ADDITION OF A SYSTEM

OF COPLANAR FORCES
When a force is resolved into two components along the x and y axes, the
components are then called rectangular components. For analytical work we can
represent these components in one of two ways, using either scalar or Cartesian
vector notation.
SCALAR NOTATION In diagram “a”

Using parallelogram law, F = Fx + Fy

Therefore, Fx = F cos θ and;

Fy = F sin θ

In diagram “b”

or

and
or
CARTESIAN VECTOR NOTATION

• X and Y components of a force are represented in terms of Cartesian unit vectors i and j.
• They are called unit vectors because they have a dimensionless magnitude of 1.

F = Fx i + F y j
COPLANAR FORCE RESULTANTS
• We can use either of the two methods just described to determine the resultant of several
coplanar forces, i.e., forces that all lie in the same plane.

The vector resultant is therefore

• If scalar notation is used, then indicating the positive directions of
components along the x and y axes with symbolic arrows, we have
EXAMPLE 1

Determine the X and Y components of F1 and F2 acting on the boom shown.

EXAMPLE 2

The link shown is subjected to two forces F1 and F2. Determine the magnitude
and direction of the resultant force.
• NOTE: Comparing the two methods of solution, notice that the use
of scalar notation is more efficient since the components can be
found directly, without first having to express each force as a
Cartesian vector before adding the components. Later, however,
we will show that Cartesian vector analysis is very beneficial for
solving three-dimensional problems.
EXAMPLE 3
The end of the boom O is subjected to three concurrent and coplanar forces.
Determine the magnitude and direction of the resultant force.
NOTE: Application of this method is more convenient, compared to using two
applications of the parallelogram law, first to add F1 and F2 then adding F3 to
this resultant
CARTESIAN VECTORS
Right-Handed Coordinate System
A rectangular coordinate system is said to be right-handed if 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 towards the positive y axis.
Rectangular Components of a Vector
A vector A may have one, two, or three rectangular components along the x, y, z coordinate axes,
depending on how the vector is oriented relative to the axes. In general, though, when A is directed within
an octant of the x, y, z frame, then by two successive applications of the parallelogram law, we may resolve
the vector into components.

A = A’ + Az Eqn. 1

A’ = Ax + Ay Eqn. 2

Combining these equations to eliminate A’

A = A x + Ay + Az Eqn. 3
Cartesian Unit Vectors
In three dimensions, the set of Cartesian unit vectors, i, j, k, is used to designate the directions of the x, y, z
axes, respectively. As stated earlier, the sense (or arrowhead) of these vectors will be represented
analytically by a plus or minus sign, depending on whether they are directed along the positive or negative
x, y, or z axes.
Cartesian Vector Representation
Remember A = Ax + Ay + Az act in the positive i, j and k directions.

Eqn. 4
Magnitude of a Cartesian Vector
It is always possible to obtain the magnitude of A provided it is expressed in Cartesian vector form.

Light Blue Right Triangle

Eqn. 5

Gray Right Triangle

Eqn. 6

Combine Equations to eliminate A’

Eqn. 7
Coordinate Direction Angles
We will define the direction of A by the coordinate direction angles α (alpha), β (beta), and ϒ (gamma),
measured between the tail of A and the positive x, y, z axes provided they are located at the tail of A. Note
that regardless of where A is directed, each of these angles will be between 0° and 180°.

Eqn. 8

Eqn. 9

Eqn. 10
An easy way of obtaining these direction cosines is to form a unit vector uA in the direction of A.
If A is expressed in Cartesian vector form, A = Axi + Ayj + Azk, then uA will have a magnitude of
one and be dimensionless provided A is divided by its magnitude

Eqn. 11

See Eqn. 7

Eqn. 12

Since the magnitude of a vector is equal to the positive square root

of the sum of the squares of the magnitudes of its components, and
uA has a magnitude of one;

Eqn. 13
• We can see that if only two of the coordinate angles are known, the third angle can be found
using this equation. Finally, if the magnitude and coordinate direction angles of A are known,
then A may be expressed in Cartesian vector form as

Eqn. 14
Transverse and Azimuth Angles
Sometimes, the direction of A can be specified using two angles, namely, a
transverse angle θ and an azimuth angle ɸ (phi).
Light Blue Triangle

Eqn. 15

Eqn. 16

Dark Blue Triangle

Eqn. 17

Eqn. 18
Therefore A written in Cartesian vector form becomes;

Eqn. 19

*You should not memorize this equation, rather it is important to understand

how the components were determined using trigonometry.