Engineering Mechanics :

STATICS
BDA10203
Lecture #06

Group of Lecturers
Faculty of Mechanical and Manufacturing Engineering
Universiti Tun Hussein Onn Malaysia
2
 POSITION & FORCE VECTORS (Sections 2.7 - 2.8)

Todays Objectives:
Students will be able to :
a) Represent a position vector in Cartesian
coordinate form, from given geometry.
b) Represent a force vector directed along
a line.

Learning Topics:
Applications /
Relevance
Write position vectors
Write a force vector

3
 APPLICATIONS

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

Wing strut
4
Force Vector Directed along a Line

Unit vector, u = r/r (vector/magnitude) that defines

the direction of both the chain and the force
We get F = Fu , vector=magnitude x unit vector
=F (r /r )
Note that F has unit of force, unlike r which has units of length
 2.7 Position Vectors
Position Vector
Note the head to tail vector addition of the
three components

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)
 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 3-D space. Let their
coordinates be (XA, YA, ZA)
and ( XB, YB, ZB ),
respectively.
The position vector directed from A to B, r AB , is defined as
r AB = {( XB XA ) i + ( YB YA ) j + ( ZB ZA ) k }m

Please note that B is the ending point and A is the starting

point. So ALWAYS subtract the tail coordinates from the tip7
coordinates!
 POSITION VECTOR

The position vector

rAB = {( XB XA ) i + ( YB YA ) j + ( ZB ZA ) k }m
Magnitude

1
rAB ( xB xA) ( yB yA) ( zB z )
2 2
A
2 2

Unit vector, u = r /r --- u=vector/magnitude

= rAB / rAB

NOTE that r has unit of length

8
 READING QUIZ
1. A position vector, rPQ, is obtained by
A) Coordinates of Q minus coordinates of P
B) Coordinates of P minus coordinates of Q
C) Coordinates of Q minus coordinates of the origin
D) Coordinates of the origin minus coordinates of P
2. 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
9
 ATTENTION QUIZ

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. Force vector, F, directed along a line PQ is given by

A) (F/ F) rPQ B) rPQ/rPQ
C) F(rPQ/rPQ)D) F(rPQ/rPQ)

10
 EXAMPLE 1
Given: A position vector r acting from point A(3m,5m,6m) to
point B(5m,-2m,1m)
Find: Represent the position vector in Cartesian vector form and
determine its direction angles and find the distance
between point A and B.
Plan:

1) Represent the position vector in Cartesian vector form

2) Find the magnitude of the position vector
3) Use trigonometry to find the direction angle

11
 ANSWER :EXAMPLE 1

1) Position vector,
rAB = {( XB XA ) i + ( YB YA ) j + ( ZB ZA ) k }m
= {( 5 3 ) i + ( -2 5) j + ( 1 6 ) k }m
= {2i - 7j - 5k }m z

6
A(3,5,6)
Note that
Start at point A (3,5,6), one travels
2m in the +i direction,
7m in the -j direction and 1
B(5,-2,1) 5
5m in the -k direction, arriving at point
-2 y
B (5,-2,1) 3

2.)Distance between point A and B, 5

x

1
rAB 2 2 (7) 2 (5) 2 2
8.83m magnitude

Total 8.83m from A to B 12

 ANNSWER: EXAMPLE 1

3. Unit vector, u = r /r---- direction=vector/magnitude

rx 2
ux 0.23 cos
rAB 8.83
ry 7
uy 0.79 cos
rAB 8.83
rz 5
uz 0.57 cos
r AB 8.83
Solving the equations and we will get the answers as below

= 76.9, = 142.4, = 124.5 13

 EXAMPLE 2

An elastic rubber band is

attached to points A and B.
Determine its length and its
direction measured from A
towards B.
 ANSWER: EXAMPLE 2
Solution
Position vector
r = [-2m 1m]i + [2m 0]j + [3m (-3m)]k
= {-3i + 2j + 6k}m
Note that it took 3m in x direction, 2m in +y direction and
6m in +j dirention to arrive at B from A point
Magnitude = length of the rubber band

r 3 2 2 2 6 2 7m
Unit vector in the direction of r
u = r /r
= -3/7i + 2/7j + 6/7k
 ANSWER: EXAMPLE 2

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

Note: These angles are measured from the positive axes

of a localized coordinate system placed at the tail of r
Force Vector Directed along a Line

Example 3
The man pulls on the cord
with a force of 350N.
Represent this force acting
on the support A, as a
Cartesian vector and
determine its direction.
 ANSWER: EXAMPLE 3

Solution
End points of the cord are A (0m, 0m, 7.5m)
and B (3m, -2m, 1.5m)
r = (3m 0m)i + (-2m 0m)j + (1.5m 7.5m)k
= {3i 2j 6k}m
Magnitude = length of cord AB

r 3m 2 2m 2 6m 2 7m

Unit vector, u = r /r
= 3/7i - 2/7j - 6/7k
 ANSWER: EXAMPLE 3

Force F has a magnitude of 350N, direction

specified by u
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k} N

= cos-1(3/7) = 64.6
= cos-1(-2/7) = 107
= cos-1(-6/7) = 149
Force Vector Directed along a Line

Example 4
The roof is supported by
cables. If the cables exert
FAB = 100N and FAC = 120N
on the wall hook at A,
determine the magnitude of
the resultant force acting at
A.
 ANSWER: EXAMPLE 4
Solution
rAB = (4m 0m)i + (0m 0m)j + (0m 4m)k
= {4i 4k}m
| rAB | 4m 2 4m 2 5.66m

FAB = 100N (rAB /|r AB|)

= 100N {(4/5.66)i - (4/5.66)k}
= {70.7i - 70.7k} N
 ANSWER: EXAMPLE 4

Solution
rAC = (4m 0m)i + (2m 0m)j + (0m 4m)k
= {4i + 2j 4k}m

rAC 4 m 2 2 m 2 4m 2 6m
FAC = 120N (rAB/r AB)
= 120N {(4/6)i + (2/6)j - (4/6)k}
= {80i + 40j 80k} N
 ANSWER: EXAMPLE 4

Solution
FR = FAB + FAC
= {70.7i - 70.7k} N + {80i + 40j 80k} N
= {150.7i + 40j 150.7k} N

Magnitude of FR
| FR | 150.7 2 40 2 150.7 2
217 N
 IN CLASS TUTORIAL (GROUP PROBLEM SOLVING 1)

Given: Position vector as shown in the

figure
Find: Express the position vector r in
the Cartesian vector form, its
magnitude and coordinate
direction angle.
Plan:

1) Represent the position vector in Cartesian vector form

2) Find the magnitude of the position vector
3) Use trigonometry to find the direction angle

24
 GROUP PROBLEM SOLVING 1(continued)

rAB = {( XB XA ) i + ( YB YA ) j + ( ZB ZA ) k }m
= {( 0 3 ) i + ( -8 4) j + ( 4 0 ) k }m
= {-3i - 12j + 4k }m (position vector)

Distance between point A and B,-----(magnitude)

1
rAB (3) 2 (12) 2 (4) 2 2
13m 25
 GROUP PROBLEM SOLVING 1(continued)

rx 3
cos
rAB 13
ry 12
cos
rAB 13
rz 4
cos
r AB 13

Solving the equations and we will the answers as below

= 103.3, = 157.4, = 72.1

26
IN CLASS TUTORIAL (GROUP PROBLEM SOLVING 2)

Given: The window is held open by

cable AB as shown in the figure
Find: Length of the cable and express
the F force acting at A along the
cable as a Cartesian vector
Plan:
1) Represent the position
vector in Cartesian
vector form
2) Find the magnitude of
the position vector
3) Using a unit vector,
express the F force as a
Cartesian vector
27
 GROUP PROBLEM SOLVING 2(continued)

rAB = {( XB XA ) i + ( YB YA ) j + ( ZB ZA ) k }mm
= {( 0 300cos30) i + ( 150 500) j + (250 + 300sin30) k }mm
= {-259.8i - 350j + 400k }mm

Distance between point A and B,

1
rAB (259.8) 2 (350) 2 (400) 2 2
591.6mm 28
 GROUP PROBLEM SOLVING 2(continued)

Use a unit vector to express F in the form of Cartesian vector

F = FuAB = F(rAB/rAB).
F = 30 {(-259.8 /591.6)i + (-350/591.6)j + (400/591.6)k}
= 30{-0.44i 0.59j + 0.68k}

= {-13.2i - 17.7j + 20.4k} N

29
 IN CLASS TUTORIAL (GROUP PROBLEM SOLVING 3)

Given: The cable attached to the tractor

at B exerts a force of 3500 N on
the framework.
Find: Express this force as a Cartesian
vector
Plan:

1) Represent the position vector in Cartesian vector form

2) Find the magnitude of the position vector
3) Using a unit vector, express the F force as a Cartesian vector
30
 GROUP PROBLEM SOLVING 3 (continued)

rAB = {( XB XA ) i + ( YB YA ) j + ( ZB ZA ) k }m
= {( 15sin20 0 ) i + ( 15cos20 0) j + ( 0 10.5 ) k }m
= {5.13i + 14.1j - 10.5k }m
Distance between point A and B,

1
rAB (5.13) (14.1) (10.5)
2 2 2 2
18.31m 31
 GROUP PROBLEM SOLVING 3(continued)

Use a unit vector to express F in the form of Cartesian vector

F = FuAB = F(rAB/rAB).
F = 3500 {(5.13 /18.31)i + (14.1/18.31)j + (-10.5/18.31)k}
= 3500{0.28i + 0.77j 0.57k}

= {980i + 2695j - 1995k} N

32
 HOMEWORK TUTORIAL

Q1 (2-84):
Determine the length of the connecting rod AB by first
formulating a Cartesian position vector from A to B and then
determining its magnitude.
Given:
b = 400mm
a = 125mm
= 25

33
 HOMEWORK TUTORIAL
Q2 (2-90):
Determine the magnitude and coordinate direction
angles of the resultant force.

Ans: FR=821.65N
=72.83, =83.33 & =161.5 34
 HOMEWORK TUTORIAL (continued)
Q3 (2-104) :
The tower is held in place by three cables. If the force of each cable
acting on the tower is shown, determine the magnitude and
coordinate direction angles ,, of the resultant force.
Units Used:
kN := 1000N
Given:
x = 20m, a = 16m
y = 15m, b = 18m
F1 = 600N, c = 6m
F2 = 400N, d = 4m
F3 = 800N, e = 24m

35
Ans:
Problem 2-83
Express the position vector r in Cartesian vector form;
then determine its magnitude and coordinate direction angles .
30 deg
20 deg
c 5m
b 2m
a 8m

36
 CONCEPT QUIZ
1. P and Q are two points in a 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

2. 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.

37
 ATTENTION QUIZ

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. Force vector, F, directed along a line PQ is given by

A) (F/ F) rPQ B) rPQ/rPQ
C) F(rPQ/rPQ)D) F(rPQ/rPQ)

38
 READING QUIZ
1. A position vector, rPQ, is obtained by
A) Coordinates of Q minus coordinates of P
B) Coordinates of P minus coordinates of Q
C) Coordinates of Q minus coordinates of the origin
D) Coordinates of the origin minus coordinates of P
2. 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
39