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ENGINEERIN
NG MEC
CHANIC
CS
VE
ECTORS
VECTO
OR NOTA
ATIONS

co
m

So far we
w have determined
d
d the resulltant of co
oncurrent force
f
system by
b using analytical method
m
i.e., we have learned
l
how
w to
resolve a vector intto its rectan
ngular comp
ponents.

ed
uc
at
io
n.

For a general devellopment of the theorettical aspectts of mechan

nics,
howeverr, a more rigorous
r
treatment is possible by
b using veector
analysiss.

A vectorr may be deenoted by drawing

d
a short
s
arrow
w above the letter used
d to represen
nts
it.

hi

Fig. 1 Repreesentation of vector

UNIT VECTOR
V
R

ks

Vector OA=F, and

d will be rep
presented as
a

w
w

.s
a

A unit vector
v
is deffined as a vector
v
of un
nit magnitud
de in a speccified direcction. We sh
hall
denote them
t
by pla
acing a circu
umflex (^) over them.

Fiig.2. Represeentation of unit

u vector
ERINGMECH
HANICS
ENGINEE

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P
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From above figure the unit vector in the direction from O to A is the vector
by the magnitude d of the distance from O to A.

divided

Multiplying a unit vector by a scalar denotes a vector having the direction of the unit
vector and magnitude equal to that of scalar.

co
m

, ,
represents vector of unit length directed along the positive senses of X, Y, Z
coordinate axes respectively as sown in above figure.
By using this, any vector can be written as

ed
uc
at
io
n.

This is known as standard Cartesian form of representing a vector

Therefore, any vector

, where

can be written as

=F.

ks

Where,

hi

=F.

Force Multiplier (Detailed note given in topic:2)

.s
a

VECTOR ALGEBRA

There are two types of vector multiplication

w
w

1. Dot product or scalar product

It is to find the component of vector along any special direction

2. Cross product or Vector product

It is to find the moment of vector about any centre.
Note:
1. In our past studies like intermediate we have studied about vectors, hence I am not going to
discuss much about that, we will concentrate on subject of Engineering Mechanics.
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2. Now we will try to solve the Exercise problem in simplified manner from F L Singer (problem
No: 2-8.9, Page No: 47). While solving this problem we are going to take pounds (lb) as Newton
(N) and inches (in) as meters (m).
Let us try to solve some problems on component of forces in space by using the vector
algebra

ks

hi

ed
uc
at
io
n.

co
m

Q.1 In figure a boom AC is supported by a ball and socket joint at C and by the
cables BE and AD. If the force multiplier of a force F acting from B to E is
/ , find the component of F that is perpendicular to the plane DAC

.s
a

Fig.3 Schematic diagram of problem

Let us write the coordinate points in the tabular format:

Supporting Point

X-Direction

Y- Direction

Z- Direction
0
0

8
4

0
-5

-10

D
E

0
0

0
3

-3
6

w
w

A
B

above coordinate points can also be written as A(8,0,0), B(4,-5,0), C(0,-10,0), D(0,0,-3)
and E(0,3,6)

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=-8

Vector

=-8

Vector

10

Above vectors are made from coordinates of A&D and A&C

is acting from B to E

=-4

Vector

= 30

24

80

hi

10

ks

.s
a

The unit vector along the

6 )

(we have to solve by using cross product)

= 8

w
w

perpendicular to plane DAC

ed
uc
at
io
n.

Consider Vector

=10(-4

=10(-4

therefore

co
m

As given in the problem, the force

Component of force = .

6 ).

. 120

=
192

30

80

480 =89.242 N

Component of force F that is perpendicular to DAC;

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24

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= 89.242 N

Ans.

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Note: Now we will try to solve the Exercise problem in simplified manner from F L Singer
(problem No: 2-7.4, Page No: 40). This problem will give you the detailed understanding of
solving the problems with vector notations; this solution is little bigger because it covers many
parameters to be found. While solving this problem we are going to take pounds (lb) as Newton
(N) and inches (in) as meters (m).

co
m

Q. 2. In the system shown in figure it is found that the force multiplier of force F
/ , and that of force P is acting from A to E is
acting from B to D is

ks

hi

ed
uc
at
io
n.

/ . Find the component of each force along AC. What angle does each
force make with AC?

.s
a

Fig.4 Schematic diagram of problem

Let us write the coordinate points in the tabular format:

Supporting Point

X-Direction

Y- Direction

Z- Direction
0
0

12
8

0
-3

-9

D
E

0
0

0
4

6
-6

w
w

A
B

above coordinate points can also be written as A(12,0,0), B(8,-3,0), C(0,-9,0), D(0,0,6)
and E(0,4,-6)

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(i) As given in the problem, the force is acting from B to D

=-8

Vector

This vector is made from coordinates of B (8,-3, 0), & D (0, 0, 6)

Now the force: =

8

Magnitude if force F;

6 )

co
m

=150

=150

ed
uc
at
io
n.

=1566.046 N

(ii) Similarly we can solve for the force P is acting from A to E

=-12

Vector

This vector is made from coordinates of A (12, 0, 0), & E (0, 4,-6)

Now the force: =

=100

12

6 )

=150

hi

Magnitude if force P;

.s
a

ks

=1400 N

w
w

(iii) Calculation of component of force F along AC

=-12

Vector

This vector is made from coordinates of A(12,0,0), & C(0,-9,0)

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Unit Vector along

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Component of force
FAC =150
FAC =

. 12

Component of force

=FAC=

along
6 ).

12

co
m

along

; FAC = 690 N

ed
uc
at
io
n.

(iv) Calculation of component of force P along AC

Component of force
PAC =100
PAC =

Ans.

12

. 12

12

along

hi

Component of force

along

12

,PAC =720

, PAC =720 N

Ans.

ks

Component of force

=PAC=

along

.s
a

(v) Calculation of angle of force F making with AC

From definition of dot product

=F. AC. cos

= Angle of forces F making with AC

w
w

Where,

cos

.
F.AC

=cos

690
=63.86
1566.046

Angle of forces F making with AC:

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=63.86

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Ans.

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(vi) Calculation of angle of force P making with AC

= Angle of forces P making with AC

cos

.
P.AC

=cos

co
m

Where

=P. AC. cos

720
1400

ed
uc
at
io
n.

=59.05
=59.05

Ans.

w
w

.s
a

ks

hi

Angle of forces P making with AC:

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MOMENT OF FORCE
Definition the moment of force (of any vector) about a point is defined as the product of
the magnitude of the force by the perpendicular distance from the point to the action
line of the force

hi

Where d=moment arm

ed
uc
at
io
n.

co
m

For better understanding refer the below figure

ks

F=Magnitude of the moment of force

.s
a

The moment of force about a centre 'O' can be expressed as:

=F.d

w
w

The moment of force about a point represents the tendency to rotate the moment arm
about an axis which is perpendicular to the plane defined by the force and its moment
arm.

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PRINCIPLE OF MOMENTS: (Varignon's theorem)

ed
uc
at
io
n.

co
m

It states that the moment of a force is equal to the moment sum of its components. This
almost self-evident statement is known as Varignon's theorem

ks

Let R be the resultant of the concurrent forces P, F and T

The force system may be either coplanar or spatial, but it must be concurrent
From above figure R=P+F+T about
About any point 'O' as a moment centre, the moment of these force is

.s
a

hi

Fig.4 Presentation of principle of moments

r x R=r x (P+F+T) = r x P + r x F + r x T

w
w

Resultant and components must be concurrent

A general symbolic statement of the theorem is:

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COUPLES

ed
uc
at
io
n.

co
m

Definition A couple is a pair of equal, parallel, oppositely directed forces

Fig.5 Presentation of couple

ks

hi

Where, d=moment arm couple of the forces, i.e. distance between the action lines of the
force
We must know some of the facts about the couple:

.s
a

w
w

The vector sum of the two forces in the couple is zero

But moment sum of the two forces is in the couple not zero
The effect of the couple on a body is a tendency to rotate the body about an axis
perpendicular to the plane of the couple
A unique property of the couple is that the moment sum of its forces is constant
and independent of any moment centre

Moment of a couple C is equal to the product of one of the forces composing the
couple multiplied by the perpendicular distance between their action lines

| |=F. d

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SPATIAL COUPLE

ed
uc
at
io
n.

co
m

Definition A couple is a pair of equal, parallel, oppositely directed spatial forces (F & -F)
moment sum also is constant and independent of any moment centre

Fig.6 Presentation of spatial couple

We can understand from figure, with respect to any origin 'O' draw position vector

ks

hi

to any point A on F and draw

to any point B on -F. Adding the moment of each
force about O, the expression will be as below
M=

x F+

.s
a

Where

x (-F) = (

x F = x F

=Position vector (

Since the only effect of a couple is to produce a moment that is independent of the
moment centre, the effect of couple is unchanged if

w
w

1. The couple is rotated through any angle in its plane

2. The couple is shifted to any other position in its plane
3. The couple is shifted to any other plane
4. The couple is replaced by another pair of force in its plane whose product (F. d) and
sense of rotation is unchanged

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