The direction of a vector can be simplified by using unit vectors
The unit vector used to define the x
direction is i.
The unit vector used to define the y y
direction is j.
The unit vector used to define the z
direction is k.
j
i
k O x
1
Thus, using unit vectors i, j, and k, vector BC can be written as
BC = 2i + 3j – 6k. This can be thought as a combination of three
individual vectors, as illustrated
y
C (2,3,0)
O (0,0,0)
3
x
(0,0,6) B 6
z 2
2
Direction cosines define the direction of a vector with respect
to one of the coordinate axis.
Angle DOA defines the angle the vector makes with the x axis, and is designated as θx.
Angle GOA defines the angle the vector makes with the y axis, and is designated as θy.
Angle BOA defines the angle the vector makes with the z axis, and is designated as θz.
y
G
C
(2,3,6) θy
F
A θx
3 D
θz O x
B 6
z 2 E 3
The relationship existing between the vector OA and its three
components OAx, OAy, and OAz is given by
OAx = OA cosθ x ; OAy = OA cosθ y ; OAz = OA cosθ z
Introducing the unit vectors, i, j, and k, we can express OA in the form
OA = OAx i + OAy j + OAz k = OA(cosθ x i + cosθ y j + cosθ z k ) = OA λ
which shows the the vector OA can be expressed as the product
of the scalar OA and the vector
λ = cosθ x i + cosθ y j + cosθ z k.
Clearly, the vector λ is a vector whose magnitude is equal to 1 and
whose direction is the same as that of OA. See Figure. This vector
is referred as the unit vector along the line of action of OA.
[Link]
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The components of this unit vector λ are:
λx = cos θx; λy= cos θy; λz = cos θz;
Recalling that the sum of the squares y
of the components of a vector is equal to
the square of its magnitude, we have C
λ2x + λ2y + λ2z = cos 2 θ x + cos 2 θ y + cos 2 θ y = 1.
(2,3,6)
A λ (0,0,0)
3 O x
B 6
z 2
5
Example 1. Determine, for the vector OA, its unit vector λ and the
angles θx, θy, and θz it forms with the coordinate axes.
Solution: Denoting by i, j, and k the unit vectors along the
coordinate axes, we have: y
OA = 2i + 3j + 6k.
Since the magnitude of OA=7, we obtain C
the unit vector λ as
λ=OA/OA=(2i + 3j + 6k)/7.
The angles θx, θy, and θz are (2,3,6)
A λ (0,0,0)
given by:
3 O
OAx 2 OAy 3 x
cosθ x = = ; cosθ y = = ;
OA 7 OA 7
OAz 6 B 6
cosθ z = = .
OA 7 2 θ x = 73.4o ; θ y = 64.62o ; θ z = 31o.
z 6
Example 2. Determine the unit vector λBC and the angles θx, θy, and θz
it forms with the coordinate axes.
Solution: The unit vector λBC is defined by
λBC = BC/BC = (2i +3j –6k)/[22 +32 + (-6)2]1/2 y
λBC = 2/7 i +3/7 j –6/7 k
C (2,3,0)
Vector Direction:
BC x 2 BC y 3
cosθ x = = ; cosθ y = = ;
BC 7 BC 7
BC z 6
A O (0,0,0)
cosθ z = =− . 3
BC 7 x
Calculating successively each λBC
quotient and its arc cosine, B 6
we obtain: z 2 θ x = 73 . 4 o
; θ y = 64 .62 o
; θ z = 149 o
.
7
2.89. A frame ABC is supported in part by cable 0.28 m y
DBE which passes through a frictionless ring at
D 0.21 m
B. Knowing that the tension in the cable is
385 N, determine the components of the force E
exerted by the cable on the support at D.
Solution:
0.510 m O
A 0.4 m
0.28 m y
z
D 0.21 m C x
0.48 m B 0.6 m
TDB E
TBE
0.51m TBD O
A 0.4 m
λBD
z λBE
C x
0.48 m B 0.6 m
2.89. A frame ABC is supported in part by cable 0.28 m y
DBE which passes through a frictionless ring at
D 0.21 m
B. Knowing that the tension in the cable is
385 N, determine the components of the force E
exerted by the cable on the support at D.
Solution:
0.510 m O
A 0.4 m
0.28 m y
z
D 0.21 m C x
0.48 m B 0.6 m
TDB E
TBE
O Denoting by λBD the unit vector along BD, we have
0.51m TBD
A 0.4 m TBD = TBD λ BD = TBD
BD
BD
λBD
z λBE
C
[−0.48i + 0.51j − 0.32k ]
x TBD = TBD
(−.48) 2 + (.51) 2 + (−.32) 2 = 0.77
0.48 m B 0.6 m TBD = −240i + 255 j − 160k N
Thus, the components of the force at D are given by TDB = 240i − 255 j + 160k N 9
2.89. A frame ABC is supported in part by cable
DBE which passes through a frictionless ring at
B. Knowing that the tension in the cable is
10 N, determine the components of the force
exerted by the cable on the support at D.
Solution:
1m y
D 1m
TDB E
TBE
O Denoting by λBD the unit vector along BD, we have
2m TBD
A 1m BD
TBD T=
= BD λ BD TBD
BD
λBD
z λBE
C
[− xxi + yyj − zzk ]
x TBD = TBD
( xx) 2 + ( yy ) 2 + ( zz ) 2 =
2m B 2m TBD =
−Txxi + Tyyj + Tzzk N
Thus, the components of the force at D are given by TDB = Txxi + Tyyj + Tzzk N
10
2.133 Cable AB is 65 ft long, and the tension in that cable y
is 3900 lb. Determine (a) the x, y, and z components of the A
force exerted by the cable on the anchor B, (b) the angles θx, 56 ft
θy, and θz defining the direction of that force.
D
y Solution: By using the triangle α
O
A AOB, we get: B
56 ft λAB 20o
o
50
TAB z
D
C x
α
O TBA
B
o 20o
50
z
A
C x
LAB= 65
56 ft
ft
O B
LOB = 652 − 56 2 = 33 ft
2.133 Cable AB is 65 ft long, and the tension in that cable y
is 3900 lb. Determine (a) the x, y, and z components of the A
force exerted by the cable on the anchor B, (b) the angles θx, 56 ft
θy, and θz defining the direction of that force.
D
y Solution: By using the triangle α
O
A AOB, we get: B
56 ft λAB 20o
o
AB 50
TAB TAB = TAB λ AB = TAB z
D AB C x
α [33 cos 20o i − 56 j − 33 sin 20o k ]
O TBA TAB = 3900
65
B
TAB = 1860.61i − 3360 j − 677.15k lb.
o 20o
50
z Since TAB = -TBA, we have
A
C x
TBA = −1860.61i + 3360 j + 677.15k lb
Therefore, the angles θx, θy, and θz defining the direction
LAB= 65
56 ft of TBAare given by:
ft
1860.61 3360
cosθ x = − = 0.477; cosθ y = = 0.861;
3900 3900
O B 677.15
LOB = 652 − 56 2 = 33 ft
cosθ z =
3900
= 0.173. 12
Applications:
1. Angle formed by two given vectors.
Example. Determine the angle θ formed by the vectors OA and BC.
Solution: From Figure., we notice that vectors OA and BC are given by:
OA = 2i +3j +6j; BC= 2i +3j -6j. Hence, by y
applying the scalar product definition, we
have: C (2,3,0)
OA • BC
cosθ =
OA BC
(2i + 3 j + 6k ) • (2i + 3 j − 6k ) (2,3,6)
=
2 2 + 33 + 6 2 2 2 + 32 + (−6) 2 A O (0,0,0)
4 + 9 − 36 23
= = − = −0.4693. x
49 49
Calculating its arc cosine,
(0,0,6) B 6
yields θ = 118o.
z 2 13
14