Vectors

Math 27 Lecture Notes

1 Three-Dimensional Number Space

Definition 1.2 [Vector in 3D space] A vector in the three-dimensional space is an ordered triple of real numbers hx, y, zi.
The numbers x, y, and z are the components of the vector hx, y, zi.

1.1 Operations
Let A = ha1 , a2 , a3 i, B = hb1 , b2 , b3 i and c be any scalar.

1. Vector Addition
A + B = ha1 + b1 , a2 + b2 , a2 + b2 i

2. Scalar Multiplication

cA = hca1 , ca2 , ca3 i

Definition 1.3 [Magnitude] Let A = ha1 , a2 , a3 i. The magnitude of A, denoted by kAk, is the length of any of its represen-
tation. Moreover, q
kAk = a21 + a22 + a23 .

Remark 1.4
1. kAk is nonnegative, that is, kAk ≥ 0.

2. The only vector with length 0 is the zero vector. This is also the only vector with no specific direction.

Definition 1.5 [Zero Vector] The zero vector in the three-dimensional space is the vector 0 = h0, 0, 0i.

Definition 1.6 [Unit Vectors] A vector of length 1 is called a unit vector. In the three-dimensional space, the standard unit
vectors are
î = h1, 0, 0i , ĵ = h0, 1, 0i and k̂ = h0, 0, 1i .

Remark 1.7 Any vector in 3D space can be written in terms of î, ĵ, and k̂.

ha1 , a2 , a3 i = ha1 , 0, 0i + h0, a2 , 0i + h0, 0, a3 i

Theorem 1.8 If A = a1 î + a2 ĵ + a3 k̂ is a nonzero vector, then the unit vector U having the same direction as A is given by
a1 a2 a3
U= î + ĵ + k̂.
kAk kAk kAk

1
2 Dot Product
Definition 2.1 The dot product of vectors A and B, denoted by A · B, is defined as follows:
1. If A = ha1 , a2 i and B = hb1 , b2 i, then
A · B = a 1 b1 + a 2 b2 .
2. If A = ha1 , a2 , a3 i and B = hb1 , b2 , b3 i, then
A · B = a1 b1 + a2 b2 + a3 b3 .

Remark 2.2
1. The dot product is also known as the inner product or scalar product.
2. The dot product yields a scalar and not a vector.
Theorem 2.3
1. Two nonzero vectors are orthogonal or perpendicular if and only if A · B = 0.
2. Two nonzero vectors are parallel if and only if one of the vectors is a scalar multiple of the other vector.
Note: Items 1 and 2 hold for vectors in 2D space and 3D space.
Theorem 2.4 [Angle between Two Vectors in R2 or in R3 ] If θ is the angle between the nonzero vectors A and B, then
A·B
θ = cos−1
kAk kBk

3 Cross Product
Definition 3.1 [Cross Product] If A = ha1 , a2 , a3 i and B = hb1 , b2 , b3 i, then the cross product of A and B, denoted by A×B,
is given by
A × B = ha2 b3 − a3 b2 , a3 b1 − a1 b3 , a1 b2 − a2 b1 i .
Remark 3.2
1. There is no cross product in the 2D space.
2. A × B is a vector.
Theorem 3.3 [Calculating Cross Product Using Determinants] If A = ha1 , a2 , a3 i and B = hb1 , b2 , b3 i, then
 

 î ĵ k̂ 

A×B =  a1 a2 a3 

 b1 b2 b3 
     
a2 a3   a a3   a a2 
î −  1 ĵ +  1

=  k̂
b2 b3  b1 b3  b1 b2 
= (a2 b3 − a3 b2 )î + (a3 b1 − a1 b3 )ĵ + (a1 b2 − a2 b1 )k̂
Remark 3.4
 
 î ĵ k̂ 

1. The first row in the notation  a1 a2 a3  contains vectors and not real numbers.
 b1 b2 b3 
     
 a a2 
2.  1  is the determinant of the matrix a1 a2 , that is,  a1 a2  = a1 b2 − a2 b1 .
 
b1 b2  b1 b2  b1 b2 
Theorem 3.5
1. If A and B are two vectors in R3 , then A × B is orthogonal to both A and B.
2. The vectors A and B in R3 are parallel if A × B = 0.
Theorem 3.6 [Angle Between two vectors in R3 ] If θ is the angle between the nonzero vectors A and B, then
kA × Bk
θ = sin−1
kAk kBk
Example 3.7 Find a vector perpendicular to the plane of P (1, −1, 0), Q(2, 1, −1) and R(−1, 1, 2).