278 Vector Algebra

(3) Rotation about an axis : When a rigid body rotates about a fixed axis ON with an angular velocity
 , then the velocity v of a particle P is given by v    r , where r  OP and   |  | (unit vector along ON)

N


r
O

Example: 42 Three forces i  2 j  3 k, 2i  3 j  4 k and i  j  k are acting on a particle at the point (0, 1, 2). The magnitude of the

moment of the forces about the point (1, – 2, 0) is [MNR 1983]

(a) 2 35 (b) 6 10 (c) 4 17 (d) None of these

Solution: (b) Total force F  (i  2 j  3 k)  (2i  3 j  4 k)  (i  j  k)  4 i  4 j  2 k

F
Moment of the forces about P = r  F  PA  F
(0,1,2)
PA  (0  1) i  (1  2) j  (2  0)k  i  3 j  2 k A
i j k r
 Moment about P = (i  3 j  2k) (4 i  4 j  2k) =  1 3 2   2i  10 j  16 k (1,–2,0)
P
4 4 2

Magnitude of the moment = | 2i  10 j  16 k | = 2 1 2  5 2  8 2  2 90  6 10

Example: 43 The moment of the couple formed by the forces 5i  k and 5i  k acting at the points (9,  1, 2) and (3,  2, 1)

respectively is [AMU 1998]

(a) i  j  5 k (b) i  j  5 k (c) 2 i  2 j  10 k (d) 2i  2 j  10 k

Solution: (b) Moment of the couple,

F 5 i+k
 BA  F = {(9  3) i  (1  2) j  (2  1)k}  (5 i  k) A
(9,–1,2)
i j k (3,–2,1)
= (6 i  j  k )  (5 i  k ) = 6 1 1  i  j  5k B
5 0 1 –F –5i–k

6.12 Scalar Triple Product .

If a , b, c are three vectors, then their scalar triple product is defined as the dot product of two vectors a and
b  c . It is generally denoted by a . (b  c ) or [abc ] . It is read as box product of a , b , c . Similarly other scalar triple
products can be defined as (b  c ). a, (c  a ). b . By the property of scalar product of two vectors we can say,
a .(b  c )  (a  b).c

MR. SHASHIKUMAR TOTIGER

 Vector Algebra 279

(1) Geometrical interpretation of scalar triple product : The scalar triple product of three vectors is
equal to the volume of the parallelopiped whose three coterminous edges are represented by the given
vectors. a , b, c form a right handed system of vectors. Therefore (a  b). c  [abc ] = volume of the
parallelopiped, whose coterminous edges are a, b and c.
(2) Properties of scalar triple product
(i) If a , b, c are cyclically permuted, the value of scalar triple product remains the same. i.e.,
(a  b). c  (b  c ). a  (c  a ). b or [a b c ]  [b c a]  [c a b]
(ii) The change of cyclic order of vectors in scalar triple product changes the sign of the scalar triple
product but not the magnitude i.e., [a b c ]  [b a c ]  [c b a ]  [a c b]

(iii) In scalar triple product the positions of dot and cross can be interchanged provided that the cyclic
order of the vectors remains same i.e., (a  b). c  a . (b  c )

(iv) The scalar triple product of three vectors is zero if any two of them are equal.

(v) For any three vectors a, b, c and scalar  , [ a b c ]  [a b c ]

(vi) The scalar triple product of three vectors is zero if any two of them are parallel or collinear.

(vii) If a, b, c , d are four vectors, then [(a  b) c d]  [a c d]  [bcd ]

(viii) The necessary and sufficient condition for three non-zero non-collinear vectors a , b, c to be coplanar
is that [a b c ]  0 i.e., a , b, c are coplanar  [a bc ]  0 .

(ix) Four points with position vectors a, b, c and d will be coplanar, if [a b c ]  [d c a ]  [d a b]

 [a b c ] .
(3) Scalar triple product in terms of components
(i) If a  a1i  a2 j  a3 k , b  b1i  b2 j  b3 k and c  c1i  c2 j  c3 k be three vectors.
a1 b1 c1
Then, [a b c ]  a 2 b2 c2
a3 b3 c3
a1 a2 a3
(ii) If a  a1l  a2 m  a3 n, b  b1l  b2 m  b3 n and c  c1l  c2 m  c3 n , then [a b c ]  b 1 b2 b 3 [l m n ]
c1 c2 c3

(iii) For any three vectors a, b and c

(a) [a  b b  c c  a ]  2[a b c ] (b) [a  b b  c c  a ]  0 (c) [a  b b  c c  a]  [a b c ]2

(4) Tetrahedron : A tetrahedron is a three-dimensional figure formed by A(a)

four triangle OABC is a tetrahedron with ABC as the base. a

O
MR. SHASHIKUMAR TOTIGER b c
B(b) C(c)
 280 Vector Algebra

OA , OB , OC , AB, BC and CA are known as edges of the tetrahedron. OA, BC ; OB, CA and OC, AB are known
as the pairs of opposite edges. A tetrahedron in which all edges are equal, is called a regular tetrahedron.

Properties of tetrahedron
(i) If two pairs of opposite edges of a tetrahedron are perpendicular, then the opposite edges of the third
pair are also perpendicular to each other.
(ii) In a tetrahedron, the sum of the squares of two opposite edges is the same for each pair.
(iii) Any two opposite edges in a regular tetrahedron are perpendicular.
Volume of a tetrahedron
1
(i) The volume of a tetrahedron = (area of the base) (correspon ding altitude)
3
1 1 1
= . | AB  AC | | ED | = | AB  AC | | ED | cos 0 o for AB  AC || ED
3 2 6
1 1 1
= ( AB  AC ). ED  [ AB AC EA  AD]  [ AB AC AD] .
6 6 6
Because AB, AC, EA are coplanar, so [ AB AC EA]  0
(ii) If a , b, c are position vectors of vertices A, B and C with respect to O, then volume of tetrahedron
1
OABC = [a b c ]
6
(iii) If a, b, c , d are position vectors of vertices A, B, C, D of a tetrahedron ABCD, then
1
its volume = [b  a c  a d  a ]
6
(5) Reciprocal system of vectors : Let a , b, c be three non-coplanar vectors, and let
b c c a ab
a  , b  , c  .
[abc ] [abc ] [abc ]
a , b , c  are said to form a reciprocal system of vectors for the vectors a , b, c .
If a, b, c and a , b , c  form a reciprocal system of vectors, then
(i) a .a  b . b  c .c   1 (ii) a . b   a . c   0; b . c   b . a   0; c . a   c . b   0
1
(iii) [a  b  c ]  (v) a , b, c are non-coplanar iff so are a , b , c  .
[a b c ]

Example: 44 If u, v and w are three non-coplanar vectors, then (u  v  w ). [(u  v)  (v  w )] equals [AIEEE 2003]

(a) 0 (b) u . (v  w ) (c) u . (w  v) (d) 3 u . (v  w )

Solution: (b) (u  v  w ). [u  v  (v  w )] = (u  v  w ). [(u  v)  (u  w )  0  (v  w )]
= [u u v]  [v u v]  [w u v]  [u u w ] – [v u w ]  [w u w ]  [u v w ]  [v v w ]  [w v w ]
= 0  0  [u v w ]  0  [u v w ]  0  [u v w ]  0  0  [u v w ] = u . (v  w ) .

MR. SHASHIKUMAR TOTIGER

 Vector Algebra 281

Example: 45 The value of ‘a’ so that the volume of parallelopiped formed by i  aj  k ; j  ak and ai  k becomes minimum is
[IIT Screening 2003]

(a) – 3 (b) 3 (c) 1 / 3 (d) 3

Solution: (c) Volume of the parallelepiped
V = [i  aj  k j  ak ai  k] = (i  aj  k) . {(j  ak)  (ai  k)} = (i  aj  k) . {i  a 2 j  ak)} = 1  a 3  a
dV d 2V dV 1
= 3a2  1 ; 2
 6a ;  0  3a 2  1  0  a  
da da da 3
1 d 2V 6
At a  ,2
 0
3 da 3
1
 V is minimum at a 
3
Example: 46 If a , b, c be any three non-zero non-coplanar vectors, then any vector r is equal to
(a) z a  xb  yc (b) x a  y b  zc (c) y a  zb  x c (d) None of these
[r b c ] [r c a ] [r a b ]
Where x  , y , z
[a b c ] [a b c ] [a b c ]
Solution: (b) As a, b, c are three non-coplanar vectors, we may assume r  a   b   c
[r b c ]
[r b c ]  ( a   b   c ). (b  c ) = {a . (b  c )}  [a b c ]   
[a b c ]
[r b c ]
But x  ;   x
[abc ]
Similarly   y,   z ;  r  x a  y b  zc .
Example: 47 If a, b, c are non-coplanar vectors and  is a real number, then the vectors a  2b  3c , b  4 c and (2   1)c are
non-coplanar for [AIEEE 2004]

(a) No value of  (b) All except one value of 

(c) All except two values of  (d) All values of 
Solution: (c) As a , b, c are non-coplanar vectors.  [abc ]  0
Now, a  2b  3c , b  4 c and (2  1) c will be non-coplanar iff
(a  2b  3c ). {(b  4 c ) (2  1) c }  0
i.e., (a  2b  3c ). {(2  1)(b  c )}  0 i.e., (2  1)[a b c ]  0
1
   0,
2
1
Thus, given vectors will be non-coplanar for all values of  except two values:   0 and .
2
Example: 48 x, y, z are distinct scalars such that [x a  yb  zc , xb  y c  za, x c  y a  zb]  0 where a, b, c are non-coplanar vectors
then

(a) x  y  z  0 (b) xy  yz  zx  0 (c) x3  y3  z3  0 (d) x2  y2  z2  0

Solution: (a) a, b, c are non-coplanar

 [a b c ]  0

Now, [x a  y b  zc , x b  y c  za, x c  ya  zb]  0

MR. SHASHIKUMAR TOTIGER

 282 Vector Algebra

 (xa  yb  zc ). {( xb  yc  za)  (xc  ya  zb)}  0  (xa  yb  zc ). {( x 2  yz )(b  c )  (z 2  xy )(a  b)  (y 2  zx )(c  a)}  0

 x (x 2  yz ) [abc ]  y(y 2  zx ) [b c a ]  z (z 2  xy ) [c a b]  0  (x 3  xyz ) [a b c ]  (y 3  xyz ) [abc ]  (z 3  xyz ) [abc ]  0

As [abc ]  0 , x 3  y 3  z 3  3 xyz  0  (x  y  z)(x 2  y 2  z 2  xy  yz  zx )  0

1
 (x  y  z) {( x  y)2  (y  z)2  (z  x )2 }  0  x  y  z  0 or x  y  z
2
But x, y, z are distinct.  x  y  z  0 .

6.13 Vector Triple Product.

Let a , b, c be any three vectors, then the vectors a  (b  c ) and (a  b)  c are called vector triple product of
a, b, c .
Thus, a  (b  c )  (a . c ) b  (a . b)c
(1) Properties of vector triple product
(i) The vector triple product a  (b  c ) is a linear combination of those two vectors which are within
brackets.
(ii) The vector r  a  (b  c ) is perpendicular to a and lies in the plane of b and c .
(iii) The formula a  (b  c )  (a . c ) b  (a . b) c is true only when the vector outside the bracket is on the left
most side. If it is not, we first shift on left by using the properties of cross product and then apply the same
formula.
Thus, (b  c )  a  {a  (b  c )} =  {(a . c ) b  (a . b)c } = (a . b) c  (a . c ) b
(iv) If a  a1i  a2 j  a3 k , b  b1i  b2 j  b3 k and c  c1i  c2 j  c3 k
i j k
then a  (b  c )  a1 a2 a3
b 2 c3  b3 c 2 b 3 c1  b1 c 3 b1c 2  b 2 c1

Note :  Vector triple product is a vector quantity.

 a  (b  c )  (a  b )  c

1
Example: 49 Let a, b and c be non-zero vectors such that (a  b )  c  | b | | c | a . If  is the acute angle between the vectors
3
b and c , then sin  equals [AIEEE 2004]

2 2 2 2 1
(a) (b) (c) (d)
3 3 3 3
1 1
Solution: (a)  (a  b) c = | b | | c | a  (a . c ) b  (b . c ) a  | b | | c | a
3 3
1  1
 (a . c ) b  {(b . c )  | b | | c | }a  (a . c ) b  | b | | c | cos   a
3  3

MR. SHASHIKUMAR TOTIGER

 Vector Algebra 283

1
As a and b are not parallel, a . c  0 and cos   0
3
1 2 2
 cos     sin  
3 3
Example: 50 If a  i  j  k, b  i  j, c  i and (a  b)  c  a   b , then     [EAMCT 2003]

(a) 0 (b) 1 (c) 2 (d) 3

Solution: (a) (a  b )  c  a  b  (a . c ) b  (b . c )a  a  b    b . c ,   a . c

     a . c  b . c = (a  b ) . c = {(i  j  k)  (i  j)} . i = k . i  0 .
Example: 51 If a , b, c and p, q, r are reciprocal system of vectors, then a  p  b  q  c  r equals

(a) [a b c ] (b) (p  q  r) (c) 0 (d) a  b  c

b c c a ab
Solution: (c) p , q , r
[a b c ] [a b c ] [a b c ]
(b  c ) (a . c ) b  (a . b ) c
ap  a 
[a b c ] [a b c ]
(a . b ) c  (b . c ) a (b . c ) a  (a . c ) b
Similarly b  q  and c  r 
[a b c ] [a b c ]
1 1
 a p  b q  c r = {(a . c ) b  (a . b )c  (a . b ) c  (b . c ) a  (b . c ) a  (a . c ) b } = 0  0
[a b c ] [a b c ]

6.14 Scalar product of Four Vectors.

(a  b). (c  d) is a scalar product of four vectors. It is the dot product of the vectors a  b and c  d .

It is a scalar triple product of the vectors a, b and c  d as well as scalar triple product of the vectors a  b, c
and d .
a .c a .d
(a  b ). (c  d ) 
b .c b .d

6.15 Vector product of Four Vectors.

(1) (a  b) (c  d) is a vector product of four vectors.

It is the cross product of the vectors a  b and c  d .

(2) a  {b  (c  d)}, {(a  b)  c }  d are also different vector products of four vectors a, b, c and d .

Example: 52 a  [a  (a  b )] is equal to [AMU 2001]

(a) (a  a ) . (b  a ) (b) a . (b  a )  b .(a  b ) (c) [a . (a  b)] a (d) (a . a )(b  a )

Solution: (d) a  [a  (a  b )] = a  [(a . b)a  (a . a )b] = (a.b)(a  a )  (a . a ) (a  b) = (a . b) 0  (a . a ) (b  a )  (a . a )(b  a )

Example: 53 [b  c c  a a  b] is equal to [MP PET 2004]

(a) a  (b  c ) (b) 2 [a b c ] (c) [a b c ] 2

(d) [a b c ]

Solution: (c) [(b  c )( c  a ), (a  b)] = (b  c ).{[ c  a )  (a  b)}  (b  c ) . {[c a b] a  [a a b]c }

MR. SHASHIKUMAR TOTIGER

 284 Vector Algebra

= (b  c ). {[a b c ] a  0} = [b c a ][abc ] = [abc ]2

Example: 54 Let the vectors a, b, c and d be such that (a  b)  (c  d)  0 . Let P1 and P2 be planes determined by pair of vectors

a, b and c, d respectively. Then the angle between P1 and P2 is [IIT Screening 2000]

  
(a) 0 o (b) (c) (d)
4 3 2
Solution: (a) (a  b )  (c  d )  0  (a  b ) is parallel to (c  d )

Hence plane P1 , determined by vectors a, b is parallel to the plane P2 determined by c, d

 Angle between P1 and P2 = 0 (As the planes P1 and P2 are parallel).

6.16 Vector Equations.

Solving a vector equation means determining an unknown vector or a number of vectors satisfying the
given conditions. Generally, to solve a vector equation, we express the unknown vector as a linear combination
of three known non-coplanar vectors and then we determine the coefficients from the given conditions.

If a, b are two known non-collinear vectors, then a, b, a  b are three non-coplanar vectors.

Thus, any vector r  xa  yb  z(a  b) where x , y , z are unknown scalars.

Example: 55 If a  i  j  k, a.b  1 and a  b  j  k , then b  [IIT Screening 2004]

(a) i (b) i  j  k (c) 2j  k (d) 2i

Solution: (a) Let b  b1 i  b 2 j  b 3 k

i j k
Now, j  k  a  b  1 1 1  b 3  b 2  0, b1  b 3  1, b 2  b1  1  b 3  b 2 , b1  b 2  1
b1 b2 b3

Now, a. b  1  b1  b 2  b 3  1  3b 2  1  1  b 2  0  b1  1, b 3  0 . Thus b  i

Example: 56 The point of intersection of r  a  b  a and r  b  a  b where a  i  j and b  2i  k is

(a) 3 i  j  k (b) 3i  k (c) 3i  2 j  k (d) None of these

Solution: (a) We have r  b  a  b and r  a  b  a

Adding, r  (a  b )  (a  b )  (b  a )

 r  (a  b )  0  r is parallel to a  b

 r   (a  b ) =  {(i  j)  (2 i  k )} =  {3i  j  k}

For   1 , r  3 i  j  k

Example: 57 Let a  i  j, b  j  k, c  k  i . If dˆ is a unit vector such that a . d  0  [b c d] , then dˆ is equal to [IIT 1995]

i  jk i  jk i  j  2k
(a)  (b)  (c)  (d) k
3 3 6

Solution: (c) ˆ  i   j k

Let d
ˆ  0  (i  j). ( i  j  k)  0      0    
a .d

MR. SHASHIKUMAR TOTIGER

 Vector Algebra 285

i j k
[b c d]  0  (b  c ). d  0  0 1 1 . ( i   j   k)  0  (i  j  k) . ( i   j   k)  0        0
1 0 1

   (   )  2 ; (   )

ˆ |  1   2   2   2  1   2   2  4 2  1     1   and    2
|d
6 6

 ˆ   1 (i  j  2 k ) .
d
6

Example: 58 Let p, q, r be three mutually perpendicular vectors of the same magnitude. If a vector x satisfies equation
p  | (x  q)  p | q | (x  r)  q |  r  | (x  p)  r |  0 , then x is given by [IIT 1997]

1 1 1 1
(a) (p  q  2r) (b) (p  q  r) (c) (p  q  r) (d) (2 p  q  r)
2 2 3 3
Solution: (b) Let | p |  | q |  | r |  k

 ˆ,q  k q
p k p ˆ , r  k ˆr

Let x   p
ˆ  q
ˆ   ˆr

Now, p  {x  q }  p} = (p . p)(x  q)  {p . (x  q)}p = | p | 2 (x  q)  {(p . x)  p . q} p

= k 2 (x  q)  {| p | (p
ˆ .x ˆ = k 2 (x  q ) – | p | 2 (p
ˆ )  0}| p | p ˆ = k 2 {x  q   p
ˆ . xˆ ) p ˆ)

 p  {( x  q )  p}  q  (x  r)  q}  r  {( x  p)  r}  0

 k 2 {x  q  p  x  r  q  x  p  r}  0  3 x  (p  q  r)  (p  q  r)  0

 3 x  (p  q  r)  x  0  2 x  (p  q  r)  0
1
 x (p  q  r)
2
Example: 59 Let the unit vectors a and b be perpendicular and the unit vector c be inclined at an angle  to both a and b. If
c   a   b   (a  b) , then [Orissa JEE 2003]

(a)     cos  ,  2  cos 2 (b)     cos ,  2   cos 2

(c)   cos ,   sin ,  2  cos 2 (d) None of these

Solution: (b) We have, | a | | b |  1

a . b  0 ; (as a b )

c   a  b   (a  b) ......(i)

Taking dot product by a , a . c  | a | 2   (a . b)   [a a b]

 | a | .| c | cos  .1  0  0  1 .| c | . cos  

As | c |  1 ;    cos

Taking dot product of (i) by b

b . c  b . a   | b | 2   [b a b]  | b | | c | cos   0   . 1  0

   1 . 1 . cos   cos 

MR. SHASHIKUMAR TOTIGER

 286 Vector Algebra

| c | 2  1   2   2   2  1  cos 2   cos 2    2  1

  2  1  2 cos 2    cos 2

Hence,     cos ,  2   cos 2

Example: 60 The locus of a point equidistant from two given points whose position vectors are a and b is equal to

 1   1 
(a) r  (a  b ) . (a  b )  0 (b)  r  (a  b ) . (a  b )  0
 2   2 
 1 
(c)  r  2 (a  b ) . a  0 (d) [r  (a  b)] . b  0
 

Solution: (b) Let P (r) be a point on the locus.

P(r)
 AP  BP
 | r  a |  | r  b |  | r  a | 2  | r  b | 2  (r  a ). (r  a )  (r  b). (r  b)
1
 2 r .(a  b)  a . a  b.b  r . (a  b )  (a  b). (a  b)
2
1 A(a) B(b)
 [r  (a  b)]. (a  b)  0 . This is the locus of P.
2

***

MR. SHASHIKUMAR TOTIGER