Chapter 1: Vectors and the

Geometry of Space

The Dot Product of Two Vectors
In our first two lessons on vectors, you have studied:
Properties of vectors;
Notation associated with vectors;
Vector Addition;
Multiplication by a Scalar.
In this lesson you will study the dot product of two vectors. The dot product
of two vectors generates a scalar as described below.
The Definition of Dot Product
The dot product of two vectors
.
, ,
2 2 1 1
2 1 2 1
v u v u v u
is v v v and u u u
+ =
= =


The dot product of two vectors
.
, , , ,
3 3 2 2 1 1
3 2 1 3 2 1
v u v u v u v u
is v v v v and u u u u
+ + =
= =


Properties of the Dot Product
2
v v v 5.
0 v 0 4.
v c u v u c ) v u c( 3.
w u v u ) w v ( u : holds property ve distributi The 2.
. u v v u : holds property e commutativ The 1.
scalar. a be c let and
space in or plane in the vectors be w and , v , u Let

=
=
= =
+ = +
=
The proof of property 5.
2
2
3
2
2
2
1
2
2
3
2
2
2
1
2
2
3
2
2
2
1 3 2 1 3 2 1
3 2 1
Therefore
, , v , , v
. , , v v Suppose
v v v
v v v v v v v
v v v v v v v v v
v v

=
+ + = + + =
+ + = =
=
Proofs of other
properties are
similar.
Consider two non-zero vectors. We can use their dot
product and their magnitudes to calculate the angle
between the two vectors. We begin with the sketch.
u
u

u v

From the Law of Cosines where c is the

side opposite the angle theta:
u
u
cos 2
cos 2
2 2 2
2 2 2
v u v u u v
ab b a c

+ =
+ =
2 2
2
2
) ( ) (
) ( ) (
u v u v
u u v u u v v v
u v u u v v
u v u v u v




+ =
+ =
=
=
: that follows It . w w w that have we
product dot for developed just that we properties the From
2
=
u cos 2
2 2 2
v u v u u v

+ =
From the previous slide
Substituting from above
v u
v u
v u v u
v u v u

=
=
=
u
u
u
cos
cos
cos 2 2
u cos 2 2
2 2 2 2
v u v u u v u v

+ = +
Simplifying
You have just witnessed the proof of the following
theorem:
.
v u
v u
cos then v and u
vectors nonzero o between tw angle the is If



= u
u
Example 1
Find the angle between the vectors:
. 1 4, v and 5 , 3 = =

u
Solution

117.0 or 04 . 2
...... 4537 . 0 cos
17 14
7
1 16 5 9
5 12
1 , 4 5 , 3
1 , 4 5 , 3
cos
=
~

=
+ +
+
=

=
u
u
u
v u
v u
Example 2
. 6 - 3, - 3, z and 2 - 1, 3, - w
: if z and w ctors between ve angle the Find
= =


Solution
2
0
36 9 9 4 1 9
12 3 9
6 , 3 , 3 2 , 1 , 3
6 , 3 , 3 2 , 1 , 3
cos
t
u
u
=
=
+ + + +
+
=


=

=
v u
v u


True or False? Whenever two non-zero vectors are
perpendicular, their dot product is 0.
Think before you click.
Congratulate yourself if you chose
True!
0 0
2
cos and 0
2
cos = =

= = v u
v u
v u
v u
v u




t t
True or False? Whenever two non-zero vectors are
perpendicular, their dot product is 0.
This is true. Since the two vectors are perpendicular,
the angle between them will be
.
2
or 90
t

True or False? Whenever you find the angle between

two non-zero vectors the formula

will generate angles in the interval

v u
v u

= u cos
.
2
0
t
u s s
True or False? Whenever you find the angle between

two non-zero vectors the formula

will generate angles in the interval

v u
v u

= u cos
.
2
0
t
u s s
This is False. For example, consider the vectors:
. 2,1 - v and 1 , 4 = =

u
v u
v u
cos

= u
Finish this on your own then click for the answer.
2 2 4
2
1
1
2
x
y
True or False? Whenever you find the angle between

two non-zero vectors the formula

will generate angles in the interval

v u
v u

= u cos
.
2
0
t
u s s
This is False. For example, consider the vectors:
. 2,1 - v and 1 , 4 = =

u

5 . 167 or 9 . 2
... 9762 . 0
85
9
5 17
1 8
1 , 2 1 , 4
1 , 2 1 , 4
v u
v u
cos
=
~

=

=


=

=
u
u
When the cosine is negative the angle between the two
vectors is obtuse.
An Application of the Dot Product: Projection
The Tractor Problem: Consider the familiar example of
a heavy box being dragged across the floor by a rope.
If the box weighs 250 pounds and the angle between
the rope and the horizontal is 25 degrees, how much
force does the tractor have to exert to move the box?
Discussion: the force being exerted by the tractor
can be interpreted as a vector with direction of 25
degrees. Our job is to find the magnitude.

25
v

The Tractor Problem, Slide 2: we are going to look at the

force vector as the sum of its vertical component vector
and its horizontal component. The work of moving the
box across the floor is done by the horizontal component.
x
v

1
v

2
v

25
lbs
v
v
v v
v
v
8 . 275
...... 9063 . 0
250
25 cos
25 cos
25 cos
1
1
1
= = =
=
=

Hint: for maximum accuracy, dont round off until the

end of the problem. In this case, we left the value of
the cosine in the calculator and did not round off until
the end.
Conclusion: the tractor has to exert
a force of 275.8 lbs before the box
will move.
The problem gets more complicated when the direction
in which the object moves is not horizontal or vertical.
u

1
w

2
w

x
y
. w to orthogonal is and
v to parallel is w that so
w u sketch, In the
1 2
1
2 1



w
w + =
. w component the
by done being is work the
of all then v of direction
in the origin at the
object an moving is u by
d represente force a If
1

. v to orthogonal u
of component vector the called is
. proj as denoted is and v
onto u of projection the called is
2
v 1
1

w
u w
w
=
A Vocabulary Tip:
When two vectors are perpendicular we say that they are orthogonal.
When a vector is perpendicular to a line or a plane we say that the vector is
normal to the line or plane.
u

1
w

2
w

x
y
The following theorem will
prove very useful in the
remainder of this course.
v
v
v u
u proj
v

|
|
.
|

\
|

=
2
: follows as calculated
be can v onto u of projection the
then vectors, nonzero are v and u If
. v vector of multiple a is v
onto u of projection the so scalar a is
s parenthesi the inside quantity The

. v to orthogonal u of component
vector the find and u proj find 6,3 is v and 5,9 is u if : Example
v

1
2
2 2
8 . 3 , 6 . 7
3 , 6
45
57
3 , 6
9 36
27 30
3 , 6
3 , 6
3 , 6 9 , 5
w
v
v
v u
u proj
v

= ~
=
|
|
.
|

\
|
+
+
=
|
|
.
|

\
|

=
|
|
.
|

\
|

=
2 . 5 , 6 . 2 8 . 3 , 6 . 7 9 , 5
9 , 5 8 . 3 , 6 . 7
w
that notice sketch, the From
2
2
2 1
= =
= +
= +
w
w
u w

2.0 2.0 4.0 6.0 8.0
2.0
4.0
6.0
8.0
(5,9)
(6,3)
Work is traditionally defined as follows: W = FD where F is the constant
force acting along the line of motion and D is the distance traveled along
the line of motion.
Example: an object is pulled 12 feet across the floor using a force of 100
pounds. Find the work done if the force is applied at an angle of 50 degrees
above the horizontal.

50
100 lb
12 ft
Solution A: using W = FD we use the
projection of F in the x direction.
pounds - foot 35 . 771 ) 12 )( 50 cos 100 ( = = =

FD W
pounds. - foot 35 . 771 ) 12 ( 50 cos 100 12,0 50 sin 100 , 100cos50
that also Note . 12,0 is vector direction the and
50 sin 100 , 100cos50 is form coordinate in vector force that the note : B Solution
= =


Two Ways to Calculate Work
v
v proj
v

=
=
u W : B Method
u W : A Method
: B Method by or A Method by calculated be can v vector along
n applicatio of point its moving u force constant a by done Work W
Example: Find the work done by a force of 20 lb acting in the direction
N50W while moving an object 4 ft due west.
lbs ft 28 . 61 W
) 4 )( 40 )(cos 20 ( proj W : SolutionA
v
=
= = ft lb v u

lbs ft 28 . 61 ) 0 ( 140 sin 20 ) 4 ( 140 cos 20
0 , 4 and 140 sin 20 , 140 cos 20 u : SolutionB
= + = =
= =




v u W
v
u

50
4 v and 20 = =

u
axes. - z and y-, x-, positive with the makes v that ] [0, interval in the
and , , angles the are v vector nonzero a of angles direction The

t
| o
| o

. v vector of cosines direction the called are

, cos and , cos , cos angles, direction these of cosines The

| o
We can calculate the direction cosines by
using the unit vectors along each positive
axis and the dot product.
i
j

The last topic of this lesson concerns Direction Cosines.

v
v
v
v v v
k v
k v
v
v
v
v v v
j v
j v
v
v
v
v v v
i v
i v

3
3 2 1
2
3 2 1
1
3 2 1
1
1 , 0 , 0 , ,
cos
1
0 , 1 , 0 , ,
cos
1
0 , 0 , 1 , ,
cos
=

=
=

=
=

|
o