chapter3 Vectors ChapterOutline 3.1 Coordinate Systems 3.2 Vector and Scalar Quantities 3.3 Some Properties of Vectors 3.4 Components of a Vector and Unit Vectors, quantities that have both numerical and directional properties. As noted in Section 2.1, quantities of this nature are represented by vectors. This chapter is primarily concerned with vector algebra and with some general properties of vector quantities. We discuss the addition and subtraction of vector quantities, together with some common applications to physical situations. = rs eats3.1 COORDINATE SYSTEMS mathematical description of an object's motion requires a method for describing the object's position at various times. This description is accomplished with the use of coordinates Cartesian cooidinates are also called rectangular coordinates (x.y). plane polar coordinates (r,6) Positive +0 is defined for counter clockwise direction CCWEXAMPLE 3.1 Polar coordinates The cartesian coordinates of a point in the xy plane are (x, y) (3.50, 2.50) m, as shown in Figure. Find the polar coordinates of this point. ym) x(m) =3.50, =2,50 Solution we 430m 216" Note that you must use the signs of x and y to find that the P in the third quadrant of the coordinate syste That is, @ = 216° and not 35.5"3.2 VECTOR AND SCALAR QUANTITIES A scalar quantity is specified by a single value with an appropriate unit and has no direction. Temperature, mass 562% ener, power Ve 55 —— Avector quantity has both magnitude and directi Force, Electric Field, magnetic field, momentum, Torque, velocity, Angular momentum. Module [AB B AL Direction squat sheen fom 3 co3.3 SOME PROPERTIES OF VECTORS Equality of Two Vectors For many purposes, two vectors A and B may be defined to be equal if they have the same magnitude and point in the same direction. That is, A = B only if their magnitudes |A| = [B| and if A and B vectors point in the same direction along parallel lines. For example, all the vectors in Figure 35. are equal even though they have different starting points. This property allows us to move a vector to a position parallel to itself in a diagram without affecting the vector. ‘3 nue \=@ | a ie Figure 3.5 These four vectors are equal because they have equal lengths and point in the same direction.Adding Vectors The rules for adding vectors are conveniently described by geometric methods. To add vector B to vector A, first draw vector A, with its magnitude represented by a convenient scale, ‘on graph paper and then draw vector B to the same scale with its tail starting from the tip of A, as shown in Figure 3.6. The resultant vector R = A+B is the vector drawn from the tail _ . of A to the tip of B. This procedure is known as the triangle ‘Figure 3.6 When vector B is added to vector 4, method of addition. the resultant R is the vector that runs from the tail of A to the tip of B. Figure 3.8 Geometric construction for summing four vectors. The resultant vectorR is by definition the one that completes the polygon.commutative law of addition: associative law of addition: B+a —T Cormaive LatNegative of a Vector The negative of the vector A is defined as the vector that when added to_A gives zero for the vector sum. That is, A+ (-A) The vectors A and (—A) have the same magnitude but point in opposite directions. Subtracting Vectors The operation of vector subtraction makes use of the definition of the negative of a vector. We define the operation A — B as vector B added to vector A: A-B=A+(-B) The geometric construction for subtracting two vectors in this way is illustrated in Figure 3.11 « ‘Another way of looking at vector subtraction is to note that the difference A —B between two vectors A and B is what you have to add to the second vector to obtain the first. In this » case, the vector A — B points from the tip of the second vector to the tip of the first, as Figure 3.11 shows. >EXAMPLE 3.2 a vacation Trip ‘A car travels 20.0 km due north and then 35.0 km in a direction 60.0° west of north, as shown in Figure 3.12. Find the magnitude and direction of the car's resultant , e= 180-63 <8" - = \B \=8 \FiLa sm) Sire = 0,¢29 Bb Ors iu (o,c20)2 To solve the probl tude of R can be obtained from the law of cosines as applied to the triangle (see Appendix B.4). With = 180° — 60° = 120° and RE = A? + BF hat 0 kin) cos 120° pendix B.A) 120° = 0.420 482k in a die 1+ what we foundMultiplying a Vector by a Scalar If vector A is multiplied by a positive scalar quantity m, then the product mA is a vector that has the same direction as A a and magnitude mA. If vector A is multiplied by a negative scalar quantity m, then the product mA is directed opposite A. For “a example, the vector SA is five times as long as A and points in the same direction as; the vector —>A is one-third the length of A and points in the direction opposite A. A=a = Bend Bag pis = 2A B=mA B=30 RAR 3A3.4 COMPONENTS OF A VECTOR AND UNIT VECTORS = A=\A| Consider a vector A lying in the xy plane and making an arbitrary angle with the positive x axis, as shown in Figure. This vector can be expressed as the sum of two other vectors Ax and Ay . From Figure 3.13, we see that the three vectors form a right triangle and that A = A, + Ay The component A, represents the projection of A along the x axis, and the component Ay represents the projection of A along the y axis. Ay = ACos(6) Ay negative] A, positive Ay = ASin(8) ee | eed : ‘A, negative | Ay positive long < Ay eee (Peer oo ey a AxBy Unit Vectors . — - tleb ‘Aunit vector is a dimensionless vector having a magnitude of exactly 1. j y Vector quantities often are expressed in terms of unit vectors. : oe on we Unit vector Bx-21-3) Unit vectors are used to specify a given direction and have no other physical significance. ‘The order of the axes is important a isteaxis -T sn -% We shall use the symbols &, j, and K to represent jo 4yaxis Unit vectors pointing in the positive x, y, and z eee anis) directions, respectively. The unit vectors #, j, and k form a set of mutually perpendicular vectors in a A “y n right-handed coordinate system, as shown in Figure By C--kkMuttiplying a Vector by a Scalar —-= = 29 oeAdding vector B to vector A, Figure 3.18 This geometric construction for the sum of two vectors shows the relationship between the components of the resultant R and the components of the individual vectors. magnitude of R and the angle it makes with the x axis from its ‘components R=VR2 + RP? = V(Ay + BY? + (Ay + B)?‘At times, we need to consider situations involving motion in three component directions. The extension of our methods to three-dimensional vectors is straightforward. if A and Bboth have x, y, and 2 components, we express them in the form At we would like to substract B from A A=AY+ AN + AK R=A-B BA aw y+ ak R= (Apo + Ayj + Ack) — (Bei + By + Be) R=A4B = (Apet Ayf+ Ark) +(Bei + Byj + BR) Ree ~ BR R= (Ay +By)i + (Ay+By)j + (Az+By)R = =>EXAMPLE 3.3 The Sum of Two Vectors Find the ven A= (20+ 26)m and 2 Axe 1m of two vectors A and B lying in the sy plane and 246-49) m a24 40 4 oO Uf 21405 4 a4 a5 Solution Comparing this expression for A with the gen eral expresion A= Ai + A,j, we ace that A, = 20m and that A,~ 20m. Likewise, B= 20m and B= ~40m. We ‘obtain the resultant vector Ry using Equation 3.1: R (20+ 201m + 20-40)jm = (gi ~ 205) m ‘The magnitude of sven by Equation 8.16 R= NRE > RF ~ VEO mE BOM ~ AB m = 45m We can find the direction of R from Equat tea '( Your calculator likely gives the answer 27° for 0 tan“"(= 0.50). This answer is correct if we interpret it to ‘mean 27° clockwise from the * axis. Our standard form has been to quote the angles measured counterclockwise from that angle For this eetoris @= 833", 8 = 360° — 27° = 333°EXAMPLE 3.4 The Resultant Displacement A particle undergoes three consecutive displacements: dy = (13% + 80) + 19K) om, de = (235 — 145 ~ 5.0K) em, and ds = (= 18% + 15j) em. Find the components of the resultant dlisplacement and its magnitude. Solution Rather than looking ata sketch on flat paper, vi sualize the problem as follows: Start with your fingertip atthe front left comer of your horizontal desktop. Move your fin- igertip 15 em to the right, then 30 cm toward the far side of | the desk, then 12cm vertically upward, then 28 em to the right, then [4.em horizontally toward the front edge of the ‘desk, then 5.0 em vertically toward the desk, then 13 em to the left, andl (Finally!) 15 em toward the back of the desk. The eae ere eS ee resultant displacement has components Ry = 25 em, wale en are RE (em? + Glam? + 70am? = 40cmaim) EXAMPLE 3.6 ARzommuter plane tates the route shown in Fg. Fs, es wader from the righ ofthe coordinate system shown oct oat I25- lamina direction 200° north of eat Net fe 153 en 200° WEE of north to city B. Finally, it flies 195 km due west ftity C. Find the IW 95 foemonofciy aatve i the og bay Solution It is convenient to choose the coordinate system shown in Wile ts3 ba Figure, where the ais points tothe east andthe ya pot othe north, Let us denote the three consecutive displacements by the ‘ 4 vam VE [AB bey vectors G, 5, and é. Displacement a has a magnitude of 175 km and the ie components = acos(900") = (175 km) (0.860) =(523n The ein he cpm he po in(30.0") = (175 km) (0.500) = 87.5 km oe Rr athts Displacement b, whose magninide is 158 km, has the compo- 1, = Dsin( 110") = (153 km) (0.940) = 144 im seam ise Z| the ap = esta) = 0 frst tveing 95: kn die west and then by trneling 232 kenVector Multiplication 1-THE SCALAR PRODUCT 2. VECTOR Product jot product or Stalar product vector product or cross product» In general, the scalar product of any two vectors A and B dot product or $2 salar quantity equa to the product ofthe Scalar product "2shitudesof the two vectors and the cosine ofthe angle between them: Definition of dot product ri —_ Ay = $ i, A.B = |Al|B|coso AB = (Aci+ Ay) + ALR )o(Bei + B,J + Bek) a a ( E+ ApByLJ + ALBLR + 45% =i) AT Coe = Az Bel. *~ = —_ C AyByj.t + AyByj.j + AyBej.Re+ yBafit + AyByf J + AyBap i=110C0s90 1Cos90 = 0 — BB) +Byj+ Bk — summary AB = A,B, + Ay) j +A,B, itAB = A,B, + AyBy + A,B, SAeBe + AyBy + ALB, ifB = Athen AA Age + AyAy + AcAe B.B = B? + BY + B? = B? Modules of Ais 4=[il= f2e god Modules of B is B= |B| = |e? + 82 + 62 = VBB_ EXAMPLE 7.2 The Scalar Product Apartle moving inthe x plane undergoes a asplaerent G = 200 + 3.0) masa constant force F = 501 + 2.0) Nacts on the particle {a) calculate the magritude of the dsplacement and tha ofthe force. —~s a=Ve += VeRO? BOE= 36 P= VEE +R = 160+ BOF (b) Calculate the work done by #. Workdone Formula is W= Fd 5.05 + 205(205 + 3.09) Nem 05 + 504-305 + 2.0)-205 + 205-805 16) 0-2 W+0+046=16N-mProperties of Dot Product Commutative Law for dot product B+ AC Distr law 3-m(A.B) = (nA). B=A, {mB = (4.B)m where mis scalarixi = |i||i|Sin@ = 11 Sind =0 vector product or 4 _ 4!) itpjenk jxj = |jlljiSind = 11 Sino =0 xB = (A,i + Ayj + Ark )x(B,i + Byj + Bok xi = \illils cross product i ie ) ( ee ) Rexk = |R||k|sine = 11 Sino = AxBy(ixt) + AyBy (taf) + ApB,(ixk) + ; ae eee ‘ —> ixj=115in90k = & > ixk in90i AyBe(jxt) + AyBy(jxf) + AyB(hxk) + ” 3 => kext A;By(Rxt) + AzBy(Rxf) + A,B, (kxR) jxi = 11 Sin90(-K ° kexj = 1 18in90( 1eBeO + AyByke + AxBo(—f) + ixk = 115in90(-j AyBy(-K) + AyByO + AyBet + AgBaj + AyBy(—t) + A,B,0You can also find same result using 3x3 determinant i l4l, Ay Ag! i 1S Properties of Cross Product AxB B, — A;By)i— (AyB, — A,By)j + (AxBy — AyBy ke 1-AxB=—BxA Commutative Law for dot product 2-Ax(B + €) =AxB + AxC _ Distributive law 3- m(AxB) = (mA)xB = Ax(mB) = (AxB)m where mis scalar 4-ixt = jaf = Rexk=0, ixf=h, jxk =i, Rxt=j 5-if AxB = 0 and A and B are not null vectors then A and B are parallel 6- The magnitude of Ax is the same as arapf a parallelogram with sides A and B Wea “——b) Find M.N MLN = (61+ 2j— k). (28 ~ j= 3k) ) Find angle between the vectors 2 WN=[Rillilcose ~ cose S280 oso = ———_____*8_ OO" (etait i) (J+ DCD) , cose = > _ = 43 ~ 9, 542 Ra = \ J L 8° (aii) 574 2 -\ -3 9 = Cos"*(0.542) = 57.18? ——