BPK201
Biomechanics
Forces are vectors!
Recall that we can replace
the action of many forces
with a single net force. But
the effect of the net force
doesnt just depend on its
magnitude, it also depends
on the direction that it is
pushing.
Vectors
Fnet
Scalars and Vectors
Scalars: variables that are fully
defined by magnitude only (e.g.
volume, temperature, energy).
These can be positive or negative
valued, but ultimately exist on a
single number line. Scalars are just
a single number!
-4
-3
-2
-1
Vectors are not just 2 dimensional
- they can be any dimension.
Mechanics typically deals with 2D
or 3D vectors.
We need an expanded version of
math to compute with vectors. This
includes addition and
multiplication. (The latter has two
types which is different than scalar
math). In this class, vectors will be
noted with an arrow over the
variable.
3
2
1
-4
-3
-2
-1
4
3
Deep Thought: scalars are just 1D
vectors (all the math works out).
What if one thing (i.e. variable)
needs more than one number to
describe it?
Vectors: variables that are fully
defined by magnitude AND direction
(e.g. force, velocity). Vectors are
more than just a single number!
Scalars and Vectors
-1
-2
-3
-4
2
1
-4
-3
-2
-1
-1
-2
-3
-4
BPK201 2016-1 Unit 1 Supplement. Vectors - September 2, 2016
Coordinate Systems
Scalars and Vectors
origin
Scalars have a defined origin - everything is
referenced to zero - and a defined positive
direction.
-4
-3
-2
-1
In biomechanics, there are really two fundamental scalar quantities:
mass: m
time: t
+ direction
Vectors need an origin as well. In addition
to the origin, one needs to define directions
and name them. We call these definitions
coordinate systems or reference frames.
And two fundamental
vector quantities:
!
force: F
!
relative position: r
i/O
+y direction
We need to define them because it is
arbitrary where we put the origin, what we
call the axes, and what we decide are the
positive directions. What is not arbitrary is
that the axes are orthogonal
(perpendicular) to each other.
+x direction
Everything else of interest, can be derived from these scalar and
vector terms (e.g. velocity is calculation involving relative position
and time).
origin
coordinate
system
In mechanics, we use the right-hand-rule
convention to universally agree on the
direction of some axes, once we define the
direction of others.
Importantly, the role of vectors is as important as the role of scalars
in biomechanics.
(0,0)
Component Vectors
Vector Addition
A vector can be divided in
to a component that acts
along each axis. The sum
of these components is
the original vector.
The sum of N vectors is
called the resultant vector.
!
F
Fy
Geometrically: The resultant
vector is the vector
connecting initial tail to final
tip when vectors are
connected tip to tail. (Never
underestimate the power of
a drawing).
When people are new to
using vectors, they often
find it easiest to deal
with the component
vectors.
Fx
!
Fx = F cos( )
!
F1
Geometric Sum
!
F2
!
Fr
=
!
F2
!
Fr
Algebraic Sum
! ! !
Fr = F1 + F2
!
F1
!
!
Fy = F cos( ) = F sin( )
2
BPK201 2016-1 Unit 1 Supplement. Vectors - September 2, 2016
Vector Addition
Vector Subtraction
We can find the sum of two
vectors by adding their
component vectors.
Take care to still add these
component vectors tip to
tail when you do so
graphically. But
algebraically, they are just
scalars.
!
F1
F1,y
With scalars, subtraction is
just addition of a negative
number. The same goes for
vectors.
!
Fr
!
F2
Subtracting one vector from
another is just the addition
of the two vectors with the
first vector multiplied by -1.
F2,y
F1,x
F2,x
Multiplication by -1
reverses the vector
direction. (We can also
multiply by other constants
to stretch or attenuate a
vector).
Fr,y
these are
all scalar
terms
Fr,x = F1,x + F2,x
!
Fres
Fr,y = F1,y + F2,y
!
Fr = (Fr,x , Fr,y )
Fr,x
c2 = a2 + b2
!
F = Fx 2 + Fy 2
cos( ) =
!
F
a 2 = b 2 + c 2 2bc cosA
b 2 = a 2 + c 2 2ac cosB
c 2 = a 2 + b 2 2ab cosC
!
F
F
= cos1 !x
F
!
F1
! ! !
F1 = Fr F2
! !
!
F1 = Fr + (F2 )
!
F2 = (F2,x , F2,y )
!
F2 = (F2,x ,F2,y )
Law of Sines
a
b
c
=
=
sinA sinB sinC
Where A, B, and C are the interior angles of a general triangle, and a,
b, and c are lengths of the sides opposite those angles.
Fy
a
c
!
F2
!
Fr
10
Law of Cosines
!
F1
Law of Sines and Law of Cosines
F!
Recall right-angle triangles:
! ! !
Fr = F1 + F2
Vector Magnitude and Angle
Vectors have magnitudes (lengths)
and angles. Both of these can be
calculated using trigonometry for
right angle triangles because the
component vectors (the vectors that
act along the coordinate frame axes)
are always orthogonal.
!
F2
!
Fr
Fx
11
12
BPK201 2016-1 Unit 1 Supplement. Vectors - September 2, 2016
!"
F
How to Draw Vectors
How you draw a force depends on:
What you
know
Method
of drawing
1. How much you know about the vector when you are drawing your
diagram? Do you know its direction? Its magnitude?
2. Your choice of notation (which may vary between vectors within
the same diagram).
!"
F
Everything
is known
!"
F = (10N,10N )
F
Graphical
Components
Fx
(Pratap & Ruina, 2010)
14.1N
45
45!
10N
Fy
13
Direction
is known
!"
F
Symbolic
Note: Symbols take precedence over drawings. But it is most clear if
you draw vectors roughly in the correct direction and roughly to
scale.
Nothing
is known
10N
14
BPK201 2016-1 Unit 1 Supplement. Vectors - September 2, 2016
