ENGINEERING MATHEMATICS 4 BA501

VECTOR

CHAP 3 - Vector and Scalar Products Vector Quantities a quantity that has magnitude and direction
Examples of vector quantities are displacement, velocity, direction, momentum, force, lift, weight and etc.

Scalar Quantities a quantity that has magnitude only.

Typical examples of scalar quantities are time, speed, temperature, and volume. A scalar quantity or parameter has no directional component, only magnitude. For example, the units for time (minutes, days, hours, etc.) represent an amount of time only and tell nothing of direction. Additional examples of scalar quantities are density, mass, and energy. Fundamental of vector

i)

Vector notation vector notation is how to present vector, such us :

a) vector is usually given a bold letter, such as A b) place a right-handed arrow over the letter to denote a vector c) vector can be write in engineering notation and matrix notation

ii)

Vector representation
Vectors can be graphically represented by directed line segments

example : vector

AB

= a

a
A

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iii)

Equality of vectors Two vectors are said to be equal if they have the same magnitude
and direction

iv)

Negative vectors A negative vector of a given vector is defined as the vector having same
magnitude, but applied in the opposite direction to that of the given vector. a Unit vector vector that has magnitude 1 unit @ a = a

v)

Unit vector = vi) Magnitude vector

vector magnitude

magnitude is synonymous with "length," and "distance" from point A to B. magnitude of A to B = AB vii)

Position vector vector which relative to origin

Operations of vectors
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The additional and subtraction of two vector create resultant vector

i)

Triangle law (Polygon law)

If two vectors are represented by two sides of a triangle in sequence, then third closing side of the triangle in the opposite direction of the sequence represents the sum or resultant of the two vectors in both magnitude and direction.

B = O O A A = B
OA + AB

B O O
a -b

A A

AB + OA = OB

B
= OB

Figure 1

The polygon law is an extension of earlier two laws of vector addition. It is successive application of triangle law to more than two vectors.
T

d
~

a+ b+ c+ d ~ ~ ~ ~

S c
~

+ QR PR + RS PQ + QR PS + ST
PQ

= PR = PS + RS = = PT
PQ

PS

b
~

a
~

hence, therefore

+ QR + RS + a+ b+ c+ d = ~ ~ ~ ~

ST

PT

PT

Fig

ii)
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Parallelogram law (parallel rectangle rule)

ENGINEERING MATHEMATICS 4 BA501

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If two vectors are represented by two adjacent sides of a parallelogram, then the diagonal of parallelogram through the common point represents the sum of the two vectors in both magnitude and direction .

O
OP

P +
OQ

O =
OR

P Q R

O
OP

P +
OQ

O =
QP

Figure 2 iii) Method of component

Rules of vector components: i) Components should be perpendicular is called the orthogonal components. ii) The component s of the vector may be in any axis (x and y axis) we called the horizontal or the vertical dimension. iii) The direction of the components is look like head to tail, so that we can add that vector. iv) If we are adding those x and y vectors we can get the resultant vector. The components of a vector are those vectors which, when added together, give the original vector. N

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E The sum of the components of two vectors is equal to the sum of these two vectors. A2 A A = A1 + A2 A1

A2

A1

A1, the component in an easterly direction, will have a magnitude A1 = A cos . A2, the component in a northerly direction, will have a magnitude A2 = A sin

Substraction
Subtraction is considered an addition process with one modification that the second vector (to be subtracted) is first reversed in direction and is then added to the first vector.

B = O A
OA

B O + (BA) = A
OB

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Characteristic of additional vectors. Characteristic i. Commutative law ii. Associative law iii. Identity law iv. Inversion law
a + b = b + a ( a + b )+ c = a + ( b + a + 0= a a + (- a ) = 0

Resultant

Multiplication vector with scalar Multiplication vector , a with scalar value , t produce vector t a where magnitude |t|. Characteristic i. Commutative law ii. Associative law iii. Distributive law iv. Distributive law Resultant ma = a m exp: 2 a = a 2 m(n a ) = (mn) a exp : 2x(3 a ) = (2x3) a = 6 a (m+n) a = m a + n a exp : (2 + 3) a = 2 a + 3 a = 5 a m( a + b ) = m a + m b exp : 2 ( a + b ) = 2 a + 2 b

Definition 1 : Given 3 point A, B, and C. Point A, B and C is collinear if

AB = t AC

, t is scalar non zero

B C

ta
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example 1 : Find the scalar value , for equation below : OC = 6OA + 12 BC + 4 AO + 2 AB + 10OB

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2: Given

AB

= 3a,

AD

= 2b,

DC

= a, and

DB

= 4 DE ,

E A a) b)

C D

Show that vectors below in terms a and

BD

,: c)
EC

AE

3 : ABCD is a parallelogram. M is centre point of hence

4 AL

BC

. L is a point on

AD ,

AD .

Given

AB = a

and

BM

= 2 b , find vectors below in terms

a and b :

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a)

MD

b)

DL

c)

LM

4. Given position vector point A, B and C respectively are 4 a + 2 b , 8 a - 4 b , and 16 a - 16 b . Show that point A, B and C are collinear and find ratio of
AB

: BC .

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Excercise
B

OA

and OB respectively are vector 12 a and 12 b while

OP

and
a

OQ

respectively are vector 4 a dan 4 b . Find vector below in terms

b

and

.
a) AB

(ans)

(a) 12( b (b) 4 (

b

a
a

) ))

Q O P A

b) PQ

Multiplication of 2 vector Scalar Product (Hasil Darab Skalar /Hasil Darap Bintik) Definition The product of two vectors to form a scalar, whose value is the product of the magnitudes of the vectors and the cosine of the angle between them.
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B O

= , = ; angle between and definite as angle between and is AOB.

Fig 2

Scalar product between vector

~ a ~ a

~ a

and

~ b can

be write as :

~ b

point (dot)
~ a

~ b )

~ ~ = a b cos

= angle between vector

~ a ~ a
~ b =

and

~ b

, 0 180.
~= a

~ ~ b a kos and

~ b

~ ~ ~ b a kos ; hence a

~ ~ b = b

Basic characteristic in scalar product 1.

~ a

~ b

is scalar not vector.

~ b ).

~ So ( a

~ c

~ is nondefinite but ( a

~ c b )~

is definite;

2. Parallel / opposite direction of 2 vector

~ a
fig 1

~ a
fig 2
~ b

~ b

~ b

~ and Refer to Fig 1, a

are parallel and in the same direction, hence =

0 ;

;
50

~ a

~ b

~ ~ ~ b ~ b kos 0 = a = a cos

ENGINEERING MATHEMATICS 4 BA501

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If

~ a

~ b

hence

~ a

~ a

~ a ~ a
~ b

~ 2 = a2 ; = a

~ a

~ a

= a2

~ and Refer to fig 2, a

are parallel but in the opposite direction,

hence = 180;
~ ~ ~ ~ ~ b ~ b ~ b ~ b kos 180 = a , a = a (-1) = - a

3. Perpendicular vector If
~ a

and

~ b

are perpendicular, hence = 90.

~ a

~ b

~ b

~ ~ ~ b ~ b = a cos 90 = a 0=0

~ a

=0

~ a
~ b
4. Angle between two vector. Theorem; ;
~ a

~ b

~ ~ b kos = a

kos =

~ ~b a ~ ~ a b

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4 :Given vector

~ ~ and b a

respectively
~ b )

~ a

=4,

~ b

=3 and
~ a

~ a

~ b =

7. Find

~+ the magnitude of ( a

and the angle between

and

~ b .

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5 : Calculate the work done F s given |F|, |s| and (the angle between the force F and the displacement s) when |F| = 4 N, |s| = 2 m, = 27o

~ Exercise : Calculate a and ~ o b is 60

53

~ b

if given |
1 2

~ a

~ | = 3 , |b | = 5 and angle between

~ a

(ans =

ENGINEERING MATHEMATICS 4 BA501

VECTOR

Vector in a Cartesian plane

In a Cartesian plane, if point C is (x,y), hence position vector for C can expressed in the form ;
y C(x, y) yj O xi x

OC

= Xi + Yj or (

X Y

.
x2 + y 2

Magnitude for OC , OC =

Unit vector in the positive direction of OC =

xi + yj x2 + y 2

Example
y A (8, 6)

6 O 8 N x

Fig 3

From fig 3; ON = 8 , NA = 6, Hence ON = 8i and NA = 6j

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Position vector for A, 1. = +

OA

can be expressed in two condition:

OA

ON

NA

(Triangle law) (in term i and j)

= 8 i + 6j

2.

OA

8 6

(in term column vector)

3. Magnitude for

OA ,

OA =

82 + 6 2

= 10

4. Unit vector in direction OA =

1 ( 8i + 6 j ) 10

or

1 10

( 6 )

4 4 3 i + j = 5 5 or 5 3 5

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Operational Vector in Cartesian Plane

y P(X1, Y1)

~ r 1
O

Q(X2, Y2)

In fig 4, P(X1,Y1) and Q(X2,Y2) are two point in Cartesian Plane and O is origin.
x

~ r2

Fig 4

Addition and Subtraction of position vectors Given

OP

= =

~ r 1

= X1 i + Y1 j or ( Y 1 = X2 i + Y2 j or ( Y 2
X2

X1

); )

OQ

~ r 2

Hence

~ ~ r 1 + r 2

= X1 i + Y1 j + X2 i + Y2 j ( assemble i and j )

= (X1 + X2) i + (Y1 + Y2) j

~ r 1

~ r 2

= X1 i + Y1 j - X2 i - Y2 j = (X1 - X2) i + (Y1 - Y2) j

Orin column vector,

~ ~ r 1 + r 2

=( Y 1

X1

)+( Y 2 )-( Y 2

X2

1 2 )= Y +Y 1 2

X + X

~ r 1

~ r 2

=( Y 1

X1

X2

1 2 )= Y Y 1 2

X X

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Example 6 : Given a)
~ a

= 5i + 2j and
~ b

~ b

= 2i 5j , find; b)
~ a

~ a

-2

~ b

Then find magnitude for each vector.

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7: Given that position vector A is

~ b =

~= a

2i + 3j and Position vector B is

i 5j . Find :
AB

a) angle between vector

and

~ = 2i + 3j and Exercise: 1. Given 2 vector a

~ b

~ ~ perpendicular to a ~+ b = i + 2j. If a ,Find the

scalar value of
3 ~= 2.Given a 4 and 1 ~ b = 1

(ans, : =

13 ) 8

~+ a) Find a

~ b

~| b) Calculate | a ~= c) If a
~ ~ 3b + 2c

( 3 ) ( 5 unit) 3 ( 3 1 ) 2

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~ as column vector , Express c

ENGINEERING MATHEMATICS 4 BA501

VECTOR

Vector in Three Dimension in Cartesian Plane

z

Coordinate S (p, q, r).

r O p[ qq x S y

Position vector for S.

~ OS = a = xi + yj + zk = y z p q r x

= pi + qj + rk =

Direction Cosines If
S
OS

makes angle of , and with the coordinate vector are:

y OS

axes i, j, and k respectively, then

y

The direction cosines for cos , =

x OS

OS

cos =

cos = }

z OS

~= {Magnitude OS = a

x2 + y2 + z2

= angle between vector S and x - axes = angle between vector S and y - axes = angle between vector S and z - axes , and known as direction angle.
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Example 8: If position vector of point A, B and C are

~ c
~= a

2i + j + 2k,

~ b

= 4i + 5j + 3k and

= i - 3j + 2k respectively, find
AB AB
~ ~ ~+ b a + c

a) vector

b) direction cosines of

c) unit vector in direction of

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9: Find direction angle of ( R +

) where point R has coordinate (1, -6, 1) and

point T has coordinate (3, 4, -5).

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The Scalar Product of 3 Dimension (produce scalar value) Let and

A
B

= a1i + b1j + c1k = a2i + b2j + c2k

AB

= (a1i + b1j + c1k) (a2i + b2j + c2k) = a1a2ii +a1b2ij +a1c2ik + b1a2ji + b1b2jj + b1c2jk + c1a2ki + c1b2kj + c1c2kk

However , i i = i i kos 00 = 1 i I = j j = k k = 1

and,

i j = i j kos 900 = 0 i j = j k = k I = 0
AB

= a1a2 + b1b2 + c1c2

Angle between vector A and B

62

cos =

~ ~ A B ~ ~ A B

ENGINEERING MATHEMATICS 4 BA501

VECTOR

The Vector Product of 3 Dimension (produce vector value) the vector product can be written in determinant forms as : Let, and
A B
A
B

= a1i + b1j + c1k = a2i + b2j + c2k

i j b1 b2 k c1 c2 a1 a2

A B

= (b1c 2 b2 c1 )i (a1c 2 a 2 c1 ) j + (a1b2 a 2 b1 )k

Angle between vector A and B Sin =
~ ~ A xB ~ ~ A B

Unit vector perpendicular to

u

A B

~ ~ A xB ~ ~ A xB

Area of parallelogram to vector

and

where

and

are side by side

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Area of parallelogram, Volume of Parallelepiped

A B

~ ~ A B

sin

a parallelepiped is a three-dimensional figure formed by six parallelograms

An alternative method defines the vectors

c

= (a1, a2, a3),

= (b1, b2, b3) and

= (c1, c2, c3) to represent three edges that meet at one vertex. The volume (b ):

of the parallelepiped then equals the absolute value of the scalar triple product
a c

Volume of Parallelepiped is:

V = | a (b c ) | = | b (c a ) |

| c ( a b) |

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Example 10 : Find the angle between vector a) scalar product b) vector product Given : ~ = 2 i + 3j + k a ~ b = i 2j 6k

~ ~ and b a using

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11: Unit vector perpendicular to 2i + 3 j k

and

respectively are 3i 2j + 4k and

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12. Find the volume of the parallelepiped with adjacent edges

PS

PQ

PR

and

where P(3, 0, 1), Q(1, 2, 5), R(5, 1,1), S(0, 4, 2)

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Exercise : 1. Angle between two vector

1 84

~= a

i + j +2k and

~ b =

2i + 3j + k is cos-1

. Find the value of .

(ans = -1)

2. If

~ A

= 5i 2j + 3k. a) b)
~ A ~ A ~ (B x

~ B

~ = 3i + j 2k and C = i 3j +4k. Find

~ C) ~ C)

(ans -12) (ans 62i + 44j -74k) = 3i 5j 2k. Find :

~ x (B x

3. If i. ii.

= 4i 3j + 5k. and

2p 3q

2 p (4q + p )

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