Week 2 Vectors 1

Week 2

https://cdn.thingiverse.com/renders/d1/53/8a/33/f1/stereo_proj_grid_hand_torch7_small_preview_featured.jpg
 Week 2 Vectors 2

Week 2 Overview:
In this chapter, we will continue our discussion of vectors and its application of 2D and
3D problems in geometry. Two major areas are the Scalar and Vector Resolutes of a
3D Vector and Linear dependence and independence of vectors.

2.1. Resolute of a Vector

The diagram above illustrates AB = a , PQ = b and two perpendicular lines to PQ

from points A and B, AN and BM. Two obvious questions are what is the length of NM = scalar
resolute
and what is the vector NM . = x . PQ = x . b
Vector resolute

The length NM is called the scalar resolute of a on b or the component of a in the

direction of b . It is denoted as compb ( a ) .

Assume the angle between a and b is  When AR // PQ The angle BAR = 

Comp (a)
NM = AR

AR = |AB| x cos Tetha = |a| cos Tetha = NM

Length of AR =Length of NM

NM=AR= compb ( a )
 Week 2 Vectors 3

Let’s find NM

Since a is the length of AB we know that NM = a cos  In order to connect this and
vector b we use the dot product of a and b .

a  b = a b cos = a cos  b Now we get

a  b = a cos b = NM b
Unit vector
Scalar res =
a b b
Hence NM = and knowing the fact, bˆ = we conclude
b b

The scalar resolute of a on b = compb ( a ) = a  bˆ = a . unit vector b = length a in direction b

EXAMPLE 1.
What is the scalar resolute (or projection) of the vector a = i + 2 j − 3k in the direction
of b = 2i + 5 j − 2k ?

Vector b has magnitude b = 4 + 25 + 4 = 33 and so a unit vector in the direction of

1
Unit vector of b is b = ( 2i + 5j − 2k ). The scalar resolute of a in the direction of b is therefore
33
1 1 18
a  bˆ = ( i + 2 j − 3k )  ( 2i + 5j − 2k ) = ( 2 + 10 + 6 ) = . = length of a in direction b
33 33 33

Length x Unit Vector b = Vector

Now we can answer the question, “what is the vector NM ”.

The vector NM is called the vector resolute of a on b or the projection of a in the

direction of b . This is denoted as projb ( a ) . = vector Proj a in direction b
 Week 2 Vectors 4

Since NM = compb ( a ) and NM = b

(
NM = compb ( a ) bˆ )
( )
So projb ( a ) = compb ( a ) bˆ and this can be expressed in two different ways.

( )
When we substitute compb ( a ) = a  bˆ into projb ( a ) = compb ( a ) bˆ we get

( )
projb ( a ) = a  bˆ bˆ

ACTIVITY 1. Show that projb ( a ) =

( a  b ) b , the second formula for the projection.
bb

b . b = b1^2 + b2^2 + b3^2 = |sqrt(b1^2 + b2^2 + b3^2)|^2 = |b|

b = (b1 , b2 , b3)
b . b = (b1 , b2 , b3) . (b1 , b2 , b3) = (b1^2 + b2^2 + b3^2)

b1^2 + b2^2 + b3^2

Unit Vektor b = b/|b|

Proj b (a) =

Vector Resolute

EXAMPLE 2.
What is the vector resolute (or projection) of the vector a = i + 2 j − 3k in the direction
b = 2i + 5 j − 2k ?

18
From the previous example, the scalar resolute of a in the direction of b is . The
33

(
vector resolute of a in the direction of b is projb ( a ) = compb ( a ) bˆ )
 18  1 
projb ( a ) =   ( 2i + 5 j − 2k ) . 
 33  33 
18
=  2,5, −2 
33
 Week 2 Vectors 5

The second method:

we can use the formula projb ( a ) =

( a  b) b
bb

  1, 2, −3    2,5, −2  
projb ( a ) =    2,5, −2 
  2,5, −2    2,5, −2  
2 + 20 + 6
=  2,5, −2 
4 + 25 + 4
28
=  2,5, −2 
33

The vector a in 3D space can always be expressed as a = ax , a y , az  . Here

ax , a y and az are the projection of a in the direction of i , j and k respectively.

Alternatively, if the vector resolute of a in the direction of i , j and k are ax , a y and az

respectively then a = ax i + ay j + az k . This is called decomposition or resolution of a
vector. [note ax = a  i , ay = a  j and az = a  k ]

If we stick to 2D space we can get the result as a = ax i + ay j . Assume i is in the

direction of our b and j is perpendicular to b (as i and j are perpendicular to each

( )
other) then we denote a = a + a⊥ here a = ax i = ( a  i ) i = a.bˆ bˆ [note b̂ = i as we
selected.] and a⊥ = a − a .

OA = OC + CA = a +a
 Week 2 Vectors 6

This can be extended to the nth dimension as a = a1 , a2 , a3 ,..., an  Here

a1 , a2 , a3 ,..., an are projections of a in the direction of mutually orthogonal n vectors
[this is beyond the scope of our geometrical imagination]

ACTIVITY 2. Let a = 2i + j − 2k and b = i + 2 j − 2k be two vectors.

1. Find the scalar resolute of the vector a in the direction of b .

|b| = sqrt (1^2 + 2^2 + (-2)^2) = 3

a . unit vector b = 1/3 (2i + j - 2k) ( i + 2j - 2k) = 1/3 (2 + 2 + 4) = 8/3

2. Find the scalar resolute of the vector b in the direction of a .

|a| = sqrt (2^2 + 1^2 + (-2)^2) = 3

b . unit vector a = 1/3 ( i + 2j - 2k) (2i + j - 2k) = 1/3 (2 + 2 + 4) = 8/3

Scalar resolute of the vector a in the direction b = Scalar resolute of the vector b in the direction a

ACTIVITY 3. Find the vector resolute in the direction of the vector  3, 2,1  of a force
of magnitude of 5 units, acting in the direction of the vector  2, −3,1 

|a| = 5 = (a1, a1, a3)

|b| = sqrt (3^2 + 2^1 + 1^2) = sqrt (14)

Vector Resolute = 1/sqrt(14) (a1,a2,a3)(3,2,1) x 1/sqrt(14) [3,2,1]

= 1/sqrt(14) (3a1+2a2+a3) x1/sqrt(14) [3,2,1]
= (3a1+2a2+a3)/14 [3,2,1] ==> a in direction b

|c| = sqrt (2^2 + (-3)^1 + 1^2) = sqrt (14)

Vector Resolute = 1/sqrt(14) (3a1+2a2+a3)/14 [3,2,1] [2,-3,1] x 1/sqrt(14) [2,-3,1]

= 1/sqrt(14) (3a1+2a2+a3)/14 (6 - 6 + 1) x 1/sqrt(14) [2,-3,1]
= (3a1+2a2+a3)/196 [2,-3,1]
 Week 2 Vectors 7

ACTIVITY 4. The position vectors of the points A, B and C with respect to the origin O
are a = i + 2j + 5k , b = 10i – 13j + 17k and c = 6i – j + 10k
respectively. If N is a point on AC where AC ⊥ BN find the position
vector of N . Hence write an expression to find the area of the triangle
ABC .

OA = a = i + 2j + 5k
OB = b = 10i - 13j + 17k
OC = c = 6i - j + 10k

AC = OC - OA = 5i - 3j + 5k
ON = OA + AN = OA + xAC = (i + 2j + 5k) + x (5i - 3j + 5k) = (1+5x)i + (2-3x)j + (5+5x)k
BN = ON - OB = (1+5x)i + (2-3x)j + (5+5x)k - (10i - 13j + 17k) = (5x-9)i + (15-3x)j + (5x-12)k

AC perpendicular BN = AC . BN = 0 ==> (5i - 3j + 5k) . [(5x-9)i + (15-3x)j + (5x-12)k] = 0

25x - 45 - 45 + 9x + 25x - 60 = 0

59x - 150 = 0

59x = 150
x = 150/59

Position vektor of N (ON) = (1 + 750/59)i + (2 - 450/59)j + (5 + 750/59)k

= 809/59i - 332/59j + 1045/59k

Angle BAC = cos^-1 (AB . AC) / (|AB||AC|)

= cos^-1 [(9i-15j+12k)(5i-3j+5k)] / [sqrt(81+225+144)xsqrt(25+9+25)]
= cos^-1 [45+45+60]/sqrt(450x59)
= 23 degree

Area of triangle ABC = 1/2 x |AB| x |AC| sin BAC

= 1/2 x sqrt (450) x sqrt (59) x sin 23
ACTIVITY 5. = 31.8 of the points A and B are ( 2, −6,3) and ( 3,5, −2 ) . Resolve
The coordinates
the vector AB in the direction of i + 2 j − 2k and perpendicular to
i + 2 j − 2k .

AB = OB - OA = (3, 5, -2) - (2, -6, 3) = (1,11,-5)

|C| = sqrt [1^2+2^2+(-2)^2] = 3

AB in the direction of C = 1/|C| . AB . C = 1/3 (1, 11, -5) (1, 2 , -2) = 1/3 (1 + 22 + 10) = 1/3 x 33 = 11

Resolve the vector AB in the direction of C = 11 x 1/3 (i + 2j - 2k) = 11/3 (i + 2j - 2k)

 Week 2 Vectors 8

2.2. Linear Dependence and Independence

A linear combination of the vectors v1 , v2 ,..., vn is an expression of the form

1v1 + 2v2 + ... + nvn where 1 , 2 ,..., n are scalars and not all zero.

A set of vectors is said to be linearly dependent if any vector in the set may be written
as a linear combination of the other vectors. Otherwise the set of vectors is linearly
independent.

The set of n vectors, v1 , v2 ,..., vn  are linearly dependent if and only if there exist
scalars, not all zero, 1 , 2 ,..., n such that 1v1 + 2v2 + ... + n vn = 0

The above definition can be fully understood once you learn the concept of vector space
later in mathematics. For our purpose we narrow down our discussion to two vectors
and three vectors.

The vectors a and b are linearly dependent, if there exists, not all zero,  and  such
that  a +  b = 0

In simple language; when both  and  are not zero and the linear combination of
 a +  b is a zero vector, we say the vector a and b are linearly dependent.


Then we get  a = − b hence a = − b . This implies two vectors a and b are parallel.


We conclude two parallel vectors are linearly dependent and two non-parallel vectors
are linearly independent.
If a and b are non-parallel vectors and  a +  b = 0 implies  =  = 0.

  
It is obvious the sets of i , j , j , k and k , i are linearly independent as they are
not parallel.
 Week 2 Vectors 9

EXAMPLE 3.
Find  and  if (  − 1) i + (  + 2 ) j = 0

Since i and j are not parallel they are independent. Therefore (  − 1) = 0 and

(  + 2) = 0
So  = 1 and  = −2

EXAMPLE 4.
Prove that the diagonals of a parallelogram bisect each other using vectors.[you have
learnt this proof in MCD1700 using geometry]

Assume ABCD is a parallelogram and the two diagonals AC and BD intersect at the
point M .

BM CM
If the ratios =  and =  then we have to prove  = 1 and  = 1
MD MA
Let DC = a and DA = b then we state that a and b are linearly independent
vectors as they are not parallel.
1
DM = DB
1+  DM = DA + AM
1 1
= DB =b+ AC
1+  1+ 
1
= (a + b) =b+
1
(a − b)
1+  1+ 
Therefore
 Week 2 Vectors 10

1 1
(a + b) = b + (a − b)
1+  1+ 
 1 1   1 1 
 − a + + − 1 b = 0
 1+  1+    1+  1+  

 1 1 
Since a and b are linearly independent vectors, we get  −  = 0 and
 1+  1+  

 1 1 
 + − 1 = 0
 1+  1+  
From the first equation we can show  =  then from the second equation we get
 = 1 and  = 1
Note: There is another vector method that doesn’t involve the concept of linearly
independency.
An outline of the second method:
Assume OABC is a parallelogram and the position vectors of A and B with respect
to O is a and b respectively.
Step 1. Find the position vector of C. [Do not use the fact we are proving, the diagonals
are bisecting each other]

Step 2. Find the midpoint of OB

Step3. Find the midpoint of AC

You should get the same answer for step 2 and step 3 and hence prove the theorem.

ACTIVITY 6. Prove the theorem using the second method [If you haven’t done this in
week 1 activity 20].
 Week 2 Vectors 11

ACTIVITY 7. ABCD is a parallelogram and P is a point on the line AB such that

AP : PB = 2 : 3 . Lines PC and DB intersect at point Q . Find the ratios PQ : QC and

DQ : QB [compare with Activity 21 week 1]

AQ = AP + PQ = AP + u.PC = AP + u(PB + BC) = 2/5a + u(3/5a + b) = (2/5 + 3/5u)a + ub

AQ = AD + DQ = AD + v.DB = AD + v(OB - OD) = b + v(a - b) = va + (1 - v)b

(2/5 + 3/5u)a + ub = va + (1 - v)b

2/5 + 3/5u = v
u=1-v

2/5 + 3/5(1 - v) = v
2/5 + 3/5 = v + 3/5v
1 = 8/5v
v = 5/8
u = 3/8

So, PQ : QC = 3 : 5
DQ : QB = 5 : 8
 Week 2 Vectors 12

The vectors a , b and c are linearly dependent, if there exists not all zero  ,  and 
such that  a +  b +  c = 0

In simple language; when,  ,  and  are not zero and the linear combination of
 a +  b +  c is a zero vector, we say the vector a , b and c are linearly dependent.

 
Then we get  a = − b −  c hence a = − b − c . This implies three vectors a , b and c
 
are coplanar.

We conclude three vectors on the same plane are linearly dependent and three non-
coplanar vectors are linearly independent.
If a , b and c are non-coplanar vectors and  a +  b +  c = 0 implies  =  =  = 0

 
It is obvious that the sets of i , j, k are linearly independent as they are not on the
same plane.

EXAMPLE 5.

Is the set of vectors a = 1,2 , b = 2,3 and c = 3,5 linearly independent?

We will try to write c in terms the linear combination of a and b .

That is:

a +  b = c
 ( i + 2 j) +  ( 2i + 3j) = 3i + 5 j
( + 2 − 3) i + ( 2 + 3 − 5) j. = o

Since i and j are linearly independent vectors :

 + 2 − 3 = 0
2 + 3 − 5 = 0

Which may be solved to give  = 1 and  = 1 . Hence (since   0 and   0 ) the set of
vectors are linearly dependent.[There exist  ,  ,  not all zero such that  a +  b +  c = o
[note: We selected that  = −1 from the beginning]
 Week 2 Vectors 13

EXAMPLE 6.
Is the set of vectors a = 0,2,0 , b = 2,0,0 and c = 0,1,1 linearly independent?

Suppose that the set is linearly dependant. Then we should be able to write any of the
vectors in terms of the other two. We will try to write c in terms of a and b . That is:
c = a + b
j + k =  ( 2 j) +  ( 2i )
= 2 j + 2  i.

Equating coefficients of i , j and k [since they are linearly independent] gives the
following three equations:
2 = 0
2 = 1
1 = 0.
1
Which may be solved to give  = and  = 0 but the last equation is a contradiction.
2
It follows that the vectors are linearly independent.
 Week 2 Vectors 14

ACTIVITY 8. The diagram below is the tetrahedron OABC and the midpoint of OC is D.
BE AG
The ratio = 2 and = 3 where the point E is on BD and the point G is on AE .
ED GE
If the line OG meets the ABC plane at point F and lines AF and BC intersect at
the point H . The position vector of A , B and C are a,b and c respectively.

i) Find OE and OG .

ii) Find GH in two different ways if GF OG, FH AH , BH BC .

OG AF BH
iii) Find the ratios , and .
GF FH HC
 Week 2 Vectors 15

The vectors a , b , c and d are linearly dependent, if there exist not all zero  ,  ,  and
 such that  a +  b +  c +  d = 0

In simple language; when,  ,  ,  and  are not zero and the linear combination of
 a +  b +  c +  d is a zero vector, we say the vector a , b , c and d are linearly
dependent.
  
Then we get  a = −  b −  c −  d . Hence, a = − b − c − d . This implies four vectors a ,
  
b , c and d are in the same 3D space.

We conclude four vectors in 3D space are linearly dependent. As we won’t be able to

find 4 independent vectors in 3D space, this has very limited application in solving
problems.

2.3. Application to 2D and 3D Problems

Vectors are often useful when proving geometric results.

EXAMPLE 7.
OABC is a tetrahedron with OA = a, OB = b and OC = c .

M is the midpoint of AB, N is the midpoint of OB and P is the midpoint of OC.

1) Find OM in terms of a , b and c .

2) Show that MN is parallel to a .

 Week 2 Vectors 16

1. OM = OA + AM
1
= OA + AB
2
1
(
= OA + OB − OA
2
)
1
= a + (b − a )
2
1
= ( a + b ).
2

2. MN = ON − OM
1
= ON − (b − a )
2
1 1
= OB − ( b − a )
2 2
1 1
= b − (b − a )
2 2
1
= a.
2

Since MN is a multiple of a , MN is parallel to a .

EXAMPLE 8.
Show that the diagonals of a rhombus OCBA meet at right angles.
A b B

O C
Let the sides of the rhombus be OA = a and OC = b then the diagonals are OB = b + a

and AC = OC − OA = b − a.
Now take the dot product of the diagonals:
OB  AC = ( b + a )  ( b − a )
=b  b − b  a + a  b − a  a
=b −a
2 2

= 0.
Hence the diagonals are perpendicular.
 Week 2 Vectors 17

2.4. Chapter Review Exercises

1) What is the scalar resolute of 2i − 2 j − k in the direction of i + 2 j + 2k ?

2) What is the vector resolute of i − 2 j − k in the direction of i − 2 j − 2k ?

3) Find the resolution of the vector i + 3j − k into two components, parallel and
perpendicular to the vector 2i − 2 j − k .

4) Position vectors of points A, B and C are

a = i + 2 j − 2k , b = 3i − j + k and c = 2 i − 3k respectively. Find:
a) AB and AC
b) The vector resolute of AB in the direction of AC
c) The shortest distance from B to line AC
d) The angle BAC
e) The area of the triangle ABC

5) For each of the sets of vectors below, determine if they are linearly dependant or
linearly independent.
a)  1,1,0 , 0,1,1 , 1,0,1 
b) ( 2i + j) , (3i − j) , (5i + 6j)
c) (3i + 4j − k ) , ( −i + k ) , ( 2i + j + 3k ) .

6) ABC is a triangle as shown in the diagram. The points P, Q and R are the midpoints of the
sides BC, CA and AB respectively. Point O is the point of intersection of the perpendicular
bisectors of CA and AB.
 Week 2 Vectors 18

Let a = OA , b = OB , and c = OC .

a) Express each of the following in terms of a, b and c :

AB , BC , CA , OP , OQ and OR .
b) Prove that OP is perpendicular to BC .
c) Hence prove that the perpendicular bisectors of the sides of a triangle are
concurrent.
d) Prove that a = b = c .
7) Points A, B and C have position vectors OA = 5i , OB = i + 3k , and OC = i + 4 j .

The parallelepiped has OA , OB and OC as three edges and remaining vertices X,Y,Z and
D as shown in the diagram.

a) Write down the position vectors of X,Y,Z and D in terms of i , j and k and calculate the
lengths of OD and OY .
b) Calculate the size of angle OZY .
c) The point P divides CZ in the ratio  :1 . That is, CP:PZ =  :1 .

i. Give the position vector of P

ii. Find  if OP is perpendicular to CZ.

8) The parallelepiped (a parallelepiped is formed by 6 parallelograms) OABCDEFG is

shown in the diagram below, and has corners 0(0,0,0) , A(3,0,0) , C(4,4,0) and
G(2, 2, 2) .

a) Find the Vector OB , OD , OF and OE .

b) Find the angle between BG and OE .
 Week 2 Vectors 19

9) If a~ = 2 i~ − j + 2 k~ , and b~ = i + 2~ j − 2 k~ , find:
~

a) the magnitude of the acute angle between a and b ,

b) the scalar resolute of a parallel b to,
c) the vector resolute of b parallel to, a
d) Find ,  and  real numbers such that  a~ +  b~ = 4~ i + j −~k .
~

10) If p =  i + 6 j − 14k and q = 10 i + 15 j − 35k . Find the value of  ,

a) If p and q are perpendicular.

b) if p and q are parallel.

11)

r and r are unit vectors making angle  and  respectively with the positive X- axis.
1 2

a) r = ( cos  ) i + ( sin  ) j
Show that
1

b) Write down r using angle 

2

c) Hence show that cos( −) = cos  cos + sin  sin 

12) Find a unit vector in the form ai + bj + ck perpendicular to both p = i + j and

~

q = −i + 2k .
~
 Week 2 Vectors 20

13) OXAY is a square with OX = i and OY = j . M is the midpoint of XA and N divides

~ ~

YA internally in the ratio 1:2.

a) Find OM and ON
b) Hence find the angle between OM and ON .
 Week 2 Vectors 21

Solutions:

4
1) −
3
7
2)  1, −2, −2 
9
1 5 7 4
3) −  2, −2, −1  , , ,−
3 3 3 3
4)
a)  2, −3,3   1, −2, −1 
5
b)  1, −2, −1 
6
107
c)
6
 5 33 
d) cos −1  
 66 
107
e)
2
5) a) independent b) dependent and c) independent
b+c a+c a +b
6) a) AB = b − a, BC = c − a, CA = a − c , OP = , OQ = and OR = .
2 2 2
7) a)
OX = 7 i + 4 j + 3k OY = 2i + 4 j + 3k OZ = 6i + 4 j OD = 6i + 3k OD = 3 5 OY = 29
b) OZY = 48.270

 5  1
c) i.   i + 4 j ii.  = −
  +1  6

8) a) OB = 7 i + 4 j , OD = 5i + 2 j + 2k , OF = 6 i + 6 j + 2k , OE = 9 i + 6 j + 2k

 −61 
b)  = cos −1  −   = 164.87
0

 11 33 

 4 −4 4
9) a)  − cos −1  −  b) c) −  2, −1, 2 
 9 3 9
10) a)  = −58 , b)  = 4
11) .
2 2 1
12) = i − j + k
3 3 3
1 1 
13) a) i + j , j + i b)
~ 2 ~ 3 ~ 4