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Chapter 1
Vector and its Operations
Lesson 1
Objective:
At the end of the lesson you should be able to:
1. Define vector.
2. Find a vector , its magnitude and its direction.
3. Use the fundamental operations of vectors.
Vectors
Definition:
Vector is a quantity with magnitude and direction.
Example: displacement, velocity , weight, force
How to find a vector?
1. Given two points in the xy-plane
P1 ( x1 , y1 ) , P2 ( x2 , y2 )
v ( x2 x1 ), ( y2 y1 ) a , b
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The components of the vector in the two dimensional
space are a and b. While in the three dimensional space,
the components are a, b, and c.
u+v u
v
v u+v
u v
u
The sum is the resultant vector.
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Addition/Subtraction of Vectors (Analytical Method)
Given two vectors a and b where a =< a1 , a2 > and b= < b1 ,b2 >
a+b= < a1 b1 , a2 b2> and b-a=< b1 a1 , b2 a2 >
Likewise if a = < a1 , a2 , a3 > and b = < b1 , b2 , b3 >
a+b=< a1 b1 , a2 b2 , a3 b3 > and b-a= < b1 a1 , b2 a2 , b3 a3 >
Magnitude of a Vector
The magnitude or length is indicated as
v (a1 ) 2 (a2 ) 2 , v a1 , a2
v (a1 ) 2 (a2 ) 2 (a3 ) 2 , v a1 , a2 , a3
Properties of Vectors
1. a+b= b +a 2. a+(b+c)= (a+b)+c
3. a+0= a 4. a+(-a) = 0
5. 1a=a 6. c(a+b)= ca + cb
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The Forms of a Vector
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Examples
1. Given are two points C and D
v (9) 2 7 2 130
Solution:
a) 2a + b = 2<1,2,3> + <-1,3,-6> = <2-1, 4+3, 6-6> = <1,7,0>
b) 2 b 2 1, 3 ,6 2 , 2,4
3 3 3
Definition
A unit vector (u) is a vector whose length is one. For
instance, i , j , and k are all unit vectors.
In general if a # 0 then the unit vector that has the same
direction as a is
1 a
u
a a
Find the unit vector that has the same direction as the given
vector:
a) v = < 3,-6 > b) a= 5j- k
Solution
a) 1 3, 6
u 3,6
3, 6 45
1 0, 5,1
b) u 0, 5,1
0, 5, 1 26
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The Dot Product
Definition
If a = a1 , a2 , a3 and b = b1 , b2 , b3 then the dot
product of a and b is given by
a b a1 , a2 , a3 b1 , b2 , b3
a b a1b1 a2b2 a3b3
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Answers:
a) 4, 8 1,5 4(1) 8(5) 36
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Angle Formed Between Two Vectors
Theorem
If is the angle between the vectors a and b, then
a b a b cos
Corollary
If is the angle between the nonzero vectors a and
b, then
ab
cos
a b
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Direction Angles and Direction Cosines of a Vector
Definition
The direction angle of a nonzero vector a are the
angles , , and in the interval [ 0, ] that a makes
with the positive x, y, and z axes.
z
y
x
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Use the following formulas to find the direction cosines
a1 a2 a3
cos , cos , cos
a a a
where a a1 , a2 , a3
1 a1 1 a2 1 a3
cos , cos , cos
a a a
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15
Example 3: Angle Between Two Vectors
1. Find the angle between the two vectors a = < 1, -2, 3 >
and b = < 0, 5 , 9 >.
Solution
a b 1,2,3 0,5,9
cos
a b 12 (2) 2 32 0 52 9 2
0 10 27 17
cos 0.40
14 106 42.45
cos 1 0.40 73.80
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Example 4: Direction Angles
b 3, 4 , 5
1 3 1 3
cos cos
32 4 2 5 2 50
cos 1 0.424 650
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Your Answers?
1 4
cos 55.50
7.07
1 5
cos cos 1 0.707 450
7.07
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Orthogonal Vector
Definition
Two vectors a and b are orthogonal if a b 0.
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Example 5: Orthogonal and Parallel Vectors
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2. u v 1,1,2 2,1,1 2 1 2 5
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21
Cross Product
Definition
If a = a1 , a2 , a3 and b= b1 , b2 , b3 then the cross
product of a and b is the vector
i j k
a1 a2 a3
a b a1 , a2 , a3 b1 , b2 , b3
b1 b2 b3
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Theorem
If is the angle between a and b then a b a b sin .
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Using Figure 1, A = a ( b sin ) a b
b b sin
a
Figure 1
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Torque
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27
Example 7: Torque
60 N
100
P
0.18 m 60 N sin(700 100 ) P
0.18(60) sin 800 10.64 Nm 10.64 Joules