Vector

Nur Islami, PhD

Vector and Scalar

A particle moving along a straight line can
move only two directions => positive and
negative
For a particle moving in three dimensions, +
sign or sign is no longer enough => Vector

Vector and Scalar

A library is located 0.5 mi from you.
Can you point where exactly it is?
You also
need to
know the
direction in
which you
should
walk to the
library!

All physical quantities encountered in this text will be either a scalar or a

vector
A vector quantity has both magnitude (value + unit) and direction
A scalar is completely specified by only a magnitude (value + unit)

Vector and Scalar Quantities

Vectors

Displacement
Velocity (magnitude and
direction!)
Acceleration
Force
Momentum

Scalars:

Distance
Speed (magnitude of
velocity)
Temperature
Mass
Energy
Time

To describe a vector we need more information than to describe a

scalar! Therefore vectors are more complex!

Important Notation

To describe vectors we will use:

The bold font: Vector A is A

Or an arrow above the vector: A

In the pictures, we will always show
vectors as arrows
Arrows point the direction
To describe the magnitude of a
vector we will use absolute value
sign: A or just A,
Magnitude is always positive, the
magnitude of a vector is equal to
the length of a vector.

Properties of Vectors
Equality of Two Vectors
Two vectors are equal if they have the
same magnitude and the same direction
Movement of vectors in a diagram
Any vector can be moved parallel to itself
without being affected
Negative Vectors
Two vectors are negative if they have the same
magnitude but are 180 apart (opposite directions)

A B; A A 0

Adding Vectors
When adding vectors, their directions must be
taken into account
Units must be the same
Geometric Methods
Use scale drawings

Algebraic Methods
More convenient

Adding Vectors Geometrically (Triangle

Method)

Draw the first vector with the

appropriate length and in the
direction specified, with respect to a
coordinate system
Draw the next vector B with the
appropriate length and in the
direction specified, with respect to a
coordinate system whose origin is
the end of vector A and parallel to
the coordinate system used for :
tip-to-tail.
The resultant
is drawn from the

origin of A to the end of the last

vector B

A B

Adding Vectors Graphically

When you have many
vectors, just keep
repeating the process
until all are included
The resultant is still
drawn from the origin
of the first vector to the
end of the last vector

A B

A B C

A B

Adding Vectors Geometrically (Polygon

Method)

A B

Draw the first vector A with the

appropriate length and in the

direction specified, with respect
to a coordinate system

Draw the next vector B with the

appropriate length and in the
direction specified, with respect
to the same coordinate system
Draw a parallelogram
The resultant is drawn as a
diagonal from the origin

A B B A

Vector Subtraction
Special case of vector addition
Add the negative of the
subtracted vector

A B A B

Continue with standard vector

addition procedure

A

A B

Sample Problem 1
In an orienteering class, you have the goal of
moving as far (straight-line distance) from base
camp as possible by making three straight-line
moves. You may use the following displacement
in any order: (a) a, 2 km due east (directly toward
the east). (b) b, 2 km 300 north of east (at any
angle of 300 toward the north from due east). (c)
c, 1 km due west. What is the greatest distance
you can be from base camp at the end of the
third displacement (use the geometrically
method)? (4.8 km)

Describing Vectors Algebraically

Vectors: Described by the number, units and direction!

Vectors: Can be described by their magnitude and direction.

For example: Your displacement is 1.5 m at an angle of 250.
Can be described by components? For example: your
displacement is 1.36 m in the positive x direction and 0.634 m
in the positive y direction.

Components of a Vector
A component is a part
It is useful to use rectangular
components These are the

projections of the vector

along the x- and y-axes

a cos(90 q ) 90q
a sin q

a cos q

Components of a Vector
The x-component of a vector is
the projection along the x-axis
A
Ax A cos q
cos q x
A
The y-component of a vector is
the projection along the y-axis
Ay
Ay A sin q
sin q
A
q

Then,

A Ax Ay

Components of a Vector
The components can be positive or negative and will
have the same units as the original vector

ax < 0
ay > 0

ax > 0
ay > 0

ax < 0
ay < 0

ax > 0
ay < 0

=0, Ax=A>0, Ay=0

=45, Ax=Acos45>0, Ay=Asin45>0
=90, Ax=0, Ay=A>0
=135, Ax=Acos135<0, Ay=Asin135>0
=180, Ax=-A<0, Ay=0
=225, Ax=Acos225<0, Ay=Asin225<0
=270, Ax=0, Ay=-A<0
=315, Ax=Acos315<0, Ay=Asin315<0

More About Components

The components are the legs of the
right triangle whose hypotenuse is A
Ax A cos(q )

Ay A sin(q )

A A 2 A 2
x
y

Ay
Ay
1
or q tan
tanq
Ax

Ax

2
x

2
y

A A

and

Or,

Ay
q tan
Ax
1

Sample Problem 2
A small airplane leaves an airport on an
overcast day and is later sighted 215 km away,
in a direction making an angle of 220 east of
north. How far east and north is the airplane
from the airport when sighted?
(81 km east, 199 km north)

Sample Problem 3
The team traveling a net 2.6 km westward, 3.9
km southward, and 25 m climb upward. What
was their displacement vector from start to
finish? (4.69 km, 560 from west to south and
0.30 of horizontal )

Unit Vectors
Components of a vector are vectors

A Ax Ay

Unit vectors i-hat, j-hat, k-hat

i x j y k z
Unit vectors used to specify direction
Unit vectors have a magnitude of 1
Then

q
y
j

A Axi Ay j

i
x

k
z

Magnitude + Sign

A Ax Ay

Unit vector

Adding Vectors Algebraically

Consider two vectors

A Axi Ay j

B Bxi By j

Then

A B ( Axi Ay j ) ( Bxi By j )

( Ax Bx )i ( Ay By ) j

If C A B ( Ax Bx )i ( Ay By ) j
so
Cx Ax Bx
C y Ay By

Example : Operations with Vectors

Vector A is described algebraically as (-3, 5), while

vector B is (4, -2). Find the value of magnitude and
direction of the sum (C) of the vectors A and B.

B 4i 2 j
A 3i 5 j

C A B (3 4)i (5 2) j 1i 3 j

Cx 1

Cy 3

C (Cx C y )1/ 2 (12 32 )1/ 2 3.16

Cy
1
q tan
tan 1 3 71.56
Cx
2

Sample Problem 4
A vehicle is travelling at the available road as
following: from origin (a) to checkpoint A is 36
km , due east. From A to check point B (b),
due north. From B to checkpoint C (c) is 25 km
with the angle of 1350 from the east to
northwest. The net displacement from the
origin to point C (d) is 62 km. (a) Sketch the
vehicle track. (b) What is the magnitude of b
(42 km)

Scalar Product of Two Vectors

The scalar product of
two vectors is written
as A B
It is also called the dot
product

A B A B cos q
q is the angle between A
and B

Dot Product
The dot product says something
about how parallel two vectors
are.
The dot product (scalar product)
of two vectors can be thought of
as the projection of one onto the
direction of the other.

A B AB cos q

A i A cos q Ax

Components

A B Ax Bx Ay By Az Bz

( A cos q ) B

A( B cos q )

Projection of a Vector: Dot Product

The dot product says something
about how parallel two vectors
are.
The dot product (scalar product)
of two vectors can be thought of
as the projection of one onto the
direction of the other.

Components

A B AB cos q

A i A cos q Ax

A B Ax Bx Ay By Az Bz

i j 0; i k 0; j k 0
i i 1; j j 1; k k 1

Projection is zero

p/2

Derivation

A B Ax Bx Ay B?y Az Bz

How do we show that

Start with A A i A j A k
x
y
z

B Bxi By j Bz k

Then

A B ( Axi Ay j Az k) ( Bxi By j Bz k)
Axi ( Bxi By j Bz k) Ay j ( Bxi By j Bz k) Az k ( Bxi By j Bz k)

But

So

i j 0; i k 0; j k 0
i i 1; j j 1; k k 1

A B Axi Bxi Ay j By j Az k Bz k
Ax Bx Ay By Az Bz

Sample Problem 5
What is the angle q between a = 3i 4j and b = -2i
+ 3k ?? And sketch the vector!
(1090)

Cross Product

C A B

B sin q

The cross product of two vectors says something

about how perpendicular they are.
Magnitude:

A sin q

C A B AB sin q

q is smaller angle between the vectors

Cross product of any parallel vectors = zero
Cross product is maximum for perpendicular vectors
Cross products of Cartesian unit vectors:

i j k; i k j; j k i
i i 0; j j 0; k k 0

y
j

i
x

i
j

Cross Product
Direction: C perpendicular to
both A and B (right-hand rule)
Place A and B tail to tail
Right hand, not left hand
Four fingers are pointed along
the first vector A
sweep from first vector A into
second vector B through the
smaller angle between them
Your outstretched thumb points
the direction of C

First practice

A B B A ?

A B B A ?

A B - B A

More about Cross Product

The quantity ABsinq is the area of the
parallelogram formed by A and B
The direction of C is perpendicular to the
plane formed by A and B
Cross product is not commutative

A B - B A

The distributive law

A (B C) A B A C

The derivative of cross product

obeys the chain rule
Calculate cross product

d dA dB
A B
B A
dt
dt
dt

A B ( Ay Bz Az By )i ( Az Bx Ax Bz ) j ( Ax By Ay Bx )k

Derivation

A B ( Ay Bz Az By )i ( Az Bx Ax Bz ) j ( Ax By Ay Bx )k

How do we show that

?
A Axi Ay j Az k
Start with

B Bxi By j Bz k

Then

But

So

A B ( Axi Ay j Az k) ( Bxi By j Bz k)
Axi ( Bxi By j Bz k) Ay j ( Bxi By j Bz k) Az k ( Bxi By j Bz k)
i j k; i k j; j k i
i i 0; j j 0; k k 0

i

A B Ax

Ay

Az

Bx

By

Bz

A B Axi By j Axi Bz k Ay j Bxi Ay j Bz k
Az k Bxi Az k By j

Calculating Cross Products

Find: A B
Solution:

F (2i 3 j ) N

Where: A 2i 3 j

A B (2i 3 j ) (i 2 j )

B i 2 j

2i (i) 2i 2 j 3 j (i) 3 j 2 j

r (4i 5 j )m
0 4i j 3 j i 0 4k 3k 7k

i
j

Calculate torque given a force and its location

Solution: r F (4i 5 j ) (2i 3 j )
4i 2i 4i 3 j 5 j 2i 5 j 3 j

0 4i 3 j 5 j 2i 0 12k 10k 2k (Nm)

Summary

Ax A cos(q )

Ay A sin(q )

Polar coordinates of vector A (A, q)

Cartesian coordinates (Ax, Ay)
2
2

A Ax Ay

Relations between them:

Ay
Ay
1

tan
q

or
q

tan
Beware of tan 180-degree ambiguity


A

x
Ax

Unit vectors:
A Axi Ay j Az k

Addition of vectors:
C A B ( Ax Bx )i ( Ay By ) j
C y Ay By

Cx Ax Bx

aA aAxi aAy j

Scalar multiplication of a vector:
A B AB cos q Ax Bx Ay By Az Bz
Product of two vectors: scalar product
and
product

cross

Dot product is a scalar:

Cross product is a vector (

A and B

):

A B AB sin q