Chapter 1 Vector Fundamentals

 Vector Fundamentals
 Inner Product
 Outer Product
 Simple Applications of Vectors

1
 Vector Scalar

magnitude magnitude
+
direction

𝐹, 𝑣, 𝑎, … T, C, E, mass, ….

2
Definition
𝑂𝐴 = 𝑎2 + 𝑏 2 + 𝑐 2
A
𝛾
𝑎
𝛽
cos𝛼 = 𝑎 = 𝑂𝐴 cos𝛼
𝑎2 + 𝑏 2 + 𝑐 2
𝛼
O
𝑏
cos𝛽 = 𝑏 = 𝑂𝐴 cos𝛽
𝑎2 + 𝑏2 + 𝑐2
𝑂𝐴 = (𝑎, 𝑏, 𝑐)
𝑐
initial end cos𝛾 = 𝑐 = 𝑂𝐴 cos𝛾
point point 𝑎2 + 𝑏2 + 𝑐2

3
Representation
z z

B (a2, b2, c2)

=
C (a2-a1, b2-b1 c2-c1)
A (a1, b1, c1)
O y O y

x x

𝐴𝐵 = (𝑎2 − 𝑎1 , 𝑏2 − 𝑏1 , 𝑐2 − 𝑐1

<<end point – initial point>>

|𝐴𝐵| = 𝑎2 − 𝑎1 2 + 𝑏2 − 𝑏1 2 + 𝑐2 − 𝑐1 2
4
Unit Vector
A vector which length is equal to 1
Coordinate
z representation

𝐹 = 𝑎, 𝑏, 𝑐
𝑘 = (0, 0, 1) 𝑗(0, 1, 0)
y = 𝑎 1, 0, 0 + 𝑏 0, 1, 0 + 𝑐 0, 0, 1
O
𝑖 = (1, 0, 0)
= 𝑎𝑖 + 𝑏𝑗 + 𝑐𝑘
x

Unit vector
representation
5
Example 1

Determine the equation of the line L through

points (1, -2, 4) and (6, 2, -3).

X
P(x, y, z)
X
B(6, 2, -3)
X
A(1, -2, 4)

6
[Solution]
X P(x, y, z)
P (x, y, z) is an arbitrary point on L X
B(6, 2, -3)
X
𝐴𝐵 = (5, 4, −7 A(1, -2, 4)

𝐴𝑃 = (𝑥 − 1, 𝑦 − (−2), 𝑧 − 4)

𝐴𝑃 𝐴𝐵
𝑥−1 𝑦+2 𝑧−4
= = = 𝑡 t : an arbitrary real
5 4 −7

𝑥 = 1 + 5𝑡
𝑦 = −2 + 4𝑡 parametric representation of line L
𝑧 = 4 − 7𝑡
7
Parametric Representation of Line in Space

𝑥 = 𝑥0 + 𝒂𝑡

(𝑎, 𝑏, 𝑐)
X
(𝑥0 , 𝑦0 , 𝑧0 )
⇔ 𝑦 = 𝑦0 + 𝒃𝑡
𝑧 = 𝑧0 + 𝒄𝑡

8
Inner Product (Dot Product)

𝐴 ∙ 𝐵 ≡ 𝐴 𝐵 cos𝜃 𝜃: 𝑎𝑛𝑔𝑙𝑒 𝑜𝑓 𝐴 𝑎𝑛𝑑 𝐵

initial point-initial point

𝜃 𝜃
𝜃
  
9
Properties of Inner Product

𝐴 ∙ 𝐵 = 𝐴 𝐵 cos𝜃

1. 𝐴 ∙ 𝐵 𝑖𝑠 𝑎 𝑠𝑐𝑎𝑙𝑎𝑟

2. 𝐴 = (𝑎1 , 𝑏1 , 𝑐1 ), 𝐵 = (𝑎2 , 𝑏2 , 𝑐2 )

𝐴 ∙ 𝐵 = 𝑎1 𝑎2 + 𝑏1 𝑏2 + 𝑐1 𝑐2

𝐴∙𝐵 𝑎1 𝑎2 + 𝑏1 𝑏2 + 𝑐1 𝑐2
3. cos𝜃 = =
𝐴 𝐵 𝐴 𝐵

4. 𝑨 ∙ 𝑩 = 𝟎 ⇔ 𝑨 ⊥ 𝑩
10
Geometric Interpretation of Inner Product

𝐴 ∙ 𝐵 = 𝐴 𝐵 cos𝜃 𝐴

𝑖𝑓 𝐵 = 1 
𝐴 cos𝜃 𝐵
𝐴 ∙ 𝐵 = 𝐴 cos𝜃

= 𝑝𝑟𝑜𝑗𝑒𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝐴 𝑜𝑛 𝐵

inner product projection

11
Example 2

Determine the plane p containing the point (-6, 1, 1)

with the normal vector (-2, 4, 1).

(-2, 4, 1)

X A (-6, 1, 1)

p XP( x, y, z)

12
[Solution]
o
1 Take P(x, y, z) on p

𝐴𝑃 = (𝑥 + 6, 𝑦 − 1, 𝑧 − 1)
(-2, 4, 1)

2o ∵ (-2, 4, 1) is the normal vector of p

X A (-6, 1, 1)

∴ 𝐴𝑃 ⊥ (−2, 4, 1)
p X P( x, y, z)
𝑥 + 6, 𝑦 − 1, 𝑧 − 1 ∙ −2, 4, 1 = 0

⇒ −𝟐𝑥 + 𝟒𝑦 + 𝟏𝑧 = 17

13
Extension

(a, b, c)

XA (x0, y0, z0)

ax + by + cz = k

14
Example 3

Determine the angle between line L1 and L2.

L1: x = 1+t, y = 2-t, z = -1+2t
L2: x = 4-p, y = 2p, z = -5+2p

L1

 ? L2

15
[Solution]
𝐿1 = (1, −1, 2)

𝐿1 = (1, −1, 2

𝐿2 = (−1, 2, 2
𝐿2 = (−1, 2, 2)

𝐿1 ∙ 𝐿2 = 𝐿1 𝐿2 𝑐𝑜𝑠𝜃

1, −1, 2 ∙ −1, 2, 2 = 6 × 3 × 𝑐𝑜𝑠𝜃

1 −1
1
𝑐𝑜𝑠𝜃 = 𝜃 = cos
3 6 3 6
16
Outer Product (Cross Product)

𝐴 × 𝐵 ≡ 𝐴 𝐵 sin𝜃 𝜃: 𝑎𝑛𝑔𝑙𝑒 𝑜𝑓 𝐴 𝑎𝑛𝑑 𝐵

𝐴 × 𝐵: 𝑣𝑒𝑐𝑡𝑜𝑟
(Right Hand Rule)

𝑭×𝑮⊥𝑭
𝑭×𝑮⊥𝑮

17
𝐴 × 𝐵=? (Method I)

𝐴 = (𝑎1 , 𝑏1 , 𝑐1 ), 𝐵 = (𝑎2 , 𝑏2 , 𝑐2 )

𝑖 𝑗 𝑘
𝐴 × 𝐵 ≡ 𝑎1 𝑏1 𝑐1
𝑎2 𝑏2 𝑐2

𝑏1 𝑐1 𝑎1 𝑐1 𝑎1 𝑏1
= 𝑖 − 𝑎 𝑗 + 𝑘
𝑏2 𝑐2 2 𝑐2 𝑎2 𝑏2

= 𝑏1 𝑐2 − 𝑏2 𝑐1 𝑖 − 𝑎1 𝑐2 − 𝑎2 𝑐1 𝑗 + (𝑎1 𝑏2 − 𝑎2 𝑏1 )𝑘
18
𝐴 × 𝐵=? (Method II) 𝑎1 , 𝑏1 , 𝑐1 , 𝑎1 , 𝑏1
𝑎2 , 𝑏2 , 𝑐2 , 𝑎2 , 𝑏2
𝐴 = (𝑎1 , 𝑏1 , 𝑐1 ), 𝐵 = (𝑎2 , 𝑏2 , 𝑐2 )
𝑎1 , 𝑏1 , 𝑐1 , 𝑎1 , 𝑏1
x
𝑎2 , 𝑏2 , 𝑐2 , 𝑎2 , 𝑏2
𝑖 𝑗 𝑘
𝐴 × 𝐵 = 𝑎1 𝑏1 𝑐1 𝑎1 , 𝑏1 , 𝑐1 , 𝑎1 , 𝑏1
𝑎2 𝑏2 𝑐2 y
𝑎2 , 𝑏2 , 𝑐2 , 𝑎2 , 𝑏2

= (𝑏1 𝑐2 − 𝑏2 𝑐1 , 𝑐1 𝑎2 − 𝑐2 𝑎1 , 𝑎1 𝑏2 − 𝑎2 𝑏1 )
x y z 𝑎1 , 𝑏1 , 𝑐1 , 𝑎1 , 𝑏1
z
𝑎2 , 𝑏2 , 𝑐2 , 𝑎2 , 𝑏2

19
𝐴 × 𝐵=? (Method III)

𝐴 = (𝑎1 , 𝑏1 , 𝑐1 ), 𝐵 = (𝑎2 , 𝑏2 , 𝑐2 )

𝑖 𝑗 𝑘
𝐴 × 𝐵 = 𝑎1 𝑏1 𝑐1
𝑎2 𝑏2 𝑐2

= (𝑏1 𝑐2 𝑖 + 𝑎1 𝑏2 𝑘 + 𝑎2 𝑐1 𝑗) − (𝑎2 𝑏1 𝑘 + 𝑏2 𝑐1 𝑖 + 𝑎1 𝑐2 𝑗)

= 𝑏1 𝑐2 − 𝑏2 𝑐1 𝑖 + 𝑎2 𝑐1 − 𝑎1 𝑐2 𝑗 + (𝑎1 𝑏2 − 𝑎2 𝑏1 )𝑘

20
Geometric Interpretation of Outer Product

𝐴 × 𝐵 = 𝐴 𝐵 sin𝜃

= 𝑠𝑢𝑟𝑓𝑎𝑐𝑒 𝑎𝑟𝑒𝑎 𝑜𝑓 𝑡ℎ𝑒 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙𝑜𝑔𝑟𝑎𝑚

𝑏𝑎𝑠𝑒𝑑 𝑜𝑛 𝐴 𝑎𝑛𝑑 𝐵

𝐴 𝐴 𝑠𝑖𝑛𝜃
𝜃
𝐵

21
Example 4

Determine the plane containing points (1, 2, 1), (-1, 1, 3),

and (-2, -2, -2).

C (-2, -2, -2)

X
X B (-1, 1, 3)

X A (1, 2, 1)

22
[Solution]
C (-2, -2, -2)
X
𝐴𝐵 = (−2, −1, 2) X B (-1, 1, 3)

𝐴𝐶 = (−3, −4, −3)

X A (1, 2, 1)
𝑁 ⊥ 𝐴𝐵, 𝑁 ⊥ 𝐴𝐶

𝑁 = 𝐴𝐵 × 𝐴𝐶 = −2, −1, 2 × −3, −4, −3 = (11, −12, 5)

The equation of the plane is 11x - 12y + 5z = k

A (1, 2, 1) is on the plane

∴ k = -8

The equation of the plane is 11x - 12y + 5z = -8 ##

23
Example 5

E1: x + 2y + z = 3
L: Two-plane representation
E2: 2x + y - 2z = 1

Find the parametric E1

representation of L.
L

E2

24
 𝑥 = 𝑥0 + a𝑡

(𝑎, 𝑏, 𝑐) (𝑥0 , 𝑦0 , 𝑧0 )
⇔ 𝑦 = 𝑦0 + b𝑡
𝑧 = 𝑧0 + 𝑐𝑡

𝑁1
E1

E2

𝑁2 25
[Solution] (1, 2, 1)
E1
1o 𝐿 ⊥ 𝑁1 , 𝐿 ⊥ 𝑁2

𝐿 = 𝑁1 × 𝑁2 = 1, 2, 1 × 2, 1, −2
L
= (−5, 4, −3)

2o Take an arbitrary point at L E2 (2, 1, -2)

set x=0
E1: x + 2y + z = 3
7 1
E2: 2x + y - 2z = 1 (0, , ) is one of the point at L
5 5
𝑥 = 0 − 5𝑡
3o 7
𝐿: 𝑦 = + 4𝑡 (t is an arbitrary real)
5
1
𝑧 = − 3𝑡
5 26
Distance from a point to a plane

L= projection of 𝑃𝑄 onto the 𝑁

𝑎, 𝑏, 𝑐
𝐿 = |𝑃𝑄 ∙ 𝑛| = |(𝑥 − 𝑥0 , 𝑦 − 𝑦0 , 𝑧 − 𝑧0 ) ∙ |
𝑎2 + 𝑏2 + 𝑐2

|(𝑎𝑥 + 𝑏𝑦 + 𝑐𝑧) − (𝑎𝑥0 +𝑏𝑦0 +𝑐𝑧0 )|

= P(x0, y0, z0)
𝑎2 + 𝑏2 + 𝑐2 (a, b, c)

| − 𝑑 − 𝑎𝑥0 − 𝑏𝑦0 − 𝑐𝑧0 | L=?

=
𝑎2 + 𝑏 2 + 𝑐 2
Q(x, y, z)

|𝑎𝑥0 + 𝑏𝑦0 + 𝑐𝑧0 + 𝑑| ax + by + cz + d =0

=
𝑎2 + 𝑏 2 + 𝑐 2
27
Example 7
Determine the distance from the point (1, 3, 2) to
the plane x+2y+z=4

[Solution]

|𝑎𝑥0 + 𝑏𝑦0 + 𝑐𝑧0 + 𝑑| |1 + 2 × 3 + 2 − 4| 5

𝐿= = =
𝑎2 + 𝑏2 + 𝑐2 12 + 22 + 12 6
##

28
Distance from a point to a line

d = projection of 𝑃𝑄 in the
P(x0, y0, z0)
direction of 𝑃𝑅
d=?
𝑃𝑅

L
Q(x, y, z) R ⇒ 𝑑 = |𝑃𝑄 ∙ |
|𝑃𝑅|

𝑃𝑅 =? ?

29
 𝑑 = 𝑄𝑃 sin𝜃
P(x0, y0, z0)
= 𝑄𝑃 ∙ 1 ∙ sin𝜃
𝒅
𝐿
 L = 𝑄𝑃 ∙ ∙ sin𝜃
𝐿
Q(x, y, z)
𝐿
= 𝑄𝑃 ×
𝐿

30
 Example 8 P(1, 1, 0)
X

d=? 𝑥 =1+𝑡
X L: 𝑦 = −2 + 𝑡
Q(1, -2, 4) 𝑧 = 4 − 2𝑡
[Solution]

𝑄𝑃 = 0, 3, −4

𝑑 = 𝑄𝑃 𝑠𝑖𝑛𝜃 = 𝑄𝑃 ∙ 1 ∙ 𝑠𝑖𝑛𝜃
𝐿 𝐿
= 𝑄𝑃 ∙ ∙ 𝑠𝑖𝑛𝜃 = 𝑄𝑃 ×
𝐿 𝐿
(1, 1, −2) 1 29
= (0, 3, −4) × = (−2, −4, −3) =
6 6 6 ##
31
 (a, b, c)
P(x0, y0, z0) P(x0, y0, z0)

L
d = |QP|sinθ
O(x, y, z)
 L
Q(x, y, z)
ax + by + cz + d =0

𝐿
𝐿 = |𝑃𝑄 ∙ 𝑛| 𝑑 = 𝑄𝑃 ×
𝐿

𝑛 : unit normal vector of the plane 𝐿 : directional vector of the line

32
Distance between two arbitrary lines in space

L1

d=?
L2

33
Example 9
L1 passes through points (0, 0, 0) and (1, 1, 1), and L2 passes
through points (3, 4, 1) and (0, 0, 1). Find the shortest
distance between L1 and L2.

L1
(0, 0, 0)
X
(1, 1, 1)
X

L2 X X
(0, 0, 1) (3, 4, 1)

34
[Solution]
L1 (0, 0, 0)
1o 𝐿1 : (1, 1, 1) 𝐿2 : (3, 4, 0) X (1, 1, 1)
X
N = L1 × L2 = (−4, 3, 1)
N
L2 X X
(0, 0, 1) (3, 4, 1)

2o Take (0, 0, 0) on L1 and (0, 0, 1) on L2 to form an arbitrary

vector (0, 0, 1)

3o d = projection of vector (0, 0, 1) onto N

−4,3,1 1
= |(0, 0, 1) ∙ |=
26 26
(−𝟐, −𝟑, 𝟎) ## 35
Example 10
𝑥 =3+𝑡 𝑥 =7+𝑝
𝐿1 : 𝑦 = 1 − 2𝑡 𝐿2 : 𝑦 = 1 − 2𝑝
𝑧 = 2 + 2𝑡 𝑧 = −3 + 2𝑝

Find the shortest distance between L1 and L2

[Solution]

L1 L2

P(3, 1, 2)
L1 L1 ×
d = d
L2 L2 36