DOT PRODUCT

Today’s Objective:
Students will be able to use the vector dot
product to:
a) determine an angle between In-Class Activities:
two vectors, and, • Check Homework
b) determine the projection of a vector • Reading Quiz
along a specified line.
• Applications / Relevance
• Dot product - Definition
• Angle Determination
• Determining the Projection
• Concept Quiz
• Group Problem Solving
• Attention Quiz
APPLICATIONS

If the design for the

cable placements
required specific angles
between the cables, how
would you check this
installation to make sure
the angles were correct?
 APPLICATIONS

For the force F being applied to the wrench at

Point A, what component of it actually helps turn
the bolt (i.e., the force component acting
perpendicular to the pipe)?
 DEFINITION

The dot product of vectors A and B is defined as A•B = A B cos .

The angle  is the smallest angle between the two vectors and is
always in a range of 0º to 180º.

Dot Product Characteristics:

1. The result of the dot product is a scalar (a positive or negative
number).
2. The units of the dot product will be the product of the units of
the A and B vectors.
 DOT PRODUCT DEFINITON
(continued)

Examples: By definition, i • j = 0
i•i = 1

A•B = (Ax i + Ay j + Az k) • (Bx i + By j + Bz k)

= Ax Bx + AyBy + AzBz
 USING THE DOT PRODUCT TO DETERMINE THE
ANGLE BETWEEN TWO VECTORS

For the given two vectors in the Cartesian form, one can find the
angle by
a) Finding the dot product, A • B = (AxBx + AyBy + AzBz ),
b) Finding the magnitudes (A & B) of the vectors A & B, and
c) Using the definition of dot product and solving for , i.e.,
 = cos-1 [(A • B)/(A B)], where 0º    180º .
 DETERMINING THE PROJECTION OF A VECTOR

You can determine the components of a vector parallel

and perpendicular to a line using the dot product.
Steps:
1. Find the unit vector, uaa´ along line aa´
2. Find the scalar projection of A along line aa´ by
A|| = A • uaa = AxUx + AyUy + Az Uz
 DETERMINING THE PROJECTION OF A VECTOR
(continued)

3. If needed, the projection can be written as a vector, A|| , by using

the unit vector uaa´ and the magnitude found in step 2.
A|| = A|| uaa´

4. The scalar and vector forms of the perpendicular component

can easily be obtained by

A  = (A 2 - A|| 2) ½ and
A  = A – A||
(rearranging the vector sum of A = A + A|| )
 EXAMPLE
Given: The force acting on the hook
at point A.
Find: The angle between the force
vector and the line AO, and
the magnitude of the
projection of the force along
the line AO.

Plan:
1. Find rAO
2. Find the angle  = cos-1{(F • rAO)/(F rAO)}
3. Find the projection via FAO = F • uAO (or F cos  )
 EXAMPLE
(continued)

rAO = {1 i + 2 j  2 k} m
rAO = (12 + 22 + 22)1/2 = 3 m

F = { 6 i + 9 j + 3 k} kN
F = (62 + 92 + 32)1/2 = 11.22 kN

F • rAO = ( 6)(1) + (9)(2) + (3)(2) = 18 kN m

 = cos-1{(F • rAO)/(F rAO)}

 = cos-1 {18 / (11.22 * 3)} = 57.67°
 EXAMPLE
(continued)

uAO = rAO/rAO = {( 1/3) i + (2/3) j + ( 2/3) k}

FAO = F • uAO = ( 6)( 1/3) + (9)(2/3) + (3)( 2/3) = 6.00 kN

Or: FAO = F cos  = 11.22 cos (57.67°) = 6.00 kN

 GROUP PROBLEM SOLVING

Given: The force acting on the pole.

Find: The angle between the force
vector and the pole, and the
magnitude of the projection of
the force along the pole AO.

Plan:
1. Find rAO
2. Find the angle  = cos-1{(F • rAO)/(F rAO)}
3. The find the projection via FAO = F • uAO or F cos 
 GROUP PROBLEM SOLVING (continued)

rAO = {4 i  4 j  2 k} ft.
rAO = (42 + 42 + 22)1/2 = 6 ft.

Fz = 600 sin 60° = 519.6 lb

F´ = 600 cos 60° = 300 lb

F = { 300 sin 30°i + 300 cos 30° j + 519.6 k} lb

F = { 150 i + 259.8 j + 519.6 k}lb
F = (1502 + 259.82 + 519.62)1/2 = 600 lb

F • rAO = (150)(4)+(259.8)(4)+(519.6)( 2) =  2678 lb·ft

 GROUP PROBLEM SOLVING (continued)

 = cos-1{(F • rAO)/(F rAO)}

 = cos-1{2678 /(600 × 6)}=138.1° 

uAO = rAO/rAO = {(4/6) i  (4/6) j (2/6) k}

FAO = F • uAO = ( 150)(4/6) + (259.8) (4/6) + (519.6) (2/6)
=  446 lb
Or: FAO = F cos  = 600 cos (138.1°) =  446 lb
 ATTENTION QUIZ
1. The dot product can be used to find all of the following except
____ .
A) sum of two vectors
B) angle between two vectors
C) component of a vector parallel to another line
D) component of a vector perpendicular to another line

2. Find the dot product of the two vectors P and Q.

P = {5 i + 2 j + 3 k} m
Q = {-2 i + 5 j + 4 k} m
A) -12 m B) 12 m C) 12 m 2
D) -12 m 2 E) 10 m 2
 CONCEPT QUIZ
1. If a dot product of two non-zero vectors is 0, then the two
vectors must be _____________ to each other.
A) parallel (pointing in the same direction)
B) parallel (pointing in the opposite direction)
C) perpendicular
D) cannot be determined.
 EQUILIBRIUM OF A PARTICLE IN 2-D, THE FREE-BODY
DIAGRAM & COPLANAR FORCE SYSTEMS
Today’s Objectives:
Students will be able to :
a) Draw a free body diagram (FBD), and, In-Class Activities:
b) Apply equations of equilibrium to solve • Reading Quiz
a 2-D problem. • Applications
• What, Why and How of a
FBD
• Equations of Equilibrium
• Analysis of Spring and
Pulleys
• Concept Quiz
• Group Problem Solving
• Attention Quiz
 READING QUIZ

1) When a particle is in equilibrium, the sum of forces acting on it

equals ___ . (Choose the most appropriate answer)
A) A constant B) A positive number C) Zero
D) A negative number E) An integer

2) For a frictionless pulley and cable, tensions in the cable (T1

and T2) are related as _____ .
A) T1 > T2
B) T1 = T2
C) T1 < T2
T1
D) T1 = T2 sin  T2
APPLICATIONS

The crane is lifting a load. To decide

if the straps holding the load to the
crane hook will fail, you need to
know the force in the straps. How
could you find the forces?

Straps
APPLICATIONS
(continued)
For a spool of given weight,
how would you find the
forces in cables AB and AC
? If designing a spreader
bar like this one, you need
to know the forces to make
sure the rigging doesn’t fail.
 APPLICATIONS
(continued)

For a given force exerted on the boat’s towing pendant, what are the
forces in the bridle cables? What size of cable must you use?
COPLANAR FORCE SYSTEMS
(Section 3.3)

This is an example of a 2-D or

coplanar force system.
If the whole assembly is in
equilibrium, then particle A is
also in equilibrium.

To determine the tensions in

the cables for a given weight of
the cylinder, you need to learn
how to draw a free body
diagram and apply equations of
equilibrium.
 THE WHAT, WHY AND HOW OF A
FREE BODY DIAGRAM (FBD)

Free Body Diagrams are one of the most important things for you
to know how to draw and use.

What ? - It is a drawing that shows all external forces acting on

the particle.

Why ? - It is key to being able to write the equations of

equilibrium—which are used to solve for the unknowns
(usually forces or angles).
 How ?
1. Imagine the particle to be isolated or cut free from its
surroundings.

2. Show all the forces that act on the particle.

Active forces: They want to move the particle.
Reactive forces: They tend to resist the motion.
3. Identify each force and show all known magnitudes and
directions. Show all unknown magnitudes and / or directions as
variables .
y

FBD at A FB
30˚
FD A A x

FC = 392.4 N (What is this?)

Note : Cylinder mass = 40 Kg
 EQUATIONS OF 2-D EQUILIBRIUM
y
FBD at A Since particle A is in equilibrium, the net
FB force at A is zero.
30˚
FD A A x So FB + FC + FD = 0
A or  F = 0
FC = 392.4 N
FBD at A
In general, for a particle in equilibrium,
 F = 0 or
 Fx i +  Fy j = 0 = 0 i + 0 j (a vector equation)
Or, written in a scalar form,
Fx = 0 and  Fy = 0
These are two scalar equations of equilibrium (E-of-E). They
can be used to solve for up to two unknowns.
 EXAMPLE
y
FBD at A
FB
30˚
A x
FD A

FC = 392.4 N

Note : Cylinder mass = 40 Kg

Write the scalar E-of-E:

+   Fx = FB cos 30º – FD = 0
+   Fy = FB sin 30º – 392.4 N = 0
Solving the second equation gives: FB = 785 N →
From the first equation, we get: FD = 680 N ←
 SPRINGS, CABLES, AND PULLEYS

T1
T2

Spring Force = spring constant * With a frictionless pulley,

deformation, or T1 = T2.
F=k*s
 EXAMPLE
Given: Cylinder E weighs 30
lb and the geometry
is as shown.
Find: Forces in the cables
and weight of
cylinder F.
Plan:

1. Draw a FBD for Point C.

2. Apply E-of-E at Point C to solve for the unknowns (FCB &
FCD).
3. Knowing FCB , repeat this process at point B.
 EXAMPLE
y (continued)
FCD

30 x A FBD at C should look like the one at the

15 left. Note the assumed directions for the
FBC two cable tensions.
30 lb

The scalar E-of-E are:

+   Fx = FBC cos 15º – FCD cos 30º = 0
+  Fy = FCD sin 30º – FBC sin 15º – 30 = 0
Solving these two simultaneous equations for the two
unknowns FBC and FCD yields:
FBC = 100.4 lb
FCD = 112.0 lb
 EXAMPLE (continued)

y FBA
FBC =100.4 lb
Now move on to ring B.
15 45 A FBD for B should look
x
like the one to the left.

WF

The scalar E-of-E are:

   Fx = FBA cos 45 – 100.4 cos 15 = 0
   Fy = FBA sin 45 + 100.4 sin 15 – WF = 0

Solving the first equation and then the second yields

FBA = 137 lb and WF = 123 lb
 CONCEPT QUESTIONS

1000 lb
1000 lb 1000 lb
(A) (B) (C)
1) Assuming you know the geometry of the ropes, you cannot
determine the forces in the cables in which system above?
2) Why?
A) The weight is too heavy.
B) The cables are too thin.
C) There are more unknowns than equations.
D) There are too few cables for a 1000 lb weight.
 GROUP PROBLEM SOLVING
Given: The box weighs 550 lb and
geometry is as shown.
Find: The forces in the ropes AB
and AC.

Plan:
1. Draw a FBD for point A.
2. Apply the E-of-E to solve for the
forces in ropes AB and AC.
 GROUP PROBLEM SOLVING
(continued)
y FC FBD at point A
FB
5 3
30˚ 4
A x

FD = 550 lb

Applying the scalar E-of-E at A, we get;

+   F x = – FB cos 30° + FC (4/5) = 0
   F y = FB sin 30° + FC (3/5) - 550 lb = 0
Solving the above equations, we get;
FB = 478 lb and FC = 518 lb
 ATTENTION QUIZ

1. Select the correct FBD of particle A.

30 A 40

100 lb

F1 F2
A
A) B)
30 40°
100 lb
A
F F1 F2
C) 30° D) 30° 40°
A
A
100 lb 100 lb
 ATTENTION QUIZ

2. Using this FBD of Point C, the sum of F2

forces in the x-direction ( FX) is ___ . Use
20 lb 50°
a sign convention of +  .
C
A) F2 sin 50° – 20 = 0 F1

B) F2 cos 50° – 20 = 0
C) F2 sin 50° – F1 = 0
D) F2 cos 50° + 20 = 0