1. 1.

VECTORS Vector Algebra

1.1.1

Scalars and Vectors

A scalar is a quantity having magnitude but no direction such as mass, length, time, temperature. A vector is a quantity having both magnitude and direction such as force, velocity, acceleration etc. A vector is represented by a line segment PQ with an arrow showing the direction and the magnitude of the vector being indicated by the length of the line segment. It is denoted by PQ . The magnitude of the vector PQ is therefore denoted by PQ .P is called the initial point and Q the terminal point. A unit vector is that whose magnitude is unity. PQPQ is a unit vector having the same direction as PQ. Zero or null vector is that vector whose magnitude is zero. Remark: 1 Two vectors are said to be equal if they have the same magnitude and the direction regardless of the positions of their initial points. PQ=AB if PQ is parallel to AB with P and A are initial points and PQ=AB 2. A vector having the direction opposite to that of PQ but having the same magnitude is denoted by -PQ. Other Notation for Vectors Usually vectors are denoted by using simple letters as a , b etc. If AB=a then AB=a and AB is parallel to a . Vector Operations Addition and Subtraction of Vectors A vector whose effect is the same as the effect of two vectors considered together, then it is called the sum or the resultant of the given vectors. The Parallelogram Law If a=AB, b=AC then a+b=AP , a-b=CB. diagram

Multiplication of a vector by a scalar Let n be a scalar (real and positive) and a be any vector. The product na of a vector
a

and a number n is

a vector whose magnitude is n times that of a and in the direction as a. 1

Properties of Vector Operations (i) Vector addition is commutative a+b=b+a (ii) Vector addition is associative (a+b)+c=a+b+c. (iii) Scalar multiplication is associative mna=mna. (iv) Identity for addition a+0=a. (v) Inverse property for addition a+-a=0. (vi) Distributive Law m+na=ma+na. (vii) Distributive Law ma+b=ma+mb. 1.1.3 Position Vector of a point The position vector of a point A with respect to origin O is the vector OA which is used to specify the position of A with respect to O . Ratio Formula Let A and B be two points with position vectors a and b, and C divides AB in the ratio of m : n. Let O be the origin, then OC=c is given by c=nm+na+mm+nb Example 1.1 1. Prove that line joining the mid-point of two sides of a triangle is parallel to the third and half of its magnitude. 2. Find the position vector of the centroid of a triangle ABC, when the position vectors of A, B and C are and .
a, b

3. If the mid-points of consecutive sides of any quadrilateral are connected by straight lines, prove that the resulting quadrilateral is a parallelogram. Self Assessment Questions 1. ABCD is a quadrilateral and P, Q are mid points of the diagonals AC and BD respectively. Show that .
AB+ CB + CD + AD = 4 PQ

2. ABCD is a parallelogram, P is the mid point of BC and Q is that of CD. If AB=a and AD=b find the vectors in terms of a and b.
BD, AP, AQ, PQ and PD

3. ABC is a triangle and P is any point on BC. Let Q be a point such that PQ is the resultant of AP, PBand PC. Show that ABQC is a parallelogram and Q is a fixed point.

1.2

Vectors in Component Form Learning Outcomes Define a vector in component form Define direction ratios and direction cosines Find scalar product (dot product) and vector product (cross product) Discuss applications of scalar and vector products

1.2.1

Rectangular Presentation of Vectors

Two Dimensional Representation Let b OX, OY be the two rectangular axes and i, j be two unit vectors parallel to two axes. The position vector of P(x, y) relative to O is r=xi+yj Three Dimensional Representation Consider the coordinate system with axes OX, OY

Three Dimensional Representation Consider the co-ordinate system with axes OX, OY, OZ. This is called a right-handed set of axes. The set of vectors i, j and k is called a right handed set of unit vectors. If a point P has the Cartesian coordinates P(x,y,z) then the position vector of P relative to O is r=xi+yj+zk x, y and z are called the components If , and are the angles which r makes with positive directions of OX,OY and OZ respectively, and are called the cos , cos , cos direction cosines of r and the numbers and with any scalar are x , y z >0 called direction ratios.

Remark: 1. r= x2+y2+z2 2. cos=xr cos=yr cos=zr Example 1.2 1. Let the coordinates of the point P be (3,4,12), find OP, its magnitude and direction cosines. 2. Position vectors of P and Q are given by r1=2i+3j-k, r2=4i-3j+2k .Determine PQ and find its magnitude. 3. If a=3i-j-4k, b=-2i+4j-3k, c=i+2j-k, find (a) 2a-b+3c. b3a-2b+4c cUnit vector parallel to 3a-2b+4c .

1.2.2

Scalar Product ( Dot Product ) 2

The scalar product of two vectors a and b is a form of multiplication of two vectors which yields a scalar quantity. Let a and b be two vectors and be the angle between them with 0 Then the scalar product or dot product is denoted by a.b and is defined as a.b=abcos . Note: Scalar product is commutative .(i.e. a. b=b. a ) Geometrical Interpretation The scalar product of two vectors is the product of the length of one vector and the length of the projection of the other in the direction of the first vector. Ex: Using the definition of the dot product find: , , , ,
jk

and

ii

j j k k i j

k i

Properties 1. a.b=b.a (commutative law) 2. a.b+c=a.b+a.c 3. ma.b=ma.b=a.mb=(a.b).m 4. i.i=j.j=k.k=1 and i.j=j.k=k.i=0 5. If a=a1i+a2j+a3k and b=b1i+b2j+b3k then a.b=a1b1+a2b2+a3b3 6. If a.b=0 then a andb are perpendicular. Example 1.3 1. Find the projection of the vector
i2j+k

on
4i 4 j + 7 k

. find and .

2. 3. 4.

If

, a = 4i + j + k b = 2i + j + 2k

and c = 3i + 4 j + 5k and
2i + 6 j + 3k

a+b
.

b+c

Find the angle between the vectors Show that ,

12i 4 j + 3k

and
3i 4 j 4k

form the sides of a right angled triangle.

Work Done as a Scalar Product If a constant force F acting on a particle displaces it from A to B then, Work done = magnitude of the force in the direction of motion x distance moved = Fcos AB=F.AB Example 1.4 1. Find the work done in moving an object along a vector r=3i+2j-5k by a force F=2i-j-k. 2. A force of magnitude 6 units acting parallel to displaces the point of application form 2i 2 j + k to
(1,2,3) (5,3,7)

. Find the work done.

3. Constant forces P = 2i 5 j + 6k

and Q = i + 2 j k

act on a particle. Determine the work done and

when the particle is displaced from A to B. The position vectors of A and B being respectively
6i + j 3k

Self Assessment Questions 1 Prove that the projection of a on b is a.n where n is a unit vector in the direction of b. Hence prove that a.b+c=a.b+a.c. 2 Show that the vectors a=3i-2j+k, b=i-3j+5k, c=2i+j-4k form a right triangle. 3 Find the angles which the vector a=3i-6j+2k makes with the co-ordinate axes. 4 Prove the law of cosines for plane triangles. 5 Determine a unit vector perpendicular to the plane of (2i-6j-3k) and (4i+3j-k) using scalar product. 1.2.3 Vector Product ( Cross Product ) The vector product or cross product of two vectors a and b is a form of multiplication of two vectors which yields a vector quantity. Let a and b be two vectors and be the angle between them with .

0
Then the vector product or cross product is defined as ab=a.b.sin.n where n is a unit vector perpendicular to both a and b . Then (i) its magnitude is a.b.sin (ii) its direction is perpendicular to both vectors a and b. (iii) , and are forming a right handed system. n a b

Note: Vector product is not commutative. i.e.abba Note: If two vectors a and b are parallel then ab=0. Geometrical Interpretation ab represents the area of the parallelogram whose adjacent sides are a and b. Ex: Using the definition of the cross product find: , , , , ,
jk k i

,
j i

and
k j

ii j j k k i j
Vector Product Expressed as a Determinant If and a = a1 i + a 2 j + a3 k b = b1 i + b2 j + b3 k

= ijka1a2a3b1b2b3

a b

Example 1.3 1. Find . (i + 2 j + 3k ) ( 2i + j k ) 2. 3. Find a unit vector perpendicular to both of the vectors, Determine and , a = 2i 3 j + k b = 7i 5 j + k . lie on a

straight line.

by using vectors, such that points (-1,3,2) , (-4,2,-2) and (5,

, )

Self Assessment Questions. 1. If and a = 3i 2 j 2k 2. Show that b = 2i + 3 j + k

calculate
( a + b) ( a b)

( a b) ( a + b) = 2 a b
3. If a = i 2 j + 3k and b = 3i + j + 2k and if find a unit vector which is perpendicular to and .

c
. ab = a b

4. Find the angle between two vectors

5. Find the equation of the plane perpendicular to the vector A=2i+3j+6k and passing through the terminal point of the vector B=i+5j+3k. 6. Prove that the area of a parallelogram with sides A and B is AB. 7. Find an equation for the plane determine by the points P(2,-1,1), Q(3,2,-1), R(-1,3,2).

Applications of Vector Product 1. Area of a Parallelogram Area of a parallelogram with adjacent sides a and b is ab. Example 1.4

1. Find the area of a parallelogram whose adjacent sides are

and
(2i + j 4k )

2. Find the area of the triangle having vertices at P(1,3,2), Q(2,-1,1) , R(-1,2,3). 2. Moment or Torque of a Force about a Point It is a well known fact that a body such as a door, which is hinged to a fixed support can be set in motion by the application of a force which does not pass through the line of the hingers. The moment or torque of a force about a point O is defined to be the product of the magnitude of
F

the force and the perpendicular distance from O to its line of action. M=F .rsin=rF. Example 1.5 1. A force F = 3i + 2 j 4k (2,-1,3). 2. A force of 78gm acts at the point (2,3,5) the direction of the force being parallel to i-j+k . Find the moment about the point (12,3,4).

applied at the point (1,-1,2). Find the moment of the force about the point

3.

Angular Momentum Here's another physical application of the cross product. In the drawing below, it is shown that a particle of mass m with position vector r relative to an origin O. If this particle has velocity v then its momentum p is given by p = mv. The angular momentum or moment of momentum of the particle is defined as angular momentum L = r x p = r x mv = m(r x v).

Remember that since L is a vector cross product, all three of these vectors must be mutually perpendicular to each other. That is, L, r and p must be in three separate planes. L is measured in kg m2/sec. Using an analogy to torque we will once again use the right hand rule (RHR): r is your fingers, palm is p = mv, thumb is L.

the momentum of the mass is in the -y direction (palm), the moment arm away from the fixed pivot towards the line of action
of the falling mass' momentum is in the -x direction (fingers), then

the angular momentum is in the +z direction (thumb).

Exercises 1. A force
p = 4i 3k

passes through the point A whose position vector is

. Find the

moment of P about the point B whose position vector is

. and the momentum

2. Find the angular momentum of a particle with the position vector .

1.3 1.3.1 Let If

Triple Products Scalar Triple Product be three vectors then their dot product is written as
a, b, c a.(b c

) or [
a , b, c

]. ).

, a = a1 i + a 2 j + a3 k b = b1 i + b2 j + b3 k

and c = c1 i + c2 j + c3 k

find
a.(b c

Remark: (1) a.bc=b.ca=c.(ab) (2) a.bc= a1a2a3b1b2b3c1c2c3 Geometrical Interpretation The scalar triple product
a.(b c

) represents the volume of the parallelepiped having

as its edges.

Note : If
a.(b c

) = 0 then
a , b, c

are coplanar.

Example 1.6 1. Find the volume of the parallelepiped with adjacent sides a = 3i 7 j 2. Show that the vectors non-collinear vectors. 1.3.2 Triple Vector Product The triple vector product of three vectors
a, b, c

, b = j + 2k are coplanar

and c = i + 5 j + 4k being three

and

5a + 6b + 7c 7a 8b + 9c

3a + 20b + 5c

is written as
a. (b c) = (a c )b (a b)c

).

Note :
a. (b c ) ( a. b) c