L10

Engineering Mathematics I (MATH ZC 161)
BITS Pilani
K K Birla Goa Campus
Dr. Amit Setia (Assistant Professor) Department of Mathematics
BITS Pilani, K K Birla Goa Campus
BITS Pilani
K K Birla Goa Campus
Chapter 7: Vectors
Outline of lecture 10
7.1 7.2 7.3 7.4 7.5 Vectors in 2-space Vectors in 3-space Dot product Cross product Lines and planes in 3-Space
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Scalars & Vectors
Scalars: A quantity that has magnitude Vectors: A quantity that has both magnitude and direction
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VECTORS IN 2-SPACE
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Geometric Vectors
Geometrically, a vector can be represented by a directed line segment- i.e. by an arrow & is denoted either by a boldface symbol or by a symbol with an arrow over it.

For example: u , v, AB .
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Notation and Terminology

A vector whose initial point (or end) is A and whose terminal point (or tip) is B
is written as AB .
The magn magnitude itude of a ve vect ctor is written || AB || Vectors are said to be free, which means that a vector can be moved from one position to another provided its magnitude and direction are not changed.
Two vectors that have the same magnitude and same direction are said to be equal.
The negative of a vector AB written as AB is a vector that have the same magnitude but has opposite direction.
Example
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If k 0 is a scalar,
the scalar multiple of a vector k AB
is a vector that is |k | times as long as AB . If k > 0,
then k AB has the same direction as

that of AB otherwise opposite of AB .

Two vectors are parallel they are nonzero scalar multiple of each other.
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Addition & Subtraction

If nonparallel vectors AB and AC are the sides of a parallelogram,
then the main diagonal or AD is the sum of

AB and AC. AD = AB + AC
The difference of two vectors AB and AC is defined by AB AC = AB + ( AC ). If AB = AC , then AB AC = 0.

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Vectors in a Coordinate Plane

We shall denote the set of all vectors in the plane by R 2 . The vector with initial point the origin O and the terminal point P( x1 , y1 ) is called the position vector of the point P and is written OP =< x1 , y1 >
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Components
In general, a vector a in R is any ordered pair of real numbers, a =< a1 , a2 > The numbers a1 , a2 are said to be the components of the vector a.
2
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Addition, Scalar Multiplication, Equality
Let a =< a1 , a2 > and b =< b1 , b2 > be vectors in R .

2
i ) Addition: a + b =< a1 + b1 , a2 + b2 > ii ) Scalar multiplication: ka =< ka1 , ka2 > iii ) Equality: a = b iff a1 = b1 , a2 = b2
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Example
If a =< 1, 4 > and b =< 6,3 >, find a + b, a b, 2a + 3b. Solution: a + b =< 1 + (6), 4 + 3 >=< 5, 7 > a b =< 1 (6), 4 3 >=< 7,1 > 2a + 3b =< 2,8 > + < 18,9 >=< 16,17 >
Properties of Vectors
i )a + b = b + a ii )a + (b + c) = (a + b) + c iii )a + 0 = a iv)a + (a) = 0

v) k (a + b) = ka + kb, k is a scalar vi ) (k1 + k2 )a = k1a + k2a, k1 , k2 are scalars vii )k1 (k2a) = (k1k2 )a viii )1a = a ix) 0a = 0
Magnitude of a vector
The magnitude, length, or norm of a vector a is denoted by ||a||. Let a =< a1 , a2 > then ||a|| = a12 + a2 2 Clearly, ||a|| 0 for any vector a and ||a|| = 0 a = 0
Unit Vectors
A vector that has magnituide 1 is called a unit vector. We can obtain a unit vector u in the same direction 1 as a nonzero vector a by the positive scalar || a || 1 u= a || a ||
VECTORS IN 3-SPACE
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Rectangular Coordinate System

In three dimensions, or 3-space, a rectangular coordinate system is constructed using three mutually orthogonal axes. The point at which these axes intersect is called the origin O. These axes are labeled in accoordance with the so-called right-hand rule.
Right Hand Rule

If the fingers of the right hand, pointing in the direction of the positive x axis, are curled towards the positive y axis, then the thumb will point in the direction of a new axis perpendicular to the plane of the x-and y axes. This new axis is labeled the z axis.
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Cartesian Coordinates of a point

If x = a, y = b, z = c are planes perpendicular to the x axis, y axis, and z axis, respectively then the point P at which these planes intersect can be represented by an ordered triple of number (a, b, c) said to be the rectengular or Cartesian coordinate of the point.
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Octants
Each pair of coordinate axes determine a coordinate plane. As shown in figure, the x and y axes determines the x y plane and so on. The coordinate plane divide 3-space into eight parts known as Octants.
Distance Formula
The distance between two points P 1 ( x1 , y1 , z1 ) and P2 ( x2 , y2 , z2 ) in 3-space is given by d (P ( x1 x2 ) + ( y1 y2 ) + ( z1 z2 ) 1, P 2) =

2 2 2
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Example
Find the distance between (2, 3, 6) and ( 1, 7, 4). Solution: Let P 1 = (2, 3, 6) and P 2 = ( 1, 7, 4) then
2 2 2 d (P , P ) = (2 ( 1)) + ( 3 ( 7)) + (6 4) = 29. 1 2
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Midpoint Formula
If P 1 = ( x1 , y1 , z1 ) and P 2 = ( x2 , y2 , z2 ) are two distinct points, then the coordinate of the midpoint of the line segment between them are x1 + x2 y1 + y2 z1 + z2 , , 2 2 2
Vectors in 3-Space
A vector a in 3-space is any ordered triple of real numbers a =< a1 , a2 , a3 > where a1 , a2 , a3 are the components of the vector. The set of all vectors in 3-space will be denoted by the symbol R 3 .
The position vector of a point P( x1 , y1 , z1 ) in space is the vector OP =< x1 , y1 , z1 > whose initial point is the origin O and whose terminal point is P.
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Component Definitions in 3-Space

Let a =< a1 , a2 , a3 > and b =< b1 , b2 , b3 > be vectors in R 3 . i ) Addition: a + b =< a1 + b1 , a2 + b2 , a3 + b3 > ii ) Scalar multiplication: ka =< ka1 , ka2 , ka3 > iii ) Equality: a = b iff a1 = b1 , a2 = b2 , a3 = b3 iv) Negative: b = (1)b =< b1 , b2 , b3 >
v) Subtraction: a b = a + (b) =< a1 b1 , a2 b2 , a3 b3 > vi ) Zero vector: 0 = <0,0,0> vii ) Magnitude: || a ||= a + a2 + a3
2 1 2
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Vector Between Two Points
If OP 1 and OP 2 are the position vector of the points P 1 = ( x1 , y1 , z1 ) and P 2 = ( x2 , y2 , z2 ),
then the vector P 1P 2 is given by P 1P 2 = OP 1 OP 2 =< x2 x1 , y2 y1 , z 2 z1 >

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The i ,j ,k Vectors
Any vector a =< a1 , a2 , a3 > in 3-space can be expressed as a linear combination of the unit vectors i =< 1, 0, 0 >, j =< 0,1, 0 >, k =< 0, 0,1 > a = a1i + a2 j + a3k
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Dot Product
The dot product is also known as inner product or scalar product. The dot product of two vectors a and b is denoted by aib and is a real number defined in terms of the components of the vectors.
Dot Product of Two Vectors

In 2-space, the dot product of two vectors a =< a1 , a2 > & b =< b1 , b2 > is the number aib = a1b1 + a2b2 In 3-space, the dot product of two vectors a =< a1 , a2 , a3 > & b =< b1 , b2 , b3 > is the number aib = a1b1 + a2b2 + a3b3
Example
1 If a = 10i + 2 j 6k and b = i + 4 j 3k 2 then 1 aib = (10) + (2)(4) + (6)(3) = 21. 2
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Properties of Dot Product

i )aib = 0 if a = 0 or b = 0 ii )aib = bia iii )ai(b + c) = aib + aic iv)ai(kb) = (ka)ib = k (aib), k is a scalar v)aia 0 vi )aia =|| a ||
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Alternative Form of the Dot Product
The dot product of two vectors a and b is aib =|| a || ||b || cos , where is the angle between the vectors such that 0
Properties
If a and b are nonzero vectors, then by alternative definition aib > 0 is acute i) ii ) aib < 0 aib = 0 is obtuse cos = 0 i.e. =
iii )
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Criterion for Orthogonal Vectors
Two nonzero vectors a and b are orthogonal aib = 0
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Angle Between Two Vectors

Let a =< a1 , a2 , a3 > and b =< b1 , b2 , b3 > be two vectors in 3-space then the angle between them can be determined by the given formula a1b1 + a2b2 + a3b3 cos = || a || ||b||
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Problem
Find the angle between the vectors a = 2i + 3 j + k & b = i + 5 j + k
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Solution
a = 2i + 3j + k & b = i + 5 j + k a1b1 + a2b2 + a3b3 2 + 15 + 1 cos = = || a || ||b|| 14 21 14 42 = = 9 14 21 42 o 43.0 = cos 9
1
Direction Cosines of a vector

For a nonzero vector a = a1i + a2 j + a3k in 3-space, the angle , ,and between a and the unit vectors i,j and k respectively are called direction angles of a. ai a j ak cos = , cos = , cos = || a || || a || || a || a3 a1 a2 cos = , cos = , cos = || a || || a || || a || we say that cos , cos & cos are the direction cosines of a
Direction cosines of a nonzero vector are 1 simply the components of the unit vector a : || a || a3 1 a1 a2 i+ j+ k a = || a || || a || || a || || a || = cos i + cos j + cos k cos + cos + cos = 1
2 2 2
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Component of a on b
To find the component of a on a vector b, we dot a with a unit vector in the direction of b. 1 aib compb a = ai b = || b || || b ||
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Projection of a onto b
The projection of a onto b is given by 1 aib projba = (compb a) b = b || b || bib
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Example
Find the projection of a = 4i + j onto the vector b = 2i + 3 j. Solution: 1 compb a = ai b || b || 1 11 = (4i + j) (2i + 3j) = 13 13 1 projb a = (compb a) b || b || 22 33 11 1 = (2i + 3 j) = 13 i + 13 j 13 13
Cross Product of Two Vectors

The cross product of two vectors a =< a1 , a2 , a3 > and b =< b1 , b2 , b3 > is the vector a b = (a2b3 a3b2 )i (a1b3 a3b1 ) j + (a1b2 a2b1 )k
i j = k j k = i ki = j
j i = k k j = i i k = j
ii = 0 j j = 0 k k = 0
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i a b = a1 b1
j a2 b2
k a3 b3
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Properties of the Cross Product

i )a b = 0 if a = 0 or b = 0 ii )a b = b a iii )a (b + c) = a b + a c iv)a (kb) = (ka) b = k (a b), k scalar v)a a = 0 vi )ai(a b) = 0 vii )bi(a b) = 0
Magnitude of the Cross Product
For nonzero vector a and b, if is the angle between a and b(0 ), then ||a b|| =|| a || ||b|| sin
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Parallel Vectors
Two vectors are parallel if they have the forms a and ka, where a is any vector and k is a scalar.
Two nonzero vectors a and b are parallel ab = 0
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Scalar Triple Product

The scalar triple product of a vector a,b and c is a (b c). a1 a (b c) = b1 c1 a2 b2 c2 a3 b3 c3
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Vector triple product
The vector triple product of three vectors a,b and c is a (b c) a (b c) = (a c)b (a b)c
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Area of a parallelogram
The area of a parallelogram with sides a and b =|| a b || | area of a parallelogram = Base altitude
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Area of a triangle
The area of a triangle with sides a and b is 1 A = || a b || 2
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Problem
Find the area of a triangle formed by a = i + 2 j + 3k b = i 3 j 5k
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Solution
a = i + 2 j + 3k b = i 3j 5k i ab = 1 j 2 k 3 = i + 8 j 5 k
1 3 5 The area of a triangle with sides a and b is 1 3 A = || a b || = 10 2 2

Volume of a Parallelepiped
If the vectors a,b and c do not lie in the same plane, then the volume of the parallelepiped with edges a,b and c shown in figure is V = |a (b c)|
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Problem
Find the volume of a parallelepiped formed by vectors a = i + 2 j + 4k b = 2i + j c = 5 j + 3k
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Solution
a = i + 2 j + 4k b = 2i + j c = 5 j + 3k 1 2 4 a (b c) = 2 1 0 = 31 0 5 3
Coplanar Vectors
Vectors that lie in the same plane are said to be coplanar. a (b c) = 0 a,b and c are coplanar.
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Problem
Determine whether the vectors a = i + 2 j + 4k b = 2i + j c = 5 j + 3k are coplanar or not.

Solution
a = i + 2 j + 4k b = 2i + j c = 5 j + 3k 1 2 4 a (b c) = 2 1 0 = 31 0 0 5 3 a, b & c are not coplanar.
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Engineering Mathematics I (MATH ZC 161)

Dr. Amit Setia (Assistant Professor) Department of Mathematics

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

Engineering Mathematics I (MATH ZC 161)

Scalars & Vectors

Engineering Mathematics I (MATH ZC 161)

Engineering Mathematics I (MATH ZC 161)

Engineering Mathematics I (MATH ZC 161)

Notation and Terminology

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

Engineering Mathematics I (MATH ZC 161)

the scalar multiple of a vector k AB

is a vector that is |k | times as long as AB . If k > 0,

then k AB has the same direction as

that of AB otherwise opposite of AB .

Engineering Mathematics I (MATH ZC 161)

Addition & Subtraction

If nonparallel vectors AB and AC are the sides of a parallelogram,

then the main diagonal or AD is the sum of

The difference of two vectors AB and AC is defined by AB AC = AB + ( AC ). If AB = AC , then AB AC = 0.

Engineering Mathematics I (MATH ZC 161)

Vectors in a Coordinate Plane

Engineering Mathematics I (MATH ZC 161)

Engineering Mathematics I (MATH ZC 161)

Addition, Scalar Multiplication, Equality

Let a =< a1 , a2 > and b =< b1 , b2 > be vectors in R .

Engineering Mathematics I (MATH ZC 161)

i )a + b = b + a ii )a + (b + c) = (a + b) + c iii )a + 0 = a iv)a + (a) = 0

Engineering Mathematics I (MATH ZC 161)

Rectangular Coordinate System

Right Hand Rule

Engineering Mathematics I (MATH ZC 161)

Cartesian Coordinates of a point

Engineering Mathematics I (MATH ZC 161)

The distance between two points P 1 ( x1 , y1 , z1 ) and P2 ( x2 , y2 , z2 ) in 3-space is given by d (P ( x1 x2 ) + ( y1 y2 ) + ( z1 z2 ) 1, P 2) =

Engineering Mathematics I (MATH ZC 161)

Engineering Mathematics I (MATH ZC 161)

Engineering Mathematics I (MATH ZC 161)

Component Definitions in 3-Space

Vector Between Two Points

If OP 1 and OP 2 are the position vector of the points P 1 = ( x1 , y1 , z1 ) and P 2 = ( x2 , y2 , z2 ),

then the vector P 1P 2 is given by P 1P 2 = OP 1 OP 2 =< x2 x1 , y2 y1 , z 2 z1 >

Engineering Mathematics I (MATH ZC 161)

Engineering Mathematics I (MATH ZC 161)

Dot Product of Two Vectors

1 If a = 10i + 2 j 6k and b = i + 4 j 3k 2 then 1 aib = (10) + (2)(4) + (6)(3) = 21. 2

Engineering Mathematics I (MATH ZC 161)

Properties of Dot Product

Engineering Mathematics I (MATH ZC 161)

Alternative Form of the Dot Product

Engineering Mathematics I (MATH ZC 161)

Criterion for Orthogonal Vectors

Two nonzero vectors a and b are orthogonal aib = 0

Engineering Mathematics I (MATH ZC 161)

Angle Between Two Vectors

Engineering Mathematics I (MATH ZC 161)

Engineering Mathematics I (MATH ZC 161)

Direction Cosines of a vector

Engineering Mathematics I (MATH ZC 161)

Engineering Mathematics I (MATH ZC 161)

Engineering Mathematics I (MATH ZC 161)

Cross Product of Two Vectors