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2/13/2013

Engineering Mechanics Statics

2.01

Force Vectors

Engineering Mechanics Statics

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Force Vectors

02. Force Vectors

Chapter Objectives To show how to add forces and resolve them into components using the Parallelogram Law To express force and position in Cartesian vector form and explain how to determine the vectors magnitude and direction To introduce the dot product in order to determine the angle between two vectors or the projection of one vector onto another

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

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Force Vectors

Engineering Mechanics Statics

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Force Vectors

1. Scalars and Vectors - Scalar: a scalar is any positive or negative physical quantity that can be completely specified by its magnitude Examples: length, mass, and time - Vector: a vector is any physical quantity that requires both a magnitude and a direction for its complete description Examples: force, position, and moment A vector is shown graphically by an arrow the length of the arrow: the magnitude of the vector the angle between the vector and a fixed axis: direction of its line of action the head or tip of the arrow: the sense of direction of the vector - Notation: , | |
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

2. Vector Operations

- Multiplication and division of a vector by a scalar =

- Vector addition = + Parallelogram law

Triangle rule

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

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Force Vectors

2. Vector Operations - Vector subtraction = = + ()

3. Vector Addition Forces - Experimental evidence has shown that a force is a vector quantity since it has a specified magnitude, direction, and sense and it adds according to the parallelogram law - Finding a resultant force
The two component forces 1 and 2 acting on the pin can be added together to form the resultant force = 1 + 2

Parallelogram law

Triangle construction

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

2/13/2013

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3. Vector Addition Forces - Finding the components of a force To resolve a force into two components in order to study its pulling or pushing effect in two specific directions

3. Vector Addition Forces - Addition of several forces To resolve a force into two components in order to study its pulling or pushing effect in two specific directions = 1 + 2 + 3 = (1 + 2 ) + 3
12

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

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Force Vectors

Engineering Mechanics Statics

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3. Vector Addition Forces

- Example 2.1 The screw eye is subjected to two forces, 1 and 2. Determine the magnitude and direction of the resultant force Solution

3. Vector Addition Forces - Example 2.2 Resolve the horizontal 600 force into components acting along the and axes and determine the magnitudes of these components Solution

= = 212.6 150 212.6 0 0 0 = = 39.8 , = 39.8 + 15.0 = 54.80 1150


HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

1002

+ 1502 2 100 150 1150

600 1200 = = 600 = 1039 0 0 120 30 300 0 600 30 = = 600 = 600 300 300 300
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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3. Vector Addition Forces - Example 2.3 Determine the magnitude of the component force and the magnitude of the resultant force if is directed along the positive axis Solution

3. Vector Addition Forces - Example 2.4 It is required that the resultant force acting on the eyebolt be directed along the positive axis and that 2 have a minimum magnitude. Determine this magnitude, the angle , and the corresponding resultant force
Solution

200 600 = = 200 = 245 0 0 60 45 450 200 750 = = 200 = 273 750 450 450
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

and

Magnitude of 2 is a minimum its line of action is perpendicular to the line of action of , that is, when = 900 = 800 600 = 400 2 = 800 600 = 693
Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

2/13/2013

Engineering Mechanics Statics

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Force Vectors

Engineering Mechanics Statics

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Force Vectors

Fundamental Problems - F2.1: Determine the magnitude of the resultant force acting on the screw eye and its direction measured clockwise from the axis

Fundamental Problems - F2.2: Two forces act on the hook. Determine the magnitude of the resultant force

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

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Force Vectors

Engineering Mechanics Statics

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Force Vectors

Fundamental Problems - F2.3: Determine the magnitude of the resultant force and its direction measured counterclockwise from the positive axis

Fundamental Problems - F2.4: Resolve the 30 force into components along the and axes, and determine the magnitude of each of these components

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

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Force Vectors

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Fundamental Problems - F2.5: The force acts on the frame. Resolve this force into components acting along members and , and determine the magnitude of each component

Fundamental Problems - F2.6: If force is to have a component along the axis of = 6, determine the magnitude of and the magnitude of its component along the axis

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

2/13/2013

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4. Addition of a System of Coplanar Forces - Scalar Notation = + = = = =

4. Addition of a System of Coplanar Forces - Coplanar Force Resultants = 1 + 2 + 3

- Cartesian Vector Notation = + = +

= 1 + 1 + (2 + 2 ) + (3 3 ) = 1 2 + 3 + (1 + 2 3 ) + = + = =
2 2 + , = 1


Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

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4. Addition of a System of Coplanar Forces

- Example 2.5 Determine the and components of 1 and 2 acting on the boom. Express each force as a Cartesian vector Solution

4. Addition of a System of Coplanar Forces Scalar notation 1 = 200300 = 100 = 100 1 = 200300 = 173 = 173 2 = (12/13) 260 = 240 = 240N 2 = (5/13) 260 = 100 = 100

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

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4. Addition of a System of Coplanar Forces Cartesian vector notation 1 = 100 + 173 2 = 240 100

4. Addition of a System of Coplanar Forces - Example 2.6 The link is subjected to two forces 1 and 2 . Determine the magnitude and direction of the resultant force Solution 1 Scalar Notation

+ = : = 600300 400450 = 236.8 + = : = 600300 + 400450 = 582.8 = (236.8)2 +(582.8)2 = 629 = 1 (582.8/236.8) = 67.90
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

2/13/2013

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4. Addition of a System of Coplanar Forces Solution 2 Cartesian vector notation 1 = 600300 + 600300 2 = 400450 + 400450

4. Addition of a System of Coplanar Forces - Example 2.7 The end of the boom is subjected to three concurrent and coplanar forces. Determine the magnitude and direction of the resultant force Solution

= 1 + 2 = (600300 400450 ) +(600300 + 400450 ) = 236.8 + 582.8


HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

+ = : = 400 + 250450 200 = 383.2 + = : = 250450 + 200 = 296.8 = 485 = 1 (296.8/383.2) = 37.80
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

3 5 2 (383.2) +(296.8)2 =

4 5

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Fundamental Problems - F2.7: Resolve each force acting on the post into its and components

Fundamental Problems - F2.8: Determine the magnitude and direction of the resultant force

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

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Fundamental Problems - F2.9: Determine the magnitude of the resultant force acting on the corbel and its direction measured counterclockwise from the axis

Fundamental Problems - F2.10: If the resultant force acting on the bracket is to be 750 directed along the positive axis, determine the magnitude of and its direction

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

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Force Vectors

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Fundamental Problems - F2.11: If the magnitude of the resultant force acting on the bracket is to be 80 directed along the axis, determine the magnitude of and its direction

Fundamental Problems - F2.12: Determine the magnitude of the resultant force and its direction measured counterclockwise from the positive axis

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

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5. Cartesian Vectors - Right-Handed Coordinate System

5. Cartesian Vectors - Rectangular Components of a Vector = + + - Cartesian Unit Vectors , , - Cartesian Vector Representation = + + - Magnitude of a Cartesian Vector =
2 2 2 + +

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

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Force Vectors

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5. Cartesian Vectors - Direction of a Cartesian Vector: , , = , = , = Unit vector = + + = + + Relation between the direction cosines 2 + 2 + 2 = 1 and
= = + + = + +
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

5. Cartesian Vectors - The direction of can be specified using two angles, and
= + + = = = = + +

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

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6. Addition of Cartesian Vectors

6. Addition of Cartesian Vectors - Example 2.8 Solution Express the force as a Cartesian vector 2 + 2 + 2 = 1 2 + 2 600 + 2 450 = 1 = 1 0.52 0.7072 = 0.5 0 = 60 0 120 must be in the + direction: = 600 = + + = 200600 + 200600 + 200450 = 100.0 + 100.0 + 141.4

= + +
= + + = + = ( + ) + ( + ) + ( + )

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

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6. Addition of Cartesian Vectors - Example 2.9 Determine the magnitude and the coordinate direction angles of the resultant force acting on the ring Solution = 1 + 2 = 50 100 + 100+ 60 + 80 = 50 40 + 180 The magnitude of the sum vector = 502 + 40 = 191.0
2

+1802

6. Addition of Cartesian Vectors The coordinate direction angles , , are determined from the components of the unit vector acting in the direction of = 50 40 180 = + 191 191 191 = 0.2617 0.2094 + 0.9422 So that = 0.2617 = 74.80 = 0.2094 = 1020 = 0.9422 = 19.60
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

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6. Addition of Cartesian Vectors - Example 2.10 Express the force as a Cartesian vector Solution
The magnitudes of the components of = 100600 = 86.6 = 100600 = 50 = 450 = 50 2/2 = 35.4 = 450 = 50 2/2 = 35.4 Realizing that < 0, we have = 35.4 35.4 + 86.6 = 35.42 + 35.4 = 100
HCM City Univ. of Technology, Faculty of Mechanical Engineering

6. Addition of Cartesian Vectors | | = 100, = 35.4, = 35.4, = 86.6


The coordinate direction angles of can be determined from the components of the unit vector acting in the direction of = = + + 35.4 35.4 86.6 = + 100 100 100 = 0.354 0.354 + 0.866 So that = 0.354 = 69.30 = 0.354 = 1110 = 0.866 = 30.00

+86.62

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

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6. Addition of Cartesian Vectors - Example 2.11 Two forces act on the hook. Specify the magnitude of and its coordinate direction angles of that the resultant force acts along the positive axis and has a magnitude of 800 Solution 1 = 11 + 11 + 11 = 300450 + 300600 +3001200 = 212.1 + 150 150 2 = 2 + 2 + 2
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

6. Addition of Cartesian Vectors We require = 1 + 2 where 1 = 212.1 + 150 150 2 = 2 + 2 + 2 = 800 800 = 212.1 + 2 + 150 + 2 + (150 + 2 ) To satisfy this equation the , , components of must be equal to the corresponding , , components of 1 + 2 0 = 212.1 + 2 2 = 212.1 800 = 150 + 2 2 = 650 0 = 150 + 2 2 = 150
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Engineering Mechanics Statics

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6. Addition of Cartesian Vectors

Fundamental Problems - F2.13: Determine its coordinate direction angles of the force

= 800 1 = 212.1 + 150 150 2 = 212.1 + 650 + 150 The magnitude of 2 2 = (212.1)2 +6502 +1502 = 700 The coordinate direction angles of 2 2 = 212.1/700 2 = 1080 2 = 650/700 2 = 21.80 2 = 150/700 2 = 77.60
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Engineering Mechanics Statics

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Fundamental Problems - F2.14: Express the force as a Cartesian vector

Fundamental Problems - F2.15: Express the force as a Cartesian vector

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

2/13/2013

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Fundamental Problems - F2.16: Express the force as a Cartesian vector

Fundamental Problems - F2.17: Express the force as a Cartesian vector

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

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Fundamental Problems - F2.18: Determine the resultant force acting on the hook

7. Position Vectors - , , Coordinates A right handed coordinate system to reference the location of points in space - Position Vectors = + +

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

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7. Position Vectors - The position vector may be directed from point to point in space + = =
= + + + + = + +

7. Position Vectors - Example 2.12 An elastic rubber band is attached to points and . Determine its length and its direction measured from toward Solution Establish a position vector from to = (2 1) + (2 0) + (3 3)
= 3 + 2 + 6 These components of can also be determined directly by realizing that they represent the direction and distance one must travel along each axis in order to move from to

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

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2/13/2013

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7. Position Vectors The length of the rubber band

= (3)2 +22 +62 = 7 Formulating a unit vector in the direction of 3 2 6 = = + + 7 7 7 The components of this unit vector give the coordinate direction angles = 3/7 = 1150 = 2/7 = 73.40 = 6/7 = 31.00

8. Force Vector Directed Along A Line Quite often, the direction of a force is specified by two points through which its line of action passes

Formulate as a Cartesian vector by realizing that it has the same direction and sense as the position vector directed from point to point on the cord = = = + + ( )
2

+ ( )2
Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

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8. Force Vector Directed Along A Line - Example 2.13 The man pulls on the cord with a force of 70. Represent this force acting on the support as a Cartesian vector and determine its direction Solution Force is shown in the figure The direction of this vector, , is determined from the position vector ( {24} {8} {12} ) = 12 8 24
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

8. Force Vector Directed Along A Line The magnitude of , which represents the length of cord || = 122 + (8)2+(24)2= 28 Forming the unit vector that defines the direction and sense of both and 12 8 24 = = 28 28 28 Since , has a magnitude of 70 and a direction specified by 12 8 24 = = 70 28 28 28 = 30 20 60
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Engineering Mechanics Statics

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8. Force Vector Directed Along A Line 12 8 24 = 28 28 28 From the components of the unit vector = 12/28 = 64.60 = 8/28 = 1070 = 24/28 = 1490 =

8. Force Vector Directed Along A Line - Example 2.14 Express the force acts on the hook as a Cartesian vector Solution The coordinates for points and (2, 0, 2) (2,3.464,3) To go from to : {4} {3.464} {1} , thus
= = 4 + 3.464 + (4)2+3.4642 + 0.18572 = 0.7428 + 0.6433 + 0.1857

Force expressed as a Cartesian vector = = 750(0.7428 + 0.6433 + 0.1857) = 577 + 482 + 139
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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8. Force Vector Directed Along A Line - Example 2.15 The cables exert forces = 100, = 120 on the wall hook at , determine the resultant force acting at as a Cartesian vector Solution = + = 4 4 = 42 + 42 = 5.66 = ( / ) = 70.7 70.7 = 4 + 2 4 = 42 +22 +(4)2= 6 = ( / ) = 80 + 40 80 = 150.7 + 40 150.7
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

Fundamental Problems - F2.19: Express tile position vector in Cartesian vector form, then determine its magnitude and coordinate direction angles

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

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Fundamental Problems - F2.20: Determine the length of the rod and the position vector directed from to . What is the angle ?

Fundamental Problems - F2.21: Express the force as a Cartesian vector

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

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Fundamental Problems - F2.22: Express the force as a Cartesian vector

Fundamental Problems - F2.23: Determine the resultant force at

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

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Fundamental Problems - F2.24: Determine the magnitude of the resultant force at

9. Dot Product

- dot product = scalar product of vectors = - Laws of Operation Commutative law: Distributive law: = + + = + +
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

= + = () + ()

Multiplication by a scalar: = = () - Cartesian Vector Formulation = + +


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HCM City Univ. of Technology, Faculty of Mechanical Engineering

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9. Dot Product

- Applications The angle formed between two vectors or intersecting lines


, 00 1800 The components of a vector parallel and perpendicular to a line = = = 1 = 2 2

9. Dot Product - Example 2.16 Determine the magnitudes of the projection of the force onto the and axes Solution The projection forces ( ) = 100450 = 70.7 ( ) = 100150 = 96.6

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

Engineering Mechanics Statics

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9. Dot Product - Example 2.17 The frame is subjected to a horizontal force = 300 . Determine the magnitude of the components of this force parallel and perpendicular to member

9. Dot Product Solution


2 + 6 + 3 = 22 + 62 + 32 = 0.286 + 0.857 + 0.429 = = (300)(0.286 + 0.857 + 0.429) = 257.1 = = = (257.1) 0.286 + 0.857 + 0.429 = 73.5 + 220 + 110 = = 73.5 + 80 110

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

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9. Dot Product - Example 2.18 The pipe is subjected to the force of = 80. Determine the angle between and the pipe segment and the projection of along this segment Solution Angle = 2 2 + , = 3 = 3 + , = 10 = 2 0 + 2 3 +( 1 ) ( 1 ) = = 0.7379 3 1 0 0 = 42.5
HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

9. Dot Product Components of

The component of along is shown in the figure


= 2 2 + = (2)2 +(2)2 +12 2 2 1 = + 3 3 3 3 + = 80 = 75.89 + 25.30 10

= 80

2 2 1 = (75.89 + 25.30) + 3 3 3 = 59.0


HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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Fundamental Problems - F2.25: Determine the angle between the force and the line

Fundamental Problems - F2.26: Determine the angle between the force and the line

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

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Fundamental Problems - F2.27: Determine the angle between the force and the line

Fundamental Problems - F2.28: Determine the component of projection of the force along the line

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

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Fundamental Problems - F2.29: Find the magnitude of the projected component of the force along the pipe

Fundamental Problems - F2.30: Determine the components of the force acting parallel and perpendicular to the axis of the pole

HCM City Univ. of Technology, Faculty of Mechanical Engineering

Nguyen Tan Tien

HCM City Univ. of Technology, Faculty of Mechanical Engineering

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