Vector Algebra and Calculus I (2013) 2A1A 1

2A1A Vector Algebra and Calculus I

Bugs/queries to [email protected] Michaelmas 2013

1. The tetrahedron in the figure has vertices A, B, C, D at positions a, b, c, d,

respectively.
(a) Derive an expression for the unit normal n̂abc to the planar face ABC.
Explain why points r on the plane ABC can be written r · n̂abc = a · n̂abc .
Hence, and by writing y = d+βn̂abc , derive the position of Y, the projection
of D onto the face ABC along the normal to ABC.
(b) By writing x = a + α(c − a), derive an expression for the position vector x
of the point X on the line AC such that DX is perpendicular to AC.
(c) The unit normal you derived in part (a) might point into, or out of, the
tetrahedron. With knowledge of the ordering of vertices around each face
(say from the diagram) it is of course possible to recover an outward facing
normal.
Now suppose that you do not know the ordering.
(i) By considering the vector from D to A, devise a procedure to check
whether the n̂abc you recovered in part (a) is a unit normal pointing out of
the tetrahedron.
(ii) Would using the “wrong” sign for a normal affect the result of part (a)?
(d) In terms of outwards facing unit normals, derive an expression for the internal
angle between faces ABC and BCD.
Would using the “wrong” sign for a normal affect the result of part (d)?

A Y
X
O x
C
2 Vector Algebra and Calculus I (2013) 2A1A

2. The figure shows a laser mounted on a pan-tilt mechanism so that its beam can
be directed from the point a in any direction b̂. The beam must be reflected
from a plane mirror with normal n̂ facing out of the mirror to hit a target lying
at position t.

(a) Derive the equation of the mirror plane.

(b) Derive an expression for the minimum straight-line distance of a point t
from the plane mirror.
(c) Show that the direction the laser must point in is b̂ = v/|v| where

v = t − 2 ((t − m) · n̂) n̂ − a .

(d) A valid target position t must lie in front of the mirror. Devise a vector test
for this case.

n
1
0 Target
0
1
01
1 0
0
1 0
1
01
1 00
1 t
0
10
1
01
1 0
0
10
1
0
1
0
1
0
1
0
1
0
1 b
0
10
1
0
10
10
1
0
10
1
Plane 10
0
1
0
1
0
1 a Laser
Mirror 1
00
1
01
1 0
0
1

m O
Vector Algebra and Calculus I (2013) 2A1A 3

3. The figure shows two ground-based radar stations tracking an aircraft. Station
1 has a fixed Cartesian coordinate system (Oxy z )1 attached to it, and measures
the direction to an aircraft as n̂1 , but it cannot determine the range ρ1 . Station
2 is located at a in the first’s coordinate system. In its local coordinate system
(Oxy z )2 it simultaneously measures the direction to the aircraft as n̂2 but again
does not determine the range ρ2 .

(a) Assume that the two local coordinate systems are aligned (ie there is no
rotation between them). Show that the aircraft’s position in (Oxy z )1 can
be written in two ways, as either p1 = ρ1 n̂1 or as p1 = a + ρ2 n̂2 . Hence
show that the range from the first station is
(a × n̂2 ) · (n̂1 × n̂2 )
ρ1 =
|n̂1 × n̂2 |2

(b) The aircraft is at p1 = [−20, 5, 5] km relative to (Oxy z )1 , and a =

[1, 10, 0.3] km. Use a vector magnitude to derive the range ρ1 , and deduce
n̂1 . Also derive the position p2 of the aircraft as measured in (Oxy z )2 , and
hence find n̂2 .
(c) Verify the formula derived in part (a) by inserting the values of n̂1,2 found
in part (b).
(d) What simple change to the expression for ρ1 would you have to make if the
two coordinate systems were still separated by a but were no longer aligned?
(e) Under what circumstances would the expression of part (a) break down?
Relate your answers to the physical situation.

n2
ρ2 Station 2
ρ1 a

n1
Station 1
4 Vector Algebra and Calculus I (2013) 2A1A

4. (a) The vector triple-product is p × (q × r) = (p · r)q − (p · q)r.

Starting from the cyclic property of the scalar triple-product (p × q) · r =
(r × p) · q, use judicious substitution of vectors to
i. Express (a × b) · (c × d) in terms of scalar products only; and hence
ii. Show that (a × b) · ((a × c) × d) = (a · d)(a · (b × c)) .
(b) i. Express (a × b) × (c × d) as a linear combination of c and d.
ii. By writing the expression in square brackets as a linear combination of
a and c, simplify (a × b) · [(b × c) × (c × a)].
(c) By writing x = λa + µb + ν(a × b) (where a and b are non-parallel vectors,
and where λ, µ and ν are scalars), derive general solutions to the following
equations
i. x × a = b, given that a · b = 0.
ii. x · a = γ.

5. A fairground ride comprises a disc in the horizontal xy -plane, its centre at the
origin of the world coordinate system. A track runs from the centre to the edge
of the disk and is initially coincident with the world’s ı̂ axis. At time t = 0 (i) a
car moves off along the track from the centre of the disk with constant speed
ν, and (ii) the disk is set to rotate with angular velocity ω k̂ about its centre.

(a) Draw a diagram and confirm that in the world coordinate system the car’s
position at time t is R(t) = νtr̂(t), and deduce an expression for r̂(t).
(b) Show that the car’s velocity in the world frame is dR/dt = νr̂(t)+ νtω θ̂(t).
(c) Derive the car’s acceleration in the world frame, and interpret the terms
you find.
(d) Repeat steps (a) - (c) for the case where the car moves off along the track
with constant acceleration α. Again discuss the terms present in the car’s
acceleration.
Vector Algebra and Calculus I (2013) 2A1A 5

6. The mutually perpendicular unit vectors l̂, m̂, n̂ are functions of time t, but
remain mutually perpendicular unit vectors. As l̂, m̂, n̂ form a basis, it must be
the case that dl̂/dt = α1 l̂ + β1 m̂ + γ1 n̂, where α1 etc are (as yet) arbitrary
coefficients; and similarly for dm̂/dt and dn̂/dt.

(a) By differentating l̂ · l̂ = 1 w.r.t. time, and similarly for m̂ and n̂, show that

dl̂/dt = β1 m̂ + γ1 n̂ dm̂/dt = α2 l̂ + γ2 n̂ dn̂/dt = α3 l̂ + β3 m̂

(b) By differentiating l̂ · m̂ = 0, and similarly for the other vectors, obtain three
relationships of the form α2 + β1 = 0. Hence, and using the vector test for
coplanarity, show that dl̂/dt, dm̂/dt, and dn̂/dt, are coplanar.
(c) Consider physically how three mutually perpendicular unit direction vectors
can change, and so justify this coplanarity result.
(d) Confirm that your expressions obtained earlier are verified when you differ-
entiate the expression l̂ × m̂ = n̂ with respect to t.

7. The axis of a helical tube with cross-sectional area A is given by r(p) =

[a sin p, a cos p, bp]. The tube carries an inviscid, incompressible fluid at a vol-
ume flow rate of L units per second.

(a) Find a unit tangent vector t̂ to the axis, and hence determine p in terms of
arc-length, s.
(b) By determining the relationship between arc-length s and time t, write down
the instantaneous velocity vector of an element of fluid on the axis.
(c) Find dt̂/ds and the curvature of the axis. Hence determine the direction
and magnitude of the instantaneous acceleration of an element of fluid on
the axis. Discuss the signs of the components of this acceleration vector.
6 Vector Algebra and Calculus I (2013) 2A1A

8. (a) A scalar potential field is given by φ and the vector field F is

∂φ ∂φ ∂φ
F = ı̂ + ̂ + k̂ .
∂x ∂y ∂z

Noting that dr = ı̂dx + ̂dy + k̂dz, and recalling the definition of a perfect
or total differential, show that the line integral
Z B Z B
F · dr = dφ = φB − φA .
A A
RB
(b) The vector field F = y zı̂ + xz̂ + xy k̂. Evaluate the line integral A F · dr,
where A is (0, 0, 0) and B is (4, 2, 4), in two ways:
i. by integrating to find that a potential function φ exists, and evaluating
the difference in potential between the points.
ii. by integration along the parametrized curve x = p 2 , y = p, z = 2p.
To do this, express F in terms of p, and dr in terms of p and dp.

9. (a) Write down vector expressions for the elements of line dr and surface dS
and scalar expressions for the elements of volume dV shown in the figure,
using the appropriate coordinate system.
R
(b) Find the work done F · dr in a field F(x, y ) = yı̂ + x̂ when moving along
√ √
i. the shorter circular path from (x, y ) = (a, 0) to (x, y ) = (a/ 2, a/ 2);
√ √
ii. the longer path from (x, y ) = (a/ 2, a/ 2) to (x, y ) = (a, 0).
R
(c) Find S v · dS where v = r 2 (xı̂ + y̂ + z k̂) and S is the entire surface of the
sphere x 2 + y 2 + z 2 = a2 .
y
dr
x
a

dS z
z a dS
dV
dV
dS a
Vector Algebra and Calculus I (2013) 2A1A 7

Answers and Hints

1. (a) y = d + ((a − d) · n̂abc )n̂abc

(b) α = (d − a) · (c − a)/|c − a|2
2. (b) α = (t − m) · n̂
(c) Think where the image of t appears ...
3. (a) Think about a vector√operation to eliminate ρ2 from the equation.
(b) Using p alone, ρ1 = 450 km
n̂1 = [−0.942, 0.236, 0.236], n̂2 = [−0.9505, − 0.2263, 0.2127]

(c) Intermediate checks ...

n̂1 × n̂2 = [0.1035, − 0.0235, 0.4374], a × n̂2 = [2.1953, − 0.4979, 9.2791].
4. (a) (a · c)(b · d) − (a · d)(b · c) then use replacement to continue.
(b) [a · (b × c)]2 or cyclic permutations thereof.
(c) x = λa + µb + γa × b, where
(i) λ arbitrary, µ = 0, and ν = 1/a2
(ii) λ arbitrary, µ = (γ − λa2 )/a · b, and ν arbitrary.
5. (d) R̈ = α(1 − t 2 ω 2 /2)r̂ + 2αtω θ̂
6. (d) Hint: differentiate both sides, and then use parts (a) and (b) to show that
they are the same.
7. (a) t̂(p) = (a2 + b2 )−1/2 [a cos p, −a sin p, b], p = (a2 + b2 )−1/2 s; (b) ds/dt =
L/A, v(p) = L/At̂(p); (c) κ = a/(a2 + b2 ), n̂ = [− sin p, − cos p, 0], dv/dt =
(L2 /A2 )κn̂.
8. (b) i) 32 and (ii) 32

9. (a) Consult the lecture notes

(b) a2 /2 and −a2 /2. Think why they sum to zero.
(c) 4πa5