VECTORS

Vectors and Scalars

❑A scalar quantity is completely specified by a
single value with an appropriate unit and has no
direction.
• Examples: Distance, Speed, Temperature, Energy
• Overspeeding- passed by the house at 80 km h-1
❑A vector quantity is completely described by a
number and appropriate units plus a direction.
• Examples: Displacement, Velocity, Acceleration,
Force, Electric field
• Passed by the house at 80 km h-1 due west
 EXAMPLE
B
Displacement

Distance
A
 REPRESENTATION OF VECTORS
A line with an arrow pointing in the
direction of the end point

 Vector A or A
A 
Magnitude A or A

Length is proportional to magnitude of vector
Angle between x-axis and the line used to state
the direction – Positive : Anti clockwise,
Negative : clockwise
 PROPERTIES OF VECTORS
1. Equality of vectors

A Vectors equal when

B they have equal
A
B magnitudes and point
in the same direction
C
C
     
A = B = C  A = B = C &  A =  B = C
2. Addition of Vectors (Graphical)

A
B B
A A
A B A+B B
B B+A
A
C A B

Draw vectors “tip-to-tail”

   
A + B = B + A Commutative law of addition
 Addition of vectors cont.

C
C

( A+ B ) + C B B+ C
A +( B+ C )
B
B
A+B B
A A
A A

     
( A + B) + C = A + ( B + C )
Associative law of addition
3. Negative of a vector
The negative of a vector is defined as the
vector that, when added to the original vector,
gives a resultant of zero
 
− A+ A = 0
A
Have same magnitude but
-A point in opposite directions
 4. Subtraction of vectors
   
Special case of vector addition A − B = A + (− B)
A
A-B
B B
-B A
A A-B

5. Multiplication or division of a
vector by a scalar
The result of the multiplication or division of
a vector by a scalar is a vector
   
n A = An = B
n +ve: The two vectors have the same direction
n –ve: The directions of the two vectors are
 opposite
  
B = n A For n +ve B = −n A For n -ve
 
Dimensions of A and B can be different or
the same.
    
( n + m) A = n A + m A : n (m A) = n m A
   
n ( A + B) = n A + n B
 COMPONENTS OF VECTORS
Cartesian coordinates can be used to describe
position.
x- and y- axes
intersect at the
origin
Points are
labeled (x,y)
Components of vectors cont.

(x,y)

A=x + y
y

x
 Components of vectors cont.

Any vector A lying in the xy plane can be

represented by a sum of

vectors Ax
along the x axis and Ay along the y axis
    
A A = Ax + A y = A y + Ax
Ay  
Ax : x component vector of A
  
Ay : y component vector of A
Ax
How find Ax and Ay if have A?
r
y Ax = A cos  and Ay = A sin 

x cf. x = r cos  and y = r sin 
Ax and Ay are scalars, and are referred to as
the components of A
If have Ax and Ay, how find ?
Ay  Ay 
tan  =  = tan 
−1


A Ax  Ax 
A y
 Ax and Ay either +ve or –ve
Ax If have Ax and Ay, how find A?
r
A = Ax + A y
2 2
y

Compare with r = x +y
2 2
x
 Unit Vectors
A unit vector is a dimensionless vector with
a magnitude of exactly 1.
Unit vectors are used to specify a direction
and have no other physical significance
Unit vectors along the x and y axis are
iˆ along the x axis
ĵ along the y axis
  
A = Ax + Ay = Ax iˆ + Ay ˆj
 Example


5
A = 4iˆ + 3 ˆj
4

3
B = −4iˆ + 4 ˆj
B 2 A
1

-5 -4 -3 -2 -1 1 2 3 4 5
-1
 Addition of vectors using components

R=A+B

R = ( Ax iˆ + Ay ˆj ) + ( B x iˆ + B y ˆj )

R = ( Ax iˆ + B x iˆ) + ( Ay ˆj + B y ˆj )

R = ( Ax + B x ) iˆ + ( Ay + B y ) ˆj
Add corresponding components.
What if it is subtraction of a vector?
Since subtraction is a special case of addition,
therefore, subtract corresponding components.
 Three dimensional vectors
Third unit vector k̂ along the z axis

The three unit vectors

form a set of mutually
perpendicular vectors

A = Ax iˆ + Ay ˆj + Az kˆ

A= Ax + Ay + Az
2 2 2
 Example 1
Two vectors in the x-y plane are given by
 
A = (10,30 ) and B = (15,−140 )
 

Determine:
   
(a) C , if A + B = C
.

   
(b) D, if D + B = A
 A Ax = 10 cos 30
30o
Ay = 10 sin 30
B 50o
Bx = 15 sin 50
B y = 15 cos 50

, A = 10 cos 30 iˆ + 10 sin 30 ˆj

and B = −15 sin 50 iˆ − 15 cos 50 ˆj
  
(a) A + B = C = (10 cos 30 − 15 sin 50 ) iˆ
+ (10 sin 30 − 15 cos 50 ) ĵ
 
C = −2.83 iˆ − 4.64 ˆj
C = 2.83 + 4.64 = 5.43 units
2 2

Cx  
−1  C x 
= tan  c   c = tan
Cy C 
 y
C c −1  2.83 
 c = tan   = 31.4


 4.64 

, C = (5.43, − 121 .4 ) 


or C = (5.43, 238 .6 ) 
      
(b) D + B = A , D = A − B
  
D = A − B = (10 cos 30 − (−15 sin 50 )) iˆ
+ (10 sin 30 − (−15 cos 50 )) ĵ

D = 20 .2 iˆ + 14 .6 ˆj

D = 20 .2 + 14 .6
2 2
= 24.9 units
 D

D

Dy  Dy 
= tan D   D = tan −1

Dx  Dx 
−1  14.6 
 D = tan   = 35.9


 20.2 
 
, D = (24 .9, 35 .9 ) or D = (24 .9, − 324 .1 )
 
 Example 2
An aeroplane flying at a velocity of 900 km h-1 at an
angle of 30o to the east enters a region where the
wind is blowing at 100 km h-1 in the north easterly
direction. Use vector algebra to determine
(a) the new velocity of the plane relative to ground.
(b) the velocity with which the plane will have to
fly in order that its final velocity is 900 km h-1 at
an angle of 30o to the east.

v w 45o wy
(a) wx
30o p py
px
 
v = ( p x + wx ) iˆ + ( p y + wy ) ˆj
= (900 cos 30 + 100 cos 45) iˆ + (900 sin 30 + 100 sin 45) ˆj
= 850 iˆ + 521 ˆj
−1
v = 850 + 521 = 997 km h
2 2

 vy  −1  521 
 = tan   = tan 
−1
 = 31.5

 vx   850 
The new velocity of the plane (with respect to the
ground) will be a speed of 997 km h-1 at an angle of
31.5o to the east.
(b) 45o p 
py
px vy
w o v
wy 30
wx vx

Looking for p and 

vx iˆ + v y ˆj = ( p x iˆ + p y ˆj ) + ( wx iˆ + wy ˆj )
p x iˆ + p y ˆj = (vx iˆ + v y ˆj ) − ( wx iˆ + wy ˆj )
p x iˆ + p y ˆj = (vx − wx ) iˆ + (v y − wy ) ˆj )
p x = 900 cos 30 − 100 cos 45
p y = 900 sin 30 − 100 sin 45
 𝑝𝑥 = 708.7 𝑘𝑚 ℎ−1

𝑝𝑦 = 379.3 𝑘𝑚 ℎ−1

𝑝= 708.72 + 379.32 = 804𝑘𝑚 ℎ−1

379,3
𝜃 = tan −1 = 28. 2∘
708,7
 Product of two vectors
(a + b) * ( d + e) = ad + ae + bd + be
(a + b + c) * (d + e + f )
= ad + ae + af + bd + be + bf + cd + ce + cf
Similarly,
(a x iˆ + a y ˆj + a z kˆ) * (bx iˆ + by ˆj + bz kˆ) =
a xbx (iˆ * iˆ) + a xby (iˆ * ˆj ) + a x bz (iˆ * kˆ)
+ a y bx ( ˆj * iˆ) + a y by ( ˆj * ˆj ) + a y b z ( ˆj * kˆ)
+ a z bx (kˆ * iˆ) + a z by (kˆ * ˆj ) + a z bz (kˆ * kˆ)
 How multiply vectors?
1. Scalar Product of two vectors - a scalar quantity
B

A
A  B  A B cos 
also called dot product

If neither of the two vectors is equal to zero, the

scalar product is zero when  = 90o
 (a x iˆ + a y ˆj + a z kˆ).(bx iˆ + by ˆj + bz kˆ) =
1 0 0

a x bx (iˆ.iˆ) + a x by (iˆ. ˆj ) + a x bz (iˆ.kˆ)

0 1 0

+ a y bx ( ˆj.iˆ) + a y by ( ˆj. ˆj ) + a y b z ( ˆj.kˆ)

0 0 1

+ a z bx (kˆ.iˆ) + a z by (kˆ. ˆj ) + a z bz (kˆ.kˆ)

(a x iˆ + a y ˆj + a z kˆ).(bx iˆ + by ˆj + bz kˆ) = a xbx + a y by + a z bz

2. Vector Product of two vectors - a vector quantity

B

A
     
A  B = C or A  B = C

C has both magnitude and Direction

Magnitude of C = AB sin 
Direction perpendicular to both A and B
Right hand grip rule gives the direction of C
Thumb up and fingers aligned with first vector, grip
towards the second vector. Thumb gives direction of
vector C
Note: Magnitude of C is zero if sin  = 0

iˆ  iˆ = ˆj  ˆj = kˆ  kˆ = 0
iˆ  ˆj = kˆ ˆj  kˆ = iˆ kˆ  iˆ = ˆj
ˆj  iˆ = −kˆ kˆ  ˆj = −iˆ iˆ  kˆ = − ˆj

i
k
j

k j
i
 (a x iˆ + a y ˆj + a z kˆ) x (bxiˆ + by ˆj + bz kˆ) =
0 k̂ − ĵ
a x bx (iˆ  iˆ) + a x b y (iˆ  ˆj ) + a x bz (iˆ  kˆ)
− k̂ 0 iˆ
+ a y bx ( ˆj  iˆ) + a y by ( ˆj  ˆj ) + a y bz ( ˆj  kˆ)
ĵ − iˆ 0

+ a z bx (kˆ  iˆ) + a z by (kˆ  ˆj ) + a z bz (kˆ  kˆ)

= (a y bz − a z by ) iˆ + (a z bx − a x bz ) ˆj + (a x by − a y bx )kˆ
 (a x iˆ + a y ˆj + a z kˆ) x (bxiˆ + by ˆj + bz kˆ) =
(a y bz − a z by ) iˆ + (a z bx − a x bz ) ˆj + (a x by − a y bx )kˆ
= (a y bz − a z by ) iˆ − (a xbz − a z bx ) ˆj + (a xby − a y bx )kˆ
i j k
A xB= ax ay az
bx by bz
ay az ax az ax ay
= by bz i - j + k
b
bx z bx by
= (a y bz − a z by ) iˆ − (a xbz − a z bx ) ˆj + (a xby − a y bx )kˆ
 A.B=AB cos 
a x bx + a y by + a z bz = AB cos
 a x bx + a y b y + a z bz 
 = cos  −1

 AB 
A x B = AB sin
AB sin  =
(a b
y z − a z b y ) + (a x bz − a z bx ) + (a x b y − a y bx )
2 2 2


−1 
(a b − a z b y ) + (a x bz − a z bx ) + (a x b y − a y bx ) 
2 2 2

 = sin 
y z

 AB 
 
 Example
A = 3iˆ + 2 ˆj − kˆ B = 4iˆ − ˆj − 3kˆ
Calculate A B and A x B and hence determine the
angle between A and B

I. A B = a x bx + a y by + a z bz
= 3 * 4 + 2 * (−1) + (−1) * (−3)
= 13 units
II. A B=AB cos  A = 3 2 + 2 2 + (−1) 2 = 14

B = 4 2 + (−1) 2 + (−3) 2 = 26
A B = 14 26 cos 

Comparing I and II 14 26 cos  = 13

 13 
 = cos  −1
  = 47 o or − 47 o  = 47 o
 364 
i j
2 -1 k 3 -1 3 2
A x B = 3 2 -1 =
-1 -3 i - 4 -3 j + 4 -1 k
4 -1 -3
= [2*(-3) - (-1)*(-1)] iˆ
ĵ = −7iˆ + 5 ˆj − 11 kˆ
- [3*(-3) - 4*(-1)]
+ [3*(-1) - 4*2] k̂
 A xB = ( −7 ) 2
+ 5 2
+ ( −11) 2
= 195

But A x B = AB sin 

= 195 = 14 26 sin  (180 − 47 )

 195 
 = sin 
−1


 = 47 o or 133 o
 364 
From dot and cross product  = 47 o