9/18/2013

1
Vectors
Vector classifications:
- Fixed or bound vectors have well defined points of
application that cannot be changed without affecting
an analysis.
- Free vectors may be freely moved in space without
changing their effect on an analysis.
Equal vectors have the same magnitude and direction.
Negative vector of a given vector has the same magnitude
and the opposite direction.
Engineers Mechanics- Review of Vector Algebra/Applications
Addition of Vectors
Parallelogram rule for vector addition
Triangle rule for vector addition
B
B
C
C
Q P R
B PQ Q P R

+ =
+ = cos 2
2 2 2
Law of cosines,
Law of sines,
P
C
R
B
Q
A sin sin sin
= =
Vector addition is commutative,
P Q Q P

+ = +
Vector subtraction
Engineers Mechanics- Review of Vector Algebra/Applications
9/18/2013
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Addition of Vectors
Addition of three or more vectors through
repeated application of the triangle rule
The polygon rule for the addition of three or
more vectors.
Vector addition is associative,
( ) ( ) S Q P S Q P S Q P

+ + = + + = + +
Multiplication of a vector by a scalar
Engineers Mechanics- Review of Vector Algebra/Applications
Engineers Mechanics- Review of Vector Algebra/Applications
Addition of Vectors
A quantity which has magnitude and
direction, but doesnt follow
parallelogram law, cannot be a vector.
Can you name such a quantity?
Think in terms of associative property!!
Answer: Finite Rotation
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Application: Resultant of Several Concurrent Forces
Concurrent forces: set of forces which all
pass through the same point.
A set of concurrent forces applied to a
particle may be replaced by a single
resultant force which is the vector sum of the
applied forces.
Vector force components: two or more force
vectors which, together, have the same effect
as a single force vector.
Engineers Mechanics- Review of Vector Algebra/Applications
Rectangular Components of a Vector
cos F F
x
=
Vector components may be expressed as products of
the unit vectors with the scalar magnitudes of the
vector components.
F
x
and F
y
are referred to as the scalar components of
j F i F F
y x

+ =
F

May resolve a vector into perpendicular components so

that the resulting parallelogram is a rectangle.
are referred to as rectangular vector components and
y x
F F F

+ =
y x
F F

and
Define perpendicular unit vectors which are
parallel to the x and y axes.
j i

and
sin F F
y
=
Engineers Mechanics- Review of Vector Algebra/Applications
9/18/2013
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Application: Addition of Concurrent Forces
S Q P R

+ + =
Wish to find the resultant of 3 or more
concurrent forces,
( ) ( ) j S Q P i S Q P
j S i S j Q i Q j P i P j R i R
y y y x x x
y x y x y x y x


+ + + + + =
+ + + + + = +
Resolve each force into rectangular components

=
+ + =
x
x x x x
F
S Q P R
The scalar components of the resultant are
equal to the sum of the corresponding scalar
components of the given forces.

=
+ + =
y
y y y y
F
S Q P R
x
y
y x
R
R
R R R
1 2 2
tan

= + =
To find the resultant magnitude and direction,
Engineers Mechanics- Review of Vector Algebra/Applications
Example-1
Two structural members A and B are bolted to
a bracket as shown. Knowing that both
members are in compression and that the force
is 20 kN in member A and 30 kN in member B,
determine, using trigonometry, the magnitude
and direction of the resultant of the forces
applied to the bracket by members A and B.
SOLUTION KEY
o Construct the force triangle
and apply the sine and
cosine rules.
Engineers Mechanics- Review of Vector Algebra/Applications
Example of a timber truss joint
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SOLUTION
Engineers Mechanics- Review of Vector Algebra/Applications
Example-1
A collar that can slide on a vertical rod is subjected to
the three forces shown. Determine (a) the value of the
angle for which the resultant of the three forces is
horizontal, (b) the corresponding magnitude of the
resultant.
SOLUTION KEY
o Since the resultant (R) is to be
horizontal, sum of the vertical
comp. of the forces, i.e., R
y
=0.
Example of an Umbrella
Engineers Mechanics- Review of Vector Algebra/Applications
Example-2
9/18/2013
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1 - 11
0
y y
R F = E =
( ) ( ) 90lb 70lb sin 130lb cos 0 + =
( ) ( ) 13 cos 7 sin 9 = +
( )
2
13 1 sin 7 sin 9 = +
( ) ( ) ( )
2 2
169 1 sin 49 sin 126 sin 81 = + +
( ) ( )
2
218 sin 126 sin 88 0 + =
sin 0.40899 =
= 1 . 24
(a) Since R is to be horizontal, R
y
=0
Then,
Squaringbothsides:
Solving by quadratic formula:
or,
SOLUTION
Engineers Mechanics- Review of Vector Algebra/Applications
Example-2
1 - 12
117.0lb R =
or,
Engineers Mechanics- Review of Vector Algebra/Applications
Example-2
9/18/2013
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Rectangular Components of a Vector in Space
1 cos cos cos
2 2 2
= + +
z y x

Components of the vectorF

( )
k j i
F
k j i F
k F j F i F F
F F F F F F
z y x
z y x
z y x
z z y y x x

cos cos cos
cos cos cos
cos cos cos
+ + =
=
+ + =
+ + =
= = =
is a unit vector along the line of action of
and are the direction
cosines for
F

z y x
cos and , cos , cos
2 2 2
z y x
F F F F + + =
Engineers Mechanics- Review of Vector Algebra/Applications
Application: Rectangular Components of a Force Vector in Space
2 2 2
z y x
d d d d + + =
The magnitude of the force vector is
F and the direction of the force is
defined by the location of two
points,
( ) ( )
2 2 2 1 1 1
, , and , , z y x N z y x M
( )
d
Fd
F
d
Fd
F
d
Fd
F
k d j d i d
d
F F
z z d y y d x x d
k d j d i d
N M d
z
z
y
y
x
x
z y x
z y x
z y x
= = =
+ + =
=
= = =
+ + =
=

1
and joining vector
1 2 1 2 1 2

d
d
d
d
d
d
z
z
y
y
x
x
= = = cos ; cos ; cos
Engineers Mechanics- Review of Vector Algebra/Applications
9/18/2013
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Scalar Product of Two Vectors
The scalar product or dot product between
two vectors P and Q is defined as
( ) result scalar cos PQ Q P = -

Scalar products:
- are commutative,
- are distributive,
- are not associative,
P Q Q P

- = -
( )
2 1 2 1
Q P Q P Q Q P

- + - = + -
( ) undefined = - - S Q P

Scalar products with Cartesian unit components,
0 0 0 1 1 1 = - = - = - = - = - = - i k k j j i k k j j i i


( ) ( ) k Q j Q i Q k P j P i P Q P
z y x z y x

+ + - + + = -
2 2 2 2
P P P P P P
Q P Q P Q P Q P
z y x
z z y y x x
= + + = -
+ + = -


Engineers Mechanics- Review of Vector Algebra/Applications
Applications: Scalar Product of Two Force Vectors
Angle between two force vectors:
PQ
Q P Q P Q P
Q P Q P Q P PQ Q P
z z y y x x
z z y y x x
+ +
=
+ + = = -

cos
cos

Projection of a force vector on a given axis:
OL
OL
P P
Q
Q P
PQ Q P
OL P P P
= =
-
= -
= =

cos
cos
along of projection cos


z z y y x x
OL
P P P
P P

cos cos cos + + =

- =

- For an axis defined by a unit vector ():
Q
Q

=
Note:
Engineers Mechanics- Review of Vector Algebra/Applications
9/18/2013
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Vector Product of Two Vectors
Vector product of two vectors P and Q is defined
as the vector V which satisfies the following
conditions:
1.Line of action of V is perpendicular to plane
containing P and Q.
2.Magnitude of V is
3.Direction of V is obtained from the right-hand
rule.
sin Q P V =
Vector products:
- are not commutative,
- are distributive,
- are not associative,
( ) Q P P Q =
( )
2 1 2 1
Q P Q P Q Q P + = +
( ) ( ) S Q P S Q P =
Engineers Mechanics- Review of Vector Algebra/Applications
Vector Products: Rectangular Components
Vector products of Cartesian unit vectors,
0
0
0
= = =
= = =
= = =
k k i k j j k i
i j k j j k j i
j i k k i j i i




Vector products in terms of rectangular
coordinates
( ) ( ) k Q j Q i Q k P j P i P V
z y x z y x

+ + + + =
( ) ( )
( )k Q P Q P
j Q P Q P i Q P Q P
x y y x
z x x z y z z y

+
+ =
z y x
z y x
Q Q Q
P P P
k j i

=
Engineers Mechanics- Review of Vector Algebra/Applications
9/18/2013
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Application: Moment of a Force About a Point
Moment of a force produces a turning action on a
rigid body
The moment of a force F about O is defined as
F r M
O

=
Engineers Mechanics- Review of Vector Algebra/Applications
r is the position vector of A from O
The moment vector M
O
is perpendicular to the
plane containing O and the force F.
Magnitude of M
O
measures the tendency of the force
to cause rotation of the body about an axis along M
O
.
d is the perpendicular distance of the line of action
of Force F from O. The sense of the moment may be
determined by the right-hand rule.
Fd rF M
O
= = sin
Engineers Mechanics- Review of Vector Algebra/Applications
Examples: Application of moments
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Application: Rectangular Components of the Moment of a Force about origin
( ) ( ) ( )k yF xF j xF zF i zF yF
F F F
z y x
k j i
k M j M i M M
x y z x y z
z y x
z y x O



+ + =
=
+ + =
The moment of force F applied at A about O,
k F j F i F F
k z j y i x r F r M
z y x
O

+ + =
+ + = = ,
Engineers Mechanics- Review of Vector Algebra/Applications
Appl i cati on: Rectangul ar Components of the Moment of a Force about an
Arbi trary Poi nt
The moment of force F applied at A about B,
F r M
B A B

=
/
( ) ( ) ( )
k F j F i F F
k z z j y y i x x
r r r
z y x
B A B A B A
B A B A



+ + =
+ + =
=
/
( ) ( ) ( )
z y x
B A B A B A B
F F F
z z y y x x
k j i
M =

Engineers Mechanics- Review of Vector Algebra/Applications

9/18/2013
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A 36-N force is applied to a wrench to
tighten a showerhead. Knowing that the
centerline of the wrench is parallel to the x
axis. Determine the moment of the force
about A.
Example-3
SOLUTION KEY
o Find out the position vector of the
point C .
o Get the components of the applied
force (F) along X, Y and Z directions.
Engineers Mechanics- Review of Vector Algebra/Applications
Example - 3
/ A C A
= M r F
( ) ( ) ( )
/
215mm 50mm 140mm
C A
= + r i j k
( ) 36N cos45 sin12
x
F = ( ) 36 N sin45
y
F =
( ) 36 N cos45 cos12
z
F =
( ) ( ) ( ) 5.2926 N 25.456 N 24.900N = F i j k
where
,
,
0.215 0.050 0.140 N m
5.2926 25.456 24.900
A
=

i j k
M
( ) ( ) ( ) 4.8088N m 4.6125N m 5.7377N m = + i j k
and
( ) ( ) ( ) 4.81N m 4.61N m 5.74N m
A
= + M i j k
SOLUTION
Engineers Mechanics- Review of Vector Algebra/Applications
9/18/2013
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Mixed Triple Product of Three Vectors
Mixed triple product of three vectors,
( ) result scalar = - Q P S

The six mixed triple products formed from S, P, and
Q have equal magnitudes but not the same sign,
( ) ( ) ( )
( ) ( ) ( ) S P Q Q S P P Q S
P S Q S Q P Q P S


- = - = - =
- = - = -
( ) ( ) ( )
( )
z y x
z y x
z y x
x y y x z
z x x z y y z z y x
Q Q Q
P P P
S S S
Q P Q P S
Q P Q P S Q P Q P S Q P S
=
+
+ = -

Evaluating the mixed triple product,
P
Q
S
=volume of parallelepiped
Engineers Mechanics- Review of Vector Algebra/Applications
Application: Moment of a Force About an Axis Passing Through the Origin
k z j y i x r

+ + =
Moment M
O
of a force F applied at the point A
about a point O,
F r M
O

=
Scalar moment M
OL
about an axis OL is the
projection of the moment vector M
O
onto the
axis,
( ) F r M M
O OL

- = - =
Moments of F about the coordinate axes
(components of )
x y z
z x y
y z x
yF xF M
xF zF M
zF yF M
=
=
=
Engineers Mechanics- Review of Vector Algebra/Applications
O
M

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Application: Moment of a Force About an Arbitrary Axis
Moment of a force about an arbitrary axis,
( )
B A B A
B A
B BL
r r r
F r
M M

=
- =
- =

The result is independent of the location

of point B along the given axis!!
Engineers Mechanics- Review of Vector Algebra/Applications
Example - 4
Engineers Mechanics- Review of Vector Algebra/Applications
The frame ACD is hinged at A and D and is supported by a cable that
passes througharingat B andis attachedtohooks at G andH. Knowing
that thetension in thecableis 1125 N, determinethemoment about the
diagonal AD of theforceexertedontheframebyportionBH of thecable.
SOLUTION KEY
o Find unit vector along AD.
o Find the force vector BH.
o Choose either point A or D , get the
position vector AB or DB
( ) / AD AD B A BH
M = r T
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Example - 4
Engineers Mechanics- Review of Vector Algebra/Applications
( ) / AD AD B A BH
M = r T
( ) ( )
( ) ( )
2 2
0.8m 0.6m
0.8 0.6
0.8m 0.6m
AD

= =
+
i k
i k
( )
/
0.4m
B A
= r i
( )
( ) ( ) ( )
( ) ( ) ( )
2 2 2
0.3m 0.6m 0.6m
1125N
0.3 0.6 0.6 m
BH BH
BH
T
BH
( +

= =
+ +
i j k
T

0.8 0 0.6
0.4 0 0 180 N m
375 750 750
AD
M

= =

180.0 N m
AD
M =
Moment of a Couple Couple Moment
Two forces F and -F having the same magnitude,
parallel lines of action, and opposite sense are said
to form a couple.
Moment of the couple,
( )
( )
C Fd rF M
C F r
F r r
F r F r M
B A
B A
= = =
= =
=
+ =
sin

Special Notation
The moment vector of the couple is
independent of the choice of the origin of the
coordinate axes, i.e., it is a free vector that can
be applied at any point with the same effect.
Engineers Mechanics- Review of Vector Algebra/Applications
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Moment of a Couple
Two couples will have equal moments if

2 2 1 1
d F d F =
the two couples lie in parallel planes, and
the two couples have the same sense or
the tendency to cause rotation in the same
direction.
Engineers Mechanics- Review of Vector Algebra/Applications
Addition of Couples
Consider two intersecting planes P
1
and
P
2
with each containing a couple
2 2 2
1 1 1
plane in
plane in
P F r M
P F r M

=
=
Resultants of the vectors also form a
couple
( )
2 1
F F r R r M

+ = =
Sum of two couples is also a couple that is equal
to the vector sum of the two couples
2 1
2 1
M M
F r F r M

+ =
+ =
Engineers Mechanics- Review of Vector Algebra/Applications
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Summary Couple
A couple can be represented by a vector with magnitude
and direction equal to the moment of the couple.
Couple vectors obey the law of addition of vectors.
Couple vectors are free vectors, i.e., the point of application
is not significant.
Couple vectors may be resolved into component vectors.
Engineers Mechanics- Review of Vector Algebra/Applications