Scalars and Vectors

* Scalar quantities: have only magnitude +unit

Ex : time (T=7s), length (x=8cm), mass (M=9kg)

* Vectorial quantities: are quantities that have magnitude +unit+ direction

Vectors are essential to physics and engineering. Many fundamental physical quantities are vectors, including

Ex :
 
Position : OM  2t i  t 2 j
  
Velocity : V  2i  2t j
 
Force : F  2i  3 j
Mathematic tools

Vectors
 Definition

A vecteur is a quantity that have:

• a direction  
•a magnitude V AB AB V

P1

Example: Displacement P1P2

Notions P2

  
Unit Vector V  V u  Vu

 
u is a unit vector So u 1
Two vectors are equals
 
AB  CD if they have:
same direction
Same magnitude

Two vectors are Opposit

B
AB  -CD ou AB  -BA si:
A
Same magnitude C

Opposite directions D
Adding two vectors There are Two ways to add
  
   A B A
S  A B Or
   
S  A B S
Properties: 
B
1. A B  B  A by placing them

A  B C  A  B  C  head to tail. by constructing a

2. parallelogram.

3. A  ( A)  0

4. V  0  V

Adding 3 vectors: different ways

  

     

R  A B C  A B C  A B C  
Substraction of two vectors:
    A B
A  B  A  ( B)
A- B
-B
Multiplying a vectorby a scalar: k>0
  A
kA
A and B  kA have
  
- magnitude: B  kA  k A
k<0
-same direction if k > 0,
A
- opposit direction if k < 0, kA
A et kA are parallel

Particular cases:
if k= 1, B= A
if k= -1, B= -A
   
Example1: A  2i  3 j A  4  9  13  
     B  16  36  52  2 13  2 A
B  2A  B  4i  6 j
Example2:
F ma F 2a m= 2 g

The direction of F is the same as that of the acceleration because m is positive

The magnitude
F 2 a
   
Relation of Chasles: AC  AB  BC

Example: Write the vector as simple as possible

 
V  BC  DE  AD  EB


AD  DE  AE  V  BC  AE  EB

AE  EB  AB  V  BC  AB

AB  BC  AC  V  AC
 Coordinate Systems and Components of a Vector
Vectors are usually described in terms of their components in a coordinate system:

z
  
i  j  k 1
     
i  j, i  k , j  k k
j y
i O
   x
i , j & k : unit vecto rs

   
In the plane: i  j  1 et i  j y
P

j i x
O
 Componants of a vector in a plane

V  OP y
In a rectangular (Cartesian) xy-coordinate system in a plane, a Vy P
point in a plane is described by a pair of coordinates (x, y).
   Vx 
V  Vx i  Vy j    j i

Vx x
V y  O
Vx et Vy : components of V (orthogonal projections)

Magnitude: V  Vx2  V y2 Vx  V cos 
So 
Vy  V sin 
Vy
The direction angle tg 
Vx

Example:
  
V  - 4i  2 j

V  16  4  20
Componants of a vector in the space
In a cartesien coordiantes, the position is:
x z
      x
OM  x i  y j  z k OM   y  M y
z  z
  z
k j
 y
Magnitude: OM  x y z
2 2 2 O
x
i m
x
y

example:
   
V  2 i  2 j  4k

V  2 2  2 2  4 2  24
Vector components with origin ≠ from O
 x2  x1 
  
As M1(x1, y1, z1) & M2(x2, y2, z2) : V  M 1M 2   y2  y1 
z  z 
 2 1

Example: diplacement P1P2 : P1(3 ; 2) ; P2(5 ; 6)

5  3    2
V  P1 P2   , V   
6  2  4
Products of Vectors

There are two kinds of products of vectors used broadly in physics and engineering:

scalar multiplication of two vectors:

.
vector multiplication of two vectors:
Scalar product of two vectors
    
Definition: the scalar product of : V  Vx i  V y j & U  U x i  U y j
   
Is a number (scalar) defined by V .U  V U cos   Is the angle between V and U

 
In the Cartesian coordinate system V .U  VxU x  VyU y  VzU z

  2   5
Example: the scalar product of V   
  3  and W   
   3
 
V · W  2  5  (-3) 3  1
Properties:
   
V . U  U.V
      
U.(V  W)  U.V  U.W
   2
V.V  V
       
(V ).W  V (W )   (V .W )  V .W
Application of the sclara prdocuct
Find the Angle between two vectors
     
U.V  U V cos( ) V .U
 cos( )   
V U 0° <θ< 180°

Particular cases: i. i  j. j  k . k  1   0
i. j  i. k  j. k  0 (  /2)

Example: Find the angle between : & .

The vector product two vectors (cross product)
Definition
  
The cross product of 2 vectors gives another vector: V  A  B

Properties:
  
Direction: the plane that conta ins A & B
  
(V  A) & (V  B)   
V  A B B
Magnitude: l’aire du parallelogram defined by A and B :
      A
A  B  A . B sin( A, B)

Direction: : given by the right hand fingers or corkscrew right-hand rule

 Example:
       
The cross product of: A  4 i  j  2k B  i  5 j  3k
 
i j- k
  -1 2 4 2  4 -1 
AB 4 -1 2  i j k
5 -3 1 -3 1 5
1 5 -3
   
A  B   3 - 10 i -  12 - 2  j   20  1k
   
A  B  7 i  14 j  21k

Properties: A  B  B  A
A  (B  C)  A  B  A  C
( A)  B  A  ( B)   ( A  B)
i i  j  j  k k  0
Applications of the cross product
In mathematics
Area of a triangle ABC is given as :
1
S  AB  BC
2

In physics

The Torque of a Force F applied in A for a rotation by O :


M AB / O   OA  F
The double vector produit 
  
  
A B C  A D

Le mixed product 
  
A. B  C 
Applications of the mixed prodcut

 
Parallelepiped Volume :
V  AB. AC  AD
Exercise : Vectors 2    2  2
     
A  3 , B 3 , C 1 
For the following 3 vectors :
1  1   0 
     
1-Represent these 3 vectors in cartesien coordinate
2- Calculate their unit vectors
3- Calculate : et

(with 2 methodes; geometric & algebric)

3. Calculate the scalar product & the cross product between &

3. Find the angle between &

5- Calculate the AOB triangle area

6-Calculate the paralleliped difined by

 Derivative & integral of a function

f f f
df (x, y, z)  dx  dy  dz
x y z
Integral :
Dervative :
n 1
x
df (x) f (x)  x n   f (x)dx 
f (x)  x n
 nx n 1 n 1
dx

df (x) sin(  x)
f (x)  cos(x)    sin(  x) f (x)  cos(x)   f (x)dx 
dx 

cos( x)
f (x)  sin( x) 
df (x)
  cos( x) f (x)  sin( x)   f (x)dx  
dx 
    
Derivative & integral of a vector: A  Ax t  i  Ay t  j  Az t  k

dA dAx t   dAy t   dAz t  
Derivative :  i j k
dt dt dt dt
  
Integral :
 At dt   Ax dt i   Ay dt j   Az dt k
  3
Example : V  3t i  2t j  t k
2

We assume : at
t=0s,x=0, y=0, z=0
Derivative :

dV    
d 3t   d 2t 2  d t 3    
a
dt

dt
i
dt
j
dt
k  a  3 i  4t j  3t k
2

 t2
Integral: x  3
 2
    t3
 OM   y  2
OM   V t dt   3t dt i   2t dt j   t dt k
2 3
 3
 t4
z 
 4
Mathematical tools:
For :    
f(x,y,z) a scalar function & V  Vx i  Vy j  Vz k a vector
      
The operator Nabla:   i j k
x y z

The vector divergence:    Vx Vy Vz

divV  .V   
Scalar product with Nabla
x y z
The scalar gradiant  f  f  f 
Scalar multiplication with Nabla grad f  .f  i  j k
x y z
  
i j k
    
The rotation of a vector: rotV    V 
Cross product with Nabla x y z
Vx V y Vz
Mathematical tools :

Trigonometric relations Trigonometric derivatives

cos( a  b)  cos a cos b  sin a sin b

d sin x
cos( a  b)  cos a cos b  sin a sin b  cos x
dx
sin( a  b)  sin a cos b  cos a sin b d cos x
  sin x
sin( a  b)  sin a cos b  cos a sin b dx

sin 2a  2 sin a cos a

Primitive Sin x Derivative
cos 2a  2 cos 2 a - 1  1 - 2 sin 2 a
-cos x cos x

-Sin x