Seventh Edition

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

2
STATICS
Ferdinand P. Beer
E. Russell Johnston, Jr. Statics of Particles
Lecture Notes:
J. Walt Oler
Texas Tech University

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Contents

• Introduction • Equilibrium of a Particle

• Resultant of Two Forces • Free-Body Diagrams
• Vectors • Rectangular Components in Space
• Addition of Vectors
• Resultant of Several Concurrent Fo
rces
• Rectangular Components of a Force
: Unit Vectors
• Addition of Forces by Summing Co
mponents

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Introduction
• The objective for the current chapter is to investigate the effects of forces
on particles:

- relations between forces acting on a particle that is in a

state of equilibrium.

• The focus on particles does not imply a restriction to miniscule bodies.

Rather, the study is restricted to analyses in which the size and shape of
the bodies is not significant so that all forces may be assumed to be
applied at a single point.

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Resultant of Two Forces

• force: action of one body on another;

characterized by its point of application,
magnitude, line of action, and sense.

• Experimental evidence shows that the

combined effect of two forces may be
represented by a single resultant force.

• The resultant is equivalent to the diagonal of

a parallelogram which contains the two
forces in adjacent legs.

• Force is a vector quantity.

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Vectors
• Vector: parameter possessing magnitude and direction
which add according to the parallelogram law.
Examples: displacements, velocities, accelerations.
• Scalar: parameter possessing magnitude but not
direction. Examples: mass, volume, temperature
• 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.
- Sliding vectors may be applied anywhere along their
line of action without affecting an analysis.
• Equal vectors have the same magnitude and direction.
• Negative vector of a given vector has the same magnitude
and the opposite direction.
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Addition of Vectors
• Trapezoid rule for vector addition

• Triangle rule for vector addition

• Law of cosines,
C
B R 2 P 2  Q 2  2 PQ cos B
  
C R P  Q

• Law of sines,
sin A sin B sin C
 
B Q R A

• Vector addition is commutative,

   
P  Q Q  P

• Vector subtraction

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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,
        
P  Q  S P  Q  S  P  Q  S 

• Multiplication of a vector by a scalar

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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.

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Sample Problem 2.1

The two forces act on a bolt at A.

Determine their resultant.

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Sample Problem 2.1

• Graphical solution - A parallelogram with sides

equal to P and Q is drawn to scale. The
magnitude and direction of the resultant or of
the diagonal to the parallelogram are measured,

R 98 N  35

• Graphical solution - A triangle is drawn with P

and Q head-to-tail and to scale. The magnitude
and direction of the resultant or of the third
side of the triangle are measured,

R 98 N  35

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Sample Problem 2.1

• Trigonometric solution - Apply the triangle rule.
From the Law of Cosines,
R 2  P 2  Q 2  2 PQ cos B
40 N 2  60 N 2  240 N 60 N cos155
R 97.73N

From the Law of Sines,

sin A sin B

Q R
Q
sin A sin B
R
60 N
sin 155
97.73N
A 15.04
 20  A
 35.04
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Sample Problem 2.2

A barge is pulled by two tugboats.
If the resultant of the forces
exerted by the tugboats is 25 kN
directed along the axis of the
barge, determine

a) the tension in each of the ropes

for  = 45o,
b) the value of  for which the
tension in rope 2 is a minimum.

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Sample Problem 2.2

• Graphical solution - Parallelogram Rule

with known resultant direction and
magnitude, known directions for sides.
T1 18.5 kN T2 13.0 kN

• Trigonometric solution - Triangle Rule

with Law of Sines

T1 T 25 kN
 2 
sin 45 sin 30 sin 105

T1 18.30 kN T2 12.94 kN

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Sample Problem 2.2

• The angle for minimum tension in rope 2 is
determined by applying the Triangle Rule
and observing the effect of variations in .

• The minimum tension in rope 2 occurs when

T1 and T2 are perpendicular.

T2 25 kN sin 30 T2 12.5 kN

T1 25 kN cos 30 T1 21.65 kN

 90  30  60

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Rectangular Components of a Force: Unit Vectors

• May resolve a force vector into perpendicular
components so that the resulting parallelogram is a
rectangle. Fx and Fy are referred to as rectangular
vector components and
  
F  Fx  Fy
 
• Define perpendicular unit vectors i and j which are
parallel to the x and y axes.

• Vector components may be expressed as products of

the unit vectors with the scalar magnitudes of the
vector components.
  
F  Fx i  Fy j

Fx and Fy are referred to as the scalar components of F

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Addition of Forces by Summing Components

• Wish to find the resultant of 3 or more
concurrent forces,
   
R P  Q  S

• Resolve each force into rectangular components

       
R x i  R y j  Px i  Py j  Q x i  Q y j  S x i  S y j
 
Px  Q x  S x i  Py  Q y  S y j
• The scalar components of the resultant are equal
to the sum of the corresponding scalar
components of the given forces.
R x  Px  Q x  S x R y  Py  Q y  S y
 Fx  F y
• To find the resultant magnitude and direction,
2 2  1 Ry
R  Rx  R y  tan
Rx
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Sample Problem 2.3

Four forces act on bolt A as shown.

Determine the resultant of the force
on the bolt.

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Sample Problem 2.3

SOLUTION:
• Resolve each force into rectangular
force mag
components. x  comp y  comp

F1 150  129.9  75.0

F2 80  27.4  75.2

F3 110 0  110.0

F4 100  96.6  25.9
R x 199.1 R y 14.3
• Determine the components of the resultant by
adding the corresponding force components.
• Calculate the magnitude and direction.
R y 14.3 N
tan     4.1  4.1
Rx 199.1 N
14.3 N
R 199.6 N
sin 4.1

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Equilibrium of a Particle
• When the resultant of all forces acting on a particle is zero, the particle is
in equilibrium.
• Newton’s First Law: If the resultant force on a particle is zero, the particle will
remain at rest or will continue at constant speed in a straight line.

• Particle acted upon by • Particle acted upon by three or more forces:

two forces: - graphical solution yields a closed polygon
- equal magnitude - algebraic solution
- same line of action  
R  F 0
- opposite sense
 Fx 0  Fy 0
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Free-Body Diagrams

Space Diagram: A sketch Free-Body Diagram: A sketch showing

showing the physical conditions only the forces on the selected particle.
of the problem.

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Sample Problem 2.4

SOLUTION:
• Construct a free-body diagram for the
particle at the junction of the rope and
cable.
• Apply the conditions for equilibrium by
creating a closed polygon from the
forces applied to the particle.
• Apply trigonometric relations to
determine the unknown force
In a ship-unloading operation, a magnitudes.
15.6 kN automobile is supported by
a cable. A rope is tied to the cable
and pulled to center the automobile
over its intended position. What is
the tension in the rope?

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Sample Problem 2.4

SOLUTION:
• Construct a free-body diagram for the
particle at A.

• Apply the conditions for equilibrium.

• Solve for the unknown force magnitudes.

TAB T 15.6 kN
 AC 
sin 120 sin 2 sin 58

TAB 15.93 kN

TAC 0.64 kN

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Sample Problem 2.6

It is desired to determine the drag force

at a given speed on a prototype sailboat
hull. A model is placed in a test
channel and three cables are used to
align its bow on the channel centerline.
For a given speed, the tension is 180 N
in cable AB and 270 N in cable AE.
Determine the drag force exerted on
the hull and the tension in cable AC.

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Sample Problem 2.6

SOLUTION:
• Choosing the hull as the free body, draw a
free-body diagram.
2.13 m 0.46 m
tan a  1.746 tan b  0.377
1.22 m 1.22 m
a 60.19 b 20.65

• Express the condition for equilibrium

for the hull by writing that the sum of
all forces must be zero.
    
R T AB  T AC  T AE  FD 0

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Sample Problem 2.6

• Resolve the vector equilibrium equation into
two component equations. Solve for the two
unknown cable tensions.
  
TAB  180 N sin 60.19 i  180 N cos 60.19 j
 
 156.2 N i  89.5 N  j
  
TAC TAC sin 20.65 i  TAC cos 20.65 j
 
0.3527 TAC i  0.9358TAC j
 
T  270 N i
 
FD FD i


R 0

– 156.2 N  0.3527 TAC  FD i

 89.5 N  0.9358TAC  270 N  j

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Sample Problem 2.6

This equation is satisfied only if each component
of the resultant is equal to zero

 F x 0  0 –156.2 N  0.3527 TAC  FD

 F y 0  0 89.5 N  0.9358 TAC – 270 N

TAC  193 N
FD  88.1 N

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Rectangular Components in Space

Direction of the force is defined by

the location of two points,
M x1 , y1 , z1  and N x2 , y 2 , z 2 


d vector joining M and N
  
d x i  d y j  d z k
d x  x2  x1 d y  y 2  y1 d z  z 2  z1
 
F  F
 1   

  d xi  d y j  d z k
d

Fd x Fd y Fd
Fx  Fy  Fz  z
d d d
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Rectangular Components in Space


• With the angles between F and the axes,
Fx  F cos x Fy  F cos y Fz  F cos z
   
F  Fx i  Fy j  Fz k
  
 F cos x i  cos y j  cos z k 

 F
   
 cos x i  cos y j  cos z k
 
•  is a unit vector along the line of action of
F
and cos  xthe
are , cos  y , and cosines
direction cos z for
F
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Rectangular Components in Space

cos  x , cos  y , cos z are called the direction of cosines for force F. From
the Theorem of Pythagoras, we can write

Fx2  Fy2  Fz2 F 2

F 2 cos 2  x  F 2 cos 2  y  F 2 cos 2  z F 2
cos 2  x  cos 2  y  cos 2  z 1

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z
y Determine the force component for P = 50 N
in the direction of x, y, z. Also state the force
P = 50 N 2m
P in in term of unit vector i, j, and k.
4m
x
3m

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Given the forces in the cables, and x = 10

m, y = 10m, determine the resultant force
acting at D, the top of the tower?

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