Coplanar and 3 D Cartesian Vectors

Chapter # 2
Force Vectors
section 2.4 & 2.5
Professor Riaz Ahmad
[email protected]
Quote of the Day
Section 2.4
• Addition of system of Coplanar Forces
(Resolving these into rectangular components)
– Scalar Notation
– Cartesian Vector notation
– Coplanar resultants
When the Resultant of more than two forces has to be obtained, it is easier to find the
components of each force along a specified axes, add these components algebraically,
and then form the resultant, rather than form the resultant of the forces by successive
application of parallelogram law.
Rectangular
components, lie along x
and y axes. The two axes
are mutually
perpendicular to each
other.
X and y axes have
designated positive and
negative directions.
The x and y axes are always

perpendicular to each other.
Together, they can be
directed at any inclination.
Using proportional
parts of similar
triangles
Addition Method of several vectors
Step 1 is to resolve each force

into its components
Step 2 is to add all the x

components together and add all
the y components together. These
two totals become the resultant
vector.
Step 3 is to find the magnitude
and angle of the resultant vector.
Addition Method of several vectors (contd)
Example of this process,
Engineering Statics
You can also represent a 2-D vector with a magnitude and
angle
We can represent the components of the

resultant force by any number of coplanar
forces symbolically by the algebraic sum the x FRx = ∑ Fx
and y components of all the forces FRy = ∑ Fy
𝑭 𝑅=𝑭 1+ 𝑭 2
𝑭 𝒋2 = 𝐹 2 𝑥 𝒊+ 𝐹 2 𝑦 𝒋
𝑭 1= 𝐹 1 𝑥 𝒊+ 𝐹 1 𝑦
F1 Cos 30 i + F1 Sin 30 j -F2 Sin45 i + F2 Cos 45 j
600 Cos 30 i + 600 Sin 30 j -400 Sin45 i + 400 Cos 45 j
600 (0.866) i + 600 (0.5)j -400 (0.707) i + 400 (0.707) j
519.62 i + 300 j -282.8 i + 282.8 j
𝑭 𝑅= 𝑭 1+ 𝑭 2
Adding i Components and j

Components we get
582.8
𝐹 𝑦
𝜃= 𝑇𝑎𝑛 − 1
582.8 )2 𝐹 𝑥
582.8
𝜃= 𝑇𝑎𝑛 − 1
236.8
𝜃= 67.890
a) Resolve the forces in their x-y components.
b) Add the respective components to get the resultant vector.
c) Find magnitude and angle from the resultant components.
Ans:
F1= {-100i +173j} N
F2= {240i – 100j} N
F1 = { -4 sin 30 i - 4 cos 30 j }k N
= { -2 i - 3.464 j } kN
F2 = { F2 cos i + F2 s j } kN
F3 = { 5(4/5)i - 5(3/5)j } kN
{ 4i - 3 j } kN
FR = { FRx) i + FRy) j } kN
= 6 cos30 i – 6 sin30 j
= 5.196 i – 3 j
FR = F1 + F2 + F3
5.196 i – 3 j = -2 i - 3.464 j + F2 cos i + F2 sin j + 4i - 3 j

Equating i-terms
5.196 = -2 + F2 cos + 4 (Eq.1)
Equating j-terms
– 3 = - 3.464 + F2 sin - 3 (Eq.2)

Solving Eq.1 and Eq.2, yields
47.30 and F2 = 4.71 kN

Cartesian Vectors
• Right Handed Coordinate System

• Rectangular Components of a Vector
• A = Ax + Ay + Az
• Cartesian Unit Vectors
• In three dimensions, set of Cartesian unit
vectors i, j, k, is used to designate the directions
of the x, y, z axes, respectively
• Cartesian Vector Representation
• A = Axi + Ayj + Azk
© Dr Muhammad Nafees Mumtaz Qadri 16

3-D CARTESIAN VECTOR TERMINOLOGY
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 the vector A in the x-y plane is A´. The

magnitude of this projection, 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) ½ = (AX2 + AY2 + AZ2) ½
Cartesian Vectors: Coordinate Direction Angles
• α, β & γ angles measured between the tail of A and the

positive x, y and z axes provided they are located at the tail
of A
• Angle range 0o to 180o
• To determine the angles, consider the projection of A onto
the x, y and z axes
, ,
• Also known as direction cosines of A
• Unit vector uA in the direction of A
• Where, Magnitude of

Cartesian Vectors: Coordinate Direction Angles
Contd
• If the magnitude and coordinate direction angles of A are

known, then A may be expressed in Cartesian vector form as
• By comparison, the i, j and k components of uA represent the

direction cosines of A
• uA has a magnitude of 1, hence from the above equation and
important relation

Cartesian Vectors
• Transverse and Azimuth Angles

• Sometimes, the direction of A can be specified using two angles
• Transverse angle θ and Azimuth angle φ
• Components of A can then be determined by applying
trigonometry first to the light blue triangle (X) in the figure on
the right
• and
• Subsequently through triangle (Y)
• Therefore, A written in Cartesian form becomes

Remember : (Summary)
A = (AX i + AY j + AZ k) m
cos ²  + cos ²  + cos ²  = 1

2.6 ADDITION/SUBTRACTION OF 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 and
B = BX i + BY j + BZ k , then
A + B = (AX + BX) i + (AY + BY) j + (AZ + BZ) k

or
A – B = (AX - BX) i + (AY - BY) j + (AZ - BZ) k .
Recall
u A = cos  i + cos  j + cos  k
EXAMPLE
Given:Two forces F1 and G are applied

to a hook. Force F is shown in
G
γ the figure and it makes 60°
angle with the X-Y plane. Force
β
G is pointing up and has a
α
magnitude of 80 N with  =
111° and  = 69.3°.
Find: The resultant force in the
Cartesian vector form.
Plan:
1) Using geometry and trigonometry, write F and G in the
Cartesian vector form.
2) Then add the two forces.
Solution : First, resolve force F.
Fz = 100 sin 60° = 86.60 N

F' = 100 cos 60° = 50.00 N
Fx = 50 cos 45° = 35.36 N

Fy = 50 sin 45° = 35.36 N
Now, you can write:

F = {35.36 i – 35.36 j + 86.60 k} N
G
γ
Now resolve force G. β
We are given only  and . Hence, first
α
we need to find the value of .
Recall the formula cos ² () + cos ² () + cos ² () = 1.
Now substitute what we know. We have
cos ² (111°) + cos ² (69.3°) + cos ² () = 1.
Solving, we get  = 30.22° or 120.2°.
Now using the coordinate direction angles, we can get UG, and
determine G = 80 UG N.
G = {80 ( cos (111°) i + cos (69.3°) j + cos (30.22°) k )} N
G = {- 28.67 i + 28.28 j + 69.13 k } N
Now, R = F + G
R = {6.69 i – 7.08 j + 156 k} N
Problem Example-6
• Determine the magnitude and coordinate
direction angles of F3 so that the resultant
of the three forces is zero.

Solution Example-6

Problem Example-7
• The bracket is subjected to the two forces shown. Express

each force in Cartesian vector form and then determine
the resultant force FR. Find the magnitude and coordinate
direction angles of the resultant force

Solution Example-7
33
Example 7 Contd
34
Example 2-11: Two forces act on the hook as
shown in Fig. Specify the magnitude of F 2 and
its coordinate direction angles of F2 that the
resultant force FR acts along the positive y axis
and has a magnitude of 800 N.
The resultant force FR and its two
Components.F1 and F2 will each be ex-pressed
in Cartesian vector form. Then
= 800N
y
Example 2.8: (11th Ed) Express the force F shown as a Cartesian vector.
Indeed the
magnitude
of F = 200N

Coplanar and 3 D Cartesian Vectors

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Chapter # 2

The x and y axes are always

Step 1 is to resolve each force

Step 2 is to add all the x

Example of this process,

We can represent the components of the

Adding i Components and j

5.196 i – 3 j = -2 i - 3.464 j + F2 cos i + F2 sin j + 4i - 3 j

– 3 = - 3.464 + F2 sin - 3 (Eq.2)

47.30 and F2 = 4.71 kN

• Right Handed Coordinate System

© Dr Muhammad Nafees Mumtaz Qadri 16

Consider a box with sides AX,

The vector A can be defined as

The projection of the vector A in the x-y plane is A´. The

• α, β & γ angles measured between the tail of A and the

© Dr Muhammad Nafees Mumtaz Qadri 18

• If the magnitude and coordinate direction angles of A are

• By comparison, the i, j and k components of uA represent the

© Dr Muhammad Nafees Mumtaz Qadri 19

• Transverse and Azimuth Angles

• Therefore, A written in Cartesian form becomes

cos ²  + cos ²  + cos ²  = 1

Once individual vectors are written in Cartesian form, it is easy

A + B = (AX + BX) i + (AY + BY) j + (AZ + BZ) k

Given:Two forces F1 and G are applied

Fz = 100 sin 60° = 86.60 N

Fx = 50 cos 45° = 35.36 N

Now, you can write:

© Dr Muhammad Nafees Mumtaz Qadri 30

© Dr Muhammad Nafees Mumtaz Qadri 31

• The bracket is subjected to the two forces shown. Express

© Dr Muhammad Nafees Mumtaz Qadri 32

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