AECH4102 - Applied Differential Equations

Unit 1 – Introduction to Linear Algebra, Vectors, and Matrices

www.udst.edu.q
Outline
• Introduction to the course
• Recap on App Diff Equ principles
– Space
– Coordinates,
– Points,
– Scalars & Vectors
– Exercise
• Matrices
– Fundamentals
– Multiplications
– Inverse & Identity
– Exercises &tests
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 nD Space
nD Space:
n : number of dimensions
Examples:
• 1D space: time, along a line or curve
• 2D space: plane, sphere
• 3D space: the world we live in
• 4D space: 3D + time

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 Cartesian Coordinates
• The Cartesian coordinate system is a system of
orthogonal axes which is the basis for
describing body and force systems in
mechanics.
– The coordinate system is always right handed (obeys the
right hand rule.
– We will focus on 2D systems.

y
x 4
 Coordinates
2D Cartesian coordinates:

x
y (x,y)
(x,y)

x
Standard Screen (output, input)
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 Polar coordinates

Coordinate transformation
y
(x,y) from (r , ) to ( x, y ) space :
x = r cos
r
 y = r sin 
x Angle  : in radians

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 3D coordinates (1)

3D Cartesian coordinates:

z (x,y,z) (x,y,z)
z

y x
x y

Right-handed Left-handed
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 Points

• Point: is a position in nD space

• Notation: P, also P, p, p

• (x,y,z), also (x1, x2, x3), (Px, Py, Pz),

(r, , z), ( r, , ), …

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 Scalars and Vectors
• A scalar is a physical quantity having magnitude
but not direction
– Length, mass, time

• A vector is a physical quantity having both

magnitude and direction
– Force, velocity, acceleration

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SCALAR
Scalar
A SCALAR quantity Example Magnitude
is any quantity in
physics that has Speed 35 m/s
MAGNITUDE ONLY

Distance 25 meters

Number value
with units Age 16 years

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VECTOR
Vector Magnitude and
Example Direction

A VECTOR quantity Velocity 35 m/s, North

is any quantity in
physics that has
BOTH MAGNITUDE Acceleration 10 m/s2, South
and DIRECTION
Displacement 20 m, East

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 Scalars and Vectors
• Vector:
– “arrow”
– multiple interpretations (displacement, velocity,
force, …)
– has a magnitude and direction
– has no position

• Notation: V, also V, v, v
• (Vx, Vy, Vz), also (x, y, z), (x1, x2, x3)
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 Scalars and Vectors
• Vectors have components along axes of the
Cartesian system

– x, y, and z axes are denoted by unit vectors

• carat often used to imply unit vector iˆ, ˆj , kˆ
• Unit vectors have a magnitude (length) of one.

z
b
a

 P = aiˆ + bˆj + ckˆ
k̂ P
c iˆ ĵ
y

x 15
Scalar times vector

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Scalar times vector

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 Scalar multiplication of vector

Multiplication components with scalar s

y y
2V
V

x x

sV = ( sVx ,sV y , sVz )

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Scalar times vector

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22
 Short intro to Linear Algebra

System of linear equations:

u = 2x + 3y + 4z
v = x − 5 y + 3z
w = 5x + y − z

Such systems occur in many, many applications.

They are studied in Linear Algebra.

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 Very short intro to Linear Algebra

System of linear equations:

u = 2x + 3y + 4z
v = x − 5 y + 3z
w = 5x + y − z

Typical questions:
- Given u, v, w, what are x, y, z?
- Can we find a unique solution?

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Outline
• Introduction to the course
• Recap on App Diff Equ principles
– Space
– Coordinates,
– Points,
– Scalars & Vectors
– Exercise
• Matrices
– Fundamentals
– Multiplications
– Inverse & Identity
– Exercises & tests 25
 What is a matrix?
Matrix:
- Mathematical objects with operations

A matrix (plural: matrices) is simply an ‘array’ of numbers, e.g.

On a simple level, a matrix is simply a way to organise values into rows and columns,
and represent these multiple values as a single structure.

Matrices are particularly useful in

3D graphics, as matrices can be
used to carry out
rotations/enlargements (useful for
changing the camera angle) or
project into a 2D ‘viewing’ plane.

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 Matrix

Matrix: rectangular array of elements

Element: quantity (value, expression, function, …)

Examples:
 x
 3.60 − 0.01 2.1  e x
x
− 5.46 0.00 1.6 ,  2 x 2
, a1 a2 a3  ,  y 
  e x 
 z 

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 Matrix Fundamentals

r  c matrix: r rows, c columns

mij : element at row i and column j.

 m11 m12  m1c 

m m  m 
M =  21 22 2c 
    
 
 mr1 mr 2  mrc  r  c elements

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 Matrix Fundamentals

r  c matrix: r rows, c columns

mij : element at row i and column j.

 m11 m12  m1c 

m m  m 
M =  21 22 2c 
    
 
 mr1 mr 2  mrc 
c columns
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 Matrix Fundamentals

r  c matrix: r rows, c columns

mij : element at row i and column j.

 m11 m12  m1c 

m 
 21 m22  m2c  r rows
M=
    
 
 mr1 mr 2  mrc 

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 Matrix Fundamentals

# Dimensions of Matrices
The dimension of a matrix is its size, in terms of its number of rows and columns.

Matrix Dimensions

23

31 ?

13 ?

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 Matrix Fundamentals

# Notation/Names for Matrices

A matrix can have square or curvy brackets*.

Matrix Column Vector Row Vector

(The vector you know
and love)

So a matrix with one column is simply a vector in the usual sense.

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 Matrix Fundamentals

# Variables for Matrices

If we wish a variable to represent a matrix, we use bold, capital letters.

1
𝑨= 6
−3

𝑪 = 𝑷𝟐 𝑻𝑷

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 Matrix Fundamentals

Addition
– Commutative: A+B=B+A
– Associative: (A+B)+C=A+(B+C)

2 4 1 0  2 + 1 4 + 0 3 4
A+B =  + = =
2 5 3 1 2 + 3 5 + 1  5 6
  

Subtraction
- By adding a negative matrix

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 Matrix Fundamentals

# Adding/Subtracting Matrices
Simply add/subtract the corresponding elements of each matrix.
They must be of the same dimension.

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 Matrix Fundamentals

Scalar multiplication

Scalar * matrix = scalar multiplication

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 Matrix Fundamentals

# Scalar Multiplication
A scalar is a number which can ‘scale’ the elements inside a matrix/vector.

1 ?

2 ?

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 Matrix Multiplication

“When A is a mxn matrix & B is a kxl matrix, AB is only possible if n=k.

The result will be an mxl matrix”

Simply put, can ONLY perform A*B IF:

Number of columns in A = Number of rows in B

n l

A1 A2 A3 B13 B14
m A4 A5 A6 x B15 B16 k = m x l matrix
A7 A8 A9 B17 B18
A10 A11 A12

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 Matrix Multiplication
• Matrix multiplication is NOT commutative i.e the
order matters!
– AB≠BA

• Matrix multiplication IS associative

– A(BC)=(AB)C

• Matrix multiplication IS distributive

– A(B+C)=AB+AC
– (A+B)C=AC+BC

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 Matrix multiplication

NX1 1XM NXM

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Matrix multiplication

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Matrix multiplication

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Matrix multiplication

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Matrix multiplication

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Matrix multiplication

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Matrix multiplication

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 Matrix multiplication

• Note: each column or each row is a multiple of the others

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 Matrix multiplication

• Multiplication method:
Sum over product of respective rows and columns

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 Matrix Fundamentals
Matrix Multiplication
This is where things get slightly more complicated...

Now repeat for the next row of the left matrix...

1 0 3 -2 5 1 -11 16
2 8 4 3 1 7 42 61
7 -1 0 2 0 3
8 -3 50 -6

We start with this row and column, and sum the products of each pair.
(1 x 5) + (0 x 1) + (3 x 0) + (-2 x 8) = -11
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Further Example

 4
A = 1 2 3 , B = 5
6
 4
AB = 1 2 3 5 = 1  4 + 2  5 + 3  6 = 32
6

BA = 

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Answer:
 4
A = 1 2 3 , B = 5 AB  BA
6
 4
AB = 1 2 3 5 = 1  4 + 2  5 + 3  6 = 32 
6
 4 4  1 4  2 4  3 4 8 12 
BA = 5 1 2 3 = 5  1 5  2 5  3 = 5 10 15 
6 6  1 6  2 6  3 6 12 18 

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Further Example

10
= ?
17

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Test Your Understanding
Now you have a go...

1 0 0 1 𝟎 𝟏
a If 𝐴 = ,𝐵 = , 𝐴𝐵 = ?
1 1 3 2 𝟑 𝟑

1 1 3 𝟐 ?
b =
2 0 −1 𝟔
1
1 2 2
7 10  1 2 3 2 = 14 ?
c =
3 4
?
15 22 1
3
1 2 3
 2 1 2 3 = 2 4 6
3
?
3 6 9

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Identity Matrix
1 0 𝑎 𝑏
Let 𝑰 = and 𝐴 = .
0 1 𝑐 𝑑
Determine:

𝒂
𝐴𝐼 = ?𝒃
𝒄 𝒅
𝒂 𝒃
𝐼𝐴 = ?𝒅
𝒄

1 0
𝑰 = is known as the ‘identity matrix’.
0 1
Multiplying by it has no effect, i.e. 𝐴𝐼 = 𝐼𝐴 = 𝐴 for any matrix 𝐴.

➢ It may seem pointless to have such a matrix, but it’ll have more importance
when we consider matrices as ‘transformations’ later. Although admittedly
you won’t quite fully appreciate why we have it unless you do Further Maths
A Level…
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Exercise 1
1
? ? ?

? ? ?

? ? ?
? ? ?
3

? ? ?
? ? ? 55
 Exercise 1
4 ? ? ?
? ? ?

? ?
?

? ?
?
6

? ? ?

? ? ?
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Exercise 1
7

? ?
?

? ?
?

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 Transposition
1   3
 
b = 1  d =  4
T
bT = 1 1 2 d = 3 4 9
2 9
column row row column

1 2 3 1 5 6 
A = 5 4 1 AT = 2 4 7
6 7 4 3 1 4

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Thank you
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