Chapter 2:

Force Vectors

Engineering Mechanics: Statics

1
 Chapter Two Outline
2. Force Vectors
2.1 Scalars and Vectors
2.2 Vector Operations
2.3 Vector Addition of Forces
2.4 Addition of a System of Coplanar Forces
2.5 Cartesian Vectors
2.6 Addition and Subtraction of Cartesian Vectors
2.7 Position Vectors
2.8 Force Vector Directed along a Line
2.9 Dot Product
2
 2.1 Scalars and Vectors

Scalar

Is a quantity characterized by a positive or negative

number (ie a magnitude).

In your text, scalar quantities are indicated by letters in

italic such as A.

Examples of Scalars: Mass, volume and length

3
 2.1 Scalars and Vectors

Vector
Is a quantity that has both magnitude and direction
For example: Force and moment.
For handwritten work, vector quantities are represented by
a letter with an arrow over it such as A or in your textbook
as bold print A.
Magnitude is designated as A or simply A.

Therefore, in your text, a vector is presented as A and its

magnitude (positive quantity) as A.
4
 2.1 Scalars and Vectors

Vector : (Magnitude, Direction and Sense)

Represented graphically as an arrow

Length of arrow = Magnitude of Vector

Angle between the reference axis and arrows line of action

= Direction of Vector

Arrowhead = Sense of Vector

5
 2.1 Scalars and Vectors

Example
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 the

tail of the vector and point
P is called the tip or head

6
 2.2 Vector Operations
Multiplication and Division of a Vector by a Scalar

The product of vector A and scalar a = aA

Magnitude : aA
If a is positive,
sense of aA is the same as A
If a is negative,
sense of aA, it is opposite to A

7
 2.2 Vector Operations

Multiplication and Division of a Vector by a Scalar

Negative of a vector is found by multiplying
the vector by (-1)
Law of multiplication applies
Example: A/a = ( 1/a ) A, a0

8
 2.2 Vector Operations
Vector Addition
Addition of two vectors A and B gives a resultant vector R
by the parallelogram law.
Example: R = A + B or B + A

9
 2.2 Vector Operations
Vector Addition
Resultant Vector R can be found by triangle construction.

Example: R = A + B or B + A

10
 2.2 Vector Operations
Vector Addition
Special case: Vectors A and B are collinear
(ie both have the same line of action)

11
 2.2 Vector Operations
Vector Subtraction
A special case of addition: Example: R = A B = A + (B)

Rules of Vector Addition Applies

12
 2.3 Vector Addition of Forces
Resolution of Multiple Vectors
When two or more forces are added, successive applications
of the parallelogram law can be carried out to find the
resultant.

Forces F1, F2 and F3 acts at a point O

First, find resultant of F1 + F2

Second, find resultant

FR = ( F1 + F 2 ) + F3
13
 2.3 Vector Addition of Forces
Example
Fa and Fb are forces exerting on the hook. 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.

14
 2.3 Vector Addition of Forces
Procedure for Analysis : Parallelogram Law (Pg 21)
Make a sketch showing the vector addition using the
parallelogram law.
Two component forces add according to the parallelogram law,
yielding a resultant force that forms the diagonal of the
parallelogram.
If a force is to be resolved into components along two axes
directed from the tail of the force, then start at the head of the
force and construct lines parrallel to the axes, thereby forming
the parallelogram. The sides of the parallelogram represent the
components.
Label all the known and unknown force magnitudes and the
angles of the sketch and identify the two unknowns.
Using Trigonometry
Solve for the half portion of the parallelogram (ie triangle) using
simple sine and cosine rules. 15
 2.3 Vector Addition of Forces

Trigonometry
Magnitude of the two components can be determined by
the law of sines

16
 2.3 Vector Addition of Forces

Example 2.1
The screw eye is subjected
to two forces F1 and F2.

Determine the magnitude and

direction of the resultant force.

First, you need to understand

what is being asked and then
clearly express as a diagram
in order to do the calculation.
17
 2.3 Vector Addition of Forces
Solution : Parallelogram Law
Unknown: magnitude of FR and angle .

18
 2.3 Vector Addition of Forces

Solution : By Trigonometry
FR 100N2 150N2 2100N150Ncos 115 o
10000 22500 30000 0.4226
212 .6N
213 N
150 N 212 .6N
and
sin sin115 o
150 N
sin 0.9063 39.8o
212 .6N
39.8o 15 o 54.8o 19
 2.3 Vector Addition of Forces

Example 2.2

Resolve the 1000 N force

acting on the pipe into
components in the x and
y directions.

20
 2.3 Vector Addition of Forces

Solution : Parallelogram Law

From the vector diagram,

Fx Fy 1000 N

Fx 1000 cos 40 o 766N

Fy 1000 sin 40 o 643N 21
 2.3 Vector Addition of Forces

Example 2.4
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.
22
 2.3 Vector Addition of Forces

Solution: (a)
Unknown: Forces F1 and F2 for = 30.

Using the Sine Rule :

F1 1000 N

sin 30 o
sin130 o
F1 643 N

F2 1000 N
and
sin 20 o
sin130 o
F2 446 N
23
 2.3 Vector Addition of Forces
Solution: (b) Magnitudes of F1 and F2 if
F2 is to be a minimum

Minimum length of
F2 occurs when its
line of action is
perpendicular to F1.

Note: Graphically, the shortest

distance between O and
F1 is the perpendicular
distance. 24
 2.3 Vector Addition of Forces
Solution: (b) Magnitudes of F1 and F2 if
F2 is to be a minimum

Hence when 90 o 20 o 70 o

F1 1000 sin 70 o N 940N

F2 1000 cos 70 o N 342 N

25
 2.4 Addition of a System
of Coplanar Forces
In determining the resultant of two or more forces,
we can:
1. Find force components in specified axes (x and y)
2. Add force components (in terms of x and y)
3. Determine overall resultant

F Fy
2 2
FResultant x

This can be achieved using

scalar quantities or vector
quantities.
26
 2.4 Addition of a System
of Coplanar Forces
Cartesian Vector Notation
Cartesian unit vectors i and j are used to designate the
x and y directions
Unit vectors i and j have dimensionless magnitude of
unity ( = 1 )
Their sense are indicated by a positive or negative sign
(pointing in the positive or negative x or y axis)
Magnitude is always a positive quantity, represented by
scalars Fx and Fy
27
 2.4 Addition of a System
of Coplanar Forces
Cartesian Vector Notation
F = Fx i + Fy j F = Fx i + Fy (-j)
F = Fx i Fy j
Sense
Direction
Magnitude

28
 2.4 Addition of a System
of Coplanar Forces
Example: Consider three coplanar forces

F1 = F1x i + F1y j
F2 = F2x i + F2y j
Cartesian vector notation F3 = F3x i F3y j 29
 2.4 Addition of a System
of Coplanar Forces
Cartesian vector notation:
F1 = F1x i + F1y j
F2 = F2x i + F2y j
F3 = F3x i F3y j

Therefore, the Resultant Vector is:

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 30
 2.4 Addition of a System
of Coplanar Forces
If scalar notation was used
FRx = (F1x F2x + F3x)
FRy = (F1y + F2y F3y)
In all cases,
FRx = Fx
FRy = Fy
Positive scalars = sense of direction along the positive coordinate axes
Negative scalars = sense of direction along the negative coordinate axes
Magnitude and Direction of FR can be found by trigonometry:
2 2 1
FRy
FR FRx FRy and tan 31
FRx
 2.4 Addition of a System
of Coplanar Forces
Example 2.5

Determine x and y
components of F1 and F2
acting on the boom.

And express each force as

a Cartesian vector.

ie: F1 = Fx i + Fy j

32
 2.4 Addition of a System of
Coplanar Forces
Solution of F1: Scalar Notation

F1x 200 sin 30 o N 100 N 100 N

F1y 200 cos 30 o N 173 N 173 N

Cartesian Vector Notation: F1 = F1x i +F1y j

F1 = {-100i +173j }N 33
 2.4 Addition of a System
of Coplanar Forces
Solution of F2: Scalar Notation

F2 x 12

260 N 13
12
F2 x 260 N 240 N
13
5
F2 y 260N 100N
13

Cartesian Vector Notation: F2 = F2x i F2y j

F2 = {240i 100j }N 34
 2.4 Addition of a System
of Coplanar Forces
Now determine the resultant
Scalar Notation:
F1x 100 N F2 x 240N
F1y 173 N F2 y 100N
FRx = (F1x + F2x )
= 100 + 240 = 140N
73N
FRy = (F1y + F2y ) 27.5
= 173 100 = 73N 140N

2 2
FR FRx FRy 140 2 73 2 157 .9N
FRy
1 1 73
tan tan 27.54 o
FRx 140 35
 2.4 Addition of a System
of Coplanar Forces
Now determine the resultant
Cartesian Vector Notation:

F1 = {100i +173j }N
F2 = {240i 100j }N

So, FR = F1 + F2
= {100i +173j } + {240i 100j }N
= {140i +73j }N
36
 2.5 Cartesian Vectors

Right-Handed Coordinate System

A rectangular or Cartesian
coordinate system is said to be
right-handed provided:
Thumb of right hand points in
the direction of the positive z
axis when the right-hand fingers
are curled about this axis and
directed from the positive x
towards the positive y axis
z-axis for the 2D problem would
be perpendicular, directed out of
the page.
37
 2.5 Cartesian Vectors
Rectangular Components of a Vector
A vector A may have one, two or three
rectangular components along the x, y and
z axes, depending on orientation
By two successive application of
the parallelogram law
A = Ax + Ay (2D Horizontal Resultant)
A = A + Az (3D Resultant)

Combing the equations, A can be

expressed as A = Ax + Ay + Az 38
 2.5 Cartesian Vectors

Unit Vector
Direction of A can be specified using a unit vector
Unit vector has a magnitude of 1
If A is a vector, the unit vector of A has the same direction as A and is
expressed by uA = A/A. So that A = A uA
Since A is of a certain type, like force vector, a proper set of units are
used for the description.
- Magnitude A has the same sets of units, hence the unit
vector is dimensionless
- A (a positive scalar) defines magnitude of A
- Therefore, uA defines the
direction and sense of A
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 2.5 Cartesian Vectors

Cartesian Unit Vectors

Cartesian unit vectors, i, j and k are used to designate
the directions of z, y and z axes

Sense (or arrowhead) of these

vectors are described by a plus
or minus sign (depending on
pointing towards the positive
or negative axes)

40
 2.5 Cartesian Vectors

Cartesian Vector Representations

Three components of A act in the
positive i, j and k directions:

ie: A = Ax i + Ay j + AZ k

Note the magnitude and

direction of each components
are separated, easing vector
addition.
41
 2.5 Cartesian Vectors
Magnitude of a Cartesian Vector
From the grey shaded triangle,

A ' A 2x A 2y
From the blue shaded triangle,

A A '2 A 2z
Combining the equations gives
magnitude of A
A A 2x A 2y A 2z 42
 2.5 Cartesian Vectors

Direction of a Cartesian Vector

Orientation of A is defined as the
coordinate direction angles ,
and measured between the tail
of A and the positive x, y and z
axes

Note: angles , and must

always be between 0 and 180

43
 2.5 Cartesian Vectors
Direction of a Cartesian Vector
For angles , and (blue colored triangles), we
calculate the direction cosines of A

A Ay Az
cos x cos cos 44
A A A
 2.5 Cartesian Vectors
Direction of a Cartesian Vector
Angles , and can be determined by the inverse cosines.
Given A = Ax i + Ay j + AZ k
The unit vector, uA = A /A = (Ax/A) i + (Ay/A) j + (AZ/A) k

where A A A A
2
x
2
y
2
z

uA can also be expressed as: uA = cos i + cos j + cos k

Ax Ay Az
Since cos , cos , and cos
A A A
Also, as and magnitude of uA = 1,
cos 2 cos 2 cos 2 451
 2.6 Addition and Subtraction
of Cartesian Vectors
Addition and Subtraction of Cartesian Vectors
Given: A = Ax i + Ay j + AZ k
B = Bx i + B y j + BZ k

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
46
 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 , and can
be solved with axes
x, y and z.
Cosines of their values form a unit vector u that acts in the
direction of the rope.
Force F has a magnitude of F. Thus, cartesian vector is:
F = F u = Fcos i + Fcos j + Fcos k
47
 2.6 Addition and Subtraction
of Cartesian Vectors
Example 2.8: Express the force F as a Cartesian vector
F = F cos i + F cos j + F cos k
= F cos i + F cos60 j + F cos45 k
Since two angles are specified, the third
angle is found by:
cos 2 cos 2 cos 2 1
cos 2 cos 2 60 o cos 2 45 o 1
cos 1 0.5 0.707 0.5
2 2

Two possibilities exist,

cos 1 0.5 60 o or 120 o

48
By inspection, = 60 since Fx is in the +ve x direction
 2.6 Addition and Subtraction
of Cartesian Vectors
As F = 200N and = 60, = 60 and = 45

F = Fcos i + Fcos j + Fcos k

= (200cos60N)i + (200cos60N)j + (200cos45N)k
= {100.0i + 100.0j + 141.4k}N

Checking: F Fx2 Fy2 Fz2

100 .02 100 .02 141 .42 200 N

49
 2.6 Addition and Subtraction of
Cartesian Vectors
Example 2.9: Determine the magnitude and coordinate
direction angles of resultant force acting on the ring.
Resultant force, FR = F = F1 + F2
= {60j + 80k}kN + {50i - 100j + 100k}kN
= {50i - 40j + 180k}kN
Magnitude of FR is:
FR 50 2 40 2 180 2 191kN

We now need to find the Unit Vector:

u = FR /FR
= (50/191)i + (-40/191)j + 180/191)k
= 0.2617i - 0.2094j + 0.9422k 50
 2.6 Addition and Subtraction
of Cartesian Vectors
Since u = FR /FR
= (50/191)i + (40/191)j + 180/191)k
= 0.2617i - 0.2094j + 0.9422k

cos = 0.2617 and = 74.8

cos = -0.2094 and = 102
cos = 0.9422 and = 19.6

* Note > 90 since j component

of unit vector is negative

51
 2.7 Position Vectors

Position Vectors
Position vector r is defined as a fixed vector which locates a
point in space relative to another point.

For Example:
If r extends from the origin, O
to point P (x, y, z) then, in
Cartesian vector form:

r=xi+yj+zk
52
 2.7 Position Vectors

Position Vectors
Note the head to tail vector addition
of the three components by:

r=xi+yj+zk

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) 53
 2.7 Position Vectors

Position Vectors
A position vector maybe directed from point A to point B

Designated by r or rAB (ie A to B)

Vector addition gives:

rA + r = rB
or r = rB rA

Solving : r = rB rA = (xB xA)i + (yB yA)j + (zB zA)k 54

 2.7 Position Vectors
Position Vectors
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

55
 2.7 Position Vectors
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 represents the
length of cable
Angles, , and
represent the direction of
the cable
Unit vector, u = r/r 56
 2.7 Position Vectors
Example 2.12: An elastic band is attached to points A and B.
Determine its length and direction measured
from A towards B.
Position vectors: rA = 1i 3k and rB = 2i + 2j + 3k
Thus, r = rB rA = [2 1]i + [2 0]j + [3 (3)]k
= {-3i + 2j + 6k}m
Magnitude = length of the rubber band
r 32 22 62 7m
Therefore, unit vector in the direction of r
u = r /r = -3/7i + 2/7j + 6/7k
57
= cos-1(-3/7) = 115 , = cos-1(2/7) = 73.4 , = cos-1(6/7) = 31.0
 2.7 Position Vectors

Solution
Length = 7m
= cos-1(-3/7) = 115
= cos-1(2/7) = 73.4
= cos-1(6/7) = 31.0

58
 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) 59
 2.8 Force Vector Directed
along a Line
Force F acting along the
chain can be presented as
a Cartesian vector by:
Establishing x, y, z axes,
Form a position vector r
along length of chain
Unit vector, u = r/r that
defines the direction of
both the chain and the
force.

We get: F = F u
60
 2.8 Force Vector Directed
along a Line
Example 2.13

The man pulls on the cord

with a force of 350N.
Therefore FAB = 350N

Represent this force acting

on the support A, as a
Cartesian vector and
determine its direction.

61
 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)
So, rA = 7.5k and rB = 3i 2j + 1.5k
Thus, rAB = r = rB rA
r = (3 0)i + (2 0)j + (1.5 7.5)k
= {3i 2j 6k}m
Magnitude = length of cord AB
r 3m2 2m2 6m2 7m
Unit vector, u = r /r
= 3/7i - 2/7j - 6/7k 62
 2.8 Force Vector Directed
along a Line
FAB = 350N and r = {3i 2j 6k}m
Length of Cord = r = 7m
Unit vector, u = r /r = 3/7i - 2/7j - 6/7k
Therefore = cos-1(3/7) = 64.6
= cos-1(-2/7) = 107
= cos-1(-6/7) = 149
As Force F has a magnitude of
350N, and its direction specified by u
F=Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k} N 63
 2.8 Force Vector Directed
along a Line
Example 2.15

The roof is supported by

cables. The cables exert
FAB = 100N and FAC = 120N
on the wall hook at A.

Determine the magnitude of

the resultant force acting at A.

64
 2.8 Force Vector Directed
along a Line
Solution : Converting FAB

rA = 4k and rB = 4i
As, rAB = rB rA
rAB = (4 0)i + (0 0)j + (0 4)k
= {4i 4k}m

rAB 4m2 4m2 5.66m

FAB = FAB (rAB/rAB)
= 100N {(4/5.66)i - (4/5.66)k}
= {70.7i - 70.7k} N 65
 2.8 Force Vector Directed
along a Line
Solution : Converting FAC

rA = 4k and rC = 4i + 2j
As, rAC = rC rA
rAC = (4 0)i + (2 0)j + (0 4)k
= {4i +2j 4k}m

rAC 4m2 2m2 4m2 6m

FAC = FAC (rAC/r AC)

= 120N {(4/6)i + (2/6)j (4/6)k}
= {80i + 40j 80k} N 66
 2.8 Force Vector Directed
along a Line
Solution : Adding FAB and FAC
FR = FAB + FAC 136
= {70.7i - 70.7k} N + {80i + 40j 80k} N
= {150.7i + 40j 150.7k} N 100.6
Magnitude of FR 46

FR 150 .72 40 2 150 .72 217N

To find angles of FR
= cos-1(150.7/217) = 46.0
= cos-1(-40/217) = 100.6
= cos-1(-150.7/217) = 136.0 67
 2.9 Dot Product
Dot Product
Dot product of vectors A and B is written as AB
Define the magnitudes of A and B and the angle between
their tails: AB = AB cos where 0 180
Referred to as scalar product of vectors as result is scalar

Laws of Operation
Commutative law AB = BA
Multiplication by a scalar
a(AB) = (aA)B = A(aB) = (AB)a
Distribution law
A(B + D) = (AB) + (AD) 68
 2.9 Dot Product
Cartesian Vector Formulation
Dot product of Cartesian unit vectors
Ex: ii = (1)(1)cos0 = 1 and ij = (1)(1)cos90 = 0
So , ii = 1, jj = 1, kk = 1 (as = 0)
ij = 0, ik = 0, jk = 0 (as = 90)
Dot product of 2 vectors A and B
AB = (Axi + Ayj + Azk) (Bxi + Byj + Bzk)
= AxBx(ii) + AxBy(ij) + AxBz(ik)
+ AyBx(ji) + AyBy(jj) + AyBz(jk)
+ AzBx(ki) + AzBy(kj) + AzBz(kk)
= AxBx + AyBy + AzBz 69
Note: result is a scalar
 2.9 Dot Product
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

70
 2.9 Dot Product
Applications continued
The components of vector parallel and perpendicular to a line
Component of A parallel or collinear with line aa is defined by
A (projection of A onto the line)
A = A cos
If direction of line is specified by unit vector u (u = 1),
A = A cos = Au (ie Dot Product)
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 u
= (Au)u 71
 2.9 Dot Product
Applications continued
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
3. If A is known, A can be determined by
Pythagorean Theorem:

A A A2 2
||

72
 2.9 Dot Product
Example:

For angle between the rope

and the beam A,

Unit vectors along the beam,

uA = rA/rA
Unit vectors along the rope,
ur=rr/rr
Angle = cos-1 (rA.rr/rArr)
= cos-1 (uA ur)
73
 2.9 Dot Product

Example:

For projection of the force along

beam A

Define direction of the beam

uA = rA/rA
Force as a Cartesian vector
F = F (rrope/rrope) = F ur
Dot product
F = FuA
74
 2.9 Dot Product

Example 2.16
The frame is subjected to a
horizontal force F = {300j} N.
Determine the components of
this force, parallel and
perpendicular to the
member AB.

75
 2.9 Dot Product
Solution
Since
rAB 2i 6 j 3k
uAB
rAB 22 62 32
0.286 i 0.857 j 0.429 k

Then
FAB F cos F.uAB
300 j 0.286 i 0.857 j 0.429 k
(0)(0.286 ) (300 )(0.857 ) (0)(0.429 )
257 .1N
(Magnitude of FAB) 76
 2.9 Dot Product
Solution
Since result is a positive scalar,
FAB has the same sense of direction as uB.
Expressed in Cartesian form

FAB FAB uAB

257 .1N 0.286 i 0.857 j 0.429 k
{73 .5i 220 j 110 k}N

Perpendicular component
F F FAB 300 j (73.5i 220 j 110 k ) {73.5i 80 j 110 k}N

F
2
F FAB
2
300 N 2 257 .1N 2 154 .6N 77
Magnitude of FPerpendicular
 2.9 Dot Product
Example 2.17

The pipe is subjected to F = 800N.

Determine :
(i) the angle between
F and pipe segment
BA, and
(ii) the magnitudes of
the components of F,
which are parallel
and perpendicular to
BA. 78
 2.9 Dot Product
Solution (i) Finding angle

For angle
rBA = {-2i - 2j + 1k}m and
rBC = {- 3j + 1k}m

Thus,
rBA rBC 20 2 3 11
cos
rBA rBC 22 22 12 32 12
7
cos 0.7379 , 42.5
3 10 79
 2.9 Dot Product
Solution (ii) Finding FBA and Fperpedicular
rBA = {-2i - 2j + 1k}m and rBC = {- 3j + 1k}m
Need FBA FBC .uBA
rBA (2i 2 j 1k ) 2 2 1
uBA i j k
rBA 2 2 1
2 2 2
3 3 3
r
FBC 800 BC 800
3 j 1k 758 .9 j 253 .0k
rBC 32 12
Therefore, FBA FBC .uBA
2 2 1
758 .9 j 253 .0k i j k
3 3 3
0 506 .0 84.3 590 N 80
 2.9 Dot Product
Solution continued
Checking FBA from trigonometry,
FBA F cos 800 cos 42.5 590 N

Magnitude of F
F F sin 800 sin 42.5 540 N
Magnitude of F can also be determined from
Pythagorean Theorem
2
F F FAB
2
800 590
2 2
540 N
81
 Chapter Two Summary

Parallelogram Law
Addition of two vectors
Components form the side and resultant form the
diagonal of the parallelogram
To obtain resultant, use tip to tail addition by triangle
rule
To obtain magnitudes and directions, use Law of Cosines
and Law of Sines

82
 Chapter Two Summary
Cartesian Vectors
Vector F into Cartesian vector form: F = Fxi + Fyj + Fzk
2 2 2
Magnitude of F Fx Fy Fz

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 83

 Chapter Two Summary
Force and Position Vectors
Position Vector is directed between 2 points
Formulated by distance and direction moved along the x, y
and z axes from tail to tip
For line of action through the two points, it acts in the
same direction of u as the position vector
Force expressed as a Cartesian vector
F = F u = F (r/r)

84
 Chapter Two Summary

Dot Product
Dot product between two vectors A and B
AB = AB cos
Dot product between two vectors A and B (vectors
expressed as Cartesian form)
AB = AxBx + AyBy + AzBz
For angle between the tails of two vectors
= cos-1 [(AB)/(AB)]
For projected component of A onto an axis defined by its
unit vector u
A = A cos = Au
85