supplements Prologue, APPENDIX A: VECTORS We assume that all readers of this text are familiar with vectors to some degree. Accordingly we shall limit our discussion of vectors to dot products, cross products, and re-expressing a known vector in terms of a new coordinate system (reference frame). Use of vectors in design load analysis is , necessary to cope with complex designs, In parti- cular we are free to reason spatial relationships without being restricted to a given coordinate system, Moreover, use of vectors enhances the process of switching from one coordinate system to another when it appears convenient to do so.Coordinate system Vectors are stated in terms of their components along specific coordinate axes. In Figure A.1, for example, vector F may be stated as FerR orf + Ff = FO + Fy + Pye in which £,f,2 and 0,7,@ are the respective unit vectors defining the orientation of the XYZ and UW coordinate systems, and F,,Py.F, and FysFy Fy are the corresponding scalar magnitudes of the vector components, pot Product: The dot (or scalar) product is defined as F-F = Fs(cos Op.) = scalar quantity in which F = Ff and and § = S$, and @,. is the angle be- tween unit vectors F and 8, Now consider Figure A.2, The dot product F:§ = F cos 6,, is the (scalar) magnitude of the (vector) component of F in the § direction, in which the sign of cos @. is positive when the (vector) component of F points in'the positive § direction, and is negative otherwise, Similarly, the dot product f+5 = Sf = s cos @,, = S cos O., = the (scalar) magnitude of the (vector) component of § in the f direction, in which the sign of cos Op, is positive when the (vector) component of § points in the positive F direction, and is negative otherwise,Figure A.1 Vector F from Point 0 to Point P,