Homework 2. Chapters 1, 2, 3.

Vector addition, dot products and cross products

2.1 Dynamics project description

Submit a description of your project and include the following:
• One or more schematics showing the points, particles, bodies, constraints, etc.
• A short paragraph describing the physical system.
• An interesting question that you would like to answer.

2.2 Sine and cosine review.

Trigonometry plays a central role in kinematics, particularly in the formation of rotation matrices.
Referring to the figure below, express b1x , b1y , b2x , and b2y in terms of sin(θ) and cos(θ).
b2 x

b2y
b1x = b1y =
1
θ 1 b1y b2x = b2y =
θ
b1 x

2.3 Right-handed, orthogonal, unitary basis.

Draw a right-handed orthogonal (mutually perpendicular) ba-

sis consisting of the unit vectors ax , ay , az .

2.4 Perpendicular vectors.

The vectors v1 = x ax + 2 ay + 3 az and v2 = 4 ax + 5 ay + 6 az
are expressed in terms of orthogonal unit vectors ax , ay , az .
Find the value of x so v1 and v2 are perpendicular.
Result:
x =

2.5 Column matrices  and vectors.

1
The column matrix  2  is identical to the vector ax + 2 ay + 3 az . True/False .
3

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c 1992-2009 by Paul Mitiguy 273 Homework 2
 2.6 Calculating vector dot products with bases.
The figure to the right shows a right-handed (dextral) set of orthogonal
unit vectors nx , ny , nz . The vectors u, v, w are defined as:

u = 2 nx + 3 ny + 4 nz
ny
v = x nx + y ny + z nz
nx
w = 5 nx − 6 ny + 7 nz nz
(a) Use the distributive law for dot products to write u · v in terms of nx · nx , nx · ny , nx · nz , etc.
Result:
u · v = 2 x nx · nx + 2 y nx · ny + 2 z nx · nz
+ + +
+ + +

(b) Use the definition of the dot product to calculate nx · nx , nx · ny , etc.

Result: nx · nx = nx · ny = nx · nz =
ny · nx = ny · ny = ny · nz =
nz · nx = nz · ny = nz · nz =

(c) In view of your previous two results, calculate u · v.

Result:
u· v =
(d) As shown in Section 2.10.3, the dot product u · v is relatively easy to calculate when nx , ny , nz
are orthogonal unit vectors. When two arbitrary vectors a and b are expressed in terms of
orthogonal unit vectors as shown below, the dot product a · b can be calculated as

a = ax nx + ay ny + az nz
b = bx nx + by ny + bz nz
a · b = ax bx + ay by + az bz

In view of this short-cut, calculate u · v, u · w, and v · w.

Result:
u· v = 2x + 3y + 4z
u· w =
v· w =

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c 1992-2009 by Paul Mitiguy 274 Homework 2
 2.7 Definition of a dot product and its use for calculating angles.

The figure to the right shows a rectangular parallelepiped

(block) of sides 2, 3, and 4. Unit vectors n1 , n2 , n3 are
directed along the sides of the block as shown. The points
A, B, C and D are located at corners of the block.

(a) Express r C/A , the position vector of C from A, in terms of n1 , n2 , n3 .

Result:
r C/A =

(b) Find a numerical value for r C/A · r C/A .

Next, use equation (2.3) to calculate the magnitude of r C/A (the distance from A to C).
Result:  
 C/A 
r C/A · r C/A = r  =

(c) Using equation (2.1), calculate the unit vector u directed from A to C in terms of n1 , n2 , n3 .
Next, find the unit vector v directed from A to D in terms of n1 , n2 , n3 .
Result:
3 n1 − 2 n2
u = √ v =
13
(d) Calculate  BAC, the angle between line AB and line AC.
Next, calculate  CAD, the angle between line AC and line AD.
Result:
◦
 BAC =  CAD = 47.97◦

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c 1992-2009 by Paul Mitiguy 275 Homework 2
 2.8 Dot products and distance calculations.

LC
The figure to the right shows a
crane whose cab A supports a
LB
boom B that swings a wrecking θC
ball Co . To prevent the wreck- B
Co
ing ball from accidently destroy-
ing nearby cars, the distance be- N
tween the nearest car, point No , θB
and the tip of the boom, point
BC, must be controlled. x
A

(a) Express the position vector of BC from No in terms of x, LB , and the unit vectors nx , and bx .
Result:
r BC/No = +
(b) Using the distributive property for dot-multiplication of vectors, i.e.,

(a + b) · (c + d) = a · c + a · d + b · c + b · d

express r BC/No · r BC/No in terms of x, LB , and nx · bx .

Result:
r BC/No · r BC/No =

(c) Using the definition of the dot-product in equation (2.2), calculate nx · bx .

Result:
nx · bx =

(d) Using your previous two results, rewrite r BC/No · r BC/No in terms of x, LB , and θB .
Result:
r BC/No · r BC/No =

(e) Using equation (2.3) to calculate the magnitude of r BC/No , express the distance from No to BC
in terms of x, LB , and θB , and calculate its value when x=20, LB =10, and θB =30◦ .
Result:  
 BC/No 
 r  = = 29.1

(f) Two colleagues are confused by your use of mixed-bases vectors (i.e., r BC/No = x nx + LB bx ),
and ask you to verify the position vector of B from No can be expressed in the uniform-basis
  as
shown below. Use this uniform-basis expression to verify your previous result for r BC/No . Note:
This uniform-basis approach necessitates the simplifying trigonometric identity sin2 (θB ) + cos2 (θB ) = 1.
Result:
r BC/No = [x + LB cos(θB )] nx + LB sin(θB ) ny
(g) Optional∗∗ : Calculate the distance from No to Co in terms of x, LB , LC , θB , and θC .
Result:
 
 Co /No 
r  =

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c 1992-2009 by Paul Mitiguy 276 Homework 2
 2.9 Cross products and determinants.

Given right-handed orthogonal unit vectors nx , ny , nz and a = ax nx + ay ny + az nz

two arbitrary vectors a and b that are expressed in terms of b = bx nx + by ny + bz nz
nx , ny , nz as shown to the right, prove that calculating a × b  
with the distributive property of the cross product happens to nx ny nz
be equal to the determinant of the matrix shown to the right. a × b = det  ax ay az 
bx by bz

2.10 Optional∗∗ : Cross product as skew symmetric matrix multiplication.

  
Referring to the previous problem, show that the nx , ny , nz coeffi- 0 -az ay bx
cients of a × b happen to be equal to the elements that result from  az 0 -ax   by 
the following skew symmetric matrix multiplication. -ay ax 0 bz
After counting the number of computer operations required to multiple the 3×3 matrix by the 3×1
matrix (including multiplication by 0), and comparing the number of operations required to calculate
the elements of the simplified answer, it is clear that using a matrix multiplication to calculate a
cross product is inefficient True/False .

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c 1992-2009 by Paul Mitiguy 277 Homework 2
2.11 Cross products and area calculations.
One reason that triangles are important is that complex planar objects can be decomposed into
triangles. For example, the polygon B in the figure below can be decomposed into triangles. Knowing
the area of two-dimensional objects is helpful in various professions. For example, area measurements
are necessary in calculating the acreage and costs associated with building and farming. Knowing
the mass properties of a polygon is helpful in determining the motion of two-dimensional objects.
B7 B5 B4
r B1 /B0 = 2.0 bx + 2.0 by
B8 B6 r B2 /B0 = 0.5 bx + 2.5 by
B3
r B3 /B0 = 3.0 bx + 4.0 by
r B4 /B0 = 0.2 bx + 6.0 by
B2
Bc
r B5 /B0 = -0.5 bx + 7.0 by
B
B1 r B6 /B0 = -1.0 bx + 5.0 by
by r B7 /B0 = -2.0 bx + 7.0 by

B9 bx r B8 /B0 = -4.0 bx + 5.0 by

bz
B0
r B9 /B0 = -2.0 bx + 0.0 by
One way to calculate the area of an arbitrary polygon B such as the one shown above is to:
• Label a vertex B0 and number the remaining vertices sequentially in a counter-clockwise fashion.
• Form r Bi /B0 , the position vector of vertex Bi (i = 1, 2, . . .) from vertex B0
• Calculate A1 , the “vector-area” of the triangle defined by vertices B0 , B1 , and B2 . Similarly,
calculate A2 , A3 , . . . A8 , the vector-areas of the triangles defined by vertices B0 B2 B3 , B0 B3 B4 ,
. . . B0 B8 B9 , respectively. The formula for the vector-area of a triangle is

A1 = 1/2 ∗ r B1 /B0 × r B2 /B0 = 2 bz

A2 = 1/2 ∗ r B2 /B0 × r B3 /B0 =
A3 = ... = 8.6 bz
A4 = ... =
A5 = ... = 2.25 bz
A6 = ... = 1.5 bz
A7 = ... = 9 bz
A8 = 1/2 ∗ r B8 /B0
×r B9 /B0
=
8
• Calculate A = i=1 Ai =
• The polygon’s area is the magnitude of A, i.e., Area = 27.8.
Fill in the previous blanks and determine the polygon’s area. Compute cross products with the
distributive property (a+b) × (c+d) = a × c + a × d + b × c + b × d and its definition with
the right-hand rule (do not use determinants or look up special formulas in a book). Also, use the
fact that bx , by , bz are orthogonal unit vectors.

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c 1992-2009 by Paul Mitiguy 278 Homework 2
2.12 Scalar triple product with bases.
The figure to the right shows a right-handed set of orthogonal unit
vectors nx , ny , nz . The vectors u, v, w are defined as:

u = 2 nx + 3 ny + 4 nz
ny
v = x nx + y ny + z nz nx
w = 5 nx − 6 ny + 7 nz nz
Calculate u × v · u, u × v · w, and u · v × w.
Note: Although the order of operations in u × v · u is unambiguous, parentheses may clarify your work.
Result:
u×v· u =
u×v· w =
u· v×w = 27 z − 45 x − 6 y

In view of your last two results, u × v · w is equal/not equal (circle one) to u · v × w.

It is/is not OK to switch the · and × in the scalar triple product.

2.13 Optional∗∗ : Scalar triple products and determinants.

a = ax nx + ay ny + az nz
Given right-handed orthogonal unit vectors nx , ny , nz and
b = bx nx + by ny + bz nz
three arbitrary vectors a, b, and c that are expressed in terms
of nx , ny , nz as shown to the right, prove that calculating c = cx nx + cy ny + cz nz
a · (b × c) happens to be equal to the determinant of the matrix  
 ax ay az 
shown to the right.  
a · b × c =  bx by bz 
 cx cy cz 

2.14 Constructing unit vectors.

Form the unit vector u having the same direction as each vector in the table below.
Note: Ensure your answer to the last question agrees with your first two answers, i.e., if c = 3 or c = -3.
Vector Unit vector Note: nx , ny , nz are orthogonal unit vectors.
3 nx nx
-3 nx

3 nx − 4 ny ny
3 nx − 4 ny + 12 nz
nx
c nx
nz

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c 1992-2009 by Paul Mitiguy 279 Homework 2
2.15 Getting started with Autolev.
Go to http://www.stanford.edu/class/me331b and click on Getting Started. Follow the directions
up to Vector Operations. Print out and submit your firstDemo.al file with your homework.
Continue through Vector Operations and also submit your vectorDemo.al.

2.16 Vector operations with Autolev.

The figure below shows a right-handed set of orthogonal unit vectors nx , ny , nz .
Note: To declare x, y, and z as variables, type Variable x, y, z

ny u = 2 nx + 3 ny + 4 nz
v = x nx + y ny + z nz
nz nx w = 5 nx − 6 ny + 7 nz
Use the Autolev commands Cross, Dot, and UnitVector to calculate the following quantities. Submit
your work via the printed Autolev files vectorOperations.al and vectorOperations.all.
Note: Assign each output quantity in Autolev to a scalar or vector name, e.g., type:
a = Dot(u>,v>); b = Dot(u>,w>); c = Dot(v>,w>); d> = Cross(u>,v>)

u· v = Dot( u>, v> ) = 2 x + 3 y + 4 z

u· w =
v· w =
u×v = Cross(u>,v>) = (3z − 4y) nx + (4x − 2z) ny + (2y − 3x) nz
u×w =
v×w =
u×v· u = Dot( Cross(u>,v>), u> ) = 0
u×v· w =
u· v ×w =
UnitVector ( 3 nx ) = UnitVector( 3*Nx> ) = nx
UnitVector ( -nx ) =
UnitVector ( 3 nx − 4 ny ) =

UnitVector (3nx − 4ny + 12nz ) =

UnitVector ( x nx ) =

Doing vector operations with Autolev is easier/harder than doing it by hand.

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2.17 More vector operations with Autolev.
Dot-products and cross-products are fundamental vector operations and are useful for kinematics
(motion), mass-distribution calculations, kinetics (forces), statics, and dynamics. Use the Autolev
commands Dot, Cross, Magnitude, UnitVector, and AngleBetweenVectors to perform the following
operations and pass in the file VectorOperationsB.al.
Note: Assign each output quantity in Autolev to a scalar or vector name, e.g., type:
a> = 10*v>; b> = v> / 10; c> = v> + w>; d> = v> - w>

The figure to the left shows a right-handed set of orthogonal unit vectors
nx , ny , nz . Given below are two vectors v and w.
ny
v = 2 nx + 3 ny + 4 nz
nx w = 5 nx − 6 ny + 7 nz
nz
10 ∗ v =
v/10 =
v +w =
v −w =
v· w =
v×w =
w×v =

|w| =

|v| =
v2 =
v3 =
2 nx + 3 ny + 4 nz
UnitVector (v) = √
29
= 0.3714 nx + 0.5571 ny + 0.7428 nz
◦
 (v, w) = radians or

v ∗ w = 10 nx nx − 12 nx ny + 14 nx nz
+
+

w ∗ v = 10 nx nx + 15 nx ny + 20 nx nz
−
+

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c 1992-2009 by Paul Mitiguy 281 Homework 2
2.18 Locating a microphone (2D). Also see Homework 1.20.
A microphone Q is attached to two pegs B and C by two cables. The point of this practical problem
is to determine the distance between Q and point No knowing the peg locations, cable lengths, and
the fact that B, C, Q, and No all lie in the same plane. Introduce whatever identifiers facilitate
your work and try to do the problem first using Euclidean geometry - and then try vectors.
Note: There are at two “mathematical” answers to this problem, but one is above the ceiling and requires the cables
to be in compression.
15
B C
9 Quantity Value
8
Q Distance from B to C 15 m
8 Distance from No to B 8m
Length of cable joining B and Q 9m
ny Length of cable joining C and Q 8m
Distance between No and Q 9.01 m

No nx

2.19 Locating a microphone (3D).

A microphone Q is attached to three pegs A, B, and C by three cables. The point of this practi-
cal problem is to determine the distance between Q and point No knowing the peg locations, cable
lengths, and the fact that the walls are perpendicular (“easy” problem with the right method).1
B 15
A
20 C
Quantity Value
13
15 11
Distance from A to B 20 m
8
Distance from B to C 15 m
Q Distance from No to B 8m
Length of cable joining A and Q 15 m
Length of cable joining B and Q 13 m
Length of cable joining C and Q 11 m
No Distance between No and Q 13.3 m

1
Hint: See Section 2.10.4 and introduce whatever identifiers facilitate your work. Note: Section 1.11.1 shows how to solve
nonlinear algebraic equations. This problem can also be solved “by-hand”.
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