ES 11 Lecture 1

the study of the relationship among

forces and their effects on bodies.
the science which describes and predicts
the conditions for rest and motion of
bodies under the action of forces.

Mechanics

Rigid Bodies

Deformable
Bodies

Fluids

Statics

Compressible

Dynamics

Incompressible

represents the action of one body on another

may be exerted by actual contact or at a
distance
characterized by its:
Point of application
Magnitude
Line of action

represented by a vector.

http://www.lbre.com/free-fall-or-soft-landing/

Development of other forces

Reactions
Internal forces

Deformation of the body

Acceleration of the body
Applied Force

Applied Force

Development of force or forces at

points of contact with other
bodies (reactions).

Reaction

Applied Force

Development of forces within the

body itself (internal forces)

Applied Force

Deformation of the body

Acceleration of the body

Applied Force

10 N

10 N

30o

30o

Point of application (forces acting on the same

particle have the same point of application)
Magnitude
Direction
Line of action (angle w.r.t. a fixed axis)
Sense

Treatment of bodies as particles - the

shape and size of the object does not
significantly affect the solution of the
problems under consideration.

Rigid Bodies - the problems considered in

this course are assumed to be nondeformable.

Quantity

SI

English

Length

m (meter)

ft (feet)

Mass

kg (kilogram)

slugs

Time

s (seconds)

s (seconds)

Force

kg m/s2 OR N
(newtons)

lbs (pounds)

Acceleration due to gravity

g = 9.81 m/s2 or g = 32.2 ft/s2

Single equivalent force having the same

effect as the original forces acting on the
particle
P

A
Q

Parallelogram Law
The resultant is the diagonal
of the parallelogram with
the two forces as its sides

P
A

Triangle Law
Derived from the
parallelogram law
If the two vectors are
placed tip-to-tail, the
resultant is the third side of
the triangle
Q
P
R

A
A

P
Q

 Vectors are defined as mathematical expressions

possessing magnitude and direction, which add
according to the parallelogram law.
Law of cosines,

P
A

R 2 P 2 Q 2 2 PQ cos B

R PQ

P+Q = R

Law of sines,

Forces are sliding vectors

sin A sin B sin C

Q
R
P

Is vector addition
commutative?
Is vector addition
associative?

Is vector addition commutative?

The addition of vector is commutative.

PQQ P
Q

P
A

P
P+Q

Q+P
P

Adding more than 2 vectors

Q

P+Q
A
Q

P
A

Q
S

If the vectors are

coplanar, the resultant
may be obtained by
using the polygon rule
for the addition of
vectors arrange the
given vectors in a tip-totail fashion and connect
the tail of the first vector
with the tip of the last
one

Is vector addition associative?

Vector addition is associative
Q

(P +Q)+ S

P+Q
A
R

P + (Q + S)

Q+S
A
R

P +Q + S = (P +Q)+ S = P + (Q + S)

P P 2P

nP Product of a positive integer n and a vector

P
has the same direction as P with magnitude n|P|
P

1.5P

-2P

 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.

Geometry of Angles
Supplementary Angles
Transversal Angles
Vertical Angles
Sum of the angles in a triangle

EXAMPLE 1-1

The two forces act on a bolt at A.

Determine their resultant.

EXAMPLE 1-1
SOLUTION:

Trigonometric solution - use the triangle

rule for vector addition in conjunction
with the law of cosines and law of sines
to find the resultant.

The two forces act on a bolt at

A. Determine their resultant.

EXAMPLE 1-1

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 2 240 N 60 N cos155
R 97.73N

EXAMPLE 1-1
From the Law of Sines,
sin A sin B

Q
R
sin A sin B

Q
R

60 N
sin 155
97.73N
A 15.04
20 A
35.04

Two forces are applied as

shown to a hook support.
Knowing that the magnitude
of P is 35 N, determine by
trigonometry (a) the required
angle if the resultant of the
two forces applied to the
hook support is to be
horizontal,
(b)
the
corresponding magnitude of
R.

50 N
25O

27

EXAMPLE 1-2

sin sin 25O sin

50
35
R

50 N
25O

(a) Determining &

O

50
sin
25
sin 1
35

28

37.14 O

180O 25O

117.86 O

sin sin 25O sin

50
35
R

50 sin
R
sin

29

25O

R
R 73.22 N

(b) Determining R

50 N

EXAMPLE 1-3
P

50 N
25O

Two forces are applied as

shown to a hook support.
Knowing that the magnitude
of the resultant of the two
forces is a 50 N horizontal
force, determine the value of
for which the applied force
Q is minimum.

50 N
25
EXAMPLE
1-3
O

Two forces are applied as shown to a hook

support. Knowing that the magnitude of
the resultant of the two forces is a 50 N
horizontal force, determine the value of
for which the applied force 2 is minimum.

ANS: 65

It has been shown that the resultant of

forces acting at the same point (concurrent
forces) can be found.

In the same way, a given force F can be

resolved into components.

32

Vector force
components: two or
more force vectors
which, together, have
the same effect as a
single force vector.

How many components could a force be

resolved into?
Infinite number of possible components

For a force resolved into two components, the

possible problems:

Red is given from the problem

EXAMPLE 1-4
a

P
45.0

40.0
15.0

35

Given P is 800 N,
determine the components
of the force in a and b axes.

Draw the force triangle.

a

95O

FB
40O

FA

15.0O
25.0O

45.0

45O

P=800N

180 45 40

Since all the angles are already known, we can

use the sine law to solve other two forces.

40.0
15.0

sin 95O sin 45O sin 40 O

800
FB
FA

FB 567.85 N

FA 516.19 N

A force vector may be resolved into

perpendicular components

i
F y F y j

and j - unit vectors of

magnitude 1 directed along the
positive x and y axes, respectively.

F x F y - vector components of F
Fy F sin q

q
x
i
Fx F cos q

F x F xi

F = Fxi + Fy j

Fx , Fy scalar components of F
- may be positive or negative
depending upon the sense of F x
and F y
- the absolute values are equal
to the magnitude of the
component forces F x and F y

Given the components:

F y F y j

F
tan q =

F=

Fy
Fx

Fx Fy
2

x
i

F x F xi

39

ILLUSTRATION
F 800 N

q 145

35 0

FX = -655.3 N i
0

FY = 458.9 N j
F

TIP: It might be easier to use acute angles and just put the signs later.

 Wish to find the resultant of 3 or more

concurrent forces,

R PQ S
Resolve each force into rectangular components

Rx i R y j Px i Py j Qx i Q y j S x i S y j

Px Qx 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 y Py Q y S y
Rx Px Qx S x
Fx
Fy
To find the resultant magnitude and direction,
2
2
1 R y
R Rx R y
q tan
Rx
2 - 41

Determine the resultant of the three forces

below

y
800 N
600 N

45o
60o

350 N

25o
x

42

y
800 N

EXAMPLE 1-5 600 N

45o
60o

350 N

25o
x

RX = F x = 350 cos 25O + 800 cos 70O -600 cos 60O

RX = 317.2 + 273.6 300 = 290.8 N
RY = F y = 350 sin 25 + 800 sin 70O +600 sin 60O
RY = 147.9 + 751 + 519.6 = 1419.3 N

F= 290.8 N i +1419.3 N j
Resultant, F

F 290.8 2 1419.32 1449 N

F = 1449 N

43

78.4O

q tan 1

1419.3
78.4 O
290.8

Concept of Vectors in 3d
Getting the displacement vector from two points
Magnitude of the vector
Obtaining a unit vector from a general vector

F1
F2

o
y

F3
x

The resultant of
concurrent forces acting
on a particle in space
will also act at the same
particle.
Only the magnitude and
direction are to be
determined.

Note: In this illustration, the magnitude and direction of all of the

forces are given.

From the force polygon

(warped), the resultant
can be drawn from the
tail of the first force to
the head of the last
force.
The magnitude and
direction of the
resultant can be
computed using
successive use of the
triangle law.

F2

F3

F1

q
o

qx

R
z

qy
y

Note: The sine and cosine laws are

hard to implement because usually
the given angles are absolute.

The rectangular components of a force can be determined

easily depending on the given characteristics of the force.
1. Given the Magnitude and Two Angles
z
z

Fz F cos q z
F

qz

Fz

qz

y
o

y
o

qy

q xy
F xy

Fxy F sin q z

1. Given the Magnitude and Two Angles

z

Fz
Fz

qz

Fy Fxy cos q xy F sin q z cos q xy

o

q xy

Fxy F sin q z

q xy

Fx
F xy

F xy
x

Fy

Fx Fxy sin q xy F sin q z sin q xy

1. Given the Magnitude and Two Angles

z

Fz F cos q z

Fz

Fx Fxy sin q xy F sin q z sin q xy

Fy

q xy

Fx
F xy
x

Fy Fxy cos q xy F sin q z cos q xy

In vector form,

F Fx i Fy j Fz k
F Fx Fy Fz
2

2. Given the Magnitude and Three Absolute Angles

Fx = Fcos qx
Fy = F cos qy
Fz = Fcos qz

qz

qy

qx

F
y

where cos qx, cos qy

and cos qz are direction
cosines
F = Fxi + Fyj + Fzk

2. Given the Magnitude and Two Points on Its Line of Action

Fx = Fcos qx
Fy = F cos qy
Fz = Fcos qz

qz

qy

qx

F
y

where cos qx, cos qy

and cos qz are direction
cosines
F = Fxi + Fyj + Fzk

EXAMPLE 1-6
A force of 500N forms angles of 600, 450 and 1200,
respectively, with the x,y and z axes. Find the components
Fx, Fy and Fz of the force. Find also the vector
representation of the force.
Fx = F cos qx = (500N)cos
Fx = +250N
Fy = F cos qy = (500N) cos 450
Fy = +354N
Fz = F cos qz = (500N) cos 1200
Fz = -250N

600

F = 250N i + 354N j 250N k

qz

Fx
x

Fy

o
qx

qy

Fz
F

EXAMPLE 1-6
z
qz

Fx
x

Fy

o
qx

qy

Fz
F

F = 250N i + 354N j 250N k

Note: The angle a force F

forms with an axis should be
measured from the positive
side of the axis and will always
be between 0 and 1800.

F F cos qxi cos qyj cos qzk

let = cos qx i + cos qy j+ cos qz k

= unit vector
x= cos qx
y= cos qy
z= cos qz

F=F

x2 + y2 + z2 = 1
it follows that,
cos2 qx + cos2 qy + cos2 qz = 1
The force vector is equal to the product
of the magnitude of the force and the
unit vector.

The unit vector defines the direction of the vector.

EXAMPLE 1-7
A force has the components Fx = 20N, Fy = -30N, Fz = 60N.
Determine its magnitude F and the angles qx, qy, qz it forms
with the coordinate axes.
z

Fy
Fx
x

Fz

F Fx 2 Fy 2 Fx 2

F (20 N ) 2 (30 N ) 2 (60 N ) 2

F 4900 N 70 N

EXAMPLE 1-7
F = 70 N
z

qx = cos-1 (Fx / F) = cos-1 (20/70)

qx = 73.40

Fz

Fy

qy = cos-1 (Fy / F) = cos-1 (-30/70)

o
y

qy = 115.40
qz = cos-1 (Fz / F) = cos-1 (60/70)
qy = 31.00

Fx
x

Given the Magnitude and Two Points on Its Line of Action

E x e , y e , z e

O x o , y o , z o

d x xe xo
d y ye yo
d z ze zo

d dx 2 dy 2 dz 2

F F

d xi d y j d z k
d

Just remember: Force is

defined by its magnitude
and direction. Direction is
defined by a unit vector.

Given the Magnitude and Two Points on Its Line of Action

E x e , y e , z e

O x o , y o , z o

Fx
x

dx
F
d

cos qx

dx
d

F F

d xi d y j d z k
d

F Fxi Fyj Fzk

Fy

dy
F
d

cos qy

dy
d

dz
Fz
F
d
cos qz

dz
d

EXAMPLE 1-8
Determine the vector representation of the given force.
z
2.4m

1.5m
F=1.6kN
1.2m

O
1.5m

EXAMPLE 1-8
O(1.2, 1.5, 0.0)
E(0.0, 2.4, 1.5)

z
2.4m

dx = 0.0 -1.2 = -1.2

dy = 2.4 -1.5 = +0.9
dz = 1.5 - 0.0 = +1.5

1.5m
F=1.6kN
1.2m

1.22 0.92 1.52

1.5m

d = 2.12m

EXAMPLE 1-8
z

1.2
Fx
(1.6kN ) 0.905kN
2.12

0.9
Fy
(1.6kN ) 0.679kN
2.12

Fz

1.5
Fz
(1.6kN ) 1.131kN
2.12

Fx
O

F 0.905kN i 0.679kN j 1.131kN k

Fy

The resultant R of two or more forces in space will

be determined by summing their rectangular
components. Graphical or trigonometric methods are
generally not practical in the case of forces in space.

R F
Rx Fx

Rxi Ryi Rzk Fxi Fyj Fz

Fx i Fy j Fz k

Ry Fy

Rz Fz

R Rx 2 Ry 2 Rz 2

Rx
cos qx
R

Ry
cos qy
R

Rz
cos qz
R

Three cables are used to

tether a balloon as
shown. Knowing that
the resultant of the
three cable forces is
800-N downward,
determine the tension in
each cable.

ADDITIONAL 1-1
Determine
graphically,
the
magnitude
and
direction of the resultant
of the two forces using
(a)
Parallelogram law
and (b) the triangle
rule.

600 N
900 N

45o
30o

A parallelogram with sides equal to 900 N and 600 N is

ADDITIONAL
1-1
drawn to scale as shown.
R

From the scaled

drawing of the forces,
the resultant is

600 N

900 N

45o

30o

R 1400 N
q 46o
Note: The triangle rule may
also be used. Join the forces
in a tip to tail fashion and
measure the magnitude and
direction of the resultant.

ADDITIONAL 1-1
R
600 N

135o

30o

900 N

For the magnitude of R, using the

cosine law:
R 2 900 2 600 2 2900600cos 135o

R 1390.6 1391 N
For angle q, using sine law:

R
600

O
sin
sin 135

600 sin 135O

sin
1391

The angle of the resultant:

q 30O 17.8O

17.8O

ADDITIONAL
1-2: (2.89) A frame ABC is supported in part
Sample Problem 2.10
by cable DBE which passes through a frictionless ring at B.
Knowing that the tension in the cable is 385 N, determine the
components of the force exerted by the cable on the support
D.
280mm

210mm
E

400mm

510mm

z
480mm

600mm

ADDITIONAL 1-2
280mm

O(0, 510, 280)

D

TDBZ

O(0, 510, 280)

210mm

TDBX

E(480, 0, 600)

TDB = 385N

dx = xE xO = 480-0=480

TDBY

dy = yE yO = 0-510=-510

400mm

510mm

dz = zE zO = 600-280=320
d = 770 mm

C
A

z
B

600mm

480mm

TDBX

E(480, 0, 600)

dx
480
385 240 N
TDB
d
770
510
385 255 N
770

TDBY

dy

TDBZ

dz
320
385 160 N
TDB
d
770

TDB TDBX i TDBY j TDBZ k 240i 255 j 160k N

TDB

ADDITIONAL 1-3

ADDITIONAL
1-3
Solution:
Position vector of BH = 0.6 m i + 1.2 m j - 1.2 m k
Magnitude, BH =

BH

TBH

BH

0.6 2 1.2 2 1.2 2

1.8 m

BH
1

(0.6 m i 1.2 m j 1.2 m k )

| BH| 1.8
| TBH |. BH

BH
750 N
| TBH |

0.6 m i 1.2 m j 1.2 m k

| BH|
1.8m

(250 N ) i (500 N ) j (500 N ) k

Fx 250 N

Fy 500 N

Fz 500 N