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Chapter 6

Additional Topics in Trigonometry

6.4

Vectors and Dot Products

The Dot Product of Two Vectors
So far you have studied two vector operationsvector addition and multiplication by a scalareach of which yields another vector. In this section, you will study a third vector operation, the dot product. This product yields a scalar, rather than a vector.

What you should learn

Find the dot product of two vectors and use the Properties of the Dot Product. Find the angle between two vectors and determine whether two vectors are orthogonal. Write a vector as the sum of two vector components. Use vectors to find the work done by a force.

Definition of the Dot Product

The dot product of u u v u1v1 u2v2. u1, u2 and v v1, v2 is

Why you should learn it

You can use the dot product of two vectors to solve real-life problems involving two vector quantities. For instance, in Exercise 68 on page 468, you can use the dot product to find the force necessary to keep a sport utility vehicle from rolling down a hill.

Properties of the Dot Product

Let u, v, and w be vectors in the plane or in space and let c be a scalar. 1. u 2. 0 3. u 4. v 5. c u v v v v v v 0 w v
2

cu

cv

For proofs of the properties of the dot product, see Proofs in Mathematics on page 492.

Example 1

Finding Dot Products

Find each dot product.

Edward Ewert

a. 4, 5

2, 3 2, 3

b. 2,

1, 2

c. 0, 3

4,

Solution
a. 4, 5 42 53 8 15 23 1, 2 21 1 2 b. 2, 1 4, 2 04 3 2 c. 0, 3 Now try Exercise 1. In Example 1, be sure you see that the dot product of two vectors is a scalar (a real number), not a vector. Moreover, notice that the dot product can be positive, zero, or negative.

2 0 6

0 6

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Example 2
Let u a. u vw

Using Properties of Dot Products

2, 4 , and w 2v 1, 2 . Find each dot product.

1, 3 , v b. u

Solution
Begin by finding the dot product of u and v. u v 1, 3 1 2 14 a. u b. u vw 2v 14 1, 2 14, 28 2u v 2 14 28 2, 3 4 4

Notice that the product in part (a) is a vector, whereas the product in part (b) is a scalar. Can you see why? Now try Exercise 11.

Example 3

Dot Product and Magnitude

The dot product of u with itself is 5. What is the magnitude of u?

Solution
Because u u
2

u u

u and u

5, it follows that

u 5.

Now try Exercise 19.

The Angle Between Two Vectors

vu u

The angle between two nonzero vectors is the angle , 0 , between their respective standard position vectors, as shown in Figure 6.33. This angle can be found using the dot product. (Note that the angle between the zero vector and another vector is not defined.)

Origin
FIGURE

6.33

Angle Between Two Vectors

If is the angle between two nonzero vectors u and v, then cos u u v . v

For a proof of the angle between two vectors, see Proofs in Mathematics on page 492.

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Chapter 6

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Example 4

Finding the Angle Between Two Vectors

4, 3 and v 3, 5 .

Find the angle between u

Solution
y
6 5 4 3 2 1 x 1
FIGURE

cos
v = 3, 5

u u

v v 3, 5 3, 5

4, 3 4, 3
u = 4, 3

27 5 34 This implies that the angle between the two vectors is arccos 27 5 34 22.2

6.34

as shown in Figure 6.34. Now try Exercise 29. Rewriting the expression for the angle between two vectors in the form u v u v cos
Alternative form of dot product

produces an alternative way to calculate the dot product. From this form, you can see that because u and v are always positive, u v and cos will always have the same sign. Figure 6.35 shows the five possible orientations of two vectors.

u v

v v u

cos 1 Opposite Direction FIGURE 6.35

<

<

2 0 cos 90 Angle

0<

1 < cos < 0 Obtuse Angle

2 0 < cos < 1 Acute Angle

<

0 1 cos Same Direction

Definition of Orthogonal Vectors

The vectors u and v are orthogonal if u v 0.

The terms orthogonal and perpendicular mean essentially the same thingmeeting at right angles. Even though the angle between the zero vector and another vector is not defined, it is convenient to extend the definition of orthogonality to include the zero vector. In other words, the zero vector is orthogonal to every vector u, because 0 u 0.

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Te c h n o l o g y
The graphing utility program Finding the Angle Between Two Vectors, found on our website college.hmco.com, graphs two a, b and v c, d vectors u in standard position and finds the measure of the angle between them. Use the program to verify the solutions for Examples 4 and 5.

Example 5

Determining Orthogonal Vectors

2, 3 and v 6, 4 orthogonal?

Are the vectors u

Solution
Begin by finding the dot product of the two vectors. u v 2, 3 6, 4 26 3 4 0

Because the dot product is 0, the two vectors are orthogonal (see Figure 6.36).
y 4 3 2 1 x 1 2 3
FIGURE

v = 6, 4

u = 2, 3

6.36

Now try Exercise 47.

Finding Vector Components

You have already seen applications in which two vectors are added to produce a resultant vector. Many applications in physics and engineering pose the reverse problemdecomposing a given vector into the sum of two vector components. Consider a boat on an inclined ramp, as shown in Figure 6.37. The force F due to gravity pulls the boat down the ramp and against the ramp. These two orthogonal forces, w1 and w2, are vector components of F. That is, F w1 w2.
Vector components of F

The negative of component w1 represents the force needed to keep the boat from rolling down the ramp, whereas w2 represents the force that the tires must withstand against the ramp. A procedure for finding w1 and w2 is shown on the following page.

w1 w2 F
FIGURE

6.37

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Definition of Vector Components

Let u and v be nonzero vectors such that u w1 w2

where w1 and w2 are orthogonal and w1 is parallel to (or a scalar multiple of) v, as shown in Figure 6.38. The vectors w1 and w2 are called vector components of u. The vector w1 is the projection of u onto v and is denoted by w1 proj v u. u w1.

The vector w2 is given by w2

w2

w2

v w1 w1 is obtuse.

FIGURE

is acute. 6.38

From the definition of vector components, you can see that it is easy to find the component w2 once you have found the projection of u onto v. To find the projection, you can use the dot product, as follows. u u v w1 cv cv c v So, c and w1 projv u cv u v v
2

w2 w2 v
2

cv v w2 0 v

w2

w1 is a scalar multiple of v. Take dot product of each side with v.

w2 and v are orthogonal.

u v

v
2

v.

Projection of u onto v
Let u and v be nonzero vectors. The projection of u onto v is proj v u u v v
2

v.

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Section 6.4
y 2 1 1

Vectors and Dot Products

465

v = 6, 2 w1
x 1 2 3 4 5 6

Example 6

Decomposing a Vector into Components

Find the projection of u 3, 5 onto v 6, 2 . Then write u as the sum of two orthogonal vectors, one of which is projvu.

Solution
The projection of u onto v is w1 projvu u v v
2

1 2 3 4 5

w2

8 6, 2 40

6 2 , 5 5

as shown in Figure 6.39. The other component, w2, is

u = 3, 5

FIGURE

6.39

w2 So, u

w1

3,

6 2 , 5 5 9 , 5 27 5

9 , 5

27 . 5

w1

w2

6 2 , 5 5

3,

5.

Now try Exercise 53.

Example 7

Finding a Force

A 200-pound cart sits on a ramp inclined at 30 , as shown in Figure 6.40. What force is required to keep the cart from rolling down the ramp?

Solution
Because the force due to gravity is vertical and downward, you can represent the gravitational force by the vector
v 30
FIGURE

w1 F

200j.

Force due to gravity

To find the force required to keep the cart from rolling down the ramp, project F onto a unit vector v in the direction of the ramp, as follows. v cos 30 i sin 30 j 3 i 2 1 j 2
Unit vector along ramp

6.40

Therefore, the projection of F onto v is w1 proj v F F v F v

2

vv 200 1 v 2 3 i 2 1 j . 2

100

The magnitude of this force is 100, and so a force of 100 pounds is required to keep the cart from rolling down the ramp. Now try Exercise 67.

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Work
The work W done by a constant force F acting along the line of motion of an object is given by
\

magnitude of force distance

PQ

as shown in Figure 6.41. If the constant force F is not directed along the line of motion, as shown in Figure 6.42, the work W done by the force is given by
\

W
Activities 1. Find the dot product. 1, 0 3, 6 Answer: 3 2. Are the vectors u 5, 2 and v 3, 4 orthogonal? Answer: No 3. A person pulls a wagon with a constant force of 15 pounds at a constant angle of 40 for 500 feet. Find the work done in pulling the wagon. Answer: 5745 foot-pounds

proj PQ F
\

PQ
\

Projection form for work proj PQ F

\

cos
\

F PQ .

PQ

cos

Alternative form of dot product

F F P Q P

proj PQ F Q

Force acts along the line of motion. FIGURE 6.41

Force acts at angle with the line of motion. FIGURE 6.42

This notion of work is summarized in the following definition.

Definition of Work
The work W done by a constant force F as its point of application moves along the vector PQ is given by either of the following.
\ \

1. W 2. W

projPQ F PQ
\

Projection form Dot product form

PQ

Example 8

Finding Work

To close a sliding door, a person pulls on a rope with a constant force of 50 pounds at a constant angle of 60 , as shown in Figure 6.43. Find the work done in moving the door 12 feet to its closed position.

Solution
Using a projection, you can calculate the work as follows.
\

12 ft P
projPQF

W
Q

proj PQ F
\

PQ
\

Projection form for work

cos 60 1 50 12 2
\

PQ 300 foot-pounds

60 F 12 ft
FIGURE

So, the work done is 300 foot-pounds. You can verify this result by finding the vectors F and PQ and calculating their dot product. Now try Exercise 69.

6.43

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6.4

Exercises

VOCABULARY CHECK: Fill in the blanks.

1. The ________ ________ of two vectors yields a scalar, rather than a vector. 2. If is the angle between two nonzero vectors u and v, then cos 0. ________ .
\

________ .

3. The vectors u and v are ________ if u v 4. The projection of u onto v is given by projvu

5. The work W done by a constant force F as its point of application moves along the vector PQ is given by W ________ or W ________ .

PREREQUISITE SKILLS REVIEW: Practice and review algebra skills needed for this section at www.Eduspace.com.
In Exercises 18, find the dot product of u and v. 1. u v 3. u v 5. u v 7. u v i 3i 2i 2, 4i j 2j 3j 6, 1 2, 3 4, 1 3 2j 2. u v 4. u v 6. u v 8. u v 3i 7i i 2i 5, 12 3, 2 2, 5 1, 4j 2j 2j j v cos 34. u cos 2 v cos 31. u v 33. u 5i 6i cos 3 5j 6j i sin sin sin sin 3 j 32. u v 2i 4i 3j 3j

3 i 4 4 2 i i

3 j 4 4 2 j j

In Exercises 918, use the vectors u 2, 2 , v 3, 4 , and w 1, 2 to find the indicated quantity. State whether the result is a vector or a scalar.

< >

< > < >

In Exercises 3538, graph the vectors and find the degree measure of the angle between the vectors. 35. u v 37. u v 3i 7i 5i 8i 4j 5j 5j 8j 36. u v 38. u v 2i 8i 6i 4i 3j 3j 3j 4j

9. u u 11. u v v 13. 3w v u 15. w 17. u v 1 u w

10. 3u v 12. v u w 14. u 2v w 16. 2 u w v 18. v u

In Exercises 3942, use vectors to find the interior angles of the triangle with the given vertices. 39. 1, 2 , 3, 4 , 2, 5 41. 3, 0 , 2, 2 , 0, 6) 40. 42. 3, 4 , 1, 7 , 8, 2 3, 5 , 1, 9 , 7, 9

In Exercises 1924, use the dot product to find the magnitude of u. 19. u 21. u 23. u 6j 5, 12 20i 25j 20. u 22. u 24. u 2, 12i 21i 4 16j

In Exercises 4346, find u v, where is the angle between u and v. 43. u 44. u 4, v 100, v 9, v 4, v 36, 12, 10, 250, 3 4 3 2 3 6

In Exercises 25 34, find the angle 25. u v 27. u v 29. u v 6i 1, 0 0, 3i 2j 2i j 4j 2 4j

between the vectors. 3, 2 4, 0 2i i 6i 8i 3j 2j 3j 4j

26. u v 28. u v 30. u v

45. u 46. u

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Chapter 6

Additional Topics in Trigonometry 65. Revenue The vector u 1650, 3200 gives the numbers of units of two types of baking pans produced by a company. The vector v 15.25, 10.50 gives the prices (in dollars) of the two types of pans, respectively. (a) Find the dot product u v and interpret the result in the context of the problem. 2j cos (b) Identify the vector operation used to increase the prices by 5%. 66. Revenue The vector u 3240, 2450 gives the numbers of hamburgers and hot dogs, respectively, sold at a fast-food stand in one month. The vector v 1.75, 1.25 gives the prices (in dollars) of the food items. (a) Find the dot product u v and interpret the result in the context of the problem. (b) Identify the vector operation used to increase the prices by 2.5%. 2 1

In Exercises 4752, determine whether u and v are orthogonal, parallel, or neither. 47. u v 49. u v 51. u v
1 4 1 2,

12, 30
5 4

48. u v 50. u v 52. u v i

3, 15 1, 5 2i sin ,

3i

j 6j 2j j

5i 2i i

cos , sin

In Exercises 5356, find the projection of u onto v. Then write u as the sum of two orthogonal vectors, one of which is projv u. 53. u v 55. u v 2, 2 6, 1 0, 3 2, 15 54. u v 56. u v 4, 2 1, 3, 4, 2

Model It
In Exercises 57 and 58, use the graph to determine mentally the projection of u onto v. (The coordinates of the terminal points of the vectors in standard position are given.) Use the formula for the projection of u onto v to verify your result. 57.
6

67. Braking Load A truck with a gross weight of 30,000 pounds is parked on a slope of d (see figure). Assume that the only force to overcome is the force of gravity.

58.
(6, 4) v
x

y
4 2 2 2 4

(6, 4) v
x

(2, 3) u
2 2 2

d Weight = 30,000 lb (a) Find the force required to keep the truck from rolling down the hill in terms of the slope d. (b) Use a graphing utility to complete the table. d Force d 6 7 8 9 10 0 1 2 3 4 5

2 4

(2, 3)

In Exercises 5962, find two vectors in opposite directions that are orthogonal to the vector u. (There are many correct answers.) 59. u 60. u 61. u 62. u
1 2i 5 2i

3, 5 8, 3
2 3j

3j

Force (c) Find the force perpendicular to the hill when d 5.

Work In Exercises 63 and 64, find the work done in moving a particle from P to Q if the magnitude and direction of the force are given by v. 63. P 64. P 0, 0 , 1, 3 , Q Q 4, 7 , v 3, 5 , v 1, 4 2i 3j

68. Braking Load A sport utility vehicle with a gross weight of 5400 pounds is parked on a slope of 10 . Assume that the only force to overcome is the force of gravity. Find the force required to keep the vehicle from rolling down the hill. Find the force perpendicular to the hill.

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Section 6.4 69. Work Determine the work done by a person lifting a 25-kilogram (245-newton) bag of sugar. 70. Work Determine the work done by a crane lifting a 2400-pound car 5 feet. 71. Work A force of 45 pounds exerted at an angle of 30 above the horizontal is required to slide a table across a floor (see figure). The table is dragged 20 feet. Determine the work done in sliding the table.
45 lb

Vectors and Dot Products

469

Synthesis
True or False? In Exercises 75 and 76, determine whether the statement is true or false. Justify your answer. 75. The work W done by a constant force F acting along the line of motion of an object is represented by a vector.
\

76. A sliding door moves along the line of vector PQ . If a force is applied to the door along a vector that is orthogonal to PQ , then no work is done.
\

30

77. Think About It What is known about , the angle between two nonzero vectors u and v, under each condition? (a) u v 0 (b) u v > 0 (c) u v < 0 78. Think About It What can be said about the vectors u and v under each condition?
20 ft

(a) The projection of u onto v equals u. (b) The projection of u onto v equals 0. 79. Proof Use vectors to prove that the diagonals of a rhombus are perpendicular. 80. Proof Prove the following. u v
2 2 2

72. Work A tractor pulls a log 800 meters, and the tension in the cable connecting the tractor and log is approximately 1600 kilograms (15,691 newtons). The direction of the force is 35 above the horizontal. Approximate the work done in pulling the log. 73. Work One of the events in a local strongman contest is to pull a cement block 100 feet. One competitor pulls the block by exerting a force of 250 pounds on a rope attached to the block at an angle of 30 with the horizontal (see figure). Find the work done in pulling the block.

2u v

Skills Review
In Exercises 8184, perform the operation and write the result in standard form. 81. 82. 42 18 3 12 24 112 8 96

30
100 ft

83. 84.
Not drawn to scale

74. Work A toy wagon is pulled by exerting a force of 25 pounds on a handle that makes a 20 angle with the horizontal (see figure). Find the work done in pulling the wagon 50 feet.

In Exercises 8588, find all solutions of the equation in the interval [0, 2 . 85. sin 2x 86. sin 2x 87. 2 tan x 88. cos 2x 3 sin x 2 cos x tan 2x 3 sin x 2 0 0

20

In Exercises 8992, find the exact value of the 12 trigonometric function given that sin u 13 and 24 cos v 25. (Both u and v are in Quadrant IV.) 89. sin u 90. sin u 91. cos v 92. tan u v v u v