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ES202:
MATHEMATICS FOR ENGINEERS
CHAPTER 1-WEEK1
ONLINE LECTURE NOTES

INSTRUCTOR DR. SHAGHAYEGH KARIMZADEH

COURSE ASSISTANT: PINAR ARIKOGLU

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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Chapter 1: Linear Algebra

Matrices, Vectors, Determinant, Linear systems

Main tools of Linear Algebra

Vectors Matrices
(First order tensors) (Second order tensors)
𝑎&& 𝑎&' . 𝑎&$
𝑎'' . 𝑎'$
𝒗! = [𝑣1, 𝑣2, 𝑣3] 𝐀 "×$ = [𝑎!% ] = 𝑎
. '&
. . .
𝑎"& 𝑎"' . 𝑎"$

Why matrices are important?

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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Vectors:

• a, b, c, …

• Row vector: 𝐚 = 𝑎$ 𝑎% … 𝑎&

𝑎$
• Column vector: 𝐚 = 𝑎. %
𝑎&

• Component of a vector: 𝑎$ , 𝑎% ,…

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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Matrices:

• A, B, C, …

• 𝐀 = 𝑎!" 𝑖 = 1, … , 𝑚 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑜𝑤 , 𝑗 = 1, … , 𝑛 (𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡ℎ𝑒 𝑐𝑜𝑙𝑢𝑚𝑛) mxn matrix which is the size

𝑎## 𝑎#$ . 𝑎#%

𝑎$$ . 𝑎$%
• Square matrix: m=n Main Diagonal of a square matrix 𝐀 𝒎×𝒏 = [𝑎$% ] = 𝑎. $# . . .
𝑎%# 𝑎%$ . 𝑎%%
• Zero matrix: 0

2 0
𝑩&×$ = 1 𝑒 !
1.7 0
Entry/Element: 2, 1, …

Rows: [2 0], [1 𝑒 ! ], [1.7 0]

0 2
!
Columns: 𝑒 , 1
0 1.7

𝐀 = 𝑎"# 𝑖: 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑜𝑤, 𝑗: 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡ℎ𝑒 𝑐𝑜𝑙𝑢𝑚𝑛

Equality of matrices: 𝐀𝒎×𝒏 = 𝑩𝒎×𝒏 𝑎"# = 𝑏"#

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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A system of linear equations:

2𝑥! − 2𝑥"+ 𝑥#=3
3𝑥! + 2𝑥" − 𝑥#=1
𝑥! − 𝑥"+4 𝑥#=0
3𝑥! − 2𝑥"+ 2𝑥# − 2 = 0

2 −2 1 𝑥$ 3
3 2 −1 𝑥% = 1 𝑨𝒙 = 𝒃
1 −1 4 𝑥S 0
3 −2 2 2

2 −2 1 3
𝑥$
1
𝑨= 3 2 −1 ∶ Coef5icient matrix 𝒙 = 𝑥% ∶ 𝑢𝑛𝑘𝑜𝑤𝑛 𝑣𝑒𝑐𝑡𝑜𝑟 𝒃= : Known vector
1 −1 4 𝑥S 0
3 −2 2 2

2 −2 1 3 2 −2 1 3
I= 3 2
𝑨 −1 1 = 3 2 −1 1 : Augmented matrix
1 −1 4 0 1 −1 4 0
3 −2 2 2 3 −2 2 2
ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh
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Addition of matrices:

𝐀 𝒎×𝒏 and 𝑩𝒎×𝒏 𝑎'( and 𝑏'(

𝑨 + 𝑩 = 𝑎'( + 𝑏'(

Ex:
1 −1 2 −2 3 −3
3 1 + 3 4 = 6 5
0 −1 1 −2 1 −3
4 −2 −1 −2 3 −4

Rules:
𝑨 + 𝑩= 𝑩 + 𝑨 commutative
𝑨+𝑩 +𝑪=𝑨+ 𝑩+𝑪 : 𝑨+𝑩+𝑪 Associative
𝑨+𝟎=𝑨
𝑨 + −𝑨 = 𝟎

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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Scalar multiplication of matrices:

𝐀 𝒎×𝒏 = 𝑎'(

c𝐀 𝒎×𝒏 = 𝑐𝑎'(

Ex:
1 −1 2 −2
2 3 1 = 6 2
0 −1 0 −2
4 −2 8 −4

Rules:

𝑐(𝑨 + 𝑩)=𝑐𝑨 + 𝑐𝑩
𝑐 + 𝑘 𝑨 = 𝑐𝑨 + 𝑘𝑨
𝑐(𝑘𝑨) = (𝑐𝑘)𝑨

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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Multiplication of a matrix by a matrix:

𝑨)×* = 𝑎(+ and 𝑩,×- = 𝑏(+

𝑨)×* × 𝑩,×- = 𝑪)×- if and only if: 𝑟=𝑛

𝑪)×- = 𝑐(+

𝑐(+ = ∑*./! 𝑎(. 𝑏.+ j = 1, … , m k = 1, … , p Multiplication of rows with columns

Ex.:

1 −1
𝑨= 3 1 𝐁=
0 −1 1
0 −1 1 2 3
4 −2

−3
−1 −2
1 −1 6
𝑨0×"×𝑩"×# =
−1 −2 −3
−2 −8 −2
ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh
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Rules:
𝑘𝑨 𝑩 = 𝑘 𝑨𝑩 = 𝑨 𝑘𝑩 𝑘𝑨𝑩 𝑜𝑟 𝑨𝑘𝑩

𝑨 𝑩𝑪 = 𝑨𝑩 𝑪 Associative

𝑨 + 𝑩 𝑪 = 𝑨𝑪 + 𝑩𝑪 distributive on addition

𝑪 𝑨 + 𝑩 = 𝑪𝑨 + 𝑪𝑩 distributive on addition

𝑨𝑩 ≠ 𝑩𝑨 not commutative

𝑨𝑩 = 𝑨𝑪 𝑪≠𝑩 No cancelation

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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Motivation of Multiplication by Linear Transformations

linear transformations for 𝑛 = 2 variables :

𝑦! = 𝑎!! 𝑥! + 𝑎!" 𝑥"
𝑦" = 𝑎"! 𝑥! + 𝑎"" 𝑥"

𝑦! 𝑎!! 𝑎!" 𝑥! 𝑎!! 𝑥! + 𝑎!" 𝑥"

𝒚 = 𝑦 = 𝑨𝒙 = 𝑎 𝑎"" 𝑥" = 𝑎"! 𝑥! + 𝑎"" 𝑥"
" "!

Assume the 𝑥! 𝑥" -system is related to a 𝑤! 𝑤" -system by another linear

transformation, say,
𝑥! 𝑏!! 𝑏!" 𝑤! 𝑏!! 𝑤! + 𝑏!" 𝑤"
𝒙 = 𝑥 = 𝑩𝒘 = 𝑤 =
" 𝑏"! 𝑏"" " 𝑏"! 𝑤! + 𝑏"" 𝑤"

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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Then the 𝑦N 𝑦O -system is related to the 𝑤N 𝑤O -system indirectly via the 𝑥N 𝑥O -system.

𝑐NN 𝑐NO 𝑤N 𝑐NN 𝑤N + 𝑐NO 𝑤O

𝒚 = 𝑪𝒘 = 𝑐 𝑐OO 𝑤O = 𝑐ON 𝑤N + 𝑐OO 𝑤O
ON

𝑦N = 𝑎NN 𝑏NN 𝑤N + 𝑏NO 𝑤O + 𝑎NO 𝑏ON 𝑤N + 𝑏OO 𝑤O

= 𝑎NN 𝑏NN + 𝑎NO 𝑏ON 𝑤N + 𝑎NN 𝑏NO + 𝑎NO 𝑏OO 𝑤O

𝑦O = 𝑎ON 𝑏NN 𝑤N + 𝑏NO 𝑤O + 𝑎OO 𝑏ON 𝑤N + 𝑏OO 𝑤O

= 𝑎ON 𝑏NN + 𝑎OO 𝑏ON 𝑤N + 𝑎ON 𝑏NO + 𝑎OO 𝑏OO 𝑤O
So,
𝑐NN = 𝑎NN 𝑏NN + 𝑎NO 𝑏ON 𝑐NO = 𝑎NN 𝑏NO + 𝑎NO 𝑏OO
𝑐ON = 𝑎ON 𝑏NN + 𝑎OO 𝑏ON 𝑐OO = 𝑎ON 𝑏NO + 𝑎OO 𝑏OO

This proves that 𝑪 = 𝑨𝑩

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh
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Transposition of matrices and vectors

The transpose of an mxn matrix 𝑨!×# = 𝑎$% is the nxm matrix AT (read A transpose) that has the first
row of A as its first column, the second row of A as its second column, and so on.

𝑎&& 𝑎&' . 𝑎&# 𝑎&& 𝑎'& . 𝑎!&

𝑎 𝑎'' . 𝑎'# 𝑎 𝑎'' . 𝑎!'
𝐀!×# = 𝑎$% = . '&
. . . 𝑨(#×! = [𝑎%$ ] = . &'
. . .
𝑎!& 𝑎!' . 𝑎!# 𝑎&# 𝑎'# . 𝑎!#

1 −1
Ex.: 𝑨 = 3 1 𝐁=
0 −1 1
0 −1 1 2 3
4 −2
0 1
1 3 0 4
𝑨𝑇 = 𝐁T = −1 2
−1 1 −1−2
1 3

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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Rules:
𝑨𝑇 𝑇 =𝑨
𝑐𝑨 𝑇 = 𝑐𝑨𝑇

𝑨+𝑩 𝑇 = 𝑨𝑇 + 𝑩𝑇 = 𝑩𝑇 + 𝑨𝑇

𝑨𝑩 𝑇 = 𝑩𝑻𝑨𝑻

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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Ex.:
5 4
5 −8 1
If 𝐴 = , then 𝐴, = −8 0 .
4 0 0
1 0

A little more compactly, we can write

-
- 5 4 3 0 7 3 8 1
5 −8 1
= −8 0 , 8 −1 5 = 0 −1 −9
4 0 0
1 0 1 −9 4 7 5 4

Furthermore, the transpose 6 2 3 ,of the row vector 6 2 3 is the column vector
-
6 6
, = 2 . Conversely,
6 2 3 2 = 6 2 3.
3 3

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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The most important types of special square matrices

1) Symmetric and skew-symmetric matrices
Symmetric: 𝑨 = 𝑨! 𝑎"# = 𝑎#" Skew-Symmetric: 𝑨! = −𝑨 𝑎"# = −𝑎#" 𝑎## = 0

20 12 0 0 2 −4
𝐴 = 12 10 −1 is symmetric 𝐵 = −2 0 −2 is skew-symmetric.
0 −1 30 4 2 0

2) Upper and Lower Triangular Matrices

Upper Triangular (nonzero entries only on and above the main diagonal)
Lower Triangular (nonzero entries only on and below the main diagonal)

2 0 0 0
1 5 0 2 0 0
1 −10 9 −3 0 0
, 0 1 2 , 4 −1 0 ,
0 2 1 0 1 0
0 0 −2 1 0 8
8 2 3 6
Upper Triangular, Lower Triangular

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh

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3) Diagonal matrices (Nonzero entries only on the main diagonal)

4 0 0
𝑫 = 0 −1 0
0 0 0

Scalar Matrices (If all entries of a diagonal matrix are equal)

𝑐 0 0
𝑺= 0 𝑐 0
0 0 𝑐

Unit (Identity Matrices) (If all entries of a diagonal matrix are equal to 1)
1 0 0
𝑰= 0 1 0
0 0 1

𝑨𝑺 = 𝑺𝑨 = 𝑐𝑨
𝑨𝑰 = 𝑰𝑨 = 𝑨
ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh
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4) Orthogonal Matrices
𝑨$% = 𝑨!
Or
If and only if its column vectors also its row vectors form an orthonormal system:
0 𝑗≠𝑘
𝒂# . 𝒂" = 𝒂#! 𝒂" = U
1 𝑗=𝑘

2/3 1/3 2/3

cos 𝑡 − sin 𝑡
𝑨 = −2/3 2/3 1/3 𝐁=
sin 𝑡 cos 𝑡
1/3 2/3 −2/3

Important Note:
0 𝑗≠𝑘
Orthonormal vectors:𝒂# . 𝒂" = 𝒂#! 𝒂" = U
1 𝑗=𝑘
Orthogonal vectors: 𝒂# . 𝒂" = 𝒂#! 𝒂" = 0 𝑗≠𝑘

ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh