System of Coplanar Forces
Addition of a System of Coplanar Forces
When a force is resolved into two components along the x and y
axes, the components are then called rectangular components. For
analytical work we can represent these components in one of two
ways, using either scalar notation or Cartesian vector notation
Scalar Notation.
The rectangular components of force F shown in Fig. 2–15a are found using the
parallelogram law, so that F = Fx + Fy . Because these components form a right
triangle, their magnitudes can be determined from
Instead of using the angle , however, the direction of F can also be
defined using a small “slope” triangle, such as shown in Fig. 2–15b.
Since this triangle and the larger shaded triangle are similar, the
proportional length of the sides gives
Here the y component is a negative scalar since Fy is directed
along the negative y axis. It is important to keep in mind that
this positive and negative scalar notation is to be used only for
computational purposes, not for graphical representations in
figures. Throughout the book, the head of a vector arrow in any
figure indicates the sense of the vector graphically; algebraic signs
are not used for this purpose. Thus, the vectors in Figs. 2–15a
and 2–15b are designated by using boldface (vector) notation.
Whenever italic symbols are written near vector arrows in
figures, they indicate the magnitude of the vector, which is
always a positive quantity.
Cartesian Vector Notation.
It is also possible to represent the x and y
components of a force in terms of Cartesian unit
vectors i and j. Each of these unit vectors has a
dimensionless magnitude of one, and so they can be
used to designate the directions of the x and y axes,
respectively, Fig. 2–16. Since the magnitude of each
component of F is always a positive quantity, which is
represented by the (positive) scalars Fx and Fy, then
we can express F as a Cartesian vector,
Coplanar Force Resultants.
We can use either of the two methods just described
to determine the resultant of several coplanar
forces.To do this, each force is first resolved into its x
and y components, and then the respective
components are added using scalar algebra since
they are collinear. The resultant force is then formed
by adding the resultant components using the
parallelogram law. For example, consider the three
concurrent forces in Fig. 2–17a, which have x and y
components shown in Fig. 2–17b. Using Cartesian
vector notation, each force is first represented as a
Cartesian vector, i.e.,
The vector resultant is therefore
We can represent the components of
the resultant force of any number of
coplanar forces symbolically by the
algebraic sum of the x and y
components of all the forces, i.e.,
Once these components are determined, they may be sketched along the x and y
axes with their proper sense of direction, and the resultant force can be determined
from vector addition, as shown in Fig. 2–17. From this sketch, the magnitude of
FR is then found from the Pythagorean theorem; that is,
Also, the angle , which specifies the direction of the resultant force, is
determined from trigonometry:
Important Points
➢The resultant of several coplanar forces can easily be determined if an x,
y coordinate system is established and the forces are resolved along the
axes.
➢The direction of each force is specified by the angle its line of action makes
with one of the axes, or by a sloped triangle.
➢The orientation of the x and y axes is arbitrary, and their positive direction
can be specified by the Cartesian unit vectors i and j.
➢The x and y components of the resultant force are simply the algebraic
addition of the components of all the coplanar forces.
➢The magnitude of the resultant force is determined from the Pythagorean
theorem, and when the components are sketched on the x and y axes, the
direction can be determined from trigonometry.
EXAMPLE 1
Determine the x and y components of F1 and F2 acting on the boom shown.
Express each force as a Cartesian vector.
SOLUTION
By the parallelogram law, F1 is resolved into x and y components,. Since F1x
acts in the –x direction, and F1y acts in the +y direction, we have
The force F2 is resolved into its x and y components as shown in. Here the slope of
the line of action for the force is indicated. From this “slope triangle” we could obtain
the angle, e.g., and then proceed to determine the magnitudes of the
components in the same manner as for F1. The easier method, however, consists of
using proportional parts of similar triangles, i.e.,
Cartesian Vector Notation. Having determined the magnitudes and directions of
the components of each force, we can express each force as a Cartesian vector.
Notice how the magnitude of the horizontal component, F2x, was obtained by
multiplying the force magnitude by the ratio of the horizontal leg of the slope triangle
divided by the hypotenuse; whereas the magnitude of the vertical component, F2y,
was obtained by multiplying the force magnitude by the ratio of the vertical leg
divided by the hypotenuse. Hence,
EXAMPLE 2
The link is subjected to two forces F1 and F2. Determine the magnitude and direction
of the resultant force.
Scalar Notation. First we resolve each force into its x and y components, then we
sum these components algebraically.
Cartesian Vector Notation. From Fig. 2–19b, each force is first expressed as
a Cartesian vector.
The magnitude and direction of FR are determined in the same manner as before.
NOTE: Comparing the two methods of solution, notice that the
use of scalar notation is more efficient since the components can
be found directly, without first having to express each force as a
Cartesian vector before adding the components. Later, however,
we will show that Cartesian vector analysis is very beneficial for
solving three-dimensional problems.
EXAMPLE 3
The end of the boom O in the figure is subjected to three concurrent and
coplanar forces. Determine the magnitude and direction of the resultant force.
SOLUTION
Each force is resolved into its x and y components. Summing the x components,
we have
The negative sign indicates that FRx acts to the left, i.e., in
the negative x direction, as noted by the small arrow.
Obviously, this occurs because F1 and F3 contribute a
greater pull to the left than F2 which pulls to the right.
Summing the y components yields
The resultant force has a magnitude of
From the vector addition, the direction angle is
NOTE: Application of this method is more convenient, compared to using two
applications of the parallelogram law, first to add F1 and F2 then adding F3 to this
resultant.
