Chapter 3 Vectors

Quantity

- Scalar and Vector

Vector

- A vector has both a magnitude and a direction, whereas a scalar has only
a magnitude.

- Take as many examples of ‘a vector’.

- Expressed as an arrow. (Magnitude and Direction) ➔ 𝑎⃗ (in this textbook)

◼ Arrow length (magnitude)

◼ Head and Tail (direction)

1
(Q) It any two scalars have the same magnitude, then are they equal (identical)?
Yes

(Q) It any two vectors have the same magnitude and the same direction, then are
they equal (identical)? No ➔ Think about a force and a velocity.

(Remark) Bound Vector vs Free Vector

A Position Vector, a Displacement Vector, a Velocity Vector, an Acceleration

Vector

(Note) A displacement vector, a velocity vector, and an acceleration vector are all
FREE vectors. ➔ (Fig. 3-1) If any displacement vectors have the same magnitude
and direction, then they represent the same displacement.

Vector Addition

Consider 𝑐⃗ = 𝑎⃗ + 𝑏⃗⃗.

- 𝑐⃗ is the vector sum (or resultant) of 𝑎⃗ and 𝑏⃗⃗.

- Two ways of vector addition: (1) Geometrical addition (2) Algebraic

addition

Geometrical Addition
2
 (1) Sketch vector 𝑎⃗ to some convenient scale and at the proper angle.

(2) Sketch vector 𝑏⃗⃗ to the same scale, with its tail at the head of 𝑎⃗, again at
the proper angle.

(3) The vector sum 𝑐⃗ is the vector that extends from the tail of 𝒂
⃗⃗ to the
head of ⃗𝒃⃗.

Properties of Vector Addition

(1) Commutative Law (교환법칙) ➔ 𝑎⃗ + 𝑏⃗⃗ = 𝑏⃗⃗ + 𝑎⃗ [Fig. 3-3]

(2) Associative Law (결합법칙) ➔ (𝑎⃗ + 𝑏⃗⃗) + 𝑐⃗ = 𝑎⃗ + (𝑏⃗⃗ + 𝑐⃗) [Fig. 3-4]

3
Vector Addition vs Vector Subtraction

𝑎⃗ − 𝑏⃗⃗ = 𝑎⃗ + (−𝑏⃗⃗)

(Note) What is −𝑏⃗⃗? How do we draw −𝑏⃗⃗?

(Question) Suppose 𝑐⃗ = 𝑎⃗ + 𝑏⃗⃗ and the magnitudes of 𝑎⃗ and 𝑏⃗⃗ are 3 cm and 4
cm, respectively. What is the maximum/minimum possible length of 𝑐⃗?

Components of Vectors

4
Consider a rectangular coordinate system.

(Remarks)

(1) Reference Frame

(2) Many other coordinate systems like the cylindrical coordinate system, the
spherical coordinate system, etc.

(3) Define the 𝑥, 𝑦, and 𝑧 axes according to the right-hand rule. (Right-
Handed Coordinate System) ➔ If the 𝑥 axis is to the right and the 𝑦 axis
is upward, then the 𝑧 axis should point out of the page.

Place a vector in the rectangular coordinate system.

- A component(성분) of a vector is the projection of the vector on an axis.

- 𝑥 component (𝑥축 성분), 𝑦 component (𝑦축 성분), etc.  Resolving

a vector (분해)

5
Suppose the 𝑥 component and the 𝑦 component of a vector are 𝑎𝑥 and 𝑎𝑦 ,
respectively. We can think of 4 different cases: [Explain]

(1) 𝑎𝑥 > 0 and 𝑎𝑦 > 0

(2) 𝑎𝑥 > 0 and 𝑎𝑦 < 0

(3) 𝑎𝑥 < 0 and 𝑎𝑦 > 0

(4) 𝑎𝑥 < 0 and 𝑎𝑦 < 0

Finding the Components

𝑎𝑥 = 𝑎 cos 𝜃 and 𝑎𝑦 = 𝑎 sin 𝜃

(Notes)
6
 (1) 𝜃 is the angle that the vector 𝑎⃗ makes with the positive direction of the
𝑥 axis. (Counter-clockwise direction!)

(2) 𝑎 is the magnitude of the vector 𝑎⃗.

(3) Once the components 𝑎𝑥 and 𝑎𝑦 are given, then we know the vector 𝑎⃗.
➔ The components can be used in place of the vector.

(4) Once the magnitude 𝑎 and the angle 𝜃 are given, then we know the
vector 𝑎⃗. ➔ The magnitude 𝑎 and the angle 𝜃 can be used in place of
the vector.

 Two ways to represent a vector: (1) components (2) a magnitude and an

angle

(Q) How are they related?

𝑎𝑦 𝑎𝑦
From (1) to (2): 𝑎 = √𝑎𝑥 2 + 𝑎𝑦 2 and tan 𝜃 = → 𝜃 = tan−1
𝑎𝑥 𝑎𝑥

(Note) Pay attention to the signs of the components. [Take an example.]

From (2) to (1): 𝑎𝑥 = 𝑎 cos 𝜃 and 𝑎𝑦 = 𝑎 sin 𝜃

(Note) Always true.

(Q) How do we reconstruct a vector from its components? Try this with 𝑏𝑥 = 7
and 𝑏𝑦 = −5.

What about a 3-dimensional case?

7
  We need (1) a magnitude and two angles, or (2) three components to
specify a vector.

[Try Checkpoint 2.]

(Remarks)

- Degree vs Radian

◼ 2𝜋 = 360° ➔ What about 𝜋/6? What about 40°?

- Trigonometric Functions and Inverse Trigonometric Functions

◼ sine cosine tangent ➔ Definitions and Signs

◼ Inverse ➔ Be careful about the sign. [Take an example.]

◼ Useful Formulas

3-2 Unit Vectors

(Definition) A unit vector is a vector that has a magnitude of 1 and points in a

particular direction.

- The only purpose is to specify a direction.

⃗⃗ : unit vectors in the positive direction of the 𝑥, 𝑦, and 𝑧 axes (Fig. 3.13)
𝑖⃗, 𝑗⃗, 𝑘

(Note) the right-handed coordinate system

8
The unit vectors are very useful for expressing other vectors:

(Ex) 𝑎⃗ = 𝑎𝑥 𝑖⃗ + 𝑎𝑦 𝑗⃗

(1) 𝑎𝑥 𝑖⃗ and 𝑎𝑦 𝑗⃗ : the vector components of 𝑎⃗ (벡터 𝑎⃗의 벡터성분)

(2) 𝑎𝑥 and 𝑎𝑦 : the scalar components (or simply the components) of 𝑎⃗ (벡

터 𝑎⃗의 스칼라성분)  𝑎𝑥 and 𝑎𝑦 are scalars.

9
Adding Vectors by Components

For 𝑎⃗ = 𝑎𝑥 𝑖⃗ + 𝑎𝑦 𝑗⃗ and 𝑏⃗⃗ = 𝑏𝑥 𝑖⃗ + 𝑏𝑦 𝑗⃗,

𝑟⃗ = 𝑎⃗ + 𝑏⃗⃗ = 𝑟𝑥 𝑖⃗ + 𝑟𝑦 𝑗⃗

Then, 𝑟𝑥 = 𝑎𝑥 + 𝑏𝑥 and 𝑟𝑦 = 𝑎𝑦 + 𝑏𝑦 .

In summary, to add 𝑏⃗⃗ to 𝑎⃗…

(1) Resolve 𝑎⃗ and 𝑏⃗⃗ into their scalar components (along the given axes),
i.e. 𝑎𝑥 , 𝑎𝑦 , 𝑏𝑥 , 𝑏𝑦 .

(2) Add the scalar components to obtain the scalar components of 𝑟⃗. ➔ 𝑟𝑥 =
𝑎𝑥 + 𝑏𝑥 and 𝑟𝑦 = 𝑎𝑦 + 𝑏𝑦

(3) Now, 𝑟⃗ = 𝑎⃗ + 𝑏⃗⃗ = 𝑟𝑥 𝑖⃗ + 𝑟𝑦 𝑗⃗

(Notes)

- Subtraction ➔ 𝑟⃗ = 𝑎⃗ − 𝑏⃗⃗ = (𝑎𝑥 − 𝑏𝑥 )𝑖⃗ + (𝑎𝑦 − 𝑏𝑦 )𝑗⃗

- Two vectors must be equal, if their corresponding components are equal.

- The scalar components are unique for a given coordinate system. [Can
you understand this?]

10
What if we have (different) multiple coordinate systems? (Fig. 3-15)

(Notes)

(1) Different reference frame ➔ Different pair of components and angle

(2) 𝑎 = √𝑎𝑥2 + 𝑎𝑦2 = √𝑎′ 2𝑥 + 𝑎′ 2𝑦 and 𝜃 = 𝜃 ′ + 𝜙

[Explain Sample Problems 3.03 and 3.04.]

3-3 Multiplying Vectors

Two different multiplications:

11
 (1) Multiplying a Vector by a Scalar ➔ 𝑟⃗ = 𝑠𝑎⃗ (𝑠: scalar)

A. The magnitude is scaled by 𝑠. ➔ Shrinking, or Elongating

B. The angle does not change. ➔ What if 𝑠 is negative? [The angle

changes.]

(2) Multiplying a Vector by a Vector

A. Scalar Product (스칼라곱)

B. Vector Product (벡터곱)

The Scalar Product (스칼라곱)

(Def) The scalar product of the vectors 𝑎⃗ and 𝑏⃗⃗

𝑎⃗ ⋅ 𝑏⃗⃗ ≡ 𝑎𝑏 cos 𝜙

(1) 𝑎 and 𝑏 are the magnitudes of 𝑎⃗ and 𝑏⃗⃗, respectively.

(2) 𝜙 is the angle between 𝑎⃗ and 𝑏⃗⃗. ➔ Two angles! 𝜙 and 360° − 𝜙 ➔
Either is fine! Why? cos 𝜙 = cos(360° − 𝜙)

(3) RHS is a scalar! ➔ Scalar Product

(4) ⋅ ➔ Dot Product (𝑎⃗ dot 𝑏⃗⃗)

One important meaning of the scalar product (Fig. 3-18) [Important!]

12
 - Product of two quantities; (1) the magnitude of one vector and (2) the
scalar component of the other vector along the first one

- Application ➔ What if 𝑏 = 1, for instance?

(Notes)

(1) What if 𝜙 = 0°? ➔ The component of one vector along the other vector
is maximum.

(2) What if 𝜙 = 90°? ➔ The component of one vector along the other vector
is 0. ➔ 𝑎⃗ ⋅ 𝑏⃗⃗ = 0

(3) If 𝑎⃗ ⋅ 𝑏⃗⃗ = 0 for any two nonzero vectors, then they are perpendicular to
each other.

13
(Remarks)

- 𝑎⃗ ⋅ 𝑏⃗⃗ ≡ 𝑎𝑏 cos 𝜙 = (𝑎 cos 𝜙)𝑏 = 𝑎(𝑏 cos 𝜙) ➔ 𝑎⃗ ⋅ 𝑏⃗⃗ = 𝑏⃗⃗ ⋅ 𝑎⃗ ➔

Commutative Law (교환법칙)

- 𝑎⃗ ⋅ 𝑏⃗⃗ = (𝑎𝑥 𝑖⃗ + 𝑎𝑦 𝑗⃗ + 𝑎𝑧 𝑘
⃗⃗ ) ⋅ (𝑏𝑥 𝑖⃗ + 𝑏𝑦 𝑗⃗ + 𝑏𝑧 𝑘
⃗⃗ ) ➔ Expansion by

Distributive Law (분배법칙) ➔ … [Explain.] ➔ 𝑎⃗ ⋅ 𝑏⃗⃗ = 𝑎𝑥 𝑏𝑥 + 𝑎𝑦 𝑏𝑦 +

𝑎𝑧 𝑏𝑧

Checkpoint

Suppose 𝑎 and 𝑏 are 3 and 4 , respectively. What is the angle between the
two vectors when (1) 𝑎⃗ ⋅ 𝑏⃗⃗ = 0, (2) 𝑎⃗ ⋅ 𝑏⃗⃗ = 12, (3) 𝑎⃗ ⋅ 𝑏⃗⃗ = −12?

The Vector Product (벡터곱)

(Def) The vector product of the vectors 𝑎⃗ and 𝑏⃗⃗

𝑎⃗ × 𝑏⃗⃗ ≡ 𝑐⃗

(1) The magnitude of 𝑐⃗ ➔ 𝑐 = 𝑎𝑏 sin 𝜙

A. 𝜙 is the smaller of the two angles between 𝑎⃗ and 𝑏⃗⃗  sin 𝜙 ≠

sin(360° − 𝜙)

(2) The direction of 𝑐⃗ is determined by the right-hand screw rule.

[Explain.]

14
 A. Perpendicular to the plane that contains 𝑎⃗ and 𝑏⃗⃗.

(3) RHS is a vector! ➔ Vector Product

(4) × ➔ Cross Product (𝑎⃗ cross 𝑏⃗⃗)

(Notes)

(1) What if 𝑎⃗ × 𝑏⃗⃗ = 0 ? ➔ sin 𝜙 = 0 ➔ 𝑎⃗ and 𝑏⃗⃗ are parallel or

antiparallel.

(2) What if 𝑎⃗ and 𝑏⃗⃗ are perpendicular to each other? ➔ 𝜙 = ±90° ➔

sin 𝜙 = ±1 ➔ The magnitude of 𝑎⃗ × 𝑏⃗⃗ is maximum.

(Remarks)

- We can see 𝑏⃗⃗ × 𝑎⃗ = −(𝑎⃗ × 𝑏⃗⃗) according to the right-hand screw rule. ➔
The commutative rule does not apply to the vector product.
15
 - 𝑎⃗ × 𝑏⃗⃗ = (𝑎𝑥 𝑖⃗ + 𝑎𝑦 𝑗⃗ + 𝑎𝑧 𝑘
⃗⃗ ) × (𝑏𝑥 𝑖⃗ + 𝑏𝑦 𝑗⃗ + 𝑏𝑧 𝑘
⃗⃗ ) ➔ Expansion by

Distributive Law (분배법칙) ➔ … [Explain.] ➔ 𝑎⃗ × 𝑏⃗⃗ = (𝑎𝑦 𝑏𝑧 −

⃗⃗
𝑏𝑦 𝑎𝑧 )𝑖⃗ + (𝑎𝑧 𝑏𝑥 − 𝑏𝑧 𝑎𝑥 )𝑗⃗ + (𝑎𝑥 𝑏𝑦 − 𝑏𝑥 𝑎𝑦 )𝑘

𝑖⃗ 𝑗⃗ ⃗⃗
𝑘 𝑎𝑦 𝑎𝑧 𝑎𝑥 𝑎𝑧 𝑎𝑥 𝑎𝑦
- 𝑎⃗ × 𝑏⃗⃗ = |𝑎𝑥 𝑎𝑦 𝑎𝑧 | = |
𝑏𝑦 𝑏𝑧 | 𝑖
⃗ − | 𝑏𝑥 𝑏𝑧 | 𝑗
⃗ + | 𝑏𝑥
⃗⃗
𝑏𝑦 | 𝑘
𝑏𝑥 𝑏𝑦 𝑏𝑧

◼ Can you see 𝑏⃗⃗ × 𝑎⃗ = −(𝑎⃗ × 𝑏⃗⃗)?

◼ Can you see what happens if 𝑎⃗ and 𝑏⃗⃗ are parallel?

Checkpoint

Suppose 𝑎 and 𝑏 are 3 and 4 , respectively. What is the angle between the
two vectors when (1) |𝑎⃗ × 𝑏⃗⃗| = 0, (2) |𝑎⃗ × 𝑏⃗⃗| = 12?

[Explain Sample Problems 3.05 3.06 3.07.]

16