Chapter # 2

Force Systems

Dr. Hayat Muhammad Khan

Office: 211-G A&A Department

Topics
 2/1 Introduction
 2/2 Force
SECTION A. Two-Dimensional Force Systems
 2/3 Rectangular Components
 2/4 Moment
 2/5 Couple
 2/6 Resultants
SECTION B. Three-Dimensional Force Systems
 2/7 Rectangular Components
 2/8 Moment and Couple
 2/9 Resultants
Chapter Review
Rectangular Components of a Vector

 A vector may have 1, 2 or 3 rectangular components

along the x, y, z coordinate system depending on how
the vector is oriented relative to the axes.

A = A’ + Az

and A’ = Ax + Ay

Combining the two eqn’s,

A = Ax + Ay + Az

3
Unit Vector

In general, a unit vector is

one having a magnitude
of 1.
If ‘A’ is a vector having a
magnitude A 0, then the
unit vector having the
same direction is
represented by:
uA = A/A (dimensionless)
or A = A uA

4
Cartesian Unit Vector

In 3-D,
i, j, k, are used to designate
directions of the x, y, z, axes.

5
Cartesian Vector Representation

A = Ax i + Ay j + Az k

Advantage of writing vectors in terms

of their Cartesian components:

• Since each of these components has the

same form, the magnitude and direction
of each component vector are
SEPARATED. (This will simplify the
operations of vector algebra particularly
in 3-D)

6
Magnitude of a Cartesian Vector

A A  A  A
2
x
2
y
2
z

Hence, the magnitude

of A is equal to the
positive square root of
the sum of the
squares of its
components.

7
Magnitude of a Cartesian Vector

8
Magnitude of a Cartesian Vector

9
 Direction of a Cartesian Vector

Ax Ay Az
cos   cos   cos  
A A A

 Commonly known as the DIRECTION

COSINES of A
 An easier way of obtaining the direction
cosines of A is to:
 Form a unit vector in the direction of A.
 Provided A is expressed in Cartesian vector
form, A = Ax i + Ay j + Az k, we have

A Ax Ay A
uA   i j z k
A A A A

where A  Ax2  Ay2  Az2

10
 by comparison with direction cosines
written before, we can see that:
 i, j, k, components of uA represent the
Finally, magnitude and
direction cosines of A. coordinate direction
i.e. uA = cos i + cos j + cos k
Also, cos2 + cos2 + cos2 = 1 angles of A
A = A uA
 Provided vector ‘A’ lies in a known
octant, this eq’n can be used to
determine one of the coordinate direction = A cos i + A cos j + A cos k
angles if the other 2 are known.
= Axi + Ayj + Azk

11
Rectangular Components of a Vector

 If the 3 angles are given

with the respective axes..

12
2.6 ADDITION & SUBTRACTION OF CARTESIAN
VECTORS

 Consider vectors A and B as shown

A = Ax i + Ay j + Az k
B = Bx i + By j + Bz k

 Resultant vector R,

R = A + B = (Ax+ Bx) i + (Ay + By)j + (Az +

Bz)k

 Subtraction,

R’ = A - B = (Ax - Bx) i + (Ay - By)j + (Az -

Bz)k

13
14
Concurrent Force System

Above concept of vector addition can be

generalized and applied to a system of
several concurrent forces.
The force resultant is the vector sum of all
the forces in the system,
FR = F = Fxi + Fyj + Fzk

15
 2.7 POSITION VECTORS
 Concept of a position vector.
 Position vector is important in
formulating the Cartesian force
vector, which is directed between
any two points in space.
 x, y, z Coordinates:
• Right-handed coordinate system is
used.
• Positive z-axis is always directed
upwards
(measures the height of an object).
• x and y axes lie in the horizontal
plane.
• Points in space are located relative
to the origin of coordinates, O.

16
POSITION VECTOR
 Position vector r is defined as a fixed vector, which
locates a point in space relative to another point.
e.g. If r extends from the origin, O, to point P (x, y, z),
• Then r can be expressed in Cartesian vector form as
r = xi + yj + zk
• Note how the head-to-tail vector addition of the three
components yields vector r.

17
In general, a position vector r may be
directed from point A to point B in
space. (Normally ‘r’ is written as rAB)
By head-to-tail vector addition, we
require rA + r = rB
Solving for r and expressing rA and rB
in Cartesian vector form yields:
r = rB - rA = (xBi + yBj + zBk) – (xAi + yAj + zAk)
OR r = (xB – xA) i + (yB – yA) j + (zB – zA) k

Thus, the i, j, k components of the position vector r may be

formed by taking the coordinates of the tail of the vector, A(xA,
yA, zA), and subtracting them from the corresponding
coordinates of the head, B(xB, yB, zB).
NOTE: head-to-tail addition of these three components yields r.
18
 2.8 FORCE VECTOR DIRECTED ALONG A LINE

In 3-D static problems, the direction of a force can be specified by two

points through which its line of action passes.

Force F is directed along the

cord AB.
 F can be formulated as a
Cartesian vector,
• Since it has the same direction
and sense as the POSITION
VECTOR r directed from point A
to point B on the cord.
 This common direction is
specified by the unit vector u
= r/r
Hence, F = F u = F ( r/r )

19
PROCEDURE FOR ANALYSIS
When F is directed along a line, which extends from point A
to point B, then F can be expressed in Cartesian vector
form as follows:
Position vector Determine the position vector r directed
from A to B, and compute its magnitude r.

Unit Vector Determine the unit vector u = r/r which

defines the direction and sense of both r and F.

Force Vector Determine F by combining its

magnitude F and direction u, i.e., F=Fu
20
2.9 DOT PRODUCT
 Sometimes one has to find the angle between two
lines or the components of a force parallel and
perpendicular to a line.
►In 2-D these problems can be readily
solved by trigonometry since the
geometry is easy to visualize.
►In 3-D, however, it is difficult and
consequently vector methods should
be employed.
►The dot product defines a particular
method for multiplying two vectors for
solving the above-mentioned
problem.
A . B = AB cos
Where is between 0 - 180

21
Laws of Operation

1. Commutative Law:
A.B=B.A
2. Multiplication by a Scalar:
a(A . B) = (aA) . B = A . (aB) = (A . B)a
3. Distributive Law:
A . (B + D) = (A . B) + (A . D)

22
CARTESIAN VECTOR FORMULATION

Dot product of the Cartesian unit vectors may be

determined by using the above eq’n.

e.g. i . i = (1) (1) cos 0 = 1

i . j = (1) (1) cos 90 = 0

Similarly,

i.i=1 j.j=1 k.k=1

i.j=0 i.k=0 k.j=0

23
Dot product of two general vectors A and B:

A . B = (Axi + Ayj + Azk) . (Bxi + Byj + Bzk)

Expansion will give,

A . B = AxBx + AyBy + AzBz

Thus, to determine the dot product of two Cartesian

vectors, multiply their corresponding x, y, z components
and sum their products algebraically.

NOTE: Vector Dot Product results in a Scalar

24
APPLICATIONS

 Two important applications in mechanics:

1. The angle formed between two vectors or intersection lines.

The angle between the tails of vectors A and B can be determined

from;
 A B 
  cos  1 
 AB 
 
where 0 180

e.g. If A.B=0

Then = cos-1 0 = 90
So the vector A will be perpendicular to B.
25
2. The components of a vector parallel and
perpendicular to a line.
 The components of vector A parallel to or collinear with line aa’
defined by A ,
where A = A cos .
 This component is also called projection of A onto the line.

26
 If the direction of the line is specified by unit vector u,
then we can find A directly from the dot product;
A . u = (A)(u) cos
A = A cos =A.u (since u = 1)
 Hence, the scalar projection of A along a line is
determined from the dot product of A and the unit
vector u which defines the direction of the line.
 The component A represented as a vector will be
given as
A = A cos u = (A . u) u

After this, the component A which is perpendicular to

line aa’ can also be obtained easily (using the right-
angle triangle).
A =A–A 27
Rectangular Components of a Vector

 If the 3 angles are given

with the respective axes..

28
Rectangular Components of a Vector

 Specification by two points

on the line of action of the
force..

29
Rectangular Components of a Vector

 Specification by two angles

which orient the line of
action of the force.

30
Express F as a vector in terms of the unit vectors i, j, and k.

31
Sample Problem 2/10

32
33
34
2/113 The access door is held in the 30 open
position by the chain AB. If the tension in
the chain is 100N, Express T as a vector in
terms of the unit vectors i, j, and k.

35