Part 2 Vectors,Linear Algebra,and

Systems of Linear Differential Equations

Chapter 6
Vectors and Vector Spaces
Chapter 7
Matrices and Linear Systems
Chapter 8
Determinants
Chapter 9
Eigenvalues, Diagonalization,
and Special Matrices
Chapter 10 Systems of Linear Differential Equations

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Chapter 6 Vectors and Vector Spaces
(68쪽)

6.1 Vectors in the Plane and 3-Space ------------------------------------- (02)

6.2 The Dot Product --------------------------------------------------------- (26)
6.3 The Cross Product -------------------------------------------------------- (38)
6.4 The Vector Space R n --------------------------------------------------- (54)
6.5 Orthgonalization -------------------------------------------------------- (생략)
6.6 Orthgonal Complements and Projections ---------------------------- (생략)
6.7 The function Space C[a,b]---------------------------------------------- (생략)

Report (6.1)= Prob.1,3,5,7,9,11,13,15,용어15개

Report (6.2)와 같이 제출
Report 표지:과목명,범위,학과,학번,성명,제출일자 기재

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 Vector
Vector (Geometric Vector, 기하 벡터)
Scalar : Quantity that has Magnitude Only
Ex Mass, Temperature, Time, Density, Energy,
Length, Distance, Volume, Speed etc

Vector : A Vector is a directed segment

with both Magnitude and Direction
Ex Displacement, Velocity, Force and
Acceleration etc

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 Vector
Representation of Vectors
denoted by a Directed Line Segment

Q Terminal Point (Terminus, Tip)

P
Initial Point (Origin, Tail)

 
Notation A, A, A, A or PQ
  
Magnitude A , A , A , A or PQ , A, A ⋅⋅⋅
(Length or (Euclidean) Norm)
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 Vector
Representation of Vectors
using Cartesian Coordinate (Rectangular Coord)
3차원 상의 벡터 A는 원점 O 에 시점을 둔 직교좌표를 이용하여 표시할 수 있다.
좌표계를 도입함으로써 기하학적인 개념의 벡터를 대수학적으로 표현할 수 있다.
=A (a, b, c) → Ordered Triple
z a :1st (Rectangular) Component of Vector (성분)
A Q(a, b, c) b : 2nd (Rectangular) Component of Vector
c : 3rd (Rectangular) Component of Vector
0
P y

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 Vector
Representation of Vectors
using Cartesian Coordinate (Rectangular Coord)
3차원 상의 벡터 A는 원점 O 에 시점을 둔 직교좌표를 이용하여 표시할 수 있다.
좌표계를 도입함으로써 기하학적인 개념의 벡터를 대수학적으로 표현할 수 있다.
A = ( a , b, c ) Direction : Pt (0,0,0)  Pt (a,b,c)
z Magnitude : Length between Pt P and Q
(Norm)
A Q(a, b, c ) A = ( a , b, c ) = a 2 + b 2 + c 2
0
P y

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 Vector Algebra
1. Null Vector (Zero Vector, 영 Vector):
Only vector that is not represented by an arrow from the
origin.
It has zero magnitude and no direction.

O = A - B with A = B → Magnitude Zero and Not-defined Direction

=
In Cartesian Coordinate, O (0, 0, 0) → Point

0 : Scalar Zero
O : Zero Vector (크기 0, 임의의 방향)
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 Vector Algebra
2. Equal Vector(等):Same Magnitude and Direction
A = B if A = B and same direction regardless of their initial point
A B

반드시 Origin이 같을 필요는 없다 (free Vector의 성질)

그러나 물리학이나 기하학에서는 한 벡터의 시점을
제한할 필요가 있다.

A A Sliding Vector

A Fixed Vector
Let A(a, b, c), B (u , v, w)
then A = B when =
a u=
, b v=
, c w 즉 대응하는 성분이 같을 때

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 Vector Algebra
2. Equal Vector : Same Magnitude and Direction

When vectors are represented by triple orders, two vectors

are equal if and only if each of their respective
components is equal:

(a,b,c)=(u,v,w)

if and only if

a=u, b=v, c=w

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 Vector Algebra
3. Negative Vector (음 Vector):
Same Magnitude of A and Opposite Direction
In Cartesian Coordinate,
A =(a, b, c) → − A =(−a, −b, −c)
z
A −A A Q(a,b,c)

−A 0
P y

Q(-a,-b,-c) x

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 Vector Algebra
4. Multiplication of Scalar m (스칼라 곱):

α A → Magnitude α A
Direction Same Direction with A when α > 0
Opposite Direction with A when α < 0

In Cartesian Coordinate, α A = (α a, α b, α c)

Ex. 3(2, −5,1) = (6, −15,3) and − 5(−4, 2,10) = (20, −10, −50)

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 Vector Algebra
4. Multiplication of Scalar m (스칼라 곱):
Theorem 1. α F = α F
2. F = 0 if and only if F = O
Proof for Case 1
If F =(a, b, c), then α F = (α a, α b, α c), so
α F = α 2 a 2 + α 2b 2 + α 2=
c2 α c2 α F
a 2 + b 2 +=
Proof for Case 2
Recall that 0=(0, 0, 0), so
0 = 02 + 02 + 02 =
0.
=
Conversely, if F 0, then a 2 + b 2 + c 2 =
0,
hence a= b= c= 0 and F = O

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 Vector Algebra
4. Multiplication of Scalar m (스칼라 곱):
Parallel Vecor : Two vecors F and G are defined to be Parallel
Ex if each is a nonzero scalar multiple of the other. F =α G

F = (2, 4,1)
3F = (6,12,3) Same Direction, 3 times longer
−3F =(−6, −12, −3) Opposite Direction, 3 times longer
1 1
F = (1, 2, ) Same Direction, half as long
2 2

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 Vector Algebra
5. Vector Sum (Addition) : R
F
by Parallelogram Law
G
or Triangle Law (Tip-to-Tail Addition) G
R
F
R = F + G → Sum (Resultant) of Vectors G
D
In Cartesian Coordinate, C E F
F (= a1 , b1 , c1 ), G (a2 , b2 , c2 ) B

F + G =(a1 + a2 , b1 + b2 , c1 + c2 ) A
A+B+C+D+E+F

Ex. (−4, π , 2) + (16,1, −=

5) (12, π + 1, −3)

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 Vector Algebra
5. Vector Sum (Addition) :
Parallelogram Law Triangle Law (Tip-to-Tail Addition)

D
C E F
B

A
A+B+C+D+E+F

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 Vector Algebra
5. Vector Sum (Addition) :
동일한 vector는 Parallelogram Law에 의하여 두 성분
Vector의 무수히 많은 조합으로 분해될 수 있다.
1. 직교좌표로 분해된 경우 2. 비직교좌표로 분해된 경우
B
γ
C α
A A
β
C
B
A B C
=
C Cx + C y
2 2 = =
sin α sin β sin γ
by Pythagorean Theorem
C= A2 + B 2 − 2 AB cos γ

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 Vector Algebra
6. Vector Subtraction : A Kind of Vector Sum
R = F − G = F + (−G ) → Sum (Resultant) of Vectors

In Cartesian Coordinate,
F (= a1 , b1 , c1 ), G (a2 , b2 , c2 )
F − G = (a1 − a2 , b1 − b2 , c1 − c2 )

Ex. (−4, π , 2) − (16,1, −5) =(−20, π − 1, 7)

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 Vector Algebra
Laws of Vector Algebra

1. F+G = G +F Commutative Law for Addition

2. (F + G) + H = F + (G + H) Associative Law for Addition
3. F+O = F O : Zero Vector
4. (α + β )F = α F + β F Distributive Law
α (F + G ) = α F + α G Distributive Law
αβ )F α=
5. (= ( β F)( β (α F )) Associative Law for Scalar Multiplication
6. α F = m F m :α 의 절대값, F :Vector F의 크기

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 Vector Algebra
Laws of Vector Algebra
α (F + G ) = α F + α G Distributive Law

Proof =: F (=
a1 , b1 , c1 ), G (a2 , b2 , c2 )
α (F + G ) = α ( a1 + a2 , b1 + b2 , c1 + c2 )
= (α ( a1 + a2 ) , α ( b1 + b2 ) , α ( c1 + c2 ) )
= (α a1 + α a2 , α b1 + α b2 , α c1 + α c2 )
= (α a1 , α b1 , α c1 ) + (α a2 , α b2 , α c2 )
= α ( a1 , b1 , c1 ) + α ( a2 , b2 , c2 )
= αF + αG
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 Vector Algebra
7. Unit Vector (단위 Vector):
A Vector of Unit Magnitude
A
aˆ = =
where A A⋅A Absolute Magnitude of Vector A
A
= Ax 2 + Ay 2 + Az 2 in Cartesian Coordinate
then A = A aˆ A represents Magnitude
aˆ represents Direction

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 Vector Algebra
7. Unit Vector (단위 Vector):
Rectangular Unit Vector : Unit Vectors (Length 1) having the
direction of x, y and z axes of a rectangular coordinate
system (Cartesian Coordinate System)
=
i = (1, =
0, 0), j (0,1, 0), k (0, 0,1)

F = ( a , b, c )
= a (1, 0, 0) + b(0,1, 0) + c(0, 0,1)
= ai + bj + ck
→ Standard Representation of F
Ex. (-3, 0,1) =−3i + k

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 Vector Algebra
7. Unit Vector (단위 Vector):
G = (a1 , b1 , c1 ) = a1i + b1 j + c1k
F = (a2 , b2 , c2 ) = a2 i + b2 j + c2k
by Paralleogram Law,
G+H =F
Hence,
H = F-G
=(a2 − a1 , b2 − b1 , c2 − c1 )
= (a2 − a1 )i + (b2 − b1 ) j + (c2 − c1 )k
Ex. Vector from Pt(-2,4,1)(G) to Pt(14,5,-7)(F) is 16i +j-8k F-G
Vector from Pt(14,5,-7)(F) to Pt(-2,4,1)(G) is -16i -j+8k G-F
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 Vector Algebra
7. Unit Vector (단위 Vector):
Point 1
Position Vector G from Origin to Point 1
G = (a1 , b1 , c1 ) = a1i + b1 j + c1k
Position Vector F from Origin to Point 2
Point 2
F = (a2 , b2 , c2 ) = a2 i + b2 j + c2k
Position Vector H from Point 1 to Point 2
H = F-G
=(a2 − a1 , b2 − b1 , c2 − c1 )
= (a2 − a1 )i + (b2 − b1 ) j + (c2 − c1 )k
Magnitude H = (a2 − a1 ) 2 + (b2 − b1 ) 2 + (c2 − c1 ) 2
H (a2 − a1 ) (b2 − b1 ) (c − c )
Direction uˆ == i+ j+ 2 1 k
H H H H
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 Vector Algebra
7. Unit Vector (단위 Vector):
Cartesian Force Vector F directed from Point A to Point B
(a − a ) (b − b ) (c − c )
F ==F uˆ F 2 1 i + F 2 1 j + F 2 1 k
H H H

H (a2 − a1 ) (b2 − b1 ) (c − c )
Direction uˆ == i+ j+ 2 1 k
H H H H
where H = (a2 − a1 ) 2 + (b2 − b1 ) 2 + (c2 − c1 ) 2

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 Vector Algebra
Ex 6.1 Parametric Equations(매개변수방정식)
of the line through (-1,-1,7) and (7,-1,4)

x =−1 + {7 − ( −1)}t =−1 + 8t

y =−1 + {( −1) − ( −1)}t =−1
z =7 + {4 − 7}t =7 − 3t
or t=
0; x =−1, t =1; x = 7
x=
at + b b = −1 a = 8
The line consists of all points (-1+8t,-1,7-3t)

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Chapter 5 Vectors and Vector Spaces
(66쪽)

6.1 Vectors in the Plane and 3-Space ------------------------------------- (02)

6.2 The Dot Product --------------------------------------------------------- (26)
6.3 The Cross Product -------------------------------------------------------- (38)
6.4 The Vector Space R n --------------------------------------------------- (54)
6.5 Orthgonalization -------------------------------------------------------- (생략)
6.6 Orthgonal Complements and Projections ---------------------------- (생략)
6.7 The function Space C[a,b]---------------------------------------------- (생략)

Report (6.2)= Prob.1,3,5,7,9,11,13,15,용어10개

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 The Dot Product
Force, Displacement Vector

Work = Force X Displacement

 having Magnitude Only  Scalar
Dot Product of Vectors

Moment = Force X Displacement

 having Magnitude and Direction
 Vector
Cross Product of Vectors

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 The Dot Product
Dot Product (Scalar Product, Inner Product,
내적 ) of Vectors
Dot Product of Vector F and G is defined by
F ⋅ G = F G cos θ (0 ≤ θ ≤ π ) F
θ
In Cartesian Coordinate, G
i ⋅ i = j⋅ j = k ⋅ k = 1 (1)(1) cos 0o =
1
i ⋅ j = j⋅ k = k ⋅ i = 0 (1)(1) cos 90o = 0
Let F = ( a1 , b1 , c1 ) = a1i + b1 j + c1k , G = ( a2 , b2 , c2 ) = a2i + b2 j + c2k
Then F ⋅ G = a1a2 + b1b2 + c1c2 (Ex. ( 2i + 3j + 4k ) ⋅ ( i + 5j + 7k ) =2 ⋅ 1 + 3 ⋅ 5 + 4 ⋅ 7 =45)

( )
2
F ⋅ F=a + b + c = a + b1 + c1 = ∴ F ⋅ F= F
2 2 2 2 2 2 2 2
1 1 1 1 F

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 The Dot Product
Dot Product (Scalar Product, Inner Product,
내적 ) of Vectors
Orthogonality
If F ⋅ G = 0, ( F ≠ O, G ≠ O )
then F and G are Perpendicular (or Orthogonal, 직교)

F
90
G

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 The Dot Product
Theorem : Properties of Dot Product
1. F ⋅ G = G ⋅ F Commutative Law
2. (F + G) ⋅ H = F ⋅ H + G ⋅ H Distributive Law
3. α (F ⋅ G ) = (α F ) ⋅ G = F ⋅ (α G )
4. F ⋅ F = F
2

5. F ⋅ F = 0 if and only if F = O

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 The Dot Product
Lemma
Let F and G be vecors, and let α and β be scalars, then
α F + β G = α 2 F + 2αβ F ⋅ G + β 2 G
2 2 2

Proof
α F + β G = (α F + β G ) ⋅ (α F + β G )
2

=α 2 F ⋅ F + αβ F ⋅ G + αβ G ⋅ F + β 2G ⋅ G
=α 2 F ⋅ F + 2αβ F ⋅ G + β 2G ⋅ G
=α F + 2αβ F ⋅ G + β G
2 2 2 2

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 The Dot Product
Theorem : Cauchy-Schwarz Inequality
Let F and G be vecors, then
F ⋅G ≤ F G
F
θ
Proof G

F ⋅G
F ⋅G F G cos θ → cos θ
=
F G
F ⋅G
=
cos θ ≤1 ∴ F ⋅G ≤ F G
F G
코시슈바르츠부등식

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 The Dot Product
Applications
1. Angle between the Two Vectors or Line Segments
 F⋅G 
θ = cos 
−1

 F G 
F
Ex. 6.2 θ
G
Let F =− i + 3j + k and G = 2 j − 4k
Determine the angle between the vecors.

cos θ
=
F⋅G
=
( −i + 3j + k ) ⋅ ( 2 j − 4=
k) ( −1)( 0) + ( 3)( 2 ) + (1=
)( −4 ) 2
F G ( −1) 2 + 32 + 12 22 + ( −4 )
2
11 20 220

 2 
Then, θ = cos −1   =1.436 radians=82.25 degrees
 220 
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 The Dot Product
Ex. 6.3
Line L1 and L2 have following parametric equations
L1 : x =1 + 6t , y =2 − 4t , z =−1 + 3t
L2 : x =4 − 3 p, y =2 p, z =−5 + 4 p
Determine the angle between these lines.

A vector F along two point on L1 (1, 2, −1) when t =0 and (7, −2, 2) when t =1
F = (7 − 1)i + ( −2 − 2) j + (2 − ( −1))k = 6i − 4 j + 3k
A vector G along two point on L2 (4, 0, −5) when p = 0 and (1, 2, −1) when p = 1
G=(1 − 4)i + (2 − 0) j + ( −1 − ( −5))k =−3i + 2 j + 4k
여기서, (1, 2, −1)이 같은점이니까 G = 3i − 2 j − 4k 로 취하면

cos θ
=
F⋅G
=
( 6i − 4 j + 3k ) ⋅ ( 3i − 2 j − 4k=
) ( 6 )( 3) + ( −4 )( −2 ) + ( 3=
)( −4 ) 14
F G 62 + ( −4) 2 + 32 ( −3) 2 + (2) 2 + (4) 2 61 29 1769
 14 
Then, θ = cos −1   =1.23 radians=71 degrees
 1769 

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 The Dot Product
Ex. 6.4 F =−4i + j + 2k , G =2i + 4k , H =6i − j − 2k
F ⋅ G = ( −4i + j + 2k ) ⋅ ( 2i + 4k ) = (−4)(2) + (1)(0) + (2)(4) = 0 ∴ F and G are orthogonal.
F ⋅ H =( −4i + j + 2k ) ⋅ ( 6i − j − 2k ) =−29 ∴ F and G are not orthogonal.
G ⋅ H= ( 2i + 4k ) ⋅ ( 6i − j − =2k ) 4 ∴ F and G are not orthogonal.

Ex. 6.5 Determine arthogonal between two lines;

L1 : x =2 − 4t , y =6 + t , z =3t
L2 : x =−2 + p, y =7 + 2 p, z =3 − 4 p
A vector F along two point on L1 (2,6,0) when t =
0 and (−2, 7,3) when t =
1
V1 = (−2 − 2)i + (7 − 6) j + (3 − 0)k =−4i + j + 3k
A vector G along two point on L2 ( −2, 7,3) when=
p 0 and (−1,9, −1) when=
p 1
V2 = ((−1) − (−2))i + (9 − 7) j + (−1 − 3)k = i + 2 j − 4k
V1 ⋅ V2 =( −4i + j + 3k ) ⋅ ( i + 2 j − 4k ) =−14 ∴ V1 and V2 are not orthogonal.
∴ L1 and L2 are not orthogonal.

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 The Dot Product
Applications
2. Projection of Vector onto the Arbitrary Direction
u⋅v u⋅v (or Axis)
v cosθ
Magnitude : d == =
v
u v u

∴ Projection(投影,射影) Vector is projection of v onto u

 u  u⋅v u u⋅v
=
proju v d=
  = 2
u
 u  u u u

*Normal(法線,垂直) Vector is orthogonal to a plane

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 The Dot Product
Ex. 6.6
Equation of the plane containing ( −6,1,1) and orthogonal to the vector N =−2i + 4 j + k
If a point (x, y, z ) is on the plane,
N ⋅ {( x + 6)i + ( y − 1) j + ( z − 1)k} = 0
{ − 2i + 4 j + k} ⋅ {( x + 6)i + ( y − 1) j + ( z − 1)k} =
0
−2( x + 6) + 4( y − 1) + ( z − 1) =
0
−2 x + 4 y + z = 17

Ex. v = 4i − j + 2 k , u = i − j + 2k
The projection v onto u
u⋅v (4)(1) + ( −1)( −1) + (2)(2) 9 3
proju v= u= ( i − j + 2 k =
) ( i − j + 2 k =
) ( i − j + 2k )
u
2
1 + ( −1) + 2
2 2 2
6 2

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Chapter 5 Vectors and Vector Spaces
(66쪽)

6.1 Vectors in the Plane and 3-Space ------------------------------------- (02)

6.2 The Dot Product --------------------------------------------------------- (26)
6.3 The Cross Product -------------------------------------------------------- (38)
6.4 The Vector Space R n --------------------------------------------------- (54)
6.5 Orthgonalization -------------------------------------------------------- (생략)
6.6 Orthgonal Complements and Projections ---------------------------- (생략)
6.7 The function Space C[a,b]---------------------------------------------- (생략)

Report (6.3)= Prob.1,3,5,7,9,11,14(해석),용어5개

Report (6.4)와 같이 제출

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 The Cross Product
Force, Displacement Vector

Work = Force X Displacement

 having Magnitude Only  Scalar
Dot Product of Vectors

Moment = Force X Displacement

 having Magnitude and Direction
 Vector
Cross Product of Vectors

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 The Cross Product
Cross Product (Vector Product, Outer Product,
외적 ) of Vectors
Cross Product of Vector F and G is denoted as F × G
θ
F × G is defined as a vector
1. whose magnitude equals F G sin θ (θ ≤ 2π )
2. Direction of F × G is normal to the plane defined by
F and G and the sense of F × G is in the direction of
the advancement of a right-handed screw when revolved û

from F to G through the smaller of the two angles between

them (ie, F, G and F × G form a right-haned system)
F×G =F G sin θ uˆ

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 The Cross Product
Cross Product (Vector Product, Outer Product,
외적 ) of Vectors

û
θ

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 The Cross Product
Cross Product (Vector Product, Outer Product,
In Cartesian Coordinate, 외적 ) of Vectors
Let F = (a1 , b1 , c1 ) = a1i + b1 j + c1k , G = (a2 , b2 , c2 ) = a2 i + b2 j + c2k
i j k
b c1 a c1 a b1
Then F×G =a1 b1 c1 = i 1 −j 1 +k 1
b2 c2 a2 c2 a2 b2
a2 b2 c2
= i ( b1c2 − b2 c1 ) + j ( c1a2 − c2 a1 ) + k ( a1b2 − a2b1 )
i j k
2 −3 1 −3 1 2
Ex. ( i + 2 j − 3k ) × ( −2i + j =
+ 4k ) 1 2= −3 i −j +k
1 4 −2 4 −2 1
−2 1 4
= i ( 8 + 3) − j ( 4 − 6 ) + k (1 + 4 ) = 11i + 2 j + 5k

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 The Cross Product
Theorem : Properties of Cross Product
1. F × G = −G × F Commutative Law Fails!
2. F × G is orthogonal to both F and G.
3. F × G =F G sin θ
4. F × G O if and only if F and G are parallel. (when F ≠ O,G ≠ O)
5. F × ( G + H ) = F × G + F × H Distributive Law
6. α (F × G ) = (α F ) × G = F × (α G )

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 The Cross Product
Cross Product (Vector Product, Outer Product,
외적 ) of Unit Vectors

i
i × i = j× j = k × k = 0 (1)(1)sin 0 =
o
0
i × j = k, j × k = i, k×i = j (1)(1)sin 90o =
1
k
i × k = − j, k × j = −i, j × i = −k (1)(1)sin 90o =
1 j

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 The Cross Product
Theorem
The magnitude of F × G , ie F G sin θ ,
represents the area of a parallelogram with sides F and G.

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 The Cross Product
Ex. A parallelogram has two sides extending from
(0,1,-2) to (1,2,2) and from (0,1,-2) to (1,4,1). Find the
area of this parallelogram.
F = (1 − 0 ) i + ( 2 − 1) j + ( 2 − ( −2 ) ) k = i + j + 4k (1,4,1)

G = (1 − 0 ) i + ( 4 − 1) j + (1 − ( −2 ) ) k = i + 3 j + 3k (1,2,2)
i j k
1 4 1 4 1 1 (0,1,-2)
F ×=
G 1 1 =
4 i −j +k
3 3 1 3 1 3
1 3 3
=( 3 − 12 ) i − ( 3 − 4 ) j + ( 3 − 1) k =−9i + j + 2k

The Area of the parallelogram is F × G is ( −9 ) + 12 + 22 =86

2

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 The Cross Product
Theorem :
Let F, G and H be vectors along incident sides of a rectangular parallelepiped.
Then the volume of the parallelepiped(평행육면체) is H ⋅ ( F × G ) .
H ⋅ ( F × G ) is clled Scalar Triple Product (Mixed Triple Product, Box product)

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 The Cross Product
Scalar Triple Product (Mixed Triple Product,
Box Product)
Let H = (a1 , b1 , c1 ) = a1i + b1 j + c1k , F = (a2 , b2 , c2 ) = a2 i + b2 j + c2k
G = (a3 , b3 , c3 ) = a3i + b3 j + c3k
a1 b1 c1
b2 c2 a2 c2 a2 b2
Then H ⋅ ( F × G ) = a2 b2 c2 = a1 − b1 + c1
b3 c3 a3 c3 a3 b3
a3 b3 c3
= ( b2 c3 − c2b3 ) a1 + ( c2 a3 − a2 c3 ) b1 + ( a2b3 − b2 a3 ) c1

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 The Cross Product
Scalar Triple Product (Mixed Triple Product,
Box Product)
Properties
A ⋅ ( B × C ) ≡ [ A B C] ≡ A ⋅ B × C A

A ⋅ ( B × C ) =B ⋅ ( C × A ) =C ⋅ ( A × B ) C B
or
[=A B C] [ B= C A ] [C A B ] → Right-handed Order
[ A B C] = − [ A C B ]

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 The Cross Product
Vector Triple Product
A × ( B × C) = ( A ⋅ C) B − ( A ⋅ B ) C
( A × B ) × C = ( A ⋅ C) B − ( B ⋅ C) A
( A × B) × C
=−C × ( A × B )
=
−[(C ⋅ B) A − (C ⋅ A )B]
= ( A ⋅ C) B − ( B ⋅ C) A

A × ( B × C ) ≠ ( A × B ) × C → Associative Law Fails!

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 The Cross Product
Ex. One corner of a rectangular parallelepiped is at
(-1,2,2), and three incident sides extend from this point
to (0,1,1),(-4,6,8), and (-3,-2,4). Find the volume of this
solid. (-3,-2,4)
F =( 0 − ( −1) ) i + (1 − 2 ) j + (1 − 2 ) k =i − j − k
G =( −4 − ( −1) ) i + ( 6 − 2 ) j + ( 8 − 2 ) k =−3i + 4 j + 6k
(-4,6,8)
H =( −3 − ( −1) ) i + ( −2 − 2 ) j + ( 4 − 2 ) k =−2i − 4 j + 2k
The Volume is (-1,2,2) (0,1,1)
1−1 −1
H ⋅ ( F × G ) =−3 4 6
−2 −4 2
4 6 −3 6 −3 4
= − ( −1) + ( −1) = (8 + 24 ) + ( −6 + 12 ) − (12 + 8) = 18(부피 양수로)
−4 2 −2 2 −2 −4

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 The Cross Product
Applications - Moment of Force

M= r × F
방향은 반시계 방향이나 F
z
r sin θ θ
표시는 지면에 수직인 화살표로 한다.
r
0
P y

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 The Cross Product
Ex. 6.7
Find the equation of the plane containing the points P:(-1,4,2), Q:(6,-2,8) and R:(5,-1,-1)

PQ = 7i − 6 j + 6k , PR = 6i − 5 j − 3k
i
j k
N = PQ × PR = 7 −6 6 = 48i + 57 j + k is a normal vector.
6 −5 −3

If a point (x, y, z ) is on the plane,

N ⋅ {( x + 1)i + ( y − 4) j + ( z − 2)k} = 0
{48i + 57 j + k} ⋅ {( x + 1)i + ( y − 4) j + ( z − 2)k} =
0
48( x + 1) + 57( y − 4) + ( z − 2) = 0
∴ 48 x + 57 y + z = 182

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Chapter 5 Vectors and Vector Spaces
(66쪽)

6.1 Vectors in the Plane and 3-Space ------------------------------------- (02)

6.2 The Dot Product --------------------------------------------------------- (26)
6.3 The Cross Product -------------------------------------------------------- (38)
6.4 The Vector Space R n --------------------------------------------------- (54)
6.5 Orthgonalization -------------------------------------------------------- (생략)
6.6 Orthgonal Complements and Projections ---------------------------- (생략)
6.7 The function Space C[a,b]---------------------------------------------- (생략)

Report (6.4)= Prob.1,3,5,7,9,11,13,19해석,용어10개

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 The Vector Space R n

n − Vector(n차원벡터) : Vector with n Components

( x , x , ⋅⋅⋅, x , ⋅ ⋅⋅, x )
1 2 j n

Vector Space R n : 벡터공간 R n : set of n-Vectors=모든 n차원벡터의 집합

(1, 2 ) → 2-Vector (Vector in Plane) → R 2 (2-Vector들의 집합)
(1, 2, 7 ) → 3-Vector (Vector in Space) → R3
( x1 , x2 , ⋅⋅⋅, xn ) → n-Vector → R n
Magnitude (Norm) of n - Vector ( x1 , x2 , ⋅⋅⋅, xn ) in R n :
1
 n
2
2

( x1 , x2 , ⋅⋅⋅, xn ) = x + x2 + ⋅⋅⋅ + xn
1
2 2 2
= ∑ xj 
 j =1 

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 The Vector Space R n

Equal of Two n-Vectors :

( x1 , x2 , ⋅⋅⋅, xn ) = ( y1 , y2 , ⋅⋅⋅, yn ) x=
1 y1 , x=
2 y2 , ⋅⋅⋅, x=
n yn
Sum of Two n-Vectors :
( x1 , x2 , ⋅⋅⋅, xn ) + ( y1 , y2 , ⋅⋅⋅, yn=) ( x1 + y1 , x2 + y2 , ⋅⋅⋅, xn + yn ) 끼리끼리!
Scalar Multiplication of n-Vectors:
α ( x1 , x2 , ⋅⋅⋅, xn ) = (α x1 , α x2 , ⋅⋅⋅, α xn ) 몽조리!!
Inner Product of Two n-Vectors :
n
( x1 , x2 , ⋅⋅⋅, xn ) ⋅ ( y1 , y2 , ⋅⋅⋅,= yn ) ∑ x j y j
yn ) ( x1 y1 + x2 y2 + ⋅⋅⋅ + xn=
j =1

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 The Vector Space R n

Representation of any n-Vector using Unit Vector :

n)
( x1 , x2 , ⋅⋅⋅, x= x1eˆ1 + x2eˆ 2 + ⋅⋅⋅ + xneˆ n
=eˆ1 (1, 0, 0, ⋅⋅⋅, 0)
=eˆ 2 (0,1, 0, ⋅⋅⋅, 0)
:
=eˆ n (0, 0, 0, ⋅⋅⋅,1)

Other rules for n-Vector algebra are valid for R n

F + G = G + F,
F + (G + H) = (F + G) + H,
F ⋅G = G ⋅F

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 The Vector Space R n

Ex.
in R 5 i) Let F =(1,6,4,-2,3), G =(0,-4,-3,2,5)
F ⋅G (1)(0) + (6)(−4) + (4)(−3) + (−2)(2) + (3)(5)
cosθ = =
F G 12 + 62 + 42 + ( −2 ) + 32 02 + (−4) 2 + (−3) 2 + 22 + 52
2

0 − 24 − 12 − 4 + 15 −25
= =
66 54 3564

ii) Let F =(-1,3,4,6,2), G =(4,2,1,6,-21)

F ⋅ G =−( 1)(4) + (3)(2) + (4)(1) + (6)(6) + (2)(−21) =0
∴ F and G are perpendicular.

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 The Vector Space R n

Subspace (부분공간)
A set S of n-Vectors is a subspace of Vector Space Rn if :
1. O is in S.
2. The sum of any vectors in S is in S.
3. The product of any vector in S with any real number is
also in S.
F +G ∈ S , α F ∈ S , O ∈ S then S is called Subspace of R n Rn

F, G , S
Trivial Subspace (자명 부분공간) F +G , α F, O

Subspace which includes zero vector only

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 The Vector Space R n

Subspace (부분공간)
F +G ∈ S , α F ∈ S , O ∈ S then S is called Subspace of R n

Ex. Let T is set of 4-vectors which components are all equal.

i) F =( x, x, x, x), G =( y, y, y, y )
F +G =( x, x, x, x) + ( y, y, y, y ) =( x + y, x + y, x + y, x + y ) → equal Components
ii) α F =(α x, α x, α x, α x) → equal Components
Rn
0F =(0, 0, 0, 0) = O
∴ F +G ∈ S , α F ∈ S , O ∈ S F, G , T
so T is a Subspace of R 4 F +G , α F, 0

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 The Vector Space R n

Ex. O ∈ S then S is called Subspace of R n : zero space

Ex. R n is called Subspace of R n
Ex. 6.8 Let S consist of all vectors in R n having norm 1.
In R 2 (평면), S is set of points on the unit circle about the origin.
In R 3 (공간), S is set of points on the unit sphere about the origin.
∴ F +G ∉ S , α F ∉ S , O ∉ S
so S is not a Subspace of R n
Ex. 6.9 Let K consist of all scalar multiples of F =(−1, 4, 2, 0) in R 4 .
=0(−1, 4, 2, 0)=(0, 0, 0, 0) O ∴ O∈K
α F= α (−1, 4, 2, 0) ∴ αF ∈ K
β G =β (−1, 4, 2, 0) α F +β G =(α + β )(−1, 4, 2, 0) ∴ F +G ∈ S
so K is a Subspace of R n
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 Linear Independence
<Theorem 6.1> Suppose that there are k vectors F1 , F2 , F3 , ⋅⋅⋅, Fk in R n ,
α1F1 + α 2F2 + α 3F3 + ⋅⋅⋅ + α k Fk → Linear Combination of F1 , F2 , F3 , ⋅⋅⋅, Fk in R n
(αi :Scalar) (선형결합)

If one of the vectors is a linear combination of the others →

real numbers α1 , α 2 , ⋅⋅⋅, α k not all zero such that α1F1 + α 2F2 + ⋅⋅⋅ + α k F=
k O →
Linearly Dependent (일차종속)

If no one of the vectors is a linear combination of the others →

real numbers α1 , α 2 , ⋅⋅⋅, α k all zero such that α1F1 + α 2F2 + ⋅⋅⋅ + α k F=
k O →
Linearly Independent (일차독립)

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 Linear Independence
<Theorem 6.2> If F1 , F2 , ⋅⋅⋅, Fk are nonzero mutually orthogonal vectors in R n ,
then F1 , F2 , ⋅⋅⋅, Fk are linearly independent

If F1 , F2 , ⋅⋅⋅, Fk are linearly independent and span(생성) a subspace S of R n ,

then F1 , F2 , ⋅⋅⋅, Fk are basis(기저) of S

Ex. 6.15 Unit vector i, j, k in R 3 are linearly independent

and span R 3
and form a basis for R 3
Unit vector e1 , e 2 , e3 ,..., e n in R n are form a basis for R n

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 Linear Independence
• The number of vectors in a basis for a subspace S of R n
is called the dimension(차원) of S or dim(S )

Ex. 6.17 R 3 에서 평면 x + y + z =0 에 평행한 벡터들로 구성된

부분공간(subspace)을 M 이라 하자.
R 3 의 벡터 (x, y , z )는 z =− x − y 일 때 M 에 속한다.
∴ (x, y , =
z ) (x, y , − x − =
y ) x (1,0, −1) + y (0,1, −1) 이므로
벡터 (1,0, −1)과 (0,1, −1) 은 M 을 생성(span)한다.
이 두 벡터는 일차독립(linearly independent)이므로 M 의 기저(basis)이다.

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 Linear Independence
• Now suppose S is a k -dimensional subspace of R n ,
and v1 , v 2 , ⋅⋅⋅, v k form a basis for S .
If X is in S , then =
X c1v1 + c2 v 2 + ⋅⋅⋅ + ck v k
The numbers c1 , c2 , ⋅⋅⋅, cn are called the coordinate(좌표) of X
with respect to this basis.
These coordinates are unique to X and to this basis.
2
X=
⋅ v j ( c1v1 + c2 v 2 + ⋅⋅ + c j v j + ⋅⋅ + ck v k ) ⋅ v j = c j v j ⋅ v j = c j v j
X⋅vj
∴c j = 2
vj

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 Linear Independence
Ex. 6.18 An orthogonal basis for a 3-dimensional subspaces S of R 5 are
v1 =(2,0,1,0,0)
v 2 =(0,5,0,0,0)
v 3 =( − 1,0,2,0,0)
If a vector in S is X =(12, − 5, 4,0,0) , then coordinates are
X ⋅ v1 28 X ⋅ v2 X ⋅ v3 4
c1 = 2
= , c2 = 2
= − 1, c3 = 2
= −
v1 5 v2 v3 5

X = c1v1 + c2 v 2 + c3v 3
28 4
= (2,0,1,0,0) − 1(0,5,0,0,0) − ( − 1,0,2,0,0)
5 5
= (12, −5, 4,0,0)

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 Vector Space
Consider vectors F, G in set (집합) of vectors V.

V is called Vector Space (Linear Space, 벡터 공간)

when F+G and α F(α:Scalar) are defined
and satisfy following conditions
1. F+G ∈ V 2. α F ∈ V G + F 4. ( F+G ) + H =F + ( G + H )
3. F+G =
5. There exits vector θ such that F +θ=F (ie θ=O, Zero Vector의 존재).
6. There exits vector G such that F +G =O (ie G = − F, Negative Vector의 존재).
7. (α + β ) F =α F + β F 8. (αβ ) F =α ( β F )
9. α ( F + G=) αF + αG 10. α O =O
→ Vector 공간의 엄밀한 정의

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 Vector Space
‘0’은 참 오묘하다. 아라비아 숫자라고 하지만 ‘0’의 고향은 사실 인도다.
인도에서 만들어진 숫자가 아랍으로 전해졌다. 그걸 다시 유럽으로 전한 건
아라비아 상인들이다. 그래서 유럽사람들이 ‘아라비아 숫자’라고 불렀다.
인도의 산스크리트어에 ‘순야(Sunya)’ 또는 ‘순야타(Sunyata)’란 말이 있다.
기원전부터 사용하던 용어다. ‘빈 채로 있음’‘형상이 없음’‘만물의 근원’이란
뜻이다. 인도 수학에서 이걸 ‘0’이라고 표현했다. 인도 수학에서 ‘순야’라는
말은 ‘0’이란 뜻이다. 그게 중국으로 건너가서 ‘공(空)’ 또는 ‘진공(眞空)’으로
옮겨졌다. 그런데 이 ‘진공’은 묘하게 존재한다. 왜 그럴까. 없이 있기
때문이다. 그게 ‘진공묘유(眞空妙有)’다.
그럼 숫자‘0’의 진공묘유는 뭘까. ‘0’은 ‘없음’인데, 그 ‘없음’은 어디에 있는
걸까. 그렇다. ‘1’ 속에 있고, ‘2’ 속에 있고, ‘3’ 속에 있고, ‘4’ 속에 있다. 우리
앞에 펼쳐지는 온갖 숫자들 속에, 풍경들 속에, 사람들 속에 ‘0’이 이미 들어가
있다. 그게 어디일까. ‘나의 일상’이다. 그렇게 ‘0’은 이미 ‘1’속에 있는데, ‘1’은
‘0’을 알아차리지 못한다. 빛이 어둠 속에 있는데, 어둠이 빛을 알아차리지
못하듯이. 138억년 전 빅뱅이 있었다. 빅뱅이전은 시간과 공간의 바탕이다.
(백성호 賢問愚答)

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