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Vector Algebra

Vector algebra defines scalar and vector quantities. Scalar quantities have only magnitude, while vector quantities have both magnitude and direction. Vectors can be represented geometrically by arrows and algebraically as the sum of components. Operations like addition, subtraction, and multiplication can be performed on vectors. The dot product of two vectors equals their magnitudes multiplied by the cosine of the angle between them. This allows determining properties like whether two vectors are perpendicular or parallel.

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0% found this document useful (0 votes)
23 views12 pages

Vector Algebra

Vector algebra defines scalar and vector quantities. Scalar quantities have only magnitude, while vector quantities have both magnitude and direction. Vectors can be represented geometrically by arrows and algebraically as the sum of components. Operations like addition, subtraction, and multiplication can be performed on vectors. The dot product of two vectors equals their magnitudes multiplied by the cosine of the angle between them. This allows determining properties like whether two vectors are perpendicular or parallel.

Uploaded by

issahakutamimu28
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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2.

Vector Algebra
Quantities can be divided into two groups

1. Scalar quantity: scalar quantities are defined by a magnitude (number)


and units only. Examples are length, area, volume, mass, time etc.
2. Vector quantity: vector quantities are defined completely by a number
(magnitude) and the direction in which it operates. Examples are force,
velocity, acceleration etc.
A vector �� can be represented by a straight line below.
A

The length of the line �� is the magnitude of the vector and its direction
is specified by an arrow. If a vector �� = �� then the magnitude of �� =
��
If �� = �� + �� then �� = �² + �²
Note: �� ≠ ��

Unit Vector

A vector �� which has magnitude 1 (one) is called a unit vector in the


direction of �. The unit vector �� has a relationship with � such that
��
��� =
��
For any position vector �� with coordinate �(�, �). If � is the unit vector
in the direction of � − ���� and � is the unit vector in the direction of the
� − ����, then �� = �� = �� + ��.

Vectors in plane and space

A two dimensional vector �� = �� + �� is said to be in plane. Three



dimensional vectors � = �� + �� + �� is said to be in space.

2.1 Addition and Subtraction of Vectors


For two vectors �� = �� + �� and �� = �� + ��
�� + �� = �� + �� + (�� + ��)

⟹ �� + �� = � + � � + � + � �
� �
� − �� = �� + �� − (�� + ��)

�� + �� = � − � � + � − � �

1
Example 1:

If �� = 2� + 4� and � = 3� − 4�

Find

a. �� + ��

b. � − ��
Solution:
� �
a. � + �� = 2� + 4� + (3� − 4�)
� �
� + �� = 2 + 3 � + (4 − 4)� = 5� + 0�
� �
� + �� = 5�
� �
b. � − � = 2� + 4� − (3� − 4�)
� �
� − � = 2 − 3 � + (4 −− 4)� =− � + 8�

Example 2:

Given these vectors in space


� � �
� = 2� + 3� − 4� �� = 10� − 4� − 3� � = 4� − �� − 2�
� � � �
Find � + � +�
Solution:
� � � �
� + � +� = 2� + 3� − 4� + 10� − 4� − 3� + (4� − 3� − 2�)

= 2 + 10 + 4 � + 3 − 4 − 3 � + −4 − 3 − 2 �
� � � �
� + � +� = 16� − 4� − 9�

2.2 Scalar multiple of vectors


If �� = �� + �� is a vector and � is a scalar (number) then
� ∗ �� = ��� = �(�� + ��)
Therefore ��� = ��� + ���
Example 1:
Given a vector �� = 2� + 4� find
� 1 � � �
a. 2� �. 3 � �. 2� − � ��
Solution:

a. 2� = 2 2� + 4� = 2(2� + 4�)

2� = 4� + 8�
1 � 1 2 4
b. � = 2� + 4� = � + �
3 3 3 3
� � � � 4 8
c. 2� − � � = 2(2� + 4�) − � (2� + 4�) = 4� + 8� − 3
� + 3�
4 8
= 4− � + (8 − )�
3 3

2
� � � 8 16
Therefore 2� − � � = 3
�+ 3

2.3 Resultant vector


A vector can be resolved into two component parts: the horizontal
component and the vertical component.

v
F
� sin �


H

For the vector F shown above � cos


the �
horizontal component is � cos � and
the vertical component is � sin �.
The magnitude of the resultant force � is given by � = �2 + � 2

The direction of the resultant force � is also given by � = tan−1 �

Therefore the resultant force � = � , �

Example 1:

Resolve the acceleration vector of 17�/�2at an angle of 120° to the


horizontal into horizontal and vertical components.
Solution: V

120°
-H H

-V

Horizontal component � = 17���120°

=− 8.5�/�2 (������ �ℎ� ����� ���� �������������)

Vertical component � = 17���120° = 14.72�/�2

Example2:

And object is acted on by two forces one of which is 10� and acts
horizontal and the other 20� which acts vertical. Determine the
resultant force.

3
Solution:

20N

10N
Applying Pythagoras theorem, the diagonal � is
� = 202 + 102 = 22.4�
The angle � is calculated as follows
20
���� =
10
20
� = tan−1 = 63.4°
10
Therefore the resultant vector � is 22.4� in the direction of 63.4° .

Example 3:

15m/s

10m/s

20°
10
7m/s

Calculate the resultant velocity � of the three velocities in the figure above.

Solution:

Horizontal component � = 10 cos 20 + 15���90 + 7���190

= 9.397 + 0 + −6.894

= 2.503�/�

Vertical component � = 10���90° + 15���90° + 7���190°

= 3.420 + 15 + −1.216

= 17.204�/�

4
Magnitude of resultant velocity � = �2 + �2

= 2.5032 + 17.2042

= 302.24

Therefore � = 17.39�/�

Direction of � is tan � =

17.204
⟹ tan � =
2.503
tan � = 6.8734

� = tan−1 6.8734

Therefore � = 81.72°

Hence � = 19.39�/�, 81.72°

2.4 Scalar product of two vectors (dot product)


� �
If � and �� are two vectors, the scalar product of these two vectors is
defined by
� � � �
�. �� = � �� cos �
� � � �
where � ��� �� are the magnitudes of vectors � and ��
� �
respectively and � is the angle between � and �� .
Note: scalar product is also called the dot product.

2.41 Properties of the scalar product


1. if � = 90°
� � � � � � � �
�. �� = � �� cos 90° = �. �� = � �� (0)
� �
Hence �. �� = 0
Therefore the scalar product (dot product) of two vectors at
right- angles is zero (0).
2. The angle between two parallel vectors is 0°.
� �
Therefore the scalar product of two parallel vectors � and ��
is given by
� � � � � �
�. �� = � � cos 0° = � �� (1)
� � � �
�. �� = � ��
Therefore the dot product of two parallel vectors is the
product of their magnitudes.
� � � �
3. �. �� = � �� cos �

5
� � � �
��. � = �� � cos �
� � � �
Since � �� = �� �
� � � �
Hence �. �� = ��. �

We therefore say that the scalar product (dot product) is


commutative.
� �
4. If we have three vectors �, �� ��� ��

� � �
Then �. � + � = ��. �� + ��. ��
We therefore say that the dot product is distributive over
addition.
This follows from property 2 that when we dot the unit vector � and �
we get
That is �. � = 1 (1) cos 0° = 1 (Since � ��� � are parallel)
That is �. � = (1)(1) cos 90° = 0 (Since � ��� � are perpendicular)
This follows �. � = 1
�. � = 0

For any two vectors �� = �� + �� and �� = �� + ��


� �
�. �� = �� + �� . ( �� + ��)

= ���. � + ���. � + ���. � + ���. �

= ��(1) + ��(0) + ��(0) + ��(1)


� �
Therefore �. �� = �� + ��

Note: anytime we dot two vectors the result is a scalar (number).

Example 1:
� �
If �� = 2� + 4� and �� = 3� − 4� find �. ��

Solution:
� �
�. �� = 2� + 4� . ( 3� − 4�)

= 2 3 �. � + 2 −4 �. � + 4 3 �. � + 4 −4 �. �

= 2 3 (1) + 2 −4 (0) + 4 3 (0) + 4 −4 (1)

= 6 − 16
� �
Therefore �. �� =− 10

Example 2:

6
� � �
If � = 2� + 3� − � and �� = 3� + 4� − 3� find �. ��

Solution:
� �
�. �� = 2� + 3� − � . (3� + 4� − 3�)

= 2 3 �. � + 2 4 �. � + 2 −3 �. � + 3 3 �. � + 3 4 �. � + 3 3 �. � + −1 3 �. �
+ −1 4 �. � + −1 −3 �. �

= 2 3 (1) + 2 4 (0) + 2 −3 (0) + 3 3 (0) + 3 4 (1) + 3 3 (0) + −1 3 (0)


+ −1 4 (0) + −1 −3 (1)

= 6 + 12 + 3
� �
Therefore �. �� = 21

The dot product is use to find the angle between two vectors.

Example 3:

Find the angle between two forces �� = 2� + 3� and �� = 2� + 3�

Solution:

�� = 2� + 3�

�� = 2� + 3�
If � is the angle between �� and �� then by applying the dot product formula we
have
�� . �� = �� �� cos �

�� = 2� + 3� = 13

�� = 5� + 3� = 34

�� . �� = 2� + 3� . (2� + 3�)

= 2 5 + 3(3)

= 10 + 9

= 19

7
Therefore substituting the values above, the dot product formula for
the two forces
�� . �� = �� �� cos �
Becomes
19 = 13 ( 34 ) cos �
19 = 442 cos �
19
cos � =
442
19
⟹ cos � =
21.0238
cos � = 0.9034
� = cos−1 0.9034
Finally � = 25.35°

2.5 Vector product of two vectors (cross product)


� �
The vector product (cross product) of two vectors � and �� is written as
� � � �
� × �� = � �� sin �
� � � �
Where � ��� �� the magnitudes of vectors are � and �� , � is the angle
� �
between � and �� .

2.51 Properties of the vector product


1. The angle between two parallel vectors is 0°.
� �
Therefore the vector product of two parallel vectors � and ��
is given by
� � � �
� × �� = � � sin 0° = 0

Therefore the vector product of two parallel vectors is always


zero

That is � × � = 0, � × � = 0 ��� � × � = 0

2. if � = 90°
� � � � � � � �
� × �� = � �� sin 90° = �. �� = � �� (1)
� � � �
Hence � × �� = � ��
� � � � � �
3. � × �� =− (�� × �) when the direction of � × �� is reverse we
� �
have −(�� × �)
� ��
� � � �
4. � × (�� + ��) = (� × ��) + (� × �) cross product is distributive
over addition.

8
� � � � � �
5. � × (���) = � � × �� = (���) × �� where k is a scalar.

Vector product in component form


� �
Given the vectors � = �� � + �1 � + �1 � and �� = �2 � + �2 � + �2�
� �
Then � × �� = �1 � + �1 � + �1� × �2 � + �2 � + �2 �

= �1 �2 � × � + �1�2 � × � + �1 �2 � × � + �1 �2� × � + �1 �2 � × � + �1 �2 � × � + �1 �2 �
× � + �1 �2 � × � + �1 �2 � × �

Since � × � are parallel � × � = 1 (1)���0° = 0

Therefore ��= 0

�� = 0

�� =0

� × � are perpendicular

Therefore � × � = 1 (1)���90° = 1

Since � × � are unit vectors in the direction of � we write

�×�=1∗�

��=�

��= �

��=�
� � � �
Note: since � × �� =− (�� × �)

It implies that

� × � =− � × � =− �

� × � =− � × � =− �

� × � =− � × � =− �

Therefore we can write


� �
� × �� = �1 �2 � × � + �1 �2 � × � + �1 �2 � × � + �1 �2 � × � + �1 �2 � × � + �1 �2 � × �
+ �1 � 2 � × � + �1 �2 � × � + �1 �2 � × �
� �
� × �� = �1 �2 (0) + �1 �2 � + �1 �2 ( − �) + �1 �2 ( − �) + �1 �2 (0) + �1 �2 � + �1 �2 �
+ �1 �2 ( − �) + �1 �2 (0)

9
= �1 �2 � − �1 �2 � − �1 �2 � + �1 �2 � + �1 �2 � − �1 �2 �
� �
Finally � × �� = �1 �2 − �1 �2 � + �1 �2 − �1 �2 � + �1 �2 − �1 �2 �

Another method:

We can also use the method of determinants of sub-matrices to find the cross
product of two or more vectors.

� �
Note: = �� − ��
� �
� �
� = �� � + �1 � + �1 � and �� = �2 � + �2 � + �2 �

� � � �
� � �1 � � �1 �1
� × �� = �1 �1 �1 = 1 �+ 1 1 �+ � � �
�2 �2 �2 �2 2 2
� 2 �2 �2
� �
� × �� = �1 �2 − �1 �2 � + �1 �2 − �1 �2 � + �1 �2 − �1 �2 �

Rewriting in the correct order we have


� �
� × �� = �1 �2 − �1 �2 � + �1 �2 − �1 �2 � + �1 �2 − �1 �2 �

Note: when we cross two vectors the result gives a vector.

Example 1:
� �
If � = 2� + 3� and �� =− 2� + 4�
� �
Find � × ��

Solution:
� �
� × �� = (2� + 3�) × ( − 2� + 4�)

=− 4� × � + 8� × � − 6� × � + 12� × �

= 0 + 8� − 6( − �) + 0

= 8� + 6�
� �
Therefore � × �� = 14�

Second method:

Using the determinant method we have

� �
2 3 = 8 −− 6 � = 14�
−2 4

10
� �
Therefore � × �� = 14�

Example 2:
� �
Evaluate � × �� if
� �
� = 2� + 3� − 5� and �� = � − 4� + 3�

Solution:
� � �
� × �� = 2� + 3� − 5� (� = � − 4� + 3�)

= 2� × � − 8� × � + 6� × � + 3� × � − 12� × � + 9� × � − 5� × � + 20� × � − 15�


�

= 0 − 8� − 6� − 3� − 0 + 9� − 5� − 20� − 0

=− 11� − 11� − 11�


� �
Therefore � × �� =− 11(� + � + �)

Second method
� �
� = 2� + 3� − 5� and �� = � − 4� + 3�

Can be written in matrix form as follows

� � � � �
2 3 3 −5 −5 2
� × �� = 2 3 −5 = �+ �+ �
1 −4 −4 3 3 1
1 −4 3
= −8 − 3 � + 9 − 20 � + −5 − 6 �

=− 11� − 11� − 11�

Rearranging in the correct order we have − 11� − 11� − 11�


� �
Therefore � × �� =− 11(� + � + �)

2.6 The scalar triple product


� �
Multiplication of vectors of the form ��. (�� × �) is called the scalar triple product.

Result of scalar triple product is always a scalar (number). The value of the scalar
� �
triple product ��. (�� × �) is the volume of a parallelepiped with sides �, � ��� �.

Example:

Determine the scalar triple product of the three vectors


� � �
� = � + 2� , �� = � − 3� − � ��� � = � + 2� − �

11
Solution:
� � � � �
The scalar triple product of vectors �, �� ��� � is ��. (�� × �)
� � �
� × � = � = � − 3� − � × (� + 2� − �)

= � × � + �� × � − 1� × � − 3� × � − 6� × � + 3� × � − 1� × � − 2� × � + 1� × �

= 0 + 2� + � + 3� − 0 + 3� − � + 2� − 0
� �
� × � = 5� + 5�
� � �
Finally �. �� × � = � + 2� . (5� + 5�)

= 5 1 + 2 0 + 5(0)

= 5

Another method

� � � � �
1 −3 −3 −1 −1 1
�� × � = 1 −3 −1 = �+ �+ �
1 2 2 −1 −1 1
1 2 −1
= 2 −− 3 � + 3 −− 2 � + −1 −− 1 �
� �
�� × � = 5� + 5�
� � �
Finally �. �� × � = � + 2� . (5� + 5�)

= 5 1 + 2 0 + 5(0)

= 5

12

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