Force Vectors-2: The Invasion of Three Dimensional Space

FORCE
VECTORS-2
FORCE
e Invasion of ThreeVECTORS-2
Dimensional Space
Faculty of Engineering
Mechanics Prep Year
Prof. Dr. Talat Refai
2011-2012
Force Vectors
"all i know
is that i know nothing
Text Book: Engineering Mechanics Statics
Socrates
R.C. Hibbeler 12th Edition
Force Vectors
r
F=Fu
r
A
r
B
objectives
z
B x B , yB , z B
A x A , yA , zA
r
A
Acos
Mechanics Prep Year
2011-2012
y
Force Vectors
the end of lectures 1 and 2, students must be able to

To recognize a vector quantity
To know that a vector possess magnitude, direction , sense
To know what is meant by the line of action
To resolve vectors in Cartesian components 2D and 3D
To determine the unit vector of a line 2D or 3D in terms of
components, direction cosines, or two points on the line of
action
To multiply vectors by scalar quantities and add/subtract vectors
To know when to use the vector dot product
Mechanics Prep Year
2011-2012

Force Vectors
Three
Threedimensional
dimensionalForce
ForceVectors
Vectors
Geometrical Considerations
The Force Vector
Mechanics Prep Year
2011-2012

Force Vectors
Geometrical Considerations
The Cartesian Coordinate System
Space Lines
Mechanics Prep Year
2011-2012

The Cartesian Coordinate System
If the force F is parallel to the

x axis, then we express it as
r
F=Fi
y axis, then we express it as
r
F=Fj
z axis, then we express it as
r
F=Fk
u
r
F
x
line shown axis, then we
expressr it as
F=Fu
Where u is the unit vector of the line
Mechanics Prep Year
2011-2012
Force Vectors
r
F
r
F
r
F
j
y

Force Vectors
Space Lines
1- The unit vector in terms of two points on the line
2- The unit vector in terms of direction angles of the line
Mechanics Prep Year
2011-2012

Force Vectors
1- The unit vector in terms of two points on the line

The position vector of point A relative to the origin is
B x B , yB , z B
r
rA =x A i+y A j+z A k
r
rB/A
The position vector of point B relative to the origin is
r
rB =x Bi+y B j+z B k
A x A , yA , zA
r
rB
The position vector of point B relative to point A is
r
r r
rB/A =rB -rA
r
rA
r
rB/A = x B i+y Bj+z B k x A i+y A j+z A k
r
rB/A = x B -x A i+ y B -y A j+ z B -z A k
O
x
The above position vector of B relative to A is also known as the

lines Faculty
vector
equation
of Engineering
Text Book: Engineering Mechanics Mechanics Prep Year
2011-2012
Statics
B x B , yB , z B
u B/A
Force Vectors
r
rB/A
A x A , yA , z A
r
rB/A =rB/A u B/A
r
rB/A = x B -x A i+ y B -y A j+ z B -z A k
rB/A = (x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
r
r
u B/A = B/A
rB/A
Mechanics Prep Year
2011-2012
Thus we
get
(x B -x A )i+(y
B -y A )j+(z B -z A )k
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Force Vectors
u B/A =
(x B -x A )i+(y
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
u B/A =u x i+u y j+u z k
where
ux =
uy =
uz =
Mechanics Prep Year
2011-2012
(x B -x A )
2
(x B -x A ) +(y B -y A ) +(z B -z A )
(y B -y A )
2
(x B -x A ) +(y B -y A ) +(z B -z A )
(z B -z A )
2
(x B -x A ) +(y B -y A ) +(z B -z A )
1
Force Vectors
2- The unit vector in terms of direction angles of the line
The direction of a line in space (3D) is defined by the following three

Direction Angles
The angle it makes with the x-axis :
z
Measured from the positive sense of the x axis
k
to the line
The angle it makes with the y-axis :
Measured from the positive sense of the y axis
to the line
The angle it makes with the z-axis :
Measured from the positive sense of the z axis to
the line
Mechanics Prep Year
2011-2012

Force Vectors
The direction
z
cosines
s the projection (component) of rB/A parallel to the x axis
E
AC= rB/A x =x B -x A
rB/A cos rB/A x =(x B -x A )
cos=
rB/A x
rB/A
r
rB/A
(x B -x A )
rB/A
cos =
(x B -x A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Mechanics Prep Year
2011-2012
B x B , yB , zB
A x A , yA , zA

Force Vectors
The direction
z
cosines
s the projection (component) of rB/A parallel to the y axis
E
AD= rB/A y =y B -y A
rB/A cos rB/A y =(y B -y A )
cos =
rB/A y
rB/A
r
rB/A
(y -y )
= B A
rB/A
cos =
(y B -y A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Mechanics Prep Year
2011-2012
B x B , yB , zB
A x A , yA , zA

The direction
z
cosines
s the projection (component) of rB/A parallel to the z axis
Force Vectors
AE= rB/A z =z B -z A
rB/A cos rB/A z =(z B -z A )
cos =
rB/A z
rB/A
r
rB/A
(z B -z A )
rB/A
cos =
(z B -z A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Mechanics Prep Year
2011-2012
B x B , yB , zB
A x A , yA , zA

Force Vectors
since
u B/A =
(x B -x A )i+(y
cos =
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
cos =
then
u B/A =cos i+cos j+cos k
Using the fact

that
We get
cos =
(x B -x A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
(y B -y A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
(z B -z A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
2
2
u= cos+cos
+cos
2 1
2
2
cos
+ cos +
cos 2 1
The above relation is used if two out of three direction angles are given and its
required to get the third
Mechanics Prep Year
2011-2012

Force Vectors
The Force Vector
Mechanics Prep Year
2011-2012

Given
The direction angles of the

line of action of the force and
its magnitude
required
u =cos i+cos j+cos k

r
F=Fu=F
cos i+cos j+cos k
u
F
he unit vector of the line of action of the force
The force in vector form
Force Vectors
The Cartesian components of the force
Fx =Fcos
Fy =Fcos
Fz =Fcos
2
If only two angles are given use cos
Mechanics Prep Year
2011-2012
2
+ cos +
cos 2 1
Force Vectors
Given
Two points on the line of

action of the force and its
magnitude
required
The unit vector of the line of action of the force
(x B -x A )i+(y
u B/A =
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
B x B , yB , z B
The direction cosines of the line of action

cos =
cos =
cos =
(x B -x A )
2
(x B -x A ) +(y B -y A ) +(z B -z A )
A x A , yA , z A
(y B -y A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
(z B -z A )
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Mechanics Prep Year
2011-2012

Force Vectors
The force in vector form
r

F=Fu=F

(x B -x A )i+(y
(x B -x A ) +(y B -y A ) +(z B -z A )
The Cartesian components of the force
Fx =F
(x B -x A ) +(y B -y A ) +(z B -z A )
(x B -x A ) +(y B -y A ) +(z B -z A )
z B -z A
Fz =F
y B -y A
Fy =F
x B -x A
(x B -x A ) +(y B -y A ) +(z B -z A )
Mechanics Prep Year
2011-2012

Force Vectors
Given
The Cartesian components of

the force
required
Fz
The magnitude of the force
F= Fx2 +Fy2 +Fz2

The force in component form
Fy
r
x i+Fy j+Fz k
F=Fu=F
Fx
The unit vector of the line of action of the force
r
F Fx Fy Fz
u = = i+ j+ k
F F
F
F
The direction cosines of the line of action of the force
F
cos = x
F
Mechanics Prep Year
2011-2012
cos =
Fy
F
cos =
Fz
F
Force Vectors
Example - 3
r
the following is required;
For the given vectorA=10i-5j+8k
a- Its magnitude
b- The unit vector of its line of action
For the unit vector of its line of action use
Solution
Method of solution
e vector is given in terms of its components
A x =10
A y =-5
A z =8
r
A A x i+A y j+A z k
u A = =
A
A 2x +A 2y +A 2z
For the magnitude use
A= A 2x +A 2y +A 2z
Mechanics Prep Year
2011-2012
21

Force Vectors
a- The magnitude
A x =10
A y =-5
A z =8
A= A 2x +A 2y +A 2z
b- The unit vector of its line of action

r
A A x i+A y j+A z k
u A = =
A
A 2x +A 2y +A z2

10i-5j+8k
u A
13.75
A= 102 52 82 13.75
j+0.582 k
u A 0.727i-0.34
Mechanics Prep Year
2011-2012
22

Force Vectors
Example - 4
The magnitude of the Force vector F is 7N. The direction angles the vector makes with the x, y, and
z axes are
=115o , 73.4o , and 31o
he following is required;
a- The unit vector of its line of action
b- Its Cartesian components
Method of solution
u =cos i+cos j+cos k

r
F=Fu=F
cos i+cos j+cos k
Fx =Fcos
Fy =Fcos
Mechanics Prep Year
2011-2012
remember
If only two angles are
given, then use
2
2
cos
+ cos +
cos 2 1
Fz =Fcos
23
To get the third angle

The unit vector of its line of action

given
b- Its Cartesian components
F=Fu=F
u x i+u y j+u z k
=115 , 73.4 , and 31

o
Then use
i+cos j+cos k
u=cos
i+cos73.4 j+cos31k
u=cos115
i+0.286 j+0.857 k
u=-0.423
remember
If only two angles are
given, then use
Force Vectors
Fx =Fcos 7 cos115 2.96 N
Fy =Fcos 7 cos 73.4 1.99 N

Fz =Fcos 7 cos 31 6 N
2
2
cos
+ cos +
cos 2 1
To get the third angle

Mechanics Prep Year
2011-2012
24

Force Vectors
Example - 5
A force F of magnitude 10 N is along (or parallel to) line AB
as shown, the following is required
a- Unit vector of the line AB
b- The direction cosines of the line of

action
of F
c- The
Cartesian
components of F
B(4, 3, 2)
r
F
- The force F in component (or vector) form
A(2,1, 3)
Mechanics Prep Year
2011-2012
25

Force Vectors
Method of Solution
- Unit vector of the line AB
u B/A =
(x B -x A )i+(y
2
(x B -x A ) +(y B -y A ) +(z B -z A )

action of F
u B/A =cos i+cos j+cos k
The Cartesian components of F

The force F in component (or vector) form
r
F= Fcos i+ Fcos j+ Fcos k
r
F=F
B(4, 3, 2)
r
F
A(2,1, 3)

(x B -x A )i+(y
(x B -x A ) +(y B -y A ) +(z B -z A )
Mechanics Prep Year
2011-2012
26

Force Vectors
Solution
a- Unit vector of the line AB
Given two points on the line of
action and the force is pointing
from A to B, then
u B/A =
(4-2)i+(3-1)j +(2+3)k
(4-2) 2 +(3-1) 2 +(2+3) 2
B(4, 3, 2)
u B/A 0.348i+0.348j +0.871k
F=10N
A(2,1, 3)
u B/A =
(x B -x A )i+(y B -y A )j +(z B -z A )k
(x B -x A ) 2 +(y B -y A ) 2 +(z B -z A ) 2
Mechanics Prep Year
2011-2012
27

Force Vectors

action of F
Since we obtained
c- The Cartesian components of F

use
Fx =Fcos 10 0.348 3.48 N
u B/A =0.348i+0.348j+0.871k
Fy =Fcos 10 0.348 3.48 N
and
Fz =Fcos 10 0.871 8.71N
i+cos j+cos k
u=cos
Or use
F=Fu
then
cos =0.348
F=Fu=10
0.348 i+0.348 j+0.871k
r
i+3.48 j+8.71k
F=Fu=3.48
cos =0.348
cos =0.871
Fx =3.48N
Fy =3.48N
Fz =8.71 N
Mechanics Prep Year
2011-2012
28

Force Vectors
Example - 6
Rod OA is attached to the two cables as shown, AB and AC. The direction
angles for cable AB are =60, and =45. The following is required
- for each force it is required;

a-1 The unit vector of its line of action
a-2 The direction cosines of its line of action
a-3 The Cartesian components of the acting force
For the resultant force, the following is required

b-1 The Cartesian components
b-2 The unit vector of its line of action
b-3 The direction cosines of its line of action
C -2,0,4
TC/A =40N
A 0,4,3
TB/A =20N
y
x
Mechanics Prep Year
2011-2012
B
29

Solution
The unit vector is
e 20 N force (Cable AB)
The direction angles
for cable AB are
=60, and =45.
Thus to get the third
angle , apply
u =cosi+cosj+cosk
0.5j
u = cos60i +cos45j
u =0.5i+0.707j+0.5k
cos +cos +cos 1

2
The Cartesian component

Force Vectors
Fx =Fcos
Fx1 =20cos60
Fy =Fcos
cos2 60 +cos 2 45+cos2 1
Fy1 =20cos45
cos2 0.25
cos 0.5
Fz =Fcos
Mechanics Prep Year
2011-2012
Fz1 =20 0.5
30

e 40 N force (Cable AC)

he unit vector is
(x C -x A )i+(y
(-2-0)i+(0-4)j+(4-3)k
C -y A )j+(z C -z A )k
u C/A =
=
2
2
2
(x C -x A ) +(y C -y A ) +(z C -z A )
(-2-0) 2 +(0-4) 2 +(4-3) 2

-2i-4j+k
u C/A =
=-0.43i-0.87j+0.22k
4.6
direction cosines of its line of action

x
u C/A =cos i+cos j+cos k
then
cos 0.43
cos 0.87
cos 0.22
Force Vectors
C -2,0,4
TC/A =40N
A 0,4,3
TB/A =20N
y
e Cartesian components
Fx =Fcos
Fx2 =40 0.43

Mechanics Prep Year
2011-2012
Fy =Fcos
Fy2 =40 0.87

31
Fz =Fcos
Fz2 =40 0.22
the resultant force, the following is required

1 The Cartesian components
Fx1 =20cos60
Fx2 =40 0.43
Fy1 =20cos45
Fy2 =40 0.87

Fz1 =20 0.5
Fz2 =40 0.22
Force Vectors
R x =Fx1 +Fx2 =
R y =Fy1 +Fy2 =
R z =Fz1 +Fz2 =
For the magnitude, use
R= R 2x +R 2y +R 2z
Mechanics Prep Year
2011-2012
32

The unit vector of its line of action
u=
Force Vectors
Rx Ry Rz
i+
j+
k
R
R
R
he direction cosines of its line of action
u=cos
i+cos j+cos k
Rx
R
Ry
cos =
R
R
cos = z
R
cos =
Mechanics Prep Year
2011-2012
33

Force Vectors
lets take five minutes coffee break

Mechanics Prep Year
2011-2012

Force Vectors
Vector
VectorDot
DotProduct
Product
Mechanics Prep Year
2011-2012

Force Vectors
Vector Dot Product
space, (3D), it is mathematically difficult to obtain;
- the angle between two lines; and
2- the projection of a force on a given line (or direction).
ethod of vector dot (scalar) product provides a simple and direct method to obtain 1
Mechanics Prep Year
2011-2012
36

Force Vectors
Definition, the vector dot product is
r
B
r r r r r r
A.B=B.A= A B cos=ABcos
Where,
r
A
A is the magnitude of vector
r
B
B is the magnitude of vector
is the angle between both vectors
r
A
order of multiplication is not important.

vector dot product is a scalar quantity.
Mechanics Prep Year
2011-2012
37

Force Vectors
r
B
or Dot Product and Cartesian Unit Vectors

i.i=(1)(1)cos0=1
r r
A.B=ABcos
j.j=(1)(1)cos0=1

k.k=(1)(1)cos0=1
i.j=j.i=(1)(1)cos90=0

j.k=k.j=(1)(1)cos90=0

k.i=i.k=(1)(1)cos90=0
Mechanics Prep Year
2011-2012
r
A
38

Force Vectors
Vector Dot Product of two vectors in component form

given
r
A=A x i+A y j+A z k
i.i=j.j=k.k=1

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

r
B=Bx i+B y j+Bz k
Their dot product is
r r
i+B j+B k)
A.B = (A x i+A y j+A z k).(B

x
y
z
r r
A.B = A x Bx + A y B y + A z Bz
Mechanics Prep Year
2011-2012
39

Force Vectors
The angle between two vectors (their lines of actions)

u B
From the dot product relation
r r
A.B=ABcos
r
B
r r
A.B
cos=
AB
evaluate the right hand side we have two methods:
r
A
u A
Method One: The two vectors are given in component forms:
r
A=A x i+A y j+A z k
r
B=Bx i+B y j+Bz k
r r
A.B
=
Thus: cos=
AB
Mechanics Prep Year
2011-2012
A= A 2x +A 2y +A z2
B= B2x +B2y +Bz2
A x B x +A y B y +A z Bz
A 2x +A 2y +A z2
40
B2x +B2y +Bz2

Force Vectors
ethod Two: Applying the unit vectors of the line of actions:

Since
r
B
r
A=Au A
is the unit vector of the line of action of vector A
is the unit vector of the line of action of vector B
r
B=Bu B
then
u B
r
A
u A
r r
r
r
A.B
A
B
cos=
= . =u A .u B =u Ax u Bx +u Ay u By +u Az u Bz
AB A B
Mechanics Prep Year
2011-2012
41

Force Vectors
The projection (component) of a vector along a line

If the angle between the vector and the
line is given
The projection = (magnitude of the
vector) x (cos
r
B
Q'
Bcos
BQQ' =Bcos
If the angle between the vector and the line is

r r
not given
A.B=ABcos
r r
r
A.B
=u A .B
Bcos=
A
Thus, the projection (component) of a vector along any line is simply the
dot product of the vector and the unit vector of the line
Mechanics Prep Year
2011-2012
42

Force Vectors
Example - 7
Given the two vectors
r

A=10i-5j+8k
r

B=2i+6j-3k
Evaluate the dot product of the two vectors
- The angle between the two vectors

The projection (component) of A parallel to B
Mechanics Prep Year
2011-2012
43

Force Vectors
Solution
1- Evaluate
the dot product ofrthe two vectors
r

A=10i-5j+8k

B=2i+6j-3k
dot product rule to be used is
r r
A.B= A x Bx +A y B y +A z Bz
plying the above rule leads to
r r
A.B= 10 2 + -5 6 + 8 -3 34
Mechanics Prep Year
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44

The angle between the two vectors

r

A=10i-5j+8k
r

r r
B=2i+6j-3k
he rule to be used is
We have:
A.B
cos=
=
AB
Force Vectors
A x Bx +A y B y +A z Bz
A 2x +A 2y +A 2z
B2x +B2y +Bz2
r r
A.B= 34
A= 102 52 82 =13.75
B= 2 2 6 2 32 =7
cos=
-34
0.353
13.75 7
Mechanics Prep Year
2011-2012
=110.686o
45

Force Vectors
The projection (component) of A parallel to B
r

A=10i-5j+8k
r

B=2i+6j-3k
he unit vector of B is
r
A B =A.u B = A x u Bx +A y u By +A z u Bz
r

B 2i+6j-3k
u B = =
=0.28i+0.86j-0.43k
B
7
r
A.u B = 10 0.286 -5 0.857 + 8 -0.428 4.86
Mechanics Prep Year
2011-2012
46

he projection (component) of A parallel to B (alternative method)
Force Vectors
r

A=10i-5j+8k
r

B=2i+6j-3k
A B =Acos
We have:
A= 102 52 82 =13.75
=110.686o
A B =Acos=13.75 cos110.686 =-4.86

Mechanics Prep Year
2011-2012
47

Force Vectors
Assignment -1
Please go to the e-learning page
and lecture one for more
information
We need to be consistent with our effort and our assignments."

Text Book:
Engineering
Mechanics -Mike
Hathaway
Statics
Mechanics Prep Year
2011-2012
A1-2
Force Vectors
2-1- What are the two force categories?

2-2- What do we mean when we define a force as a contact force?
2-3- Name some Forces resulting from action-at-a-distance.
2-4- Can we say that a normal force is also an applied force?
2-5- What do we mean when we say that a force is fixed or bounded?
2-6- What do we mean when we say that a force is a sliding force, give an example.
2-7- What is a free vector?
2-8- Can two vectors of different magnitude be combined to give a zero resultant? Can three
vectors?
2-9- Can a vector be zero if one of its components is not zero?
2-10- Does it make any sense to call a quantity a vector when its magnitude is zero?
2-11- Name several scalar quantities. Is the value of a scalar quantity dependent on the
reference frame chosen?
2-12- Do the commutative and associative laws apply to vector subtraction?
2-13- Can a scalar product be a negative quantity?
2-14- Two vectors of lengths a and b make an angle with each other when placed tail to
tail. Show that the magnitude of their resultant is
2
r= a +b +2abcos
Text Book: Engineering Mechanics 1-7 refer

to your
Mechanics
Prep Yeartext books
Statics
Dr. Talat Refai
R.C. you
Hibbeler have
12 Editionto
n endingProf.
with
a
question
mark,
yes
or
no
is
not
acceptable,
2011-2012
th
Force Vectors
A1-3 The orthogonal components of a certain force are: 10 N in the positive x

direction, 20 N in the positive y direction, and 30 N in the negative z direction. What is
the magnitude of the force, and what are its direction cosines.
A1-4 A force has a magnitude of 100 N and direction cosines cos=0.7, cos=-0.2,
and cos=? relative to an xyz frame of reference. Determine the force components
along the x, y, and z ,(orthogonal component), axes.
A1-5 What is the unit vector in the direction of the force
N
F=2000i + 3000j-4000k
A1-6 Determine the component of the force of problem [A1-5] along a line having
directionFaculty
cosines
(-0.3, 0.1, 0.9487).
of Engineering
Mechanics Prep Year
2011-2012

Force Vectors
2600 N
A1-7 Resolve the 2600 N into two components, one acting

along AB and the other perpendicular to AB.
12 m
5m
A
A1-8 Can two forces which are the components of the 300
N force intersect at C?
300 N
A
A1-9 Resolve the 1000 N force into two oblique

components, one having a line of action along AB and the
other acting parallel to BC
5
12
4
Mechanics Prep Year
2011-2012
B
3
1000 N

Force Vectors
A1-10
7
10-1 The tensions in cable AB is 1800 N, determine the

components of the force exerted on the plate at A.
10-2 The tensions in cable BC is 900 N, determine the
components of the force exerted on the plate at C.
4
C
O
9
10-3 Define the angles that define the direction of the force
exerted on point A
10-4 Define the angles that define the direction of the
force exerted on point C
Mechanics Prep Year
2011-2012

Force Vectors
A1-11
The 150 N force F is directed along the line from point
A(2,-5,2) to point B(-4,6,8), the direction angles for line
AD are ==60. The following is required;
The unit vector of line AB
The direction cosines of line AB
The direction cosines of line OC
The rectangular components of the force F
The angle between F and OC
The projection of F on OC
The projection of F on AD
z
B -4,6,8
F=150N
C 2,3,6
A 2,-5,2
x
D
Mechanics Prep Year
2011-2012

Force Vectors
A1-12
The three cables shown act on the 24m high pole. If

the force of each cable is acting on the tower as
shown, determine;
The unit vector of the three cables
The direction cosines of the three cables
The angle between DA and DB
The projection of FDA on DB
A
The magnitude of the resultant force
If the forces acting on the pole

are sufficient to hold the pole in
its position then what must be
the values
of the components
Mechanics Prep Year
of the resultant?
2011-2012
800N
600N
400N
5m
4m
6m
The direction cosines of the

line of action of the resultant
4m
B
3m
-2m

Force Vectors
Next week
Mechanics Prep Year
2011-2012
Equilibrium
of a
Particle
The Forces Neutralize The Particles


Force Vectors-2: The Invasion of Three Dimensional Space

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FORCE

the end of lectures 1 and 2, students must be able to

Text Book: Engineering Mechanics Statics

Text Book: Engineering Mechanics Statics

Text Book: Engineering Mechanics Statics

The Cartesian Coordinate System

If the force F is parallel to the

Text Book: Engineering Mechanics Statics

Text Book: Engineering Mechanics Statics

1- The unit vector in terms of two points on the line

The position vector of point B relative to the origin is

The position vector of point B relative to point A is

The above position vector of B relative to A is also known as the

2- The unit vector in terms of direction angles of the line

The direction of a line in space (3D) is defined by the following three

Measured from the positive sense of the z axis to

Text Book: Engineering Mechanics Statics

rB/A cos rB/A x =(x B -x A )

Text Book: Engineering Mechanics Statics

rB/A cos rB/A y =(y B -y A )

Text Book: Engineering Mechanics Statics

rB/A cos rB/A z =(z B -z A )

Text Book: Engineering Mechanics Statics

u B/A =cos i+cos j+cos k

Using the fact

Text Book: Engineering Mechanics Statics

The Force Vector

Text Book: Engineering Mechanics Statics

The direction angles of the

u =cos i+cos j+cos k

he unit vector of the line of action of the force

The force in vector form

The Cartesian components of the force

Two points on the line of

The direction cosines of the line of action

Text Book: Engineering Mechanics Statics

The force in vector form

The Cartesian components of the force

Text Book: Engineering Mechanics Statics

The Cartesian components of

The magnitude of the force

F= Fx2 +Fy2 +Fz2

The unit vector of the line of action of the force

The direction cosines of the line of action of the force

For the magnitude use

Text Book: Engineering Mechanics Statics

b- The unit vector of its line of action

Text Book: Engineering Mechanics Statics

=115o , 73.4o , and 31o

u =cos i+cos j+cos k

To get the third angle

Text Book: Engineering Mechanics Statics

The unit vector of its line of action

b- Its Cartesian components

=115 , 73.4 , and 31

Fx =Fcos 7 cos115 2.96 N

Fy =Fcos 7 cos 73.4 1.99 N

To get the third angle

Text Book: Engineering Mechanics Statics

a- Unit vector of the line AB

b- The direction cosines of the line of

- The force F in component (or vector) form

Text Book: Engineering Mechanics Statics