VECTORS Vector Quantity possesses both magnitude and direction. They can only be combined by geometric addition.

. Scalar Quantity possesses magnitude only and can be added arithmetically. FUNDAMENTAL PROPERTIES Equality of Vectors

Two vectors A and B are equal if A=B and they have the same direction.

Scalar-Vector Multiplication To multiply a scalar m and a vector A

1. If m is positive, m A is the vector of magnitude mA and has the same direction as A . 2. If m is negative, m A is the vector of magnitude |m|A that is oppositely directed to A . 3. If m is 0, m A is a vector of zero magnitude and arbitrary direction. Parallelogram Law for Addition Law and the Triangle Law

Addition is commutative

E+ F = F + E
Addition is associative

E+ (F + G) = (E+ F) + G

REPRESENTATION OF VECTORS USING RECTANGULAR COMPONENTS Rectangular Components and Direction Cosines

A = A x i + A Y j + A Zk where : A X = A cos X

A Y = A cos Y

A Z = A cos Z

A = A cos Xi + A cos Y j + A cos Zk A = A( Xi + Y j + Zk) where : X = cos X

Y = cos Y

Z = cos Z

A= A X 2 + A Y 2 + A Z 2 A = A

where : = Xi + Y + Z x 2 + Y 2 + Z2 = 1

Vector Addition using Rectangular Components

C = A + B = (A xi + A Y j + A zk) + (B xi + B Y j + Bzk) Cxi + C Y j + Czk = (A xi + A Y j + A zk) + (B xi + B Y j + Bzk) Cxi + C Y j + Czk = (A x + B X )i + (A Y + B Y )j + (A z + Bz )k thus Cx = A x + B X CY = A Y + BY CZ = A Z + BZ

Position and Relative Position Vectors and Unit Vector

AB = (xB x A )i + (yB y A )j + (zB z A )k | AB |= d = (xB x A )2 + (yB y A )2 + (zB z A )2 =

AB

| AB |

(xB x A )i + (yB y A )j + (zB z A )k d

but : X = cos X =

xB x A d y yA Y = cos Y = B d zB z A z = cos z = d

= Xi + Y j + Z k

Techniques for Writing a Vector in Rectangular Form

1. Using Direction Cosines if directional angles are known

F = F = Fcos Xi + Fcos Y j + Fcos Zk F = F( Xi + Y j + zk)

2. Using Relative Position Vector if coordinates of two points lying along the line of action are known Write the relative position vector in rectangular form. Evaluate the unit vector along the force. Write F = F

VECTOR MULTIPLICATION Dot / Scalar Product

A B = ABcos

(0 180o ) A B = B A

Commutative :

Distributive :

A (B+ C) = A B+ A C

Also

ii = j j = k k = 1 i j = jk = k i = 0 thus A B = (A Xi + A Y j + A zk) (B Xi + B Y j + Bzk) A B = A XB X + A YB Y + A ZBZ

Applications 1. Finding angle between two vectors

A B A B cos = = AB A B cos = A B
2. Determining the orthogonal component of a vector in a given direction

A B A Bcos = = B A A B cos = B A

Cross / Vector Product

C = A xB
Characteristics: C = ABsin, where (0 180) is the angle between the positive directions of

A and B .

C is perpendicular to both A and B .

The sense of C is determined by the right-hand rule. Distributive :

A x(B+ C) = (A xB) + (A x C) A xB = B x A kxk=0 k xi= j

From right-hand rule : From base vectors

ixi=0 i xj=k thus

jxj=0 j xk =i

A xB = (A Xi + A Y j + A zk) x (B Xi + B Y j + Bzk) A xB = (A Y B Z )i (A XBZ A ZB X )j + (A XB Y A YB X )k in matrix form i A xB = A X BX

j AY BY

k AZ BZ

in expanding this determinant, expansion by minors using the first row, is very convenient. Scalar Triple Product

A xB C = (A YBZ A ZB Y )C X (A XB Z A ZB X )CY + (A XB Y A YB X )CZ in matrix form A xB C = B x Cx

Ax

Ay By Cy

Az Bz Cz

Useful identities

A x B C = A B x C = B C x A = C A xB