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BAB 2
Force Vectors
Vektor-vektor Gaya
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Objectives
Mahasiswa mampu untuk :
1. Memberikan definisi tentang besaran skalar
dan Vektor
2. Menghitung penjumlahan gaya2 dengan
metoda parallelogram.
3. Memperlihatkan gaya dan posisinya dalam
bentuk vektor Cartesian vector dan menghitung
nilai dan arah vektor.
4. Menerapkan aturan dasar aljabar vektor
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Definitions
Scalar - A quantity characterized by
a positive or negative number is
called a scalar. Examples of
scalars used in Statics are mass,
volume or length.
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Definitions
Vector - A quantity that has both
magnitude and a direction. Examples of
vectors used in Statics are position,
force, and moment.
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Symbols
Vectors are denoted by a letter with an arrow
over it or a boldface letter such as A.
or A
o A A
A
r
Symbols used for vectors:
Denote magnitude by:
r
v
r
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Images
Gambar yang ditampilkan disini berasal dari Buku

Hibbeler, Engineering Mechanics: Statics,9e,
Copyright 2001, Prentice Hall
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Vector Definitions
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Scalar Multiplication
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Scalar Multiplication
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Vector Addition
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Vector Addition
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Vector Addition
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Vector Subtraction
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Resolution of a Vector
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a
b
c
C
B
A
B
sinb
A
sina
C
sinc
= =
Law of Sines:
Law of Cosines
2 2
C 2 cosc B A A B + =
Trigonometry
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Force
1. Force is a Vector Quantity
2. Forces Add as Vectors
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Parallelogram Law
1. Make a sketch showing vector addition using the
parallelogram law.
2. Determine the interior angles of the parallelogram
from the geometry of the problem.
3. Label all known and unknown angles and forces in
the sketch.
4. Redraw one half of the parallelogram to show the
triangular head-to-tail addition of the components
and apply laws of sines and cosines.
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Important Points
1. A scalar is a positive or negative number.
2. A vector is a quantity that has magnitude,
direction, and sense.
3. Multiplication or division of a vector by a scalar
will change the magnitude. The sense will
change if the scalar is negative.
4. If the vectors are collinear, the resultant is
formed by algebraic or scalar addition.

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Example 2-1
The screw eye in the
figure at the left is
subjected to two forces
F
1
and F
2
. Determine the
magnitude and direction
of the resultant force.
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Parallelogram
Law
Calculate angles

Angle COA = 90
0
-15
0
-10
0
= 65
0


Angle OAB = 180
0
-65
0
= 115
0

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Triangular
Construction
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Find F
R
from law of cosines.
Find u from law of sines.
Angle | = u + 15
0

2
R
R
2 0
R
F (100) (150) 2(100)(150)cos115
F 10000 22500 30000( 0.4226)
F 212.6N 213N
=
=
=
=
+
+
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0
1 0 0
0
150 212.6
sin
sin115
150
sin (0.9063) 0.6394
212.6
sin (0.6394) 39.75 39.8
15

=
u
u = =
u = = =
| = u +
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The resultant force has a magnitude of
213 N and is directed 54.8
o
from the
horizontal.
Answer
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Resolve the 200 lb
force into
components in the
x and y directions
and in the x and y
directions
Example 2-2
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x
y
x
y
30
0
40
0
F=200 lb
Resolve the 200 lb
force into
components in the
x and y directions
and in the x and y
directions
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Parallelogram
Law
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Triangular
Construction
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x y
o
x
o
y
F F F
F 200lb cos40 153lb
F 200lb sin40 129lb
= +
= =
= =
r r r
Solution Part (a)
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Parallelogram
Law
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200 lb
F
x

F
y
30
0

60
0
50
0
40
0
50
0
x
y
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Triangular
Construction
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200 lb
F
x

F
y
60
0
70
0
50
0
0 0
y
0 0
' x
60 sin
200
70 sin
F
60 sin
200
50 sin
F
=
=
0
x'
0
0
y
0
sin50
F 200 177lb
sin60
sin70
F 200 217lb
sin60
= =
= =
x y
F F F
'
= +
r r r
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Addition of a System of
Coplanar Forces
x y
F F F = +
r r r
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Addition of a System of
Coplanar Forces
x y
F F F
' ' '
= +
r r r
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Cartesian Notation
x y

F F i F j = +
r
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Cartesian Notation
( )
x y
x y

F F i F j

F F i F j
' ' '
= +
' ' '
=
r
r
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Coplanar Force Resultants
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1x 1y
2x 2y
3
1
3 x 3y
2

i j

F F F
F
F
F F
F F

i j

i j
= +
= +
=
r
r
r
Resolve into Cartesian
Components
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( )
( )
( )
( )
1x 1y 2x 2y 3x 3y
1x 2x 3x 1y 2y
R
R
R
R
1 2
R Rx
3y
1x 2x 3x 1y 2y 3y
1x 2x 3x
1y 2
Ry
R
y 3
x
R
3
y y
F F F F F F
F F F F F F
F

i j i j i j

i i i j j j

i j

i j
F
F
F
F
F F F
F
F F F F F
F
F
F
F F
F F
F F
F
+
+
+

=
=
=
=
+ +
+ +
+ +
=
=
+
+
+
=
+ +
r
r
r
r r
r
r
r
Add Components
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x
y
2 2
Rx Ry
Ry
1
R
R
Ry
R R
x
x
F
F
F F
F
tan
F
F
F
F
F

=
=
= = +
= u

r
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5
12
13
3
4
5
Special Triangles
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2 2
5 3 4
4 3
cos 0.8 sin 0.6
5 5
3 4
cos 0.6 cos 0.8
5 5
= +
u = = u = =
| = = | = =
3
4
5
u
|
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2 2
13 5 12
12 5
cos sin
13 13
5 12
cos cos
13 13
= +
u = u =
| = | =
5
12
13
u
|
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Example 2-6
The link in the figure is
subjected to two forces,
F
1
and F
2.
Determine the
resultant magnitude and
orientation of the
resultant force.
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Scalar Solution
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Scalar Solution
x
x
y
y
R x
o o
R
R y
o o
R
1 o
F F
F 600cos30 N 400sin45 N 236.8N
F F
F 600sin30 N 400cos45 N 582.8N
582.8N
tan 67.9
236.8N
+

=
= =
=
= + = |
| |
u = =
|
\ .

+|
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Cartesian Vector Solution
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Scalar Solution
o o
1
o o
2
R 1 2
o o
o o
R

F 600cos30 i 600sin30 j N

F 600cos30 i 600sin30 j N
F F F

600cos30 i 600sin30 j N

600cos30 i 600sin30 j N

F 236.8i 582.8j N
= +
= +
= +
= + +
+
= +
r
r
r r r
r
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Right Hand
Rule
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x y z
A A A A = + +
r r r r
Rectangular Components
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Unit Vectors
Unit Vector: a vector having magnitude of 1.

A
A
A
or
A

u
A
A
=
=
r
r
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A
A
r
A

u
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Cartesian Unit Vectors
Unit Vectors in Coordinate Directions:

k
Unit vector in the x-direction
Unit vector in the y-direction
Unit vector in the z-direction
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A i j k
x y z
A A A = + +
r
Cartesian Vector Representation
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A i j k
x y z
A A A = + +
r
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2 2 2
x y
2 2
z
2 2
x y
z
A A A
A A A
A A A A
'
= +
'
+
= + +
=
Magnitude
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o, |, and are the
coordinate direction
angles.
These are the angles
between A and the
reference axes.
The cosines of these
angels are called the
direction cosines.
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cos
cos
cos
z
x
y
A
A
A
A
A
A
| =
=
o =
Direction Cosines
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( ) ( ) ( )
A
A

A i j k
A

u i j k

u cos i cos j cos k

x y z
y
x z
A A A
A
A A
A A A A
= + +
= = + +
= o + | +
r
r
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2 2
A
2

u cos i cos j c
cos cos cos 1
os k = o + | +
o + | + =
Important Relationship
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A
x

A u

A cos i cos j cos k

A i j k
y z
A
A A A
A A A
=
= o + | +
= + +
r
r
r
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Addition and Subtraction of
Cartesian Vectors
( )
( )
( )
R A B

A i j k


R i j
B
k
i j k
x y z
x y z
x x y y z z
A A A
A
B B
B B A B
B
A
= +
= +
= + +
=
+ +
+
+ +
+
r r r
r
r
r
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Addition and Subtraction of
Cartesian Vectors
( )
( )
( )
R A B

A i j k

B i j k

R i j k
x y z
x y
x x y y z z
z
A B A B A
B B B
B
A A A
'
= + +
=
'
=
=
+
+
+
+
r
r
r
r r
r
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Concurrent Force Systems
A concurrent force system is one in which the lines
of action of all forces intersect at a common point.
R

F F i j k
x y z
F F F = = + +

r r
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Example 2-9
Determine the magnitude
and coordinate direction
angles of the force on the
ring (F2). FR=800j
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( ) ( ) ( )
1
o o o
1 1 1
1 1 1 1 1 1 1
o o o
1
1
F :
45 60 120

F cos i cos j cos k

F 300N cos45 i 300N cos60 j 3

F 212.2i 150j 150k
00N c
N
os120 k
For
F F F
o = | = =
= o + |
(
=
+
= + +
+

r
r
r
r
Example 2-9
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2 2x 2y 2z
R
1

F 212.2i 150j 150k N

F

F i
0
j k
80 j N
F

F F
(
=
(
= +
+

= +

r
r
r
Example 2-9
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( )
( )
( )
R 1 2
2x 2y 2z1
2x 2y 2z
Rx 2x 2x
Ry 2y 2y
Ry 2z 2z
F F F

800j 212.2i 150j 150k i j k

800j 212.2 i 150 j 150 k
212.2 0 212.2N
150 800 650N
150 0 150N

F F F
F F F
F F F
F F F
F F F
= +
= + + + +
= + + + + +
= + = =
= + = =
= + = =
r r r
Example 2-9
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( )
( ) ( ) ( )
2
2 2 2
1 o
2 2
1 o
2 2
1 o
2 2

F 212.2i 650j 150k N
700 212.2 650 150
212.2 212.2
cos cos 108
700 700
650 650
cos cos 21.8
700 700
150 150
cos cos 77.6
700 700

= + +
= + +

| |
= = =
|
\ .
| |
= | = =
|
\ .
| |
= = =
|
\ .
r
Example 2-9
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Position Vectors
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Coordinates
1. Right hand coordinate system
2. z - positive upwards
3. Position vector given by:
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Cartesian Vector Form

r i j k x y z = + +
r
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Relative Position Vectors
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Relative Position Vectors
AB
r
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A AB B AB B A
AB B A B A B A
r r r r r r

r r ( )i ( ) j ( )k x x y y z z
+ = =
= = + +
r r r r r r
r r
Relative Position Vectors
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Force Along a Line
1. Ropes
2. Cables
3. Chains
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r

F u F F
r
| |
= =
|
\ .
r
r
Force Along a Line
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Example 2-13
The man shown in the figure
pulls on a cord with a force
of 70 lb. Represent the force
acting on support A as a
Cartesian vector and
determine its direction.

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x x y y z z
Locate Points of Interest:
AB B A B A B A
AB
AB

r ( )i ( )j ( )k
A 0ft, 0ft, 30ft B 12ft, 8ft, 6ft

r (12 0)i ( 8 0)j (6 30)k

r 12i 8j 24k ft
= + +

= + +
=
r
r
r
Position Vector
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AB
2 2 2
AB
BA
AB
BA

r 12i 8j 24k ft
r 12 8 24 28ft
r 1 3 2 6

u 12i 8j 24k i j k
r 28 7 7 7
=
= + + =
= = =
r
r
Unit Vector
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AB
AB
3 2 6

u i j k
7 7 7
3 2 6

F Fu 70 lb i j k
7 7 7

F 30i 20j 60k lb
=
| |
= =
|
\ .
=
r
r
Force Vector
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AB
o
o
o
3 2 6

u i j k
7 7 7
3
cos 64.6
7
2
cos 107
7
6
cos 149
7
=
o = o =
| = | =
= =
Direction Angles
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AB
u
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Example 2-15
The roof is supported as
shown. If the cables exert
forces of F
AB
= 100 N and
F
AC
=120 N on the wall
hook at A, determine the
magnitude of the resultant
force acting at A.
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( )
AB B A
2 2
A
AC C A
2 2
B
B
A
C
C
A
2

r r r 4i 4k m
4 ( 4) 5

r r r (4i 2j 4k)m
4 2 (

r 4k r 4i r 4i 2j
.
4) m
6m
6
6
r
r
= =
= +
= = +
= + +
= = = +

=
=
r r r
r
r r
r
r
r
Find Position Vectors
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AB
AB
AB
AC
AC
AC
r 4 4

u i k
5.66 5.66
r 4 2 4

u i j k
6 6 6
r
r
| |
= =
|
\ .
| |
= = +
|
\ .
r
r
Find Unit Vectors
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( )
{ }
( )
{ }
AB AB
AC AC

F 100N u 70.7i 70.7k N

F 120N u 80i 40j 80k N

= =
= = +
r
r
Find Force Vectors
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{ } { }
{ }
R AB AC
R
R
F F F

F 70.7i 70.7k N 80i 40j 80k N

F 150.7i 40j 150.7k N
= +
= + +
= +
r r r
r
r
Find Force Resultant
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{ }
R
2 2 2
R

F 150.7i 40j 150.7k N
(150.7) (40) ( 150.7) 217N
The magnitude of the resultant is:
F
= +
= + + =
r
Find Force Resultant
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Dot Product
1. A type of vector multiplication.
2. Written as
3. Read as A dot B
4. Defined as
5. Magnitude of A times magnitude of B
times cosine of the angle between
them.

o o
180 0 s u s
A B
r r
A B cos AB = u
r r
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A B cos AB = u
r r
Dot Product
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Laws of Operations
Commutative:
A B B A =
r r r r
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Laws of Operations
Scalar Multiplication:
a(A B ) aA B A aB (A B )a = = =
r r r r r r r r
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Laws of Operations
Distributive:
A (B D) (A B) (A D) + = +
r r r r r r r
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Cartesian Vectors
o
o

i j j i 0

i k k i

i i 1

j j 1 c
0 cos90 0

os0 1

k

1
j k k 0
k
j

= =

= = =
`

= =

= =
`

=

)
)
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x y z x y z
x x x y x z
y x y y y z
z x z y z z
x x y

A B ( i j k) ( i j k)

i i i j i k

j i j j j k

k i k j k k
A B
A A A B B B
A B A B A B
A B A B A B
A B A B A B
A B A
= + + + +
= + +
+ + +
+ + +
= +
r r
r r
y z z
B +A B
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x x y y z z
A B A B A B +A B = +
r r
Dot Product
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The dot product
gives a scalar
result!
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x x y y z z

i j k A B A B A B +A B = +
r r
ERROR!!!
WRONG!!!!
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x x y y z z

i j k A B A B A B +A B = +
r r
ERROR!!!
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x x y y z z
A B A B A B +A B = +
r r
Dot Product
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Applications of the Dot Product
Find the angle between two vectors:
1
o o
A B
cos
0 180
A B

| |

u =
|
\ .
s u s
r r
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Applications of the Dot Product
( )
1 o
A B 0
cos 0 90
A B
If
then

=
u = =

r r
r r
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Applications of the Dot Product
1. Components of a vector parallel and
perpendicular to a line.
2. The component parallel is called the
projection of a vector onto a line.

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Applications of the Dot Product
( )

Au

A Au u
A =
=
P
P
r
r r
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Applications of the Dot Product
( )

Au

A Au u
Projection of a vector along a line:
A =
=
P
P
r
r r
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Applications of the Dot Product
2 2 2
2 2
A A A
A A A =
A A A
A = A A

= +

= +

P
P
P
P
r r r
r r r
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Example 2-16
The frame shown is
subjected to a horizontal
force F. Determine the
magnitude of the
components of this force
parallel and perpendicular
to member AB.
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Example 2-16
Unit Vector
AB
AB
2 2 2
AB
AB
AB

r 2i 6j 3k

u
r
2 6 3
2 6 3

u i j k
7 7 7

u 0.286 i 0.857j 0.429k

+ +
= =
+ +
= + +
= + +
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Example 2-16
Dot Product
( ) ( ) ( ) ( ) ( ) ( )
AB AB
AB
AB AB
AB

F F u

F 300 j N

u 0.286 i 0.857j 0.429k

F F u 0 0.286 300 0.857 0 0.429

F 257.1N
=
=
= + +
= = + +
=
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Example 2-16
Parallel Component
( )
AB
AB
AB AB AB
AB

u 0.286 i 0.857j 0.429k

F 257.1N

F F u 257.1N 0.286 i 0.857j 0.429k

F 73.5 i 220j 110k N
= + +
=
= = + +
= + +
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Example 2-16
Perpendicular Component
( )
( )
( ) ( )
( )
( ) ( ) ( )
or
AB
2 2 2
2 2

F 300j N

F F 73.5 i 220j 110k N
F F F

F F F 300j N 73.5 i 220j 110k N

F 73.5 i 80j 110k N
F 73.5 80 110 N 155 N
F F F

=
= = + +
= +
= = + +
= +
= + + =
=
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Example 2-17
The pipe is subjected to a
force F = 80 lb. Determine
the angel between the
force and the pipe segment
BA and the magnitudes of
the components of F which
are parallel and
perpendicular to BA.
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Angle
( ) ( ) ( ) ( ) ( ) ( )
( )
BA
BC
BA BC
BA BC
o

r 2i 2j 1k ft

r 3j 1k ft
2 0 2 3 1 1
r r
cos
r r
3 10
cos 0.7379 42.5
= +
= +
+ +

u = =
u = u =
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Force
( )
BA
BA
BA
BA
BC
BC
BC
BC
BC

r 2i 2j 1k ft
r 2 2 1

u i j k
r 3 3 3

r 3j 1k ft
r 3 1

u j k
r
10 10
240 80

F 80lb u j k lb
10 10

F 75.89j 25.30k lb
= +
= = +
= +
= = +
| |
= = +
|
\ .
= +
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Components
BA
BA
BA
BA BA
BA

F 75.89j 25.30k lb
r 2 2 1

u i j k
r 3 3 3
2 2 1

F F u 75.89j 25.30k lb i j k
3 3 3
F 0 50.06 8.43 59.0lb
= +
= = +
| |
= = + +
|
\ .
= + + =
9/17/2013 140
Components
BA
2 2
BA

F 75.89j 25.30k lb
F 0 50.06 8.43 59.0lb
F F F 54.0lb

= +
= + + =
= =
9/17/2013 141
9/17/2013 142
Objectives Review
Mahasiswa mampu untuk :
1. Memberikan definisi tentang besaran skalar
dan Vektor
2. Menghitung penjumlahan gaya2 dengan
metoda parallelogram.
3. Memperlihatkan gaya dan posisinya dalam
bentuk vektor Cartesian vector dan menghitung
nilai dan arah vektor.
4. Menerapkan aturan dasar aljabar vektor