VECTOR ANALYSIS

VECTORS
Has magnitude Has direction Can be represented graphically by arrows Vector addition of vectors A and B r r r C = A+ B C = A + B (1.1)

(1.1)

Figure 1.1 Triangle law of vector addition.

VECTORS
Vector addition is commutative C = A + B = B + A, A (1.2) r r r r r (1.2) C = A+ B = B + A

Figure 1.2 Parallelogram law of vector addition.

VECTORS
Vector addition is associative
Figure 1.3 Vector addition Is associative.

D = A + B + C, E. A+B=E . D = E + C.

B + C = F. F. D = A + F. ( A + B) B) + C = A + (B (B + C). C).

VECTORS
Example

Figure 1.4 Equilibrium of forces: F1 + F2 = F3

VECTORS
Vector subtraction, same as adding a vector of reverse direction
A - B = A + ((-B).

A = E - B.

VECTORS
Vector A can be represented by coordinates Origin, (0,0,0) = start of vector arrow A (A Ax , Ay , Az ) = coordinates of the endpoint of A

VECTORS
r r (x, y, z ) (1.3)
r = directed line segment from origin to tip of arrow; parallel to vector A

Figure 1.5 Cartesian components and direction cosines of A.

VECTORS
Direction cosines
x Ax cos = = r A r r cos = cos( x, r ) = cos Ax , A r = angle between x and r, r = angle between A x and A

VECTORS
Direction cosines
y Ay cos = = r A r r cos = cos( y, r ) = cos Ay , A r = angle between y and r, r = angle between Ay and A

VECTORS
Direction cosines
z Az cos = = r A r r cos = cos( z , r ) = cos Az , A r = angle between z and r, r = angle between Az and A

VECTORS
x A cos = = x r A y Ay cos = = r A cos = z Az = r A

x = r cos Ax = A cos

y = r cos Ay = A cos

z = r cos Az = A cos

(1.4.1) (1.4.2)

cos 2 + cos 2 + cos 2 = 1

(1.4.3)

From 1.4.1, 1.4.2, and 1.4.3, A = A +A +A

2 x

2 y

2 1/2 z

(1.5)

The magnitude of A is proportional to r through some scale: e.g. 1cm: 1 Newton

VECTORS
Coordinate representation of vector A r Ax + y Ay + z Az A=x (1.6) r A = (Ax , Ay , Az ) unit vectors
= (1,0,0) unit vector along x - axis x = (0,1,0) unit vector along y - axis y = (0,0,1) unit vector along z - axis z

VECTORS
Vector addition using coordinates
r v ( Ax Bx ) + y (Ay B y ) + z ( Az Bz ) AB = x

(1.7)

VECTORS - ROTATION OF THE COORDINATE AXES

Figure 1.6 Rotation of Cartesian coordinate axes about the zz-axis.

x' = x cos + y sin y ' = x sin + y cos

(1.8)

VECTORS - ROTATION OF THE COORDINATE AXES

Transformation of coordinates of vector A by rotation of coordinate axes
Ax ' = Ax cos + Ay sin Ay ' = Ax sin + Ay cos (1.9)

Form invariance (or covariance)

A = A +A +A

2 x

2 y

2 1/ 2 z

= A' + A' + A'

2 x

2 y

2 1/ 2 z

VECTORS - ROTATION OF THE COORDINATE AXES

Change notation
x' = x cos + y sin y ' = x sin + y cos (1.8)

Ax ' = Ax cos + Ay sin Ay ' = Ax sin + Ay cos

(1.9)

x x1

y x2

(1.10)
a12 = sin a22 = cos

a11 = cos , a21 = sin

(1.11)

Transformation equations x'1 = a11 x1 + a12 x2 x'2 = a21 x1 + a22 x2

(1.12)

VECTORS - ROTATION OF THE COORDINATE AXES

Transformation equations (1.12) x'1 = a11 x1 + a12 x2 x'2 = a21 x1 + a22 x2

Transformation coefficients : a11 , a12 , a21 , a22 aij = direction cosine, cosine of angle between x'i and x j a12 = cos( x'1 , x2 ) = sin

) a21 = cos( x'2 , x1 ) = cos( + 2 = sin

x'i = aij x j
j =1 2

(1.13)

i = 1,2.

(1.14)

VECTORS - ROTATION OF THE COORDINATE AXES

Three, four, or N dimensional system V 'i = aijV j
j =1 N

i = 1,2,....N

(1.15)

VECTORS - ROTATION OF THE COORDINATE AXES

Transformation equations x'1 = a11 x1 + a12 x2 x'2 = a21 x1 + a22 x2

aij x j (1.12) x'i = j =1

i = 1,2.

(1.14)

Since aij = cosine of angle between x'i and x j x'i aij = x j

(1.16a )

Inverse rotation ( - ) x j = aij x'i

j =1 2

or

x j x'i

= aij

(1.16b )

VECTORS - ROTATION OF THE COORDINATE AXES

Three, four, or N dimensiona l system V 'i =

a V
ij j =1

i = 1, 2 ,.... N

(1.15 )

V 'i =

j =1

x 'i Vj = x j

x '
j =1

x j
i

Vj

(1.17 )

From (1.16b)

From (1.16a)

VECTORS - ROTATION OF THE COORDINATE AXES

Orthogonality condition for aij

a a
i

ij ik

= jk

(1.18) (1.19)
(1.20)
x j x'i x j = = xk i x 'i x 'i i x 'i xk Proof : x j xk

a
i

ji ki

a = jk

Kronecker delta jk = 1 for j = k

jk = 0 for j k