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Fall 2015
Week 1
This lecture is based on Dr. N. Qaddoumi lecture notes and uses material from Elements
of Electromagnetics, 6th edition by M. Sadiku and covers therein:
Chapter 1
In this lecture you will be learn how to:
Calculate unit vectors.
Perform algebraic operations on vectors.
Perform dot and cross product operations on vectors.
Important: These lecture notes are a work in progress and may contain errors and/or typos.
Please do not distribute without the authors consent.
1-1
1.1
1.1.1
Week 1
Vector Algebra
Scalars and Vectors
Definition: A scalar is a quantity that has only a magnitude. For example, mass, speed,
population, etc. are scalars.
Definition: A vector is a quantity that has both magnitude and direction. Weight (force),
velocity, electric field intensity, etc. are examples of vectors.
In this course, a vector is either a bold letter (e.g. A) or a letter with an arrow on top (e.g.
~ On the other hand, a scalar is simply represented by a letter (e.g. A).
A).
1.1.2
Unit Vector
~
A
|
aA | = 1
~
|A|
q
A2x + A2y + A2z
~ = 5
Example 1.1: Find unit vector of A
ax + 6
ay + 2
az .
5
ax + 6
ay + 2
az
5
6
2
a
A =
= a
x + a
y + a
z
52 + 62 + 22
65
65
65
You can check that the magnitude of the unit vector is |
aA | = 1
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1.1.3
Week 1
~ and B,
~ they can be related to each other in different ways.
Given two vectors A
~
These two vectors can be added together to give another vector C.
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Week 1
1.2
Vector Multiplication
~ and B
~ are multiplied, the result is either a scalar or a vector depending
When two vectors A
on how they are multiplied. There are two types of vector muliplication:
~ B.
~
Scalar (or dot) product: A
~ B.
~
Vector (or cross) product: A
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1.2.1
Week 1
~ and B,
~ their dot product is given as
Definition: Given two vectors A
~B
~ = |A||
~ B|
~ cos() = AB cos ,
A
where is the smallest angle between the two vectors as shown in the figure. The dot
product produces a scalar quantity.
~B
~ = 0, if A
~ = 0, B
~ = 0, or = 90 .
The dot product A
~ onto A
~ is B cos ; whereas the projection of A
~ onto B
~ is A cos .
Herein, the projection of B
The projections are shown in the figure below.
p
~ A.
~
A
~B
~ =B
~ A.
~
2. Commutative Law: A
~ (B
~ + C)
~ =A
~B
~ +A
~ C.
~
3. Distributive Law: A
To find the scalar component of a vector in a given direction, use the dot product with a
unit vector of that direction.
~ = Ax a
~ with
Example 1.2: Given A
x + Ay a
y + Az a
z . Find the x-component dot product A
a unit vector in the x-direction a
x .
~a
A
x = Ax
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1-5
Week 1
~ = 3
~ = 2
Example 1.4: Given two vectors A
ax + 2
ay + 2
az , and B
ay a
z . Find the scalar
~
~
and vector components of A in the B direction.
~ to get its direction,
First, find the unit vector of B
2
ay a
z
a
z
2
ay
a
B =
= .
22 + 12
5
5
Next, to find the scalar component of AB
~a
AB = A
B = (3
ax + 2
ay + 2
az )
2
a
a
y z
5
5
2
2
4
= =
5
5
5
~B,
Now to find A
2
~ B = (A
~a
A
B )
aB =
5
2
4
= a
y a
z
5
5
2
a
y z
5
5
Two vectors are parallel if their dot product is equal to the product of their magnitudes, i.e.
~B
~ = AB, or we can even say a
A
A a
B = 1.
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1.2.2
Week 1
~ and B,
~ their cross product is given as
Definition: Given two vectors A
~B
~ = |A||
~ B|
~ sin()
A
an = AB sin
an ,
~ and B.
~ The direction of a
where a
n is the unit vector normal to the plane containing A
n can
be determined using the right-hand rule (or right-handed screw rule). Using the right-hand
rule, the right thumb is the direction of a
n when the fingers of the right hand rotate from
~
~
A to B.
Note that the cross product has the following basic properties:
~A
~ = 0.
1. A
~B
~ 6= B
~ A;
~ Anti-commutative: A
~B
~ = B
~ A.
~
2. Not Commutative: A
~ (B
~ C)
~ 6= (A
~ B)
~ C
~
3. Not associative: A
~ (B
~ + C)
~ =A
~B
~ +A
~C
~
4. Distributive: A
~ (B
~ C)
~ =B
~ (C
~ A)
~ =C
~ (A
~ B)
~ = scalar.
5. Scalar Triple Product: A
~B
~ C
~ = B(
~ A
~ C)
~ C(
~ A
~ B)
~
6. Vector Triple Product: A
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Week 1
References
[MS14] M. Sadiku, Elements of Electromagnetics, NY: Oxford University Press, 6th
edition, 2014, pp. 427.
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