Linear Algebra

Based on: Advanced Engineering Mathematics by Peter O'Neil, Nelson Engineering

 Topics to cover

• Vectors in the Plane and 3-Space

• The Dot Product
• The Cross Product
• The Vector Space Rn
• Orthogonalisation
• Orthogonal Complements and
Projections
 Vectors in the Plane and 3-Space

Some quantities, such as temperature, mass etc., are completely specified by a number.
Such quantities are called scalars.
 Vectors in the Plane and 3-Space

Some quantities, such as temperature, mass etc., are completely specified by a number.
Such quantities are called scalars.

Vector has both a magnitude and a sense of direction. If we push against an object, the
effect is determined not only by the strength of the push, but its direction.
 Vectors in the Plane and 3-Space

Some quantities, such as temperature, mass etc., are completely specified by a number.
Such quantities are called scalars.

Vector has both a magnitude and a sense of direction. If we push against an object, the
effect is determined not only by the strength of the push, but its direction.

Problem: Give an examples of vectors.

 Vectors in the Plane and 3-Space

Some quantities, such as temperature, mass etc., are completely specified by a number.
Such quantities are called scalars.

Vector has both a magnitude and a sense of direction. If we push against an object, the
effect is determined not only by the strength of the push, but its direction.

Problem: Give an examples of vectors.

Velocity and acceleration are vectors.
 Vectors in the Plane and 3-Space

Some quantities, such as temperature, mass etc., are completely specified by a number.
Such quantities are called scalars.

Vector has both a magnitude and a sense of direction. If we push against an object, the
effect is determined not only by the strength of the push, but its direction.

Problem: Give an example of vectors.

Velocity and acceleration are vectors.

We can include both magnitude and

direction in one package by representing a
vector as an arrow from the origin to a point
(x, y, z) in
3-space
 Vectors in the Plane and 3-Space
We call x the first component of < x, y, z >,
y the second component and z the third component.
These components are scalars.
 Vectors in the Plane and 3-Space
We call x the first component of < x, y, z >,
y the second component and z the third component.
These components are scalars.

Two vectors are equal exactly when their

respective components are equal. That is,

< x1, y1, z1 >=< x2, y2, z2 >

exactly when x1 = x2, y1 = y2, and z1 = z2.

 Vectors in the Plane and 3-Space
We call x the first component of < x, y, z >,
y the second component and z the third component.
These components are scalars.

Two vectors are equal exactly when their

respective components are equal. That is,

< x1, y1, z1 >=< x2, y2, z2 >

exactly when x1 = x2, y1 = y2, and z1 = z2.

 Vectors in the Plane and 3-Space
We call x the first component of < x, y, z >,
y the second component and z the third component.
These components are scalars.

Two vectors are equal exactly when their

respective components are equal. That is,

< x1, y1, z1 >=< x2, y2, z2 >

exactly when x1 = x2, y1 = y2, and z1 = z2.

Problem: Give an example of same vectors

 Vectors in the Plane and 3-Space
We call x the first component of < x, y, z >,
y the second component and z the third component.
These components are scalars.

Two vectors are equal exactly when their

respective components are equal. That is,

< x1, y1, z1 >=< x2, y2, z2 >

exactly when x1 = x2, y1 = y2, and z1 = z2.

Problem: Give an example of same vectors

Vectors in the Plane and 3-Space
 Vectors in the Plane and 3-Space

Problem: Calculate the norm of G = <−1, 4, 2>

 Vectors in the Plane and 3-Space

Problem: Calculate the norm of G = <−1, 4, 2>

 Vectors in the Plane and 3-Space

Problem: Calculate the norm of G = <−1, 4, 2>

 Vectors in the Plane and 3-Space

Problem: Calculate the norm of G = <−1, 4, 2>

 Vectors in the Plane and 3-Space

Problem: Calculate the norm of G = <−1, 4, 2>

 Vectors in the Plane and 3-Space

Proof
 Vectors in the Plane and 3-Space

Proof
 Vectors in the Plane and 3-Space

Proof

Multiplication of a vector by a scalar as a scaling (stretching or shrinking) operation

 Vectors in the Plane and 3-Space

Proof

Multiplication of a vector by a scalar as a scaling (stretching or shrinking) operation

Vectors in the Plane and 3-Space
Vectors in the Plane and 3-Space
 Vectors in the Plane and 3-Space
Parallelogram law for vector addition.

lengths of any two sides of a triangle must be at least as great as the

length of the third side, we have the triangle inequality
 Vectors in the Plane and 3-Space
Parallelogram law for vector addition.

Lengths of any two sides of a triangle must be at least as great as the

length of the third side, we have the triangle inequality
 Vectors in the Plane and 3-Space
Unit vector
 Vectors in the Plane and 3-Space
Unit vector

A vector of length 1 is called a unit vector. The unit vectors along the positive
axes are shown in Figure and are labeled
 Vectors in the Plane and 3-Space
Unit vector

A vector of length 1 is called a unit vector. The unit vectors along the positive
axes are shown in Figure and are labeled
 Vectors in the Plane and 3-Space
Unit vector

A vector of length 1 is called a unit vector. The unit vectors along the positive
axes are shown in Figure and are labeled

standard representation of F
 Vectors in the Plane and 3-Space
Unit vector

A vector of length 1 is called a unit vector. The unit vectors along the positive
axes are shown in Figure and are labeled

standard representation of F

When a component of a vector is zero,

we usually just omit this term in the standard representation.
For example:
F =< −8, 0, 3 > as −8i + 3k instead of −8i + 0j + 3k.
Vectors in the Plane and 3-Space
 Vectors in the Plane and 3-Space

Problem: Calculate the vector V

 Vectors in the Plane and 3-Space

Problem: Calculate the vector V

 Vectors in the Plane and 3-Space

Problem: Calculate the vector V

 Vectors in the Plane and 3-Space

Problem: Calculate the vector V

 Vectors in the Plane and 3-Space
How to find a vector of any length in any given direction?
 Vectors in the Plane and 3-Space
How to find a vector of any length in any given direction?

• Identify direction + find the norm

• Multiply by corresponding scalar

Problem: Calculate the vector in direction

with length equal 7.
 Vectors in the Plane and 3-Space
How to find a vector of any length in any given direction?

• Identify direction + find the norm

• Multiply by corresponding scalar

Problem: Calculate the vector in direction

with length equal 7.
 Vectors in the Plane and 3-Space
Dot product
 Vectors in the Plane and 3-Space
Dot product
 Vectors in the Plane and 3-Space
Dot product

Dot product is a number or vector?

 Vectors in the Plane and 3-Space
Dot product

Dot product is a number or vector?

 Vectors in the Plane and 3-Space
Dot product

Dot product is a number or vector?

Properties
 Vectors in the Plane and 3-Space
Dot product

Dot product is a number or vector?

Properties
 Vectors in the Plane and 3-Space
Dot product

Some proofs
4.
 Vectors in the Plane and 3-Space
Dot product

Some proofs
4.
 Vectors in the Plane and 3-Space
Dot product

Some proofs
4.

6.
 Vectors in the Plane and 3-Space
Dot product

The dot product can be used to find an angle between two vectors
 Vectors in the Plane and 3-Space
Dot product

The dot product can be used to find an angle between two vectors
 Vectors in the Plane and 3-Space
Dot product

The dot product can be used to find an angle between two vectors

Apply property 6
 Vectors in the Plane and 3-Space
Dot product

The dot product can be used to find an angle between two vectors

Apply property 6
 Vectors in the Plane and 3-Space
Dot product

The dot product can be used to find an angle between two vectors

Apply property 6
 Vectors in the Plane and 3-Space
Dot product

Cauchy-Schwarz inequality
 Vectors in the Plane and 3-Space
Dot product

Cauchy-Schwarz inequality

Augustin-Louis Cauchy Karl Hermann Amandus Schwarz

 Vectors in the Plane and 3-Space
Dot product

Cauchy-Schwarz inequality
or
Cauchy–Bunyakovsky–Schwarz

Augustin-Louis Cauchy Karl Hermann Amandus Schwarz Viktor Yakovlevich Bunyakovsky

 Vectors in the Plane and 3-Space
Dot product

Problem: Calculate the angle between

1.
 Vectors in the Plane and 3-Space
Dot product

Problem: Calculate the angle between

1.

2.
 Vectors in the Plane and 3-Space
Dot product

Problem: Calculate the angle between

1.

2.
 Vectors in the Plane and 3-Space
Orthogonality

How can you show that two vectors are orthogonal?

 Vectors in the Plane and 3-Space
Orthogonality

How can you show that two vectors are orthogonal?

 Vectors in the Plane and 3-Space
Orthogonality

How can you show that two vectors are orthogonal?

Problem: check orthogonality of following vectors

 Vectors in the Plane and 3-Space
The Cross Product
 Vectors in the Plane and 3-Space
The Cross Product

Components calculation
 Vectors in the Plane and 3-Space
The Cross Product

Components calculation
minor
 Vectors in the Plane and 3-Space
The Cross Product

Properties of the Cross Product

 Vectors in the Plane and 3-Space
The Cross Product

Properties of the Cross Product

 Vectors in the Plane and 3-Space
The Cross Product

Properties of the Cross Product

Problem : proof property 2

 Vectors in the Plane and 3-Space
The Cross Product

Properties of the Cross Product

Problem : proof property 2

 Vectors in the Plane and 3-Space
The Cross Product

Properties of the Cross Product

Proof Property 3
 Vectors in the Plane and 3-Space
The Cross Product

Properties of the Cross Product

Proof Property 3
 Vectors in the Plane and 3-Space
The Cross Product

Properties of the Cross Product

Proof Property 3

Now we should show that :

Vectors in the Plane and 3-Space
 Vectors in the Plane and 3-Space
Equation of a Line in 3-Space Parametric equations of L

How to find parametric equations of a line L in 3-space containing two given points ?
 Vectors in the Plane and 3-Space
Equation of a Line in 3-Space Parametric equations of L

How to find parametric equations of a line L in 3-space containing two given points ?

P0 P1

We can form a vector

Now suppose (x, y, z) is any point on L

belongs to L
 Vectors in the Plane and 3-Space
Equation of a Line in 3-Space Parametric equations of L

How to find parametric equations of a line L in 3-space containing two given points ?
 Vectors in the Plane and 3-Space
Equation of a Line in 3-Space Parametric equations of L

How to find parametric equations of a line L in 3-space containing two given points ?
Generalisation

We want parametric equations of the line L through P0 and P1

 Vectors in the Plane and 3-Space
Equation of a Line in 3-Space Parametric equations of L

Problem: Find parametric equations of the line through (−1,−1, 7) and (7,−1, 4)
 Vectors in the Plane and 3-Space
Equation of a Line in 3-Space Parametric equations of L

Problem: Find parametric equations of the line through (−1,−1, 7) and (7,−1, 4)
 Vectors in the Plane and 3-Space
Equation of a Line in 3-Space Parametric equations of L

Problem: Find parametric equations of the line through (−1,−1, 7) and (7,−1, 4)
 Vectors in the Plane and 3-Space
Equation of a Line in 3-Space Parametric equations of L

Problem: Find parametric equations of the line through (−1,−1, 7) and (7,−1, 4)
 n
Vectors in the R space
 n
Vectors in the R space
 n
Vectors in the R space
 n
Vectors in the R space

Given two points P: (x1, x2,··· , xn ) and Q: (y1, y2,··· , yn ) in Rn

Distance between P and Q

 n
Vectors in the R space
Dot product
 n
Vectors in the R space
Dot product

Angle between n-vectors F and G

 n
Vectors in the R space
Unit vectors in Rn
 n
Vectors in the R space
Unit vectors in Rn
 n
Vectors in the R space
Unit vectors in Rn
 n
Vectors in the R space

A (finite) set of vectors in Rn is called linearly dependent if one of the vectors is a

linear combination of the others. Otherwise, if no one of the vectors is a linear
combination of the others, then these vectors are linearly independent.
 n
Vectors in the R space
Theorem 1

Theorem 2