440:221 Intro to Engineering Mechanics: Statics

Alberto Cuitino, Heather Emady, Sara Salahi, Bereket Yohannes Instructors Juan Ren, Jingjin Xie

Lecture 3 Vector operations

Spring 2014

Assistants

Based on Textbook Material: Engineering Mechanics Statics, 12th Edition, R.C. Hibbeler, Pearson 2010.

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Topics to be reviewed
What is a Cartesian vector representation? What is a Cartesian component? How do we add vectors using Cartesian components? What is a unit vector? What is a vector position? How do find a force along a given direction? What is the inner (or dot) product? What is the inner product useful for?

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Scalar Notation 2D

FRx = F cos FRy = F sin

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Cartesian Vector Notation 2D

Resolve vectors into components using the x and y axis system. Each component of the vector is shown as a magnitude and a direction. The directions are based on the x and y axes. We use the unit vectors i and j to designate the x and y axes.

F = Fx i + Fy j
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Adding Vectors using Cartesian Components

Step 1 is to resolve each force into its components. Step 2 is to add all the xcomponents together, followed by adding all the y components together. These two totals are the x and y components of the resultant vector. Step 3 is to find the magnitude and angle of the resultant vector.
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Adding Vectors using Cartesian Components

Break the three vectors into components, then add them. FR = F1 + F2 + F3 = F1x i + F1y j F2x i + F2y j + F3x i F3y j = (F1x F2x + F3x) i + (F1y + F2y F3y) j = (FRx) i + (FRy) j
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Examples

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Examples

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Cartesian Vectors 3D

A = Ax + Ay + Az

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Cartesian unit vectors

For a vector A, with a magnitude of A, an unit vector is defined as uA = A / A . Characteristics of a unit vector : a) Its magnitude is 1. b) It is dimensionless (has no units). c) It points in the same direction as the original vector (A).

The unit vectors in the Cartesian axis system are i, j, and k. They are unit vectors along the positive x, y, and z axes respectively.

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Cartesian vector representation

Consider a box with sides AX, AY, and AZ meters long.

The vector A can be defined as A = (AX i + AY j + AZ k)

The projection of vector A in the x-y plane is A. The magnitude of A is found by using the same approach as a 2-D vector: A = (AX2 + AY2)1/2 .

The magnitude of the position vector A can now be obtained as A = ((A)2 + AZ2) =
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(AX2 + AY2 + AZ2)

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Direction of a Cartesian vector

The direction or orientation of vector A is defined by the angles , , and . These angles are measured between the vector and the positive X, Y and Z axes, respectively. Their range of values are from 0 to 180
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Direction of a Cartesian vector

Using trigonometry, direction cosines are found using

These angles are not independent. They must satisfy the following equation:

cos + cos + cos = 1

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Direction of a Cartesian vector

This result can be derived from the definition of a coordinate direction angles and the unit vector. Recall, the formula for finding the unit vector of any position vector:

or written another way,

u A = cos i + cos j + cos k

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Addition of cartesian vectors

Once individual vectors are written in Cartesian form, it is easy to add or subtract them. The process is essentially the same as when 2-D vectors are added.

For example, if A = AX i + AY j + AZ k B = BX i + BY j + BZ k , and then

A + B = (AX + BX) i + (AY + BY) j + (AZ + BZ) k or A B = (AX - BX) i + (AY - BY) j + (AZ - BZ) k .
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Examples

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Examples

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Vector Position

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Vector Position

A position vector is defined as a fixed vector that locates a point in space relative to another point.
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Vector Position

Consider two points, A and B, in 3-D space. Let their coordinates be (XA, YA, ZA) & (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 } Please note that B is the ending point and A is the starting point. ALWAYS subtract the tail coordinates from the tip coordinates!
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Example
Direction from A to B Distance

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Example

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Example

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Force Vector Directed Along a Line

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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 forces magnitude. So we need to:
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Force Vector Directed Along a Line

Procedure
1) Find the position vector, rAB , along two points on that line. 2) Find the unit vector describing the lines direction, uAB = (rAB/rAB). 3) Multiply the unit vector by the magnitude of the force, F = F uAB .
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Example
Find Force at A

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Example

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Example

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Dot Product

A
A B = A B cos
AB=BA a (A B ) = (a A ) B = A (a B ) A (B + D) = (A B) + (A D) Commutative Multiplication by a scalar Distributive Law
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Dot Product

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A B = Ax Bx + Ay By + Az Bz

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Dot Product Applications

1) Angle between two directions

A B

= cos-1 (A B / A B)

2) Components parallel and perpendicular to a line

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Example
Find Projections parallel and perpendicular to AB

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Example

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Example

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Take-home message
Addition using Cartesian components is simple
Add all components in each direction using scalar addition Similar procedure for 2 and 3 dimensional cases Quite practical for 3D problems

The direction from A to B is easily determined by

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

The inner (dot) product can be easily computed by

A B = Ax Bx + Ay By + Az Bz

The inner product is useful to find

Angles between directions Projections of forces along directions

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