POM Mer est) This chapter initially explains the difference between scalar and vector quantities and shows how a vector is, drawn and represented. ‘Any object that is acted upon by an external force will respond to that force by moving in the line of the force. However, if two or more forces act simultaneously, the result is more difficult to predict; the ability to add two or more vectors then becomes important. This chapter thus shows how vectors are added and subtracted, both by drawing and by calculation, and find- ing the resultant of two or more vectors has many uses in engineering. (Resultant means the single vector which ‘would have the same effect as the individual vectors.) Relative velocities and vector i, j,& notation are also briefly explained. PLM Raced ‘The time taken to fill a water tank may be measured as, say, 50, Similarly, the temperature in a room may be measured as, say, 16°C, or the mass of a bearing may be measured as, say, 3kg. Quantities such as time, temperature and mass are entirely defined by a numerical value and are called scalars or scalar quantities. Not all quantities are like this. Some are defined by more than just size; some also have direction. For exam- ple, the velocity of a car is 90 km/h due west, or a force of 20N acts vertically downwards, or an acceleration of 10 m/s? acts at 50° to the horizontal. Quantities such as velocity, force and acceleration, which have both a magnitude and a direction, are called veetors. Vectors Now try the following exercise Exercise 102 Further problems on scalar and vector quantities 1. State the difference between scalar and vector quantities. In problems 2 to 9, state whether the quanti- ties given are scalar (S) or vector (V) ~ answers, below. 2. A temperature of 70°C 5m} volume A downward force of 20N 500J of work 30cm? area A south-westerly wind of 10knots 50m distance Se Ia AR An acceleration of 15m/s? at 60° to the horizontal [Answers:2.8 3.8 4.V 5.8 6S 7.V 8S 9.V] 24.3 Drawing a vector A vector quantity can be represented graphically by a Jine, drawn so that: (a) thelength of the li quantity, and denotes the magnitude of the (b) the direction of the line denotes the direction in which the vector quantity acts.An arrow is used to denote the sense, or direction, of the vector. ‘The arrow end of a vector is called the ‘nose’ and the other end the ‘tail’. For example,a force of 9N acting at 45° to the horizontal is shown in Fig. 24.1 Note that an angle of +.45° is drawn from the horizontal and moves anticlockwise. Figure 24.1 A velocity of 20 m/s at ~60° is shown in Fig. 24.2. Note that an angle of ~60° is drawn from the horizontal ‘and moves clockwise. Figure 24.2 Representing a vector ‘There are a number of ways of representing vector ‘quantities. These include: 1. Using bold print 2. AB where an arrow above two capital letters denotes the sense of direction, where A is the starting point and B the end point of the vector 3. ABora alline over the top of letters 4, aie. an underlined letter The force of 9N at 45° shown in Fig. 24.1 may be represented as a or 0a or Oa ‘The magnitude of the force is Oa Similarly, the velocity of 20m/s at —60° shown in Fig. 24.2 may be represented as: 06 or Ob or O ‘The magnitude of the velocity is 0b In this chapter vector quantity is denoted by bold print. POMC toon sear) Adding two or more vectors by drawing assumes that a ruler, pencil and protractor are available. Results obtained by drawing are naturally not as accurate as those obtained by calculation, (a) Nose-to-tail method ‘Two force vectors, F and F2, are shown in Fig. 24.3. When an object is subjected to more than one force, the resultant of the forces is found by the addition of vectors. Figure 24.3 ‘To add forces Fy and Fy: (i) Force F; is drawn to scale horizontally, shown as 0a in Fig. 24.4. (ii) From the nose of Fi, force Fy is drawn at angle 6 to the horizontal, shown as ab, (iii) ‘The resultant force is given by length 0b, which ‘may be measured. ‘This procedure is called the ‘nose-to-tail’ or ‘triangle’ method. Figure 244 (b) Parallelogram method Toadd the two force vectors, F and Fz, of Fig. 24.3: (i) A line cb is constructed which is parallel to and equal in length to Oa (see Fig. 24.5).(ii) A line ab is constructed which is parallel to and ‘equal in length to 0c. ii) ‘The resultant force is given by the diagonal of the parallelogram, i.e. length 0b. This procedure is called the ‘parallelogram’ method Figure 24.5 Problem 1, A force of SN is inclined at an angle of 45° to a second force of 8N, both forces acting at point. Find the magnitude of the resultant of these two forces and the direction of the resultant with respect to the 8N force by: (a) the ‘nose-to-tail’ method, and (b) the ‘parallelogram’ method. The two forces are shown in Fig. 24.6. (Although the 8N force is shown horizontal, it could have been drawn, in any direction.) 5N 4s aN Figure 24.6 (a) ‘Nose-to tail’ method (i) The 8 N force is drawn horizontally 8 units long, shown as Oa in Fig. 24.7 (ii) From the nose of the 8N force, the SN force is drawn 5 units long at an angle of 45° to the horizontal, shown as ab The resultant force is given by length Ob and is measured as 12N and angle @ is measured as 17° (b) ‘Parallelogram’ method (_ InFig. 24.8, lineis constructed which is parallel to and equal in length to the 8N force Gi) Alineisconstructed whichis parallel to and equal in length to the SN force The resultant force is given by the diagonal of the parallelogram, ite, length 0b, and is measured as I2N and angle @ is measured as 17° Figure 248, ‘Thus, the resultant of the two force vectorsin Fig. 24.6 is 12N at 17° to the 8N force. Problem 2. Forces of 15N and 10N are at an angle of 90° to each other as shown in Fig. 24.9. Find, by drawing, the magnitude of the resultant of these two forces and the direction of the resultant with respect to the 15 N force. 10N 15N Figure 24.9 Using the ‘nose-to-tail’ method: (i) The 15N force is drawn horizontally 15 units ong as shown in Fig. 24.10 (ii) From the nose of the 15N force, the 10N force is drawn 10 units long at an angle of 90° to the horizontal as shown, iii) ‘The resultant force is shown as Rand is measured as 18N and angle @ is measured as 34°.Thus, the resultant of the two force vectors is 18N at 34° to the 15N force. 10N LZ) Fl 15N Figure 24.10 Problem 3. Velocities of 10m/s, 20mv/s and 15m/s act as shown in Fig. 24.11. Determine, by drawing, the magnitude of the resultant velocity and its direction relative to the horizontal. 5 Figure 24.11 ‘When more than two vectors are being added the ‘nose to-tail’ method is used. The order in which the vectors are added does not matter. In this case the order taken is v1, then v2, then v3. However, if.a different order is taken the same result will occur. () vy isdrawn 10 units longat an angle of 30° to the horizontal, shown as a in Fig. 24.12 Gi) From the nose of vy, v2 is drawn 20 units long at an angle of 90° to the horizontal, shown as ab (iii) From the nose of v, v3 is drawn 15 units long at an angle of 195° to the horizontal, shown as br (iv) The resultant velocity is given by length Or and is measured as 22 m/sand the angle measured to the horizontal is 105°. ‘Thus, the resultant of the three velocities is 22m/s at 105° to the horizontal. Figure 24.12 Worked Problems | to 3 have demonstrated how vectors are added to determine their resultant and their direction. However, drawing to scale is time-consuming and not highly accurate. The following sections demon- strate how to determine resultant vectors by calculation, using horizontal and vertical components and, where possible, by Pythagoras’s theorem. Pe ec Preheat aa A force vector F is shown in Fig. 24.13.t angle tothe horizontal. Such a vector can be resolved into two com- ponents such that the vector addition of the components, is equal to the original vector. e Figure 24.13 ‘The two components usually taken are a horizontal ‘component and a vertical component. If a right-angled triangle is constructed as shown in Fig. 24.14, then Oa is called the horizontal component of F and ab is called the vertical component of F. b F. Figure 24.14From trigonometry (see Chapter 11), = a from which, 0a = Obcos@ Fos ie, the horizontal component of F = Fcos@ ib and sind = o from which, Obsind Fsind ie. the vertical component of F = Fsin# Problem 4. Resolve the force vector of SON at an angle of 35° to the horizontal into its horizontal and vertical components. The horizontal component of the SON force, Oa = 50.cos35° = 40.96N The vertical component ab = 50sin35° = 28.68N The horizontal and vertical components are shown in Fig, 24.15, of the SON force, Figure 24.15 (Checking: by Pythagoras, 0b = V/40.962 + 28.682 =50N 28.68 -1 35° = tan’ (BS) 35 Thus, the vector addition of components 40.96N and 28.68N is SON at 35°) and Problem 5. Resolve the velocity vector of 20 m/s at an angle of ~30” to the horizontal into horizontal and vertical components. The horizontal component of the 20mvs velocity, 0a = 20cos(—30°) = 17.32m/s The vertical component of the 20m/s velocity, ab = 20sin(—30°) = —10m/s The horizontal and vertical components are shown in Fig. 24.16, Figure 24.16 Problem 6. Resolve the displacement vector of 40m at an angle of 120° into horizontal and vertical, ‘components. The horizontal component of the 40m displacement, Oa = 40 cos 120° = —20.0m The vertical component of the 40m displacement, ab = 40sin 120° = 34.64m ‘The horizontal and vertical components are shown in Fig. 24.17. Figure 24.17 24.6 Addition of vectors by related) Two force vectors, F and F, are shown in Fig. 24.18, Fy being at an angle of 6, and Fy being at an angle of 62. Figure 24.18A method of adding two vectors together is to use horizontal and vertical components. ‘The horizontal component of force Fi is Fi cos@) and the horizontal component of force F2 is F,cos®> The total horizontal component of the two forces, H = Fycost + F2cos0 ‘The vertical component of force Fis Fi sin®, and the vertical component of force Fs is Fa sind, The total vertical component of the two forces, V = Fisin6; + Fosin®y Since we have H and V, the resultant of Fi and Fa is obtained by using the theorem of Pythagoras. From Fig. 24.19, Ob? = H24.V2 ie. resultant = YH? +V? at an angle v ed sveatyomta-#(*) Figure 24.19 of 45° toa second force of 8N, both forces acting at, ‘a point. Calculate the magnitude of the resultant of these two forces and the direction of the resultant with respect to the 8N force. ‘The two forces are shown in Fig. 24,20. 8N, “5 aN Figure 24.20 ‘The horizontal component of the 8N force is Scos 0" and the horizontal component of the 5N force is Scos45® The total horizontal component of the two forces, H =8cos0? +5cos45° =8+3.5355, = 11.5355 The vertical component of the 8N force is 8sin0? and the vertical component of the SN force is Ssin4S° The total vertical component of the two forces, v sin? +5sin4S? = 043.5355 = 3.5355 From Fig. 2421, magnitude of resultant vector =VPEV = VI1S355? $3535 12.07N se & V=3.5955N He 11 5355N Figure 24.21 ‘The direction of the resultant vector, pata) = tani 35355 ~ a)~ 11.5355 = tan! 0,30648866... = 17.04" ‘Thus, the resultant of the two forces is a single vector of 12.07N at 17.04° to the 8 vector. Perhaps an easier and quicker method of calculating the magnitude and direction of the resultant is to use complex numbers (see Chapter 20) In this example, the resultant 820° +5245" = (Bcos0" + j8sin0”) + (Seos45° + j5sin4S°) = (8+ j0) +(3.536 + j3.536) = (11,536 + j3.536)N or 12.07217.04°N as obtained above using horizontal and vertical components. Problem 8. Forces of ISN and 10N are at an angle of 90° to each other as shown in Fig. 24.22. Calculate the magnitude of the resultant of these two forces and its direction with respect to the ISN force.10N| T5N Figure 24.22 ‘The horizontal component of the 15N force is 15.cos0° and the horizontal component of the ION force is 100590" ‘The total horizontal component of the two velocities, H = 15cos0° + 10c0s90° = 15+0= 15 ‘The vertical component of the 15N force is 15 sin0° and the vertical component ofthe 1ON forceis 10 sin 90° ‘The total vertical component of the two velocities, V = 15sin0° + 10sin90° = 0+ 10 = 10 Magnitude of resultant vector = VHP +V? = V 15? +10? = 18.03N ‘The direction of the resultant vector, (i)-m (= ‘Thus, the resultant of the two forces is a single vector of 18.03 N at 33.69° to the ISN vector. ‘There is an alternative method of calculating the resul- tant vector in this case. If we used the triangle method, then the diagram would bbe as shown in Fig. 24.23. 10N 1sN Figure 24.23 Since a right-angled triangle results then we could use Pythagoras’s theorem without needing to go through the procedure for horizontal and vertical components. In fact, the horizontal and vertical components are 15N and 10N respectively. Thisis, of course, a special case. Pythagoras can only be used when there is an angle of 90° between vectors. This is demonstrated in the next worked problem, Problem 9. Calculate the magnitude and direction of the resultant of the two acceleration vectors shown in Fig. 24.24, ems? semis? Figure 24.24 The 15m/s? acceleration is drawn horizontally, shown as Oa in Fig. 24.25. From the nose of the 15 m/s? acceleration, the 28 m/s” acceleration is drawn atan angle of 90° tothe horizontal, shown as ab. Figure 24.25 The resultant acceleration, R, is given by length 0b. Since a right-angled triangle results, the theorem of Pythagoras may be used. and Measuring from the horizontal, 0 = 180° — 61.82° = 118.18Thus, the resultant of the two accelerations is a single vector of 31.76 m/s? at 118.18° to the horizontal. Problem 10. Velocities of 10m/s, 20m/s and 15imV/s act as shown in Fig. 24.26. Calculate the ‘magnitude of the resultant velocity and its direction relative to the horizontal. % vy) 15m/s Figure 24.26 The horizontal component of the 10m/s velocity = 10cos30° = 8.660m/s, the horizontal component of the 20m/s velocity is 200890" =0m/s, and the horizontal component of the 15 m/s velocity is 15cos195° = ~14.489m/s. The total horizontal component of the three velocities, H = 8.660 +0 — 14.489 = -5.829m/s The vertical component of the 10m/s velocity = 10sin30° = Sm/s, the vertical component of the 20m/s velocity is 20sin90° = 20m/s, and the vertical component of the 1Smv/s velocity is 15sin 195° = —3.882m/s. The total vertical component of the three forces, V =5+20—3.882 = 21.118 m/s From Fig. 24.27, magnitude of resultant vector, R= JHE V? = V5.829? £21118 = 21.91 m/s The direction of the resultant vector, a=tan“! (i) =tan“! (3a) =74.57° 21.118 5.829 Figure 24.27 Measuring from the horizontal, 6 80° — 74.57° = 105.43° Thus, the resultant of the three velocities is a single vector of 21.91 m/s at 105.43° to the horizontal. Using complex numbers, from Fig. 24.26, resultant = 10230° + 20290" + 152195° = (10c0s30° + j 10sin30°) + (20c0590° + j20sin90°) + (15 cos 195° + j15sin 195°) = (8.660 + j5.000) + (0-+ 20.000) + (14.489 — 73.882) = (5.829 + j21.118)N_ or 21.912105.43°N as obtained above using horizontal and vertical components. The method used to add vectors by calculation will not be specified ~ the choice is yours, but probably the quickest and easiest method is by using complex numbers. Now try the following exercise Exercise 103 Further problems on addition of vectors by calculation 1. A force of 7N is inclined at an angle of 50° toa second force of 12N, both forces act- ing at a point, Calculate magnitude of theresultant of the two forces, and the direc- tion of the resultant with respect to the 12N force. [17.35N at 18.00° to the 12N force] Velocities of Sm/s and 12mv/s act at a point at 90° to each other. Calculate the resultant velocity and its direction relative to the 12 m/s velocity. [13 m/s at 22.62° to the 12m/s velocity] Calculate the magnitude and direction of the resultant of the two foree vectors shown in Fig. 24.28. [16.40 N at 37.57° to the 13 N force] 10N 13N Figure 24.28 Calculate the magnitude and direction of the resultant of the two force vectors shown in Fig. 24.29. [28.43 N at 129.30° to the 18 N force] 22N 18N Figure 24.29 A displacement vector s1 is 30mat 0°. A sec- ond displacement vector sz is 12m at 90°. Calculate magnitude and direction of the resultant vector s1 + $2. [32.31.m at 21.80° to the 30m displacement] Three forces of SN, 8N and 13N act as shown in Fig, 24.30. Calculate the magnitude and direction of the resultant force. [14.72 at —14.72° to the SN force] 8N 70° 5N 13N Figure 24.30 Af velocity vy = 25 m/s at 60° and v2 = 15 m/s at —30°, calculate the magnitude and direc- tion of 4 +02. [29.15 m/s at 29.04° to the horizontal] Calculate the magnitude and direction of the resultant vector of the force system shown in Fig. 2431. [9.28N at 16.70°] Figure 24.31 Calculate the magnitude and direction of the resultant vector of the system shown in Fig. 24.32. [6.89 mis at 159.56°]Figure 24.32 10. An objectis acted upon by two forces of mag- nitude LON and 8N at an angle of 60° to each other. Determine the resultant force on the object. [15.62N at 26.33° to the 10N force] I, A ship heads in a direction of E20°S at a speed of 20knots while the current is 4knots inadirection of N 30° E. Determine the speed and actual direction of the ship. [21.07 knots, E 9.22° $] ree eat) 24.33, a force vector F is represented by oa. The vector (-va) can be obtained by drawing a vector from o in the opposite sense to oa but having the same ‘magnitude, shown as 0b in Fig. 24.33, ie. ob = (oa) > Figure 24.33 For two vectors acting at a point, as shown in Fig. 24.34(a), the resultant of vector addition is: os =0a+0b. Figure 24,33(b) shows vectors ob + (oa), that is, (0b — 0a and the vector equation is 0b — 0a = od. Com- paring od in Fig. 24.34(b) with the broken line ab in Fig. 24.34(a) shows that the second diagonal of the ‘parallelogram’ method of vector addition gives the magnitude and direction of vector subtraction of oa from ob. (@) (b) Figure 24.34 Problem 11. Accelerations of a1 = 1.5m/s? at 90° and a2 = 2.6m/s* at 145° act at a point. Find ay +a and ay ~ap (i) by drawing a scale vector diagram, and (ii) by calculation. (i) The scale vector diagram is shown in Fig. 24.35. By measurement, ay +2 =3.7m/s? at 126° ay — a2 = 2.1m/s* at 0° Figure 24.35 Gi) Resolving horizontally and vertically gives: Horizontal component of ay +42, H = 1,5¢0890°+2.6c08 145° = ‘Vertical component of ay +42, V=1,5sin90° +2.6sin 145° = 2.99 From Fig. 24.36, magnitude of ay +42, 13 RaV2.13)? $2.97 = 3.67 mis? In Fi 1299 . In Fig. 24.36, a= tan! ( 55) =54.53° and 0 = 180° 54.58 = 125,47° ‘Thus, ay +a; =3.67 m/s? at 125.47°Figure 24.36 Horizontal component of a, —az =1.5c0s90° — 2,6cos 145° = 2.13, Vertical component of ay — a2 ‘5sin90° — 2.6sin 145° = Magnitude of ay — a= V2.13°40" 213 mis* 0 =a; =tan—!(°-) 0° Direction of ay — az = tan (353) 0 ‘Thus, ay — a2 =2.13m/s? at O° Problem 12, Calculate the resultant of (i) 1 — 02 + 95 and (ii) v2 — v1 — v5 when vy =22 units at 140°, vp = 40 units at 190° and ws = 15 units at 290°. (i) The vectors are shown in Fig, 24.37. Figure 24.37 Gi) ‘The horizontal component of v1 — v2 #3 = (2208 140°) — 40c0s 190°) + (15c0s290°) (16.85) — 39.39) + (5.13) = 27.67 units ‘The vertical component of vy — v2 +03 = (22sin 140°) — 0sin 190°) +(15sin290°) = (14.14) — (6.95) + 14.10) 6.99 units ‘The magnitude of the resultant, R= J27.67P $6.99 = 28.54 units 27.67, = 14.18% ‘Thus, vy — v2 +03 = 28.54 units at 14.18° Using complex numbers, 22.2140° —402 190° + 15.2290° = (-16.853 + j14.141) — (39,392 — j6.946) + (5.130 — j14.095) 27.669 + j6.992=28.54214.18° ‘The direction of the resultant R= tant( ® a) vy — vty: ‘The horizontal component of v2 — vy — v3 = (40cos 190°) — (22.08 140°) = (15c0s290°) 39.39) — (-16.85) = (5.13) 27.67 units ‘The vertical component of v2 — vy — v3 = (40sin 190°) — (22sin 140°) = (15sin290°) 6.95) = (14.14) = (= 14.10) 99 units From Fig. 24.38 the magnitude of the resultant, R= 2767? + (G99 = 28.54 units 6.99 a stan-"( 2) = 14.18" and @ =tan-!(F ) = 14.18", from which, 6 = 180° + 14.18° = 194.18°Figure 24.38 ‘Thus, v2 — vj — v3 = 28.54 units at 194.18° ‘This result is as expected, since v2 — v1 — v3 = —(v1— 0243) and the vector 28.54 units at 194,18° is minus times (i.e. is 180° out of phase with) the vector 28.54 units at 14.18° Using complex numbers, ¥2—¥2 — V3 =402190° — 222140" — 152290" = (39.392 — j6.946) = (- 16.853 + f14.141) = (5.130 — j 14.095) —27.669 — j6.992 = 28.542 -165.82° or 28.542194.18° Now try the following exercise Exercise 104 subtraction Further problems on vector 1. Forces of Fi =40N at 45° and Fy = 30N at 125° act ata point. Determine by drawing and. by calculation: (a) Fi + F2 (b) Fi — Fa [(a) 54.0N at 78.16° (b) 45.64 at 4.66°] 2. Calculate the resultant of (a) vy -+02—v3 (b) v3 — v2 + vy when vy = 15 m/sat 85°, v2 = 25 mi/s at 175° and vj = 12 m/s at 235°. [(a)31.71 m/sat 121.81° (b) 19.55 m/s at 8.63°] PEM Cra asi For relative velocity problems, some fixed datum point needs to be selected. This is often a fixed point on the earth's surface. In any vector equation, only the start and finish points affect the resultant vector of a system. Two different systems are shown in Fig. 24.39, but in each of the systems, the resultant vector is ad. (@) (b) Figure 24.39 The vectorequation of the system shown in Fig. 24.39(a) is: ad =ab+bd and that for the system shown in Fig. 24.39(b) is: ad =ab+be+ed Thus in vector equations of this form, only the first and last letters, “a” and ‘d’, respectively, fix the magnitude and direction of the resultant vector. This principle is used in relative velocity problems. Problem 13. Two cars, P and Q, are travelling towards the junction of two roads which are at right angles to one another. Car P has a velocity of 45km/h due east and car Q a velocity of $5km/h due south. Calculate (i) the velocity of car P relative to car Q, and (ii) the velocity of car relative to car P. (i) The directions of the cars are shown in Fig. 24.40(a), called a space diagram. The veloc- ity diagram is shown in Fig. 24.40(b), in which ‘pe is taken as the velocity of car P relative to point e on the earth’s surface. The velocity of P relative to Q is vector pg and the vector equa- tion is pq = pe + eq. Hence the vector directions are as shown, eq being in the opposite direction toge.From the geometry of the vector triangle, the magnitude of pq = V45" +55? =71.06km/h i.e. the velocity of car P relative to car Q is 71.06 km/h at 50.71° oo vf (b) © s p OF 55kmin > ask @ Figure 24.40 (ii) The velocity of car @ relative to car P is given by the vector equation gp = ge +ep and the vector diagram is as shown in Fig. 24.40(c), having ep opposite in direction to pe. From the geometry of this vector triangle, the mag- nitude of gp = V45? +55? =71.06mis and the 55 direction of gp =un'(Z) = 50.71° but must 45. lie in the third quadrant, i.e. the required angle is: 180° + 50.71° = 230.71° i.e. the velocity of car Q relative to car P is 71.06 m/s at 230.71° Now try the following exercise Exercise 105 Further problems on rel velocity 1. A car is moving along a straight horizontal road at 79.2kmv/h and rain is falling vertically downwards at 26.4km/h. Find the velocity of the rain relative to the driver of the car. [83.5 km/h at 71.6° to the vertical] Calculate the time needed to swim across a river 142 m wide when the swimmer can swim. at 2km/h in still water and the river is flowing at 1 km/h. At what angle to the bank should the swimmer swim? [4minutes 55 seconds, 60°) 3. A ship is heading in a direction N 60° E at a speed which in still water would be 20km/h. It is carried off course by a current of 8km/h in a direction of E 50° S. Calculate the ship’s actual speed and direction, [22.79kmV/h, E 9.78° N] 24.9 ‘A method of completely specifying the direction of a ‘vector in space relative to some reference point is to use three unit vectors, i, 7 and k, mutually at right angles to each other, as shown in Fig. 24.41. Figure 2441 Calculations involving vectors given in i, jk notation are carried out in exactly the same way as standard algebraic calculations, as shown in the worked example below. Determine: 3) +28) Problem 14. (Bi +27 +2k)—4i (Bi + 2j + 2k) — Gi —3j + 2k) = 31 +25 +2k —4i+3j-2k -i+3j Problem 1S. Given p q=4i-2j+3k andr determine: