4-2 向量基本運算

向量加法
已知向量 a 與向量 b

b
a
 平行四邊形法則

b a+b

a
三角形法則

a+b

a
 反向量
與向量 a 長度相同、方向相反的向量稱為
的反向量，記作
a −a
a

−a
 向量加法的運算規律 (1)
a+b=b+a (交換律)

a+b

a a

b
b+a
 向量加法的運算規律 (2)
( a + b) + c = a + (b + c ) 結合律

c
( a + b) + c

b
a+b
b+c
a
 向量加法的運算規律 (3)與(4)

(3)
a+0=a

(4) a + ( −a ) = 0
 向量減法

b a−b

a
b b−a

a
 數乘向量
k為一實數
當k>0，向量 k a 代表與 a 同方向且
例如 ka = k a

a
2a
 數乘向量

當k<0，向量 k a 代表與 a 反方向且

例如 ka = k a

a
− 2a
 數乘向量之運算規律
(1) k ( m a ) = ( km )a = k ( m a )
(2)
k ( a + b) = k a + k b

(3) ( k + m )a = k a + m a
 在直角座標系中
若 a =< a x , a y , a z >

b =< bx , by , bz >

則 a + b =< a x + bx , a y + by , a z + bz >

a − b =< a x − bx , a y − by , a z − bz >

k a =< ka x , ka y , ka z >
 向量內積
在力學中
一質點在力 作用下經過位移
F a
則力 F 對質點所做的功w為

W = F a cos < F , a >

其中 < F, a > 代表向量 與 小於π之夾角

F a
 內積的定義 1
a 與 b 的內積是一個實數，其值為

a ⋅ b = a b cos < a , b >

= a pro a b

= b pro b a

其中 < a, b > 代表向量 a 與 b 小於π之夾角

 內積的定義 2
a ⋅ b 也稱為 a 與 b 的點積，又稱純量積

若 a=0 或 b=0 則 a ⋅b = 0
 向量內積之運算規律
(1)
a ⋅b = b⋅a (交換律)

(2)
( k a ) ⋅ b = k ( a ⋅ b) (結合律)

(3) (a + b) ⋅ c = a ⋅ c + b ⋅ c (分配律)
 Z軸

k =< 1,0,0 >

j =< 1,0,0 >

Y軸
i =< 1,0,0 >

X軸
i ⋅ i = i i cos < i, i > i = j = k =1

= 1 × 1 × cos 0° < i, i >=< j, j >= k , k = 0°

= 1×1×1
=1 cos 0° = 1
∴
i ⋅i = 1
同理
j⋅ j =1

k ⋅k =1
i⋅ j = i j cos < i, j > i = j = k =1

= 1 × 1 × cos 90° < i, j >=< j, k >= k , i = 90°

= 1×1× 0
=1 cos 90° = 0
∴
i⋅ j = 0
同理
j⋅k = 0

k ⋅i = 1
i ⋅i = 1 j⋅ j =1 k ⋅k =1

i⋅ j = 0 j⋅k = 0 k ⋅i = 0
設 a =< a x , a y , a z > b =< bx , by , bz >
i ⋅i = 1
a = ax i + a y j + az k b = bx i + by j + bz k j⋅ j =1
k ⋅k =1
a ⋅ b = ( a x i + a y j + a z k ) ⋅ (bx i + by j + bz k )
i⋅ j = 0
= a x bx i ⋅ i + a x by i ⋅ j + a x bz i ⋅ k
i⋅k = 0
+ a y bx j ⋅ i + a y by j ⋅ j + a x bz j ⋅ k j⋅k = 0

+ a z bx k ⋅ i + a z by k ⋅ j + a z bz k ⋅ k

= a x bx + a y by + a z bz
設

a =< a x , a y , a z > b =< bx , by , bz >

a ⋅ b = a x bx + a y by + a z bz
 練習

a =< −1,3,2 > b =< 5,−1,1 >

a ⋅ b = a x bx + a y by + a z bz

a ⋅ b = ( −1) × 5 + 3 × ( −1) + 2 × 1 = −6
 練習

a =< 1,−3,0 > b =< 2,−1,10 >

a ⋅ b = a x bx + a y by + a z bz

a ⋅b = 2 × 1 + ( −3) × ( −1) + 0 × 10 = 5
設
a =< a x , a y , a z >≠ 0 b =< bx , by , bz > ≠ 0

a ⋅b = 0

⇔ a⊥b
⇔ a x bx + a y by + a z bz = 0

證明於下一頁
設
a ⋅b = 0 cos 90° = 0
⇔ a ⋅ b ⋅ cos < a, b >= 0

⇔ cos < a, b >= 0

⇔ < a,b >= 90°

⇔ a⊥b
設 a =< a x , a y , a z >≠ 0 b =< bx , by , bz > ≠ b

a ⋅ b cos < a, b >= a ⋅ b

a ⋅b
cos < a, b >=
a b

a x bx + a y by + a z bz
cos < a, b >=
a x2 + a 2y + a z2 bx2 + by2 + bz2
設 a =< a x , a y , a z >≠ 0 b =< bx , by , bz >≠ 0

α1 , β1 ,1 γ 1 為 a 的方向角
α2 , β2 ,γ 2 為 b 的方向角

a x = a cos α1 a y = a cos β1 a z = a cos γ 1

bx = b cos α 2 by = b cos β 2 b z = b cos γ 2

a ⋅ b cos < a, b > a x = a cos α1 a y = a cos β1 a z = a cos γ 1

bx = b cos α 2 by = b cos β 2 bz = b cos γ 2

= a ⋅b
= a x bx + a y by + a z bz

= a cos α1 b cos α 2 + a cos β1 b cos β 2 + a cos γ 1 b cos γ 2

= a b (cos α1 cos α 2 + cos β1 cos β 2 + cos γ 1 cos γ 2 )

則 cos < a, b >= cos α1 cos α 2 + cos β1 cos β 2 + cos γ 1 cos γ 2

設 a =< a x , a y , a z >≠ 0 b =< bx , by , bz > ≠ b

a x bx + a y by + a z bz
cos < a, b >=
a x2 + a 2y + a z2 bx2 + by2 + bz2

cos< a,b >=cosα1 cosα2 + cosβ1 cosβ2 + cosγ1 cosγ 2

cos 0° = 1 cos180° = −1
公式複習
3 3
cos 30° = cos150° = −
2 2

2 2
cos 45° = cos 135 ° = −
2 2
1
cos 60° =
2 1
cos120° = −
cos 90° = 0 2
 cos 0° = cos180° =
測驗

cos 30° = cos150° =

cos 45° = cos 135 ° =

cos 60° = cos120°

cos 90° = cos 0°
cos 0° = 1 cos180° = −1
公式複習
3 3
cos 30° = cos150° = −
2 2

2 2
cos 45° = cos 135 ° = −
2 2
1
cos 60° =
2 1
cos120° = −
cos 90° = 0 2
 例題4-4
已知三點 A( 2,1,3), B(3,2,3), C (3,1,4)
求
AB 與 AC 之夾角 ϕ
 A( 2,1,3), B(3,2,3), C (3,1,4)
例題4-4 之解答
AB ⋅ AC
cosϕ =
AB AC
ϕ

== < 1<,1,0 ,> ⋅ ,< 1,>0,⋅1<> , , >

2 + 2( ) 22+ ( ) 22 + ( )2 + (
2
( ) ) 2 2( )2
1 +1 + 0 12 + 0 + 1
1
= 2

π
60° =
則 ϕ= 3
 例題4- 5
已知 a = 3i − 9 j + 7k , b = 4i − 2 j + 4k

求 在 b 上投影
a

請以數學符號表 prjb a
示
 a = 3i − 9 j + 7k , b = 4i − 2 j + 4k
例題4-5 之解答
prjb a = a cos < a, b >

a ⋅b
= a × a b

< 3,−, 9,7, > ⋅ <

> ⋅4<,−2,4, > , >
=
(42 +) 2( −+2() 2 +) 24+2 ( )2
12 + 18 + 28 29
則 = 6
=
3
 例題4- 6
已知 a =< −2,1,2 >, b =< 2,0,−1 >

求 c = 3a − 2b 的長度
 a =< −2,1,2 >, b =< 4,−2,4 >
例題4-6 之解答
c = 3a − 2b

== <<−6,3, ,6 ,> −><−4<,0,−2, > , >

== << −10,,3,8 ,> >

== ( (10
) )+ ( + )3+ (+ 8)
2 2 2 2 22

= 173
 例題4- 7
已知 a =< 1,−1,1 >, b =< 2,0,1 >, c =< 1,1,2 >

試選擇 k 使得 ka + b 與 c

互相垂直
 a =< 1,−1,1 >, b =< 2,0,1 >, c =< 1,1,2 >
例題4-7 之解答
( k a + b) ⊥ c

⇔ ( k a + b) ⋅ c = 0

⇔<
⇔<k + 2, ,−k,, k +>1⋅><⋅1<,11,,21,>=
2 >=
00

⇔ 2k + 4 =0
−2
⇔k =
 例題4- 8
設
a =< 1,1,0 >, b =< 0,−1,1 >

試求 a+b 與 的夾角 ϕ
a
 a =< 1,1,0 >, b =< 0,−1,1 >
例題4-8 之解答
( a + b) ⋅ a
cosϕ =
a+b a
ϕ

< , , >⋅< , , >

=
( )2 + ( )2 + ( )2 ( )2 + ( )2 + ( )2

1
=
2
π
60° =
則 ϕ= 3
 向量外積
兩向量 a 與 b 的外積是一個向量
它滿足下列三個條件

a × b = a ⋅ b sin < a, b >

(1) 它的大小:
(2) 它的方向: 垂直於 a 與 b 所決定的平面

即 a ×b ⊥ a 且 a ×b ⊥ b

(3) a , b, a × b 構成右手系
 a ×b

b
a
a ×b
 測驗
兩向量 a 與 b 的外積是一個向量
它滿足下列三個條件

(1) 它的大小: a×b = a ⋅ b sin < a, b >

(2) 它的方向: 垂直於 a 與 b 所決定的 平面

即 a ×b ⊥ a 且 a ×b ⊥ b
a, b, a × b 構成 右手 系
(3)
 < , , > ⋅A
<( 2,1, ,3),, B (>3,2,3), C (3,1,4)
= 1
= ϕ
( ) +( ) +( ) ( ) +( ) +( )
2 2 2 2 2 2
向量外積 =2
兩向量 a 與 b 的外積是一個向量
它滿足下列三個條件

a × b = a ⋅ b sin < a, b >

(1) 它的大小:
(2) 它的方向: 垂直於 a 與 b 所決定的平面

即 a ×b ⊥ a 且 a ×b ⊥ b

(3) a , b, a × b 構成右手系
 a b ⇔ a ×b = 0

證明: a b
⇔ < a,b >= 0° < a,b >= 180°
或

⇔ sin < a, b >= 0

⇔ a × b = a ⋅ b sin < a , b >= 0

⇔ a×b = 0
 向量外積之運算規律
(1)
a × b = −b × a (反交換律)

(2) ( k a ) × b = k ( a × b)
(結合律)
a × ( k b) = k ( a × b)

(a + b) × c = a × c + b × c
(3) (分配律)
c × ( a + b) = c × a + c × b
i × i = i i sin < i, i > i = j = k =1

= 1 × 1 × sin 0° < i, i >=< j, j >= k , k = 0°

= 1×1× 0
=0 sin 0° = 0
∴
i ×i = 0
同理
j× j =0

k ×k = 0
i× j = i j sin < i, j > i = j = k =1

= 1 × 1 × sin 90° < i, j >=< j, k >= k , i = 90°

= 1×1×1
=1 sin 90° = 1
∴
i× j = k
同理
j×k = i

k ×i = j
i ×i = 0 j× j =0 k ×k = 0

i× j = k j×k = i k ×i = j
 a =< a x , a y , a z > b =< bx , by , bz >
設 i ×i = 0
a = ax i + a y j + az k b = bx i + by j + bz k j× j =0
k ×k = 0
a × b = ( a x i + a y j + a z k ) × (bx i + by j + bz k )
i× j = k
= a x bx i × i + a x by i × j + a x bz i × k = a x by k − a x bz j
+ a y bx j × i + a y by j × j + a y bz j × k
j×k = i
− a y bx k + a y bz i
+ a z bx k × i + a z by k × j + a z bz k × k k ×i = j
+ a z bx j − a z by i

= ( a y bz − a z by )i + ( a z bx − a x bz ) j + ( a x by − a y bz )k
a × b = ( a y bz − a z by )i + ( a z bx − a x bz ) j + ( a x by − a y bz )k

利用三階行列式記號

上式可改寫為

i j k
a × b = ax ay az
bx by bz
 i j k
a × b = ax ay az
bx by bz
ay az ax az ax ay
= i − j + k
by bz bx bz bx by

= ( a y bz − a z by )i − ( a x bz − a z bx ) j + ( a x by − a y bx )k
 a b ⇔ a ×b = 0

證明:
a b

 a x , a y , a z = k bx , by , bz

 a y bz − a z by = kby bz − kbz by = 0
 a ×b = 0
a x bz − a z bx = kbx bz − kbz bx = 0
a x by − a y bx = kbx by − kbx by = 0
 a b ⇔ a ×b = 0

證明:
a ×b = 0
 假設
則 ax
a x = bx
bx
a y bz − a z by = 0 bx ≠ 0 ax
a y = by
a x bz − a z bx = 0 bx
ax
a x by − a y bx = 0
az = bx bz
 a b ⇔ a ×b = 0

證明: a ×b = 0 假設 bx ≠ 0

 ax ax ax
bz − a z = bz
a x = bx a y = by
bx bx bx
ax
 ax , a y , az = bx bx , by , bz

 a b
 例題4-9
已知 a = 2,−3,1 b = − 1,1,−2

試求與 同方向之單位向量
a ×b
 例題4-9之解答
已知 a = 2,−3,1 b = − 1,1,−2

i j k
a ×b = 2 −3 1
−1 1 − 2
 例題4-9之解答
i j k
a ×b = 2 −3 1
−1 1 − 2

−3 1 2 1 2 −3
= i − j + k
1 −2 −1 − 2 −1 1
 例題4-9之解答
a ×b =
−3 1 2 1 2 −3
= i − j + k
1 −2 −1 − 2 −1 1

= [(−3)(−2) −1×1]i − [2 × (−2) − (−1) ×1] j + [2 ×1 − (−3) × (−1)]k

= = 5i + 3 j − k
 例題4-10
已知 AB = a + 2b AD = a − b

π
其中 a =4 b =3 a, b =
6

求平行四邊形ABCD的面積
 例題4-10 之解答
D
C
AD = a − b

A
B
AB = a + 2b

平行四邊形ABCD的面積 = AB × AD
AB = a + 2b AD = a − b
例題4-10 之解答
平行四邊形ABCD的面積 = AB × AD

AB × AD = ( a + 2b ) × ( a − b )

= a × a − a × b + 2 b × a − 2b × b

= 0 + b × a + 2b × a + 0
= 3b × a
 例題4-10 之解答
平行四邊形ABCD的面積 = AB × AD

AB × AD = 3b × a
AB × AD = 3 b × a

= 3× a b sin a , b
 π
a = 4 , b = 3, a , b =
例題4-10 之解答
6

平行四邊形ABCD的面積 = AB × AD

= 3 a b sin a , b

π
= 3 × 3 × 4 × sin
6
1
= 36 × = 18
2
 純量三重積
向量三重積 ( a × b) × c

三向量的三重積

純量三重積 ( a × b) ⋅ c
(a × b ) ⋅ c = a ⋅ (b × c )

:= ( a , b , c )

(a ,b,c ) = (b,c,a ) = (c,a ,b )

(a ,b,c ) = − (b,a ,c )

(a ,b,c ) = − (a ,c,b )

(a ,b,c ) = − (c,b,a )
 ax ay az
( a, b, c ) = bx by bz
cx cy cz
 b×c
ϕ

c
a

b
六面體體積V=高X底面積=
a cos ϕ b × c = a b × c cos ϕ = a ⋅ (b × c ) = ( a, b, c )
 b×c
ϕ

c
a

b ax ay az
= b by bz 的絕對值
六面體體積V = ( a , b, c ) x

cx cy cz
 例題4-11
求以 a = 2i − j − k

b = j + 7k

c = i + 2k

為三稜的平行六面體之體積
 a = 2i − j − k
例題4-11之解答
b = j + 7k
c = i + 2k
2 −1 −1
0 1 7 = −2
1 0 2

平行六面體之體積=2