Chapter 02 Force Vectors

Copyright 2011 Pearson Education South Asia Pte Ltd
Chapter Objectives
To show how to add forces and resolve them into
components using the Parallelogram Law.
To express force and position in Cartesian vector form
and explain how to determine the vectors magnitude and
direction.
To introduce the dot product in order to determine the
angle between two vectors or the projection of one vector
onto another.

In-Class Activities
1. Reading Quiz
2. Applications
3. Scalars and Vectors
4. Vector Operations
5. Vector Addition of
Forces
6. Addition of a System
of Coplanar Forces

7. Cartesian Vectors
8. Addition and Subtraction
of Cartesian Vectors
9. Position Vectors
10. Force Vector Directed
along a Line
11. Dot Product
12. Concept Quiz
READING QUIZ
1. Which one of the following is a
scalar quantity?

a) Force

b) Position

c) Mass

d) Velocity
READING QUIZ (cont)
2. For vector addition, you have to
use ___________ law.

a) Newtons Second

b) the arithmetic

c) Pascals

d) the parallelogram
APPLICATIONS
Scalar

A quantity characterized by a positive
or negative number
Indicated by letters in italic such as A
e.g., mass, volume and length

SCALARS AND VECTORS
Vector
A quantity that has magnitude and direction
e.g., position, force and moment
Represented by a letter with an arrow over it
Magnitude is designated by
In this subject, vector is
presented as A and its
magnitude
(positive quantity) as A

SCALARS AND VECTORS (cont)
A

VECTOR OPERATIONS
Multiplication and Division of a Vector by a Scalar
- Product of vector A and scalar a = aA
- Magnitude =
- Law of multiplication applies e.g. A/a = ( 1/a ) A, a0
aA
Vector Addition
- Addition of two vectors A and B gives a resultant
vector R by the parallelogram law
- Result R can be found by triangle construction
- Communicative e.g. R = A + B = B + A
- Special case: Vectors A and B are collinear (both
have the same line of action)

VECTOR OPERATIONS (cont)
VECTOR OPERATIONS (cont)
Vector Subtraction
- Special case of addition
e.g. R = A B = A + ( - B )
- Rules of Vector Addition Applies

VECTOR ADDITION OF FORCES
Finding a Resultant Force
Parallelogram law is carried out to find the resultant
force

Resultant,
F
R
= ( F
1
+ F
2
)

VECTOR ADDITION OF FORCES (cont)
Procedure for Analysis
Parallelogram Law
Make a sketch using the
parallelogram law
2 component forces add
to form the resultant force
Resultant force is shown
by the diagonal of the
parallelogram
The components are
shown by the sides of the
parallelogram

VECTOR ADDITION OF FORCES (cont)
Procedure for Analysis
Trigonometry
Redraw half portion of the
parallelogram
Magnitude of the resultant force
can be determined by the law of
cosines
Direction of the resultant force can
be determined by the law of sines
Magnitude of the two components
can be determined by the law of
sines

EXAMPLE 1
The screw eye is
subjected to two forces,
F
1
and F
2
. Determine
the magnitude and
direction of the
resultant force.

EXAMPLE 1 (cont)
Parallelogram Law

Unknown: magnitude of
F
R
and angle
EXAMPLE 1 (cont)
Solution
Trigonometry
Law of Cosines

Law of Sines
( )
8 . 39
9063 . 0
6 . 212
150
sin
115 sin
6 . 212
sin
150
=
=
=
u
u
u
N
N
N N
( ) ( ) ( )( )
( ) N N
N N N N F
R
213 6 . 212 4226 . 0 30000 22500 10000
115 cos 150 100 2 150 100
2 2
= = + =
+ =

EXAMPLE 1 (cont)
Solution
Trigonometry
Direction of F
R

measured from the
horizontal
|
|
Z =
+ =

8 . 54
15 8 . 39
ADDITION OF A SYSTEM OF COPLANAR FORCES
Scalar Notation
x and y axes are designated positive and negative
Components of forces expressed as algebraic
scalars
u u sin and cos F F F F
F F F
y x
y x
= =
+ =
(cont)
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 )
Magnitude is always a
positive quantity,
represented by
scalars F
x
and F
y

j F i F F
y x
+ =
Coplanar Force Resultants
To determine resultant of
several coplanar forces:
Resolve force into x and y
components
Addition of the respective
components using scalar
algebra
Resultant force is found
using the parallelogram law
Cartesian vector notation on
top right

j F i F F
j F i F F
j F i F F
y x
y x
y x
3 3 3
2 2 2
1 1 1
=
+ =
+ =
(cont)
Vector resultant is therefore

If scalar notation is used

( ) ( )j F i F
F F F F
Ry Rx
R
+ =
+ + =

3 2 1
y y y Ry
x x x Rx
F F F F
F F F F
3 2 1
3 2 1
+ =
+ =
(cont)
In all cases we have

Magnitude of F
R
can be found by Pythagorean Theorem

=
=
y Ry
x Rx
F F
F F * Take note of sign conventions
(cont)
Rx
Ry
Ry Rx R
F
F
F F F
1 - 2 2
tan and = + = u
EXAMPLE 2
Determine x and y
components of F
1
and
F
2
acting on the boom.

Express each force as
a Cartesian vector.

EXAMPLE 2 (cont)
Scalar Notation

| = = =
= = =
N N N F
N N N F
y
x
173 173 30 cos 200
100 100 30 sin 200
1
1
Solution
EXAMPLE 2 (cont)
By similar triangles we have

Scalar Notation:

Cartesian Vector Notation:

N 100
13
5
260
N 240
13
12
260
2
2
=
|
.
|
\
|
=
=
|
.
|
\
|
=
y
x
F
F
+ = =
=
N N F
N F
y
x
100 100
240
2
2
{ }
{ }N j i F
N j i F
100 240
173 100
2
1
=
+ =
Solution
EXAMPLE 3
The link is subjected to two forces F1
and F2. Determine the magnitude and
orientation of the resultant force.

EXAMPLE 3 (cont)
Scalar Notation:

| =
+ =
E =
=
=
E =
N
N N F
F F
N
N N F
F F
Ry
y Ry
Rx
x Rx
8 . 582
45 cos 400 30 sin 600
:
8 . 236
45 sin 400 30 cos 600
:

Solution I
EXAMPLE 3 (cont)
Resultant Force

From vector addition,
direction angle is

( ) ( )
N
N N F
R
629
8 . 582 8 . 236
2 2
=
+ =
9 . 67
8 . 236
8 . 582
tan
1
=
|
.
|
\
|
=

N
N
u
Solution I
EXAMPLE 3 (cont)
Solution II
Cartesian Vector Notation
F1 = { 600 cos 30i + 600 sin 30j } N
F2 = { -400 sin 45i + 400 cos 45j } N

Thus,
F
R
= F1 + F2
= (600 cos 30 N 400 sin 45 N) i
+ (600 sin 30 N + 400 cos 45 N) j
= {236.8i + 582.8j} N

The magnitude and direction of F
R
are determined in the same
manner as before.

CONCEPT QUIZ (cont)
2) Resolve F along x and y axes and write it in
vector form. F = { ___________ } N

a) 80 cos (30) i 80 sin (30) j

b) 80 sin (30) i + 80 cos (30) j

c) 80 sin (30) i 80 cos (30) j

d) 80 cos (30) i + 80 sin (30) j

30
x
y
F = 80 N
CONCEPT QUIZ (cont)
3) Determine the magnitude of the
resultant (F1 + F2) force in N when:
F1 = {10i + 20j} N
F2 = {20i + 20j} N

a) 30 N
b) 40 N
c) 50 N
d) 60 N
e) 70 N

CONCEPT QUIZ (cont)
6) What is not true about a unit vector,
uA?

a) It is dimensionless.

b) Its magnitude is one.

c) It always points in the direction of the
positive X-axis.

d) It always points in the direction of vector A.

CONCEPT QUIZ (cont)
7) 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

CONCEPT QUIZ (cont)
8) A position vector, rPQ, is obtained by

a) Coordinates of Q minus coordinates of P

a) Coordinates of P minus coordinates of Q

a) Coordinates of Q minus coordinates of the origin

a) Coordinates of the origin minus coordinates of P
CONCEPT QUIZ (cont)
9) A force of magnitude F, directed along a
unit vector U, is given by F = ______ .

a) F (U)

b) U / F

c) F / U

d) F + U

e) F U

CONCEPT QUIZ (cont)
10) P and Q are two points in a 3-D space. How are
the position vectors rPQ and rQP related?

a) r
PQ
= r
QP
b) r
PQ
= - r
QP
c) r
PQ
= 1/r
QP
d) r
PQ
= 2 r
QP

11) If F and r are force vector and position
vectors respectively, in SI units, what are the
units of the expression (r * (F / F)) ?

a) Newton b) Dimensionless
c) Meter d) Newton Meter
e) The expression is algebraically illegal.

CONCEPT QUIZ (cont)
12) Two points in 3D space have coordinates of
P (1, 2, 3) and Q (4, 5, 6) meters. The position
vector r
QP
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

Chapter 02 Force Vectors

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Chapter 02 Force Vectors

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Copyright 2011 Pearson Education South Asia Pte Ltd

Copyright 2011 Pearson Education South Asia Pte Ltd

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