Cross product and determinants (Sect. 12.
4)
I Two definitions for the cross product.
I Geometric definition of cross product.
I Properties of the cross product.
I Cross product in vector components.
I Determinants to compute cross products.
I Triple product and volumes.
Two main ways to introduce the cross product
Geometrical Expression in
→ Properties →
definition components.
Definition in Geometrical
→ Properties →
components expression.
We choose the first way, like the textbook.
Cross product and determinants (Sect. 12.4)
I Two definitions for the cross product.
I Geometric definition of cross product.
I Properties of the cross product.
I Cross product in vector components.
I Determinants to compute cross products.
I Triple product and volumes.
Geometric definition of cross product
Definition
The cross product of vectors v and w in R3 having magnitudes
|v |, |w| and angle in between θ, where 0 ≤ θ ≤ π, is denoted by
v × w and is the vector perpendicular to both v and w, pointing in
the direction given by the right-hand rule, with norm
|v × w| = |v | |w| sin(θ).
VxW
W
Remark: Cross product of
O V two vectors is another vector;
which is perpendicular to the
original vectors.
WxV
Geometric definition of cross product
Theorem
|v × w| is the area of the parallelogram formed by vectors v and w.
Proof.
The area A of the parallelogram
V formed by v and w is
|V| sin(0)
0 A = |w| |v| sin(θ) = |v × w|.
w
Definition
v
Two vectors are parallel iff the
angle in between them is θ = 0.
Theorem
The non-zero vectors v and w are parallel iff v × w = 0.
Geometric definition of cross product
Recall: |v × w| is the area of a parallelogram.
Example
The closer the vectors v, w are to be parallel, the smaller is the
area of the parallelogram they form, hence the shorter is their cross
product vector v × w.
VxW
W VxW
W
01
02
V V
C
Geometric definition of cross product
Example
Compute all cross products involving the vectors i, j , and k.
Solution: Recall: i = h1, 0, 0i, j = h0, 1, 0i, k = h0, 0, 1i.
z
j y
i
x
i × j = k, j × k = i, k×i = j,
i × i = 0, j × j = 0, k × k = 0,
i × k = −j , j × i = −k, k × j = −i.
C
Cross product and determinants (Sect. 12.4)
I Two definitions for the cross product.
I Geometric definition of cross product.
I Properties of the cross product.
I Cross product in vector components.
I Determinants to compute cross products.
I Triple product and volumes.
Properties of the cross product
Theorem
(a) v × w = −(w × v ), (skew-symmetric);
(b) v × v = 0;
(c) (a v ) × w = v × (a w) = a (v × w), (linear);
(d) u × (v + w) = u × v + u × w, (linear);
(e) u × (v × w) 6= (u × v ) × w, (not associative).
Proof.
Part (a) results from the right-hand rule and (b) from part (a).
Parts (b) and (c) are proven in a similar ways as the linear property
of the dot product. Part (d) is proven by giving an example.
Properties of the cross product
Example
Show that the cross product is not associative, that is,
u × (v × w) 6= (u × v) × w.
Solution: We prove this statement giving an example. We now
show that i × (i × k) 6= (i × i) × k = 0. Indeed,
i × (i × k) = i × (−j ) = −(i × j ) = −k ⇒ i × (i × k) = −k,
(i × i) × k = 0 × j = 0 ⇒ (i × i) × k = 0.
We conclude that i × (i × k) 6= (i × i) × k = 0. C
Recall: The cross product of parallel vectors vanishes.
Cross product and determinants (Sect. 12.4)
I Two definitions for the cross product.
I Geometric definition of cross product.
I Properties of the cross product.
I Cross product in vector components.
I Determinants to compute cross products.
I Triple product and volumes.
Cross product in vector components
Theorem
The cross product of vectors v = hv1 , v2 , v3 i and w = hw1 , w2 , w3 i
is given by
v × w = h(v2 w3 − v3 w2 ), (v3 w1 − v1 w3 ), (v1 w2 − v2 w1 )i.
Proof: Use the cross product properties and recall the non-zero
cross products i × j = k, and j × k = i, and k × i = j .
Express v = v1 i + v2 j + v3 k and w = w1 i + w2 j + w3 k, then
v × w = (v1 i + v2 j + v3 k) × (w1 i + w2 j + w3 k).
Use the linearity property. The only non-zero terms
involve i × j = k, and j × k = i, and k × i = j and the
symmetric analogues. The result is
v × w = (v2 w3 − v3 w2 ) i + (v3 w1 − v1 w3 ) j + (v1 w2 − v2 w1 ) k.
Cross product in vector components.
Example
Find v × w for v = h1, 2, 0i and w = h3, 2, 1i,
Solution: We use the formula
v × w = (v2 w3 − v3 w2 ), (v3 w1 − v1 w3 ), (v1 w2 − v2 w1 )
v × w = [(2)(1) − (0)(2)], [(0)(3) − (1)(1)], [(1)(2) − (2)(3)]
v × w = h(2 − 0), (−1), (2 − 6)i ⇒ v × w = h2, −1, −4i.
C
Exercise: Find the angle between v and w above, using both the
cross and the dot products. Verify that you get the same answer.
Cross product and determinants (Sect. 12.4)
I Two definitions for the cross product.
I Geometric definition of cross product.
I Properties of the cross product.
I Cross product in vector components.
I Determinants to compute cross products.
I Triple product and volumes.
Determinants to compute cross products.
Remark: Determinants help remember the v × w components.
Recall:
(a) The determinant of a 2 × 2 matrix is given by
a b
= ad − bc.
c d
(b) The determinant of a 3 × 3 matrix is given by
a1 a2 a3
b b b b b b
b1 b2 b3 = a1 2 3 − a2 1 3 + a3 1 2 .
c2 c3 c1 c3 c1 c2
c1 c2 c3
2 × 2 determinants are used to find 3 × 3 determinants.
Determinants to compute cross products.
Theorem
The formula to compute determinants of 3 × 3 matrices can be
used to find the the cross product v × w, where v = hv1 , v2 , v3 i
and w = hw1 , w2 , w3 i, as follows
i j k
v × w = v1 v2 v3
w1 w2 w3
Proof: Indeed, a straightforward computation shows that
i j k
v1 v2 v3 = (v2 w3 −v3 w2 ) i−(v1 w3 −v3 w1 ) j +(v1 w2 −v2 w1 ) k.
w1 w2 w3
Determinants to compute cross products.
Example
Given the vectors v = h1, 2, 3i and w = h−2, 3, 1i, compute both
w × v and v × w.
Solution: We need to compute the following determinant:
i j k i j k
w × v = w1 w2 w3 = −2 3 1
v1 v2 v3 1 2 3
The result is
w×v = (9−2) i−(−6−1) j +(−4−3) k ⇒ w×v = h7, 7, −7i.
The properties of the determinant imply v × w = −w × v.
Hence, v × w = h−7, −7, 7i. C
Cross product and determinants (Sect. 12.4)
I Two definitions for the cross product.
I Geometric definition of cross product.
I Properties of the cross product.
I Cross product in vector components.
I Determinants to compute cross products.
I Triple product and volumes.
Triple product and volumes
Definition
The triple product of the vectors u, v , w, is the scalar u · (v × w).
Remarks:
(a) The triple product of three vectors is a scalar.
(b) The parentheses are important. First do the cross product,
and only then dot the resulting vector with the first vector.
Theorem (Cyclic rotation formula for triple product)
u · (v × w) = w · (u × v ) = v · (w × u).
Triple product and volumes
Theorem WxV
U
The number |u · (v × w)| 0
h
is the volume of the
V
parallelepiped determined A
by the vectors u, v , w. W
Proof: Recall the dot product: x · y = |x| |y| cos(θ). Then,
|u · (v × w)| = |u| |v × w| | cos(θ)| = h |v × w|.
|v × w| is the area A of the parallelogram formed by v and w. So,
|u · (v × w)| = h A,
which is the volume of the parallelepiped formed by u, v, w.
The triple product and volumes
Example
Compute the volume of the parallelepiped formed by the vectors
u = h1, 2, 3i, v = h3, 2, 1i, w = h1, −2, 1i.
Solution: We use the formula V = |u · (v × w)|. We must compute
the cross product first:
i j k
v × w = 3 2 1 = (2 + 2) i − (3 − 1) j + (−6 − 2) k,
1 −2 1
that is, v × w = h4, −2, −8i. Now compute the dot product,
u · (v × w) = h1, 2, 3i · h4, −2, −8i = 4 − 4 − 24,
that is, u · (v × w) = −24. We conclude that V = 24. C
The triple product and volumes
Remark: The triple product can be computed with a determinant.
Theorem
If u = hu1 , u2 , u3 i, v = hv1 , v2 , v3 i, and w = hw1 , w2 , w3 i, then
u1 u2 u3
u · (v × w) = v1 v2 v3 .
w1 w2 w3
Example
Compute the volume of the parallelepiped formed by the vectors
u = h1, 2, 3i, v = h3, 2, 1i, w = h1, −2, 1i.
Solution:
1 2 3
u · (v × w) = 3 2 1 = (1)(2 + 2) − (2)(3 − 1) + (3)(−6 − 2),
1 −2 1
that is, u · (v × w) = 4 − 4 − 24 = −24. Hence V = 24. C
