CHAPTER

5 Vectors

For Example, the rotation of a rigid body through finite

CONCEPT BOOSTER angles have both magnitude and direction but do not satisfy
the vector law of addition. Therefore, it is not a vector.
1.1 INTRODUCTION
A study of motion involves the introduction of a variety of 1.3 REPRESENTATION OF VECTORS
quantities that are used to describe the physical world. For
examples, distance, displacement, speed, velocity, accelera- Directed Line Segment
tion, force, mass, momentum, energy, work, power, etc. All Any given protion of a given straight line where the two
these quantities can by divided into two categories—vectors end-points are distinguished as the initial and the terminal
and scalars. A vector quantity is a quantity that is fully points is called a directed line segment.
described by both magnitude and direction. On the other The directed line segment with the initial point P and the
___›
hand, a scalar quantity is a quantity that is described by its terminal point Q is denoted by the symbol PQ or PQ.
magnitude only. The emphasis of this unit is to understand
some fundamentals about vectors and to apply the funda-
mentals in order to understand motion and forces that occur
in two dimensions.
1.2 PHYSICAL QUANTITIES
The physical quantity is divided into two categories:
(a) scalar quantities
(b) vector quantities
(a) Scalar Quantities The two end-points P and Q are not interchangeable.
A quantity which has only magnitude and not related to any A directed line segment is called a vector if it has three
fixed direction in the space is called the scalar quantity. following characteristics.
___›
For example, mass, length, volume, density, time, tempera-
(i) Length: The length of PQ is denoted by the symbol
ture, etc., are all scalar quantities. ___›
If the unit of measurement is defined, a real number is |PQ|.
sufficient to represent a scalar quantity. Thus, in this chapter,
(ii) Support: The line of unlimited length of which
we shall represent scalars by real numbers.
a directed line segment is a part is called the
(b) Vector Quantities support.
A quantity which has magnitude as well as direction is (iii) Sense: The sense of the directed line segment is from
called a vector. its initial point to its terminal point.
For exmaple, force, velocity, acceleration, displacement,
momentum, etc. are all vector quantities. We genrally denote the vector by bold letter or by a
single letter with an arrow or by a letter with a bar over its
Notes: Quantities having magnitude and direction but not head,
_› _ ___›
obeying the vector law of addition will not be treated as
i.e. a, a , a denote the vector PQ.
vectors.
5.2 Integral Calculus, 3D Geometry & Vector Booster

1.4 TYPES OF VECTORS Like Vectors

(i) Zero or Null Vector Collinear vectors are called like vectors if their direction
are the same.
A vector whose initial or terminal points are identical
or coincident, is called a zero vector. It is also known
as null vector. It is denoted by 0 and its direction is
indeterminate. ___› ___›
___› ___› ___› Here, PQ, and QR vectors are like vectors.
Thus AA, BB and CC are zero vectors. Geometrically, it
represents a point. Unlike Vectors
(ii) Proper Vector Collinear vectors are called unlike vectors if their directions
are opposite.
Any non-zero vector is called a proper vector.
(iii) Unit Vector
If the magnitude of a vector is unity, it is called a unit ___› ___›
vector. Here, PQ and QR are unlike vectors.
_›
If | a | = 1, then a is called a unit vector. It is generally Difference between parallel and collinear vectors
a
denoted as and is defined as = ___ _› . Every collinear vectors are parallel, whereas every parallel
|a| vectors need not be a collinear.
(iv) Co-initial Vectors Notes
Two or more vectors are said to be co-initial vectors, if they 1. Two non-zero vectors a and b are collinear (or
have the same initial point. parallel) if a = l b, " l ŒR.
2. If a = a1i + a 2 j + a3k and b = b1i + b2j + b3k are
two collinear (or parallel) vectors, then
a1 __
__ a3
a2 __
= = .
b1 b2 b3

(vii) Coplanar Vectors

Three or more vectors are said to be coplanar if they lie in
the same plane, or they are parallel to the same plane.Three
vectors a, b and c are coplanar if any one of their is a linear
___› ___› ___› ___› ___› combination of the other two vectors.
Here, OP, OQ, OR, OS, OT are co-initial vectors.
i.e a = xb + yc
(v) Co-terminal Vectors or b = xa + yc
Two or more vectors are said to be co-terminal vectors if or c = xa + yb
they have the same terminal point.
(viii) Free Vector
If the origin of a vector is not specified, it is called a free
vector.

___› ___› ___› ___› ___›

Here, PM, DM, CM, BM, AM are co-terminal vectors.
(vi) Collinear or Parallel Vectors
___› _› ___› _› ___› _›
Two vectors are said to be collinear vectors if their supports Here, OA, = a , OB = b , OC = c
are parallel or the same irrespective of their direction.
_› _› _›
Collinear vectors are also called parallel vectors. Thus a , b , and c are free vectors.
 Vectors 5.3

(ix) Localized Vector It is also stated as, If two vectors are represented by
For a vector of given magnitude and direction, if its initial the two sides of a triangle taken in order, their sum is
point is fixed in space, the vector is called a localized represented by the third side of the triangle, taken in reverse
vector. order.

(x) Position Vector Parallelogram Law of Addition of Vectors

Let O be the origin and P be a point in the space. The posi- Let the parallelogram OACB, where
tion vector of P is OP. ___› _› ___› _›
OA = a and OB = b

If a and b are the position vectors of the points A and B,

then
___› ___› ___›
AB = OB – OA = b – a.
___› ___› ___›
(xi) Negative of a Vector Thus, OC = OA + AB
The vector, which has the same magnitude as the vector ___› ___›
a but has the direction opposite to that of a, is called the = OA + OB
_› _›
negative of a and is written as – a. = a + b.
(xii) Equality of Two Vectors
This method of addition of two vectors is called the
Two vectors are said to be equal if they have parallelogram law of addition vectors.
(a) the same length
(b) the same or parallel supports Properties of Addition of Vectors
(c) the same sense. (i) Addition of vectors is commutative, i.e.
1.5 ALGEBRA OF VECTORS _› _› _› _›
a + b = b + a
It is possible to develop an algebra of vectors which is useful
in the study of geometry, mechanics and other branches of (ii) Addition of vectors is associative, i.e.
applied mathematics. _› _› _› _› _› _›
(a + b) + c = a + (b + c )
1.5.1 Addition of Vectors
(iii) Additive identity exists, i.e.
Let a and b be two given vectors. Take a point O in the _› _› _› _› _›
space. a + 0 = a = 0 + a
___› ___› _›
Let OA, = a, AB_›= b, so that the terminal point of a is (iv) Additive inverse also exists, i.e.
the initial point of b . _› __› _› __ _›
›
a + ( – a) = 0 (– a ) + a

Polygon Law of Vector Addition

Let OABCDE be a polygon where

___›
The
_› vector
_› OB is defined as the vector sum (or resultant)
of a and b .
___› ___› ___› _› _›
Thus, OB = OA + AB = a + b which is known as the ___› _› ___› _› ___› _› ___› _› ___› _›
triangle law of vector addition. OA = a , AB = b , BC = c , CD = d and DE = e .
5.4 Integral Calculus, 3D Geometry & Vector Booster

Applying the triangle law, we have. (i) If the rotation from OX to OY is in the anti-clockwise
___› ___› ___› _› _› direction and OZ is directed upwards, the system is
OB = OA + AB = a + b called the right handed system.
___› ___› ___› _› _› _›
OC = OB + BC = ( a + b ) + c (ii) If the rotation from OX to OY is in the clockwise
___› ___› ___› _› _› _› _› direction and OZ is directed upwards, the system is
OD = OC + CD = ( a + b + c ) + d called the left handed system.
___› ___› ___› _› _› _› _› _›
OE = OD + DE = ( a + b + c + d ) + e 1.7 POSITION VECTOR OF A POINT IN A SPACE
Thus, to find the sum of more than two vectors, a polygon Let O be a fixed point, known as the origin, and let OX,
is formed. OY and OZ be three mutually perpendicular lines, taken
Therefore, this method is known as the polygon law of as x-axis, y-axis and z-axis, respectively, in such a way
vector addition. that they form a right
Note: If the initial point of the first vector and the final handed system.
point of the last vector are the same, the sum of the vectors The plane XOY, YOZ
is a zero vector. and ZOX are known as
xy-plane, yz-plane and
1.5.2 Subtraction of Vectors zx-plane, respectively.
If a and b be any two vectors, the subtraction of b from a Let P be a point in a
is defined as the addition of – b to a and is written as a + space such that its dis-
(– b) = a – b, i.e. tances from yz-, zx- and _› _› _›
_› _› _› _› xy-plane be a, b, c respectively and i , j , k are the vectors
a + (– b ) = a – b
along x, y and z axes, respectively.
Let OA = a, OB = b and OC = c
Now, OP = OL + LP
= OA + AL + LP
= OA + OB + OC.
= a i___________
+ b j + c k.
and |OP| = ÷a2 + b2 + c2 .

1.8 LINEAR COMBINATION

1.5.3 Multiplication of a Vector by a Scaler A vector r is said to be a linear combination of the vectors
Let_ m be any scaler and a be any vector. Then its product a, b, c, ..., if there exist scalars x, y, z, ... such that
› r = x a + y b + z c + ...
m a is called_ the multiplication of a vector by a scaler.
_› ›
If a and be two vectors and m, n are scalers, then
_› _› _› 1.9 LINEARLY DEPENDENT VECTORS
(i) m ( a ) = m a = ( a ) m
_› _› A system of vectors a1, a2, ..., an is said to be linearly
(ii) m (n a ) = (m n) a
_› _› _› dependent if there exist scalars x1, x2, ..., xn (not all zero)
(iii) (m + n) a = m a + n a such that
_› _› _› _›
(iv) m ( a + b ) = m a + m b x1a1 + x2a2 + ... + xnan = 0.
1.6 LEFT AND RIGHT HANDED ORIENTATION 1.10 LINEARLY INDEPENDENT VECTORS
__› __› __›
Y Y A system of vectors a1, a2, ..., an is said to be linearly
Z independent
_› if_there exist scalars
_› x1, x2,...., xn (all zero) such
›
that x1 a 1 + x2 a 2 + ... + xn a n = 0
O
X O X

Z 1.11 SECTION FORMULAE

Y Y
Z
Z
X 1.11.1 Internal Section
X
If a point R (r) divides the line segment joining the points
Right Handed System Left Handed System
P(r1) and Q (r2) internally in the ratio m : n, then
 Vectors 5.5
m r2 + n r1 1.11.4 Centroid
r = __________.
m+n
The point of intersection of the medians of a triangle is
called its centroid.
Let A (r1), B (r2) and C (r3) be the vertices of a triangle
ABC and G (r) be its cen troid. Then the position vector r
of the centroid is given by
r1 + r2 + r3
r = __________.
From the figure, we have by using triangle rule, 3

PR __
____ m
= n
RQ
OR – OP __
_________ m
fi = n
OQ – OR

r – r1 __
______ m
fi r2 – r = n

fi n (r – r1) = m (r2 – r)
1.11.5 Centroid of a Tetrahedron
fi r (m + n) = m r2 + n r1
Let _the position
_› vectors of the points A, B, C and D are
m r2 + n r1 _› › _›
fi r = __________ a , b , c and d respectively. The position vector r of the
m+n
centroid is
1.11.2 External Section a+b+c+d
r = ____________
If a point R(r) divides the line segment joining the points 4
P(r1) and Q(r2) externally in the ratio m : n, then
m r2 – n r1
r = _________
m–n .
It can be proved by using triangle rule.

1.11.6 Incentre
The point of intersection of the angle bisectors of a triangle
is called its incentre.

1.11.3 Mid-Point Formula

If a point R(r) divides the line segment joining the points
P(r1) and Q(r2) internally in the ratio 1 : 1, then
r2 + r1
r = ______.
2

Let the position vectors of the points A, B, C are r1, r2,

r3, respectively, and r be the position vector of the incentre
I. The position vector r of the incentre is given by