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ENGINEERING MECHANICS
COURSE LEARNING OUTCOMES :
Upon completion of this course, students should be able to:
Prepared by:
Siti Syazwani Binti Ilmin
Objectives:
At the end of this chapter, student should be able to:
1. Understand scalars and vectors
a.
b.
Objectives:
5. Understand Cartesian vectors.
a.
b.
c.
Objectives:
b.
Commutative law
Multiplication by scalar
Distributive law
P
A
b)
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A
The different sense of the force but have same magnitude and same
direction.
=
A
Continue
Example 2.1:
b)
The triangle rule is again used; two sides and the included angle are known.
We apply the law of cosines:
iii.
Solution:
a) Using graphical solution:
i. A parallelogram with sides equal to P and Q is drawn
to scale.
ii. The magnitude and direction of the resultant are
measured and found to be
iii.
Trigonometric Solution.
i.
ii.
iv.
v.
The triangle rule may also be used. Forces P and Q are drawn in tip-to-tail
fashion.
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Continue
Example 2.2
ii.
iii.
Again,
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continue
b) Trigonometry:
Vectors
-The vector triangle as shown in Fig. (c), is constructed from Fig. (b).
- FR is determined by using the law of cosines;
It is represented by arrows.
The magnitude of a vector defines the length
of the arrow used to represent the vector.
-Thus, the direction (phi) of FR, measured from the horizontal, is;
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continue
4) Equal vectors:
two vectors have the same magnitude and the same
direction, whether or not they also have the same point of
application. They are denoted by same letter.
Types of vectors:
1) Fixed vectors:
cannot be moved without modifying the
conditions of the problem.
2) Free vectors:
couples, which represented by vectors which
may be freely moved in space.
3) Sliding vectors:
forces acting on a rigid body, which represented
by vectors which can be moved, or slid, along
their lines of action.
5) Negative vectors:
vector having the same magnitude but opposite direction.
P
-P
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continue
Addition of Vectors
P
A
OR
P
A
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Coplanar Vectors
Subtraction of Vectors
Defined as the addition of the corresponding
negative vector.
P-Q representing the difference between the vectors
P and Q is obtained by adding to P the negative
vector Q. we write;
P Q = P + (-Q)
P
A
-Q
For addition of vectors, Polygon Rule is applied by arranging the given vectors
in tip-to-tail fashion and connecting the tail of the first vector with the tip of
the last one.
A
P
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continue
continue
Q
S
Q
S
P
P
A
A
P
S
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continue
P is known.
Second component, Q, is obtained by applying the triangle rule and
joining the tip of P to the tip of F
Q
P
c)
F
A
Magnitude and direction of Q are determined graphically or by
trigonometry.
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continue
Scalar components:
The scalars Fx and Fy of forces F.
Vector components:
The actual component forces Fx and Fy of F.
Fy
OR
Fx
Fy
Fx
i
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continue
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continue
Scalar Notation.
Fx = Fx i
Fy = Fy j
and express F as the Cartesian vector,
F = Fx i + Fy j
Fy
Fy = Fy j
j
O
F
Fx
Fx = Fx i
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Example 2.3
Example 2.4
Resolve the 1000 N ( 100 kg) force acting on the pipe Fig. a, into
components in the (a) x and y directions, and (b) x and y directions.
(a)
Solution:
In each case the parallelogram law is used to resolve F into its two
components, and then the vector triangle is constructed to determine
the numerical results by trigonometry.
Fy = +(459 N) j
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continue
continue
Part (b)
The vector addition F = Fx + Fy is shown in Fig. d.
Note carefully how the parallelogram is constructed.
Applying the law of sines and using the data listed on the
vector triangle, Fig. e, yields:
Part (a)
The vector addition F = Fx + Fy is shown in Fig. b.
In particular, note that the length of the components is scaled along
the x and y axes by first constructing lines from the tip of F parallel
to the axes in accordance with the parallelogram law.
From the vector triangle, Fig. c,
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Example 2.5
continue
Hence;
Solution:
i. by using the parallelogram law, the vector addition of the
two components yielding the resultant is shown in Fig.b.
ii. Note carefully how the resultant force is resolved into two
components FAB and FAC, which have specified lines of
action.
iii. The corresponding vector triangle is shown in Fig.c.
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Example 2.6
continue
Using this value for , apply the law of cosines or the law of sines and
show that FAB has a magnitude of 561 N.
Notice that F can also be directed at an angle above the horizontal, as
shown in Fig. d, and still produce the required component FAC.
Show that in this case = 16.1 and FAB = 161 N.
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continue
continue
Solution:
Part (a):
i. A sketch of the vector addition according to the
parallelogram law is shown in Fig. b.
ii. From the vector triangle constructed in Fig. c, the
unknown magnitudes F1 and F2 are determined by
using the law of sines:
Part (b):
i. If is not specified, then by the vector triangle, Fig. d,
F2 may be added to F1 in various ways to yield the
resultant 1000 N force.
ii. The minimum length or magnitude of F2 will occur
when its line of action is perpendicular to F1.
iii. Any other direction, such as OA or OB, yields a larger
value for F2.
iv. Hence, when = 90 - 20 = 70, F2 is minimum.
v. From the triangle shown in Fig. e, it is seen that;
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continue
F2
F1
x
F3
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F2y
F1y
F1x
F2x
F3x
F3y
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10
continue
continue
Once the resultant components are determined, they may be sketched along the x
and y axes in their proper direction, and the resultant force can be determined
from vector addition.
y
FRy
FR
FRx
Then, the magnitude of FR can be found from the Pythagorean Theorem; which is:
Also, the direction angle , which specifies the orientation of the force is
determined from trigonometry:
FRy
FR
FRx
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Example 2.7
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continue
Force Magnitude, N
x Component, N
F1
150
+ 129.9
F2
80
- 27.4
F3
110
0
F4
100
+ 96.6
Rx = +199.1
y Component, N
+ 75.0
+ 75.2
- 110.0
- 25.9
Ry= + 14.3
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Example 2.8
continue
Solution:
Scalar Notation:
F1 is resolved into x and y
components using
parallelogram law as shown in
Fig. (b).
The magnitude of each
component is determined by
trigonometry.
Then, we have;
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continue
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continue
Solution:
F2 is resolved into x and y
components as shown in Fig.
(c).
The slope of the line of action
is indicated and could obtain
the angle :
Solution:
The magnitude of the horizontal component, F2x, was
obtained by multiplying the force magnitude by the ratio of
the horizontal leg of the slope triangle divided by the
hypotenuse.
The magnitude of the vertical component, F2y, was obtained
by multiplying the force magnitude by the ratio of the
vertical leg divided by the hypotenuse.
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Example 2.9
continue
Solution:
Cartesian Vector Notation:
The magnitudes and directions of the components of each
force is determined.
The link in Figure (a) below is subjected to two forces F1 and F2.
determine the magnitude and orientation of the resultant force.
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continue
continue
Solution 1:
Scalar Notation: (*Can be solved using
Solution 1:
Scalar Notation: (*Can be solved using
parallelogram law.)
parallelogram law.)
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Example 2.10
continue
Solution 2:
Cartesian Vector Notation:
From Figure (b), each force is
expressed as a Cartesian
vector;
Thus,
continue
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continue
Solution :
Magnitude of the resultant force,
shown in Figure (c);
Solution :
Each force is resolved into its x and y components, Figure (b).
Summing the x components;
The negative sign indicates that FRx acts to the left, as noted
by the small arrow.
Summing the y components yields;
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Cartesian Vectors
Exercises
continue
continue
Unit vector
z
Az
A
Ay
Ax
x
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continue
continue
k
y
j
Az k
k
Ay j
i
Ax i
x
x
Figure shows the positive Cartesian unit vectors.
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continue
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continue
Direction cosine of A
A
y
Az
y
Ax
x
Ay
Az
y
Ax
x
Ay
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Example 2.11
continue
Direction angles:
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continue
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continue
So that,
Solution:
Since each force is represented in Cartesian vector form, the resultant force,
shown in Fig. b, is:
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Position Vectors
2m
x, y, z coordinates.
4m
4m
2m
1m
6m
x
A
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continue
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continue
z
Position vector.
The position vector, r, is
defined as a fixed vector
which locates a point in
space relative to another
point.
For example, if r extends
from the origin of
coordinates, O, to point
P(x,y,z), then, r can be
expressed in Cartesian
vector form as:
z
B (xB, yB, zB)
zk
rB
rA
r
O
yj
xi
x
r = xi + yj + zk
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continue
Example 2.12
rB
B
(zB zA)
rA
(yB yA)
[+ j direction]
[+ k direction]
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continue
continue
Solution:
The components of r can be determined directly by
realizing from fig. (a) that they represent the direction and
distance one must go along each axis in order to move from
A to B.
The magnitude of r represents the length of the rubber
band.
Solution:
First, establish a position vector
A to B, Figure (b).
The coordinates of the tail
A (1 m, 0, -3 m) are substracted
from the coordinates of the head
B (-2 m, 2 m, 3 m), which yields;
r=BA
= [-2 m 1 m] i + [2 m 0] j + [3 m (-3 m)] k
= { -3i + 2j + 6k} m
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continue
Solution:
The components of this unit vector yield the coordinate
direction angles:
F
B
Force F is directed along the cord AB.
Example 2.13
continue
The man shown in Figure (a) pulls on chord with a force of 350 N.
Represent this force, acting on the support A, as a Cartesian vector and
determine its direction.
Solution:
Force F is shown in Figure (b). The direction of this vector,
u, is determined from the position vector r, which extends
from A to B.
The coordinates of the end points
of the cord are:
A (0, 0, 7.5 m)
B (3 m, -2 m, 1.5 m)
Forming the position vector, we
have;
r=BA
= (3 0) i + (-2 0) j + (1.5 7.5) k
= { 3i 2j 6k} m
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continue
continue
Forming the unit vector that defines the direction and sense
of both r and F yields:
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continue
Dot Product
Laws of Operation
Commutative Law
Multiplication by a scalar
Distributive Law
Where 0 180
It is easy to prove the first and second laws by using Eqn. 2.3
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continue
continue
In similar manner:
References:
R.C. Hibbeler. (2004). Engineering Mechanics
Statics Third Edition.
F.P. Beer, E.R. Johnston, Jr, E.R. Eisenberg.
(2004). Vector Mechanics for Engineers.
Statics. Seventh Edition in SI Units.
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