Announcements

2-D Vector Addition

Todays Objectives
Understand the difference between scalars and vectors Resolve a 2-D vector into components Perform vector operations

Class Activities
Applications Scalar and vector definitions Triangle and Parallelogram laws Vector resolution Examples

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Applications

There are four concurrent cable forces acting on the bracket. How do you determine the resultant force acting on the bracket?

Scalars and Vectors

Scalars
o Magnitude - positive or negative o Addition rule - simple arithmetic o Special Notation - none o Examples speed, mass, volume

Vectors
o Magnitude and direction positive or negative o Addition rule parallelogram law o Special notation - Bold font, line, arrow, or carrot o Examples force, velocity

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Vector Operations
Multiplication and division

Vector Addition

Engr221 Chapter 2

Vector Subtraction

Resolution of a Vector
Resolution of a vector is breaking it up into components. It is kind of like using the parallelogram law in reverse.

Engr221 Chapter 2

Triangle Laws

Textbook Problem 2-4

Determine the magnitude of the resultant force FR = F1 + F2 and its direction, measured counterclockwise from the positive u axis.

Answer: Fr = 605N = 85.4

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Textbook Problem 2-16

Resolve the force F2 into components acting along the u and v axes and determine the magnitudes of the components.

Answer: F2v = 77.6N F2u = 150N

Summary

Understand the difference between scalars and vectors Resolve a 2-D vector into components Perform vector operations

Engr221 Chapter 2

Announcements

Cartesian Vector Notation

Todays Objectives
Resolve 2-dimensional vectors into x and y components Find the resultant of a 2-dimensional force system Express vectors in Cartesian form

Class Activities
Cartesian Vector Notation Addition of vectors Examples

Engr221 Chapter 2

Cartesian Vector Notation

We resolve vectors into components using the x and y axes system Each component of the vector is shown as a magnitude and a direction

The directions are based on the x and y axes. We use the unit vectors i and j to designate the x and y axes, respectively.

Cartesian Vector Notation - continued

For example, F = Fx i + Fy j F' = F'x i + F'y j

The x and y axes are always perpendicular to each other. Together,they can be directed at any inclination.

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Addition of Several Vectors

Step 1 is to resolve each force into its components. Step 2 is to add all the x components together and add all the y components together. These two totals become the resultant vector.

Addition of Several Vectors - continued

Step 3 is to find the magnitude and angle of the resultant vector.

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Magnitude and Angle

You can also represent a 2-D vector with a magnitude and an angle.

Example A
Given: Three concurrent forces acting on a bracket. Find: Plan: The magnitude and angle of the resultant force.

a) Resolve the forces into their x and y components b) Add the respective components to get the resultant vector c) Find magnitude and angle from the resultant components

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Example A - continued

F1 = { 15 sin 40 i + 15 cos 40 j } kN = { 9.642 i + 11.49 j } kN F2 = { -(12/13)26 i + (5/13)26 j } kN = { -24 i + 10 j } kN F3 = { 36 cos 30 i 36 sin 30 j } kN = { 31.18 i 18 j } kN

Example A - continued

Summing up all the i and j components respectively, we get, FR = { (9.642 24 + 31.18) i + (11.49 + 10 18) j } kN = { 16.82 i + 3.49 j } kN FR = ((16.82)2 + (3.49)2)1/2 = 17.2 kN = tan-1(3.49/16.82) = 11.7 y FR x

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Example B
Given: Three concurrent forces acting on a bracket. Find: The magnitude and angle of the resultant force.

Plan: a) Resolve the forces into their x and y components b) Add the respective components to get the resultant vector c) Find magnitude and angle from the resultant components

Example B - continued

F1 = { (4/5) 850 i - (3/5) 850 j } N = { 680 i - 510 j } N F2 = { -625 sin(30) i - 625 cos(30) j } N = { -312.5 i - 541.3 j } N F3 = { -750 sin(45) i + 750 cos(45) j } N { -530.3 i + 530.3 j } N

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Example B - continued

Summing up all the i and j components respectively, we get, FR = { (680 - 312.5 - 530.3) i + (-510 - 541.3 + 530.3) j }N = { - 162.8 i - 521 j } N
y

FR = ((162.8)2 + (521)2) = 546 N = tan1(521/162.8) = 72.64 or From the positive x axis: = 180 + 72.64 = 253
FR

Textbook Problem 2-55

If F2 = 150 lb and = 55, determine the magnitude and orientation, measured clockwise from the positive x axis, of the resultant force of the three forces acting on the bracket.

Answer: FR = 161 lb = 38.3

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Summary

Resolve 2-dimensional vectors into x and y components Find the resultant of a 2-dimensional force system Express vectors in Cartesian form

Announcements

Homework feedback
Graph paper Problem statements

Week of prayer schedule

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3 Dimensional Vectors
Todays Objectives
Represent a 3-D vector in a Cartesian coordinate system Find the magnitude and coordinate angles of a 3-D vector Add vectors is 3-D space

Class Activities
Applications Unit vector definition 3-D vector terms Adding vectors Examples

Applications

Many problems in real-life involve 3-Dimensional space.

How do you represent each of the cable forces in Cartesian vector form?

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Applications - continued
Given the forces in the cables, how do you determine the resultant force acting at D, the top of the tower?

Applications - continued

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RightHanded Coordinate System

A Cartesian coordinate system is said to be right-handed provided the thumb of the 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 toward the positive y axis.

A Unit Vector
For a vector A with a magnitude of A, a unit vector UA is defined as UA = A / A Characteristics of a unit vector: a) Its magnitude is 1 b) It is dimensionless c) It points in the same direction as the original vector (A) 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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3-D Cartesian Vector Terminology

Consider a box with sides AX, AY, and AZ meters long. The vector A can be defined as A = (AX i + AY j + AZ k) m The projection of the vector A in the x-y plane is A. The magnitude of this projection, A, is found by using the same approach as a 2-D vector: A = (AX2 + AY2)1/2 . The magnitude of the vector A can now be obtained as: A = ((A)2 + AZ2) = (AX2 + AY2 + AZ2)

Terminology - continued
The direction or orientation of vector A is defined by the angles , , and . These angles are measured between the vector and the positive x, y and z axes, respectively. Their values range from 0 to 180. Using trigonometry, direction cosines, and coordinate direction angles are found using the formulas:

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Terminology - continued
These angles are not independent. They must satisfy the following equation: cos + cos + cos = 1 This result can be derived from the definition of coordinate direction angles and the unit vector. Recall, the formula for finding the unit vector is:

or written another way: uA = cos i + cos j + cos k

Cartesian Vector Math

Once individual vectors are written in Cartesian form, it is easy to add or subtract them. The process is essentially the same as when 2-D vectors are added. For example, if A = AX i + AY j + AZ k and B = BX i + BY j + BZ k then A + B = (AX + BX) i + (AY + BY) j + (AZ + BZ) k and A B = (AX - BX) i + (AY - BY) j + (AZ - BZ) k

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Important Notes
Sometimes 3-D vector information is given as: a) Magnitude and coordinate direction angles, or b) Magnitude and projection angles You should be able to use both types of information to change the representation of the vector into the Cartesian form, i.e., F = {10 i 20 j + 30 k} N

Example A
G

Given: Two forces F and G are applied to a hook. Force F is shown in the figure and it makes a 60 angle with the x-y plane. Force G is pointing up and has a magnitude of 80 lb with = 111 and = 69.3. Find: The resultant force in Cartesian vector form. Plan:

1) Using geometry and trigonometry, write F and G in Cartesian vector form 2) Add the two forces together

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Example A - continued
Solution : First, resolve force F. Fz = 100 sin 60 = 86.60 lb F' = 100 cos 60 = 50.00 lb Fx = 50 cos 45 = 35.36 lb Fy = 50 sin 45 = 35.36 lb Now, you can write: F = {35.36 i 35.36 j + 86.60 k} lb

Example A - continued
Next, resolve force G. We are given only and . We need to find the value of . Recall the formula cos () + cos () + cos () = 1. Now substitute what we know. We have cos (111) + cos (69.3) + cos () = 1. Solving, we get = 30.22 or 120.2. Since the vector is pointing up, = 30.22

Now using the coordinate direction angles, we can get UG, and determine G from the formula: G = 80UG lb. G = {80 ( cos (111) i + cos (69.3) j + cos (30.22) k )} lb G = {- 28.67 i + 28.28 j + 69.13 k } lb Finally, find the resultant vector R = F + G or R = {6.69 i 7.08 j + 156 k} lb

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Example B
Given: The screw eye is subjected to two forces. Find: The magnitude and the coordinate direction angles of the resultant force.

Plan: 1) Using geometry and trigonometry, write F1 and F2 in Cartesian vector form 2) Add F1 and F2 to get FR 3) Determine the magnitude and , , and of FR

Example B - continued
F1z F First resolve force F1. F1z = 300 sin 60 = 259.8 N F = 300 cos 60 = 150.0 N F can be further resolved as, F1x = -150 sin 45 = -106.1 N F1y = 150 cos 45 = 106.1 N Now we can write : F1 = {-106.1 i + 106.1 j + 259.8 k } N

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Example B - continued
Force F2 can be represented in Cartesian vector form as: F2 = 500{ cos 60 i + cos 45 j + cos 120 k } N = { 250 i + 353.6 j 250 k } N FR = F1 + F2 = { 143.9 i + 459.6 j + 9.81 k } N FR = (143.9 2 + 459.6 2 + 9.81 2) = 481.7 = 482 N = cos-1 (FRx / FR) = cos-1 (143.9/481.7) = 72.6 = cos-1 (FRy / FR) = cos-1 (459.6/481.7) = 17.4 = cos-1 (FRz / FR) = cos-1 (9.81/481.7) = 88.8

Questions
1. What is not true about the unit vector, UA ? A) It is dimensionless B) Its magnitude is one C) It always points in the direction of positive x axis D) It always points in the direction of vector A 2. If F = {10 i + 10 j + 10 k} N and G = {20 i + 20 j + 20 k } N, then F + G = { ____ } N A) 10 i + 10 j + 10 k B) 30 i + 20 j + 30 k C) -10 i - 10 j - 10 k D) 30 i + 30 j + 30 k

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Textbook Problem 2-68

Determine the magnitude and coordinate direction angles of the resultant force.

Answers: FR = 369 N = 19.5 = 20.6 = 69.5

Textbook Problem 2-78

Two forces F1 and F2 act on the bolt. If the resultant force Fr has a magnitude of 50 lb and coordinate direction angles = 110 and = 80 as shown, determine the magnitude of F2 and its coordinate direction angles. Answers: F2 = 32.4 lb 2 = 122 2 = 74.5 2 = 144

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Summary

Represent a 3-D vector in a Cartesian coordinate system Find the magnitude and coordinate angles of a 3-D vector Add vectors (forces) in 3-D space

Announcements

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Review
Vector: A = (AX i + AY j + AZ k) Direction cosines: Trig. Law: cos + cos + cos = 1

Unit vector: or written another way: u A = cos i + cos j + cos k

Position and Force Vectors

Todays Objectives
Represent a position vector in Cartesian vector form using given geometry Represent a force vector directed along a line

Class Activities
Applications Position vectors Force vectors Examples

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Applications

How can we represent the force along the wing strut in a 3-D Cartesian vector form?

Wing strut

Position Vector
A position vector is defined as a fixed vector that locates a point in space relative to another point. Consider two points, A & B, in 3D space. Let their coordinates be (XA, YA, ZA) and (XB, YB, ZB ), respectively. The position vector directed from A to B, rAB , is defined as rAB = {( XB XA ) i + ( YB YA ) j + ( ZB ZA ) k } m 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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Force Vector Along a Line

If a force is directed along a line, then the force can be represented in Cartesian coordinates by using a unit vector and the force magnitude. So we need to: a) Find the position vector, rAB , along two points on that line b) Find the unit vector describing the lines direction, uAB = (rAB/rAB) c) Multiply the unit vector by the magnitude of the force, F = F uAB

Example A
Given: 400 lb force along the cable DA Find: Plan: The force FDA in Cartesian vector form

1. Find the position vector rDA and the unit vector uDA 2. Obtain the force vector as FDA = 400 lb uDA

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Example A - continued
We can find rDA by subtracting the coordinates of D from the coordinates of A. D = (2, 6, 0) ft and A = (0, 0, 14) ft rDA = {(0 2) i + (0 6) j + (14 0) k} ft = {-2 i 6 j + 14 k} ft We can also calculate rDA by realizing that when relating D to A, we will have to go -2 ft in the x-direction, -6 ft in the y-direction, and +14 ft in the z-direction. rDA = (22 + 62 + 142)0.5 = 15.36 ft uDA = rDA/rDA and FDA = 400 uDA lb FDA = 400{(-2 i 6 j + 14 k)/15.36} lb = {-52.1 i 156 j + 365 k} lb

Example B
Given: Two forces are acting on a pipe as shown in the figure Find: The magnitude and the coordinate direction angles of the resultant force

Plan: 1) Find the forces along CA and CB in Cartesian vector form 2) Add the two forces to get the resultant force, FR 3) Determine the magnitude and the coordinate angles of FR

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Example B - continued
FCA = 100 lb{rCA/rCA} FCA = 100 lb(-3 sin 40 i + 3 cos 40 j 4 k)/5 FCA = {-38.57 i + 45.96 j 80 k} lb FCB = 81 lb{rCB/rCB} FCB = 81 lb(4 i 7 j 4 k)/9 FCB = {36 i 63 j 36 k} lb FR = FCA + FCB = {-2.57 i 17.04 j 116 k} lb FR = (2.572 + 17.042 + 1162)1/2 = 117.3 lb = 117 lb = cos-1(-2.57/117.3) = 91.3, = cos-1(-17.04/117.3) = 98.4 = cos-1(-116/117.3) = 172

Questions
1. Two points in 3-D space have coordinates of P(1, 2, 3) and Q (4, 5, 6) meters. The position vector rQP is given by A) {3 i + 3 j + 3 k} m B) {- 3 i 3 j 3 k} m C) {5 i + 7 j + 9 k} m D) {- 3 i + 3 j + 3 k} m E) {4 i + 5 j + 6 k} m 2. P and Q are two points in 3-D space. How are the position vectors rPQ and rQP related? A) rPQ = rQP B) rPQ = - rQP C) rPQ = 1/rQP D) rPQ = 2 rQP

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Textbook Problem 2.90

Determine the magnitude and coordinate direction angles of the resultant force.

Answers: FR = 52.2 lb = 87.8 = 63.7 = 154

Summary

Represent a position vector in Cartesian vector form using given geometry Represent a force vector directed along a line

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Announcements

Homework
Excuses. Not! Due date and time Graph paper Do solutions on one side only Problem statements

Dot Product
Todays Objectives
Determine the angle between two vectors Determine the projection of a vector along a specified line

Class Activities
Applications Dot product Angle determination Projection determination Examples

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Applications
For this geometry, can you determine angles between the pole and the cables?

For force F at Point A, what component of it (F1) acts along the pipe OA? What component (F2) acts perpendicular to the pipe?

Dot Product Definition

The dot product of vectors A and B is defined as AB = AB cos Angle is the smallest angle between the two vectors and is always in a range of 0 to 180 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

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Dot Product Definition - continued

Examples: i j = 0 i.e. (1)(1)cos(90) i i = 1 i.e. (1)(1)cos(0) A B = (Ax i + Ay j + Az k) (Bx I + By j + Bz k) = (Ax Bx (i i) + Ax By (i j) + Ax Bz (i k) + .) = AxBx + AyBy + AzBz

Angle Between Two Vectors

For two vectors in 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 c) Using the definition of dot product and solving for , i.e. = cos-1 [(A B)/(A B)], where 0 180

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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 the line aa 2. Find the scalar projection of A along line aa by A|| = A U = AxUx + AyUy + AzUz

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) and A = A A|| (rearranging the vector sum of A = A + A|| )

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Example A
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 OA.

Plan: 1. Find rOA 2. = cos-1{(F rOA)/(F rOA)} 3. FOA = F uOA or F cos

Example A - continued
rOA = {2 i + 2 j 1 k} m rOA = (22 + 22 + 12)1/2 = 3 m F = {2 i + 4 j + 10 k} kN F = (22 + 42 + 102)1/2 = 10.95 kN
A

F rOA = (2)(2) + (4)(2) + (10)(-1) = 2 kNm = cos-1{(F rOA)/(F rOA)} = cos-1 {2/(10.95 3)} = 86.5 uOA = rOA/rOA = {(2/3) i + (2/3) j (1/3) k} FOA = F uOA = (2)(2/3) + (4)(2/3) + (10)(-1/3) = 0.667 kN or FOA = F cos = 10.95 cos(86.51) = 0.667 kN

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Example B
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. = cos-1{(F rAO)/(F rAO)} 3. FOA = F uAO or F cos

Example B - continued
rAO = {-3 i + 2 j 6 k} ft rAO = (32 + 22 + 62)1/2 = 7 ft F = {-20 i + 50 j 10 k} lb F = (202 + 502 + 102)1/2 = 54.77 lb F rAO = (-20)(-3) + (50)(2) + (-10)(-6) = 220 lbft = cos-1{(F rAO)/(F rAO)} = cos-1 {220/(54.777)} = 55.0 uAO = rAO/rAO = {(-3/7) i + (2/7) j (6/7) k} FAO = F uAO = (-20)(-3/7) + (50)(2/7) + (-10)(-6/7) = 31.4 lb or FAO = F cos = 54.77 cos(55.0) = 31.4 lb

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Questions
1. The dot product of two vectors P and Q is defined as A) P Q cos B) P Q sin C) P Q tan D) P Q sec
P Q

2. The dot product of two vectors results in a _________ quantity. A) scalar B) vector C) complex D) zero

Questions
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 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 m2 D) -12 m2 E) 10 m2

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Textbook Problem 2-127

Determine the angle between the edges of the sheet-metal bracket.

Answer: 82.0

Summary

Determine an angle between two vectors Determine the projection of a vector along a specified line

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