Engineering Mechanics :

STATICS
BDA10203
Lecture #06

Group of Lecturers
Faculty of Mechanical and Manufacturing Engineering
Universiti Tun Hussein Onn Malaysia
2
 POSITION & FORCE VECTORS (Sections 2.7 - 2.8)
Today’s Objectives:
Students will be able to :
a) Represent a position vector in Cartesian
coordinate form, from given geometry.
b) Represent a force vector directed along
a line.
Learning Topics:
• Applications /
Relevance
• Write position vectors
• Write a force vector

3
 POSITION VECTOR
• A position vector is defined as a
fixed vector that locates a point in
space relative to another point.

• Consider two points, A & B,

in 3-D space. Let their
coordinates be (XA, YA, ZA) and
( XB, YB, ZB ), respectively.

• The position vector directed from A to B, r AB , is defined as

r AB = {( XB – XA ) i + ( YB – YA ) j + ( ZB – ZA ) k }m

• Please note that B is the ending point and A is the starting

point. So ALWAYS subtract the “tail” coordinates from the “tip”
4
coordinates!
 POSITION VECTOR

The position vector

rAB = {( XB – XA ) i + ( YB – YA ) j + ( ZB – ZA ) k }m
Magnitude
 
1
rAB  ( xB  xA)  ( yB  yA)  ( zB  z )
2 2
A
2 2

Unit vector, u = r /r

= rAB / rAB

NOTE that r has unit of length

5
 2.7 Position Vectors
• Position Vector
Note the head to tail vector addition of the
three components

Start at origin O, one travels x in the +i direction,

y in the +j direction and z in the +k direction,
arriving at point P (x, y, z)
 EXAMPLE
Given: A position vector r acting from point A(3m,5m,6m) to
point B(5m,-2m,1m)
Find: Represent the position vector in Cartesian vector form and
determine its direction angles and find the distance
between point A and B.
Plan:

1) Represent the position vector in Cartesian vector form

2) Find the magnitude of the position vector
3) Use trigonometry to find the direction angle

7
 EXAMPLE

Position vector,
rAB = {( XB – XA ) i + ( YB – YA ) j + ( ZB – ZA ) k }m
= {( 5 – 3 ) i + ( -2 – 5) j + ( 1 – 6 ) k }m
= {2i - 7j - 5k }m z

6
A(3,5,6)
Note that
Start at point A (3,5,6), one travels
2m in the +i direction,
7m in the -j direction and 1
B(5,-2,1) 5
5m in the -k direction, arriving at point
B (5,-2,1) -2 3 y

Distance between point A and B, 5

 
1 x
rAB  22  (7) 2  (5) 2 2
 8.83m
Total 8.83m from A to B 8
 EXAMPLE

Unit vector, u = r /r

rx 2
ux    0.23  cos 
rAB 8.83
ry 7
uy    0.79  cos 
rAB 8.83
rz 5
uz    0.57  cos 
r AB 8.83
Solving the equations and we will get the answers as below

α = 76.9°, β = 142.4°, γ = 124.5° 9

 IN CLASS TUTORIAL (GROUP PROBLEM SOLVING)

Given: Position vector as shown in the

figure
Find: Express the position vector r in
the Cartesian vector form, its
magnitude and coordinate
direction angle.
Plan:

1) Represent the position vector in Cartesian vector form

2) Find the magnitude of the position vector
3) Use trigonometry to find the direction angle

10
 GROUP PROBLEM SOLVING (continued)

rAB = {( XB – XA ) i + ( YB – YA ) j + ( ZB – ZA ) k }m
= {( 0 – 3 ) i + ( -8 – 4) j + ( 4 – 0 ) k }m
= {-3i - 12j + 4k }m

Distance between point A and B,

 
1
rAB  (3) 2  (12) 2  (4) 2 2
 13m 11
 GROUP PROBLEM SOLVING (continued)

rx 3
cos   
rAB 13
ry 12
cos   
rAB 13
rz 4
cos   
r AB 13

Solving the equations and we will the answers as below

α = 103.3°, β = 157.4°, γ = 72.1°

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Example 2.12
An elastic rubber band is
attached to points A and B.
Determine its length and its
direction measured from A
towards B.
Solution
Position vector
r = [-2m – 1m]i + [2m – 0]j + [3m – (-3m)]k
= {-3i + 2j + 6k}m
Note that it took 3m in –x direction, 2m in +y direction and
6m in +j dirention to arrive at B from A point
Magnitude = length of the rubber band
r  32  22  62  7m
Unit vector in the direction of r
u = r /r
= -3/7i + 2/7j + 6/7k
Solution
α = cos-1(-3/7) = 115°
β = cos-1(2/7) = 73.4°
γ = cos-1(6/7) = 31.0°

Note: These angles are measured from the positive axes

of a localized coordinate system placed at the tail of r
 HOMEWORK TUTORIAL

Q1 (2-84):
Determine the length of the connecting rod AB by first
formulating a Cartesian position vector from A to B and then
determining its magnitude.
Given:
b = 400mm
a = 125mm
α = 25°

16
 HOMEWORK TUTORIAL (continued)

Q2 (2-85):
Determine the length of member AB of the truss by first establishing a
Cartesian position vector from A to B and then determining its
magnitude.
Given:
a = 1.2m
b = 0.8m
c = 0.3m
d = 1.5m, Length CB
θ = 40deg

17
Problem 2-83
Express the position vector r in Cartesian vector form;
then determine its magnitude and coordinate direction angles.
  30 deg
  20 deg
c  5m
b  2m
a  8m

18
Force Vector Directed along
a Line
If a force is directed along a line,
then we can represent the force
vector in Cartesian Coordinates by
using a unit vector and the force
magnitude. So we need to:

a) Find the position vector, r AB , along two points on

that line.
b) Find the unit vector describing the line’s direction,
uAB = (rAB/rAB).
c) Multiply the unit vector by the magnitude of the
force, F = F uAB .
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 APPLICATIONS

How can we
represent the force
along the wing
strut in a 3-D
Cartesian vector
form?

Wing strut
20
Force Vector Directed along a Line

• Unit vector, u = r/r that defines the direction

of both the chain and the force
• We get F = Fu
=F (r /r )

Note that F has unit of force, unlike r which has units of length
Force Vector Directed along a Line

Example 2.13
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.
Solution
End points of the cord are A (0m, 0m, 7.5m)
and B (3m, -2m, 1.5m)
r = (3m – 0m)i + (-2m – 0m)j + (1.5m – 7.5m)k
= {3i – 2j – 6k}m
Magnitude = length of cord AB

r 3m2   2m2   6m2  7m

Unit vector, u = r /r
= 3/7i - 2/7j - 6/7k
Force F has a magnitude of 350N, direction
specified by u
F = Fu
= 350N(3/7i - 2/7j - 6/7k)
= {150i - 100j - 300k} N

α = cos-1(3/7) = 64.6°
β = cos-1(-2/7) = 107°
γ = cos-1(-6/7) = 149°
2.8 Force Vector Directed along
a Line
Example 2.14
The circular plate is
partially supported by
the cable AB. If the
force of the cable on the
hook at A is F = 500N,
express F as a
Cartesian vector.
Solution
End points of the cable are A (0m, 0m, 2m) and B
(1.707m, 0.707m, 0m)
r = (1.707m – 0m)i + (0.707m – 0m)j
+ (0m – 2m)k
= {1.707i + 0.707j - 2k}m
Magnitude = length of cable AB
| r | 1.707m2  0.707m2   2m2  2.723m
Solution
Unit vector,
u = r / |r |
= (1.707/2.723)i + (0.707/2.723)j – (2/2.723)k
= 0.6269i + 0.2597j – 0.7345k
For force F,
F = Fu
= 500N(0.6269i + 0.2597j – 0.7345k)
= {313i - 130j - 367k} N
Solution
Checking
F 3132  1302   367 2
 500 N
Show that γ = 137° and
indicate this angle on the
diagram
Force Vector Directed along a Line

Example 2.15
The roof is supported by
cables. If the cables exert
FAB = 100N and FAC = 120N
on the wall hook at A,
determine the magnitude of
the resultant force acting at
A.
Solution
rAB = (4m – 0m)i + (0m – 0m)j + (0m – 4m)k
= {4i – 4k}m
| rAB | 4m2   4m2  5.66m

FAB = 100N (rAB /|r AB|)

= 100N {(4/5.66)i - (4/5.66)k}
= {70.7i - 70.7k} N
Solution
rAC = (4m – 0m)i + (2m – 0m)j + (0m – 4m)k
= {4i + 2j – 4k}m

rAC  4m2  2m2   4m2  6m

FAC = 120N (rAB/r AB)

= 120N {(4/6)i + (2/6)j - (4/6)k}
= {80i + 40j – 80k} N
Solution
FR = FAB + FAC
= {70.7i - 70.7k} N + {80i + 40j – 80k} N
= {150.7i + 40j – 150.7k} N

Magnitude of FR
| FR | 150.7 2  402   150.7 2
 217 N
EXAMPLE

Given: The window is held open by

cable AB as shown in the figure
Find: Length of the cable and express
the F force acting at A along the
cable as a Cartesian vector
Plan:
1) Represent the position
vector in Cartesian
vector form
2) Find the magnitude of
the position vector
3) Using a unit vector,
express the F force as a
Cartesian vector
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 EXAMPLE

rAB = {( XB – XA ) i + ( YB – YA ) j + ( ZB – ZA ) k }mm
= {( 0 – 300cos30°) i + ( 150 – 500) j + (250 + 300sin30°) k }mm
= {-259.8i - 350j + 400k }mm

Distance between point A and B,

 
1
rAB  (259.8) 2  (350) 2  (400) 2 2
 591.6mm 34
 EXAMPLE

Use a unit vector to express F in the form of Cartesian vector

F = FuAB = F(rAB/rAB).
F = 30 {(-259.8 /591.6)i + (-350/591.6)j + (400/591.6)k}
= 30{-0.44i – 0.59j + 0.68k}

= {-13.2i - 17.7j + 20.4k} N

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 IN CLASS TUTORIAL (GROUP PROBLEM SOLVING)

Given: The cable attached to the tractor

at B exerts a force of 3500 N on
the framework.
Find: Express this force as a Cartesian
vector
Plan:

1) Represent the position vector in Cartesian vector form

2) Find the magnitude of the position vector
3) Using a unit vector, express the F force as a Cartesian vector
36
 GROUP PROBLEM SOLVING (continued)

rAB = {( XB – XA ) i + ( YB – YA ) j + ( ZB – ZA ) k }m
= {( 15sin20° – 0 ) i + ( 15cos20° – 0) j + ( 0 – 10.5 ) k }m
= {5.13i + 14.1j - 10.5k }m
Distance between point A and B,
 
1
rAB  (5.13) 2  (14.1) 2  (10.5) 2 2
 18.31m 37
 GROUP PROBLEM SOLVING (continued)

Use a unit vector to express F in the form of Cartesian vector

F = FuAB = F(rAB/rAB).
F = 3500 {(5.13 /18.31)i + (14.1/18.31)j + (-10.5/18.31)k}
= 3500{0.28i + 0.77j – 0.57k}

= {980i + 2695j - 1995k} N

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 CONCEPT QUIZ
1. P and Q are two points in a 3-D space. How are the position
vectors rPQ and rQP related?
A) rPQ = rQP B) rPQ = - rQP
C) rPQ = 1/rQP D) rPQ = 2 rQP

2. If F and r are force vector and position vectors, respectively,

in SI units, what are the units of the expression (r * (F / F)) ?
A) Newton B) Dimensionless
C) Meter D) Newton - Meter
E) The expression is algebraically illegal.

39
 ATTENTION QUIZ
1. Two points in 3 – D space have coordinates of P (1, 2, 3) and Q
(4, 5, 6) meters. The position vector rQP is given by
A) {3 i + 3 j + 3 k} m
B) {- 3 i – 3 j – 3 k} m
C) {5 i + 7 j + 9 k} m
D) {- 3 i + 3 j + 3 k} m
E) {4 i + 5 j + 6 k} m

2. Force vector, F, directed along a line PQ is given by

A) (F/ F) rPQ B) rPQ/rPQ
C) F(rPQ/rPQ) D) F(rPQ/rPQ)
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 READING QUIZ
1. A position vector, rPQ, is obtained by
A) Coordinates of Q minus coordinates of P
B) Coordinates of P minus coordinates of Q
C) Coordinates of Q minus coordinates of the origin
D) Coordinates of the origin minus coordinates of P
2. A force of magnitude F, directed along a unit
vector U, is given by F = ______ .
A) F (U)
B) U / F
C) F / U
D) F + U
E) F – U
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 HOMEWORK TUTORIAL
Q1 (2-93):
The plate is suspended using the three cables which exert the forces
shown. Express each force as a Cartesian vector.
Given:
FBA = 3.5kN
FCA = 5kN
FDA = 4kN
a = 0.3m
b = 0.3m
c = 0.6m
d = 1.4m
e = 0.3m
f = 0.3m
g = 0.2m
42
 HOMEWORK TUTORIAL (continued)
Q2 (2-94):
The engine of the lightweight plane is supported by struts that are
connected to the space truss that makes up the structure of the plane.
The anticipated loading in two of the struts is shown. Express each of
these forces as a Cartesian vector.
Given:
F1 = 4kN
F2 = 6kN
a = 0.15m
b = 0.15m
c = 0.9m
d = 0.75m
e = 0.15m
f = 0.9m
43
 HOMEWORK TUTORIAL (continued)
Q3 (2-104) :
The tower is held in place by three cables. If the force of each cable
acting on the tower is shown, determine the magnitude and
coordinate direction angles α,β,γ of the resultant force.
Units Used:
kN := 1000N
Given:
x = 20m, a = 16m
y = 15m, b = 18m
F1 = 600N, c = 6m
F2 = 400N, d = 4m
F3 = 800N, e = 24m

44