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CARTESIAN
VECTORS
CARTESIAN VECTORS
The operations of vector algebra, when applied
to solving problems in three dimensions, are
greatly simplified if the vectors are first
represented in Cartesian vector form. In this
section we will present a general method for
doing this; then in the next section we will use
this method for finding the resultant force of a
system of concurrent forces
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Right-handed coordinate system
We will use a right handed
coordinate system to develop the theory
of vector algebra that follows. A
rectangular coordinate system is said to
be right-handed if the thumb of the right
hand points in the direction of the positive
z axis when the right-hand fingers are
curled about this axis and directed from
the positive x towards the positive y axis,
fig. 2–21.
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Rectangular Components of a Vector
In three dimensions, the set of
Cartesian unit vectors, i, j, k, is used to
designate the directions of the x, y, z axes,
respectively. As stated in Sec. 2–4, the
sense (or arrowhead) of these vectors will
be represented analytically by a plus or
minus sign, depending on whether they are
directed along the positive or negative x, y,
or z axes. The positive Cartesian unit
vectors are shown in Fig. 2–23.
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Cartesian Unit Vectors
In three dimensions, the set of
Cartesian unit vectors, i, j, k, is used to
designate the directions of the x, y, z
axes, respectively. As stated in Sec. 2–4,
the sense (or arrowhead) of these
vectors will be represented analytically
by a plus or minus sign, depending on
whether they are directed along the
positive or negative x, y, or z axes. The
positive Cartesian unit vectors are
shown in Fig. 2–23.
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Cartesian Vector Representation
Since the three components of A in Eq. 2–2
act in the positive i, j, and k directions, Fig. 2–24, we
can write A in Cartesian vector form as
There is a distinct advantage to writing
vectors in this manner. Separating the magnitude
and direction of each component vector will
simplify the operations of vector algebra,
particularly in three dimensions.
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Coordinate Direction Angles
We will define the direction of Aby the coordinate
direction angles a (alpha), b (beta), and g (gamma),
measured between the tail of A and the positive x, y, z axes
provided they are located at the tail of A, Fig. 2–26. Note that
regardless of where A is directed, each of these angles will
be between 0° and 180°. To determine a, b, and g, consider
the projection of A onto the x, y, z axes, Fig. 2–27. Referring
to the colored right triangles shown in the figure, we have
These numbers are known as the direction cosines
of A. Once they have been obtained, the coordinate
direction angles a, b, g can then be determined from the
inverse cosines. 8
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Coordinate Direction Angles
An easy way of obtaining these direction cosines is to
form a unit vector uA in the direction of A, Fig. 2–26. If A is
expressed in Cartesian vector form, A = Axi + Ay j + Azk, then
uA will have a magnitude of one and be dimensionless
provided A is divided by its magnitude, i.e.,
where .By comparison with
Eqs. 2–5, it is seen that the i, j, k components of uA represent
the direction cosines of A, i.e.,
Coordinate Direction Angles
Since the magnitude of a vector is equal to
the positive square root of the sum of the squares of
the magnitudes of its components, and uA has a
magnitude of one, then from the above equation an
important relation among the direction cosines can
be formulated as
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Here we can see that if only two of the coordinate angles
are known, the third angle can be found using this equation.
Finally, if the magnitude and coordinate direction angles
of A are known, then A may be expressed in Cartesian vector
form as
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Position Vector
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Position Vector
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Position Vector
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Position Vector
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Force Vector Directed Along a Line
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The man shown in Figure
pulls on the cord with a
force of 70 lb.
Represent this force acting
on the support A as a
Cartesian vector and
determine its direction
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Dot Product
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Dot Product
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Dot Product
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Dot Product
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Dot Product
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Dot Product
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THANK YOU
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