FORCES AND

OTHER VECTORS

Scalars are physical quantities that have no

associated direction and can be described by a
positive or negative number, or even zero.

Vectors represent physical quantities which have

magnitude and a direction. Vectors are identified by a
symbolic name which will be typeset in bold like r or
F ( any letter)to indicate its vector nature.
 CONVENTIONS FOR EQUATIONS AND 2

DIAGRAMS

A vector quantity V is represented

by a line segment, Fig. 1/1, having
the direction of the vector and
having an arrowhead to indicate
the sense. The length of the
directed line segment represents to
some convenient scale the
magnitude lVI of the vector, which
is printed with lightface italic type
V.
 VECTOR 3

Line of Action

Magnitude
y
Vector
A or A

 Direction
x

ME221
 4

Vectors must obey the parallelogram law of combination. This law states that
two vectors VI and V2, treated as free vectors, Fig. l/2a, may be replaced by
their equivalent vector V, which is the diagonal of the parallelogram formed
by V1 and V2 as its two sides, as shown in Fig. 1/2b. This combination is
called the vector sum and is represented by the vector equation

V = 𝑉1 + 𝑉2
VECTORS
5

Vectors are equal when they have the same

magnitude and direction

A B
=

• Vectors add by the parallelogram rule

B
A B A
+ = C

ME221
 MORE ON VECTORS
Lecture 1 6

Vectors are commutative

A+B=B+A B
A
A
C
B
• Vectors are associative
(A + B) + C = A + (B + C)

ME221
 Subtraction of Vectors 7

In order to subtract vectors, first we must understand that if we

multiply a vector by (-1) we get a vector equal in length but exactly
opposite in direction.

A -A

Then we see that B - A = B + (-A) B

A
So if we have D = B - A
D
This looks like this:
-A

ME221
 Adding More Than Two Vectors 8

B
A A
A+B C

B

D
C

D = A+B+C

ME221
9
 10

Review on :

1. ) Coordinates Systems
1.1 rectangular coordinates
1.2 polar coordinates
COORDINATE
SYSTEMS
Used to describe the position of a point in
space
Coordinate system consists of
• a fixed reference point called the origin
• specific axes with scales and labels
• instructions on how to label a point
relative to the origin and the axes
 CARTESIAN COORDINATE SYSTEM

• Also called rectangular

coordinate system
• x- and y- axes intersect at
the origin
• Points are labeled (x,y)
 POLAR COORDINATE SYSTEM

• Origin and reference

line are noted
• Point is distance r from
the origin in the
direction of angle , ccw
from reference line
• Points are labeled (r,)
 POLAR TO CARTESIAN
COORDINATES
Considering acute angle θ:
• Based on
forming a
right triangle
from r and 
• x = r cos 
• y = r sin 
 CARTESIAN TO POLAR
COORDINATES
• r is the hypotenuse and 
an angle

•  must be ccw from

positive x axis for these
equations to be valid
Formulas in Solving Triangles

the square of a side of the triangle is equal

to the sum of the squares of the other two
sides minus twice the product of the two
sides and the cosine of the opposite angle.
 Solving Triangles

the ratio of side length to the sine of the opposite angle. It

holds for all the three sides of a triangle respective of their
sides and angles.
 PARALLELOGRAM
LAW
1. Make a sketch showing vector addition using the
parallelogram law.
2. Determine the interior angles of the parallelogram
from the geometry of the problem.
3. Label all known and unknown angles and forces in the
sketch.
4. Redraw one half of the parallelogram to show the
triangular head-to-tail addition of the components and
apply laws of sines and cosines.
 COMPONENTS OF A VECTOR

• A component is a part
• It is useful to use
rectangular components
• These are the
projections of the vector
along the x- and y-axes
COMPONENTS OF A
VECTOR
The x-component of a vector is the
projection along the x-axis

The y-component of a vector is the

projection along the y-axis

Then,
COMPONENTS OF A
VECTOR
The previous equations are valid only if  is
measured with respect to the x-axis
The components are the legs of the right
triangle whose hypotenuse is A

• May still have to find  with respect to

the positive x-axis
 COMPONENTS OF A VECTOR

• The components can be

positive or negative and will y
have the same units as the
original vector 𝐴𝑥 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝐴𝑥 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒
• The signs of the components 𝐴𝑦 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒 𝐴𝑦 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒
will depend on the angle
x
𝐴𝑥 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝐴𝑥 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒
𝐴𝑦 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝐴𝑦 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒
 PROBLEM 1

The screw eye in the

figure is subjected to
two forces F1 and F2.
Determine the
magnitude and direction
of the resultant force.
PROBLEM 1
Given:

Required :
Determine the magnitude and direction of the resultant force.
 SOLUTION:
B

Calculate the interior angles: C

Angle COA = 900 -150-100 = 650

Angle OAB = 1800 -650= 1150

A

O
Using the law of Cosines:

𝐹𝑅 = (𝑂𝐴)2 + (𝐴𝐵)2 −2 𝑂𝐴 𝐴𝐵 𝐶𝑜𝑠 1150

𝐹𝑅 = (100)2 + (150)2 −2 100 150 𝐶𝑜𝑠 1150

𝑭𝑹 = 𝟐𝟏𝟐. 𝟔 𝑵 ans.
Solving for the value of angle phi:
Applying Sine Law in solving angle θ:
𝐴𝐵 𝐹𝑅
=
𝑆𝑖𝑛 𝜃 𝑆𝑖𝑛 1150
150𝑁 212.6 𝑁
=
𝑆𝑖𝑛 𝜃 𝑆𝑖𝑛 1150

𝜃 = 39.80

ϕ= 𝟑𝟗. 𝟖𝟎 + 𝟏𝟓𝟎 = 𝟓𝟒. 𝟖𝟎 𝒂𝒏𝒔.

Problem 2
30

Determine the magnitude and direction of the

resultant forces system shown in Figure.
 Problem 2:
31

Given:

Required : Determine the magnitude and direction of

the resultant forces system shown in Figure.
Solution: Solving for the components of the 3 vectors: 32

𝐹1
𝐹2

𝐹3

For the Vector 1:

𝐹1𝑥 = 250 𝑆𝑖𝑛 450 = 176.8 𝑁 →

𝐹1𝑦 = 250 𝐶𝑜𝑠 450 = 176.8 𝑁 ↑

Solution: Solving for the components of the 3 vectors: 33

𝐹1
𝐹2

𝐹3

For the Vector 2:

4
𝐹2𝑥 = 200 ( ) = 160 𝑁 ←
5
3
𝐹2𝑦 = 200 = 120𝑁 ↑
5
Solution: Solving for the components of the 3 vectors: 34

𝐹1
𝐹2

𝐹3

For the Vector 3:

𝐹3𝑥 = 400 𝑁 ←

𝐹3𝑦 = 0
Solution: Solving for the resultant: 35

𝑅𝑥 = ෍ 𝐹𝑥 = 176.8 − 160 − 400 = −383.2𝑁 = 383.2𝑁 ←

𝑅𝑦 = ෍ 𝐹𝑦 = 176.8 + 120 + 0 = 296.8 𝑁 ↑

 Solution: Solving for the resultant and angle theta: 36

𝑅= 𝑅𝑥 2 + 𝑅𝑦 2

𝑅= (−383.2)2 +(296.8)2

𝑅 = 484.7 𝑁 𝒂𝒏𝒔.

Solving for the angle ϴ:

𝑅𝑦 296.8𝑁
𝜃= 𝑡𝑎𝑛−1 = 𝑡𝑎𝑛 −1 = 37.80 𝒂𝒏𝒔.
𝑅𝑥 383.2 𝑁
 ADDITION OF A SYSTEM OF
COPLANAR FORCES

Scalar Notation
• x and y axes are designated positive and negative
• Components of forces expressed as algebraic scalars

F = Fx + Fy
Fx = F cos and Fy = F sin 
 ADDITION OF A SYSTEM OF
COPLANAR FORCES

Cartesian Vector Notation

• Cartesian unit vectors i and j are used to designate
the x and y directions
• Unit vectors i and j have dimensionless magnitude
of unity ( = 1 )
• Magnitude is always a positive quantity, represented
by scalars Fx and Fy
F = Fxi + Fy j

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 ADDITION OF A SYSTEM OF
COPLANAR FORCES

Coplanar Force Resultants

To determine resultant of several coplanar forces:
• Resolve force into x and y components
• Addition of the respective components using scalar
algebra
• Resultant force is found using the parallelogram law
• Cartesian vector notation:

F1 = F1xi + F1 y j
F2 = − F2 xi + F2 y j
F3 = F3 xi − F3 y j
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 ADDITION OF A SYSTEM OF
COPLANAR FORCES

Coplanar Force Resultants

• Vector resultant is therefore

FR = F1 + F2 + F3
= (FRx )i + (FRy ) j
• If scalar notation are used
FRx = F1x − F2 x + F3 x
FRy = F1 y + F2 y − F3 y

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 ADDITION OF A SYSTEM OF
COPLANAR FORCES

Coplanar Force Resultants

• In all cases we have
FRx =  Fx
FRy =  Fy * Take note of sign conventions

• Magnitude of FR can be found by Pythagorean Theorem

FRy
FR = F + F 2
Rx
2
Ry and  = tan -1

FRx

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 PROBLEM 3

Determine x and y components of F1 and F2

acting on the boom. Express each force as a
Cartesian vector.

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 PROBLEM 3.

Given :

Required :
Determine x and y components of F1 and F2
and Express each force as a Cartesian vector.

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 Solution :
Considering F1:
Scalar Notation
F1x = −200 sin 30 N = −100 N = 100 N 
F1 y = 200 cos 30 N = 173 N = 173 N 

Cartesian Vector Notation

𝑭𝟏 = −𝟏𝟎𝟎𝒊 + 𝟏𝟕𝟑𝒋 𝑵 ans.

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 Considering F2:
By similar triangles we have
 12 
F2 x = 260  = 240 N
 13 
5
F2 y = 260  = 100 N
 13 

Scalar Notation:
F2 x = 240N →
F2 y = −100N = 100N 
Cartesian Vector Notation:
𝑭𝟐 = 𝟐𝟒𝟎𝒊 − 𝟏𝟎𝟎𝒋 𝑵 ans.
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 PROBLEM 4.

The link is subjected to two forces F1 and F2.

Determine the magnitude and orientation of the
resultant force using scalar and vector notation.

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 PROBLEM 4.
GIVEN:

REQUIRED:
Determine the magnitude and orientation of the
resultant force using scalar notation and vector
notation.
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 SOLUTION:

Using Scalar Notation:

FRx = Fx :
FRx = 600 cos 30 N − 400 sin 45 N
= 236.8 N →
FRy = Fy :
FRy = 600 sin 30 N + 400 cos 45 N
= 582.8 N 

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 Resultant Force
FR = (236.8 N )2 + (582.8 N )2
= 629N ans.

From vector addition, direction angle θ is

 582.8 N 
 = tan −1  
 236.8 N 
= 67.9 ans.

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 2. Using Cartesian Vector Notation
F1 = { 600cos30°i + 600sin30°j } N
F2 = { -400sin45°i + 400cos45°j } N

Thus,
FR = F1 + F2
= (600cos30ºN - 400sin45ºN)i
+ (600sin30ºN + 400cos45ºN)j
= {236.8i + 582.8j}N

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 The magnitude and direction of FR are
determined in the same manner as before.

Resultant Force
FR = (236.8 N )2 + (582.8 N )2
= 629N ans.

From vector addition, direction angle θ is

 582.8 N 
 = tan −1  
 236.8 N 
= 67.9 ans.

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THREE-DIMENSIONAL FORCE SYSTEMS

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
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 = A x + Ay + Az
CARTESIAN VECTORS
Unit Vector
• Direction of A can be specified using a unit
vector
• Unit vector has a magnitude of 1
• If A is a vector having a magnitude of A ≠ 0,
unit vector having the same direction as A is
expressed by uA = A / A. So that

A = A uA
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.
CARTESIAN VECTORS
Magnitude of a Cartesian Vector
• From the colored triangle,
A = A '2 + Az2

• From the shaded triangle, A ' = A2 + A2

x y

• Combining the equations

gives magnitude of A
A = Ax2 + Ay2 + Az2
 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
 CARTESIAN VECTORS
Direction of a Cartesian Vector
• Angles α, β and  can be determined by the
inverse cosines
Given
A = Ax i + Ay j + AZ k
cos  cos  cos 
then,
uA = A /A = (Ax /A) i + (Ay /A) j + (AZ/A) k

where A = Ax2 + Ay2 + Az2

 CARTESIAN VECTORS

Direction of a Cartesian Vector

• uA can also be expressed as
uA = cos α i + cos β j + cos  k

• Since A = Ax
2
+ Ay
2
+ Az
2
and uA = 1, we have
cos2  + cos2  + cos2  = 1
• A as expressed in Cartesian vector form is
A = AuA
= A cos α i + A cos β j + A cos  k
= Ax i + Ay j + AZ k
 ADDITION AND SUBTRACTION OF
CARTESIAN VECTORS

Concurrent Force Systems

• Force resultant is the vector sum of all the forces in
the system

FR = ∑F = ∑Fx i + ∑Fy j + ∑Fz k

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 PROBLEM 5

Express the force F as Cartesian

vector.

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 PROBLEM 4
GIVEN:

REQUIRED:
Express the force F as Cartesian
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 SOLUTION:
Since two angles are specified, the third angle
is found by
cos 2  + cos 2  + cos 2  = 1
cos 2  + cos 2 60  + cos 2 45 = 1
cos  = 1 − (0.5 ) − (0.707 ) = 0 . 5
2 2

Two possibilities exit, namely

 = cos −1 (0.5)= 60 
 = cos−1 (− 0.5) = 120

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 SOLUTION
α should be less than 90º

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

Given F = 200N
F = (F cos α ) i + (F cosβ ) j + (F cos  ) k
= (200 cos60ºN) i + (200 cos60ºN) j
+ (200 cos45ºN) k
F = {100.0 i + 100.0 j + 141.4 k}N ans.
Checking:

F = Fx2 + Fy2 + Fz2

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

2 2 2
= 200 N
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 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 = x i + y j + z k

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