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Alshaab University
College of Engineering and information Techniques

Medical Instrumentation Techniques Engineering
Department
Lecture 5
Vectors
Asst. Lect. Nagham Mohammed
Contents
• Three-Dimensional Coordinate Systems
• Distance and Spheres in Space
• Component form of vectors
• Vector Algebra Operations
• Unit Vectors
• The Dot Product
• The Cross Product
• The Scalar Product
Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 2

Three-Dimensional Coordinate Systems
To locate a point in space, we use three
mutually perpendicular coordinate axes,
arranged as in Figure (1)
The Cartesian coordinates (x, y, z) of a point P in space are the

values at which the planes through P perpendicular to the axes cut
the axes. Cartesian coordinates for space are also called rectangular
coordinates because the axes that define them meet at right angles.
Points on the x-axis have y- and z-coordinates equal to zero. That is,
they have coordinates of the form (x, 0, 0).
Similarly, points on the y-axis have coordinates of the form (0, y, 0),
and points on the z-axis have coordinates of the form (0, 0, z).
Figure (1)

Three-Dimensional Coordinate Systems Cont.
The planes determined by the coordinates axes

are the:
1. xy-plane, its equation is z = 0.
2. yz-plane, its equation is x = 0.
3. xz-plane, its equation is y = 0.
They meet at the origin O (0, 0, 0) (Figure (2)).
These three coordinate planes divide space into
eight cells called octants. The octant in which the
point coordinates are all positive is called the first
octant; there is no convention for numbering the
other seven octants.
Figure (2)

Distance and Spheres in Space
• The Distance Between 𝑃1 𝑥1 , 𝑦1 , 𝑧1 and 𝑃2 𝑥2 , 𝑦2 , 𝑧2 is
|𝑷𝟏 𝑷𝟐 | = 𝒙𝟐 − 𝒙𝟏 𝟐 + 𝒚𝟐 − 𝒚𝟏 𝟐 + 𝒛𝟐 − 𝒛𝟏 𝟐
• The Standard Equation for the Sphere

A point 𝑝(𝑥, 𝑦, 𝑧) lies on the sphere of radius 𝑎 centered at
𝑃1 𝑥0 , 𝑦0 , 𝑧0 precisely when |𝑷𝟏 𝑷𝟐 | = 𝒂 or
𝒙 − 𝒙𝟎 𝟐 + 𝒚 − 𝒚𝟎 𝟐 + 𝒛 − 𝒛𝟎 𝟐 = 𝒂𝟐

Component form of vectors
Definition: The vector A vector is an object that has both
a magnitude and a direction. Geometrically represented by the
directed line segment whose length is the magnitude of the
vector and with an arrow indicating the direction, a vector 𝐴𝐵 has
Initial point A and terminal point B and its length is denoted by
𝐴𝐵 .
• Two vectors are equal if they have the same length and
direction.
Definition: If 𝒗 is a two-dimensional vector in • The magnitude or length of the vector 𝒗 = 𝐴𝐵 is
the plane equal to the vector with initial point at
the origin and terminal point (𝑣1 , 𝑣2 ), then the the nonnegative number 𝒗 = 𝒗𝟐𝟏 + 𝒗𝟐𝟐 + 𝒗𝟐𝟑 =
component
𝒙𝟐 − 𝒙𝟏 𝟐 + 𝒚𝟐 − 𝒚𝟏 𝟐 + 𝒛𝟐 − 𝒛𝟏 𝟐
form of 𝒗 is 𝑣 = (𝑣1 , 𝑣2 )
If v is a three-dimensional vector equal to the
vector with initial point at the
origin and terminal point (𝑣1 , 𝑣2 , 𝑣3 ), then the
component form of 𝒗 is 𝑣 = (𝑣1 , 𝑣2 , 𝑣3 )
Vector Algebra Operations
1. Addition of vectors
Given two vectors 𝑎 and 𝑏, then to find 𝑎 + 𝑏 We translate
the vector 𝑏 until its tail coincides with the head of 𝑎 as in
Figure 5. (Recall such translation does not change a vector.)
Then, the directed line segment from the tail of 𝑎 to the head
of 𝑏 is the vector of 𝑎 + 𝑏 Figure 5
Addition of vectors satisfies two

important properties.
1. The commutative law, 𝑎 + 𝑏 =
𝑏+𝑎
2. The associative law, (𝑎 + 𝑏) + 𝑐
= 𝑎 + (𝑏 + 𝑐)
Figure 6
Vector Algebra Operations (cont.)
2. Vector subtraction, Before we define
subtraction, we define the vector −𝑎
which is the opposite of 𝑎, each −𝑎 and 𝑎
has the same magnitude but they have
opposite direction, Figure 7.
• we define subtraction as addition with Figure 7

the opposite of a vector: 𝑎 − 𝑏 = 𝑎 +
(−𝑏)
This is equivalent to turning vector 𝑏 to

− 𝑏, then the directed line segment from
the tail of 𝑎 to the head of −𝑏 is the vector
of 𝑎 − 𝑏, Figure8.
Figure 8

Vector Algebra Operations (cont.)
3. Scalar multiplication
Let 𝒂 = (𝑎1 , 𝑎2 , 𝑎3 ) and 𝒃 =
(𝑏1 , 𝑏2 , 𝑏3 )two vectors and 𝑘 is a
scalar then:
1. 𝑘 𝑎 + 𝑏 = 𝑘𝑎 + 𝑘𝑏
2. 1𝑎 = 𝑎
3. 0𝑎 = 0
4. −1 𝑎 = −𝑎
5. 0 + 𝑎 = 𝑎
6. 𝑘𝑎 = 𝑘𝑎1 , 𝑘𝑎2 , 𝑘𝑎3
7. 𝑎 + −𝑎 = 0

Unit Vectors
A vector v of length 1 is called a unit vector. The standard unit
vectors are
𝑖 = 1,0,0 , 𝑗 = 0,1,0 , 𝑘 = (0,0,1)
Any vector v = (𝑣1 , 𝑣2 , 𝑣3 ) can be written as a linear combination of
the standard unit vectors as follows: v = 𝑣1 𝑖 + 𝑣2 𝑗 + 𝑣3 𝑘
We call the scalar (or number) 𝑣1 the i-component of the vector v,
𝑣2 the j-component, and 𝑣3 the k-component.
the component form for the vector from 𝑃1 (𝑥1 , 𝑦1 , 𝑧1 ) to 𝑃2 (𝑥2 , 𝑦2 , 𝑧2 ) is

𝑃1 𝑃2 = 𝑥2 − 𝑥1 𝑖 + 𝑦2 − 𝑦1 𝑗 + 𝑧2 − 𝑧1 𝑘.
If𝑣 ≠ 0, then its length 𝑣is
റ not zero and:
1 1
𝑣 = 𝑣 =1
𝑣 𝑣
𝑣
That is 𝑣
is a unit vector in the direction of 𝑣, called the direction of the nonzero
Vector 𝑣.

Unit Vectors(cont.)
Midpoint of a Line Segment

The Dot Product
When two nonzero vectors 𝒖 and 𝒗 are placed so their initial points
coincide, they form an angle 𝜃 of measure 0 ≤ 𝜃 ≤ 𝜋 .
If the vectors do not lie along the same line, the angle 𝜃 is measured in the
plane containing both of them. If they do lie along the same line, the angle
between them is 0 if they point in the same direction and 𝜋 if they point in
opposite directions.

The Dot Product(cont.)

The Cross Product

Scalar product

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Alshaab University

College of Engineering and information Techniques

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 2

The Cartesian coordinates (x, y, z) of a point P in space are the

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 3

The planes determined by the coordinates axes

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 4

• The Standard Equation for the Sphere

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 5

Addition of vectors satisfies two

• we define subtraction as addition with Figure 7

This is equivalent to turning vector 𝑏 to

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 8

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 9

the component form for the vector from 𝑃1 (𝑥1 , 𝑦1 , 𝑧1 ) to 𝑃2 (𝑥2 , 𝑦2 , 𝑧2 ) is

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 10

Midpoint of a Line Segment

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 11

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 12

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 13

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 14

Fifth Lecture, Vectors Asst. Lect. Nagham Mohammed 15

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