Vectors

1.6 The Dot Product

Dot Product. A vector has magnitude (how long it is) and direction: Here are two vectors:
They can be multiplied using the " Dot Product "
For example, the Dot product of two vectors such as force and displacement has the
physical meaning of calculating “work” because work is defined as the product of force and
displacement.

The dot product is defined as:

From the above formula, it is clear that the output of the product is scalar. Therefore, dot
product is called scalar product too. The dot product using component form of the vectors
⃗ = (𝑢1, 𝑢2, 𝑢3) 𝑎𝑛𝑑 𝑣 = (𝑣1, 𝑣2, 𝑣3)]
[𝑢

𝑢
⃗ =𝑢1𝑖+𝑢2𝑗+𝑢3𝑘 and 𝑣 =𝑣1𝑖+𝑣2𝑗+𝑣3𝑘 is done as below:

𝑢
⃗ . 𝑣=(𝑢1𝑖+𝑢2𝑗+𝑢3𝑘).(𝑣1𝑖+𝑣2𝑗+𝑣3𝑘)
𝑢
⃗ . 𝑣=𝑢1𝑖.𝑣1𝑖+𝑢1𝑖.𝑣2𝑗+𝑢1𝑖.𝑣3𝑘+𝑢2𝑗𝑣1𝑖+𝑢2𝑗𝑣2𝑗+𝑢2𝑗𝑣3𝑘+𝑢3𝑘𝑣1𝑖+𝑢3𝑘𝑣2𝑗+𝑢3𝑘𝑣3k
𝑢
⃗ . 𝑣 =𝑢1.𝑣1+𝑢2𝑣2+𝑢3𝑣3 [ as i is ⊥j and k then i.j and i.k =0 also i2=|i|2=1

Example (1)
Find the dot product of 𝑢
⃗ =12𝑖+3𝑗+𝑘 𝑎𝑛𝑑 𝑣 =4𝑖−𝑗+2𝑘.
Solution:
𝑢
⃗ . 𝑣=12×4+(3×−1)+(1×2)=2−3+2=1

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Properties of dot product
The properties of dot product are as follow:

1. 𝑢
⃗ . 𝑣=𝑣. 𝑢⃗ =scalar
2. (𝑐. 𝑢 ).
⃗ 𝑣=𝑢 ⃗ . (𝑐. 𝑣) = 𝑐. (𝑢 ⃗ . 𝑣)
3. ⃗ . (𝑣 + 𝑤
𝑢 ⃗⃗ ) = 𝑢 ⃗ .𝑣 + 𝑢
⃗ .𝑤
⃗⃗ ⇒|𝑢 ⃗ |.|𝑣|.cosθ=|𝑢 ⃗ |.|𝑤
⃗⃗ |.cosβ
4. 0. 𝑢⃗ =0
5. If θ=0 then cosθ=1⇒ 𝑢 ⃗ . 𝑣=|𝑢|⃗⃗⃗⃗⃗ . ⃗⃗⃗
|𝑣|
6. If θ=180 then cosθ=-1⇒ 𝑢 ⃗ . 𝑣=-|𝑢| ⃗⃗⃗⃗⃗ . ⃗⃗⃗
|𝑣|
7. If θ=90 then cosθ=-1⇒ 𝑢 ⃗ . 𝑣=0→ 𝑢 ⃗ ⊥𝑣

Orthogonal Vectors
Two vectors are orthogonal (perpendicular/normal) when their dot product is zero:
𝑢⃗ . 𝑣 =|𝑢
⃗ |.|𝑣|.cos𝜃 → cos90°=0 → 𝑢
⃗ ⊥𝑣

Notes

1. If the u.u then 𝜃=0 ⇒ 𝑢 ⃗ .𝑢

⃗ =|𝑢
⃗ |.|𝑢
⃗ |.cos0 ⇒𝑢 ⃗ .𝑢
⃗ =|𝑢
⃗ |2 ⇒ |𝑢 ⃗2
⃗ |=√𝑢
1
2. (𝑢
⃗ + 𝑣)2=𝑢 ⃗ 2+2. 𝑢
⃗ . 𝑣+𝑣 2 ⇒𝑢⃗ . 𝑣=2 [(𝑢⃗ + 𝑣)2−𝑢 ⃗ 2−𝑣 2]
1
3. (𝑢 ⃗ 2-2. 𝑢
⃗ − 𝑣)2=𝑢 ⃗ . 𝑣+𝑣 2 ⇒𝑢
⃗ . 𝑣=2 [𝑢
⃗ 2+𝑣 2− (𝑢
⃗ + 𝑣)2]

The angle between two vectors

Combining the two formulae for finding the dot product, the angle between any two vectors
can be found:
𝑢
⃗ . 𝑣 =|𝑢
⃗ |.|𝑣|.cos𝜃
𝑢
⃗ . 𝑣=𝑢1.𝑣1+𝑢2𝑣2+𝑢3𝑣3
⃗ .𝑣
𝑢 ⃗ u1.v1+u2v2+u3v3
cos𝜃=|𝑢⃗ |.|𝑣⃗|= ⃗ |.|𝑣
⃗|
|𝑢

u1.v1+u2v2+u3v3
𝜃=cos-1 ⃗ |.|𝑣
⃗|
|𝑢

Example (2)
Find the angle between vectors: 𝑎 =−2𝑗+3𝑘 𝑎𝑛𝑑 𝑢
⃗ =〈1,1,2〉.
Solution: 𝑎. 𝑢
⃗ =0−2+6=4

|𝑎|=√4 + 9=√13

|𝑢
⃗ |=√1 + 1 + 4 = √6
a1.u1+a2u2+a3u3 4
𝜃= cos-1 = =63.1°
|𝑎⃗ |.|𝑢
⃗| √13 .√6

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Example (3)
Find the interior angles of the triangle having the vertices of A=(0, 0), B=(3, 5) and C=(5, 2).

Solution:
⃗⃗⃗⃗⃗
𝐴𝐵 =3𝑖+5𝑗
⃗⃗⃗⃗⃗
𝐴𝐶 =5𝑖+2𝑗
⃗⃗⃗⃗⃗ =2𝑖−3𝑗
𝐵𝐶

Finding 𝜃1, 𝜃2 and 𝜃3

⃗⃗⃗⃗⃗
𝐴𝐵 . ⃗⃗⃗⃗⃗
𝐴𝐶 (3∗5)+(5∗2)
𝜃1= cos-1 |𝐴𝐵
⃗⃗⃗⃗⃗ |.|𝐴𝐶
⃗⃗⃗⃗⃗ |
= =37.23°
√(32 +52 ).√(52 +22 )

⃗⃗⃗⃗⃗
𝐵𝐴 . ⃗⃗⃗⃗⃗
𝐵𝐶 (−6)+15)
𝜃2= cos-1 |𝐵𝐴 = =64.65° ⃗⃗⃗⃗⃗ =−𝐴𝐵
{𝐵𝐴 ⃗⃗⃗⃗⃗ }
⃗⃗⃗⃗⃗ |.|𝐵𝐶
⃗⃗⃗⃗⃗ | √34.√13

⃗⃗⃗⃗⃗
𝐶𝐵 . ⃗⃗⃗⃗⃗
𝐶𝐴 (10)+(−6)
𝜃3= cos-1 |𝐶𝐵
⃗⃗⃗⃗⃗ |.|𝐶𝐴
⃗⃗⃗⃗⃗ |
= =78.11°
√(13).√(29)

𝜃1+𝜃2+𝜃3=37.23°+64.65°+78.11°=179.99°≈180°
_____________________________________________________________________________________
Directional cosines and directional angles
The angles that a vector makes with the positive axes can be found. The three angles are
shown in the diagram below:

𝑣=ai+bj+ck
𝑣 = (𝑎, 𝑏, 𝑐)
|𝑣|=√𝑎2 + 𝑏 2 + 𝑐 2

The direction cosines of a vector 𝑣 are

𝑎⃗
cosα=|𝑣⃗| =l
⃗
𝑏
cosβ=|𝑣⃗| =m
𝑐
cosγ=|𝑣⃗| =n
𝑎 𝑏 𝑐
(cosα)2 + (cosβ)2 + (cosγ)2 =(|𝑣⃗|)2 + (|𝑣⃗|)2 + (|𝑣⃗|)2 = l2 + 𝑚2 + 𝑛2 = 1
________________________________________________________________________
The direction angles α, β and γ of a vector 𝑣 are

𝑎⃗
α=𝑐𝑜𝑠 −1 |𝑣⃗|
⃗
𝑏
β=𝑐𝑜𝑠 −1 |𝑣⃗| α: angle between 𝑣 and positive x-axis.
𝑐 β: angle between 𝑣 and positive y-axis.
γ=𝑐𝑜𝑠 −1 |𝑣⃗| γ: angle between 𝑣 and positive z-axis.

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Example (4)
Verify that the two vectors 𝑢
⃗ =3𝑖−2𝑗+𝑘 𝑎𝑛𝑑 𝑣 =2𝑗+4𝑘 are orthogonal.
Solution: 𝑢
⃗ . 𝑣 =3×0−2×2+1×4=0 ∴ 𝑢⃗ ⊥𝑣

Example (5)
Find the direction cosines and directional angles that the vector 𝑣 =2𝑖+4𝑗+4𝑘 makes.
Then prove that summation of direction cosines =1

Solution:
𝑣=(2,4,4)
|𝑣|=√22 + 42 +42 =6

The direction cosines are cosα =2/6 cosβ =4/6 cosγ =4/6

The direction angles are

2
𝛼=cos−1(6)=70.53°
4
𝛽=cos−1(6)=48.19°
4
𝛾=cos−1(6)=48.19°

𝑎 𝑏 𝑐 22 +42 +42
cos2 α + cos 2 β + cos2 γ =(|𝑣⃗|)2 + (|𝑣⃗|)2 + (|𝑣⃗|)2= =1
62

Example (6)
A wagon is pulled a distance of 100 m horizontally by a force of 70 N. The handle of the
wagon is held at an angle of 35o with horizontal.

Solution:
⃗ |.cos𝜃
𝑊𝑜𝑟𝑘=𝐹𝑜𝑟𝑐𝑒𝑖𝑛 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡×𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑊𝑜𝑟𝑘=|𝐹 |.|𝐷
⃗
∴𝑊𝑜𝑟𝑘 =𝐹 .𝐷
⃗ |.cos𝜃
𝑊𝑜𝑟𝑘==|𝐹 |.|𝐷
𝑊𝑜𝑟𝑘=70.100.cos35 o =5734 𝑁.𝑚

Example (7)
A force vector𝐹 =10𝑖+3𝑗−4𝑘 is acting on a body and moves it 3 m horizontally. Find the
work done.
⃗ )=3𝑖 𝑊𝑜𝑟𝑘=𝐹 .𝐷
Solution: 𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑣𝑒𝑐𝑡𝑜𝑟 (𝐷 ⃗ =(10𝑖+3𝑗−4𝑘 )×(3𝑖)=30 𝑁.𝑚

4
Example (7)
If 𝑢
⃗ is perpendicular (⊥) on 2𝑢⃗ −𝑣 and the length of |𝑢 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗ |=√3 , |2𝑢 ⃗ − 𝑣 |=2 find the
angle (α) between the 𝑢 ⃗ and 𝑣

Solution

⃗ .𝑣
𝑢 ⃗
cosα=|𝑢⃗ |.|𝑣⃗|
As 𝑢
⃗ is ⊥ 2𝑢 ⃗ −𝑣 then θ between the 𝑢 ⃗ and 2𝑢 ⃗ −𝑣 equal 90o
Then 𝑢⃗ . 2𝑢
⃗ − 𝑣 =|𝑢 ⃗ |.|2𝑢⃗ − 𝑣 |.cos90o ⇒ 𝑢 ⃗ . (2𝑢
⃗ − 𝑣)=0 ⇒2𝑢⃗2−𝑢
⃗ .𝑣 = 0
As 𝑢 2
⃗ = |𝑢|⃗⃗⃗⃗⃗ then 2|𝑢|
2 ⃗⃗⃗⃗⃗ − 𝑢
2
⃗ .𝑣 = 0 ⇒ 𝑢 ⃗ . 𝑣 =6

⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
|2𝑢 ⃗ − 𝑣 |=2 ,
As [|2𝑢 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗ − 𝑣 |=√(2𝑢⃗ − 𝑣 ). (2𝑢 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗ − 𝑣 )] ⇒ [|2𝑢 ⃗ − 𝑣 |=√(2𝑢⃗ − 𝑣 )2 ]

Then
⃗ − 𝑣 )2] =2
√(2𝑢

⃗ − 𝑣)2 =4 ⇒ (2𝑢
(2𝑢 ⃗ )2−4𝑢
⃗ . 𝑣+(𝑣)2=4

4𝑢
⃗ 2−4𝑢
⃗ . 𝑣+𝑣2=4 as [𝑢
⃗ 2=|𝑢
⃗ |2 and 𝑣2=|𝑣 |2]

Then 4|𝑢
⃗ |2−4𝑢
⃗ . 𝑣+|𝑣|2=4 ⇒ 4*(√3)2−4*6+|𝑣|2=4 ⇒|𝑣|2=16 ⇒|𝑣|=4

⃗ .𝑣
𝑢 ⃗ 6 √3
cosα= ⃗ ⃗|
⇒ cosα= ⇒ cosα=α =cos−1( )=30°
|𝑢 |.|𝑣 √3.4 2

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H.W.2
1. Find: 𝑢⃗ . 𝑣 ,|𝑢
⃗ |, |𝑣| 𝑎𝑛𝑑 𝜃 for:
𝑎) 𝑣 =5𝑗−3𝑘, 𝑢 ⃗ =𝑖+𝑗+𝑘
𝑏) 𝑣 =10𝑖+11𝑗−2𝑘, 𝑢 ⃗ =3𝑖+4𝑘
2. Find the internal angles of a triangle with vertices: 𝐴 =〈2,0〉,𝐵⃗ =〈0,3〉 𝑎𝑛𝑑 𝐶 =〈3,4〉.
⃗ =3𝑖−2𝑗,
3. If the vertices of a triangle are the position vectors: 𝐴 =𝑖−𝑗, 𝐵
𝐶 =𝑖+2𝑗+3𝑘 then find the internal angles.
4. Using dot product show that the triangle with vertices P(1,-3,-2), Q(2,0,-4) and R(6,-2,-5) is
right-angled.

Reference
Vector Calculus (Michael Corral)