Course Code: MTH(EEE) 201

Course Title: Co-ordinate Geometry &

Vector Analysis

Lecture- 9 & 10

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 Preliminaries of Vector
Vector: The quantity which has both magnitude and direction is called
vector.
Example: Velocity, Acceleration, Momentum etc.
Scalar Product/ Dot Product: Let, 𝑎⃗, 𝑏⃗⃗ be two vectors and 𝜃 is the
angle between them. Then scalar or dot product of 𝑎⃗, 𝑏⃗⃗ is
𝑎⃗. 𝑏⃗⃗ = |𝑎⃗|| 𝑏⃗⃗| cos 𝜃
Properties of Scalar Product:
1. Scalar product is commutative. That is
𝑎⃗. 𝑏⃗⃗ = |𝑎⃗|| 𝑏⃗⃗| cos 𝜃 = |𝑏⃗⃗|| 𝑎⃗| cos 𝜃 = 𝑏⃗⃗. 𝑎⃗
2. Scalar Product of unit vectors:
𝑖̂. 𝑖̂ = 𝑗̂. 𝑗̂ = 𝑘̂ . 𝑘̂ = 1
𝑖̂. 𝑗̂ = 𝑗̂. 𝑘̂ = 𝑘̂. 𝑖̂ = 0
⃗⃗
𝑎⃗⃗.𝑏
3. Angle between two vectors: cos 𝜃 = ⃗⃗|
|𝑎⃗⃗|| 𝑏
4. If two vectors are perpendicular their scalar product is zero. That
is, 𝑎⃗. 𝑏⃗⃗ = 0
5. Projection of 𝑎⃗ on 𝑏⃗⃗, |𝑎⃗𝑏⃗⃗ | = |𝑎⃗| cos 𝜃
Projection of 𝑏⃗⃗ on 𝑎⃗, |𝑏⃗⃗𝑎⃗⃗ | = | 𝑏⃗⃗| cos 𝜃
6. If 𝑎⃗ = 𝑎1 𝑖̂ + 𝑎2 𝑗̂ + 𝑎3 𝑘̂ and 𝑏⃗⃗ = 𝑏1 𝑖̂ + 𝑏2 𝑗̂ + 𝑏3 𝑘̂ then
𝑎⃗. 𝑏⃗⃗ = 𝑎1 𝑏1 + 𝑎2 𝑏2 + 𝑎3 𝑏3

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Problem 1: If 𝑎⃗ = 3𝑖̂ + 2𝑗̂ + 6𝑘̂, 𝑏⃗⃗ = 2𝑖̂ + 4𝑗̂ − 4𝑘̂, find
i. Angle between 𝑎⃗, 𝑏⃗⃗
ii. Projection of 𝑎⃗ on 𝑏⃗⃗
iii. Projection of 𝑏⃗⃗ on 𝑎⃗
iv. Show that 𝑎⃗ 𝑎𝑛𝑑 𝑏⃗⃗ is commutative

Solution:
i. Here,
𝑎⃗. 𝑏⃗⃗ = (3𝑖̂ + 2𝑗̂ + 6𝑘̂ ). (2𝑖̂ + 4𝑗̂ − 4𝑘̂) = 3.2 + 2.4 + 6. (−4) = −10
|𝑎⃗| = √32 + 22 + 62 = √49 = 7
|𝑏⃗⃗| = √22 + 42 + (−4)2 = √36 = 6
Now, angle between 𝑎⃗, 𝑏⃗⃗ is
𝑎⃗. 𝑏⃗⃗ −10 −10 −10
cos 𝜃 = = = ⇒ 𝜃 = cos−1 ( )
|𝑎⃗|| 𝑏|⃗⃗ 7 × 6 42 42
−10 −10 −5
ii. Projection of 𝑎⃗ on 𝑏⃗⃗ 𝑖𝑠 |𝑎⃗𝑏⃗⃗ | = |𝑎⃗| cos 𝜃 = 7 × ( ) = =
42 6 3
−10 −10
iii. Projection of 𝑏⃗⃗ on 𝑎⃗ 𝑖𝑠 |𝑏⃗⃗𝑎⃗⃗ | = |𝑏⃗⃗| cos 𝜃 = 6 × ( )=
42 7
iv. Here,
𝑎⃗. 𝑏⃗⃗ = (3𝑖̂ + 2𝑗̂ + 6𝑘̂ ). (2𝑖̂ + 4𝑗̂ − 4𝑘̂) = 3.2 + 2.4 + 6. (−4) = −10
𝑏⃗⃗. 𝑎⃗ = (2𝑖̂ + 4𝑗̂ − 4𝑘̂). (3𝑖̂ + 2𝑗̂ + 6𝑘̂) = 2.3 + 4.2 + (−4). 6 = −10
𝑎⃗. 𝑏⃗⃗ = 𝑏⃗⃗. 𝑎⃗
So, 𝑎⃗ 𝑎𝑛𝑑 𝑏⃗⃗ is commutative. [Showed]

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Problem 2: Show that 𝑎⃗ = 3𝑖̂ + 2𝑗̂ − 6𝑘̂, 𝑏⃗⃗ = 4𝑖̂ − 3𝑗̂ + 𝑘̂ are mutually
perpendicular.
Solution: Here,
𝑎⃗. 𝑏⃗⃗ = (3𝑖̂ + 2𝑗̂ − 6𝑘̂ ). (4𝑖̂ − 3𝑗̂ + 𝑘̂) = 3.4 + 2. (−3) + (−6).1 = 0
Since, 𝑎⃗. 𝑏⃗⃗ = 0, so 𝑎⃗ and 𝑏⃗⃗ are mutually perpendicular. [Showed]

Problem 3: A wagon is pulled horizontally by exerting a constant force

of 10 lb on the handle at an angle of 60° with the horizontal. How much
work is done in moving the wagon 50 ft?
Solution: Here,
Force, F= 10 lb, Distance, s= 50 feet
1
Work = 𝐹𝑠 cos 𝜃 = 10 × 50 × cos 60° = 500 × = 250 𝑓𝑡. 𝑙𝑏
2

Problem 4: A force 𝐹⃗ = 3𝑖̂ − 𝑗̂ + 2𝑘̂ lb is applied to a point that moves

from a line from 𝑃(−1,1,2) to 𝑄 (3,0, −2). If distance is measured in
feet, how much work is done?
Solution:
Here, Force, 𝐹⃗ = 3𝑖̂ − 𝑗̂ + 2𝑘̂
𝑃𝑄 = (3 − (−1))𝑖̂ + (0 − 1)𝑗̂ + (−2 − 2)𝑘̂ = 4𝑖̂ − 𝑗̂ − 4𝑘̂
Distance, ⃗⃗⃗⃗⃗⃗
𝑃𝑄 = (3𝑖̂ − 𝑗̂ + 2𝑘̂). (4𝑖̂ − 𝑗̂ − 4𝑘̂ ) = 12 + 1 − 8 = 5 𝑓𝑡. 𝑙𝑏
Work = 𝐹⃗ . ⃗⃗⃗⃗⃗⃗

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Exercises:
1) If 𝑎⃗ = 𝑖̂ + 3𝑗̂ − 2𝑘̂, 𝑏⃗⃗ = 4𝑖̂ − 2𝑗̂ + 4𝑘̂, find
i. Angle between 𝑎⃗, 𝑏⃗⃗
ii. Projection of 𝑎⃗ on 𝑏⃗⃗
iii. Projection of 𝑏⃗⃗ on 𝑎⃗
iv. Show that 𝑎⃗ 𝑎𝑛𝑑 𝑏⃗⃗ is commutative
−5 5 10
Ans. i) cos −1 ( ) ii) − iii)−
3√14 3 √14
2) Determine the value of ‘𝑟’ so that that 𝑎⃗ = 2𝑖̂ + 𝑟𝑗̂ + 𝑘̂ ,
𝑏⃗⃗ = 4𝑖̂ − 2𝑗̂ − 2𝑘̂ are mutually perpendicular.
𝐴𝑛𝑠. 𝑟 = 3
3) A force 𝐹⃗ = 2𝑖̂ − 𝑗̂ − 𝑘̂ is applied. Find work done in moving an
object along a vector 𝑟⃗ = 3𝑖̂ + 2𝑗̂ − 5𝑘̂
Ans. 9

Cross Product: Let, 𝑎⃗, 𝑏⃗⃗ be two vectors and 𝜃 is the angle between
them. Then cross product of 𝑎⃗, 𝑏⃗⃗ is
𝑎⃗ × 𝑏⃗⃗ = |𝑎⃗|| 𝑏⃗⃗| sin 𝜃 𝜂̂
Here, 𝜂̂ is a unit vector perpendicular to 𝑎⃗, 𝑏⃗⃗ and the rotation is made
anticlockwise (from 𝑎⃗ to 𝑏⃗⃗)
For clockwise rotation (from 𝑏⃗⃗ to 𝑎⃗)
𝑎⃗ × 𝑏⃗⃗ = |𝑎⃗|| 𝑏⃗⃗| sin 𝜃(− 𝜂̂ ) = −|𝑎⃗ || 𝑏⃗⃗| sin 𝜃 𝜂̂ = −(𝑎⃗ × 𝑏⃗⃗)

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Properties of Cross Product:
1. Cross Product of unit vectors:
𝑖̂ × 𝑖̂ = 𝑗̂ × 𝑗̂ = 𝑘̂ × 𝑘̂ = 0
𝑖̂ × 𝑗̂ = 𝑘̂, 𝑗̂ × 𝑘̂ = 𝑖̂, 𝑘̂ × 𝑖̂ = 𝑗̂
𝑗̂ × 𝑖̂ = −𝑘̂, 𝑘̂ × 𝑗̂ = −𝑖̂, 𝑖̂ × 𝑘 = −𝑗̂
2. If two vectors are parallel their cross product is zero. That is, 𝑎⃗ ×
𝑏⃗⃗ = 0
3. If 𝑎⃗ = 𝑎1 𝑖̂ + 𝑎2 𝑗̂ + 𝑎3 𝑘̂ and 𝑏⃗⃗ = 𝑏1 𝑖̂ + 𝑏2 𝑗̂ + 𝑏3 𝑘̂ then
𝑖̂ 𝑗̂ 𝑘̂
𝑎⃗ × 𝑏⃗⃗ = |𝑎1 𝑎2 𝑎3 |
𝑏1 𝑏2 𝑏3

Problem 1: Find the sine of the angle between vectors 𝑎⃗ = 𝑖̂ + 2𝑗̂ + 3𝑘̂,
𝑏⃗⃗ = 3𝑖̂ − 4𝑗̂ + 2𝑘̂
Solution: We know, 𝑎⃗ × 𝑏⃗⃗ = |𝑎⃗|| 𝑏⃗⃗| sin 𝜃 𝜂̂ … (𝑖) where, 𝜂̂ is a unit
vector perpendicular to 𝑎⃗, ⃗⃗⃗⃗
𝑏.
⃗⃗
𝑎⃗⃗×𝑏
Unit vector, 𝜂̂ = ⃗⃗|
|𝑎⃗⃗×𝑏
Now, (𝑖) becomes,
𝑎⃗ × 𝑏⃗⃗
𝑎⃗ × 𝑏⃗⃗ = |𝑎⃗|| 𝑏⃗⃗| sin 𝜃
|𝑎⃗ × 𝑏⃗⃗|
1
⇒ 1 = |𝑎⃗|| 𝑏⃗⃗| sin 𝜃 ⃗⃗|
|𝑎⃗⃗×𝑏

⇒ |𝑎⃗ × 𝑏⃗⃗| = |𝑎⃗|| 𝑏⃗⃗| sin 𝜃

|𝑎⃗⃗×𝑏 ⃗⃗|
⇒ sin 𝜃 = ⃗⃗|
|𝑎⃗⃗|| 𝑏

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Now,
𝑖̂ 𝑗̂ 𝑘̂
⃗⃗
𝑎⃗ × 𝑏 = |1 2 3| = 𝑖̂(4 − (−12)) − 𝑗̂(2 − 9) + 𝑘̂(−4 − 6)
3 −4 2
= 16 𝑖̂ + 7𝑗̂ − 10 𝑘̂

|𝑎⃗ × 𝑏⃗⃗| = √(16)2 + 72 + (−10)2 = √405

|𝑎⃗| = √12 + 22 + 32 = √14
|𝑏⃗⃗| = √32 + (−4)2 + 22 = √29
|𝑎⃗ × 𝑏⃗⃗| √405
∴ sin 𝜃 = =
|𝑎⃗|| 𝑏⃗⃗| √14√29

Problem 2: The angular velocity of a rotating rigid body about an axis

of rotation is given by 𝑤 ⃗⃗⃗ = 4𝑖̂ + 𝑗̂ − 2𝑘̂. Find the linear velocity of a
point on the body whose position vector relative to a point on the axis of
rotation is 𝑟⃗ = 2𝑖̂ − 3𝑗̂ + 𝑘̂.
Solution: We know, linear velocity, 𝑣⃗ = 𝑤
⃗⃗⃗ × 𝑟⃗
𝑖̂ 𝑗̂ 𝑘̂
∴ 𝑣⃗ = |4 1 −2| = 𝑖̂(1 − 6) − 𝑗̂(4 − (−4))) + 𝑘̂ (−12 − 2)
2 −3 1
= −5 𝑖̂ − 8𝑗̂ − 14𝑘̂

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Exercises
1) Find the sine of the angle between vectors 𝑎⃗ = 3𝑖̂ − 5𝑗̂ + 𝑘̂, 𝑏⃗⃗ =
2𝑖̂ − 4𝑗̂ − 7𝑘̂
̂
39𝑖̂ +23𝑗̂ −2𝑘
Ans.
√35 √69

2) If 𝑎⃗ = 𝑖̂ + 2𝑗̂ − 3𝑘̂ 𝑎𝑛𝑑 𝑏⃗⃗ = 3𝑖̂ − 𝑗̂ + 2𝑘̂ then find the angle
𝜋
between 𝑎⃗ + 𝑏⃗⃗ and 𝑎⃗ − 𝑏⃗⃗. Ans. ( )
2
3) The angular velocity of a rotating rigid body about an axis of
rotation is given by 𝑤 ⃗⃗⃗ = 3𝑖̂ + 𝑗̂ − 2𝑘̂ . Find the linear velocity of a
point on the body whose position vector relative to a point on the
axis of rotation is 𝑟⃗ = 𝑖̂ − 3𝑗̂ + 4𝑘̂.
Ans. −2𝑖̂ − 14𝑗̂ − 10𝑘̂

4) Find the unit vector perpendicular to the each of the vectors 2𝑖̂ +
𝑗̂ + 𝑘̂ 𝑎𝑛𝑑 𝑖̂ − 𝑗̂ + 2𝑘̂ (Check it by yourself)

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 Triple Product/ Box Product
Scalar Triple Product
Let, 𝑎⃗, 𝑏⃗⃗, 𝑐⃗ be three vectors. Then the scalar triple or box product of
𝑎⃗, 𝑏⃗⃗, 𝑐⃗ is denoted by [𝑎⃗ 𝑏⃗⃗ 𝑐⃗ ] and defined by
𝑎1 𝑎2 𝑎2
[𝑎⃗ 𝑏⃗⃗ 𝑐⃗ ] = 𝑎⃗. (𝑏⃗⃗ × 𝑐⃗) = |𝑏1 𝑏2 𝑏3 |
𝑐1 𝑐2 𝑐3
Also, [𝑏⃗⃗ 𝑐⃗ 𝑎⃗ ] = 𝑏⃗⃗. (𝑐⃗ × 𝑎⃗)
And, [𝑐⃗ 𝑎⃗ 𝑏⃗⃗ ] = 𝑐⃗. (𝑎⃗ × 𝑏⃗⃗)

Properties of Scalar Triple Product:

1. [𝑎⃗ 𝑏⃗⃗ 𝑐⃗ ] = [𝑏⃗⃗ 𝑐⃗ 𝑎⃗ ] = [𝑐⃗ 𝑎⃗ 𝑏⃗⃗ ]
2. If [𝑎⃗ 𝑏⃗⃗ 𝑐⃗ ] = 0, then 𝑎⃗, 𝑏⃗⃗, 𝑐⃗ are coplanar.
3. If 𝑎⃗, 𝑏⃗⃗, 𝑐⃗ are the edges of parallelepiped then |[𝑎⃗ 𝑏⃗⃗ 𝑐⃗ ]|
represents the volume of parallelepiped.

Vector Triple Product

Let, 𝑎⃗, 𝑏⃗⃗, 𝑐⃗ be three vectors. Then the vector triple product of 𝑎⃗, 𝑏⃗⃗, 𝑐⃗ is
defined as
𝑎⃗ × (𝑏⃗⃗ × 𝑐⃗) = (𝑎⃗. 𝑐⃗). 𝑏⃗⃗ − (𝑎⃗. 𝑏⃗⃗). 𝑐⃗
Also, (𝑎⃗ × 𝑏⃗⃗) × 𝑐⃗ = (𝑐⃗. 𝑎⃗). 𝑏⃗⃗ − (𝑐⃗. 𝑏⃗⃗). 𝑎⃗
Properties of Vector Triple Product:
1. Vector Triple product is a vector quantity
2. 𝑎⃗ × (𝑏⃗⃗ × 𝑐⃗) ≠ (𝑎⃗ × 𝑏⃗⃗) × 𝑐⃗

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 3. The unit vector coplanar with 𝑎⃗ , 𝑏⃗⃗ and perpendicular to 𝑐⃗ is
⃗⃗)× 𝑐⃗
(𝑎⃗⃗×𝑏
± ⃗⃗)× 𝑐⃗|
|(𝑎⃗⃗×𝑏

Problem 1: Find the volume of parallelepiped whose edges are

represented by 𝑎⃗ = 2𝑖̂ − 3𝑗̂ + 4𝑘̂, 𝑏⃗⃗ = 𝑖̂ + 2𝑗̂ − 𝑘̂, 𝑐⃗ = 3𝑖̂ − 𝑗̂ + 2𝑘̂
Solution: We know, volume of parallelepiped=|[𝑎⃗ 𝑏⃗⃗ 𝑐⃗ ]|
[𝑎⃗ 𝑏⃗⃗ 𝑐⃗ ] = 𝑎⃗. (𝑏⃗⃗ × 𝑐⃗)
Now,
𝑖̂ 𝑗̂ 𝑘̂
⃗⃗
𝑏 × 𝑐⃗ = |1 2 −1| = 𝑖̂(4 − 1) − 𝑗̂(2 − (−3)) + 𝑘̂(−1 − 6)
3 −1 2
= 3 𝑖̂ − 5𝑗̂ − 7𝑘̂

𝑎⃗. (𝑏⃗⃗ × 𝑐⃗) = (2𝑖̂ − 3𝑗̂ + 4𝑘̂ ). (3 𝑖̂ − 5𝑗̂ − 7𝑘̂) = 6 + 15 − 28 = −7

So, volume=|[𝑎⃗ 𝑏⃗⃗ 𝑐⃗ ]| = |−7| = 7

Problem 2: If 𝑎⃗ = −𝑖̂ + 2𝑘̂, 𝑏⃗⃗ = 2𝑖̂ + 𝑗̂ − 𝑘̂ , 𝑐⃗ = 𝑖̂ + 2𝑗̂ − 2𝑘̂ then

calculate the following
i. (𝑎⃗ × 𝑏⃗⃗). 𝑐⃗
ii. (𝑎⃗ × 𝑏⃗⃗) × 𝑐⃗
iii. 𝑎⃗ × (𝑏⃗⃗ × 𝑐⃗) (Exercise)
Solution:
Given, 𝑎⃗ = −𝑖̂ + 2𝑘̂, 𝑏⃗⃗ = 2𝑖̂ + 𝑗̂ − 𝑘̂ , 𝑐⃗ = 𝑖̂ + 2𝑗̂ − 2𝑘̂
−1 0 2
i. ⃗⃗
(𝑎⃗ × 𝑏). 𝑐⃗ = | 2 1 −1| = −1(−2 + 2) − 0 + 2(4 − 1) =0
1 2 −2
ii. (𝑎⃗ × 𝑏⃗⃗) × 𝑐⃗ = (𝑎⃗. 𝑐⃗). 𝑏⃗⃗ − (𝑎⃗. 𝑏⃗⃗). 𝑐⃗

10
 Now, 𝑎⃗. 𝑐⃗ = (−𝑖̂ + 2𝑘̂). (𝑖̂ + 2𝑗̂ − 2𝑘̂ ) = −1 + 0 − 4 = −5
(𝑎⃗. 𝑐⃗). 𝑏⃗⃗ = −5(2𝑖̂ + 𝑗̂ − 𝑘̂) = −10𝑖̂ − 5𝑗̂ + 5𝑘̂
Again, 𝑎⃗. 𝑏⃗⃗ = (−𝑖̂ + 2𝑘̂ ). (2𝑖̂ + 𝑗̂ − 𝑘̂) = −2 + 0 − 2 = −4
(𝑎⃗. 𝑏⃗⃗). 𝑐⃗ = −4(𝑖̂ + 2𝑗̂ − 2𝑘̂ ) = −4𝑖̂ − 8𝑗̂ + 8𝑘̂
So, (𝑎⃗ × 𝑏⃗⃗) × 𝑐⃗ = (−10𝑖̂ − 5𝑗̂ + 5𝑘̂)— 4𝑖̂ − 8𝑗̂ + 8𝑘̂
= −6𝑖̂ + 3𝑗̂ − 3𝑘̂ (Ans.)

Exercises:
1) Find the volume of parallelepiped whose edges are represented by
𝑎⃗ = 𝑖̂ − 2𝑗̂ − 3𝑘̂, 𝑏⃗⃗ = 2𝑖̂ + 𝑗̂ − 𝑘̂ , 𝑐⃗ = 𝑖̂ + 3𝑗̂ − 2𝑘̂

11