Universiti Tunku Abdul Rahman

STATICS
CHAPTER 2: FORCE VECTORS (Week 3) Continue
Cartesian Vector (3D)
Position Vector (3D)
Force Vector (3D)
Dot Product (3D)
Intro to Cross Product
(3D)
Chapter Outline

1. Scalars and Vectors (2D)

Recapture
2. Vector Operations (2D)
3. Vector Addition of Forces (2D)
4. Addition of a System of Coplanar Forces (2D)
5. Cartesian Vectors (3D)
6. Addition and Subtraction of Cartesian Vectors (3D)
7. Position Vectors (3D)
8. Force Vector Directed along a Line (3D)
9. Dot Product (3D)
10. Cross Product (3D)
Learning Objective (s)

 Students will gain an understanding on scalars and

vectors, and vector operations.
 Students will learn to add forces and resolve them into
Cartesian Vector.
 Students will learn to express position vector and force
vector in 3D Cartesian Vector.
 Students will learn to determine the vector’s magnitude
and direction from dot product.

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Learning Outcome (s)

 Students will be able to solve engineering problems

related to scalars and vectors, and vector operations.
 Students will be able to resolve forces into components
using the Cartesian Vector.
 Students will be able to apply the position vector and
force vector in 3D Cartesian Vector.
 Students will be able to calculate the vector’s
magnitude and direction from dot product.

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2.5 Cartesian Vectors

• Right-Handed Coordinate System:

A rectangular or Cartesian coordinate system is said
to be right-handed provided:
– Thumb of right hand points in the direction of the
positive z axis
– z-axis for the 2D problem would be perpendicular,
directed out of the page.
Move:
Left or Right
Front or Back
Up or Down
What is this guy doing?
How to obtain resultant force?

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2.5 Cartesian Vectors

• Rectangular Components of a Vector:

– A vector A may have one, two or three rectangular
components along the x, y and z axes, depending on
orientation
– By two successive application of the parallelogram law
A = A’ + Az
A’ = Ax + Ay
– Combing the equations,
A can be expressed as:

A = Ax + Ay + Az
2.5 Cartesian Vectors (i,j,k)

• Cartesian Unit Vector:

– Direction of A can be specified using unit vectors, i,
j ,k to designated the directions of x, y, z axes
respectively.
– Unit vector has a magnitude of 1.
– The positive Cartesian unit vectors are shown in
figure below.
2.5 Cartesian Vectors

• Cartesian Vector Representations:

– 3 components of A act in the positive i, j and k
directions

A = Axi + Ayj + AZk

*Note the magnitude and direction

of each components are separated,
easing vector algebraic operations.
2.5 Cartesian Vectors

• Magnitude of a Cartesian Vector:

– From the colored triangle, A = A'2 + Az2

– From the shaded triangle, A' = Ax

2
+ Ay
2

– Combining the equations

gives magnitude of A.

A = Ax2 + Ay2 + Az2

2.5 Cartesian Vectors

• Direction of a Cartesian Vector:

– Orientation of A is defined as the coordinate
direction angles α, β and γ measured between the
tail of A and the positive x, y and z axes.
– 0° ≤ α, β and γ ≤ 180 °
– The direction cosines of A is:
Ax Ay
cos = cos =
A A

Az
cos =
A
2.5 Cartesian Vectors

• Direction of a Cartesian Vector:

– Angles α, β and γ can be determined by the
inverse cosines.
Given that,
A = Axi + Ayj + Azk
then, unit vector UA in the direction of A:
uA = A /A = 1 = (Ax/A)i + (Ay/A)j + (AZ/A)k

where
A = vector quantities
A = Ax2 + Ay2 + Az2 A = magnitude
2.5 Cartesian Vectors cos =
Ax
cos =
Ay
A A

• Direction of a Cartesian Vector: cos = Az

– u can also be expressed as: A
A
uA = cosαi + cosβj + cosγk

– Since A = Ax + Ay + Az
2 2 2
and uA = 1, we have
Relation:
cos  + cos  + cos  = 1
2 2 2

– A as expressed in Cartesian vector form is:

A = AuA Unit vector
= Acosαi + Acosβj + Acosγk or A(Ax/A)i +
scalar = Axi + Ayj + AZk A(Ay/A)j + A(AZ/A)k
How to form (Extra Knowledge)
cos  + cos  + cos  = 1
2 2 2

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How to form (Extra Knowledge)
cos  + cos  + cos  = 1
2 2 2

Ax
cos =
A
Ay
cos =
A
Az
cos =
A

Copyright © 2010 Pearson Education South Asia Pte Ltd

How to form (Extra Knowledge)

cos2  + cos2  + cos2  = 1

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Concurrent Force Systems

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2.6 Addition of Cartesian Vectors

• Concurrent Force Systems:

– Force resultant is the vector sum of all the forces in
the system.

If A = Axi + Ayj + Azk

B = Bxi + Byj + Bzk
Therefore,
R=A+B
= (Ax + Bx)i + (Ay + By)j + (Az + Bz)k

Hence, FR = ∑F = ∑Fxi + ∑Fyj + ∑Fzk

Example 2.4

Express the resultant force F as Cartesian vector.

Solution

Since two angles are specified, the third angle is found by

cos 2  + cos 2  + cos 2  = 1 (Relation Eq.)
cos 2  + cos 2 60 o + cos 2 45o = 1
cos  = 1 - (0.5) - (0.707 ) = 0.5
2 2

So,
 = cos -1 (0.5)= 60 o
Solution

By inspection, since Fx is in the +x direction, α = 60º

Given F = 200N
Unit vector uA = cosαi + cosβj + cosγk

F = Fcosαi + Fcosβj + Fcosγk

= (200cos60ºN)i + (200cos60ºN)j + (200cos45ºN)k
= {100.0i + 100.0j + 141.4k}N
Checking:
F = Fx2 + Fy2 + Fz2

= (100.0) + (100.0) + (141.4)

2 2 2
= 200N
2.7 Position Vectors (Similar with Cartesian Vectors)
• x,y,z Coordinates
– Right-handed coordinate system
– Positive z axis points upwards, measuring the height of
an object or the altitude of a point
– Points are measured relative
to the origin, O.
2.7 Position Vectors

Position Vector
– Position vector r is defined as a fixed vector which
locates a point in space relative to another point.
– E.g. r = xi + yj + zk
2.7 Position Vectors

Position Vector
– Vector addition gives rA + r = rB
– Solving (Vector Subtraction)
r = rB – rA = (xBi + yBj + zBk) – (xAi + yAj + zAk)
or r = (xB – xA)i + (yB – yA)j + (zB –zA)k
2.7 Position Vectors

• Length and direction of cable AB can be found by

measuring A and B using the x, y, z axes
• Position vector r can be established
• Magnitude r represent the length of cable
• Angles, α, β and γ represent the direction of the cable
• Unit vector, u = r/r
Example 2.5

An elastic rubber band is attached to points A and B.

Determine its length and its direction measured from A
towards B.

Coordinate A & B:
A = {1i + 0j – 3k} m
B = {–2i + 2j + 3k} m
r = rB – r A
= {(–2i + 2j + 3k) – (1i + 0j – 3k)} m
Solution (Similar with Cartesian Eq.)

Position vector
r = [–2m – 1m]i + [2m – 0]j + [3m – (–3m)]k
= {–3i + 2j + 6k}m

Magnitude = length of the rubber band

r= (- 3) + (2) + (6)
2 2 2
= 7m
Unit vector in the director of r
u = r /r (in fraction for calculate θ)
= –3/7i + 2/7j + 6/7k
Solution (Similar with Cartesian Eq.)

Ax Ay
cos = cos =
A A
Az
cos =
A
α = cos-1(-3/7) = 115°
β = cos-1(2/7) = 73.4°
γ = cos-1(6/7) = 31.0°
2.8 Force Vector Directed along a Line
We are interested with
Force Vector!
Position Vector > Unit
Vector > Force Vector
Force Vector = Force
acting along X,Y&Z axis!

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2.8 Force Vector Directed along a Line

• In 3D problems, direction of F is specified by 2 points,

through which its line of action lies
• F can be formulated as a Cartesian vector:

F = F u = F (r/r)

• Note that F has units of forces (N)

unlike r, with units of length (m)
u = (r/r) = ratio (unit vector)
Position vector “r” / magnitude “r”
Example 2.6

The man pulls on the cord with a force of 350N.

Represent this force acting on the support A, as a
Cartesian vector and determine its direction.

Coordinate:
A (0m, 0m, 7.5m)
B (3m, -2m, 1.5m)
Solution

End points of the cord are A (0m, 0m, 7.5m) and

B (3m, -2m, 1.5m)
r = rB – rA
r = (3m – 0m)i + (-2m – 0m)j + (1.5m – 7.5m)k
= {3i – 2j – 6k}m Position Vector

Magnitude = length of cord AB

r= (3m)2 + (- 2m)2 + (- 6m)2 = 7m
Unit vector,
u = r /r
= 3/7i - 2/7j - 6/7k
Solution

Force F has a magnitude of 350N, direction specified by

u.
Force Vector
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k} N

Direction:
α = cos-1(3/7) = 64.6°
β = cos-1(-2/7) = 107°
γ = cos-1(-6/7) = 149° Ax Ay Az
cos = cos = cos =
A A A
2.9 Dot Product

• Dot product of vectors A and B is written as A·B

(Read A dot B)
• Define the magnitudes of A and B and the angle
between their tails
A·B = AB cos θ where 0°≤ θ ≤180°
• Referred as scalar product of vectors as result is a
scalar. Vector A dot Vector B = Scalar Product.
2.9 Dot Product

• Common 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. Distribution law
A·(B + D) = (A·B) + (A·D)
2.9 Dot Product

• Cartesian Vector Formulation

- Dot product of Cartesian unit vectors
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 j·k = 0

- If A·B in 3D cartesian:
A·B = (Axi + Ayj + Azk) · (Bxi + Byj + Bzk)
= AxBx (i·i) + AxBy (i·j) + AxBz (i·k)
+ AyBx (j·i) + AyBy (j·j) + AyBz (j·k)
+ AzBx (k·i) + AzBy (k·j) + AzBz (k·k)
2.9 Dot Product

• Cartesian Vector Formulation

– Dot product of 2 vectors A and B
A·B = AxBx + AyBy + AzBz
• Applications:
– The angle formed between two vectors or
intersecting lines. Rearrangement
θ = cos-1 [(A·B)/(AB)] 0˚≤ θ ≤180° A·B = AB cos θ
– The components of a vector parallel and
perpendicular to a line.
Aa = A cos θ = A·u
Scalar
Example 2.7

The frame is subjected to a horizontal resultant force

F = {300j} N. Determine the components of this force
parallel and perpendicular to the member AB.
 Solution
Since (unit vector)
    257.1N
 rB 2i + 6 j + 3k
uB =  =
or in rB (2) + (6) + (3)
2 2 2
300N
fraction   
= 0.286i + 0.857 j + 0.429k
Thus
 
FAB = F cos or Force vector dot Unit vector

(  
)(   
= F .uB = 0i + 300 j + 0k  0.286i + 0.857 j + 0.429k )
= (0)(0.286)i.i + (300)(0.857) j. j + (0)(0.429)k.k
= 257.1N
Solution

Since result is a positive scalar, FAB has the same sense

of
 direction
 as uB. Force vector express in Cartesian form:

FAB = FAB u AB

= (257.1N )(0.286i + 0.857 j + 0.429k )
 
  
= {73.5i + 220 j + 110k }N
Perpendicular component (Vector Resultant force – Vector Force AB)
         
F = F - FAB = 300 j - (73.5i + 220 j + 110k ) = {-73.5i + 80 j - 110k }N
Solution (Alternatively)

Magnitude can be determined from F┴ or from

Pythagorean Theorem,
 2  2
F = F - FAB

= (300N )2 - (257.1N )2
= 155N
2.10 Cross Product (Intro)

• Cross product of two vectors A and B yields C, which

is written as
C = A X B or A cross B
Magnitude
• Magnitude of C is the product of
the magnitudes of A and B
• For angle θ, 0˚ ≤ θ ≤ 180°

C = AB sinθ
2.10 Cross Product (Intro)

Direction
• Vector C has a direction that is perpendicular to the
plane containing A and B such that C is specified by
the right hand rule
• Expressing vector C when magnitude and direction are
known as:
Unit vector of C
C = A X B = (AB sinθ)uC direction

Scalar for
magnitude of C
2.10 Cross Product (Intro)

Laws of Operations
1. Commutative law is not valid
AXB≠BXA
Rather,
A X B = −B X A
• Cross product A X B yields a
vector opposite in direction to C

B X A = −C
2.10 Cross Product (Intro)

Laws of Operations
2. Multiplication by a Scalar
a( A X B ) = (aA) X B = A X (aB) = ( A X B )a

3. Distributive Law
AX(B+D)=(AXB)+(AXD)
• Proper order of the cross product must be maintained
since they are not commutative
2.10 Cross Product (Intro)

Cartesian Vector Formulation

• Use C = AB sinθ on pair of Cartesian unit vectors
• A more compact determinant in the form as:

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

• The application of using cross product to calculate

moment of a force will be discussed in Topic 4.0.
Video for Offshore Construction

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Copyright © 2010 Pearson Education South Asia Pte Ltd
 References: 14 June 2018

Meriam, J. L. and Kraige, L.G. 2008, Engineering

Mechanics, Vol 1 “Statics”, 6th Edition, J Wiley & Sons.
Hibbeler, R. C. 2013, Engineering Mechanics, Vol 2
“Dynamics”, 13th Edition, Prentice-Hall International.

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Reference

• Definitions:

• Miscellaneous relations:

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Last Updated:14 June 2018
Reference

• Law of Sines:

• Law of Cosiness:

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Last Updated:14 June 2018
 Key terms: 14 June 2018

Term Definition
Force A vector quantity that tends to produce an
acceleration of a body in the direction of its
application.
Resolve To convert / express a vector quantity in a specific
axis.
Resultant A single vector that is the equivalent of a set of
vectors.

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