1

VECTOR ALGEBRA

Chapter 1

VECTOR ALGEBRA
1.1 Basic Review of Vectors
1.1.1 Definition:
Physical quantities having both magnitude, a definite direction in space and it should follow the laws of vector
addition.
Example : Velocity, Acceleration, Momentum, Force, Electric Field, Torque, etc.
1.1.2 Various type of vectors:
(1) Equal vectors : Vectors having same magnitude and same direction.
(2) Null Vectors : Vectors having coincident initial and terminal point i.e. its magnitude is zero and it has any
arbitrary direction.

a
(3) Unit Vectors : Vectors having unit magnitude. Unit vector along a = a = a
(4) Reciprocal Vector: Vector having same direction but reciprocal magnitude corresponding to original
vector.
(5) Negative Vector : Vectors having same magnitude but opposite direction corresponding to original vector.
1.1.3 Orthogonal Resolution of Vectors:

Any vector A in right- handed rectangular cartesian coordinate system can be represented as

OP A Axi Ayj Azk , where, i, j and k are the unit vectors in direction of x, y and z axis respectively

and Ax, Ay, Az are the rectangular components of vector A along x, y, z axis.
z
P

A
Az^k
O

^
Axi
x

^
Ay j

Magnitude of vector A is A A 2x A 2y A 2z

A / A A x i A y j Az k
Unit vector along A is A
A 2x A 2y A 2z

VECTOR ALGEBRA

If A makes angles with x, y, z axes respectively, then direction cosines of A are :

l = cos =

Ay
Ax
A
; m = cos =
; n = cos = z
A
A
A

and l2 + m2 + n2=1

li mj nk
So, an unit vector along A can be written as A

1.2 Products of Vectors

1.2.1 Scalar Product or Dot Product:

a.b
a.b a b cos cos
a b
Properties:

(i) a b b a , (ii) For two mutually perpendicular vectors a and b , a b = 0,

(iii) i j j k k i = 0, i i j j k k =1

(iv) If a = azi a y j az k and b = bx i by j bz k , then a b = a x bx a y b y a z bz

(v) Projection of A on B = A . B

(vi) Work done by force F on an object in displacement of r = F . r
1.2.2 Vector Product or Cross Product :

a b = a b sin n

where n is unit vector normal to the plane containing a and b .

Properties:

(i) a b = (b a) (ii) For two collinear vectors (parallel or anti-parallel vectors) a b 0 .
(iii) i i j j k k = 0, i j k, j k i, k i = j

a
(iv) If a = axi a y j az k and b = bx i by j bz k , then a b = x
bx

(v) Torque r (applied force)F

(vi) Angular momentum L r linear momentum P

(vii) Linear velocity v (angular velocity) r

1.2.3 Scalar Triple Product: a (b c) =

ax

ay

az

bx

by

bz

cx

cy

cz

= [abc]

j
ay

k
az

by

bz

VECTOR ALGEBRA
Properties:

(i) a (b c) = b (c a) = c (a b ) i.e. [abc] = [bca] = [cab]

(ii) Volume of a parallelopiped having a, b, c as concurrent edges is :V= a (b c)

(iii) If a, b,c are coplanar vectors, then, [abc] = [bca] = [cab] = 0

1.2.4 Vector Triple Product:

a (b c ) = b (a c ) c (a b )

It represents a vector coplanar with b and c . and perpendicular to a

Example-1: The range of x for which between the vectors A 2 x 2i 4 xj k and B 7i 2 j xk is

obtuse, is equal to
(a) x < 0
(b) x > 1/2
(c) 0 < x < 1/2
(d) None of these

Soln: Since, 90 0 180 0 , then cos 0 A.B 0 14x 2 7x 0 x 2x 1 0

0 x 1 2

Therefore,

Example-2: A unit vector n on the xy-plane is at an angle of 120 with respect to i . The angle between

the vectors u ai bn and v an bi will be 60 if

(a) b 3 a / 2

Soln: u .v u v cos 600

(b) b 2a / 3

(c) b = a/2

(d) b = a

1
a 2 i.n b 2 n.i ab ba a 2 b 2 2ab cos1200 a 2 b 2 2ab cos1200
2

a 2 cos1200 b2 cos1200 ab ba a 2 b 2 ab

12

b
a
or b
2
2

Example-3: The value of m for which A i j 2k, B 3i 5 j 6k, C i 4 j mk will be co-planar

is
2a 2 5ab 2b 2 0 a

(a) 13/2

(b) 7/2

(c) 5/2

1


Soln: Since, A, B, C are co-planar, A. B C 0 3

(d) 11/2

1 2
5
4

13
6 0 m
2
m

Example-4: If b i a i j a j k a k , then b can be simplified to

(a) 0
(b) a
(c) 2a
(d) None of these

Soln: b i a i j a j k a k

a i.i i i.a a j. j j j.a a k.k k k.a 3a a 2a

VECTOR ALGEBRA

3

c . The
Example-5: Three unit vectors a , b , c ( b and c are not parallel) are such that a b c
2

angles which a makes with b and c , respectively are

(a) 300 ,900

Soln.

(b) 1500 ,900

(c) 600 ,900

(d) 900 ,300

3
3
3
a b c
c b a.c c a.b
c a.c 0 and a.b
2
2
2

The angle which a makes with b and c are 1500 , 900 respectively..

1.3 Gradient, Divergence and Curl

1.3.1 Gradient of a Scalar Field :
Gradient of a continuously differentiable scalar function (x, y, z) is mathematically defined as:

j k
j k = i
grad= = i
z
x
y
z
x y

i
j k 'del' or 'grad' or 'nabla' operator
where, =
x
y
z
Physical interpretation : Gradient of scalar function at any point P(x, y, z) is a vector, whose magnitude
is equal to the rate of change of scalar function with distance along the normal to level surface and its
direction is along the normal to the level surface at that point.
Level surface : It has same value of scalar function at each point. Example: Equipotential surface.

Directional Derivative : Directional derivative of in the direction of A is defined as the component of

in the direction of vector A and is given by,, A =

A
Tangent Plane and Normal to the level surface:

Consider x, y, z c be the equation of a level surface. and r xi yj zk be the position vector of

any point P (x,y,z) on this surface.

Tangent plane at P: is a vector normal to the surface i.e. it is perpendicular to the tangent plane at P..

Let, R Xi Yj Zk be the position vector of any point on the tangent plane at P to the surface. Therefore,

R r X x i Y y j Z z k lies in the tangent plane at P and it will be perpendicular to

i.e. R r . 0

Y y
Z z
0 , which is the tangent plane at point P..
x
y
z

Normal at P: Let, R Xi Yj Zk be the position vector of any point on the normal at P to the surface.

Therefore, R r X x i Y y j Z z k lies along the normal at P and it will be parellel to

i.e. R r 0 , which is the vector equation of the normal at point P to the given surface.
X x

VECTOR ALGEBRA
1.3.2 Divergence of a vector field:

Divergence of a continuous differentiable vector point function V specified in a vector field is given by,,

Vx Vy Vz

V = x i y j z k Vx i V y j Vz k = x y z = Scalar quantity

Physical Interpetation: Divergence of A at pt P(x, y, z) is defined as the outward flux of the vector field

A per unit volume enclosed by an infinitesimal closed surface surrounding point P.

Properties:

(i) If V = 0, then V is known as solenoidal Vector.

(ii) If V = negative, then V is a sink field i.e. vector lines are going inward.

(iii) If V = positive, then V is a source field i.e. vector lines are the going outward.

(iv) (u v)
= u v

(v) (uv)
= (u) u v(u)
1.3.3 Curl of a vector field:

Curl or rotation of a continuous differentiable vector point function V is given by,,

i

i j k v i v j v k
= x

x
y
z
V = x
y
z

Vx

y
Vy

z
Vz

It is the measurement of rotation of vector field and the direction of curl of vector is along axis of rotation.
Properties:

(i) If V 0 , then V is an irrotational vector and we can write V

(ii) If V 0 , then V is a rotational vector..

(iii) (U V ) = U V

(iv) (uV ) = u V ( u ) V
1.3.4 Important Vector Identities:

If are scalar point functions and A, B are vector point functions in certain region then.

(1) ( )
(2) ( )

(3) ( A B ) A B
(4) ( A B ) A B




(5) ( A B ) A ( B ) ( A ) B B ( A) ( B ) A

(6) ( A) ( A) A
(7) ( A) ( A) ( ) A

VECTOR ALGEBRA


(8) ( A) 0
(9) ( ) 0

(10) ( A B ) B ( A) A ( B )

(11) ( A B ) ( B ) A ( A ) B A( B ) B ( A)

(12) ( A) ( A) 2 A

Example-6: The unit vector perpendicular to the surface x 2 y 2 z 1 at point P (1,1,1) is equal to
(a)

2i 2 j k
3

(b)

2i 2 j k
3

(c)

2i 2 j k
3

(d)

2i 2 j k
3

2i 2 j k

Soln: Given : : x y z 1 unit normal to the surface n
3

Example-7: Find the unit normal to the surface of ellipsoid

Soln.

2x 2 y 2 z

i 2 j 2 k

2
b
c
n = a

4 x2 4 y 2 4z 2
4 4
a
b
c

a b c
,
,

3 3 3

a b c
x2 y 2 z 2
,
,
2 2 1 at the point
.
2
3 3 3
a
b
c

1
1
1
i
j
k
bci acj abk
3a
3b
3c

1
1
1
b 2 c 2 c 2 a 2 a 2b 2
2 2
2
3a
3b 3c

Calculation of if is given as a function of r:

Example-8. ln r First take normal derivative of w.r.t. r and just put r

1
r

r 2
r
r

r
beside it i.e.
r

Example-9: Show that, 2 r n n n 1 r n2 .

Soln: 2 r n . r n . nr n 1r . nr n 2 r nr n 2 . r nr n 2 . r

n n 2 r n 3 r. r 3nr n 2 n n 2 r n 2 3nr n 2 n n 1 r n 2

Example-10: The vector r n r will solenoidal for r 0

(a) n = 3
(b) n = -3
(c) n = 2
(d) n = -2
n
n n

n 1
n
n
Soln: . r r r . r r . r nr r. r 3r n 3 r ; So this will solenoidal for n = -3

Example-11: If grad

r
& r 0 at r=1 , then find
r4

r
r
Soln: Given that grad 4 5
r
r

xi yj zk
i j k
;
x
y
z
r5

VECTOR ALGEBRA
x
xx
5

Therefore, x r 5 ; 2
x y2 z2 2
Putting r 2 x 2 y 2 z 2 t , we get

So, r

1
3 x y2 z2
2

x x

y2 z2

f y, z

f y , z constant of integration

1
1
1
f y , z ; Similarly, r 3 f x, z and r 3 f x, y .
3
3r
3r
3r

1
1
1
C ; Since, at r =1, r 0 0 C C
3
3r
3
3

1 1

3r 3 3

Example-12: If F is a constant vector and r is the position vector then F .r would be

(a) .r F
(b) r F
(c) .F r
(d) F

Putting this in equation (1), we get r

Soln:

F F1i F2 j F3 k F .r F1 x F2 y F3 z F1i F2 j F3k F

x
, find the magnitude of the directional derivative along a line
x y2
making an angle 30 with the positive x-axis at (0, 2)
Example-13: For the function x, y

Soln.

x 2x

x
1

j k 2
i 2

i
2
2
x y
y
z x y
x
x2 y2

y2 x2

y2

2 xy

y2

j x 2 y
2
2
x2 y 2

at the point (0, 2)

30

2 0 2 i
40
i
j

2
2
0 4
0 4 4

^
i

Directional derivative at the point (0, 2) in the direction CA i.e. 3 i 1 j

2
2

CA CB BA i cos 30 j sin 30

i 3 1
3
3

1
.
i j

i j
4 2
2 8

2
2

Example-14: Find the directional derivative of V , where V xy 2 zy 2 j xz 2 k , at the point (2, 0, 3) in the
direction of the outward normal to the sphere x 2 y 2 z 2 14 at the point (3, 2, 1).


Soln. V 2 V .V = V 2 V .V xy 2i zy 2 j xz 2 k . xy 2i zy 2 j xz 2 k x 2 y 4 z 2 y 4 x 2 z 4

VECTOR ALGEBRA
4

V 2 i j k x 2 y 4 z 2 y 4 x 2 z
y
z
x
2 xy 4 2 xz 4 i 4 x 2 y 3 4 y 3 z 2 j 2 y 4 z 4 x 2 z 3 k

V 2 at (2, 0, 3) = 0 2 2 81 i 0 0 j 0 4 4 27 k

324i 432k 108 3i 4k

Normal to x 2 y 2 z 2 14 i j k x 2 y 2 z 2 14
y
z
x

2 xi 2 yj 2 zk

Normal vector at (3, 2, 1) 6i 4 j 2k

6i 4 j 2k 2 3i 2 j k
3i 2 j k

Unit normal vector

36 16 4
2 14
14
3i 2 j k 108 9 4 1404
Direction derivative along the normal 108 3i 4k .

14
14
14
Example-15: A fluid motion is given by

v y sin z sin x i x sin z 2 yz j xy cos z y 2 k is the motion irrotational? If so, find the velocity

potential

Soln. Curl v v

i j k y sin z sin x i x sin z 2 yz j xy cos z y 2 k
y
z
x

x
y sin z sin x

y
x sin z 2 yz

z
xy cos z y 2

x cos z 2 y x cos z 2 y i y cos z y cos z j sin z sin z k 0

Hence, the motion is irrotational.

So,
v where is called velocity potential.

dx
dy
dz
x
y
dz

.dr v.dr

i
j
k
.
idx

jdy

kdz

y
z
x

jdy kdz
y sin z sin x i x sin z 2 yz j xy cos z y 2 k . idx

y sin z sin x dx x sin z 2 yz dy xy cos z y 2 dz

VECTOR ALGEBRA
y sin zdx xdy sin z xy cos zdz sin xdx 2 yzdy y 2 dz
d xy sin z d cos x d y 2 z

d xy sin z d cos x d y 2 z

xy sin z cos x y 2 z c
Hence, Velocity potential xy sin z cos x y 2 z c

1.4 Line Integration of Vectors

The integration of a vector a curve is known as line integral.

Let F x, y, z be a vector function and a curve AB.

Line integral of a vector function F along the curve AB is defined as integral of the component of F along
the tangent to the curve AB.

Component of F along a tangent PT at P = Dot product of F and unit vector along PT

dr dr

is a unit vector along tangent PT

= F
ds ds

F
dr
T
Line integral = F .
from A to B along the curve.
B
P
ds

A
dr
r
Therefore, line integral F ds ds F dr

c
c
X
O
B

(i) If F represents the variable force acting on a particle along arc AB, then the total work done F dr
A

(ii) If V represents the velocity of a liquid then

V dr

is called the circulation of V round closed curve c.

(iii) When the path of integration is a closed curve then notation of integration is in place of

Properties:

(i) Work done by a conservative field A in moving a particle from point P to Q =

Q Q
F
dr = dr = d = Q P = independent of path.

(ii) Work done by a conservative field A in moving a particle around a closed path C =

F dr = 0
c

Example-16: If F 5 xy 6 x 2 i 2 y 4 x j , then evaluate the line integral

in the x-y plane given by y x 3 from the point (1,1) to (2,8) .

F . dr

along the curve C

10

VECTOR ALGEBRA

Soln: r x i x 3 j dr dx i 3 x 2 dx j

2
So, F . dr 5 x 4 6 x 2 i 2 x 3 4 x j . dx i 3x 2 dx j
1

6 x5 5 x 4 12 x 3 6 x 2 dx 35
1

Example-17: If a force field A y 2 x i 3 x 2 y j is applied to a particle, then the work done by

the force field in traversing the particle around a circle C in x-y plane, with center at the origin and radius 2
units is equal to ( C is traversed in the counter-clockwise direction )
(b) 4

(a) 2
Soln:

(d) 16

(c) 8

A
.dr y 2 x dx 3x 2 y dy Putting x 2 cos and y 2sin we get,
C

2sin 4cos 2sin d 6cos 4sin 2cos d 8

0

2
F
C .dr , where F x2i y3 j and curve C is the arc of parabola y x in the x-y

Example-18: Evaluate

plane from (0, 0) to (1, 1).

2

Soln. Now along the curve C, y x . Therefore, dy 2 xdx

1
2
6

F
C .dr x0 x dx x 2 x dx
1

x3 2 x8
7
x 2 x dx

0
8 0 12
3

Example-19: If F 2 x y i 3 y x j , evaluate F .dr where C is the curve in the xy-plane consisting

1

of the straight lines from (0, 0) to (2, 0) and then to (3, 2).
Soln. The path of integration C has been shown in the figure. It consists of the straight lines OA and AB.
y
B
(3, 2)

O (0, 0)

We have,

F .dr =
C

A(2, 0)

2 x y i 3 y x j . dx i dy j
C

2 x y dx 3 y x dy
C
Now along the straight line OA, y = 0, dy = 0 and x varies from 0 to 2. The equation of the straight line AB
20
x 2 i.e. y 2 x 4
3 2
Therefore, along AB, y = 2x4, dy = 2dx and x varies from 2 to 3.

is y 0