Lecture 1

Introduction and Vectors

Course Information: Instuctor
► Instructor: Ola hassouneh
► Email:[email protected]
► Website:
https://elearning.ju.edu.jo/course/view.php?id
=13713
 Physics and Mechanics
► Physics deals with the nature and properties of matter and
energy. Common language is mathematics. Physics is
based on experimental observations and quantitative
measurements.
► The study of physics can be divided into seven main
areas:
§ Classical mechanics – Physics I (Phys. 101)
§ Electromagnetism – Physics II (Phys. 102)
§ Optics
§ Relativity
§ Thermodynamics
§ Quantum mechanics, atomic Physics
§ Nuclear Physics
► Classical mechanics deals with the motion and equilibrium
of material bodies and the action of forces.
 Classical Mechanics
► Classical mechanics deals with the motion of objects
► Classical Mechanics: Theory that predicts the results of
experiments for objects that are NOT
§ Too small: atoms and subatomic particles – Quantum
Mechanics
§ Too fast: objects close to the speed of light – Special Relativity
§ Too dense: black holes, the early Universe – General Relativity
► Classical mechanics concerns the motion of objects that
are large relative to atoms and move at speeds much
slower than the speed of light (i.e. nearly everything!)
 Measurement
► To be quantitative in Physics requires measurements
► How tall is Pisa tower?
tall: 57 m

► Number + Unit

§ Both numbers and units necessary for

any meaningful physical quantities
 Type Quantities
► Many things can be measured: distance, speed,
energy, time, force ……
► These are related to one another: speed =
distance / time
► Choose three basic quantities (DIMENSIONS):
§ LENGTH
§ MASS
§ TIME
► Define other units in terms of these.
 SI Unit for 3 Basic Quantities
► Many possible choices for units of Length,
Mass, Time (e.g. Yao is 2.29 m or 7 ft 6 in)
► In 1960, standards bodies control and define
Système Internationale (SI) unit as,

§ LENGTH: Meter
§ MASS: Kilogram
§ TIME: Second
Fundamental Quantities and SI Units
Length meter m
Mass kilogram kg
Time second s
Electric Current ampere A
Thermodynamic Temperature kelvin K
Amount of Substance mole mol
 Prefixes for SI Units
q 3,000 m = 3 x 1,000 m 10x Prefix Symbol
= 3 x 103 m = 3 km x=18 exa E
q 1,000,000,000 = 109 = 1G
15 peta P
q 1,000,000 = 106 = 1M
q 1,000 = 103 = 1k
12 tera T
9 giga G
q 141 kg = 141000 g 6 mega M
q 1 GB = 1x 109 Byte 3 kilo k
2 hecto h
1 deca da
 Prefixes for SI Units
10x Prefix Symbol q 0.003 s = 3 x 0.001 s
x=-1 deci d = 3 x 10-3 s = 3 ms
-2 q 0.01 = 10-2 = centi
centi c
q 0.001 = 10-3 = milli
-3 milli m q 0.000 001 = 10-6 = micro
-6 micro µ q 0.000 000 001 = 10-9 = nano
-9 nano n q 0.000 000 000 001 = 10-12
-12 pico p = pico
-15 femto f
-18 atto a
 Derived Quantities and Units
► Multiply and divide units just like numbers
► Derived quantities: area, speed, volume, density ……
§ Area = Length x Length SI unit for area = m2
§ Volume = Length x Length x Length SI unit for volume = m3
§ Speed = Length / time SI unit for speed = m/s
§ Density = Mass / Volume SI unit for density = kg/m3

► In 2008 Olympic Game, Usain Bolt sets world record at

9.69 s in Men’s 100 m Final. What is his average speed ?
100 m 100 m
speed = = × = 10.32 m/s
9.69 s 9.69 s
 Other Unit System
► U.S. customary system: foot, slug, second
► Cgs system: cm, gram, second
► We will use SI units in this course, but it is useful to
know conversions between systems.
§ 1 mile = 1609 m = 1.609 km 1 ft = 0.3048 m = 30.48 cm
§ 1 m = 39.37 in. = 3.281 ft 1 in. = 0.0254 m = 2.54 cm
§ 1 lb = 0.465 kg 1 oz = 28.35 g 1 slug = 14.59 kg
§ 1 day = 24 hours = 24 * 60 minutes = 24 * 60 * 60 seconds

§ More can be found in Appendices A & D in your textbook.

 Dimensions, Units and Equations
► Quantities have dimensions:
§ Length – L, Mass – M, and Time - T
► Quantities have units: Length – m, Mass – kg,
Time – s
► To refer to the dimension of a quantity, use square
brackets, e.g. [F] means dimensions of force.

Quantity Area Volume Speed Acceleration

Dimension [A] = L2 [V] = L3 [v] = L/T [a] = L/T2
SI Units m2 m3 m/s m/s2
 Coordinate Systems
Cartesian coordinate system
(Also called rectangular coordinate system)
• x- and y-axes intersect at the origin
• Points are labeled (x,y)
North of east = toward the north from due east

West of south= = toward the west from due south

 Coordinate Systems
Polar coordinate system
Origin and reference line
are noted
• Point is distance r from
the origin in the
direction of angle q, ccw
from reference line
• Points are labeled (r,q)
 Coordinate Systems
• Form a right triangle, with
hypotenuse r

• q must be ccw from positive

x axis for these equations to
be valid
 Vector
1. Adding Vectors graphically
2. Components of Vectors
3. Unit Vectors
4. Adding Vectors by Components
5. Multiplying Vectors
 Vector vs. Scalar
A library is located 0.5 mile from you.
Can you point where exactly it is?
You also
need to
know the
direction in
which you
should
walk to the
library!
► All physical quantities encountered in this text will be either a scalar or
a vector
► A vector quantity has both magnitude (value + unit) and direction
► A scalar is completely specified by only a magnitude (value + unit)
 Vector and Scalar Quantities
q Vectors q Scalars:
n Displacement n Distance
n Velocity (magnitude and n Speed
direction!) n Temperature
n Acceleration n Mass
n Force n Energy
n Momentum n Time

To describe a vector we need more information than to

describe a scalar! Therefore vectors are more complex!
 Vector and Scalars
• A particle travels from
A to B (dotted red line)
• This is the distance
traveled and is a scalar
• The displacement:
solid line from A to B
• The displacement is
independent of the path
taken between the two
points
• Displacement is a
vector
 Important Notation
q To describe vectors we will use:
n The bold font: Vector A is A !
n Or an arrow above the vector: A

n In the pictures, we will always show

vectors as arrows
n Arrows point the direction

n To describe the magnitude of a

vector !we will use absolute value
sign: A magnitude???
n Magnitude is always positive, the
magnitude of a vector is equal to
the length of a vector.
 Properties of Vectors
► Equality of Two Vectors
§ Two vectors are equal if they have the
same magnitude and the same direction

q Negative Vectors
n Two vectors are negative if they have the same
magnitude but are 180° apart (opposite directions)
! ! ! ! !
( )
A = -B; A + -A = 0 A
!
B
 Adding Vectors
► When adding vectors, their directions must
be taken into account
► Units must be the same
► graphical Methods
§ Use scale drawings
► Algebraic Methods
(Method of components)
§ More convenient
 Adding Vectors graphically (Tip to tail Method)
!
► Draw the first vector A with the
appropriate length and in the
direction specified, with respect to
a coordinate system ! !
! A+ B !
► Draw the next vector B with the B
appropriate length and in the
direction specified, with respect to
a coordinate system !whose origin
is the end of vector A and !
parallel to! the coordinate system A
used for A : “tip-to-tail”.
► !
The resultant is drawn from the
origin of A to the end of the last
vector B!
 Adding Vectors Graphically
► When you have many
vectors, just keep
repeating the process
! !
A+ B

until all are included ! ! !

A+ B +C
► The resultant is still
drawn from the origin ! !
of the first vector to A+ B
the end of the last
vector
 Adding Vectors Geometrically
(Polygon
!
Method) ! !
► Draw the first vector A with A+ B
the appropriate length and in
the direction specified, with
respect to a coordinate! system !
► Draw the next vector B with B !
the appropriate length and in B
the direction specified, with
respect to the same coordinate
system
!
► Draw a parallelogram A
► The resultant is drawn as a
diagonal from the origin
! ! ! !
A+ B = B + A
 Vector Subtraction
►
!
B

! ! ! !
( )
A - B = A + -B
!
A !
! ! -B
A- B
 Some Properties of Vectors

• Multiplication of a vector by a scalar:


i If a vector A is multiplied by a positive scalar quantity s,
the product sA is a vector that has the same direction
as A and magnitude sA 
i If s is a negative
 scalar quantity, the vector sA is directed
opposite to A  
i The vector 5A is five times longer than A and has the
same direction
1 
i the vector − A has one-third the magnitude of A and
3 
points in the direction opposite of A
Signs of the Sine, Cosine & Tangent
Trig Identity: tan(θ) = sin(θ)/cos(θ)
 Inverse Functions and Angles
• To find an angle,
use an inverse trig
function.
• If sinq = y/r then
q = sin-1 (y/r)
• Also, angles in the triangle add up to 90°
a + b = 90°
• Complementary angles
sin α = cos β
Using Trig Functions to Find
Vector Components
We can use all of this to
Add Vectors
Analytically!

Pythagorean
Theorem
Describing Vectors Algebraically
Vectors: Described by the number, units and direction!

Vectors: Can be described by their magnitude and direction.

For example: Your displacement is 1.5 m at an angle of 250.
Can be described by components? For example: your
displacement is 1.36 m in the positive x direction and 0.634 m
in the positive y direction.
 Components of a Vector and Unit Vectors

• Components of a vector are

the projections of the vector
along the x- and y-axes

i In the figure,
 the components
ofvector A are:
A x (along the x axis)
A y (along the y axis)
 Components of a Vector
► The x-component of a vector is
the projection along the x-axis
Ax
cos q = Ax = A cos q
A
► The y-component of a vector is
the projection along the y-axis
Ay
sin q = Ay = A sin q
A

q
► Then, ! ! !
A = Ax + Ay
 Components of a Vector and Unit Vectors
• The components can be positive or negative and will
have the same units as the original vector
• The signs of the components will depend on the angle
 Components of a Vector
► The previous equations are valid only if θ is
measured with respect to the x-axis
► Thecomponents can be positive or negative and will
have the same units as the original vector
θ=0, Ax=A>0, Ay=0
θ=45°, Ax=A cos 45°>0, Ay=A sin 45°>0
Ax < 0 Ax > 0
θ=90°, Ax=0, Ay=A>0
Ay > 0 Ay > 0
θ θ=135°, Ax=A cos 135°<0, Ay=A sin 135°>0
Ax < 0 Ax > 0 θ=180°, Ax=-A<0, Ay=0
Ay < 0 Ay < 0 θ=225°, Ax=A cos 225°<0, Ay=A sin 225°<0
θ=270°, Ax=0, Ay=-A<0
θ=315°, Ax=A cos 315°<0, Ay=A sin 315°<0
 More About Components
► The components are the legs of
the right triangle whose
hypotenuse is A
ì Ax = A cos(q )
í æ Ay ö
A
î Ay = A sin(q )= A x
2
+ A2
y and q = tan ç ÷
-1

! è Ax ø
ì A = ( A )2 + (A )2
ïï x y

í Ay -1 æ
Ay ö
ïtan (q ) = or q = tan çç ÷÷ q
ïî Ax è Ax ø
 Components of a Vector and Unit Vectors

i The symbols î, ĵ, and k̂

represent unit vectors in
the x, y, and z directions

• They form a set of

mutually perpendicular
vectors
 Unit Vectors

• Unit vector is a vector of magnitude 1 and points in a particular

direction

Vector Components

• Writing a vector in Unit vector

notation
 Components of a Vector and Unit Vectors

• Components of a vector are

the projections of the vector
along the x- and y-axes

i In the figure,
 the components
ofvector A are:
A x (along the x axis)
A y (along the y axis)
 Unit Vectors
► Components of a vector are vectors
! ! !
A = Ax + Ay
► Unit vectors i-hat, j-hat, k-hat
iˆ ® x ˆj ® y kˆ ® z
q ► Unit vectors used to specify direction
► Unit vectors have a magnitude of 1
y
► Then !
j
A = Ax iˆ + Ay ˆj
i
x
k Magnitude + Sign
z Unit vector
! ! !
A = Ax + Ay
 y y

ay ay

x
ax x
ax
 • Writing a vector in magnitude-
angle notation

Magnitude Angle (Direction)

 • Finding the • Writing a vector in
components. magnitude- angle
notation

Rem : When use these formulas to find the components, the

angle must be measured from positive X-axis, if clockwise put θ -
ve if counterclockwise put θ +ve.
 How to find the components of a vector in different positions?

When the angle is from the +ve When the angle is from any
x-axis different axis

Clockwise Counter-clockwise
 Components of a Vector and Unit Vectors
 
i To add vector B to vector A,
use
 components:

R = A +B
( ) ( )
= Ax + Bx î + Ay + By ĵ
i This means:
Rx = Ax + Bx
Ry = Ay + By
 Components of a Vector and Unit Vectors

• The magnitude and angle of the resultant

vector can be found from:

• This can be extended to three dimensions:

 Adding Vectors by components
► Consider two vectors
!
A = Ax iˆ + Ay ˆj
!
B = Bx iˆ + B y ˆj
► Then
! !
A + B = ( Ax iˆ + Ay ˆj ) + ( Bx iˆ + B y ˆj )
= ( Ax + Bx )iˆ + ( Ay + B y ) ˆj
! ! !
► If C = A + B = ( A + B )iˆ + ( A + B ) ˆj
x x y y
► so C x = Ax + Bx C y = Ay + B y
Adding vectors by Components
Example : Operations with Vectors
q Vector A is described algebraically as (-3, 5), while
vector B is (4, -2). Find the value of magnitude and
direction of the sum (C) of the vectors A and B.
! !
A = -3iˆ + 5 ˆj B = 4iˆ - 2 ˆj
! ! !
C = A + B = (-3 + 4)iˆ + (5 - 2) ˆj = 1iˆ + 3 ˆj A

Cx = 1 Cy = 3
2 2 1/ 2 B
C = (C x + C y ) = (1 + 3 ) = 3.16
2 2 1/ 2

Cy
q = tan -1
= tan -1 3 = 71.56!
Cx
 Example
• A rural mail carrier leaves the post office & drives
22.0 km in a northerly direction. She then drives
in a direction 60.0° south of east for 47.0 km.
• What is her displacement from the post office?
 Solution
A rural mail carrier
leaves the post office
& drives 22.0 km in a
northerly direction.

She then drives in a direction 60.0° south of east for 47.0 km. What is her
displacement from the post office?
 Solution
A rural mail carrier
leaves the post office
& drives 22.0 km in
a northerly direction.

She then drives in a direction 60.0° south of east for 47.0 km. What is her
displacement from the post office?
 Example
• A plane trip involves 3 legs, with 2 stopovers: 1) Due east
for 620 km, 2) Southeast (45°) for 440 km, 3) 53° south
of west, for 550 km. Calculate the plane’s total displacement.
 Solution, Page 1
A plane trip involves 3 legs, with 2 stopovers: 1) Due east for 620 km, 2) Southeast
(45°) for 440 km, 3) 53° south of west, for 550 km. Calculate the plane’s total
displacement.
 Solution, Page 2
A plane trip involves 3 legs, with 2 stopovers: 1) Due east for 620 km, 2) Southeast
(45°) for 440 km, 3) 53° south of west, for 550 km. Calculate the plane’s total
displacement.
 Another Analytic Method
• Uses Law of Sines & Law of Cosines from trig.
• Consider an arbitrary triangle:

β a
c

α γ
b

Law of Cosines: c2 = a2 + b2 - 2 a b cos(γ)

Law of Sines: sin(α)/a = sin(β)/b = sin(γ)/c
• Add 2 vectors: C = A + B. Given A, B, γ

B
β A
C A

α B γ

• Law of Cosines: C2 = A2 + B2 -2 A B cos(γ)

Gives length of resultant C.
• Law of Sines:
sin(α)/A = sin(γ)/C, or sin(α) = A sin(γ)/C
Gives angle α
 Summaryìï A = A cos(q ) x
í
► Polar coordinates of vector A (A, q) ïî Ay = A sin(q )
ì
Cartesian coordinates (Ax, Ay) ( ) ( y)
2 2
► ïï A = Ax + A

► Relations between them: í A æA ö

ï tan (q ) = y or q = tan -1 ç y ÷
► Unit vectors: ïî Ax è Ax ø
ˆ ˆ ˆ
A = Ax i + Ay j + Az k
! ! !
► Addition of vectors: C = A + B = ( Ax + Bx )iˆ + ( Ay + By ) ˆj
C x = Ax + Bx C y = Ay + B y

► Scalar multiplication of a vector: aA = aAxiˆ + aAy ˆj

► Multiplication of two vectors? It is possible, and we will
introduce it later as it comes up.
 Scalar product of two vectors

• The result of the scalar (dot) multiplication of

two vectors is a scalar

! !
a × b = ab cos f

• Scalar products of unit vectors

iˆ × iˆ = 1 ×1 cos 0° = 1 ˆj × ˆj = 1 kˆ × kˆ = 1

iˆ × ˆj = 1 ×1 cos 90° = 0 iˆ × kˆ = 0 ˆj × kˆ = 0
 Scalar product of two vectors

• The result of the scalar (dot) multiplication of

two vectors is a scalar

! !
a × b = ab cos f

• Scalar product via unit vectors

! !
a × b = (a x iˆ + a y ˆj + a z kˆ)(bx iˆ + by ˆj + bz kˆ)
! !
a × b = a x bx + a y by + a z bz
1- The scalar product is commutative
2- If the two vectors are parallel

3- If the two vectors are perpendicular

4- If the two vectors are Antiparallel

5- Multiplying Unit vectors

î . î = (1)(1) cos 0 = 1
î .ĵ = (1)(1) cos 90 = 0
 The scalar product
is commutative

the angle between

two vectors can be any two similar
found unit vectors

Properties
Of the scalar
product any two different
unit vectors

If vectors are parallel

vectors are anti parallel

vectors are perpendicular

 Vector product of two vectors

• The result of the vector (cross) multiplication of

two vectors is a vector
! ! !
a ´b = c
• The magnitude of this vector is

c = ab sin f
!
• Angle φ is the smaller of the two angles between b
!
and a
 Vector product of two vectors
!
• Vector c ! is perpendicular
! to the plane that
contains a vectors b and and its direction is
determined by the right-hand rule

• Because of the right-hand rule, the order of

multiplication is important (commutative law does
! !
not apply)
! !
b ´ a = -( a ´ b )
• For unit vectors
ˆi ´ iˆ = 0 = ˆj ´ ˆj = kˆ ´ kˆ
iˆ ´ ˆj = k̂ ˆj ´ kˆ = iˆ kˆ ´ iˆ = ˆj
 Vector product in unit vector notation
! !
a ´ b = (a x iˆ + a y ˆj + a z kˆ) ´ (bx iˆ + by ˆj + bz kˆ)
a x iˆ ´ bx iˆ = a x bx (iˆ ´ iˆ) = 0
a x iˆ ´ by ˆj = a x by (iˆ ´ ˆj ) = a x by kˆ
! !
a ´ b = (a y bz - by a z )iˆ +
+ (a z bx - bz a x ) ˆj + (a x by - bx a y )kˆ
 Vector (or Cross product)

If the two vectors are given in If the two vectors are given
magnitude and angle between them in unit vector notation

The direction of the result vector

1- The vector product is Anti commutative

2- If the two vectors are parallel

3- If the two vectors are perpendicular

4- If the two vectors are Anti-parallel

5- Multiplying Unit vectors
î ´ î = (1)(1) sin 0 = 0
+ve
î ´ ĵ = (1)(1) sin 90 = 1 î ´ ĵ = k̂

-ve
ĵ ´ î = -k̂ k̂ ´ ĵ = -î î ´ k̂ = -ĵ
 +ve
ĵ

î

k̂

-ve
 any two different Anti- commutative
unit vectors

any two similar

unit vectors
The small angle
between the two Properties
vectors must be used
because the odd
of the Vector
property of the sin product
function

If vectors are parallel

vectors are anti parallel

vectors are perpendicular

 Example

Find the sum of two displacement vectors given

by
• Obtain the resultant vector:

• Evaluate the components of the resultant:

• Find the magnitude:

• Find the direction:

 Example

A particle undergoes three consecutive displacements:

• Find unit-vector notation for the resultant

displacement and its magnitude
• Add the three vectors:

• Find the magnitude of the resultant vector:

 Example
A hiker begins a trip by first walking 25.0 km southeast from
her car. She stops and sets up her tent for the night. On the
second day, she walks 40.0 km in a direction 60.08 north of
east, at which point she discovers a forest ranger’s tower.
(A) Determine the components of the hiker’s displacement for
each day
§ Find the components of each vector:
 Example
(B) Determine the components of the hiker’s resultant
displacement for the trip, in terms of unit vectors.
§ Find the components of the resultant vector:

§ Write the total displacement in unit-vector form:

 An arbitrary vector can be written as a sum of the basis
set unit vectors.
!
A = Ax î + Ay ˆj + Az k̂

Direction cosines
Ax
cos a =
A
Ay
cos b =
A
Az
cos g =
A
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