PHYS 1110

Engineering Physics:
Mechanics and Thermodynamics
Ch1. Using Vectors in Mechanics
1.1 Vectors and Scalars
1.2 Components of Vectors
1.3 Addition of Vectors
1.4 Scaling of Vectors
1.5 Position, Velocity and Acceleration
Vectors
1.6 Motion in 2D: Projectile Motion
1.7 Force and Momentum in Vector Forms
1.8 Motion in 2D: Uniform Circular Motio
n
1.1 Vectors and Scalars
Scalars: Quantities require only a real number to represent their size (or
magnitude)
e.g.: volume, mass, energy, speed, temperature, charge, …

Vectors: Quantities consist of a positive real number (modulus or magnitude)

and a direction in space.
e.g.: displacement, velocity, acceleration, force, electric field, …

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N
 
Displacement vector
W E
  Magnitude of m
  Direction of West S
 1.2  Components of Vectors
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Unit vector in the -direction

Unit Vectors: A unit vector is a vector that has a magnitude of

exactly 1 and points in a particular direction. (notation:  )
 
Examples: (unit vector in the -direction), (unit vector in the
-direction), (unit vector in the -direction)
Zero Vector: The zero vector is the vector that has a magnitude of
exactly 0 and does not point to any definite direction. (notation:  )
Examples:
  and are zero vectors
 1.2 Components of Vectors
Vector Components
◦ Vector  can then be expressed in component form:

where   and   are the unit vectors along x- and y-dir

ections respectively
y  Vector with a
Cartesian   length 1 and
v
Coordinate ay a points in the
System   -direction
 
θ
as an
example where  and 
O ax x
1.2 Components of Vectors
Vector Components
◦ The concept of vector components can be generaliz
ed to higher dimension directly:
  Vectors in 3-dimensional

  Vectors in n-dimensional

n terms
1.3 Addition of Vectors
 Adding Vectors Geometrically (Triangular Rule):
v
 b

v
 a
v
c 

 The sum of vectors   and   is   as shown in the above v

ector diagram. The vector   is called the vector sum or
 
resultant of vectors and : 
 
 1.3 Addition of Vectors
Vector addition has the following properties:
Addition is commutative:  
Addition is associative:  

Examples 1.3.1
 (a) Given and . Calculate the vector sum of and .
(b) Calculate the magnitude and the direction of the
resultant
Answer: vector in (a).
(a)  
(b)
 
 
1.3 Addition of Vectors
Examples 1.3.2

  (a) Calculate the value of , and ,

(b) Which vectors are identical?
Answer:
(a)        

 
 
 

(b)   and   are identical

vectors
 1.4 Scaling of Vectors .

Example 1.4.1

   
   

• Scaling is associative in the sense that:  

• Scaling is distributive in the sense that:  
• Scaling is distributive over vector addition:  
Note that the negative vector of a given vector   is a vector with the
same magnitude as   but the opposite direction:  
 As seen in the above diagram, the vector sum of and is a zero vector:

Vector Subtraction
 1.4 Scaling of Vectors
Examples 1.4.2
 (a) Given and .Calculate .
(b)Given where is a unit vector. Calculate the value of and .
 Answer:
(a)

 
 
(b)
 
 
 
 
 

 
1.5 Position, Velocity and Accelerat
ion Vectors
From 1D motion to 2D motion
1D 2D
Position
- -
 
coordinate  
coordinate

Velocity

Accelerati Velocity in
 
-direction
Velocity in
 
-direction

on
Accelerati
on
Acceleration Acceleration
 
in -direction  
in -direction

 Note: For 3D motion, add the components to the above

expressions. Example:
 1.5 Position, Velocity and Accele
ration Vectors
Example 1.5.1
   
  man is walking at a speed of
A
2 m/s at an angle of 45 as
  m/s
shown in the above figure.
Initially, the man stands at the
 
origin.  
(a) Write down the position of   Top view
the man as a function of time.
(b) Calculate the velocity and
acceleration of the man.
Answer:
(a)  At time , the distance travelled by the man
is:  Distance travelled
 
 
 
(b)    
1.5 Position, Velocity and Accelerati
on Vectors
  magnitude of a vector
The

is defined as

In particular, the speed of a particle is defin

ed as the magnitude of the velocity vector
Speed
1.6 Motion in 2D: Projectile Motion

Initial
  launch angle
  : Initial speed
 
 

   
 In the -direction:
In the -direction:
We can represent the position of the ball with respect to
the origin with a position vector
This vector changes with time; we denote it as

(where and are constants)

1.6 Motion in 2D: Projectile Motion

Initial
  launch angle
  : Initial speed
 
 

   
 
  , are constants

 
 

Constant   Vertical velocity

horizontal with constant
velocity acceleration m/s2
1.6 Motion in 2D: Projectile Motion

Initial
  launch angle
  : Initial speed
 
 

   
 
  , are constants

   
(constant)

  Constant vertical
No horizontal
acceleration acceleration
m/s2
1.7 Force and Momentum using Vector
Forms

From 1D motion to 2D motion

1D 2D
Force
- -
   
Linear component
of the
component
of the force

Momentu
Linear
force

m
Momentu
(Chapter
m
5)
(Chapter Linear
 
momentum
Linear
 
momentum
in-direction in-direction
5)
 Note: For 3D motion, add the components to the above
expressions. (Example: )
1.7 Force and Momentum in Vector
Forms
Example 1.7.1
A 1-kg box is placed on the ground as shown below. Expre
ss the force acting on the box inNormal
the vector form.
 
reactio
Answe
n
r: Weight  
  The same box is now placed on a rough surface. A 5-N
force which makes an angle of with the horizontal axis.
The box remains at rest. Express all force acting on the box
in the vector form.
Answe Normal
  r:   reaction
Applied force
 
  Friction
 
 
Weight
 
1.8 Motion in 2D: Uniform Circula
r Motion  
 Constant speed

 
 

  object undergoing uniform circular motion moves with a

An
constant speed on a circle. Suppose the radius of the circle
is In high school, you have learnt that the acceleration points
towards the centre of the circle and has a magnitude:
 

 
We are going to derive this expression again using calculus.

Note that even though the      

speed of the particle is  
constant, the direction of the
     
velocity vector keeps  
changing with time as shown    
on the right.
 1.8 Motion in 2D: Uniform Circula
   
r Motion  
 
 
   

 
The velocity of the particle in the -direction and -direction are
given by:   Equation
  1
Equation
  2
   
   Constant speed

 
 

The coordinates of the particle is given by:

  Equation 3
Equation 4
 
1.8 Motion in 2D: Uniform Circula
r Motion
By definition,  
 
Using equations 3
and 4,  

 
Note that and are
constants
 

  by definition
 

Using equations 1  
and 2,
 1.8 Motion in 2D: Uniform Circula
r Motion

 
Acceleration
Acceleratio   vectors points
n towards the centre
vector of the circle

  At s   At

    We recover
Exercise: the results
 Try to plot the learnt in
acceleration vector for   high school
different values of . You !
will see why the arrow
points towards the centre  
of the circle.

 
 1.8 Motion in 2D: Uniform Circula
r Motion
Example 1.8.1
   

   

Position A Position B
A particle is undergoing circular motion in the counterclockwise
direction as shown in the figures above. The speed of the particle
is 2 m/s and the radius of the circular motion is 8 m. Write down
the velocity and acceleration  vectors at the two instants shown.
Answer:

Position A: Position B: