Lec1 Vectors

Lecture 1
VECTORS
1
Physical Quantities
2
Operations with Vectors
3
Cartesian Coordinates
4
Time rate of change of a vector
5
Advanced Topics
Lecture 1
VECTORS
1
Physical Quantities
2
3
4
5
Advanced Topics
Lecture 1
VECTORS
1
Physical Quantities
2
3
4
5
Advanced Topics
Lecture 1
VECTORS
1
Physical Quantities
2
3
4
5
Advanced Topics
Lecture 1
VECTORS
1
Physical Quantities
2
3
4
5
Advanced Topics
Physical Quantities
Scalars:
described by a single number (magnitude)
Mass, Temperature, Speed
Vectors:
direction & magnitude
Velocity, Acceleration, Angular Momentum, Electric, Magnetic Field
Vectors are
Arrows in Space
denoted (always!) by a symbol with an

arrow sign on top:
Magnitude of
A denoted as |
A| or
simply A
Tensors: Generalization of vectors:
products of vectors
Moment of Inertia, Stress tensor, permeability, energy-momentum
Vectors Physical Quantities 2/9
Physical Quantities
Scalars:
described by a single number (magnitude)
Vectors:
direction & magnitude
Vectors are
Arrows in Space

arrow sign on top:
Magnitude of
A denoted as |
A| or
simply A
products of vectors
Physical Quantities
Scalars: described by a single number (magnitude)
Vectors: direction & magnitude
Vectors are
Arrows in Space

arrow sign on top:
Magnitude of
A denoted as |
A| or
simply A
products of vectors
Physical Quantities
Vectors are
Arrows in Space

arrow sign on top:
Magnitude of
A denoted as |
A| or
simply A
products of vectors
Physical Quantities
Vectors are
Arrows in Space

arrow sign on top:
Magnitude of
A denoted as |
A| or
simply A
products of vectors
Physical Quantities
Vectors are
Arrows in Space

arrow sign on top:
Magnitude of
A denoted as |
A| or
simply A
products of vectors
Physical Quantities
Vectors are
Arrows in Space

arrow sign on top:
Magnitude of
A denoted as |
A| or
simply A
products of vectors
Physical Quantities
Vectors are
Arrows in Space

arrow sign on top:
Magnitude of
A denoted as |
A| or
simply A
products of vectors
Physical Quantities
Vectors are
Arrows in Space

arrow sign on top:
Magnitude of
A denoted as |
A| or
simply A
products of vectors
Physical Quantities
Vectors are
Arrows in Space

arrow sign on top:
Magnitude of
A denoted as |
A| or
simply A
Tensors: Generalization of vectors: products of vectors
Physical Quantities
Vectors are
Arrows in Space

arrow sign on top:
Magnitude of
A denoted as |
A| or
simply A
Tensors: Generalization of vectors: products of vectors
Addition:
A +
B =
C
Multiplication by scalar:
a
A =
aA
Scalar Product:
B = AB cos
Cross Product
B =
C
Vectors Operations with Vectors 3/9
Addition:
A +
B =
C
a
A =
aA
Scalar Product:
B = AB cos
Cross Product
B =
C
Addition:
A +
B =
C
a
A =
aA
Scalar Product:
B = AB cos
Cross Product
B =
C
Addition:
A +
B =
C
a
A =
aA
Scalar Product:
B = AB cos
Cross Product
B =
C
Addition:
A +
B =
C
a
A =
aA
Scalar Product:
B = AB cos
Cross Product
B =
C
Vectors: Component form
Description relative to a set of coordinates in 3d Space.
Cartesian coordinates
$A_y$
$A_x$
$A_z$
$x$
$z$
$y$
A
Orthogonal unit vectors,
right-handed system
i,
j,
i =
j =
k = 1
j =
k =
i = 0
j =
k;
k =
i;
i =
j.
Decomposition of Vector
into components:
Projections along the
axes
A = A
x
i + A
y
j + A
z
i,
j,
k are constant
vectors.
Vectors Cartesian Coordinates 4/9
$A_y$
$A_x$
$A_z$
y
z
A
x
right-handed system
i,
j,
i =
j =
k = 1
j =
k =
i = 0
j =
k;
k =
i;
i =
j.
into components:
axes
A = A
x
i + A
y
j + A
z
i,
j,
k are constant
vectors.
$A_y$
$A_x$
$A_z$
y
z
k
x
j
right-handed system
i,
j,
i =
j =
k = 1
j =
k =
i = 0
j =
k;
k =
i;
i =
j.
into components:
axes
A = A
x
i + A
y
j + A
z
i,
j,
k are constant
vectors.
$A_y$
$A_x$
$A_z$
y
z
k
x
j
right-handed system
i,
j,
i =
j =
k = 1
j =
k =
i = 0
j =
k;
k =
i;
i =
j.
into components:
axes
A = A
x
i + A
y
j + A
z
i,
j,
k are constant
vectors.
$A_y$
$A_x$
$A_z$
y
z
k
x
j
right-handed system
i,
j,
i =
j =
k = 1
j =
k =
i = 0
j =
k;
k =
i;
i =
j.
into components:
axes
A = A
x
i + A
y
j + A
z
i,
j,
k are constant
vectors.
$A_y$
$A_x$
$A_z$
y
z
k
x
j
right-handed system
i,
j,
i =
j =
k = 1
j =
k =
i = 0
j =
k;
k =
i;
i =
j.
into components:
axes
A = A
x
i + A
y
j + A
z
i,
j,
k are constant
vectors.
$A_y$
$A_x$
$A_z$
y
z
k
x
j
right-handed system
i,
j,
i =
j =
k = 1
j =
k =
i = 0
j =
k;
k =
i;
i =
j.
into components:
axes
A = A
x
i + A
y
j + A
z
i,
j,
k are constant
vectors.
y
z
A
A
y
A
z
k
x
A
x
j
right-handed system
i,
j,
i =
j =
k = 1
j =
k =
i = 0
j =
k;
k =
i;
i =
j.
into components:
axes
A = A
x
i + A
y
j + A
z
i,
j,
k are constant
vectors.
y
z
A
A
y
A
z
k
x
A
x
j
right-handed system
i,
j,
i =
j =
k = 1
j =
k =
i = 0
j =
k;
k =
i;
i =
j.
into components:
axes
A = A
x
i + A
y
j + A
z
i,
j,
k are constant
vectors.
y
z
A
A
y
A
z
k
x
A
x
j
right-handed system
i,
j,
i =
j =
k = 1
j =
k =
i = 0
j =
k;
k =
i;
i =
j.
into components:
axes
A = A
x
i + A
y
j + A
z
i,
j,
k are constant
vectors.
Operations with Vectors: Component form
Magnitude of
A: A =
A
2
x
+ A
2
y
+ A
2
z
Vector Addition:
C =

A +
B
= (A
x
+ B
x
)
i + (A
y
+ B
y
)
j + (A
z
+ B
z
)
k
= C
x
i + C
y
j + C
z
k
Scalar Product:
B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
Magnitude of
A: A =
A
2
x
+ A
2
y
+ A
2
z
Vector Addition:
C =

A +
B
= (A
x
+ B
x
)
i + (A
y
+ B
y
)
j + (A
z
+ B
z
)
k
= C
x
i + C
y
j + C
z
k
Scalar Product:
B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
Magnitude of
A: A =
A
2
x
+ A
2
y
+ A
2
z
Vector Addition:
C =

A +
B
= (A
x
+ B
x
)
i + (A
y
+ B
y
)
j + (A
z
+ B
z
)
k
= C
x
i + C
y
j + C
z
k
Scalar Product:
B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
Magnitude of
A: A =
A
2
x
+ A
2
y
+ A
2
z
Vector Addition:
C =

A +
B
= (A
x
+ B
x
)
i + (A
y
+ B
y
)
j + (A
z
+ B
z
)
k
= C
x
i + C
y
j + C
z
k
Scalar Product:
B = A
x
B
x
+ A
y
B
y
+ A
z
B
z
Vector Product:
C =

A
B =
i

j

k
A
x
A
y
A
z
B
x
B
y
B
z
= (A
y
B
z
A
z
B
y
)
i + (A
z
B
x
A
x
B
z
)
j + (A
x
B
y
A
y
B
x
)
k
Direction of vector product: right hand screw rule

Vector Product:
C =

A
B =
i

j

k
A
x
A
y
A
z
B
x
B
y
B
z
= (A
y
B
z
A
z
B
y
)
i + (A
z
B
x
A
x
B
z
)
j + (A
x
B
y
A
y
B
x
)
k

Vector Product:
C =

A
B =
i

j

k
A
x
A
y
A
z
B
x
B
y
B
z
= (A
y
B
z
A
z
B
y
)
i + (A
z
B
x
A
x
B
z
)
j + (A
x
B
y
A
y
B
x
)
k

Time Rate of Change of a Vector
O
lim
t0
r
t
=
d
r
dt
=
dx
dt
i+
dy
dt
j+
dz
dt
k
d
A
dt
=
dA
x
dt
i +
dA
y
dt
j +
dA
z
dt
k
Vectors Time rate of change of a vector 7/9
O
lim
t0
r
t
=
d
r
dt
=
dx
dt
i+
dy
dt
j+
dz
dt
k
d
A
dt
=
dA
x
dt
i +
dA
y
dt
j +
dA
z
dt
k
O
trajectory
lim
t0
r
t
=
d
r
dt
=
dx
dt
i+
dy
dt
j+
dz
dt
k
d
A
dt
=
dA
x
dt
i +
dA
y
dt
j +
dA
z
dt
k
O
r(t)
trajectory
lim
t0
r
t
=
d
r
dt
=
dx
dt
i+
dy
dt
j+
dz
dt
k
d
A
dt
=
dA
x
dt
i +
dA
y
dt
j +
dA
z
dt
k
O
r(t)
r(t + t)
trajectory
lim
t0
r
t
=
d
r
dt
=
dx
dt
i+
dy
dt
j+
dz
dt
k
d
A
dt
=
dA
x
dt
i +
dA
y
dt
j +
dA
z
dt
k
O
r(t)
r(t + t)
r
trajectory
lim
t0
r
t
=
d
r
dt
=
dx
dt
i+
dy
dt
j+
dz
dt
k
d
A
dt
=
dA
x
dt
i +
dA
y
dt
j +
dA
z
dt
k
O
r(t)
r(t + t)
r
trajectory
lim
t0
r
t
=
d
r
dt
=
dx
dt
i+
dy
dt
j+
dz
dt
k
d
A
dt
=
dA
x
dt
i +
dA
y
dt
j +
dA
z
dt
k
O
r(t)
r(t + t)
r
trajectory
lim
t0
r
t
=
d
r
dt
=
dx
dt
i+
dy
dt
j+
dz
dt
k
d
A
dt
=
dA
x
dt
i +
dA
y
dt
j +
dA
z
dt
k
O
r(t)
r(t + t)
r
trajectory
lim
t0
r
t
=
d
r
dt
=
dx
dt
i+
dy
dt
j+
dz
dt
k
d
A
dt
=
dA
x
dt
i +
dA
y
dt
j +
dA
z
dt
k
O
r(t)
r(t + t)
r
trajectory
lim
t0
r
t
=
d
r
dt
=
dx
dt
i+
dy
dt
j+
dz
dt
k
d
A
dt
=
dA
x
dt
i +
dA
y
dt
j +
dA
z
dt
k
O
r(t)
r(t + t)
r
trajectory
lim
t0
r
t
=
d
r
dt
=
dx
dt
i+
dy
dt
j+
dz
dt
k
d
A
dt
=
dA
x
dt
i +
dA
y
dt
j +
dA
z
dt
k
Advanced Topic 1
Transformation of Vectors under Rotation of Coordinate Axes
x
y
A = A
x

i + A
y

j
= A
x

i
+ A
y

j
x
= A
x
cos + A
y
sin
A
y
= A
x
sin + A
y
cos
x
A
cos sin
sin cos

A
x
A
y
Vectors Advanced Topics 8/9

Advanced Topic 1
x
y
A = A
x

i + A
y

j
= A
x

i
+ A
y

j
x
= A
x
cos + A
y
sin
A
y
= A
x
sin + A
y
cos
x
A
cos sin
sin cos

A
x
A
y

Advanced Topic 1
x
y
A
A
y
A
x
A = A
x

i + A
y

j
= A
x

i
+ A
y

j
x
= A
x
cos + A
y
sin
A
y
= A
x
sin + A
y
cos
x
A
cos sin
sin cos

A
x
A
y

Advanced Topic 1
y
x
y
A
A
y
A
x
A = A
x

i + A
y

j
= A
x

i
+ A
y

j
x
= A
x
cos + A
y
sin
A
y
= A
x
sin + A
y
cos
x
A
cos sin
sin cos

A
x
A
y

Advanced Topic 1
y
x
y
A
A
y
A
x
A
y
A
A = A
x

i + A
y

j
= A
x

i
+ A
y

j
x
= A
x
cos + A
y
sin
A
y
= A
x
sin + A
y
cos
x
A
cos sin
sin cos

A
x
A
y

Advanced Topic 1
y
x
y
A
A
y
A
x
A
y
A
A = A
x

i + A
y

j
= A
x

i
+ A
y

j
x
= A
x
cos + A
y
sin
A
y
= A
x
sin + A
y
cos
x
A
cos sin
sin cos

A
x
A
y

Advanced Topic 1
y
x
y
A
A
y
A
x
A
y
A
A = A
x

i + A
y

j
= A
x

i
+ A
y

j
x
= A
x
cos + A
y
sin
A
y
= A
x
sin + A
y
cos
x
A
cos sin
sin cos

A
x
A
y

Advanced Topic 1
y
x
y
A
A
y
A
x
A
y
A
A = A
x

i + A
y

j
= A
x

i
+ A
y

j
x
= A
x
cos + A
y
sin
A
y
= A
x
sin + A
y
cos
x
A
cos sin
sin cos

A
x
A
y

Advanced Topic 1
y
x
y
A
A
y
A
x
A
y
A
A = A
x

i + A
y

j
= A
x

i
+ A
y

j
x
= A
x
cos + A
y
sin
A
y
= A
x
sin + A
y
cos
x
A
cos sin
sin cos
A
x
A
y

Advanced Topic 1
y
x
y
A
A
y
A
x
A
y
A
A = A
x

i + A
y

j
= A
x

i
+ A
y

j
x
= A
x
cos + A
y
sin
A
y
= A
x
sin + A
y
cos
x
A
cos sin
sin cos

A
x
A
y

Advanced Topic 1
x
A
R
xx
R
xy
R
yx
R
yy

A
x
A
y
In 3D

x
A
y
A
R
xx
R
xy
R
xz
R
yx
R
yy
R
yz
R
zx
R
zy
R
zz
A
x
A
y
A
z
Transformation of Vector under Rotation of Axes

[A
] = [R] [A]
Denition: A Physical Quantity which transforms under rotation as
above is a Vector
Advanced Topic 1
x
A
R
xx
R
xy
R
yx
R
yy
A
x
A
y
In 3D

x
A
y
A
R
xx
R
xy
R
xz
R
yx
R
yy
R
yz
R
zx
R
zy
R
zz
A
x
A
y
A
z

[A
] = [R] [A]
above is a Vector
Advanced Topic 1
x
A
R
xx
R
xy
R
yx
R
yy

A
x
A
y
In 3D

x
A
y
A
R
xx
R
xy
R
xz
R
yx
R
yy
R
yz
R
zx
R
zy
R
zz
A
x
A
y
A
z

[A
] = [R] [A]
above is a Vector
Advanced Topic 1
x
A
R
xx
R
xy
R
yx
R
yy

A
x
A
y
In 3D
x
A
y
A
R
xx
R
xy
R
xz
R
yx
R
yy
R
yz
R
zx
R
zy
R
zz
A
x
A
y
A
z

[A
] = [R] [A]
above is a Vector
Advanced Topic 1
x
A
R
xx
R
xy
R
yx
R
yy

A
x
A
y
In 3D

x
A
y
A
R
xx
R
xy
R
xz
R
yx
R
yy
R
yz
R
zx
R
zy
R
zz
A
x
A
y
A
z

[A
] = [R] [A]
above is a Vector
Advanced Topic 1
x
A
R
xx
R
xy
R
yx
R
yy

A
x
A
y
In 3D

x
A
y
A
R
xx
R
xy
R
xz
R
yx
R
yy
R
yz
R
zx
R
zy
R
zz
A
x
A
y
A
z

[A
] = [R] [A]
above is a Vector
Advanced Topic 1
x
A
R
xx
R
xy
R
yx
R
yy

A
x
A
y
In 3D

x
A
y
A
R
xx
R
xy
R
xz
R
yx
R
yy
R
yz
R
zx
R
zy
R
zz
A
x
A
y
A
z

[A
] = [R] [A]
above is a Vector

Lec1 Vectors

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Lecture 1

denoted (always!) by a symbol with an

denoted (always!) by a symbol with an

denoted (always!) by a symbol with an

denoted (always!) by a symbol with an

denoted (always!) by a symbol with an

denoted (always!) by a symbol with an

denoted (always!) by a symbol with an

denoted (always!) by a symbol with an

denoted (always!) by a symbol with an

denoted (always!) by a symbol with an

denoted (always!) by a symbol with an

Vectors Cartesian Coordinates 6/9

Vectors Cartesian Coordinates 6/9

Vectors Cartesian Coordinates 6/9

Vectors Advanced Topics 8/9

Vectors Advanced Topics 8/9

Vectors Advanced Topics 8/9

Vectors Advanced Topics 8/9

Vectors Advanced Topics 8/9

Vectors Advanced Topics 8/9

Vectors Advanced Topics 8/9

Vectors Advanced Topics 8/9

Vectors Advanced Topics 8/9

Vectors Advanced Topics 8/9

Transformation of Vector under Rotation of Axes

Transformation of Vector under Rotation of Axes

Transformation of Vector under Rotation of Axes

Transformation of Vector under Rotation of Axes

Transformation of Vector under Rotation of Axes

Transformation of Vector under Rotation of Axes

Transformation of Vector under Rotation of Axes

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