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Elementary Vector Analysis: Harvey Mudd College Math Tutorial

The document introduces basic concepts of vector analysis, including that vectors have both magnitude and direction represented by components. It defines operations on vectors such as addition, subtraction, and scalar multiplication. It also introduces the dot product and cross product, defining them precisely and exploring their geometric interpretations and properties, such as the dot product measuring the cosine of the angle between two vectors and the cross product giving the area of the parallelogram formed by two vectors. Key concepts are summarized at the end.

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76 views5 pages

Elementary Vector Analysis: Harvey Mudd College Math Tutorial

The document introduces basic concepts of vector analysis, including that vectors have both magnitude and direction represented by components. It defines operations on vectors such as addition, subtraction, and scalar multiplication. It also introduces the dot product and cross product, defining them precisely and exploring their geometric interpretations and properties, such as the dot product measuring the cosine of the angle between two vectors and the cross product giving the area of the parallelogram formed by two vectors. Key concepts are summarized at the end.

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Artist Recording
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© Attribution Non-Commercial (BY-NC)
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Harvey Mudd College Math Tutorial:

Elementary Vector Analysis


In order to measure many physical quantities, such as force or velocity, we need to determine both a magnitude and a direction. Such quantities are conveniently represented as vectors. The direction of a vector v in 3-space is specied by its components in the x, y, and z directions, respectively: (x, y, z) or xi + y j + z k, where i, j, and k are the coordinate vectors along the x, y, and z-axes. i = (1, 0, 0) j = (0, 1, 0) k = (0, 0, 1)

The magnitude of a vector v = (x, y, z), also called its length or norm, is given by v = x2 + y 2 + z 2

Notes Vectors can be dened in any number of dimensions, though we focus here only on 3-space. When drawing a vector in 3-space, where you position the vector is unimportant; the vectors essential properties are just its magnitude and its direction. Two vectors are equal if and only if corresponding components are equal. A vector of norm 1 is called a unit vector. The coordinate vectors are examples of unit vectors. The zero vector, 0 = (0, 0, 0), is the only vector with magnitude 0.

Basic Operations on Vectors

To add or subtract vectors u = (u1 , u2 , u3 ) and v = (v1 , v2 , v3 ), add or subract the corresponding coordinates: u + v = (u1 + v1 , u2 + v2 , u3 + v3 ) u v = (u1 v1 , u2 v2 , u3 v3 )

To multiply vector u by a scalar k, multiply each coordinate of u by k: ku = (ku1 , ku2 , ku3 ) Example The vector v = (2, 1, 2) = 2i + j 2k has magnitude v = 22 + 12 (2)2 = 3. Thus, the vector 1 v = 3
2 1 2 , , 3 3 3

is a unit vector in the same direction as v.


v v

In general, for v = 0, we can scale (or normalize) v to the unit vector as the same direction as v.

pointing in

Dot Product Let u = (u1 , u2 , u3 ) and v = (v1 , v2 , v3 ). The dot product u v (also called the scalar product or Euclidean inner product) of u and v is dened in two distinct (though equivalent) ways:

u v = u1 v1 + u2 v2 + u3 v3 u v cos if u = 0, v = 0 = 0 if u = 0 or v = 0 where 0 is the angle between u and v

Why are the two denitions equivalent?

Properties of the Dot Product uv =vu u (v + w) = (u v) + (u w) uu= u


2

See if you can verify each of these! Example If u = (1, 2, 2) and v = (4, 0, 2), then u v = (1)(4) + (2)(0) + (2)(2) = 1 + 0 + 4 = 0 Using the second denition of the dot product with u = 3 and v = 2 5, u v = 0 = 6 5 cos so cos = 0, yielding = . 2 Though we might not have guessed it, u and v are perpendicular to each other! In general, Two non-zero vectors u and v are perpendicular (or orthonormal if and only if u v = 0.

Proof
Projection of a Vector It is often useful to resolve a vector v into the sum of vector components parallel and perpendicular to a vector u. Consider rst the parallel component, which is called the projection of v onto u. This projection should be in the direction of u and should have magnitude v cos , where 0 is the angle between u and v. Lets normalize u to u and then u scale this by the magnitude v cos : projection of v onto u = ( v cos ) u u cos = v u 2 u u = vu2 u u

The perpendicular vector component of v is then just the dierence between v and the projection of v onto u. In summary, projection of v onto u vector component of v perpendicular to u Cross Product Let u = (u1 , u2 , u3 ) and v = (v1 , v2 , v3 ). The cross product u v yields a vector perpendicular to both u and v with direction determined by the right-hand rule. Specically, u v = (u2 v3 u3 v2 )i (u1 v3 u3 v1 )j + (u1 v2 u2 v1 )k It can also be shown that uv = u v sin for u = 0, v=0 =
vu u u 2

= v

vu u u 2

where 0 is the angle between u and v.

Proof
Thus, the magnitude u v gives the area of the parallelogram formed by u and v. As implied by the geometric interpretation, Non zero vectors u and v are parallel if and only if u v = 0.

Proof
Properties of the Cross Product u v = (v u) u (v + w) = (u v) + (u w) uu=0 Again, see if you can verify each of these.

Connections between the Dot Product and Cross Product

In the following Exploration, select values for the components of u and v. You will see u v and u v computed and u, v, and u v displayed on a coordinate system. Exploration

Key Concepts Let u = (u1 , u2 , u3 ) and v = (v1 , v2 , v3 ). Basic Operations, Norm of a vector u + v = (u1 + v1 , u2 + v2 , u3 + v3 ) u v = (u1 v1 , u2 v2 , u3 v3 ) ku = (ku1 , ku2 , ku3 ) v Dot Product u v = u1 v1 + u2 v2 + u3 v3 u v cos if u = 0, v = 0 = 0 if u = 0 or v = 0 where 0 is the angle between u and v for u = 0, v = 0, u v = 0 if and only if u is orthogonal to v. Projection of a Vector projection of v onto u = vector component of v perpendicular to u Cross Product u v = (u2 v3 u3 v2 )i (u1 v3 u3 v1 )j + (u1 v2 u2 v1 )k u v = u v sin for u = 0, v = 0 where 0 is the angle between u and v. [Im ready to take the quiz.] [I need to review more.] [Take me back to the Tutorial Page]
vu u u 2

x2 + y 2 + z 2

= v

vu u u 2

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