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VECTORS
Pranjal K. Bharti, B. Tech., IIT Kharagpur
www.vidyadrishti.org
2014-2016
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
Definition of vectors: Those physical quantities which have Example: What is the angle between vectors P & Q ?
both magnitude as well as direction and follow laws of vector
addition are known as vectors. Q Q
Representation of a vector (Arrow over letters or bold letters) 180o
AB = AB = P = P
B P P
And direction of P = direction of Q Q
(a) (b) (c )
Shifting of vectors: A vector can be shifted to new position of
our convenience provided magnitude and direction remains Negative of a vector: A vector is said to be negative of another
unchanged. Sometimes we need to shift a vector to origin to vector if it has same magnitude but lies in opposite direction.
perform vector algebra conveniently. Clearly, negative of a vector is obtained by reversing its
y direction.
P
P Q R
4m P P 4m
4m 4m 4m 4m
x
O
NOTE: In our study, vectors do not have fixed locations. So Here P = R because P = R = 4m and direction of P is
displacing a vector parallel to itself leaves the vector
opposite to that of R .
unchanged. Such vectors are called free vectors. However, in
some physical applications, location or line of application of a Please note P = R does not mean P = R
vector is important. Such vectors are called localised vectors.
Zero Vector or Null Vector (0 or 0 ): As the name suggest,
Co-initial Vectors: Loosely speaking, co means same & initial zero vector has zero magnitude. Since, it is a vector, it must
means start. Therefore, co-initial vectors are those vectors have some direction. This direction is arbitrary. Thus, a vector
which have same starting point, meaning their tails lie at same having magnitude zero and arbitrary direction is called a zero
point.
P vector. Zero vector is denoted by 0 or 0 .
Position Vector
Here P & Q are co-initial vectors. Q A vector whose initial point (tail) is at origin is called a
position vector. Here, vectors P & R are position vectors but
Angle between two vectors: We should use concept of
shifting to find out angle between two vectors. Two Q is not a position vector.
vectors must be co-initial vectors. y
Q
P P
Q x
o
O
R
Angle between two vectors should not be greater than 180 .
o o
0 180 Position vector is generally represented by r . We will study
more about it in Kinematics.
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
i 1,=
j 1,= Unit vector along Y- axis = j
= k 1,=
n 1
i
Unit vector along Z- axis = k x
Unit Vector in the direction of a given vector A
i =
j k= 1 k
A Clearly, =
A = A
A z
A
Unit vector notation tricks (when vectors are parallel to
Right handed coordinate system: coordinate axes):
A vector of magnitude a (a > 0) and (parallel to) x-axis = ai .
y A vector of magnitude a (a> 0) and anti-parallel (means
opposite direction) to x-axis = ai .
A vector of magnitude a (a> 0) and parallel to y-axis = a j .
A vector of magnitude a (a> 0) and anti-parallel to y-axis
x = a j .
A vector of magnitude a (a> 0) and parallel to z-axis = ak .
A vector of magnitude a (a> 0) and anti-parallel to z-axis
= ak .
z
y
Perpendicular and going into Some examples:
the plane of paper
z
z
A = 4m i [Parallel to x-axis]
y B = 2m j [Parallel to y-axis]
C = 3m i [Anti-parallel to x-axis]
x z x y D = 5m j [Anti-parallel to y-axis]
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
Representation of a position vector in unit vector form (3D) Q1. Write x and y components of these vectors and write
them in unit vector notation. Radius of circle is 7 m.
y
(x, y, z) x y
r
x
30 o
A 12 m
z
Suppose the coordinates of tip of position vector r is (x, y, z),
P
then that vector is represented in unit vector form as
14 m
r = xi + y j + zk
Q R
y
U
Here, x = x-component of vector r 15 m
T 12 m
y = y-component of vector r
z = z-component of vector r 30 o x S 20 m
The magnitude (or length) of this vector is
r = r = x2 + y 2 + z 2
y
We can write A in the unit vector notation as Angle with positive direction of x-axis: = tan 1
x
=A A cos i + A sin j
y
Alternate method: Find principal angle as = tan 1
x
(Note in given diagram; is inclination with x-axis)
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
Q2. Draw the following vectors and then find out magnitude Vector Addition
and direction (i.e., angle) with positive x-axis. Method 2 : Analytically
a) 2i + 2 j b) 3i + 3 3 j c) 3i 3 j
A1 = a1 i + b1 j + c1 k
d) 3i e) 3 3 j A = a i + b j + c k
2 2 2 2
...........
Vector Addition
An = an i + bn j + cn k
Method 1 : Graphically Then,
nd R = A1 + A2 + ... + An
Step 1: Shift all vectors such that the tail of 2 vector should
st
lie on head of 1 vector. Repeat this for all vectors. R = (a1 + a2 + ... + an )i + (b1 + b2 + ... + bn ) j + (c1 + c2 + ... + cn )k.
st
Step 2: Join from the tail of 1 vector to the head of last Here, R = resultant (i.e., vector sum of all vectors)
vector. Direction of resultant is towards the head of last
vector.
Q4. Let a = 2i + 3 j + 4k and b =i 2 j 3k . Find
a) r= a + b and r
b) s= a b and s
c) t= b a and t
Q3. Find the vector sum of these vectors: y C
30o
15 m D
2m 2m
4m
x
(a)
12 m A
2m 2m 30o 20 m
4m
(a)
(b)
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
15 m
T 12 m R 2 = ( P 2 + Q 2 cos 2 + 2 PQ cos ) + ( Q 2 sin 2 )
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
Vector Addition
Special cases of vector addition
P
Method 4: Parallelogram law of vector addition (when two
vectors are placed tail to tail i.e., co-initial vector) Case 1: Maximum magnitude of resultant
Q
Statement: It states that if two vectors acting simultaneously R = R = P 2 + Q 2 + 2 PQ cos
are represented in magnitude and direction by the two adjacent
sides of a parallelogram taken in the same order, then the Clearly R is maximum when cos is maximum. Maximum
o
resultant is represented in magnitude and direction by the value of cos is 1 when = 0 .
diagonal of the parallelogram passing through that point.
Rmax = P 2 + Q 2 + 2 PQ = ( P + Q ) =P + Q
2
Rmax =+
P Q when two vectors lies in same direction.
R= P + Q
Q R
Case 2: Minimum magnitude of resultant P
Magnitude of R P R = R = P 2 + Q 2 + 2 PQ cos
Q
Clearly R is minimum when cos is minimum. Minimum value
R = R = P 2 + Q 2 + 2 PQ cos o
of cos is 1 when = 180 .
Note is the angle between vectors P & Q
Rmin = P 2 + Q 2 2 PQ = ( P Q) = P Q
2
0
Ans 13: 10 2 + 3 unit at an angle 45 with X-axis
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
i.e. vector subtraction is obtained by taking negative of where is the angle between A and B.
another vector and adding it to first vector. Dot product of two vectors gives a scalar quantity.
For example: To subtract B from A, we take negative of
vector B by reversing its direction. Then add A and B by Using definition of dot product we can find the angle
parallelogram law or triangle law. between two vectors.
A B
cos = (Angle between two vectors)
Shortcut: Q | A || B |
Angle between P and Q =
Therefore, angle between P and Q = Projection of a vector:
P
P Q = ( )
P + Q Q
R
= P 2 + Q 2 + 2 PQ cos ( )
= P 2 + Q 2 2 PQ cos
P Q= P 2 + Q 2 2 PQ cos
Q sin B cos is the projection A cos is the projection
Angle which R makes with P : tan = of B onto A of A onto B
P Q cos
A B
Projection of a vector B on A = B cos =
| A|
A B
Qs 14. Let A and B be the two vectors of magnitude 10 unit Projection of a vector A on B = A cos =
0 0
each. They are inclined to X-axis at angles 30 and 60 |B|
respectively. Find the magnitude and direction with positive A B
x-axis of A B. Also show A B graphically. Vector component vector B along A = A
| A|
0
Ans: 10 2 3 unit at an angle 315 with X-axis
A B
Vector component vector A along B = B
|B|
Multiplication of a vector by a scalar Dot product between two same vectors:
Multiplication with a positive scalar m: When a vector is =A A | A ||=A | co 00s A2
multiplied by a positive scalar m, its magnitude becomes (Because, angle between same vectors is zero)
m times and its direction remains unchanged. A2 =A A
Multiplication with a negative scalar m: When a vector is
Properties of scalar products:
multiplied by a negative scalar m, its magnitude becomes
m times and its direction is reversed. A B = B A (Commutative law)
Example: Vector P has magnitude 4m and is directed
( )
A B + C = A B + A C (Distributive law)
towards east. Find (a) 2 P and (b) 0.5 P . A A = A2
P Dot product between two unit vectors:
Solution:
=i i | i ||=
i | co 0s0 1
4 m
2P 0.5P
(Because angle between two same vectors = 0 and | i | = 1)
o
8m 2m i i = j j = k k = 1
Clearly vector 2P has magnitude 8m and is directed towards =
Similarly, i j | i || =
j | cos 900 0
east. Vector 0.5P has magnitude 2 units and directed
i j = j k = k i = 0
towards west.
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
Dot product of two vectors (when given in unit vector form):
Cross Product or Vector Product
A = a1 i + b1 j + c1 k
A B= a1a2 + b1b2 + c1c2
B = a2 i + b2 j + c2 k A B =| A || B | sin n
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
Cross product between two perpendicular unit vectors: Application of dot products and cross products
From definition of cross product we know that A B is 1. Perpendicular vectors
perpendicular to both A & B and its direction is obtained by
0
right hand thumb rule. Angle between two perpendicular vectors = 90 . Therefore
So, if we have to find i j , then i j must be perpendicular = B | co s | A || B=
A B | A ||= | co 9 s 0 0 0
to both i and j . Since i lies along +ve x-axis and j lies along Therefore two vectors are perpendicular, if A B = 0
+ve y-axis. Therefore, from right hand thumb rule i j must
lies along +ve z axis. And we know that, k is a unit vector
along +ve z-axis. 2. Parallel vectors
Therefore,
0
= i i | i ||=
j | sin 900 n | i || j | sin 900 k Angle between two parallel vectors = 0 .
A B =
(because n is k here)
0
Therefore two vectors are parallel, if A B =
0
In a similar way,
i =
j k , j =k i, k =i j i Best condition for parallel:
Let us consider two vectors
Also j i = k , k j =i, i k = j.
A = a1 i + b1 j + c1 k & B = a2 i + b2 j + c2 k
k j
They are parallel if
A = mB
where m is a scalar.
Cross product of two vectors (in unit vector form):
a1 b1 c1
or, a= b= c
A = a1 i + b1 j + c1 k & 2 2 2
B = a i + b j + c k
2 2 2
i j k
A B = a1 b1 c1 3. Unit vector perpendicular to two vectors
a2 b2 c2
We know that A B is perpendicular to both A & B .
A =B i ( b1c2 b2 c1 ) j ( a1c2 a2 c1 ) + k ( a1b2 a2 b1 )
Therefore, a unit vector perpendicular to both A & B is
Q. 19. Find the magnitudes and direction of A B
.
A B & B A | A B |
Q 5m
5m Qs. 21. Let
120 o a = 2i + 3 j + 4k and b = xi + 6 j + 8k .
P Find the value of x if (a) a & b are parallel vectors and (b)
Q. 20. Let
a & b are perpendicular vectors..
a = 2i + 3 j + 4k and b = 4i + 3 j + 2k .
Q. 22. Let
Find a b .
a = 2i + 3 j + 4k and b = 4i + 3 j + 2k .
Ans: 19. Find a unit vector perpendicular to both a & b .
25 3
P Q = , direction Answers:
2
21. (a) 4 (b) - 25
25 3
Q P = , direction
2
6i + 12 j 6k
20. 6i + 12 j 6k 22.
216
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
10. Let a = 2i + 3 j + 4k and b =i 2 j 3k . Find 18. Let
a = 2i + 3 j + 4k and b =i 2 j 3k .
d) r= a + b and r
Find a b and angle between a & b .
e) s= a b and s
19. A body constrained to move along the z-axis of a
f) t= b a and t
coordinate system is subject to a constant force F
( )
11. Find the vector sum of given vectors.
given by F = i + 2 j + 3k N . What is the work done
y
by this force in moving the body a distance of 4 m
30o along the z-axis? Work done by constant force is
C D
15 m given by formula W= F r where r is the
15 m displacement of the particle. S.I. unit of work done is
J.
x
20. Find the magnitudes and direction of
12 m A A B & B A
30o 20 m
5m
Q 5m
B o
120
12. Find out the magnitude of resultant of P and Q and also
find the angle which resultant makes with P. Also draw 21. Let P
the resultant. a = 2i + 3 j + 4k and b = 4i + 3 j + 2k .
Q Find a b . Also prove that a b is perpendicular to
5m
both a & b .
o
P 120 22. Let
5m a = 2i + 3 j + 4k and b = xi + 6 j + 8k .
13. An automobile travels due east on a level road for 30 m. It Find the value of x if (a) a & b are parallel vectors
then turns north at an intersection and travels 40 m before
and (b) a & b are perpendicular vectors.
stopping. Find the resultant displacement of the car. 23. Let
14. Two vectors have magnitudes 3 unit and 4 units
a = 2i + 3 j + 4k and b = 4i + 3 j + 2k .
respectively. What should be the angle between
them if the magnitude of the resultant is (a) 1 unit, Find a unit vector perpendicular to both a & b .
(b) 5 unit and (c) 7 unit. 24. Obtain the angle between a + b and a b if
15. A vector A makes an angle 200 and B makes an a= 2i + 3 j and b = i 2 j .
angle 1100 with the X-axis. The magnitudes of these
25. Find the unit vector parallel to a + b if a =3i 4 j + 5k
vectors are 3 m and 4 m respectively. Find the
resultant. and b = 2i + 3 j 4k .
16. Let A and B be the two vectors of magnitude 10 unit 26. Find the value of a and b if 2i + 3 j 4k and
each. If they are inclined to X-axis at angles 300 and
3i a j + bk are parallel.
600 respectively, find the resultant.
27. Find the angle between two vectors A = 2i + j k and
Problems on dot product and cross product
B = i k .
17. Find the dot product of given two vectors
28. Prove that the vectors A = 2i 3 j + k and B =i + j + k are
mutually perpendicular.
5m
Q 5m 29. Find a unit vector perpendicular to A = 2i + 3 j + k and
120 o B = i j + k both.
P 30. Show that the vector A = i j + 2k is parallel to a vector
Also find the projection of (a) P on Q and (b) Q on
B = 3i 3 j + 6k .
P.
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VECTORS Author: Pranjal K. Bharti (B. Tech., IIT Kharagpur) www.vidyadrishti.org
Level II
18. Let a b = b c = c a. and If c is a vector such that
4
( )
1. Establish the following results
a) |a + b| < |a| + |b| a.c= c , c a= 2 2 and the angle between a b
b) |a + b| > ||a| |b||
c) |a b| < |a| + |b|
and c is 30o, then ( ab c = )
d) |a b| > ||a| |b||
2. Prove by vector method that in a triangle ABC (
19. If a = i + j + k ) , a.b = 1 and a b = j k , then b
a b c is
= =
sin A sin B sin C 20. Let the vectors PQ, QR, RS , ST , TU and UP
3. Find the components of vector 2i + 2 3 j along i + j represent the sides of a regular hexagon.
and along i + j .
Statement I: PQ RS + ST 0.( )
4. If vector A and B respectively be equal to 3i 4 j + 5k
Because
and B = 2i + 3 j 4k . Find the unit vector parallel to Statement II: PQ RS =
0 and PQ ST 0
A + B. (a) Statement I is True, Statement II is True;
5. Vector A is along north and B is along vertically east. Statement II is a correct explanation for Statement
I
Find the direction of A B and ( A B).
(b) Statement I is True, Statement II is True;
6. If R= P + Q and R= P= Q then find the angle Statement II is NOT a correct explanation for
Statement I
between P & Q .
(c) Statement I is True, Statement II is False
7. If R= P + Q and R= P + Q then find the angle (d) Statement I is False, Statement II is True
between P & Q . 21. Let a, b, c be unit vectors such that a + b + c =0.
Which one of the following is correct?
8. If R= P + Q and P 2 + Q 2 = R 2 then find the angle
(a) a b = b c = c a = 0
between P & Q .
(b) a b = b c = c a 0
9. At what angle three forces of equal magnitude may
act so that their resultant is zero. (c) a b = b c = a c = 0
10. A vector P is directed along x-axis. Find its (d) a b, = b c, = c a are mutually perpendicular
component along y-axis. 22. A particle starts from point A. Position vector of A is
11. If P + Q = P Q then find the angle between P & Q . i + 2 j. It moves first horizontally away from origin by 5
units and then vertically away from origin by 3 units to
12. Can the resultant of three unequal forces be zero?
reach a point B. From B particle moves 2 units in the
Can the resultant of 4N, 5N and 10 N can be zero?
What about 4N, 6N and 8N. direction of i + j and then it moves through an angle
2
13. Can the resultant of two unequal forces be zero? Can in anticlockwise direction on a circle with centre at origin,
the resultant of 10 N and 6N can be equal to (a) 0, to reach a point C. The position vector of C is given by
(b) 4N, (c) 16N, (d) 8N and (e) 20N? (a) 6i + 7 j
14. The maximum and minimum magnitudes of (b) 7i + 6 j
resultant of two forces are respectively 16 N and
(c) 7i + 6 j
4N, find the magnitudes of individual forces.
15. Is it possible M= M M ? (d) 6i + 7 j
23. A plane mirror is kept along x-axis as shown in figure.
16. If a and b are two unit vectors such that a + 2b and
Incident ray falls along 2i 3 j. Find a unit vector along
5a 4b are perpendicular to each other then find the
reflected ray.
angle between a and b .
24. If a and b be two perpendicular unit vector such that
17. Let the vectors a, b, c and d be such that (a b) (c
d) = 0. Let P1 and P2 be planes determined by the pairs of ( )
x = b a x , then x is equal to
vectors a, b and c, d respectively, then find the angle 1
between P1 and P2 . (a) 1 (b) 2 (c) (d) 3
2
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25. If a= x 2 i + ( x 1) j k and b = i + ( x + 1) j + xk
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