DEPARTMENT OF PHYSICS

INDIAN INSTITUTE OF TECHNOLOGY, MADRAS

PH1010 Physics I Tutorial 1 Dec 6, 2021

• Vectors in Physics

1. Vector identities using index gymnastics:

This problem is meant to show you how easily various vector identities are derived
using the index notation introduced in class. Using this notation and the properties of
the symbols δij and ϵijk , and the summation convention, prove the following standard
vector identities:

(a) A × (B × C) = B (A · C) − C(A · B)
Note: This is sometimes referred to as the “BAC-CAB” rule to remember the
order on the RHS.
(b) Note that the above identity shows that the cross product is not associative, that
is A × (B × C) ̸= (A × B) × C. Show using the BAC-CAB rule that the following
is true though:
A × (B × C) + B × (C × A) + C × (A × B) = 0.
(c) (A × B) · (C × D) = (A · C) (B · D) − (A · D) (B · C). This is apparently referred
to as the “Lagrange identity”.

2. The Levi-Civita tensor:

Recall from the lectures that the Levi-Civita tensor ϵijk , in a three dimensional space,
is an object whose only non-zero values are ±1, and which is zero when any of the
indices i, j, k take the same values. Also, if you interchange any of these indices, you
get a minus sign; for example, ϵijk = −ϵjik and so on. Using these properties, show
that:
3
X
ϵijk ϵlmk = δil δjm − δim δjl
k=1

Bonus Thoughts: You can “prove” the above and many similar identities if you
first understand the simple properties that define ϵijk . For instance, can you see that
ϵijk = 0 identically in a two dimensional space? The argument is just a fun version of
the so-called Pigeonhole principle (look it up!).

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3. Time-dependent vectors:

Very frequently, we have to deal with vector quantities that depend on a scalar variable
like the time, t. Let A(t), B(t) and C(t) be such vectors. The rules of differentiation
with respect to t (such as the chain rule, etc.) are then essentially the same as those
for the differentiation of ordinary functions of t, paying attention to the order of the
factors in cross products, etc. The following relationships are easily proved. Do so.

(a) ! !
d dA dB
(A · B) = ·B + A·
dt dt dt
(b) ! !
d dA dB
(A × B) = ×B + A×
dt dt dt
(c)
d2 B d2 A
!
d dB dA
A· − ·B =A· 2 − 2 ·B
dt dt dt dt dt
(d)
d2 B d2 A
!
d dB dA
A× − ×B =A× 2 − 2 ×B
dt dt dt dt dt
(e) The following is a very useful relationship in several physical applications:

A2
!
dA dA d
A· =A = ,
dt dt dt 2

where A ≡ |A|. It follows at once that the vector dA/dt is perpendicular to

Bonus Thoughts: Some very common vectors that you encounter in mechanics
are position vector r, velocity v, and the acceleration a. Can you try to attach
a physical interpretation to the above identity when A is one of these? Think
about these; we will encounter them again later in the course, and once again in
PH1020!

4. Vectors for launch:

Find the maximum angle a projectile may be launched, so that its distance from the
point of launch is always increasing.

Hint: You may do this in the “straightforward manner”, or more subtly using the
last part of the previous problem to realize why at non-trivial extrema r · v = 0. Just
do not forget the condition “always” in the problem statement!

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5. Laws of reflection and refraction:

These familiar laws can be written in a precise and compact form using vectors. Con-
sider a ray of light that is partially reflected and partially refracted at a plane surface
(with unit normal vector n̂) separating vacuum and a medium of refractive index µ.
Let â, b̂ and ĉ be the unit vectors along the incident, reflected and refracted rays,
respectively.

(a) Write the laws of reflection and refraction in terms of the unit vectors â, b̂, ĉ
and n̂ and µ. Your answers should not explicitly involve any angles (such as the
angles of incidence, refraction, etc.).
(b) Show, using the BAC-CAB rule or otherwise, that b̂ can in fact be written in
terms of â and n̂, as b̂ = â − 2 (n̂ · â) n̂.

6. Extra problem, not to be worked out in class. But students are higly encouraged to work
this out by themselves.
The three vectors a, b, c are the three sides of the triangle ABC with angles α, β, γ
as shown in the figure.

(a) Prove that the area of the triangle is given by any one of these three expressions:
1 1 1
area = |a × b| = |b × c| = |c × a|.
2 2 2

(b) Use these expression to prove the so-called law of sines, that

a b c
= = .
sin α sin β sin γ

(c) If A, B, C point from the origin O to the three corners of the triangle, then show
using the solution of the first part that
1
(area of triangle) = |A × B + B × C + C × A|.
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