CHAPTER 51 SCALAR AND VECTOR PRODUCTS

EXERCISE 216 Page 591

1. Find the scalar product a b when (i) a = i + 2j k and b = 2i + 3j + k
(ii) a = i 3j + k and b = 2i + j + k

(a) a b = (1)(2) + (2)(3) + (1)(1) = 7

(b) a b = (1)(2) + (3)(1) + (1)(1) = 2 3 + 1 = 0

2. Given p = 2i 3j, q = 4j k and r = i + 2j 3k, determine: (a) p q

(b) p r

(a) p q = (2)(0) + (3)(4) + (0)(1) = 12

(b) p r = (2)(1) + (3)(2) + (0)(3) = 2 6 = 4

3. Given q = 4j k and r = i + 2j 3k, determine: (a) q r (b) r q

(a) q r = (0)(1) + (4)(2) + (1)(3) = 0 + 8 + 3 = 11

(b) r q = (1)(0) + (2)(4) + (3)(1) = 0 + 8 + 3 = 11

4. Given p = 2i 3j and r = i + 2j 3k, determine: (a) p (b) r

(a) p =

( (2)

(b) r =

( (1)

+ (3) 2 + (0) 2 = 13

+ (2) 2 + (3) 2 = 14

5. Given p = 2i 3j, q = 4j k and r = i + 2j 3k, determine: (a) p (q + r)

(b) 2r (q 2p)

(a) p ( q + r ) = (2i 3j)(4j k + i + 2j 3k) = (2i 3j)( i + 6j 4k)

= (2)(1) + (3)(6) + (0)(4) = 2 18 + 0 = 16
(b) 2r (q 2p) = (2i + 4j 6k) (4j k 2(2i 3j)) = (2i + 4j 6k) ( 4i + 10j k)
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= (2)(4) + (4)(10) + (6)(1)

= 8 + 40 + 6 = 38

6. Given p = 2i 3j, q = 4j k and r = i + 2j 3k, determine: (a) p + r

( (2 + 1)

(a) p + r =

( (2)

(b) p + r =

(b) p + r

+ (3 + 2) 2 + (0 3) 2 = 19

+ (3) 2 + (0) 2 +

((1) + ( 2) + ( 3) ) =
2

13 + 14 = 7.347

7. Given p = 2i 3j, q = 4j k and r = i + 2j 3k, find the angle between (a) p and q (b) q and r

(a) From equation (4), page 589, cos =

a + a2 2 + a32 b12 + b2 2 + b32

(2)(0) + (3)(4) + (0)(1)
2 + (3) + 0
2

0 + 4 + (1)
2

12
= 0.8072
13 17

= cos 1 (0.8072) = 143.82

from which,
(b) cos =

a1b1 + a2b2 + a3b3

2
1

(0)(1) + (4)(2) + (1)(3)

=
0 + 42 + (1) 2 12 + 22 + (3) 2
2

11
= 0.713024
17 14

= cos 1 (0.713024) = 44.52

from which,

8. Given p = 2i 3j, q = 4j k and r = i + 2j 3k, determine the direction cosines of:

(a) p

(b) q

(c) r

(a) For
p, cos
=

2
=
2
2 + (3) 2

0
3
2
= 0.555, cos =
= 0.832 and cos =
=0
13
13
13

(b) For
q, cos
=

0
=
2
4 + (1) 2

1
4
0
= 0, cos =
= 0.970 and cos =
= 0.243
17
17
17

1
=
2
2
1 + 2 + (3) 2
3
and cos =
= 0.802
14

(c)
For r, cos
=

2
1
= 0.267, cos =
= 0.535
14
14

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9. Determine the angle between the forces: F1 = 3i + 4j + 5k and F2 = i + j + k

cos =

(3)(1) + (4)(1) + (5)(1)

=
32 + 42 + 52 12 + 12 + 12

from which,

12
= 0.979795...
50 3

= cos 1 (0.979795...) = 11.54

10. Find the angle between the velocity vectors v 1 = 5i + 2j + 7k and v2 = 4i + j k

cos =

(5)(4) + (2)(1) + (7)(1)

=
52 + 22 + 7 2 42 + 12 + (1) 2

from which,

15
= 0.40032
78 18

= cos 1 (0.40032) = 66.40

11. Calculate the work done by a force F = (5i + j + 7k) N when its point of application moves from
point (2i 6j + k) m to the point (i j + 10k) m.
Work done = F d where d = (i j + 10k) (2i 6j + k)
= 3i + 5j + 9k
Hence, work done = (5i + j + 7k) (3i + 5j + 9k)
= 15 + 5 + 63 = 53 N m

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EXERCISE 217 Page 594

1. Given p = 3i + 2k, q = i 2j + 3k and r = 4i + 3j k determine:

(a) p q

(b) q p

i
j k
0 2
3 2
3 0
(a) p q = 3 0 2 = i
j
+k
= 4i 7j 6k
1 3
1 2
2 3
1 2 3
i
j k
2 3
1 3
1 2
(b) q p = 1 2 3 = i
j
+k
= 4i + 7j + 6k
0 2
3 2
3 0
3 0 2

2. Given p = 3i + 2k, q = i 2j + 3k and r = 4i + 3j k determine:

(a) p r

(b) r q

( p p )( r r ) ( p r )

(a) p r =

where p p = (3)(3) + (2)(2) = 13,

r r = (4)(4) + (3)(3) + (1)(1) = 26

and
Hence,

pr =

(b) r q = =

2
(13)(26) (14)

( r r )( q q ) ( r q )

p r = (3)(4) + (0)(3) + (2)(1) = 14

(338 196)
=

142 = 11.92

where r r = (4)(4) + (3)(3) + (1)(1) = 26,

q q = (1)(1) +(2)(2) + (3)(3) = 14

and
Hence,

rq =

2
(26)(14) (13)

r q = (4)(1) + (3)(2) + (1)(3) = 13

(364 169)
=

195 = 13.96

3. Given p = 3i + 2k, q = i 2j + 3k and r = 4i + 3j k determine:

(a) 2p 3r

(b) (p + r) q

(a) 2p = 2(3i + 2k) = 6i + 4k

and 3r = 3( 4i + 3j k) = 12i + 9j 3k

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i
j
k
0
Hence, 2p 3r =
6 0
4 =i
9
12 9 3

4
6
j
3
12

4
6 0
+k
= 36i 30j + 54k
3
12 9

(b) p + r = 3i + 2k + ( 4i + 3j k) = i + 3j + k
i
Hence, (p + r) q = 1

j
3

1 2

k
1 =i
3

1 1
3 1
1
j
+k
2 3
1 3
1

3
= 11i + 4j k
2

4. Given p = 3i + 2k, q = i 2j + 3k and r = 4i + 3j k determine:

(a) p (r q)

(b) (3p 2r) q

i
j k
(a) r q = 4 3 1 = 7i + 11j + 5k
1 2 3

Hence,

i j k
p (r q) = 3 0 2 = (22)i (1)j + (33)k = 22i j + 33k
7 11 5

(b) 3p 2r =

i
9

j
0

k
6

= (36)i (18 + 48)j + (54)k = 36i 30j + 54k

8 6 2
i
j
k
(3p 2r) q = 36 30 54 = (90 + 108)i (108 54)j + (72 + 30)k
1

= 18i + 162j + 102k

5. For vectors p = 4i j + 2k and q = 2i + 3j 2k determine

(i) p q

(ii) p q

(iii) p q

(iv) q p and (v) the angle between the vectors

(i)

p q = (4)( 2) + (1)(3) +(2)(2) = 15

(ii)

i
j
k
p q = 4 1 2 = i ( 2 6 ) j( 8 + 4) + k(12 2) = 4i + 4 j + 10k
2 3 2

(iii) p p = (4)(4) + (1)(1) + ( 2 )( 2 ) = 21

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q q = (2)(2) + (3)(3) + (2)(2) = 17

p q = (4)(2) + (1)(3) + ( 2 )( 2 ) = 15
pq =

=
( 357 225
)

2
( 21)(17 ) ( 15=

132 = 11.49

k
(iv) q p = 2
3 2 = i ( 6 2 ) j( 4 + 8) + k(2 12) = 4i 4 j 10k
4 1 2

(v)

cos =

(4)(2) + (1)(3) + ( 2 ) (2)

(4) 2 + (1) 2 + ( 2 )

6. For vectors a = 7i + 4j +

(i)

(2) 2 + (3) 2 + (2) 2

15
= 0.793884...
21 17

= cos 1 (0.793884...) = 142.55

from which,

(i) a b

(ii) a b

1
k and b = 6i 5j k find
2

(iii) a b

(iv) b a and (v) the angle between the vectors

1
1
a b = (7)(6) + (4)(5) + ( )(1) = 62
2
2

i
(ii) a b = 7

5
1
1

= i 4 + j(7 3) + k(35 24) = 1 i 4 j + 11k

2
2
2

5 1
4

1 1
(iii) a a = (7)(7) + (4)(4) + = 65.25
2 2
b b = (6)(6) + (5)(5) + (1)(1) = 62

1
a b = (7)(6) + (4)(5) + ( 1) = 62.5
2
ab =

2
( 65.25 )( 62 ) ( 62.5

=
)

(iv) b a =

=
( 4045.5 3906.25
)

139.25 = 11.80

1
5

5 1 = i + 4 j(3 7) + k(24 35) = 1 i + 4 j 11k

2
2

1
7 4
2

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cos =

(v)

1
(7)(6) + (4)(5) + (1)
2
1
(7) 2 + (4) 2 +
2

(6) 2 + (5) 2 + (1) 2

62.5
= 0.9826388
65.25 62

= cos 1 (0.9826388) = 169.31

from which,

7. Forces of (i + 3j), ( 2i j), (i 2j) newtons act at three points having position vectors of (2i + 5j),
4j and (i + j) metres, respectively. Calculate the magnitude of the moment.

Magnitude of the moments = the sum of the magnitudes of the three forces
When position vector, r = 2i + 5j and F = i + 3j
Magnitude of M, M = r F =
where

( r r )( F F ) ( r F )

r r = (2)(2) + (5)(5) +(0)(0) = 29

F F = (1)(1) + (3)(3) +(0)(0) = 10
r F = (2)(1) + (5)(3) + (0)(0) = 17

i.e.

M =

( 29 )(10 ) (17 )

=1Nm

When position vector, r = 4j and F = 2i j

Magnitude of M, M = r F =
where

( r r )( F F ) ( r F )

r r = (0)(0) + (4)(4) +(0)(0) = 16

F F = ( 2)(2) + (1)(1) +(0)(0) = 5
r F = (0)(2) + (4)(1) + (0)(0) = 4

i.e.

M =

(16 )( 5) ( 4 )

=8Nm

When position vector, r = i + j and F = i 2j

Magnitude of M, M = r F =
where

( r r )( F F ) ( r F )

r r = (1)(1) + (1)(1) + (0)(0) = 2

F F = (1)(1) + (2)(2) + (0)(0) = 5
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r F = (1)(1) + (1)(2) + (0)(0) = 3

i.e.

M =

( 2 )( 5) ( 3)

=1Nm

Hence, magnitude of the moment = 1 + 8 + 1 = 10 N m

8. A force of (2i j + k) newtons acts on a line through point P having coordinates (0, 3, 1) metres.
Determine the moment vector and its magnitude about point Q having coordinates (4, 0, 1)
metres.

Position vector, r = (0i + 3j + k) (4i + 0j k) = 4i + 3j + 2k

Moment, M = r F

i
j k
where M = 4 3 2 = (3 + 2)i (4 4)j + (4 6)k
2 1 1
= (5i + 8j 2k) N m

Magnitude of M, M = r F =
where

( r r )( F F ) ( r F )

r r = (4)(4) + (3)(3) + (2)(2) = 29

F F = (2)(2) + (1)(1) +(1)(1) = 6
r F = (4)(2) + (3)(1) +(2)(1) = 9

i.e.

M =

( 29 )( 6 ) ( 9 )

= 9.64 N m

9. A sphere is rotating with angular velocity about the z-axis of a system, the axis coinciding with
the axis of the sphere. Determine the velocity vector and its magnitude at position
(5i + 2j 7k) m, when the angular velocity is (i + 2j) rad/s.

Velocity vector, v = r = (i + 2j ) (5i + 2j 7k) =

5 2 7

= (14 0)i ( 7 0)j + (2 + 10)k

= 14i + 7j + 12k

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Magnitude of v, v =

( )( r r ) ( r )

where = (1)(1) + (2)(2) + (0)(0) = 5

r r = ( 5)(5) + (2)(2) + (7)(7) = 78
r = (5)(1) + (2)(2) + (7)(0) = 1
Hence,

v =

( 5)( 78) ( 1)

= 19.72 m/s

10. Calculate the velocity vector and its magnitude for a particle rotating about the z-axis at an
angular velocity of (3i j + 2k) rad/s when the position vector of the particle is at (i 5j + 4k) m.

i j k
Velocity vector, v = r = (3i j + 2k) (i 5j + 4k) = 3 1 2
1 5 4

= (4 + 10)i (12 2)j + (15 + 1)k

= 6i 10j 14k
Magnitude of v, v =

( )( r r ) ( r )

where = (3)(3) + (1)(1) + (2)(2) = 14

r r = (1)(1) + (5)(5) + (4)(4) = 42
r = (1)(3) + (5)(1) + (4)(2) = 16
Hence,

v =

(14 )( 42 ) (16 )

= 18.22 m/s

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EXERCISE 218 Page 596

1. Find the vector equation of the line through the point with position vector 5i 2j + 3k which is
parallel to the vector 2i + 7j 4k. Determine the point on the line corresponding to = 2 in the
resulting equation.
Vector equation of the line, r = a + b = (5i 2j + 3k) + (2i + 7j 4k)
i.e.

r = (5 + 2)i + (7 2)j + (3 4)k

When = 2,

r = 9i + 12j 5k

2. Express the vector equation of the line in Problem 1 in standard Cartesian form.

The vector equation of a straight line in standard Cartesian form is:

x a1 y a2 z a3
= = =
b1
b2
b3
Since a = 5i 2j + 3k,

a1 =
5, a2 =
2 and a3 =
3

and

b1 = 2, b2 = 7 and b3 = 4

b = 2i + 7j 4k,

then the Cartesian equations are:

3. Express in vector form:

3x 1 5 y + 1 4 z
= =
4
2
3

i.e.

i.e.

x 5 y + 2 z 3
= = =
2
7
4

or

x 5 y + 2 3 z
= = =
2
7
4

3x 1 5 y + 1 4 z
=
=
3
4
2

i.e.

1
1

3 x 5 y +
3
5 1( z 4 )

=
=
4
2
3

1
1

x y+
3
5
=
=
4
2
3
5

( z 4)
3

1
1
a1 =
, a2 =
and a3 =
4
3
5
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and

b1 =

4
2
, b2 =
and b3 = 3
3
5

Hence, in vector form the equation is:

r = ( a1 + b1 ) i + ( a2 + b2 ) j + ( a3 + b3 ) k

1 4
= + i +
3 3
or

r=

1 2
+ j + ( 4 3 ) k
5 5

1
1
(1 + 4 ) i + ( 2 1) j + ( 4 3 ) k
3
5

4. Express in vector form: 2x + 1 =

2 x + 1 1 4 y 3z 1
= =
1
5
4

i.e.

3z 1
1 4 y
=
4
5

1
1
1
z
x+
y
3
2 =
4
=
1
5
4

2
4
3

i.e.

1
1
1
and a3 =
a1 =
, a2 =
2
4
3

and

1
5
4
b1 =
, b2 =
and b3 =
2
4
3

Hence, in vector form the equation is:

r = ( a1 + b1 ) i + ( a2 + b2 ) j + ( a3 + b3 ) k

1 5
1 1
1 4
= + i + j + + k
4 4
2 2
3 3
or

r=

1
1
1
( 1) i + (1 5 ) j + (1 + 4 ) k
2
4
3

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