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Statics
Lecture 2
Lecture 2 1
3-D Vectors; Base Vectors
• Rectangular Cartesian coordinates (3-D)
• Unit base vectors (2-D and 3-D)
• Arbitrary unit vectors
• Vector component manipulation
Lecture 2 2
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3-D Rectangular Coordinates
• Coordinate axes are defined by Oxyz
y
Coordinates can be rotated
any way we like, but ...
O
x
z
• Coordinate axes must be a right-handed
coordinate system.
Lecture 2 3
Writing 3-D Components
• Component vectors add to give the vector:
y y
A Ay
Az
=
O O
x Ax x
z z
A= Ax + Ay + Az
Also, A A 2x A 2y A 2z
Lecture 2 4
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3-D Direction Cosines
The angle between the vector and coordinate
axis measured in the plane of the two
Ax
y
qy x cos q x
A A
qx Ay
O
y cos q y
A
z qz x
Az
z cos q z
A
Where: x2+y2+z2=1
Lecture 2 5
Unit Base Vectors
Associate with each coordinate, x, y, and z, a unit
vector (“hat”). All component calculations use the
unit base vectors as grouping vectors.
y
Now write vector as follows:
ĵ
A Axˆ Ay ˆj Az kˆ
ˆ where Ax = |Ax|
O
x
Ay = |Ay|
z k̂ Az = |Az|
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Vector Equality in Components
• Two vectors are equal if they have equal
components when referred to the same
reference frame. That is:
Axˆ Ay ˆj Az kˆ Bxˆ B y ˆj Bz kˆ
if
Ax = Bx , Ay = By , Az = Bz
Lecture 2 7
Additional Vector Operations
• To add vectors, simply group base vectors
A ˆ A ˆj A kˆ B ˆ B
x y z x y
ˆj Bz kˆ
Ax Bx ˆ Ay By ˆj Az Bz kˆ
• A scalar times vector A simply scales all the
components
Axˆ Ay ˆj Az kˆ Axˆ Ay ˆj Az kˆ
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General Unit Vectors
• Any vector divided by its magnitude forms
a unit vector in the direction of the vector.
– Again we use “hats” to designate unit vector
y b
b
ˆb b bx ˆ y ˆj bz kˆ b̂
b b b b O
x
z
Lecture 2 9
Position Vectors in Space
• Points A and B in space are referred to in
terms of their position vectors.
y
rA x Aˆ y A ˆj z A kˆ rA
rB xBˆ yB ˆj z B kˆ O
x
• Relative position defined z rB/A
rB
by the difference
rB / A xB x A ˆ yB y A ˆj z B z A kˆ
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Vectors in Matrix Form
• When using MathCAD or setting up a
system of equations, we will write vectors
in a matrix form:
Ax
A Axˆ Ay ˆj Az kˆ Ay
A
z
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Summary
• Write vector components in terms of base
vectors
• Know how to generate a 3-D unit vector
from any given vector
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•Resolving Vectors into Components
Using Angle Notation
•Nonorthogonal Bases; Linear Equations
• Resolving vectors onto nonorthogonal
directions
• Setting up and solving linear systems of
algebraic equations
Lecture 2 13
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Resolving vector into components using angle notation
y
Ay A
O Ax
Az x
z b
A=A sin sinb i+A cos j+A sin cosb k
Lecture 2 14
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Vector Components in Nonorthogonal
Coordinate System
y A: Using Trig:
v
sin(90 b ) sin(q y b ) sin(q x )
A Au Av
Ay
Av A sin(q y b )
qy-b
Au A
sin(90 b )
qy
90+b u sin(q x )
b qx Av A
Au sin(90 b )
Ax x
Lecture 2 15
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B: Using Vector Addition
Case 1: One Base Vector Known
y y
-A
B P P
b
x x
A
When vector A is known, subtract A from P
B=P-A
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Case 2: Two Directions Known
y
P
b
x
Write unit vectors:
aˆ ˆ
bˆ cos b ˆ sin b ˆj
Lecture 2 17
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Write the components of P:
P P cos bˆ P sin b ˆj Aaˆ Bbˆ
and write the vector sum equation.
Next, write the x and y component equations:
P cos b A B cos b x-components
P sin b B sin b y-components
Here, we have two equations in two
unknowns, A and B. Solve the equations.
Lecture 2 18
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For example, using the numerical values:
P = 100 lb, = 10º, b = 20º
Set up the system of equations to solve:
P cos β = 93.97 = A + 0.866 B x-components
P sin β = 34.20 = 0 A + 0.5 B y-components
Solving yields: B = 68.4 lb and A = 34.7 lb
Lecture 2 19
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Linear Algebraic Systems
Write the x- and y-component equations in
matrix form as follows:
93.97 1 0.866 A
B
34.2 0 0.5
Solve with your calculator.
Lecture 2 20
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•Resolving Vectors into Components
Using Angle Notation
•Nonorthogonal Bases; Linear Equations
• Resolving vectors onto nonorthogonal
directions
• Setting up and solving linear systems of
algebraic equations
Lecture 2 21
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Resolving vector into components using angle notation
y
Ay A
O Ax
Az x
z b
A=A sin sinb i+A cos j+A sin cosb k
Lecture 2 22
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Vector Components in Nonorthogonal
Coordinate System
y A: Using Trig:
v
sin(90 b ) sin(q y b ) sin(q x )
A Au Av
Ay
Av A sin(q y b )
qy-b
Au A
sin(90 b )
qy
90+b u sin(q x )
b qx Av A
Au sin(90 b )
Ax x
Lecture 2 23
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B: Using Vector Addition
Case 1: One Base Vector Known
y y
-A
B P P
b
x x
A
When vector A is known, subtract A from P
B=P-A
Lecture 2 24
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Case 2: Two Directions Known
y
P
b
x
Write unit vectors:
aˆ ˆ
bˆ cos b ˆ sin b ˆj
Lecture 2 25
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Write the components of P:
P P cos bˆ P sin b ˆj Aaˆ Bbˆ
and write the vector sum equation.
Next, write the x and y component equations:
P cos b A B cos b x-components
P sin b B sin b y-components
Here, we have two equations in two
unknowns, A and B. Solve the equations.
Lecture 2 26
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For example, using the numerical values:
P = 100 lb, = 10º, b = 20º
Set up the system of equations to solve:
P cos β = 93.97 = A + 0.866 B x-components
P sin β = 34.20 = 0 A + 0.5 B y-components
Solving yields: B = 68.4 lb and A = 34.7 lb
Lecture 2 27
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Linear Algebraic Systems
Write the x- and y-component equations in
matrix form as follows:
93.97 1 0.866 A
B
34.2 0 0.5
Solve with your calculator.
Lecture 2 28
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Multiplying Vectors
There are three basic ways vectors are multiplied
– Scalar times a vector
– Scalar product
• Often called the “dot” product
– Cross or vector product
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Dot Product
Consider two vectors A and B with included
angle q A
q
B
By definition, the dot product is
A • B = |A| |B| cos q
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Dot Product of Base Vectors
• Let A and B be the base vectors and we find
ˆi ·ˆi 1; ˆj ·ˆj 1; kˆ ·kˆ 1
since q = 0, then cos q = 1
• Also note that
ˆi ·ˆj 0; ˆj ·kˆ 0; ˆi ·kˆ 0
since q = 90°, then cos q = 0
Lecture 2 31
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Writing the Components
The dot product between two vectors is:
A ·B = Ax ˆi A y ˆj Az kˆ . B x ˆi B y ˆj B z kˆ
= Ax Bx Ay B y Az Bz
Components of a vector may be easily found
A.ˆi Ax ; A.ˆj Ay ; A.kˆ Az
2
And finally A ·A A
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Applications
• Determine the angle between two arbitrary
vectors
A ·B
q cos 1
A B
• Components of a vector parallel and
perpendicular to a specific direction
A|| A·uˆ uˆ A cos q uˆ and A A A ·uˆ uˆ
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