STATICS: CE201

Chapter 2
Force Vectors
Notes are prepared based on: Engineering Mechanics, Statics by R. C. Hibbeler, 12E Pearson

Dr M. Touahmia & Dr M. Boukendakdji

Civil Engineering Department, University of Hail
(2012/2013)
2. Force Vectors
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Main Goals: In this chapter we define scalars, vectors and

vector operations and use them to analyze forces acting on
objects.

Content:
1. Scalars and Vectors
2. Vector Operations
3. Vector Addition of Forces
4. Coplanar Forces
5. Cartesian Vectors
6. Position Vectors
7. Dot Product

Chapter2 - Force Vectors

Scalars and Vectors

All physical quantities in engineering mechanics

are measured using either scalars or vectors.

Scalar: is any positive or negative physical

quantity that can be completely specified by its
magnitude (Ex: mass, time, length).

Vector: is any physical quantity that requires

both a magnitude and a direction for its
complete description (Ex: force, moment).

Chapter2 - Force Vectors

Vector
A vector is represented graphically by an arrow. The
length of the arrow represents the magnitude of the
vector and the angle between the vector and a fixed
axis defines the direction of its line of action. The head
of the arrow indicates the direction of the vector.

Vector quantities are represented either by a bold face

letters such as A and its magnitude
is italicized A, or by
a character with an arrow on it: A
Chapter2 - Force Vectors
Vector Operations

Multiplication and Division of a Vector by a Scalar

The product of a vector A and a scalar a is a vector aA
with magnitude |aA | = |a | |A |

The direction of aA is the same as that of A if a is positive

and opposite to that of A if a is negative.

Chapter2 - Force Vectors

Vector Addition: The Parallelogram Rule
Two vectors A and B can be added to form a resultant vector
(equivalent vector) R = A + B using the parallelogram law .

This law states that: if A and B are two free vectors drawn
on scale, the resultant of the these vectors can be found by
drawing a parallelogram having sides of these vectors, and
the resultant will be the diagonal starting from the tails of
both vectors and ending at the heads of both vectors.

Chapter2 - Force Vectors

Vector Addition: The Triangle Rule
Using the triangle rule, vector B is added to vector A in
a head-to-tail fashion, by connecting the head of A to
the tail of B. The resultant R extends from the tail of A
to the head of B.

R can also be obtained by adding A to B:

R=A+B=B+A
Chapter2 - Force Vectors
Vector Addition: Collinear Vectors

If the two vectors A and B are collinear, i.e. both have the
same line of action, the parallelogram law reduces to an
algebraic or scalar addition: R = A + B

Chapter2 - Force Vectors

 Vector Subtraction
The resultant of the difference between two vectors A and B
of the same type can be expressed as:

R = A B = A + ( B)

Subtraction is defined as a special case of addition, so the

rules of vector addition also apply to vector subtraction.

Chapter2 - Force Vectors

Vector Addition of Forces

A force is a vector quantity since it has a specified

magnitude and direction.

Forces are added together or resolved into components

using the rules of vector algebra.

Two common problems in statics involve either finding

the resultant force given its components or resolving a
known force into components.

Chapter2 - Force Vectors

Finding a Resultant Force

Two component forces F1 and F2 added together,

according to the parallelogram law, yielding a resultant
force FR that form the diagonal of the parallelogram.
Examples:

Chapter2 - Force Vectors

 Finding the Components of a Force
Resolution of a vector is breaking up a vector into
Components:

If a force F is to be resolved into components along two axes

u and v, then start at the head of force F and construct lines
parallel to the axes, thereby forming the parallelogram. The
sides of the parallelogram represent the components Fu and
Fv. This parallelogram can be reduced to a triangle.

Chapter2 - Force Vectors

 Addition of Several Forces
If more than two forces are to be added, successive
application of the parallelogram law can be carried out in
order to obtain a resultant force.

Example: If three forces F1, F2 and F3 act at a point O, we

can find the resultant of any two forces and then add it to the
third force, using the parallelogram law.

FR = (F1 + F2) + F3

Chapter2 - Force Vectors

Trigonometric Rule
The resultant of two forces can be found analytically
from the parallelogram rule by applying the cosine and
the sine rules.
Redraw a half portion of the parallelogram to illustrate
the triangle head-to-tail addition of the components.
From this triangle, the magnitude of the resultant force
can be determined using the law of cosines and the
magnitude of the two forces components are determined
from the law of sines.

Cosine law: C A 2 B 2 2 AB cos c

A B C
Sine law:
sin a sin b sin c

Chapter2 - Force Vectors

Example 1
The screw eye in the figure below is subjected to two
forces, F1 and F2. Determine the magnitude and
direction of the resultant force.

Chapter2 - Force Vectors

Answer 1
The magnitude and direction of the resultant force FR:

Cosine law: F R
100 150
2 2
2100150cos115 212.6 N

150 212.6 150

Sine law: sin sin 115 0.639
sin sin 115 212.6

39.8 39.8 15 54.8

Chapter2 - Force Vectors
Example 2
Determine the magnitude of the component force F in
the figure below and the magnitude of the resultant force
FR if FR is directed along positive y axis.

Chapter2 - Force Vectors

Answer 2
FR is directed along positive y axis:

The magnitude of F and FR can be determined by

applying the law of sine:
F 200 sin 60
F 200 245 N
sin 60 sin 45 sin 45
F 200 sin 75
R
F 200
R
273N
sin 75 sin 45 sin 45
Chapter2 - Force Vectors
Example 3
It is required that the resultant force acting on the
eyebolt in the figure below be directed along the positive
x axis and that F2 have a minimum magnitude.
Determine this magnitude, the angle and the
corresponding resultant force.

Chapter2 - Force Vectors

Answer 3
FR is directed along the positive x axis.
The magnitude of F2 is minimum when its line of action
is perpendicular to the line of action of FR. This is when:
90

sin 60
F2 F2 800sin 60 693N
F1
F
cos 60 R FR 800 cos 60 400 N
F1
Chapter2 - Force Vectors
Addition of a System of Coplanar Forces

In many problems, it is desirable to resolve force F into

two perpendicular components in the x and y directions.
The components are called rectangular vector
components.
For analytical work there are two notations:
- Scalar Notation or - Cartesian Vector Notation
y

Fy
F

x
Fx

Chapter2 - Force Vectors

Scalar Notation:
We write the force F as (Fx, Fy) where Fx and Fy are the
scalar components of the force F in the directions of the
positive x and y axes, respectively.

If Fx and Fy are negative, it means that | Fx | and | Fy |

are directed along the negative x and y axes,
respectively.

Chapter2 - Force Vectors

Scalar Notation:
The magnitudes of the force two components are:

Fx F cos

Fy F sin

using a small slop triangle

Fx a
a
Fx F
F c c
Fy

b
b
Fy F
F c c

Chapter2 - Force Vectors

Cartesian Vector Notation:
It is possible to represent the x and y components of a
force in terms of Cartesian unit vectors i and j, where i
and j represent the positive direction of the x and y axes,
respectively:
F = Fx i+ Fy j
where Fx and Fy are the scalar components of F

Chapter2 - Force Vectors

Coplanar Force Resultants
The resultants of several forces can be determined using
either the Cartesian vector notation or the scalar
notation. Example F1, F2 and F3:

Cartesian vector notation:

F1 = F1x i+ F1y j
F2 = F2x i+ F2y j
F3 = F3x i F3y j
The resultant is given by: F = FRx i+ FRy j

Chapter2 - Force Vectors

Coplanar Force Resultants
Cartesian vector notation:
The vector resultant FR is then:
FR = F1 + F2 + F3
= (F1x i+ F1y j) + ( F2x i + F2y j) + (F3x i F3y j)
= (F1x i F2x i+ F3x i) + (F1y j + F2y j F3y j)
= (F1x F2x + F3x)i + (F1y + F2y F3y )j
= (FRx)i + (FRy )j
Scalar notation:
FRx = F1x F2x + F3x
FRy = F1y + F2y F3y
These are the same as the i and j components of FR

Chapter2 - Force Vectors

Coplanar Force Resultants
In the general case, the x and y components of the
resultant of any number of coplanar forces can be
represented by:

FRx Fx
FRy Fy

FR FRx FRy
2 2

FRy
tan 1

FRx

Chapter2 - Force Vectors

Example 4
Determine the x and y components of F1 and F2 acting
on the boom shown below. Express each force as a
Cartesian vector.

Chapter2 - Force Vectors

Answer 4
x and y components of F1:

F1x 200 sin 30 100 N 100 N

F1 y 200 cos 30 173 N 173 N

Cartesian Vector Notation of F1 : F1 100 i 173 j N

Chapter2 - Force Vectors

Answer 4
x and y components of F2:

F2 x 12 12
F2 x 260 240 N 240 N
260 13 13

F
F 260 100 N 100 N
5 5

2y

13
2y
260 13

Cartesian Vector Notation of F2 : F2 240 i 100 j N

Chapter2 - Force Vectors

Example 5
The link shown below is subjected to two forces F1 and
F2. Determine the magnitude and direction of the
resultant force.

Chapter2 - Force Vectors

Solution 5
Scalar Notation: We resolve each force into its x and y
components, then we sum these components
algebraically:

Chapter2 - Force Vectors

Solution 5
Cartesian Vector Notation: Each force is first expressed
as a Cartesian Vector:

Chapter2 - Force Vectors

 Cartesian Vectors
A Cartesian coordinate system is often used to solve
problems in 3 dimensions (3D).
The coordinate system is right-handed: The thumb of the
right hand points in the direction of the positive z axis
when the right hand fingers curled about this axis and
directed from the positive x towards the positive y axis.

Chapter2 - Force Vectors

Rectangular Components of a Vector
A vector A may have one, two or three rectangular
components along the x, y, z coordinates.

Two applications of the parallelogram law:

A = A + Az and A = Ax + Ay
A = Ax + Ay + Az

Cartesian Unit Vectors

In 3D, the set of Cartesian unit vectors,
i, j, k, is used to designate the directions
of the x, y, z axes, respectively.

Chapter2 - Force Vectors

Cartesian Vector Representation
Any vector A with scalar
components Ax, Ay and Az can be
written in the Cartesian vector form
as:
A = Ax i + Ay j + Az k

Magnitude of a Cartesian Vector

The magnitude of the vector A is
given by:
A Ax Ay Az
2 2 2

Chapter2 - Force Vectors

Direction of a Cartesian Vector
The direction of vector A is defined by the angles , , and
measured between the tail of A and the positive x, y, z
axes located at the tail of A.

The angles , , and are found from their direction

cosines:
Ax Ay Az
cos cos cos
A A A
cos 2 cos 2 cos 2 1

This means that only two of the angles

, , and have to be specified, the third
can be found from: cos 2 cos 2 cos 2 1
Chapter2 - Force Vectors
Direction of a Cartesian Vector

A Ax Ay Az
uA i j k uA is a unit vector in the direction of A
A A A A
u A cos i cos j cos k

A Au A
A A cos i A cos j A cos k Ax i Ay j Az k
Chapter2 - Force Vectors
Direction of a Cartesian Vector
Sometimes, the direction of A can be specified using two
angles, and .
By applying trigonometry yields to:

Az A cos A A sin

Ax A cos A sin cos

Ay A sin A sin sin

Therefore A can be expressed in Cartesian vector form as:

A A sin cos i A sin sin j A cos k

Chapter2 - Force Vectors

Addition and Subtraction of Cartesian Vectors
The addition or subtraction of two or more vectors are
simplified if the vectors are expressed in terms of their
Cartesian components.
To find the resultant of a concurrent force system, express
each force as a Cartesian vector and add all the i, j, k
components of all forces in the system.
Example: add vector A to vector B
A = Axi + Ayj + Azk
B = Bxi + Byj + Bzk
R=A+B
= (Ax +Bx) i + (Ay +By) j + (Az +Bz) k
In general:
FR F Fx i Fy j Fz k
Chapter2 - Force Vectors
Example 5
Express the force F shown in the figure below as a
Cartesian vector.

Chapter2 - Force Vectors

Answer 5
F = 200 N 60 45 ?

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

cos 1 0.5 60

F F cos i F cos j F cos k

F 200 cos 60 i 200 cos 60 j 200 cos 45 k
F 100 i 100 j 141.4 k N

Chapter2 - Force Vectors

Example 6
Determine the magnitude and the coordinate direction
angles of the resultant force acting on the ring shown
below.

Chapter2 - Force Vectors

Answer 6

The magnitude of FR:

FR F F1 F2

FR 60 j 80 k 50 i 100 j 100 k

FR 50 i 40 j 180 k N

FR 502 402 1802 191 N

The coordinate direction angles , , are determined

from the components of the units vector acting in the
direction of FR :
FR 50 40 180
u FR i j k 0.2617 i 0.2094 j 0.9422 k
FR 191 191 191
cos 0.2617 74.8
cos 0.2094 102
cos 0.9422 19.6
Chapter2 - Force Vectors
Position Vectors
The position vector r is defined as a fixed vector which
locates a point in space relative to another point.
If r extends from the origin of coordinates O to a point
P(x, y, z) then:
r = xi + yj + zk

Chapter2 - Force Vectors

Position Vectors: General Case
More generally, the position vector may be directed from
point A to point B in space.

The vector position is denoted by r (or rAB).

by the head-to-tail vector addition we have: rA + r = rB
r = rB rA = (xBi + yBj + zBk) (xAi + yAj + zAk)
r = (xB xA ) i + (yB yA) j + (zB zA) k

Chapter2 - Force Vectors

Force Vector Directed Along a Line
A force F (with magnitude F) acting in the direction of a
line represented by a position vector r (which is defined
by the unit vector u) can be expressed in Cartesian form
as:

r x B x A i y B y A j z B z A k
F Fu F F
r x B x A 2 y B y A 2 z B z A 2

Chapter2 - Force Vectors
Dot Product
The dot product of vectors A and B is defined as the
product of the magnitudes of A and B and the cosine of
the angle between their tails:

A B AB cos

The dot product is used to determine:

The angle between two vectors.
The projection of a vector in a specified direction.

The dot product between two vectors yields a scalar

Chapter2 - Force Vectors

Dot Product: Law of Operation

Commutative law: AB B A

Multiplication by a scalar: aA B aA B A aB
Distributive law: A B D A B A D

Cartesian Vector Formulation:

A B Ax Bx Ay By Az Bz

The Angle Formed Between Two Vectors:

AB
cos 1
AB

Chapter2 - Force Vectors