represented as FX and FY. Similarly, the components of the unit vector λ
are represented as λX and λY.

Components of unit vector λ

λx = cos ϴx, λy = cos ϴy,

Since cos2 ϴx + cos2 ϴy = 1,

𝛌𝟐𝐱 + 𝛌𝟐𝐲 = λ2 = 12 = 1

Fig. 2

𝑑𝑥 𝑑𝑦 𝑑𝑥 𝑖+𝑑𝑦 𝑗
Force vector F = F λ = 𝐹 ( 𝑖+ 𝑗) = 𝐹(𝑐𝑜𝑠𝜃𝑥 𝑖 + 𝑐𝑜𝑠𝜃𝑦 𝑗) = 𝐹 ( )
𝑑 𝑑 𝑑

𝑑𝑥 𝑑𝑦
Force vector = F λ = F = 𝐹 ( 𝑖+ 𝑗)
𝑑 𝑑

From the above equation, (Mag. of F) λ = Vector F

𝑉𝑒𝑐𝑡𝑜𝑟 𝐹 𝑉𝑒𝑐𝑡𝑜𝑟 𝐴𝐶
So unit vector = λ = =
𝑀𝑎𝑔. 𝑜𝑓 𝐹 𝑀𝑎𝑔. 𝑜𝑓 𝐴𝐶

𝑑𝑥 𝑑𝑦 𝑑𝑥 𝑖+𝑑𝑦 𝑗
λ =𝐹( 𝑖+ 𝑗) /𝐹 =
𝑑 𝑑 𝑑

The scalar components of F are,

𝐹𝑑𝑥
𝐹𝑥 = 𝐹 𝑐𝑜𝑠𝜃𝑥 = ,
𝑑

𝐹𝑑𝑦
𝐹𝑦 = 𝐹 𝑐𝑜𝑠𝜃𝑦 =
𝑑
Example: Represent the vector
shown in fig. 3 in
Cartesian notation.

Unit vector

λ = (4/5)i + (3/5)j -------(1)

4
𝜃𝑥 = cos (5) = 36.560

3
𝜃𝑦 = cos ( ) = 53.130 Fig. 3
5

λ = cos(36.56)𝑖 + cos(53.13)𝑗 ------(2)

4 2 3 2 42 + 32 52
Please note that ( ) + ( ) = = = 1 = λ2
5 5 52 52

Also cos2 ϴx + cos2 ϴy = 1

Now this unit vector can be used to determine vector notation for other vectors,
like, displacement, velocity, acceleration, force, momentum etc. By multiplying
the magnitudes of the corresponding vectors, the cartesian notations for
different vectors can be obtained.

To convert the vector shown in fig. 3 into a force vector:

Let the magnitude of a force F = 100 N.

From equation (1), λ = (4/5)i + (3/5)j

Vector notation of F = F λ = 100 {(4/5)i + (3/5)j} OR

= 100 { cos(36.56)𝑖 + cos(53.13)𝑗 } OR

4 3 4𝑖+3𝑗 4𝑖+3𝑗
=100 ( ) 𝑖 + 100 ( ) 𝑗 = 100 ( ) = 100 ( ) = 80i + 50j
5 5 5 √(4 2 +32 )

To convert the vector shown in fig. 3 as a velocity vector:

Let the magnitude of the velocity V =10 m/s. Following the above procedure,
instead of multiplying by 100, multiply by 10. We will get

Velocity vector = 8i + 5j
 Case 1: Force is defined by its magnitude and the angles it makes
with the axes.

Rectangular components of a force.

Refer fig. 1.

The force F in vector notation

F = Fxi+Fyj = F cos 𝜃𝑥 i + F cos 𝜃𝑦 j

= F (cos 𝜃𝑥 i + F cos 𝜃𝑦 j) = F = F λ, where

λ is a unit vector

λ = cos ϴx i + cos ϴy j --------(4)

The angles ϴx and ϴy should be measured from the positive side of the
axis and will always be comprised between 0 and 180° (refer fig. 2 and 3)

Magnitude of F = √𝑭𝟐𝒙 + 𝑭𝟐𝒚

The unit vector can be written as

λ = λ x i + λ y j ------------------(5)
where λ x, and λ y, are components of unit vector λ
Comparing eqns. (4) and (5)
λ = cos ϴx i + cos ϴy j --------(4) (repeated)
 λx = cos ϴx, λy = cos ϴy, ---(6)

By trigonometry, cos2ϴx + cos2ϴy = 1-----------------(7)

Therefore λ2x + λ2y = λ2 = 1

Case 2: Force Defined by its Magnitude and Two Points on Its Line of
Action:

Write (Head co-ordinates ―

tail co-ordinates).

𝑑𝑥 = 𝑥2 − 𝑥1

𝑑𝑦 = 𝑦2 − 𝑦1

d = √(𝑑𝑥2 + 𝑑𝑦2 ) = Length of vector

MN

𝒅𝒙 𝒅𝒚
cos ϴx = ; cos ϴy = ; ------(9)
𝒅 𝒅

Fx = F cos ϴx, Fy = F cos ϴy ----(10)

𝑭𝒅𝒙 𝑭𝒅𝒚
Substituting eqn. (9) into eqn. (10), Fx = , Fy = ,
𝒅 𝒅

F = F (cos Øx i + cos Øy j) = = F cos Øx i + F cos Øy j

𝑭𝒅𝒙 𝑭𝒅𝒚 𝑑𝑥 𝑖+𝑑𝑦 𝑗

Therefore F =[ 𝒊+ 𝒋] = 𝐹 [ ] =Fλ
𝒅 𝒅 𝑑

From the above equation, (Vector F) = (magnitude of F) λ

𝒅𝒙 𝒊+𝒅𝒚 𝒋 Vector MN Vector F

Therefore λ = = = -----(9)
𝒅 Magniude of MN Magniude of F
Because vector of MN = dx i + dy j and Distance MN = d

The vector MN joining M and N has got the same sense as F.

Example problem 1: Determine the vectorial notation for the force

F = 100 N shown in fig. 5.

Head co-ordinates ― tail co-

ordinates.

dx = 7 ― 2 = 5;
dy = 9 ― 5 = 4;
Length MN = √52 + 42 = 6.403
𝑑𝑥 𝑖+𝑑𝑦 𝑗
Unit vector =
𝑑
5𝑖+4𝑗
=
6.403
= 0.7809i + 0.6247j
F = F λ = 100 (0.7809i + 0.6247j) =
78.09i + 62.47j
Cos 𝜃𝑥 = Fx/F = dx/d = 78.09/100 = 0.7809; 𝜃𝑥 = 38.660;

Cos 𝜃𝑦 = Fy/F = dy/d = 62.47/100 = 0.6247; 𝜃𝑦 = 51.340.

Example problem 2: Determine the vectorial notation for the force F = 200 N
shown in fig. 6.
Head co-ord. ― tail co-ord.

dx = ― 3 ― 5 = ― 8;
dy = 7 ― 2 = 5;
Length MN = √(−8)2 + 52 = 9.434

𝑑𝑥 𝑖+𝑑𝑦 𝑗 −8𝑖+5𝑗
Unit vector = =
𝑑 9.434
= ― 0.8480i + 0.5300j
F = F λ = 200 (― 0.8480i + 0.5300j) = ―169.6i + 106j
Cos 𝜃𝑥 = Fx/F = dx/d = ―169.6/200 = ― 0.8480

𝜃𝑥 = ― 320; Therefore the direction of the force is 1480 from +ve x axis.

Cos 𝜃𝑦 = Fy/F = dy/d = 106/200 = 0.5300

𝜃𝑦 = 580.
Determination of the resultant of several forces:
The resultant of the four forces A = P + Q + R + S.
Writing the forces P, Q, R and S into vectorial notation,
P = Pxi+Pyj;
Q = Qxi+Qyj;
R = Rxi+Ryj; and
S = Sxi+Syj
Therefore Axi + Ayj = (Pxi + Pyj) + (Qxi + Qyj) + (Rxi + Ryj) + (Sxi + Syj)
= (Px + Qx + Rx + Sx)i + (Py + Qy + Ry + Sy)j
Please note from the above equation that all the (i or x) components and all
the (j or y) components are separately added.
Equating all the ‘x’ components, Ax = Px + Qx + Rx + Sx or in short, Ax = ∑ Fx
Equating all the ‘y’ components, Ay = Py + Qy + Ry + Sy, or in short, Ay = ∑ Fy