Statics, Chap 02 - BedFord

Problem 2.
1 The magnitudes jF
A
j D 60 N and jF
B
j D
80 N. The angle D 45
. Graphically determine the

magnitude of the vector F
A
CF
B
and the angle between
the vectors F
B
and F
A
CF
B
.
Strategy: Construct the parallelogram for determining
the sum of the forces, drawing the lengths of F
A
and F
B
proportional to their magnitudes and accurately
measuring the angle , as we did in Example 2.1. Then
you can measure the magnitude of F
A
CF
B
and the angle
between F
B
and F
A
CF
B
.
F
B
F
A
a
F
C
Solution: Draw the vectors to scale and measure the magnitude

and angle of the resultant
Measuring we nd
jF
A
CF
B
j D 130 N
D 19
F
B
F
A
45
60 N
80 N
|FA

+
FB
|
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1
Problem 2.2 The magnitudes jF
A
j D 40 N, jF
B
j D
50 N, and jF
A
CF
B
j D 80 N. Assume that 0 < < 90
.
Graphically determine the angle .
Solution: Draw the vectors to scale and measure the angle using
a protractor.
D 55
F
A
= 40 N
|FA

+
FB
| =
8
0
N
F
B

=

5
0

N
1
A
j D 40 N, jF
B
j D
50 N, and jF
A
CF
B
j D 80 N. Assume that 0 < < 90
.
Use trigonometry to determine the angle .
Solution: Use the gure from Problem 2.2. The law of cosines:
80
2
D 50
2
C40
2
25040 cos180
) D 54.9
1
A
j D 40 N, jF
B
j D
50 N, and jF
C
j D 40 N. The angles D 50
and D
80
. Graphically determine the magnitude of F

A
CF
B
C
F
C
.
Solution: Drawing everything to scale we can measure the magni-
tude as
R D jF
A
CF
B
CF
C
j D 83 N
50
130
R

=

|
F
A

+

F
B

+

F
c

|

F
B

=

5
0

F
C
=

4
0

F
A
= 40
1
A
j D 40 N, jF
B
j D
50 N, and jF
C
j D 40 N. The angles D 50
and D
80
. Use trigonometry to determine the magnitude of

F
A
CF
B
CF
C
.
Solution: We have
R D
40 C50 cos 50 C40 cos 130

2
C50 sin 50 C40 sin 130
2
N
D 83.1 N
1
Problem 2.6 If the magnitude of the vector r
AC
is
195 mm, what is the angle ?
60 mm
150 mm
A
C
B
r
AB
r
BC
r
AC
Solution: From the law of cosines

150
2
D 60
2
C195
2
260195 cos ) D 35.2
r
AC
= 195 mm
r A
B

=

6
0

m
m
r
B
C

=
1
5
0
m
m
1
Problem 2.7 The vectors F
A
and F
B
represent the
forces exerted on the pulley by the belt. Their magni-
tudes are jF
A
j D 80 N and jF
B
j D 60 N. What is the
magnitude jF
A
CF
B
j of the total force the belt exerts
on the pulley?
45
F
A
F
B
10
Solution:
35
35
45 1
4
5
45
10
10
F
B
F
B
F
A
F A

+

F B
F
A
Law of cosines
jF
A
CF
B
j
2
D 80
2
C60
2
28060 cos 145
jF
A
CF
B
j D 133.66 134 N
Law of sines
jF
B
j
sin
D
jF
A
CF
B
j
sin 145
)
60
sin
D
133.66
sin 145
D 14.92
jF
A
CF
B
j D 134 N
1
Problem 2.8 The sum of the forces F
A
CF
B
CF
C
D
0. The magnitude jF
A
j D 100 N and the angle D 60
.
Determine jF
B
j and jF
C
j.
30
F
B
F
A
F
C
a
Solution: Using the Law of sines twice we nd
100 N
sin 90
D
F
B
sin 60
D
F
C
sin 30
)F
B
D 86.6 N, F
C
D 50 N
30
F
A
= 100 N
F
B
F
C
= 60
30
90
60
F
B
F
C
100 N
1
Problem 2.9 In Problem 2.8, the sum of the forces
F
A
CF
B
CF
C
D 0. If the magnitudes jF
A
j D 100 N and
jF
B
j D 80 N, what are jF
C
j and the angle ?
Solution: Using the Law of Cosines
F
2
C
D 100 N
2
C80 N
2
2100 N80 N cos 30
)F
C
D 50.4 N
Using the Law of Sines
F
C
sin 30
D
80 N
sin
) D 52.5
30
F
A
= 100 N
F
B
=

8
0

N
F
C
30
100 N
8
0
N
F
C
1
Problem 2.10 The forces acting on the sailplane are
represented by three vectors. The lift L and drag D are
perpendicular, the magnitude of the weight W is 3500 N,
and WCL CD D 0. What are the magnitudes of the lift
and drag?
W
D
L
25
Solution: Draw the force triangle and then use the geometry plus
cos 25
D
jLj
jWj
sin 25
D
jDj
jWj
jWj D 3500 N
jLj D 3500 cos 25
jDj D 3500 sin 25
jLj D 3170 N
jDj D 1480 N
25
65
25
W
L
D
1
Problem 2.11 A spherical storage tank is supported by
cables. The tank is subjected to three forces: the forces
F
A
and F
B
exerted by the cables and the weight W.
The weight of the tank is jWj D 600 lb. The vector sum
of the forces acting on the tank equals zero. Determine
the magnitudes of F
A
and F
B
(a) graphically and (b) by
using trigonometry.
40
F
A
W
F
B
20 20
Solution: The vector construction is shown.
(a) The graphical solution is obtained from the construction by the
recognition that since the opposite interior angles of the triangle are
equal, the sides (magnitudes of the forces exerted by the cables) are
equal. A measurement determines the magnitudes. (b) The trigono-
metric solution is obtained from the law of sines:
jWj
sin 140
D
jF
A
j
sin 20
D
jF
B
j
sin 20
Solving:
jF
A
j D jF
B
j D jWj
sin 20
sin 140
D 319.25 . . . D 319.3 lb
F
B
F
A
W
20
20
20
20
140
1
Problem 2.12 The rope ABC exerts forces F
BA
and
F
BC
on the block at B. Their magnitudes are equal:
jF
BA
j D jF
BC
j. The magnitude of the total force exerted
on the block at B by the rope is jF
BA
CF
BC
j D
920 N. Determine jF
BA
j (a) graphically and (b) by using
trigonometry.
20
F
BC
F
BA
B
C
A
B
Solution: Law of Sines
F
BA
sin 55
D
920 N
sin 70
)F
BA
D F
BC
D 802 N
55
55
55
55
70
70
F
BC
F
BA
|F
BA
+ F
BC
| = 920 N
1
Problem 2.13 Two snowcats tow a housing unit to a
new location at McMurdo Base, Antarctica. (The top
view is shown. The cables are horizontal.) The sum of
the forces F
A
and F
B
exerted on the unit is parallel to the
line L, and jF
A
j D 1000 lb. Determine jF
B
j and jF
A
C
F
B
j (a) graphically and (b) by using trigonometry.
50
30
F
A
F
B
L
TOP VIEW
Solution: The graphical construction is shown. The sum of the
interior angles must be 180
. (a) The magnitudes of jF

B
j and jF
A
CF
B
j
are determined from measurements. (b) The trigonometric solution is
obtained from the law of sines:
jF
A
CF
B
j
sin 100
D
jF
A
j
sin 30
D
jF
B
j
sin 50
from which jF
B
j D jF
A
j
sin 50
sin 30
D 10001.532 D 1532 lb
jF
A
CF
B
j D jF
A
j
sin 100
sin 30
D 10001.9696 D 1970 lb
F
B
F
A
F
B
F
A
+

F
B
38
38
50 50
156
38
1
Problem 2.14 A surveyor determines that the horizon-
tal distance from A to B is 400 m and that the horizontal
distance from A to C is 600 m. Determine the magnitude
of the horizontal vector r
BC
from B to C and the angle
(a) graphically and (b) by using trigonometry.
East
North
60
20
C
B
A
r
BC
Solution: (a) The graphical solution is obtained by drawing the
gure to scale and measuring the unknowns. (b) The trigonometric
solution is obtained by breaking the gure into three separate right
triangles. The magnitude jr
BC
j is obtained by the cosine law:
jr
BC
j
2
D 400
2
C600
2
2400600 cos 40
or jr
BC
j D 390.25 D 390.3 m
The three right triangles are shown. The distance BD is BD D
400 sin 60
D 346.41 m. The distance CE is CE D 600 sin 20
D
205.2 m. The distance FC is FC D 346.4 205.2 D 141.2 m.
The angle is sin D
141.2
390.3
D 0.36177 . . ., or D 21.2
60
20
C
B
F
A D E
1
Problem 2.15 The vector r extends from point A to
the midpoint between points B and C. Prove that
r D
1
2
r
AB
Cr
AC
.
A
C
B
r
AC
r
r
AB
Solution: The proof is straightforward:
r D r
AB
Cr
BM
, and r D r
AC
Cr
CM
.
Add the two equations and note that r
BM
Cr
CM
D 0, since the two
vectors are equal and opposite in direction.
Thus 2r D r
AC
Cr
AB
, or r D
1
2
r
AC
Cr
AB
r
AC
r
AB
r
A B
M
C
1
Problem 2.16 By drawing sketches of the vectors,
explain why
U CV CW D U CV CW.
Solution: Additive associativity for vectors is usually given as an
axiom in the theory of vector algebra, and of course axioms are not
subject to proof. However we can by sketches show that associativity
for vector addition is intuitively reasonable: Given the three vectors to
be added, (a) shows the addition rst of V CW, and then the addition
of U. The result is the vector U CV CW.
(b) shows the addition of U CV, and then the addition of W, leading
to the result U CV CW.
The nal vector in the two sketches is the same vector, illustrating that
associativity of vector addition is intuitively reasonable.
(a)
U
W
V
U
W
V
V+W
U+V
U+[V+W]
[U+V]+W
(b)
1
Problem 2.17 A force F D 40 i 20 j N. What is
its magnitude jFj?
Strategy: The magnitude of a vector in terms of its
components is given by Eq. (2.8).
Solution: jFj D
p
40
2
C20
2
D 44.7 N
1
Problem 2.18 An engineer estimating the components
of a force F D F
x
i CF
y
j acting on a bridge abutment
has determined that F
x
D 130 MN, jFj D 165 MN, and
F
y
is negative. What is F
y
?
Solution:
jFj D
jF
x
j
2
CjF
y
j
2
Thus jF
y
j D
jFj
2
jF
x
j
2
mN
jF
y
j D
p
165
2
130
2
mN
jF
y
j D 101.6 mN
F
y
D 102 mN
1
Problem 2.19 A support is subjected to a force F D
F
x
i C80j (N). If the support will safely support a force
of 100 N, what is the allowable range of values of the
component F
x
?
Solution: Use the denition of magnitude in Eq. (2.8) and reduce
algebraically.
100
F
x
2
C80
2
, from which 100
2
80
2
F
x
2
.
Thus jF
x
j
p
3600, or 60 F
x
C60 (N)
1
Problem 2.20 If F
A
D 600i 800j (kip) and F
B
D
200i 200j (kip), what is the magnitude of the force
F D F
A
2F
B
?
Solution: Take the scalar multiple of F
B
, add the components of
the two forces as in Eq. (2.9), and use the denition of the magnitude.
F D 600 2200i C800 2200j D 200i 400j
jFj D
200
2
C400
2
D 447.2 kip
1
Problem 2.21 If F
A
D i 4.5j (kN) and F
B
D 2i
2j (kN), what is the magnitude of the force F D 6F
A
C
4F
B
?
Solution: Take the scalar multiples and add the components.
F D 6 C42i C64.5 C42j D 2i 35j, and
jFj D
2
2
C35
2
D 35.1 kN
1
Problem 2.22 Two perpendicular vectors U and V lie
in the x-y plane. The vector U D 6i 8j and jVj D 20.
What are the components of V? (Notice that this problem
has two answers.)
Solution: The two possible values of V are shown in the sketch.
The strategy is to (a) determine the unit vector associated with U,
(b) express this vector in terms of an angle, (c) add 90
to this
angle, (d) determine the two unit vectors perpendicular to U, and
(e) calculate the components of the two possible values of V. The
unit vector parallel to U is
e
U
D
6i
6
2
C8
2

8j
6
2
C8
2
D 0.6i 0.8j
Expressed in terms of an angle,
e
U
D i cos j sin D i cos53.1
j sin53.1
Add 90
to nd the two unit vectors that are perpendicular to this

unit vector:
e
p1
D i cos143.1
j sin143.1
D 0.8i 0.6j
e
p2
D i cos36.9
j sin36.9
D 0.8i C0.6j
Take the scalar multiple of these unit vectors to nd the two vectors
perpendicular to U.
V
1
D jVj0.8i 0.6j D 16i 12j.
The components are V
x
D 16, V
y
D 12
V
2
D jVj0.8i C0.6j D 16i C12j.
The components are V
x
D 16, V
y
D 12
y
x
6
8
U
V
2
V
1
1
Problem 2.23 A sh exerts a 40-N force on the line
that is represented by the vector F. Express F in terms
of components using the coordinate system shown.
y
x
60
F
Solution:
F
x
D jFj cos 60
D 400.5 D 20 N
F
y
D jFj sin 60
D 400.866 D 34.6 N
F D 20i 34.6j N
1
Problem 2.24 A person exerts a 60-lb force F to push
a crate onto a truck. Express F in terms of components.
F
20
x
y
Solution: The strategy is to express the force F in terms of the
angle. Thus
F D ijFj cos20
CjjFj sin20
F D 600.9397i C0.342j or F D 56.4i C20.5j (lb)

1
Problem 2.25 The missiles engine exerts a 260-kN
force F. Express F in terms of components using the
coordinate system shown.
y
x
F
40
Solution:
F
x
D jFj cos 40
F
x
D 199 N
F
y
D jFj sin 40
F
y
D 167 N
F D 199i C167j N
y
F
40
x
1
Problem 2.26 For the truss shown, express the posi-
tion vector r
AD
from point A to point D in terms of
components. Use your result to determine the distance
from point A to point D.
A
C
y
x
B
0.4 m
0.6 m
0.7 m
D
0.6 m 1.2 m
Solution: Coordinates A(1.8, 0.7) m, D(0, 0.4) m
r
AD
D 0 1.8 mi C0.4 m0.7 mj D 1.8i 0.3j m
r
AD
D
1.8 m
2
C0.3 m
2
D 1.825 m
1
Problem 2.27 The points A, B, . . . are the joints of
the hexagonal structural element. Let r
AB
be the position
vector from joint A to joint B, r
AC
the position vector
from joint A to joint C, and so forth. Determine the
components of the vectors r
AC
and r
AF
.
2 m
x
y
A B
E
F
C
D
Solution: Use the xy coordinate system shown and nd the loca-
tions of C and F in those coordinates. The coordinates of the points
in this system are the scalar components of the vectors r
AC
and r
AF
.
For r
AC
, we have
r
AC
D r
AB
Cr
BC
D x
B
x
A
i Cy
B
y
A
j
Cx
C
x
B
i Cy
C
y
B
j
or r
AC
D 2m 0i C0 0j C2mcos 60
0i
C2mcos 60
0j,
giving
r
AC
D 2m C2mcos 60
i C2msin 60
j. For r
AF
, we have
r
AF
D x
F
x
A
i Cy
F
y
A
j
D 2mcos 60
x
F
0i C2msin 60
0j.
1
Problem 2.28 For the hexagonal structural element in
Problem 2.27, determine the components of the vector
r
AB
r
BC
.
Solution: r
AB
r
BC
.
The angle between BC and the x-axis is 60
.
r
BC
D 2 cos60
i C2sin60
j m
r
BC
D 1i C1.73j m
r
AB
r
BC
D 2i 1i 1.73j m
r
AB
r
BC
D 1i 1.73j m
1
Problem 2.29 The coordinates of point A are (1.8,
3.0) m. The y coordinate of point B is 0.6 m and the
magnitude of the vector r
AB
is 3.0 m. What are the com-
ponents of r
AB
?
x
y
A
B
r
AB
Solution: Let the x-component of point B be x
B
. The vector from
A to B can be written as
r
AB
D x
B
x
A
i Cy
B
y
A
j m
or r
AB
D x
B
1.8i C0.6 3.0j m
r
AB
D x
B
1.8i 2.4j m
We also know jr
AB
j D 3.0 m. Thus
3
2
D x
B
1.80
2
C2.4
2
Solving, x
B
D 3.60. Thus
r
AB
D 1.80i 2.40j m
1
Problem 2.30 (a) Express the position vector from
point A of the front-end loader to point B in terms of
components.
(b) Express the position vector from point B to point C
in terms of components.
(c) Use the results of (a) and (b) to determine the distance
from point A to point C.
45 in.
98 in.
50 in.
55 in.
35 in.
A
50 in.
y
x
C
B
Solution: The coordinates are A(50, 35); B(98, 50); C(45, 55).
(a) The vector from point A to B:
r
AB
D 98 50i C50 35j D 48i C15j (in)
(b) The vector from point B to C is
r
BC
D 45 98i C55 50j D 53i C5j (in).
(c) The distance from A to C is the magnitude of the sum of the
vectors,
r
AC
D r
AB
Cr
BC
D 48 53i C15 C5j D 5i C20j.
The distance from A to C is
jr
AC
j D
5
2
C20
2
D 20.62 in
1
Problem 2.31 Five identical cylinders with radius R D
0.2 m are stacked as shown. Determine the components
of the position vectors (a) from point A to point B and
(b) from point B to point E.
y
x
A
R
B
C
D
E
Solution: The coordinates are (R D 0.2 m)
A0.2, 0.2 m
B0.4, 0.2 C0.4 sin 60
m
E1.0, 0.2 m
Thus
(a)
r
AB
D 0.4 m0.2 mi C0.2 mC0.4 msin 60
0.2 mj
D 0.2i C0.346j m
(b)
r
BE
D 1.0 m0.4 mi C0.2 m0.2 m0.4 msin 60
j
D 0.6i 0.346j m
A C
D
E
B
y
x
1
Problem 2.32 Determine the position vector r
AB
in
terms of its components if: (a) D 30
, (b) D 225
.
60 mm
150 mm
x
y
A
C
B
r
AB
r
BC
Solution:
(a) r
AB
D 60 cos30
i C60 sin30
j, or
r
AB
D 51.96i C30j mm. And
(b) r
AB
D 60 cos225
i C60 sin225
j or
r
AB
D 42.4i 42.4j mm.
F
BC F
AB
60
mm
150
mm
y
x
C
F
A
B
1
Problem 2.33 In Problem 2.32 determine the position
vector r
BC
in terms of its components if: (a) D 30
,
(b) D 225
.
Solution:
(a) From Problem 2.32, r
AB
D 51.96i C30j mm. Thus, the coordi-
nates of point B are (51.96, 30) mm. The vector r
BC
is given by
r
BC
D x
C
x
B
i Cy
C
y
B
j, wherey
C
D 0. The magnitude of
the vector r
BC
is 150 mm. Using these facts, we nd that y
BC
D
30 mm, and x
BC
D 146.97 mm.
(b) r
AB
D 60 cos225
i C60 sin225
j or
r
AB
D 42.4i 42.4j mm.
From Problem 2.32, r
AB
D 42.4i 42.4j mm. Thus, the
coordinates of point B are (42.4, 42.4) mm. The vector r
BC
is given by r
BC
D x
C
x
B
i Cy
C
y
B
j, where y
C
D 0. The
magnitude of the vector r
BC
is 150 mm. Using these facts, we
nd that y
BC
D 42.4 mm, and x
BC
D 143.9 mm.
1
Problem 2.34 A surveyor measures the location of
point A and determines that r
OA
D 400i C800j (m). He
wants to determine the location of a point B so that
jr
AB
j D 400 m and jr
OA
Cr
AB
j D 1200 m. What are the
cartesian coordinates of point B?
x
y
A
B
O
r
AB
r
OA
Proposed
roadway
N
Solution: Two possibilities are: The point B lies west of point A,
or point B lies east of point A, as shown. The strategy is to determine
the unknown angles , , and . The magnitude of OA is
jr
OA
j D
400
2
C800
2
D 894.4.
The angle is determined by
tan D
800
400
D 2, D 63.4
.
The angle is determined from the cosine law:
cos D
894.4
2
C1200
2
400
2
2894.41200
D 0.9689.
D 14.3
. The angle is D D 49.12
, 77.74
.
The two possible sets of coordinates of point B are
r
OB
D 1200i cos 77.7 Cj sin 77.7 D 254.67i C1172.66j (m)
r
OB
D 1200i cos 49.1 Cj sin 49.1 D 785.33i C907.34j (m)
The two possibilities lead to B(254.7 m, 1172.7 m) or B(785.3 m,
907.3 m)
B
y
x
0
B A
1
Problem 2.35 The magnitude of the position vector
r
BA
from point B to point A is 6 m and the magnitude of
the position vector r
CA
from point C to point A is 4 m.
What are the components of r
BA
?
A
B C
x
y
3 m
Solution: The coordinates are: Ax
A
, y
A
, B0, 0, C3 m, 0
Thus
r
BA
D x
A
0i Cy
A
0j )6 m
2
D x
A
2
Cy
A
2
r
CA
D x
A
3 mi Cy
A
0j )4 m
2
D x
A
3 m
2
Cy
A
2
Solving these two equations, we nd x
A
D 4.833 m, y
A
D 3.555 m.
We choose the - sign and nd
r
BA
D 4.83i 3.56j m
1
Problem 2.36 In Problem 2.35, determine the compo-
nents of a unit vector e
CA
that points from point C toward
point A.
Strategy: Determine the components of r
CA
and then
divide the vector r
CA
by its magnitude.
Solution: From the previous problem we have
r
CA
D 1.83i 3.56j m, r
CA
D
1.83
2
C3.56
2
m D 3.56 m
Thus
e
CA
D
r
CA
r
CA
D 0.458i 0.889j
1
Problem 2.37 The x and y coordinates of points A, B,
and C of the sailboat are shown.
(a) Determine the components of a unit vector that
is parallel to the forestay AB and points from A
toward B.
(b) Determine the components of a unit vector that
is parallel to the backstay BC and points from C
toward B.
y
x
B (4, 13) m
C
(9, 1) m
A
(0, 1.2) m
Solution:
r
AB
D x
B
x
A
i Cy
B
y
A
j
r
CB
D x
B
x
C
i Cy
C
y
B
j
Points are: A (0, 1.2), B (4, 13) and C (9, 1)
Substituting, we get
r
AB
D 4i C11.8j m, jr
AB
j D 12.46 m
r
CB
D 5i C12j m, jr
CB
j D 13 m
The unit vectors are given by
e
AB
D
r
AB
jr
AB
j
and e
CB
D
r
CB
jr
CB
j
e
AB
D 0.321i C0.947j
e
CB
D 0.385i C0.923j
1
Problem 2.38 The length of the bar AB is 0.6 m.
Determine the components of a unit vector e
AB
that
points from point A toward point B.
B
A
x
y
0.3 m
0.4 m
Solution: We need to nd the coordinates of point Bx, y
We have the two equations
0.3 mCx
2
Cy
2
D 0.6 m
2
x
2
Cy
2
D 0.4 m
2
Solving we nd
x D 0.183 m, y D 0.356 m
Thus
e
AB
D
r
AB
r
AB
D
0.183 m[0.3 m]i C0.356 mj
0.183 mC0.3 m
2
C0.356 m
2
D 0.806i C0.593j
A O
B
y
x 0.3 m
0
.
6

m
0
.
4

m
1
Problem 2.39 Determine the components of a unit
vector that is parallel to the hydraulic actuator BC and
points from B toward C.
1 m
0.6 m Scoop
A
B
D
C
0.15 m
0.6 m
1 m
x
y
Solution: Point B is at (0.75, 0) and point C is at (0, 0.6). The
vector
r
BC
D x
C
x
B
i Cy
C
y
B
j
r
BC
D 0 0.75i C0.6 0j m
r
BC
D 0.75i C0.6j m
jr
BC
j D
0.75
2
C0.6
2
D 0.960 m
e
BC
D
r
BC
jr
BC
j
D
0.75
0.96
i C
0.6
0.96
j
e
BC
D 0.781i C0.625j
1
Problem 2.40 The hydraulic actuator BC in Problem
2.39 exerts a 1.2-kN force F on the joint at C that is
parallel to the actuator and points from B toward C.
Determine the components of F.
Solution: From the solution to Problem 2.39,
e
BC
D 0.781i C0.625j
The vector F is given by F D jFje
BC
F D 1.20.781i C0.625j k N
F D 937i C750j N
1
Problem 2.41 A surveyor nds that the length of the
line OA is 1500 m and the length of line OB is 2000 m.
(a) Determine the components of the position vector
from point A to point B.
(b) Determine the components of a unit vector that
points from point A toward point B.
x
y
60
B
A
O
Proposed bridge
River 30
N
Solution: We need to nd the coordinates of points A and B
r
OA
D 1500 cos 60
i C1500 sin 60
j
r
OA
D 750i C1299j m
Point A is at (750, 1299) (m)
r
OB
D 2000 cos 30
i C2000 sin 30
j m
r
OB
D 1732i C1000j m
Point B is at (1732, 1000) (m)
(a) The vector from A to B is
r
AB
D x
B
x
A
i Cy
B
y
A
j
r
AB
D 982i 299j m
(b) The unit vector e
AB
is
e
AB
D
r
AB
jr
AB
j
D
982i 299j
1026.6
e
AB
D 0.957i 0.291j
1
Problem 2.42 The positions at a given time of the Sun
(S) and the planets Mercury (M), Venus (V), and Earth
(E) are shown. The approximate distance from the Sun
to Mercury is 57 10
6
km, the distance from the Sun to
Venus is 108 10
6
km, and the distance from the Sun
to the Earth is 150 10
6
km. Assume that the Sun and
planets lie in the x y plane. Determine the compo-
nents of a unit vector that points from the Earth toward
Mercury.
40
20
S M
E
V
x
y
Solution: We need to nd r
E
and r
M
in the coordinates shown
r
E
D jr
E
jsin 20
i Cjr
E
jcos 20
j km
r
M
D jr
M
j cos 0
i km
r
E
D 51.3 10
6
i C141 10
6
j km
r
M
D 57 10
6
i km
r
EM
D x
M
x
E
i Cy
M
y
E
j km
r
EM
D 108.3 10
6
i 141 10
6
j km
jr
EM
j D 177.8 10
6
km
e
EM
D
r
EM
jr
EM
j
D C0.609i 0.793j
1
Problem 2.43 For the positions described in Problem
2.42, determine the components of a unit vector that
points from Earth toward Venus.
r
E
D 51.3 10
6
i C141 10
6
j km
The position of Venus is
r
V
D jr
V
j cos 40
i jr
V
j sin 40
j km
r
V
D 82.7 10
6
i 69.4 10
6
j km
r
EV
D x
V
x
E
i Cy
V
y
E
j km
r
EV
D 31.4 10
6
i 210.4 10
6
j km
jr
EV
j D 212.7 10
6
km
e
EV
D
r
EV
jr
EV
j
e
EV
D 0.148i 0.989j
1
Problem 2.44 The rope ABC exerts forces F
BA
and
F
BC
on the block at B. Their magnitudes are equal:
jF
BA
j D jF
BC
j. The magnitude of the total force exerted
on the block at B by the rope is jF
BA
CF
BC
j D 920 N.
Determine jF
BA
j by expressing the forces F
BA
and F
BC
in terms of components and compare your answer to the
answer of Problem 2.12.
20
F
BC
F
BA
B
C
A
B
Solution:
F
BC
D Fcos 20
i Csin 20
j
F
BA
D Fj
F
BC
CF
BA
D Fcos 20
i C[sin 20
1]j
Therefore
920 N
2
D F
2
cos
2
20
C[sin 20
1]
2
)F D 802 N
20
F
BC
F
BA
1
Problem 2.45 The magnitude of the horizontal force
F
1
is 5 kN and F
1
CF
2
CF
3
D 0. What are the magni-
tudes of F
2
and F
3
?
F
1
F
2
F
3
30
45
x
y
Solution: Using components we have
F
x
: 5 kN CF
2
cos 45
F
3
cos 30
D 0
F
y
: F
2
sin 45
CF
3
sin 30
D 0
Solving simultaneously yields:
) F
2
D 9.66 kN, F
3
D 13.66 kN
1
Problem 2.46 Four groups engage in a tug-of-war. The
magnitudes of the forces exerted by groups B, C, and D
are jF
B
j D 800 lb, jF
C
j D 1000 lb, jF
D
j D 900 lb. If the
vector sum of the four forces equals zero, what are the
magnitude of F
A
and the angle ?
F
B
x
y
70
30
20
F
C
F
A
F
D
Solution: The strategy is to use the angles and magnitudes to
determine the force vector components, to solve for the unknown force
F
A
and then take its magnitude. The force vectors are
F
B
D 800i cos 110
Cj sin 110
D 273.6i C751.75j
F
C
D 1000i cos 30
Cj sin 30
D 866i C500j
F
D
D 900i cos20
Cj sin20
D 845.72i 307.8j
F
A
D jF
A
ji cos180 C Cj sin180 C
D jF
A
ji cos j sin
The sum vanishes:
F
A
CF
B
CF
C
CF
D
D i1438.1 jF
A
j cos
Cj944 jF
A
j sin D 0
From which F
A
D 1438.1i C944j. The magnitude is
jF
A
j D
1438
2
C944
2
D 1720 lb
The angle is: tan D
944
1438
D 0.6565, or D 33.3
1
Problem 2.47 The two vernier engines of the launch
vehicle exert thrusts (forces) that control the vehicles
attitude, or angular position. Each engine exerts a 5000-
lb thrust. At the present instant, the thrusts are in the
directions shown. (a) What is the x component of the
force exerted on the vehicle by the vernier engines?
(b) If the launch vehicles main engines exert a 200,000-
lb thrust parallel to the y axis, what is the y component
of the total force on the launch vehicle?
30
y
15
x
Vernier
engines
Solution:
(a)
F
x
: 5000 lb sin 30
5000 lb sin 15
D 1210 lb
(b)
F
y
: 5000 lb cos 30
C5000 lb cos 15
C200,000 lb
D 209,160 lb
1
Problem 2.48 The bracket must support the two forces
shown, where jF
1
j D jF
2
j D 2 kN. An engineer deter-
mines that the bracket will safely support a total force
of magnitude 3.5 kN in any direction. Assume that 0
90
. What is the safe range of the angle ?

F
2
F
1
Solution:
F
x
: 2 kN C2 kN cos D 2 kN1 Ccos
F
y
: 2 kN sin
Thus the total force has a magnitude given by
F D 2 kN
1 Ccos
2
Csin
2
D 2 kN
p
2 C2 cos D 3.5 kN
Thus when we are at the limits we have
2 C2 cos D
3.5 kN
2 kN
2
D
49
16
)cos D
17
32
) D 57.9
In order to be safe we must have

57.9
90
F
1
F
1
+ F
2
F
2
1
Problem 2.49 The gure shows three forces acting on
a joint of a structure. The magnitude of F
c
is 60 kN, and
F
A
CF
B
CF
C
D 0. What are the magnitudes of F
A
and
F
B
?
y
x
F
B
F
C
F
A
15
40
Solution: We need to write each force in terms of its components.
F
A
D jF
A
j cos 40i CjF
A
j sin 40j kN
F
B
D jF
B
j cos 195
i CjF
B
j sin 195j kN
F
C
D jF
C
j cos 270
i CjF
C
j sin 270
j kN
Thus F
C
D 60j kN
Since F
A
CF
B
CF
C
D 0, their components in each direction must also
sum to zero.
F
Ax
CF
Bx
CF
Cx
D 0
F
Ay
CF
By
CF
Cy
D 0
Thus,
jF
A
j cos 40
CjF
B
j cos 195
C0 D 0
jF
A
j sin 40
CjF
B
j sin 195
60 kN D 0
Solving for jF
A
j and jF
B
j, we get
jF
A
j D 137 kN, jF
B
j D 109 kN
F
B
F
C
F
A
195
270
40
x
1
Problem 2.50 Four forces act on a beam. The vector
sum of the forces is zero. The magnitudes jF
B
j D
10 kN and jF
C
j D 5 kN. Determine the magnitudes of
F
A
and F
D
.
F
D
30
F
B
F
C
F
A
Solution: Use the angles and magnitudes to determine the vectors,
and then solve for the unknowns. The vectors are:
F
A
D jF
A
ji cos 30
Cj sin 30
D 0.866jF
A
ji C0.5jF
A
jj
F
B
D 0i 10j, F
C
D 0i C5j, F
D
D jF
D
ji C0j.
Take the sum of each component in the x- and y-directions:
F
x
D 0.866jF
A
j jF
D
ji D 0
and
F
y
D 0.5jF
A
j 10 5j D 0.
From the second equation we get jF
A
j D 10 kN . Using this value in
the rst equation, we get jF
D
j D 8.7 kN
1
Problem 2.51 Six forces act on a beam that forms part
of a buildings frame. The vector sum of the forces
is zero. The magnitudes jF
B
j D jF
E
j D 20 kN, jF
C
j D
16 kN, and jF
D
j D 9 kN. Determine the magnitudes of
F
A
and F
G
.
70
40 40 50
F
A
F
C
F
D
F
G
F
E
F
B
Solution: Write each force in terms of its magnitude and direction
as
F D jFj cos i CjFj sin j
where is measured counterclockwise from the Cx-axis.
Thus, (all forces in kN)
F
A
D jF
A
j cos 110
i CjF
A
j sin 110
j kN
F
B
D 20 cos 270
i C20 sin 270
j kN
F
C
D 16 cos 140
i C16 sin 140
j kN
F
D
D 9 cos 40
i C9 sin 40
j kN
F
E
D 20 cos 270
i C20 sin 270
j kN
F
G
D jF
G
j cos 50
i CjF
G
j sin 50
j kN
We know that the x components and y components of the forces must
add separately to zero.
Thus
F
Ax
CF
Bx
CF
Cx
CF
Dx
CF
Ex
CF
Gx
D 0
F
Ay
CF
By
CF
Cy
CF
Dy
CF
Ey
CF
Gy
D 0
jF
A
j cos 110
C0 12.26 C6.89 C0 CjF

G
j cos 50
D 0
jF
A
j sin 110
20 C10.28 C5.79 20 CjF

G
j sin 50
D 0
Solving, we get
jF
A
j D 13.0 kN jF
G
j D 15.3 kN
x
y
1
Problem 2.52 The total weight of the man and parasail
is jWj D 230 lb. The drag force D is perpendicular to
the lift force L. If the vector sum of the three forces is
zero, what are the magnitudes of L and D?
20
x
y
L
D
W
Solution: Three forces in equilibrium form a closed triangle. In
this instance it is a right triangle. The law of sines is
jWj
sin 90
D
jLj
sin 70
D
jDj
sin 20
From which:
jLj D jWj sin 70
D 2300.9397 D 216.1 lb
jDj D jWj sin 20
D 2300.3420 D 78.66 lb
x
y
W
L
D
20
W
L
D
20
1
Problem 2.53 The three forces acting on the car are
shown. The force T is parallel to the x axis and the
magnitude of the force W is 14 kN. If T CWCN D 0,
what are the magnitudes of the forces T and N?
20
20
W
T
N
y
x
Solution:
F
x
: T Nsin 20
D 0
F
y
: Ncos 20
14 kN D 0
Solving we nd
N D 14.90 N, T D 5.10 N
1
Problem 2.54 The cables A, B, and C help support a
pillar that forms part of the supports of a structure. The
magnitudes of the forces exerted by the cables are equal:
jF
A
j D jF
B
j D jF
C
j. The magnitude of the vector sum of
the three forces is 200 kN. What is jF
A
j?
F
A
F
B
F
C
4 m
A B C
6 m
4 m
4 m
Solution: Use the angles and magnitudes to determine the vector
components, take the sum, and solve for the unknown. The angles
between each cable and the pillar are:
A
D tan
1
4 m
6 m
D 33.7
B
D tan
1
8
6
D 53.1
C
D tan
1
12
6
D 63.4
.
Measure the angles counterclockwise form the x-axis. The force vec-
tors acting along the cables are:
F
A
D jF
A
ji cos 303.7
Cj sin 303.7
D 0.5548jF
A
ji 0.8319jF
A
jj
F
B
D jF
B
ji cos 323.1
Cj sin 323.1
D 0.7997jF
B
ji 0.6004jF
B
jj
F
C
D jF
C
ji cos 333.4
Cj sin 333.4
D 0.8944jF
C
ji0.4472jF
C
jj
The sum of the forces are, noting that each is equal in magnitude, is
F D 2.2489jF
A
ji 1.8795jF
A
jj.
The magnitude of the sum is given by the problem:
200 D jF
A
j
2.2489
2
C1.8795
2
D 2.931jF
A
j,
from which jF
A
j D 68.24 kN
1
Problem 2.55 The total force exerted on the top of the
mast B by the sailboats forestay AB and backstay BC is
180i 820j (N). What are the magnitudes of the forces
exerted at B by the cables AB and BC?
y
x
B (4, 13) m
C
(9, 1) m
A
(0, 1.2) m
Solution: We rst identify the forces:
F
AB
D T
AB
4.0 mi 11.8 mj
4.0 m
2
C11.8 m
2
F
BC
D T
BC
5.0 mi 12.0 mj
5.0 m
2
C12.0 m
2
Then if we add the force we nd
F
x
:
4
p
155.24
T
AB
C
5
p
169
T
BC
D 180 N
F
y
:
11.8
p
155.24
T
AB

12
p
169
T
BC
D 820 N
Solving simultaneously yields:
) T
AB
D 226 N, T
AC
D 657 N
1
Problem 2.56 The structure shown forms part of a
truss designed by an architectural engineer to support
the roof of an orchestra shell. The members AB, AC,
and AD exert forces F
AB
, F
AC
, and F
AD
on the joint A.
The magnitude jF
AB
j D 4 kN. If the vector sum of the
three forces equals zero, what are the magnitudes of F
AC
and F
AD
?
F
AB
A
(4, 1) m
B
C
D
x
y
F
AC
F
AD
(2, 3) m
(4, 2) m
Solution: Determine the unit vectors parallel to each force:
e
AD
D
2
p
2
2
C3
2
i C
3
p
2
2
C3
2
j D 0.5547i 0.8320j
e
AC
D
4
p
4
2
C1
2
i C
1
p
4
2
C1
2
j D 0.9701i C0.2425j
e
AB
D
4
p
4
2
C2
2
i C
2
p
4
2
C2
2
j D 0.89443i C0.4472j
The forces are F
AD
D jF
AD
je
AD
, F
AC
D jF
AC
je
AC
,
F
AB
D jF
AB
je
AB
D 3.578i C1.789j. Since the vector sum of the forces
vanishes, the x- and y-components vanish separately:
F
x
D 0.5547jF
AD
j 0.9701jF
AC
j C3.578i D 0, and
F
y
D 0.8320jF
AD
j C0.2425jF
AC
j C1.789j D 0
These simultaneous equations in two unknowns can be solved by any
standard procedure. An HP-28S hand held calculator was used here:
The results: jF
AC
j D 2.108 kN , jF
AD
j D 2.764 kN
A
B
C
D
1
Problem 2.57 The distance s D 45 in.
(a) Determine the unit vector e
BA
that points from B
toward A.
(b) Use the unit vector you obtained in (a) to determine
the coordinates of the collar C.
y
x
s
A
B
C
(14, 45) in
(75, 12) in
Solution: The unit vector from B to A is the vector from B to A
divided by its magnitude. The vector from B to A is given by
r
BA
D x
A
x
B
i Cy
A
y
B
j or r
BA
D 14 75i C45 12j in.
Hence, vector from B to A is given by r
BA
D 61i C33j in. The
magnitude of the vector from B to A is 69.4 in and the unit vector
from B toward A is e
BA
D 0.880i C0.476j.
1
Problem 2.58 In Problem 2.57, determine the x and y
coordinates of the collar C as functions of the distance s.
Solution: The coordinates of the point C are given by
x
C
D x
B
Cs0.880 and y
C
D y
B
Cs0.476.
Thus, the coordinates of point C are x
C
D 75 0.880s in and y
C
D
12 C0.476s in. Note from the solution of Problem 2.57 above, 0
s 69.4 in.
1
Problem 2.59 The position vector r goes from point
A to a point on the straight line between B and C. Its
magnitude is jrj D 6 ft. Express r in terms of scalar
components.
x
y
A
(7, 9) ft
(12, 3) ft
(3, 5) ft
B
C
r
Solution: Determine the perpendicular vector to the line BC from
point A, and then use this perpendicular to determine the angular orien-
tation of the vector r. The vectors are
r
AB
D 7 3i C9 5j D 4i C4j, jr
AB
j D 5.6568
r
AC
D 12 3i C3 5j D 9i 2j, jr
AC
j D 9.2195
r
BC
D 12 7i C3 9j D 5i 6j, jr
BC
j D 7.8102
The unit vector parallel to BC is
e
BC
D
r
BC
jr
BC
j
D 0.6402i 0.7682j D i cos 50.19
j sin 50.19
.
Add 90
to the angle to nd the two possible perpendicular vectors:

e
AP1
D i cos 140.19
j sin 140.19
, or
e
AP2
D i cos 39.8
Cj sin 39.8
.
Choose the latter, since it points from A to the line.
Given the triangle dened by vertices A, B, C, then the magnitude of
the perpendicular corresponds to the altitude when the base is the line
BC. The altitude is given by h D
2area
base
. From geometry, the area of
a triangle with known sides is given by
area D
p
ss jr
BC
js jr
AC
js jr
AB
j,
where s is the semiperimeter, s D
1
2
jr
AC
j Cjr
AB
j Cjr
BC
j. Substi-
tuting values, s D 11.343, and area D 22.0 and the magnitude of the
perpendicular is jr
AP
j D
222
7.8102
D 5.6333. The angle between the
vector r and the perpendicular r
AP
is D cos
1
5.6333
6
D 20.1
. Thus
the angle between the vector r and the x-axis is D 39.8 20.1 D
59.1
or 19.7
. The rst angle is ruled out because it causes the vector

r to lie above the vector r
AB
, which is at a 45
angle relative to the

x-axis. Thus:
r D 6i cos 19.7
Cj sin 19.7
D 5.65i C2.02j
y
x
B[7,9]
A[3,5]
C[12,3]
P
r
1
Problem 2.60 Let r be the position vector from point
C to the point that is a distance s meters from point
A along the straight line between A and B. Express r
in terms of scalar components. (Your answer will be in
terms of s.)
x
y
A
(9, 3) m
(10, 9) m
(3, 4) m
B
C
r
s
Solution: Determine the ratio of the parts of the line AB and use
this value to determine r. The vectors are:
r
AB
D 10 3i C9 4j D 7i C5j, jr
AB
j D 8.602
r
CA
D 3 9i C4 3 D 6i C1j, jr
CA
j D 6.0828
r
CB
D 10 9i C9 3j D 1i C6j, jr
CB
j D 6.0828
The ratio of the magnitudes of the two parts of the line is
jr
BP
j
jr
PA
j
D R D
s
jr
BC
j s
Since the ratio is a scalar, then r
BP
D Rr
PA
, from which r r
CA
D
Rr
CB
r.
Solve for the vector r, r D
Rr
CB
Cr
CA
1 CR
. Substitute the values of the
vectors, note that R D
s
8.602 s
, and reduce algebraically:
r D 0.8138s 6i C0.5813s C1j (m) :
Check: An alternate solution: Find the angle of the line AB:
D tan
1

5
7
D 35.54
.
The components of s,
s D jsji cos Cj sin D jsj0.8138i C0.5812j.
The coordinates of point P 3 C0.8138jsj, 4 C0.5812jsj. Subtract
coordinates of point C to get
r D 0.8135jsj 6i C0.5812jsj C1j . check.
y
x
A[3,4] m
C[9,3] m
B[10,9] m
r
8
P
1
Problem 2.61 A vector U D 3i 4j 12k. What is its
magnitude?
Strategy: The magnitude of a vector is given in terms
of its components by Eq. (2.14).
Solution: Use denition given in Eq. (14). The vector magni-
tude is
jUj D
3
2
C4
2
C12
2
D 13
1
Problem 2.62 The vector e D
1
3
i C
2
3
j Ce
z
k is a unit
vector. Determine the component e
z
. (Notice that there
are two answers.)
Solution:
e D
1
3
i C
2
3
j Ce
z
k )
1
3
2
C
2
3
2
Ce
z
2
D 1 )e
2
D
4
9
Thus
e
z
D
2
3
or e
z
D
2
3
1
Problem 2.63 An engineer determines that an attach-
ment point will be subjected to a force F D 20i CF
y
j
45k kN. If the attachment point will safely support a
force of 80-kN magnitude in any direction, what is the
acceptable range of values for F
y
?
y
z
x
F
Solution:
80
2
F
2
x
CF
2
y
CF
2
z
80
2
20
2
CF
2
y
C45
2
To nd limits, use equality.
F
2
y
LIMIT
D 80
2
20
2
45
2
F
2
y
LIMIT
D 3975
F
y
LIMIT
D C63.0, 63.0 kN
jF
y
LIMIT
j 63.0 kN 63.0 kN F
y
63.0 kN
1
Problem 2.64 A vector U D U
x
i CU
y
j CU
z
k. Its
magnitude is jUj D 30. Its components are related by
the equations U
y
D 2U
x
and U
z
D 4U
y
. Determine the
components. (Notice that there are two answers.)
Solution: Substitute the relations between the components, deter-
mine the magnitude, and solve for the unknowns. Thus
U D U
x
i C2U
x
j C42U
x
k D U
x
1i 2j 8k
where U
x
can be factored out since it is a scalar. Take the magnitude,
noting that the absolute value of jU
x
j must be taken:
30 D jU
x
j
p
1
2
C2
2
C8
2
D jU
x
j8.31.
Solving, we get jU
x
j D 3.612, or U
x
D 3.61. The two possible
vectors are
U D C3.61i C23.61j C423.61k
D 3.61i 7.22j 28.9k
U D 3.61i C23.61j
C423.61k D 3.61i C7.22j C28.9k
1
Problem 2.65 An object is acted upon by two
forces F
1
D 20i C30j 24k (kN) and F
2
D 60i C
20j C40k (kN). What is the magnitude of the total force
acting on the object?
Solution:
F
1
D 20i C30j 24k kN
F
2
D 60i C20j C40k kN
F D F
1
CF
2
D 40i C50j C16k kN
Thus
F D
40 kN
2
C50 kN
2
C16 kN
2
D 66 kN
1
Problem 2.66 Two vectors U D 3i 2j C6k and V D
4i C12j 3k.
(a) Determine the magnitudes of U and V.
(b) Determine the magnitude of the vector 3U C2V.
Solution: The magnitudes:
(a)
jUj D
p
3
2
C2
2
C6
2
D 7
and
jVj D
p
4
2
C12
2
C3
2
D 13
The resultant vector
3U C2V D 9 C8i C6 C24j C18 6k
D 17i C18j C12k
(b) The magnitude
j3U C2Vj D
p
17
2
C18
2
C12
2
D 27.51
1
Problem 2.67 A vector U D 40i 70j 40k.
(a) What is its magnitude?
(b) What are the angles
x
,
y
, and
z
between U and
the positive coordinate axes?
Strategy: Since you know the components of U, you
can determine the angles
x
,
y
, and
z
from Eqs. (2.15).
Solution: The magnitude:
(a) jUj D
p
40
2
C70
2
C40
2
D 90
(b) The direction cosines:
U D 90
40
90
i
70
90
j
40
90
D 900.4444i 0.7777j 0.4444k

U D 90i cos 63.6
Cj cos 141.1
Ckcos 116.4
1
Problem 2.68 A force vector is given in terms of its
components by F D 10i 20j 20k (N).
(a) What are the direction cosines of F?
(b) Determine the components of a unit vector e that
has the same direction as F.
Solution:
F D 10i 20j 20k N
F D
10 N
2
C20 N
2
C20 N
2
D 30 N
(a)
cos
x
D
10 N
30 N
D 0.333, cos
y
D
20 N
30 N
D 0.667,
cos
z
D
20 N
30 N
D 0.667
(b) e D 0.333i 0.667j 0.667k
1
Problem 2.69 The cable exerts a force F on the hook
at O whose magnitude is 200 N. The angle between the
vector F and the x axis is 40
, and the angle between

the vector F and the y axis is 70
.
(a) What is the angle between the vector F and the
z axis?
(b) Express F in terms of components.
Strategy: (a) Because you know the angles between
the vector F and the x and y axes, you can use Eq. (2.16)
to determine the angle between F and the z axis.
(Observe from the gure that the angle between F and
the z axis is clearly within the range 0 <
z
< 180
.) (b)
The components of F can be obtained with Eqs. (2.15).
y
x
z
O
70
40
F
Solution:
(a) cos 40
2
Ccos 70
2
Ccos
z
2
D 1 )
z
D 57.0
(b)
F D 200 Ncos 40
i Ccos 70
j Ccos 57.0
k
F D 153.2i C68.4j C108.8k N
1
Problem 2.70 A unit vector has direction cosines
cos
x
D 0.5 and cos
y
D 0.2. Its z component is posi-
tive. Express it in terms of components.
Solution: Use Eq. (2.15) and (2.16). The third direction cosine is
cos
z
D
1 0.5
2
0.2
2
D C0.8426.
The unit vector is
u D 0.5i C0.2j C0.8426k
1
Problem 2.71 The airplanes engines exert a total thrust
force T of 200-kN magnitude. The angle between T and
the x axis is 120
, and the angle between T and the y axis

is 130
. The z component of T is positive.

(a) What is the angle between T and the z axis?
(b) Express T in terms of components.
130
120
y
x
z
T
y
x
z
Solution: The x- and y-direction cosines are
l D cos 120
D 0.5, m D cos 130
D 0.6428
from which the z-direction cosine is
n D cos
z
D
1 0.5
2
0.6428
2
D C0.5804.
Thus the angle between T and the z-axis is
(a)
z
D cos
1
0.5804 D 54.5
, and the thrust is
T D 2000.5i 0.6428j C0.5804k, or:
(b) T D 100i 128.6j C116.1k (kN)
1
Problem 2.72 Determine the components of the posi-
tion vector r
BD
from point B to point D. Use your result
to determine the distance from B to D.
B (5, 0, 3) m
C (6, 0, 0) m
D (4, 3, 1) m
z
y
x
A
Solution: We have the following coordinates: A0, 0, 0,
B5, 0, 3 m, C6, 0, 0 m, D4, 3, 1 m
r
BD
D 4 m5 mi C3 m0j C1 m3 mk
D i C3j 2k m
r
BD
D
1 m
2
C3 m
2
C2 m
2
D 3.74 m
1
Problem 2.73 What are the direction cosines of the
position vector r
BD
from point B to point D?
Solution:
cos
x
D
1 m
3.74 m
D 0.267, cos
y
D
3 m
3.74 m
D 0.802,
cos
z
D
2 m
3.74 m
D 0.535
1
Problem 2.74 Determine the components of the unit
vector e
CD
that points from point C toward point D.
Solution: We have the following coordinates: A0, 0, 0,
B5, 0, 3 m, C6, 0, 0 m, D4, 3, 1 m
r
CD
D 4 m6 mi C3 m0j C1 m0k D 2i C3j C1k
r
CD
D
2 m
2
C3 m
2
C1 m
2
D 3.74 m
Thus
e
CD
D
1
3.74 m
2i C3j Ck m D 0.535i C0.802j C0.267k
1
unit vector e
CD
that points from point C toward point D?
Solution: Using Problem 2.74
cos
x
D 0.535, cos
y
D 0.802, cos
z
D 0.267
1
Problem 2.76 The bar CD exerts a force F on the
joint at point D that points from point C toward point
D. Its magnitude is jFj D 40 kN. Express F in terms
of components.
Solution: Using Problem 2.74
F D 40 kNe
CD
D 40 kN0.535i C0.802j C0.267k
F D 21.4i C32.1j C10.69k kN
1
Problem 2.77 Astronauts on the space shuttle use radar
to determine the magnitudes and direction cosines of the
position vectors of two satellites A and B. The vector r
A
from the shuttle to satellite A has magnitude 2 km, and
direction cosines cos
x
D 0.768, cos
y
D 0.384, cos
z
D
0.512. The vector r
B
from the shuttle to satellite B has
magnitude 4 km and direction cosines cos
x
D 0.743,
cos
y
D 0.557, cos
z
D 0.371. What is the distance
between the satellites?
x
r
B
z
B
A
r
A
y
Solution: The two position vectors are:
r
A
D 20.768iC0.384jC 0.512k D1.536i C0.768j C1.024k (km)
r
B
D 40.743iC0.557j 0.371k D2.972i C2.228j 1.484k (km)
The distance is the magnitude of the difference:
jr
A
r
B
j
D
1.5362.927
2
C0.7682.228
2
C1.0241.484
2
D 3.24 (km)
1
Problem 2.78 Archaeologists measure a pre-Colum-
bian ceremonial structure and obtain the dimensions
shown. Determine (a) the magnitude and (b) the direc-
tion cosines of the position vector from point A to
point B.
4 m
y
10 m
z
b
x
A
C
10 m
B
4 m
8 m
8 m
Solution: The coordinates are A(0, 16, 14), and B(10, 8, 4). The
vector from A to B is
r
AB
D 10 0i C8 16j C4 14k D 10i 8j 10k.
The magnitude is
(a)
jr
AB
j D
p
10
2
C8
2
C10
2
D 16.2 m
, and
(b) The direction cosines are
cos
x
D
10
16.2
D 0.6155,
cos
y
D
8
16.2
D 0.4938,
and cos
z
D
10
16.2
D 0.6155 .
1
Problem 2.79 Consider the structure described in
Problem 2.78. After returning to the United States,
an archaeologist discovers that a graduate student has
erased the only data le containing the dimension b.
But from recorded GPS data he is able to calculate that
the distance from point B to point C is 16.61 m.
(a) What is the distance b?
(b) Determine the direction cosines of the position
vector from B to C.
Solution: We have the coordinates B10 m, 8 m, 4 m,
C10 mCb, 0, 18 m
r
BC
D 10 mCb 10 mi C0 8 mj C18 m4 mk
r
BC
D bi C8 mj C14 mk
(a) Now we have
16.61 m
2
D b
2
C8 m
2
C14 m
2
)b D 3.99 m
(b)
cos
x
D
3.99 m
16.61 m
D 0.240, cos
y
D
8 m
16.61 m
D 0.482,
cos
z
D
14 m
16.61 m
D 0.843
1
Problem 2.80 Observers at A and B use theodolites to
measure the direction from their positions to a rocket
in ight. If the coordinates of the rockets position at a
given instant are (4, 4, 2) km, determine the direction
cosines of the vectors r
AR
and r
BR
that the observers
would measure at that instant.
B (5,0,2) km
A
r
AR
r
BR
x
y
z
Solution: The vector r
AR
is given by
r
AR
D 4i C4j C2k km
and the magnitude of r
AR
is given by
jr
AR
j D
4
2
C4
2
C2
2
km D 6 km.
The unit vector along AR is given by
u
AR
D r
AR
/jr
AR
j.
Thus, u
AR
D 0.667i C0.667j C0.333k
and the direction cosines are
cos
x
D 0.667, cos
y
D 0.667, and cos
z
D 0.333.
The vector r
BR
is given by
r
BR
D x
R
x
B
i Cy
R
y
B
j Cz
R
z
B
k km
D 4 5i C4 0j C2 2k km
and the magnitude of r
BR
is given by
jr
BR
j D
1
2
C4
2
C0
2
km D 4.12 km.
The unit vector along BR is given by
e
BR
D r
BR
/jr
BR
j.
Thus, u
BR
D 0.242i C0.970j C0k
and the direction cosines are
cos
x
D 0.242, cos
y
D 0.970, and cos
z
D 0.0.
1
Problem 2.81 In Problem 2.80, suppose that the coor-
dinates of the rockets position are unknown. At a given
instant, the person at A determines that the direction
cosines of r
AR
are cos
x
D 0.535, cos
y
D 0.802, and
cos
z
D 0.267, and the person at B determines that the
direction cosines of r
BR
are cos
x
D 0.576, cos
y
D
0.798, and cos
z
D 0.177. What are the coordinates of
the rockets position at that instant.
Solution: The vector from A to B is given by
r
AB
D x
B
x
A
i Cy
B
y
A
j Cz
B
z
A
k or
r
AB
D 5 0i C0 0j C2 0k D 5i C2k km.
The magnitude of r
AB
is given by jr
AB
j D
5
2
C2
2
D 5.39 km.
The unit vector along AB, u
AB
, is given by
u
AB
D r
AB
/jr
AB
j D 0.928i C0j C0.371k km.
The unit vector along the line AR,
u
AR
D cos
x
i Ccos
y
j Ccos
z
k D 0.535i C0.802j C0.267k.
Similarly, the vector along BR, u
BR
D 0.576i C0.798 0.177k.
From the diagram in the problem statement, we see that r
AR
D
r
AB
Cr
BR
. Using the unit vectors, the vectors r
AR
and r
BR
can be
written as
r
AR
D 0.535r
AR
i C0.802r
AR
j C0.267r
AR
k, and
r
BR
D 0.576r
BR
i C0.798r
BR
j 0.177r
BR
k.
Substituting into the vector addition r
AR
D r
AB
Cr
BR
and equating
components, we get, in the x direction, 0.535r
AR
D 0.576r
BR
, and
in the y direction, 0.802r
AR
D 0.798r
BR
. Solving, we get that r
AR
D
4.489 km. Calculating the components, we get
r
AR
D r
AR
e
AR
D 0.5354.489i C0.8024.489j C0.2674.489k.
Hence, the coordinates of the rocket, R, are (2.40, 3.60, 1.20) km.
1
Problem 2.82* The height of Mount Everest was orig-
inally measured by a surveyor in the following way. He
rst measured the altitudes of two points and the hori-
zontal distance between them. For example, suppose that
the points A and B are 3000 m above sea level and are
10,000 m apart. He then used a theodolite to measure the
direction cosines of the vector r
AP
from point A to the
top of the mountain P and the vector r
BP
from point B to
P. Suppose that the direction cosines of r
AP
are cos
x
D
0.5179, cos
y
D 0.6906, and cos
z
D 0.5048, and the
direction cosines of r
BP
are cos
x
D 0.3743, cos
y
D
0.7486, and cos
z
D 0.5472. Using this data, determine
the height of Mount Everest above sea level.
P
y
A
z
B
x
Solution: We have the following coordinates A0, 0, 3000 m,
B10, 000, 0, 3000 m, Px, y, z
Then
r
AP
D xi Cyj Cz 3000 mk D r
AP
0.5179i C0.6906j C0.5048k
r
BP
D x 10,000 mi Cyj Cz 3000 mk
D r
BP
0.3743i C0.7486j C0.5472k
Equating components gives us ve equations (one redundant) which
we can solve for the ve unknowns.
x D r
AP
0.5179
y D r
AP
0.6906
z 3000 m D r
AP
0.5048 ) z D 8848 m
x 10000 m D r
BP
0.7486
y D r
BP
0.5472
1
Problem 2.83 The distance from point O to point A is
20 ft. The straight line AB is parallel to the y axis, and
point B is in the x-z plane. Express the vector r
OA
in
terms of scalar components.
Strategy: You can resolve r
OA
into a vector from O to
B and a vector from B to A. You can then resolve the
vector form O to B into vector components parallel to
the x and z axes. See Example 2.9.
y
x
z
30
B
O
A
r
OA
60
Solution: See Example 2.10. The length BA is, from the right
triangle OAB,
jr
AB
j D jr
OA
j sin 30
D 200.5 D 10 ft.
Similarly, the length OB is
jr
OB
j D jr
OA
j cos 30
D 200.866 D 17.32 ft
The vector r
OB
can be resolved into components along the axes by the
right triangles OBP and OBQ and the condition that it lies in the x-z
plane.
Hence,
r
OB
D jr
OB
ji cos 30
Cj cos 90
Ckcos 60
or
r
OB
D 15i C0j C8.66k.
The vector r
BA
can be resolved into components from the condition
that it is parallel to the y-axis. This vector is
r
BA
D jr
BA
ji cos 90
Cj cos 0
Ckcos 90
D 0i C10j C0k.
The vector r
OA
is given by r
OA
D r
OB
Cr
BA
, from which
r
OA
D 15i C10j C8.66k (ft)
P
r
OA
B
Q
O
A
z
y
x
60
30
1
Problem 2.84 The pole supporting the sign is parallel
to the x axis and is 2 m long. Point A is contained in the
y-z plane. Express the position vector r from the origin
to the end of the pole in terms of components.
Bedford
Falls
Bedford
Falls
45
60
O
x
y
r
z
A
Solution: The vector can be written in two ways.
r D 2 mi Cyj Czk
D rsin 45
i Ccos 45
sin 60
j Ccos 45
cos 60
k
Equating components we nd
2 m D r sin 45
y D r cos 45
sin 60
z D r cos 45
cos 60
)r D 2.83 m, y D 1.732 m, z D 1 m
Thus the vector is
r D 2.00i C1.732j C1.000k m
1
Problem 2.85 The straight line from the head of F to
point A is parallel to the y axis, and point A is contained
in the x-z plane. The x component of F is F
x
D 100 N.
(a) What is the magnitude of F?
(b) Determine the angles
x
,
y
, and
z
between F and
the positive coordinate axes.
y
z
x
A
F
20
60
O
Solution: The triangle OpA is a right triangle, since OA lies in
the x-z plane, and Ap is parallel to the y-axis. Thus the magnitudes
are given by the sine law:
jr
Ap
j
sin 20
D
jFj
sin 90
D
jr
OA
j
sin 70
,
thus jr
Ap
j D jFj0.342 and jr
OA
j D jFj0.9397. The components of
the two vectors are from the geometry
r
OA
D jr
OA
ji cos 30
Cj cos 90
Ckcos 60
D jr
OA
j0.866i C0j C0.5k and
r
Ap
D jr
Ap
ji cos 90
Cj cos 0
Ckcos 90
D jr
Ap
j0i C1j C0k
Noting F D r
OA
Cr
Ap
, then from above
F D jFj0.34200i C1j C0k CjFj0.93970.866i C0j C0.5k
F D jFj0.8138i C0.342j C0.4699k
The x-component is given to be 100 N. Thus,
(a) jFj D
100
0.8138
D 122.9 N The angles are given by
(b)
x
D cos
1
0.8138 D 35.5
,
y
D cos
1
0.342 D 70
and
z
D cos
1
0.4699 D 62
y
z
x
A
O
60
20
F
q
P
1
Problem 2.86 The position of a point P on the surface
of the earth is specied by the longitude , measured
from the point G on the equator directly south of Green-
wich, England, and the latitude L measured from the
equator. Longitude is given as west (W) longitude or east
(E) longitude, indicating whether the angle is measured
west or east from point G. Latitude is given as north (N)
latitude or south (S) latitude, indicating whether the angle
is measured north or south from the equator. Suppose
that P is at longitude 30
W and latitude 45
N. Let R
E
be the radius of the earth. Using the coordinate system
shown, determine the components of the position vector
of P relative to the center of the earth. (Your answer will
be in terms of R
E
.)
G
x
y
N
Equator
z
O
L
P
Solution: Drop a vertical line from point P to the equatorial plane.
Let the intercept be B (see gure). The vector position of P is the sum
of the two vectors: P D r
OB
Cr
BP
. The vector r
OB
D jr
OB
ji cos C
0j Cksin . From geometry, the magnitude is jr
OB
j D R
E
cos .
The vector r
BP
D jr
BP
j0i C1j C0k. From geometry, the magnitude
is jr
BP
j D R
E
sin
P
. Substitute: P D r
OB
Cr
BP
D R
E
i cos cos C
j sin Cksin cos . Substitute from the problem statement: D
C30
, D 45
. Hence P D R
E
0.6124i C0.707j C0.3536k
y
z
x
P
B
O
1
Problem 2.87 An engineer calculates that the magni-
tude of the axial force in one of the beams of a geodesic
dome is jP D 7.65 kN. The cartesian coordinates of the
endpoints A and B of the straight beam are (12.4,
22.0, 18.4) m and (9.2, 24.4, 15.6) m, respectively.
Express the force P in terms of scalar components.
B
P
A
Solution: The components of the position vector from B to A are
r
BA
D x
A
x
B
i Cy
A
y
B
j Cz
A
z
B
k
D 12.4 C9.2i C22.0 24.4j
C18.4 C15.6k
D 3.2i 2.4j 2.8k m.
Dividing this vector by its magnitude, we obtain a unit vector that
points from B toward A:
e
BA
D 0.655i 0.492j 0.573k.
Therefore
P D jPje
BA
D 7.65 e
BA
D 5.01i 3.76j 4.39k kN.
1
Problem 2.88 The cable BC exerts an 8-kN force F
on the bar AB at B.
(a) Determine the components of a unit vector that
points from B toward point C.
(b) Express F in terms of components.
y
B (5, 6, 1) m
A
C (3, 0, 4) m
z
x
F
Solution:
(a) e
BC
D
r
BC
jr
BC
j
D
x
C
x
B
i Cy
C
y
B
j Cz
C
z
B
k
x
C
x
B
2
Cy
C
y
B
2
Cz
C
z
B
2
e
BC
D
2i 6j C3k
p
2
2
C6
2
C3
2
D
2
7
i
6
7
j C
3
7
k
e
BC
D 0.286i 0.857j C0.429k
(b) F D jFje
BC
D 8e
BC
D 2.29i 6.86j C3.43k kN
1
Problem 2.89 A cable extends from point C to point
E. It exerts a 50-lb force T on plate C that is directed
along the line from C to E. Express T in terms of scalar
components.
D
x
C
B
A
20
4 ft
4 ft
6 ft
2 ft
E
z
y
T
Solution: Find the unit vector e
CE
and multiply it times the magni-
tude of the force to get the vector in component form,
e
CE
D
r
CE
jr
CE
j
D
x
E
x
C
i Cy
E
y
C
j Cz
E
z
C
k
x
E
x
C
2
Cy
E
y
C
2
Cz
E
z
C
2
The coordinates of point C are 4, 4 sin 20
, 4 cos 20
or
4, 1.37, 3.76 (ft) The coordinates of point E are (0, 2, 6) (ft)
e
CE
D
0 4i C2 1.37j C6 3.76k
p
4
2
C3.37
2
C2.24
2
e
CE
D 0.703i C0.592j C0.394k
T D 50e
CE
lb
T D 35.2i C29.6j C19.7k lb
D
x
C
B
A
20
4 ft
4 ft
6 ft
2 ft
E
z
y
T
T
1
force T in Problem 2.89?
e
CE
D 0.703i C0.592j C0.394k
However
e
CE
D cos
x
i Ccos
y
j Ccos
z
k
Hence,
cos
x
D 0.703
cos
y
D 0.592
cos
z
D 0.394
1
Problem 2.91 The cable AB exerts a 200-lb force F
AB
at point A that is directed along the line from A to B.
Express F
AB
in terms of scalar components.
A (6, 0, 10) ft
B
C
8 ft
x
z
y
6 ft
F
AB
F
AC
8 ft
Solution: The coordinates of B are B(0,6,8). The position vector
from A to B is
r
AB
D 0 6i C6 0j C8 10k D 6i C6j 2k
The magnitude is jr
AB
j D
p
6
2
C6
2
C2
2
D 8.718 ft.
The unit vector is
u
AB
D
6
8.718
i C
6
8.718
j
2
8.718
k
or
u
AB
D 0.6882i C0.6882j 0.2294k.
F
AB
D jF
AB
ju
AB
D 2000.6882i C0.6882j 0.2294k
The components of the force are
F
AB
D jF
AB
ju
AB
D 2000.6882i C0.6882j 0.2294k or
F
AB
D 137.6i C137.6j 45.9k
1
Problem 2.92 Consider the cables and wall described
in Problem 2.91. Cable AB exerts a 200-lb force F
AB
at point A that is directed along the line from A to B.
The cable AC exerts a 100-lb force F
AC
at point A that
is directed along the line from A to C. Determine the
magnitude of the total force exerted at point A by the
two cables.
Solution: Refer to the gure in Problem 2.91. From Problem 2.91
the force F
AB
is
F
AB
D 137.6i C137.6j 45.9k
The coordinates of C are C(8,6,0). The position vector from A to C is
r
AC
D 8 6i C6 0j C0 10k D 2i C6j 10k.
The magnitude is jr
AC
j D
p
2
2
C6
2
C10
2
D 11.83 ft.
The unit vector is
u
AC
D
2
11.83
i C
6
11.83
j
10
11.83
k D 0.1691i C0.5072j 0.8453k.
The force is
F
AC
D jF
AC
ju
AC
D 100u
AC
D 16.9i C50.7j 84.5k.
The resultant of the two forces is
F
R
D F
AB
CF
AC
D 137.6 C16.9i C137.6 C50.7j
C84.5 45.9k.
F
R
D 120.7i C188.3j 130.4k.
The magnitude is
jF
R
j D
p
120.7
2
C188.3
2
C130.4
2
D 258.9 lb
1
Problem 2.93 The 70-m-tall tower is supported by
three cables that exert forces F
AB
, F
AC
, and F
AD
on it.
The magnitude of each force is 2 kN. Express the total
force exerted on the tower by the three cables in terms
of scalar components.
A
x
y
40 m
60 m
40 m
40 m
60 m
B
C
D
z
F
AB
F
AC
F
AD
A
Solution: The coordinates of the points are A (0, 70, 0), B (40, 0,
0), C (40, 0, 40) D (60, 0, 60).
The position vectors corresponding to the cables are:
r
AD
D 60 0i C0 70j C60 0k
r
AD
D 60i 70k 60k
r
AC
D 40 0i C0 70j C40 0k
r
AC
D 40i 70j C40k
r
AB
D 40 0i C0 70j C0 0k
r
AB
D 40i 70j C0k
The unit vectors corresponding to these position vectors are:
u
AD
D
r
AD
jr
AD
j
D
60
110
i
70
110
j
60
110
k
D 0.5455i 0.6364j 0.5455k
u
AC
D
r
AC
jr
AC
j
D
40
90
i
70
90
j C
40
90
k
D 0.4444i 0.7778j C0.4444k
u
AB
D
r
AB
jr
AB
j
D
40
80.6
i
70
80.6
j C0k D 0.4963i 0.8685j C0k
The forces are:
F
AB
D jF
AB
ju
AB
D 0.9926i 1.737j C0k
F
AC
D jF
AC
ju
AC
D 0.8888i 1.5556j C0.8888
F
AD
D jF
AD
ju
AD
D 1.0910i 1.2728j 1.0910k
The resultant force exerted on the tower by the cables is:
F
R
D F
AB
CF
AC
CF
AD
D 0.9872i 4.5654j 0.2022k kN
1
Problem 2.94 Consider the tower described in Pro-
blem 2.93. The magnitude of the force F
AB
is 2 kN. The
x and z components of the vector sum of the forces
exerted on the tower by the three cables are zero. What
are the magnitudes of F
AC
and F
AD
?
Solution: From the solution of Problem 2.93, the unit vectors are:
u
AC
D
r
AC
jr
AC
j
D
40
90
i
70
90
j C
40
90
k
D 0.4444i 0.7778j C0.4444k
u
AD
D
r
AD
jr
AD
j
D
60
110
i
70
110
j
60
110
D 0.5455i 0.6364j 0.5455k
From the solution of Problem 2.93 the force F
AB
is
F
AB
D jF
AB
ju
AB
D 0.9926i 1.737j C0k
The forces F
AC
and F
AD
are:
F
AC
D jF
AC
ju
AC
D jF
AC
j0.4444i 0.7778j C0.4444k
F
AD
D jF
AD
ju
AD
D jF
AD
j0.5455i 0.6364j 0.5455k
Taking the sum of the forces:
F
R
D F
AB
CF
AC
CF
AD
D 0.9926 0.4444jF
AC
j 0.5455jF
AD
ji
C1.737 0.7778jF
AC
j 0.6364jF
AD
jj
C0.4444jF
AC
j 0.5455jF
AD
jk
The sum of the x- and z-components vanishes, hence the set of simul-
taneous equations:
0.4444jF
AC
j C0.5455jF
AD
j D 0.9926 and
0.4444jF
AC
j 0.5455jF
AD
j D 0
These can be solved by means of standard algorithms, or by the use of
commercial packages such as TK Solver Plus or Mathcad. Here
a hand held calculator was used to obtain the solution:
jF
AC
j D 1.1168 kN jF
AD
j D 0.9098 kN
1
Problem 2.95 Express the position vector from point
O to the collar at A in terms of scalar components.
O
x
y
T
B
A
6 ft
7 ft
4 ft
4 ft
z
Solution: The vector from O to A can be expressed as the sum of
the vectors r
OT
from O to the top of the slider bar, and r
TA
from the
top of the slider bar to A. The coordinates of the top and base of the
slider bar are: T (0, 7, 0), B (4, 0, 4). The position vector of the top
of the bar is: r
OT
D 0i C7j C0k. The position vector from the top of
the bar to the base is:
r
TB
D 4 0i C0 7j C4 0k. or
r
TB
D 4i 7j C4k. The unit vector pointing from the top of the bar
to the base is
u
TB
D
r
TB
jr
TB
j
D
4
9
i
7
9
j C
4
9
k D 0.4444i 0.7778j C0.4444k.
The collar position is
r
TA
D jr
TA
ju
TB
D 60.4444i 0.7778j C0.4444k
D 2.6667i 4.6667j C2.6667,
measured along the bar. The sum of the two vectors is the position
vector of A from origin O:
r
OA
D 2.6667 C0i C4.6667 C7j C2.6667 C0k
D 2.67i C2.33j C2.67k ft
1
Problem 2.96 The cable AB exerts a 32-lb force T on
the collar at A. Express T in terms of scalar components.
x
y
A
6 ft
B
4 ft
4 ft
7 ft
4 ft
z
T
Solution: The coordinates of point B are B (0, 7, 4). The vector
position of B is r
OB
D 0i C7j C4k.
The vector from point A to point B is given by
r
AB
D r
OB
r
OA
.
From Problem 2.95, r
OA
D 2.67i C2.33j C2.67k. Thus
r
AB
D 0 2.67i C7 2.33j C4 2.67j
r
AB
D 2.67i C4.67j C1.33k.
The magnitude is
jr
AB
j D
p
2.67
2
C4.67
2
C1.33
2
D 5.54 ft.
The unit vector pointing from A to B is
u
AB
D
r
AB
jr
AB
j
D 0.4819i C0.8429j C0.2401k
The force T is given by
T
AB
D jT
AB
ju
AB
D 32u
AB
D 15.4i C27.0j C7.7k (lb)
1
Problem 2.97 The circular bar has a 4-m radius and
lies in the x-y plane. Express the position vector from
point B to the collar at A in terms of scalar components.
z
y
x
A
B
4 m
4 m
3 m
20
Solution: From the gure, the point B is at (0, 4, 3) m. The coor-
dinates of point A are determined by the radius of the circular bar
and the angle shown in the gure. The vector from the origin to A
is r
OA
D 4 cos20
i C4 sin20
j m. Thus, the coordinates of point A

are (3.76, 1.37, 0) m. The vector from B to A is given by r
BA
D x
A
x
B
i Cy
A
y
B
j Cz
A
z
B
k D 3.76i 2.63j 3k m. Finally, the
scalar components of the vector from B to A are (3.76, 2.63, 3) m.
1
Problem 2.98 The cable AB in Problem 2.97 exerts a
60-N force T on the collar at A that is directed along
the line from A toward B. Express T in terms of scalar
components.
Solution: We know r
BA
D 3.76i 2.63j 3k m from Problem
2.97. The unit vector u
AB
D r
BA
/jr
BA
j. The unit vector is u
AB
D
0.686i C0.480j C0.547k. Hence, the force vector T is given by
TDjTj0.686iC0.480jC 0.547k ND41.1i C28.8j C32.8k N
1
Problem 2.99 Determine the dot product U V of the
vectors U D 4i C6j 10k and V D 8i C12j C2k.
Strategy: The vectors are expressed in terms of their
components, so you can use Eq. (2.23) to determine their
dot product.
Solution:
U D 4i C6j 10k, V D 8i C12j C2k
U V D 48 C612 C102 D 20
1
Problem 2.100 Determine the dot product U V of the
vectors U D 40i C20j C60k and V D 30i C15k.
Solution: Use Eq. 2.23.
U V D 4030 C200 C1560 D 300
1
Problem 2.101 What is the dot product of the position
vector r D 10i C25j (m) and the force vector
F D 300i C250j C300k N?
Solution: Use Eq. (2.23).
F r D 30010 C25025 C3000 D 3250 N-m
1
Problem 2.102 Suppose that the dot product of two
vectors U and V is U V D 0. If jUj 6D 0, what do you
know about the vector V?
Solution:
Either jVj D 0 or V ? U
1
Problem 2.103 Two perpendicular vectors are given
in terms of their components by
U D U
x
i 4j C6k
and V D 3i C2j 3k.
Use the dot product to determine the component U
x
.
Solution: When the vectors are perpendicular, U V 0.
Thus
U V D U
x
V
x
CU
y
V
y
CU
z
V
z
D 0
D 3U
x
C42 C63 D 0
3U
x
D 26
U
x
D 8.67
1
Problem 2.104 Three vectors
U D U
x
i C3j C2k
V D 3i CV
y
j C3k
WD 2i C4j CW
z
k
are mutually perpendicular. Use the dot product to deter-
mine the components U
x
, V
y
, and W
z
Solution: For mutually perpendicular vectors, we have three
equations, i.e.,
U V D 0
U WD 0
V WD 0
Thus
3U
x
C3V
y
C6 D 0
2U
x
C12 C2W
z
D 0
C6 C4V
y
C3W
z
D 0
3 Eqns
3 Unknowns
Solving, we get
U
x
D 2.857
V
y
D 0.857
W
z
D 3.143
1
Problem 2.105 The magnitudes jUj D 10 and jVj D
20.
(a) Use the denition of the dot product to determine
U V.
(b) Use Eq. (2.23) to obtain U V.
x
y
V
45
U
30
Solution:
(a) The denition of the dot product (Eq. (2.18)) is
U V D jUjjVj cos . Thus
U V D 1020 cos45
30
D 193.2
(b) The components of U and V are
U D 10i cos 45
Cj sin 45
D 7.07i C7.07j
V D 20i cos 30
Cj sin 30
D 17.32i C10j
From Eq. (2.23) U VD7.0717.32 C7.0710 D 193.2
1
Problem 2.106 By evaluating the dot product U V,
prove the identity cos
1
2
D cos
1
cos
2
Csin
1
sin
2
.
Strategy: Evaluate the dot product both by using the
denition and by using Eq. (2.23).
x
y
V
2
U
Solution: The strategy is to use the denition Eq. (2.18) and the
Eq. (2.23). From Eq. (2.18) and the gure,
U V D jUjjVj cos
1
2
. From Eq. (2.23) and the gure,
U D jUji cos
1
Cj sin
2
, V D jVji cos
2
Cj sin
2
,
and the dot product is U V D jUjjVjcos
1
cos
2
Csin
1
sin
2
.
Equating the two results:
U V D jUjjVj cos
1
2
D jUjjVjcos
1
cos
2
Csin
1
sin
2
,
from which if jUj 6D 0 and jVj 6D 0, it follows that
cos
1
2
D cos
1
cos
2
Csin
1
sin
2
, Q.E.D.
1
Problem 2.107 Use the dot product to determine the
angle between the forestay (cable AB) and the backstay
(cable BC).
y
x
B (4, 13) m
C
(9, 1) m
A
(0, 1.2) m
Solution: The unit vector from B to A is
e
BA
D
r
BA
jr
BA
j
D 0.321i 0.947j
The unit vector from B to C is
e
BC
D
r
BC
jr
BC
j
D 0.385i 0.923j
From the denition of the dot product, e
BA
e
BC
D 1 1 cos , where
is the angle between BA and BC. Thus
cos D 0.3210.385 C0.9470.923
cos D 0.750
D 41.3
1
Problem 2.108 Determine the angle between the
lines AB and AC (a) by using the law of cosines (see
Appendix A); (b) by using the dot product.
(4, 3, 1) m
B
y
x
A
z
C
(5, 1, 3) m
u
Solution:
(a) We have the distances:
AB D
4
2
C3
2
C1
2
m D
p
26 m
AC D
5
2
C1
2
C3
2
m D
p
35 m
BC D
5 4
2
C1 3
2
C3 C1
2
m D
p
33 m
The law of cosines gives
BC
2
D AB
2
CAC
2
2ABAC cos
cos D
AB
2
CAC
2
BC
2
2ABAC
D 0.464 ) D 62.3
(b) Using the dot product

r
AB
D 4i C3j k m, r
AC
D 5i j C3k m
r
AB
r
AC
D 4 m5 m C3 m1 m C1 m3 m D 14 m
2
r
AB
r
AC
D ABAC cos
Therefore
cos D
14 m
2
p
26 m
p
35 m
D 0.464 ) D 62.3
1
Problem 2.109 The ship O measures the positions of
the ship A and the airplane B and obtains the coordinates
shown. What is the angle between the lines of sight
OA and OB?
x
y
z
A
B
O
(6, 0, 3) km
(4, 4, 4) km
Solution: From the coordinates, the position vectors are:
r
OA
D 6i C0j C3k and r
OB
D 4i C4j 4k
The dot product: r
OA
r
OB
D 64 C04 C34 D 12
The magnitudes: jr
OA
j D
p
6
2
C0
2
C3
2
D 6.71 km and
jr
OA
j D
p
4
2
C4
2
C4
2
D 6.93 km.
From Eq. (2.24) cos D
r
OA
r
OB
jr
OA
jjr
OB
j
D 0.2581, from which D 75
.
From the problem and the construction, only the positive angle makes
sense, hence D 75
1
Problem 2.110 Astronauts on the space shuttle use
radar to determine the magnitudes and direction cosines
of the position vectors of two satellites A and B. The
vector r
A
from the shuttle to satellite A has magni-
tude 2 km and direction cosines cos
x
D 0.768, cos
y
D
0.384, cos
z
D 0.512. The vector r
B
from the shuttle to
satellite B has magnitude 4 km and direction cosines
cos
x
D 0.743, cos
y
D 0.557, cos
z
D 0.371. What
is the angle between the vectors r
A
and r
B
?
x
r
B
z
B
A
r
A
y
Solution: The direction cosines of the vectors along r

A
and r
B
are the components of the unit vectors in these directions (i.e., u
A
D
cos
x
i Ccos
y
j Ccos
z
k, where the direction cosines are those for
r
A
). Thus, through the denition of the dot product, we can nd an
expression for the cosine of the angle between r
A
and r
B
.
cos D cos
x
A
cos
x
B
Ccos
y
A
cos
y
B
Ccos
z
A
cos
z
B
.
Evaluation of the relation yields
cos D 0.594 ) D 53.5
.
1
Problem 2.111 The cable BC exerts an 800-N force
F on the bar AB at B. Use Eq. (2.26) to determine the
vector component of F parallel to the bar.
y
B (5, 6, 1) m
A
C (3, 0, 4) m
z
x
F
Solution: Eqn. 2.26 is U
P
D e Ue where U is the vector for
which you want the component parallel to the direction indicated by
the unit vector e.
For the problem at hand, we must nd two unit vectors. We need e
BC
to be able to write the force FF D jFje
BC
and e
BA
the direction
parallel to the bar.
e
BC
D
r
BC
jr
BC
j
D
x
C
x
B
i Cy
C
y
B
j Cz
C
z
B
k
x
C
x
B
2
Cy
C
y
B
2
Cz
C
z
B
2
e
BC
D
3 5i C0 6j C4 1k
p
2
2
C6
2
C3
2
e
BC
D
2
7
i
6
7
j C
3
7
k
Similarly
e
BA
D
5i 6j 1k
p
5
2
C6
2
C1
2
e
BA
D 0.635i 0.762j 0.127k
Now F D jFje
BC
D 800 e
BC
F D 228.6i 685.7j C342.9k N
F
P
D F e
BA
e
BA
F
P
D 624.1e
BA
F
P
D 396.3i 475.6j 79.3k N
1
Problem 2.112 The force F D 21i C14j (kN). Resol-
ve it into vector components parallel and normal to the
line OA.
A (6, 2, 3) m
x
y
z
F
O
Solution: The position vector of point A is
r
A
D 6i 2j C3k
The magnitude is jr
A
j D
p
6
2
C2
2
C3
2
D 7. The unit vector parallel
to OA is e
OA
D
r
A
jr
A
j
D
6
7
i
2
7
j C
3
7
k
(a) The component of F parallel to OA is
F e
OA
e
OA
D 36 C22
1
7
6i 2j C3k
F
P
D 12i 4j C6k (kN)
(b) The component of F normal to OA is
F
N
D F F
p
D 21 12i C14 4j C0 6k
D 9i C18j 6k (kN)
1
Problem 2.113 At the instant shown, the Harriers
thrust vector is T D 17,000i C68,000j 8,000k (N)
and its velocity vector is v D 7.3i C1.8j 0.6k (m/s).
The quantity P D jT
p
jjvj, where T
p
is the vector
component of T parallel to v, is the power currently
being transferred to the airplane by its engine. Determine
the value of P.
x
y
T
v
Solution:
T D 17,000i C68,000j 8,000k N
v D 7.3i C1.8j 0.6k m/s
Power D T v D 17,000 N7.3 m/s C68,000 N1.8 m/s
C8,000 N0.6 m/s
Power D 251,000 Nm/s D 251 kW
1
Problem 2.114 Cables extend from A to B and from
A to C. The cable AC exerts a 1000-lb force F at A.
(a) What is the angle between the cables AB and AC?
(b) Determine the vector component of F parallel to
the cable AB.
F
A
(0, 7, 0) ft
B
C
x
y
z
(14, 0, 14) ft
(0, 0, 10) ft
Solution: Use Eq. (2.24) to solve.
(a) From the coordinates of the points, the position vectors are:
r
AB
D 0 0i C0 7j C10 0k
r
AB
D 0i 7j C10k
r
AC
D 14 0i C0 7j C14 0k
r
AC
D 14i 7j C14k
The magnitudes are:
jr
AB
j D
p
7
2
C10
2
D 12.2 (ft) and
jr
AB
j D
p
14
2
C7
2
C14
2
D 21.
The dot product is given by
r
AB
r
AC
D 140 C77 C1014 D 189.
The angle is given by
cos D
189
12.221
D 0.7377,
from which D 42.5
. From the construction: D C42.5
(b) The unit vector associated with AB is

e
AB
D
r
AB
jr
AB
j
D 0i 0.5738j C0.8197k.
The unit vector associated with AC is
e
AC
D
r
AC
jr
AC
j
D 0.6667i 0.3333j C0.6667k.
Thus the force vector along AC is
F
AC
D jFje
AC
D 666.7i 333.3j C666.7k.
The component of this force parallel to AB is
F
AC
e
AB
e
AB
D 737.5e
AB
D 0i 423.2j C604.5k (lb)
1
Problem 2.115 Consider the cables AB and AC shown
in Problem 2.114. Let r
AB
be the position vector from
point A to point B. Determine the vector component of
r
AB
parallel to the cable AC.
Solution: From Problem 2.114, r
AB
D 0i 7j C10k, and e
AC
D
0.6667i 0.3333j C0.6667k. Thus r
AB
e
AC
D 9, and r
AB
e
AC
e
AC
D 6i 3j C6k
1
Problem 2.116 The force F D 10i C12j 6k N.
Determine the vector components of F parallel and nor-
mal to line OA.
y
x
z
(0, 6, 4) m
O
A
F
Solution: Find e
OA
D
r
OA
jr
OA
j
Then
F
P
D F e
OA
e
OA
and F
N
D F F
P
e
OA
D
0i C6j C4k
p
6
2
C4
2
D
6j C4k
p
52
e
OA
D
6
7.21
j C
4
7.21
k D 0.832j C0.555k
F
P
D [10i C12j 6k 0.832j C0.555k]e
OA
F
P
D [6.656]e
OA
D 0i C5.54j C3.69k N
F
N
D F F
P
F
N
D 10i C12 5.54j C6 3.69k
F
N
D 10i C6.46j 9.69k N
1
Problem 2.117 The rope AB exerts a 50-N force T on
collar A. Determine the vector component of T parallel
to bar CD.
0.4 m
0.5 m
0.15 m
0.3 m 0.2 m
0.25 m
0.2 m
z
x
y
A
B
C
D
O
T
Solution: The vector from C to D is r
CD
D x
D
x
C
i Cy
D
y
C
j Cz
D
z
C
k. The magnitude of the vector
jr
CD
j D
x
D
x
C
2
Cy
D
y
C
2
Cz
D
z
C
2
.
The components of the unit vector along CD are given by u
CDx
D
x
D
x
C
/jr
CD
j, u
CDy
D y
D
y
C
/jr
CD
j, etc. Numerical values are
jr
CD
j D0.439 m, u
CDx
D0.456, u
CDy
D 0.684, and u
CDz
D 0.570.
The coordinates of point A are given by x
A
D x
C
Cjr
CA
je
CDx
, y
A
D
y
C
Cjr
CA
ju
CDy
, etc. The coordinates of point A are (0.309, 0.163,
0.114) m. The vector from A to B and the corresponding unit vector
are found in the same manner as from C to D above. The results are
jr
AB
j D 0.458 m, u
ABx
D 0.674, u
ABy
D 0.735, and u
ABz
D 0.079.
The force T is given by T D jTju
AB
. The result is T D 33.7i C
36.7j C3.93k N.
The component of T parallel to CD is given
T
parallel
D T u
CD
D 7.52 N.
The negative sign means that the component of T parallel to CD points
from D toward C (opposite to the direction of the unit vector from C
to D).
1
Problem 2.118 In Problem 2.117, determine the vector
component of T normal to the bar CD.
Solution: From the solution of Problem 2.117, jTj D 50 N, and
the component of T parallel to bar CD is T
parallel
D 7.52 N. The
component of T normal to bar CD is given by
T
normal
D
jTj
2
T
parallel
2
D 49.4 N.
1
Problem 2.119 The disk A is at the midpoint of the
sloped surface. The string from A to B exerts a 0.2-
lb force F on the disk. If you resolve F into vector
components parallel and normal to the sloped surface,
what is the component normal to the surface?
y
z
A
B
F
(0, 6, 0) ft
2 ft
8 ft
10 ft
x
Solution: Consider a line on the sloped surface from A perpendic-
ular to the surface. (see the diagram above) By SIMILAR triangles we
see that one such vector is r
N
D 8j C2k. Let us nd the component
of F parallel to this line.
The unit vector in the direction normal to the surface is
e
N
D
r
N
jr
N
j
D
8j C2k
p
8
2
C2
2
D 0.970j C0.243k
The unit vector e
AB
can be found by
e
AB
D
x
B
x
A
i Cy
B
y
A
j Cz
B
z
A
h
x
B
x
A
2
Cy
B
y
A
2
Cz
B
z
A
2
Point B is at (0, 6, 0) (ft) and A is at (5, 1, 4) (ft).
e
AB
D 0.615i C0.615j 0.492k
Now F D jFje
AB
D 0.2e
AB
F D 0.123i C0.123j 0.0984k lb
The component of F normal to the surface is the component parallel
to the unit vector e
N
.
F
NORMAL
D F e
N
e
N
D 0.955e
N
F
NORMAL
D 0i C0.0927j C0.0232k lb
y
z
8
8
2
2
1
Problem 2.120 In Problem 2.119, what is the vector
component of F parallel to the surface?
F D 0.123i C0.123j 0.0984k lb and
F
NORMAL
D 0i C0.0927j C0.0232k lb
The component parallel to the surface and the component normal to
the surface add to give FF D F
NORMAL
CF
parallel
.
Thus
F
parallel
D F F
NORMAL
F
parallel
D 0.1231i C0.0304j 0.1216k lb
1
Problem 2.121 An astronaut in a maneuvering unit
approaches a space station. At the present instant, the
station informs him that his position relative to the origin
of the stations coordinate system is r
G
D 50i C80j C
180k (m) and his velocity is v D 2.2j 3.6k (m/s).
The position of the airlock is r
A
D 12i C20k (m).
Determine the angle between his velocity vector and the
line from his position to the airlocks position.
Solution: Points G and A are located at G: (50, 80, 180) m
and A: (12, 0, 20) m. The vector r
GA
is r
GA
D x
A
x
G
i Cy
A
y
G
j Cz
A
z
G
k D 12 50i C0 80j C20 180k m. The
dot product between v and r
GA
is v r
GA
D jvjjr
GA
j cos D v
x
x
GA
C
v
y
y
GA
Cv
z
z
GA
, where is the angle between v and r
GA
. Substituting
in the numerical values, we get D 19.7
.
y
z
x
A
G
1
Problem 2.122 In Problem 2.121, determine the vec-
tor component of the astronauts velocity parallel to the
line from his position to the airlocks position.
Solution: The dot product v r
GA
D v
x
x
GA
Cv
y
y
GA
Cv
z
z
GA
D
752 m/s
2
and the component of v parallel to GA is v
parallel
D jvj cos
where is dened as in Problem 2.121 above.
v
parallel
D 4.220.941 D 3.96 m/s
1
Problem 2.123 Point P is at longitude 30
W and lati-
tude 45
N on the Atlantic Ocean between Nova

Scotia and France. (See Problem 2.86.) Point Q is at
longitude 60
E and latitude 20
N in the Arabian Sea.

Use the dot product to determine the shortest distance
along the surface of the earth from P to Q in terms of
the radius of the earth R
E
.
Strategy: Use the dot product to detrmine the angle
between the lines OP and OQ; then use the denition of
an angle in radians to determine the distance along the
surface of the earth from P to Q.
Equator
y
z
x
P
N
O
45
30 60
G
20
Q
Solution: The distance is the product of the angle and the radius of
the sphere, d D R
E
, where is in radian measure. From Eqs. (2.18)
and (2.24), the angular separation of P and Q is given by
cos D
P Q
jPjjQj
.
The strategy is to determine the angle in terms of the latitude and
longitude of the two points. Drop a vertical line from each point P and
Q to b and c on the equatorial plane. The vector position of P is the sum
of the two vectors: P D r
OB
Cr
BP
. The vector r
OB
D jr
OB
ji cos
P
C
0j Cksin
P
. From geometry, the magnitude is jr
OB
j D R
E
cos
P
.
The vector r
BP
D jr
BP
j0i C1j C0k. From geometry, the magnitude
is jr
BP
j D R
E
sin
P
. Substitute and reduce to obtain:
P D r
OB
Cr
BP
D R
E
i cos
P
cos
P
Cj sin
P
Cksin
P
cos
P
.
A similar argument for the point Q yields
Q D r
OC
Cr
CQ
D R
E
i cos
Q
cos
Q
Cj sin
Q
Cksin
Q
cos
Q
Using the identity cos

2
Csin
2
D 1, the magnitudes are
jPj D jQj D R
E
The dot product is
P Q D R
2
E
cos
P
Q
cos
P
cos
Q
Csin
P
sin
Q
Substitute:
cos D
P Q
jPjjQj
D cos
P
Q
cos
P
cos
Q
Csin
P
sin
Q
Substitute
P
D C30
,
Q
D 60
,
p
D C45
,
Q
D C20
, to obtain
cos D 0.2418, or D 1.326 radians. Thus the distance is d D
1.326R
E
y
x
30
45
60
20
R
E
Q
P
G
b
c
N
1
Problem 2.124 (a) Determine the cross product U V
of the vectors U D 4i C6j 10k and V D 8i C12j C
2k. (b) Use the dot product to prove that the vector U
V is perpendicular to U and perpendicular to V.
Strategy: The vectors are expressed in terms of their
components, so you can use Eq. (2.34) to determine their
cross product.
Solution:
(a)
U D 4i C6j 10k, V D 8i C12j C2k
U V D
i j k
4 6 10
8 12 2
D 132i C72j C96k

(b)
U U V D 4132 C672 C1096 D 0
V U V D 8132 C1272 C296 D 0
1
Problem 2.125 Two vectors U D 3i C2j and V D 2i
C4j.
(a) What is the cross product U V?
(b) What is the cross product V U?
Solution: Use Eq. (2.34) and expand into 2 by 2 determinants.
U V D
i j k
3 2 0
2 4 0
D i20 40 j30 20
Ck34 22 D 8k
V U D
i j k
2 4 0
3 2 0
D i40 20 j20 30
Ck22 34 D 8k
1
Problem 2.126 What is the cross product r F of the
position vector r D 2i C2j C2k (m) and the force
F D 20i 40k (N)?
Solution: Use Eq. (2.34) and expand into 2 by 2 determinants.
r F D
i j k
2 2 2
20 0 40
D i240 02 j240
202 Ck20 220
r F D 80i C120j 40k (N-m)
1
Problem 2.127 Determine the cross product r F of
the position vector r D 4i 12j C3k (m) and the force
F D 16i 22j 10k N.
Solution:
r F D
i j k
4 12 3
16 22 10
r F D 120 66i C48 40j

C88 192k N-m
r F D 186i C88j C104k N-m
1
Problem 2.128 Suppose that the cross product of two
vectors U and V is U V D 0. If jUj 6D 0, what do you
know about the vector V?
Solution:
Either V D 0 or VjjU
1
Problem 2.129 The cross product of two vectors U
and V is U V D 30i C40k. The vector V D 4i
2j C3k. Determine the components of U.
Solution: We know
U V D
i j k
U
x
U
y
U
z
4 2 3
U V D 3U
y
C2U
z
i C4U
z
3U
x
j C2U
x
4U
y
k (1)
We also know
U V D 30i C0j C40k (2)
Equating components of (1) and (2), we get
3U
y
C2U
z
D 30
4U
z
3U
x
D 0
2U
x
4U
y
D 40
Setting U
x
D 4 and solving, we get
U D 4i 12j C3k
1
Problem 2.130 The magnitudes jUj D 10 and jVj D
20.
(a) Use the denition of the cross product to determine
U V.
(b) Use the denition of the cross product to determine
V U.
(c) Use Eq. (2.34) to determine U V.
(d) Use Eq. (2.34) to determine V U.
U
V
x
y
45
30
Solution: From Eq. (228) U V D jUjjVj sin e. From the sketch,
the positive z-axis is out of the paper. For U V, e D 1k (points into
the paper); for V U, e D C1k (points out of the paper). The angle
D 15
, hence (a) U V D 10200.2588e D 51.8e D 51.8k.

Similarly, (b) V U D 51.8e D 51.8k (c) The two vectors are:
U D 10i cos 45
Cj sin 45 D 7.07i C0.707j,

V D 20i cos 30
Cj sin 30
D 17.32i C10j
U V D
i j k
7.07 7.07 0
17.32 10 0
D i0 j0 Ck70.7 122.45
D 51.8k
(d) V U D
i j k
17.32 10 0
7.07 7.07 0
D i0 j0 Ck122.45 70.7
D 51.8k
1
Problem 2.131 The force F D 10i 4j (N). Deter-
mine the cross product r
AB
F.
y
x
B
A
r
AB
(6, 3, 0) m
(6, 0, 4) m
F
z
Solution: The position vector is
r
AB
D 6 6i C0 3j C4 0k D 0i 3j C4k
The cross product:
r
AB
F D
i j k
0 3 4
10 4 0
D i16 j40 Ck30

D 16i C40j C30k (N-m)
y
x
B
A
r
AB
(6, 3, 0)
(6, 0, 4)
F
z
1
Problem 2.132 By evaluating the cross product U
V, prove the identity sin
1
2
D sin
1
cos
2
cos
1
sin
2
.
x
y
V
2
U
Solution: Assume that both U and V lie in the x-y plane. The
strategy is to use the denition of the cross product (Eq. 2.28) and the
Eq. (2.34), and equate the two. From Eq. (2.28) U V D jUjjVj sin
1
2
e. Since the positive z-axis is out of the paper, and e points into
the paper, then e D k. Take the dot product of both sides with e, and
note that k k D 1. Thus
sin
1
2
D
U V k
jUjjVj
The vectors are:

U D jUji cos
1
Cj sin
2
, and V D jVji cos
2
Cj sin
2
.
The cross product is
U V D
i j k
jUj cos
1
jUj sin
1
0
jVj cos
2
jVj sin
2
0
D i0 j0 CkjUjjVjcos
1
sin
2
cos
2
sin
1
Substitute into the denition to obtain: sin

1
2
D sin
1
cos
2
cos
1
sin
2
. Q.E.D.
y
x
U
V
1
2
1
Problem 2.133 Use the cross product to determine the
components of a unit vector e that is normal to both
of the vectors U D 8i 6j C4k and V D 3i C7j C9k.
(Notice that there are two answers.)
Solution: First, nd U V D R
R D U V D
i j k
8 6 4
3 7 9
R D 54 28i C12 72j C56 18 k

R D 82i 60j C74k
e
R
D
R
jRj
D
82i 60j C74k

125.7
e
r
D 0.652i 0.477j C0.589k
1
Problem 2.134 (a) What is the cross product r
OA
r
OB
? (b) Determine a unit vector e that is perpendicular
to r
OA
and r
OB
.
A (6, 2, 3) m
( 4, 4, 4) m B
x
y
z
O
r
OB
r
OA
Solution: The two radius vectors are
r
OB
D 4i C4j 4k, r
OA
D 6i 2j C3k
(a) The cross product is
r
OA
r
OB
D
i j k
6 2 3
4 4 4
D i8 12 j24 12
Ck24 C8
D 4i C36j C32k m
2
The magnitude is
jr
OA
r
OB
j D
p
4
2
C36
2
C32
2
D 48.33 m
2
(b) The unit vector is
e D
r
OA
r
OB
jr
OA
r
OB
j
D 0.0828i C0.7448j C0.6621k

(Two vectors.)
1
Problem 2.135 For the points O, A, and B in Pro-
blem 2.134, use the cross product to determine the length
of the shortest straight line from point B to the straight
line that passes through points O and A.
Solution:
r
OA
D 6i 2j C3k (m)
r
OB
D 4i C4j 4k m
r
OA
r
OB
D C
(C is ? to both r
OA
and r
OB
)
C D
i j k
6 2 3
4 4 4
D
C8 12i
C12 C24j
C24 C8k
C D 4i C36j C32k
C is ? to both r
OA
and r
OB
. Any line ? to the plane formed by C and
r
OA
will be parallel to the line BP on the diagram. C r
OA
is such a
line. We then need to nd the component of r
OB
in this direction and
compute its magnitude.
C r
OA
D
i j k
4 C36 32
6 2 3
C D 172i C204j 208k

The unit vector in the direction of C is
e
C
D
C
jCj
D 0.508i C0.603j 0.614k
(The magnitude of C is 338.3)
We now want to nd the length of the projection, P, of line OB in
direction e
c
.
P D r
OB
e
C
D 4i C4j 4k e
C
P D 6.90 m
A(6, 2, 3) m
( 4, 4, 4) m B
x
y
z
O
r
OB
r
OA
P
1
Problem 2.136 The cable BC exerts a 1000-lb force F
on the hook at B. Determine r
AB
F.
r
AB
A
B
C
z
x
y
r
AC
F
6 ft
8 ft
4 ft
4 ft 12 ft
Solution: The coordinates of points A, B, and C are A (16, 0, 12),
B (4, 6, 0), C (4, 0, 8). The position vectors are
r
OA
D 16i C0j C12k, r
OB
D 4i C6j C0k, r
OC
D 4i C0j C8k.
The force F acts along the unit vector
e
BC
D
r
BC
jr
BC
j
D
r
OC
r
OB
jr
OC
r
OB
j
D
r
AB
jr
AB
j
Noting r
OC
r
OB
D 4 4i C0 6j C8 0k D 0i 6j C8k
jr
OC
r
OB
j D
p
6
2
C8
2
D 10. Thus
e
BC
D 0i 0.6j C0.8k, and F D jFje
BC
D 0i 600j C800k (lb).
The vector
r
AB
D 4 16i C6 0j C0 12k D 12i C6j 12k
Thus the cross product is
r
AB
F D
i j k
12 6 12
0 600 800
D 2400i C9600j C7200k (ft-lb)

r
A
B
C
x
y
6 ft
8 ft
4 ft
4 ft
12 ft
1
Problem 2.137 The force vector F points along the
straight line from point A to point B. Its magnitude
is jFj D 20 N. The coordinates of points A and B
are x
A
D 6 m, y
A
D 8 m, z
A
D 4 m and x
B
D 8 m, y
B
D
1 m, z
B
D 2 m.
(a) Express the vector F in terms of its components.
(b) Use Eq. (2.34) to determine the cross products
r
A
F and r
B
F. x
y
z
r
B
r
A
A
B
F
Solution: We have r
A
D 6i C8j C4k m, r
B
D 8i Cj 2k m,
(a)
F D 20 N
8 6 mi C1 8 mj C2 4 mk
2 m
2
C7 m
2
C6 m
2
D
20 N
p
89
2i 7j 6k
(b)
r
A
F D
20 N
p
89
i j k
6 m 8 m 4 m
2 7 6
D 42.4i C93.3j 123.0k Nm

r
B
F D
20 N
p
89
i j k
8 m 1 m 2 m
2 7 6
D 42.4i C93.3j 123.0k Nm

Note that both cross products give the same result (as they must).
1
Problem 2.138 The rope AB exerts a 50-N force T on
the collar at A. Let r
CA
be the position vector from point
C to point A. Determine the cross product r
CA
T.
0.4 m
0.5 m
0.15 m
0.3 m 0.2 m
0.25 m
0.2 m
z
x
y
A
B
C
D
O
T
Solution: The vector from C to D is r
CD
D x
D
x
C
i Cy
D
y
C
j Cz
D
z
C
k. The magnitude of the vector
jr
CD
j D
x
D
x
C
2
Cy
D
y
C
2
Cz
D
z
C
2
.
The components of the unit vector along CD are given by u
CDx
D
x
D
x
C
/jr
CD
j, u
CDy
D y
D
y
C
/jr
CD
j, etc. Numerical values
are jr
CD
j D 0.439 m, u
CDx
D 0.456, u
CDy
D 0.684, and u
CDz
D
0.570. The coordinates of point A are given by x
A
D x
C
Cjr
CA
ju
CDx
,
y
A
D y
C
Cjr
CA
ju
CDy
, etc. The coordinates of point A are (0.309,
0.162, 0.114) m. The vector r
CA
is given by r
CA
D x
A
x
C
i Cy
A
y
C
j Cz
A
z
C
k. The vector r
CA
is r
CA
D 0.091i C0.137j C
0.114k m. The vector from A to B and the corresponding unit
vector are found in the same manner as from C to D above.
The results are jr
AB
j D 0.458 m, u
ABx
D 0.674, u
ABy
D 0.735, and
u
ABz
D 0.079. The force T is given by T D jTju
AB
. The result is
T D 33.7i C36.7j C3.93k N.
The cross product r
CA
T can now be calculated.
r
CA
T D
i j k
0.091 0.138 0.114
33.7 36.7 3.93
D 4.65i C3.53j C7.98k N-m

1
Problem 2.139 The straight line L is collinear with the
force vector F. Let D be the perpendicular distance from
an arbitrary point P to L. Prove that
DjFj D jr Fj,
where r is a position vector from point P to any point
on L.
P
D
F
L
Solution: By denition
jr Fj D jrjjFj sin
From the gure we see that
D D jrj sin
Hence
jr Fj D DjFj
D
F
r
1
Problem 2.140 The bar AB is 6 m long and is perpen-
dicular to the bars AC and AD. Use the cross product to
determine the coordinates x
B
, y
B
, z
B
of point B.
C
A
B
(0, 0, 3) m
(4, 0, 0) m
x
y
(0, 3, 0) m
(x
B
, y
B
, z
B
)
D
z
Solution: The strategy is to determine the unit vector perpendic-
ular to both AC and AD, and then determine the coordinates that will
agree with the magnitude of AB. The position vectors are:
r
OA
D 0i C3j C0k, r
OD
D 0i C0j C3k, and
r
OC
D 4i C0j C0k. The vectors collinear with the bars are:
r
AD
D 0 0i C0 3j C3 0k D 0i 3j C3k,
r
AC
D 4 0i C0 3j C0 0k D 4i 3j C0k.
The vector collinear with r
AB
is
R D r
AD
r
AC
D
i j k
0 3 3
4 3 0
D 9i C12j C12k
The magnitude jRj D 19.21 (m). The unit vector is
e
AB
D
R
jRj
D 0.4685i C0.6247j C0.6247k.
Thus the vector collinear with AB is
r
AB
D 6e
AB
D C2.811i C3.75j C3.75k.
Using the coordinates of point A:
x
B
D 2.81 C0 D 2.81 (m)
y
B
D 3.75 C3 D 6.75 (m)
z
B
D 3.75 C0 D 3.75 (m)
1
Problem 2.141* Determine the minimum distance from
point P to the plane dened by the three points A, B,
and C.
A
(3, 0, 0) m
(0, 5, 0) m B
x
y
z
C
(0, 0, 4) m
P
(9, 6, 5) m
Solution: The strategy is to nd the unit vector perpendicular to
the plane. The projection of this unit vector on the vector OP: r
OP
e is
the distance from the origin to P along the perpendicular to the plane.
The projection on e of any vector into the plane (r
OA
e, r
OB
e, or
r
OC
e) is the distance from the origin to the plane along this same
perpendicular. Thus the distance of P from the plane is
d D r
OP
e r
OA
e.
The position vectors are: r
OA
D 3i, r
OB
D 5j, r
OC
D 4k and r
OP
D
9i C6j C5k. The unit vector perpendicular to the plane is found
from the cross product of any two vectors lying in the plane. Noting:
r
BC
D r
OC
r
OB
D 5j C4k, and r
BA
D r
OA
r
OB
D 3i 5j. The
cross product:
r
BC
r
BA
D
i j k
0 5 4
3 5 0
D 20i C12j C15k.

The magnitude is jr
BC
r
BA
j D 27.73, thus the unit vector is e D
0.7212i C0.4327j C0.5409k. The distance of point P from the plane
is d D r
OP
e r
OA
e D 11.792 2.164 D 9.63 m. The second term
is the distance of the plane from the origin; the vectors r
OB
, or r
OC
could have been used instead of r
OA
.
y
z
x
B[0,5,0]
P[9,6,5]
A[3,0,0]
C[0,0,4]
O
1
Problem 2.142* The force vector F points along
the straight line from point A to point B. Use
Eqs. (2.28)(2.31) to prove that
r
B
F D r
A
F.
Strategy: Let r
AB
be the position vector from point A
to point B. Express r
B
in terms of of r
A
and r
AB
. Notice
that the vectors r
AB
and F are parallel.
x
y
z
r
B
r
A
A
B
F
Solution: We have
r
B
D r
A
Cr
AB
.
Therefore
r
B
F D r
A
Cr
AB
F D r
A
F Cr
AB
F
The last term is zero since r
AB
jjF.
Therefore
r
B
F D r
A
F
1
Problem 2.143 For the vectors U D 6i C2j 4k,
V D 2i C7j, and WD 3i C2k, evaluate the following
mixed triple products: (a) U V W; (b) W V
U; (c) V WU.
Solution: Use Eq. (2.36).
(a) U V W D
6 2 4
2 7 0
3 0 2
D 614 24 C421 D 160

(b) W V U D
3 0 2
2 7 0
6 2 4
D 328 0 C24 42 D 160

(c) V WU D
2 7 0
3 0 2
6 2 4
D 24 712 12 C0 D 160
1
Problem 2.144 Use the mixed triple product to calcu-
late the volume of the parallelepiped.
x
y
z
(140, 90, 30) mm
(200, 0, 0) mm
(160, 0, 100) mm
Solution: We are given the coordinates of point D. From the geom-
etry, we need to locate points A and C. The key to doing this is to note
that the length of side OD is 200 mm and that side OD is the x axis.
Sides OD, AE, and CG are parallel to the x axis and the coordinates
of the point pairs (O and D), (A and E), and (C and D) differ only by
200 mm in the x coordinate. Thus, the coordinates of point A are (60,
90, 30) mm and the coordinates of point C are (40, 0, 100) mm.
Thus, the vectors r
OA
, r
OD
, and r
OC
are r
OD
D 200i mm, r
OA
D
60i C90j C30k mm, and r
OC
D 40i C0j C100k mm. The mixed
triple product of the three vectors is the volume of the parallelepiped.
The volume is
r
OA
r
OC
r
OD
D
60 90 30
40 0 100
200 0 0
D 600 C90200100 C300 mm

3
D 1,800,000 mm
3
y
z
A
B
C
O
F
G
D
E
x
(140, 90, 30)
mm
(200, 0, 0)
mm
(160, 0, 100)
mm
1
Problem 2.145 By using Eqs. (2.23) and (2.34), show
that
U V W D
U
x
U
y
U
z
V
x
V
y
V
z
W
x
W
y
W
z
.
Solution: One strategy is to expand the determinant in terms of
its components, take the dot product, and then collapse the expansion.
Eq. (2.23) is an expansion of the dot product: Eq. (2.23): U V D
U
X
V
X
CU
Y
V
Y
CU
Z
V
Z
. Eq. (2.34) is the determinant representation
of the cross product:
Eq. (2.34) U V D
i j k
U
X
U
Y
U
Z
V
X
V
Y
V
Z
For notational convenience, write P D U V. Expand the determi-

nant about its rst row:
P D i
U
Y
U
Z
V
Y
V
Z
U
X
U
Z
V
X
V
Z
Ck
U
X
U
Z
V
X
V
Z
Since the two-by-two determinants are scalars, this can be written in

the form: P D iP
X
CjP
Y
CkP
Z
where the scalars P
X
, P
Y
, and P
Z
are
the two-by-two determinants. Apply Eq. (2.23) to the dot product of
a vector Q with P. Thus Q P D Q
X
P
X
CQ
Y
P
Y
CQ
Z
P
Z
. Substitute
P
X
, P
Y
, and P
Z
into this dot product
Q P D Q
X
U
Y
U
Z
V
Y
V
Z
Q
Y
U
X
U
Z
V
X
V
Z
CQ
z
U
X
U
Z
V
X
V
Z
But this expression can be collapsed into a three-by-three determinant

directly, thus:
Q U V D
Q
X
Q
Y
Q
Z
U
X
U
Y
U
Z
V
X
V
Y
V
Z
. This completes the demonstration.

1
Problem 2.146 The vectors U D i CU
Y
j C4k, V D
2i Cj 2k, and WD 3i Cj 2k are coplanar (they
lie in the same plane). What is the component U
y
?
Solution: Since the non-zero vectors are coplanar, the cross pro-
duct of any two will produce a vector perpendicular to the plane, and
the dot product with the third will vanish, by denition of the dot
product. Thus U V W D 0, for example.
U V W D
1 U
Y
4
2 1 2
3 1 2
D 12 C2 U
Y
4 6 C42 C3
D C10U
Y
C20 D 0
Thus U
Y
D 2
1
Problem 2.147 The magnitude of F is 8 kN. Express
F in terms of scalar components.
F
x
y
(7, 2) m
(3, 7) m
Solution: The unit vector collinear with the force F is developed
as follows: The collinear vector is r D 7 3i C2 7j D 4i 5j
The magnitude: jrj D
p
4
2
C5
2
D 6.403 m. The unit vector is
e D
r
jrj
D 0.6247i 0.7809j. The force vector is
F D jFje D 4.997i 6.247j D 5i 6.25j (kN)
1
Problem 2.148 The magnitude of the vertical force W
is 600 lb, and the magnitude of the force B is 1500 lb.
Given that A CB CWD 0, determine the magnitude of
the force A and the angle .
50
B
W
A
Solution: The strategy is to use the condition of force balance to

determine the unknowns. The weight vector is WD 600j. The vector
B is
B D 1500i cos 50
Cj sin 50
D 964.2i C1149.1j
The vector A is A D jAji cos180 C Cj sin180 C
A D jAji cos j sin . The forces balance, hence A CB CWD
0, or 964.2 jAj cos i D 0, and 1149.1 600 jAj sin j D 0.
Thus jAj cos D 964.2, and jAj sin D 549.1. Take the ratio of the
two equations to obtain tan D 0.5695, or D 29.7
. Substitute this
angle to solve: jAj D 1110 lb
1
Problem 2.149 The magnitude of the vertical force
vector A is 200 lb. If A CB CC D 0, what are the mag-
nitudes of the force vectors B and C?
C
70 in. 100 in.
50 in.
E
F
D B
A
Solution: The strategy is to express the forces in terms of scalar
components, and then solve the force balance equations for the un-
knowns. C D jCji cos j sin , where
tan D
50
70
D 0.7143, or D 35.5
.
Thus C D jCj0.8137i 0.5812j. Similarly, B D CjBji, and A D
C200j. The force balance equation is A CB CC D 0. Substituting,
0.8137jCj CjBji D 0, and 0.5812jCj C200j D 0. Solving,
jCj D 344.1 lb, jBj D 280 lb
1
Problem 2.150 The magnitude of the horizontal force
vector D in Problem 2.149 is 280 lb. If D CE CF D 0,
what are the magnitudes of the force vectors E and F?
Solution: The strategy is to express the force vectors in terms of
scalar components, and then solve the force balance equation for the
unknowns. The force vectors are:
E D jEji cos j sin , where tan D
50
100
D0.5, or D26.6
.
Thus
E D jEj0.8944i 0.4472j
D D 280i, and F D jFjj.
The force balance equation is D CE CF D 0. Substitute and resolve
into two equations:
0.8944jEj 280i D 0, and 0.4472jEj CjFjj D 0.
Solve: jEj D 313.1 lb, jFj D 140 lb
1
Problem 2.151 What are the direction cosines of F?
Refer to this diagram when solving Problems 2.1512.157.
x
y
z
F = 20i + 10j 10k (lb)
A
(8, 1, 2) ft
(4, 4, 2) ft
B
Solution: Use the denition of the direction cosines and the

ensuing discussion.
The magnitude of F: jFj D
p
20
2
C10
2
C10
2
D 24.5.
The direction cosines are cos
x
D
F
x
jFj
D
20
24.5
D 0.8165,
cos
y
D
F
y
jFj
D
10
24.5
D 0.4082
cos
z
D
F
z
jFj
D
10
24.5
D 0.4082
1
Problem 2.152 Determine the scalar components of
a unit vector parallel to line AB that points from A
toward B.
Solution: Use the denition of the unit vector, we get
The position vectors are: r
A
D 4i C4j C2k, r
B
D 8i C1j 2k. The
vector from A to B is r
AB
D 8 4i C1 4j C2 2k D
4i 3j 4k. The magnitude: jr
AB
j D
p
4
2
C3
2
C4
2
D 6.4. The unit
vector is
e
AB
D
r
AB
jr
AB
j
D
4
6.4
i
3
6.4
j
4
6.4
k D 0.6247i 0.4688j 0.6247k
1
Problem 2.153 What is the angle between the line
AB and the force F?
Solution: Use the denition of the dot product Eq. (2.18), and
Eq. (2.24):
cos D
r
AB
F
jr
AB
jjFj
.
From the solution to Problem 2.130, the vector parallel to AB is r
AB
D
4i 3j 4k, with a magnitude jr
AB
j D 6.4. From Problem 2.151, the
force is F D 20i C10j 10k, with a magnitude of jFj D 24.5. The dot
product is r
AB
F D 420 C310 C410 D 90. Substi-
tuting, cos D
90
6.424.5
D 0.574, D 55
1
Problem 2.154 Determine the vector component of F
that is parallel to the line AB.
Solution: Use the denition in Eq. (2.26): U
P
D e Ue, where e
is parallel to a line L. From Problem 2.152 the unit vector parallel to
line AB is e
AB
D 0.6247i 0.4688j 0.6247k. The dot product is
e F D 0.624720 C0.468810 C0.624710 D 14.053.
The parallel vector is
e Fe D 14.053e D 8.78i 6.59j 8.78k (lb)
1
Problem 2.155 Determine the vector component of F
that is normal to the line AB.
Solution: Use the Eq. (2.27) and the solution to Problem 2.154.
F
N
D F F
P
D 20 8.78i C10 C6.59j C10 C8.78k
D 11.22i C16.59j 1.22k (lb)
1
Problem 2.156 Determine the vector r
BA
F, where
r
BA
is the position vector from B to A.
Solution: Use the denition in Eq. (2.34). Noting r
BA
D r
AB
,
from Problem 2.155 r
BA
D 4i C3j C4k. The cross product is
r
BA
F D
i j k
4 3 4
20 10 10
D 30 40i 40 80j
C40 60
D 70i C40j 100k (ft-lb)
1
Problem 2.157 (a) Write the position vector r
AB
from
point A to point B in terms of scalar components.
(b) The vector F has magnitude jFj D 200 N and is
parallel to the line from A to B. Write F in terms of
scalar components.
Solution:
(a) r
AB
D x
B
x
A
i Cy
B
y
A
j Cz
B
z
A
k
D 8 1i C1 5j C1 C1k
D 7i 4j C2k m.
(b) By dividing r
AB
by its magnitude, we obtain a unit vector parallel
to F:
e
AB
D
r
AB
jr
AB
j
D 0.843i 0.482j C0.241k.
Then
F D 200e
AB
D 169i 93.3j C48.2k N.
x
y
z
F
A
(1,5,1) m
B
(8,1,1) m
1
Problem 2.158 The rope exerts a force of magnitude
jFj D 200 lb on the top of the pole at B.
(a) Determine the vector r
AB
F, where r
AB
is the
position vector from A to B.
(b) Determine the vector r
AC
F, where r
AC
is the
position vector from A to C.
x
y
B (5, 6, 1) ft
C (3, 0, 4) ft
z
A
F
Solution: The strategy is to dene the unit vector pointing from B
to A, express the force in terms of this unit vector, and take the cross
product of the position vectors with this force. The position vectors
r
AB
D 5i C6j C1k, r
AC
D 3i C0j C4k,
r
BC
D 3 5i C0 6j C4 1k D 2i 6j C3k.
The magnitude jr
BC
j D
p
2
2
C6
2
C3
2
D 7. The unit vector is
e
BC
D
r
BC
jr
BC
j
D 0.2857i 0.8571j C0.4286k.
The force vector is
F D jFje
BC
D 200e
BC
D 57.14i 171.42j C85.72k.
The cross products:
r
AB
F D
i j k
5 6 1
57.14 171.42 85.72
D 685.74i 485.74j 514.26k

D 685.7i 485.7j 514.3k (ft-lb)
r
AC
F D
i j k
3 0 4
57.14 171.42 85.72
D 685.68i 485.72j 514.26k

D 685.7i 485.7j 514.3k (ft-lb)
1
Problem 2.159 The magnitude of F
B
is 400 N and
jF
A
CF
B
j D 900 N. Determine the components of F
A
.
x
y
z
60
30
50
40
F
A
F
B
Solution:
jF
B
j D 400 N
We need to write each vector in terms of its known or unknown compo-
nents. From the diagram
F
Ax
D jF
A
j cos 40
cos 40
D 0.587
F
Az
D jF
A
j cos 40
cos 50
D 0.492
F
Ay
D jF
A
j sin 40
D 0.642
F
Bx
D 400 cos 60
cos 60
F
Bz
D 400 cos 60
cos 30
F
By
D 400 sin 60
Let F
A
D jF
A
j and F
B
D jF
B
j D 400 N.
The components of the vectors are
F
A
D F
A
cos 40
sin 50
i CF
A
sin 40
j CF
A
cos 40
cos 50
k
D F
A
0.587i C0.643j C0.492k, (1)
F
B
D F
B
cos 60
sin 30
i CF
B
sin 60
j CF
B
cos 60
cos 30
k
D 100i C346j C173k N.
Setting
900 N D jF
A
CF
B
j
D [0.587F
A
100
2
C0.643F
A
C346
2
C0.492F
A
C173
2
]
1/2
and solving, we obtain F
A
D 595 N. Substituting this result into
Eq. (1),
F
A
D 349i C382j C293k N.
1
Problem 2.160 Suppose that the forces F
A
and F
B
shown in Problem 2.159 have the same magnitude and
F
A
F
B
D 600 N
2
. What are F
A
and F
B
?
Solution: From Problem 2.159, the forces are:
F
A
D jF
A
ji cos 40
sin 50
Cj sin 40
Ckcos 40
cos 50
D jF
A
j0.5868i C0.6428j C0.4924k
F
B
D jF
B
ji cos 60
sin 30
Cj sin 60
Ckcos 60
cos 30
D jF
B
j0.25i C0.866j C0.433k
The dot product: F
A
F
B
D jF
A
jjF
B
j0.6233 D 600 N
2
, from
jF
A
j D jF
B
j D
600
0.6233
D 31.03 N,
and
F
A
D 18.21i C19.95j C15.28k (N)
F
B
D 7.76i C26.87j C13.44k (N)
1
Problem 2.161 The magnitude of the force vector F
B
is 2 kN. Express it in terms of scalar components.
(4, 3, 1) m
y
x
(6, 0, 0) m
(5, 0, 3) m B
C
D
A
F
A
F
C
F
B
F
z
Solution: The strategy is to determine the unit vector collinear
with F
B
and then express the force in terms of this unit vector.
The radius vector collinear with F
B
is
r
BD
D 4 5i C3 0j C1 3k or r
BD
D 1i C3j 2k.
The magnitude is
jr
BD
j D
p
1
2
C3
2
C2
2
D 3.74.
The unit vector is
e
BD
D
r
BD
jr
BD
j
D 0.2673i C0.8018j 0.5345k
The force is
F
B
D jF
B
je
BD
D 2e
BD
(kN) F
B
D 0.5345i C1.6036j 1.0693k
D 0.53i C1.60j 1.07k (kN)
F
D(4,3,1)
C(6,0,0)
B(5,0,3)
x
z
y
A
F
A
F
B
F
C
1
vector F in Problem 2.161 is 6 kN. Determine the vector
components of F parallel and normal to the line from B
to D.
Solution: The projection of the force F onto the line from B
to D is F
P
D F e
BD
e
BD
. The vertical force has the component
F D 6j (kN). From Problem 2.139, the unit vector pointing from
B to D is e
BD
D 0.2673i C0.8018j 0.5345k. The dot product is
F e
BD
D 4.813. Thus the component parallel to the line BD is F
P
D
4.813e
BD
D C1.29i 3.86j C2.57k (kN). The component perpen-
dicular to the line is: F
N
D F F
P
. Thus F
N
D 1.29i 2.14j
2.57k (kN)
1
vector F in Problem 2.161 is 6 kN. Given that F CF
A
C
F
B
CF
C
D 0, what are the magnitudes of F
A
, F
B
, and
F
C
?
Solution: The strategy is to expand the forces into scalar compo-
nents, and then use the force balance equation to solve for the un-
knowns. The unit vectors are used to expand the forces into scalar
components. The position vectors, magnitudes, and unit vectors are:
r
AD
D 4i C3j C1k, jr
AD
j D
p
26 D 5.1,
e
AD
D 0.7845i C0.5883j C0.1961k.
r
BD
D 1i C3j 2k, jr
BD
j D
p
14 D 3.74,
e
BD
D 0.2673i C0.8018j 0.5345k.
r
CD
D 2i C3j C1k, jr
CD
j D
p
14 D 3.74,
e
CD
D 0.5345i C0.8018j C0.2673k
The forces are:
F
A
D jF
A
je
AD
, F
B
D jF
B
je
BD
, F
C
D jF
C
je
CD
, F D 6j (kN).
Substituting into the force balance equation
F CF
A
CF
B
CF
C
D 0,
0.7843jF
A
j 0.2674jF
B
j 0.5348jF
C
ji D 0
0.5882jF
A
j C0.8021jF
B
j C0.8021jF
C
j 6j
D 00.1961jF
A
j 0.5348jF
B
j C0.2674jF
C
jk D 0
These simple simultaneous equations can be solved a standard method
(e.g., Gauss elimination) or, conveniently, by using a commercial
package, such as TK Solver, Mathcad, or other. An HP-28S hand
held calculator was used here: jF
A
j D 2.83 (kN), jF
B
j D 2.49 (kN),
jF
C
j D 2.91 (kN)
1
Problem 2.164 The magnitude of the vertical force W
is 160 N. The direction cosines of the position vector from
A to B are cos
x
D 0.500, cos
y
D 0.866, and cos
z
D
0, and the direction cosines of the position vector from
B to C are cos
x
D 0.707, cos
y
D 0.619, and cos
z
D
0.342. Point G is the midpoint of the line from B to C.
Determine the vector r
AG
W, where r
AG
is the position
vector from A to G.
x
y
W
6
0
0

m
m
6
0
0

m
m
G
C
B
A
z
Solution: Express the position vectors in terms of scalar compo-
nents, calculate r
AG
, and take the cross product. The position vectors
are: r
AB
D 0.6.5i C0.866j C0k r
AB
D 0.3i C0.5196j C0k,
r
BG
D 0.30.707i C0.619j 0.342k,
r
BG
D 0.2121i C0.1857j 0.1026k.
r
AG
D r
AB
Cr
BG
D 0.5121i C0.7053j 0.1026k.
WD 160j
r
AG
WD
i j k
0.5121 0.7053 0.1026
0 160 0
D 16.44i C0j 81.95k D 16.4i C0j 82k (N m)

A
B
G
W
C
600 mm
600 mm
x
1
Problem 2.165 The rope CE exerts a 500-N force T
on the hinged door.
(a) Express T in terms of components.
(b) Determine the vector component of T parallel to
the line from point A to point B.
x
y
z
A (0.5, 0, 0) m
E
B
C
D
T
(0, 0.2, 0) m
(0.35, 0, 0.2) m
(0.2, 0.4, 0.1) m
Solution:
(a) F D 500 N
0.2 m0i C0.4 m0.2 mj C0.1 m0k
0.2 m
2
C0.2 m
2
C0.1 m
2
F D 333i C333j 166.7k N
(b) We dene the unit vector in the direction of AB and then use the
dot product to nd the part of F that is parallel to AB.
e
AB
D
0.35 m0.5 mi C0.2 m0k
0.15 m
2
C0.2 m
2
D 0.6i C0.8k
F
jj
D F e
AB
e
AB
D [333i C333j 166.7k N
0.6i C0.8k]0.6i C0.8k
Working out the algebra we have
F
jj
D 200i 267k N
1
Problem 2.166 In Problem 2.165, let r
BC
be the posi-
tion vector from point B to point C. Determine the cross
product r
BC
T.
Solution: The vector from B to C is
r
BC
D x
C
x
B
i Cy
C
y
B
j Cz
C
z
B
k
D 0.35i C0.2j 0.2k m.
The vector T is T D 482i C60.2j 120k N. The cross product of
these vectors is given by
r
BC
T D
i j k
0.35 0.2 0.2
482 60.2 120
D 12.0i 138j 117k N m

1

Statics, Chap 02 - BedFord

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Problem 2.

. Graphically determine the

Solution: Draw the vectors to scale and measure the magnitude

. Graphically determine the magnitude of F

. Use trigonometry to determine the magnitude of

40 C50 cos 50 C40 cos 130

Solution: From the law of cosines

jDj D 3500 sin 25

. (a) The magnitudes of jF

D 346.41 m. The distance CE is CE D 600 sin 20

to nd the two unit vectors that are perpendicular to this

F D 600.9397i C0.342j or F D 56.4i C20.5j (lb)

. The angle is D D 49.12

. What is the safe range of the angle ?

In order to be safe we must have

i C20 sin 270

i C16 sin 140

i C20 sin 270

C0 12.26 C6.89 C0 CjF

20 C10.28 C5.79 20 CjF

to the angle to nd the two possible perpendicular vectors:

. The rst angle is ruled out because it causes the vector

angle relative to the

D 900.4444i 0.7777j 0.4444k

, and the angle between

, and the angle between T and the y axis

. The z component of T is positive.

D 0.5, m D cos 130

j m. Thus, the coordinates of point A

(b) Using the dot product

Solution: The direction cosines of the vectors along r

. From the construction: D C42.5

(b) The unit vector associated with AB is

N on the Atlantic Ocean between Nova

N in the Arabian Sea.

Using the identity cos

D 132i C72j C96k

r F D 120 66i C48 40j

, hence (a) U V D 10200.2588e D 51.8e D 51.8k.

Cj sin 45 D 7.07i C0.707j,

D i16 j40 Ck30

The vectors are:

Substitute into the denition to obtain: sin

R D 54 28i C12 72j C56 18 k

82i 60j C74k

D 0.0828i C0.7448j C0.6621k

C D 172i C204j 208k

D 2400i C9600j C7200k (ft-lb)

D 42.4i C93.3j 123.0k Nm

D 42.4i C93.3j 123.0k Nm

D 4.65i C3.53j C7.98k N-m

D 20i C12j C15k.

D 614 24 C421 D 160

D 328 0 C24 42 D 160

D 600 C90200100 C300 mm

For notational convenience, write P D U V. Expand the determi-

Since the two-by-two determinants are scalars, this can be written in

But this expression can be collapsed into a three-by-three determinant

. This completes the demonstration.

Solution: The strategy is to use the condition of force balance to

Solution: Use the denition of the direction cosines and the

D 685.74i 485.74j 514.26k

D 685.68i 485.72j 514.26k