VECTOR ANALYSIS

Introduction: scalar and vector

quantities
Physical quantities can be divided into two
main groups, scalar quantities and vector
quantities.

A scalar quantity is one that is defined
completely by a single number with
appropriate units, e.g. length, area,
volume, mass, time, etc. Once the units
are stated, the quantity is denoted
entirely by its size or magnitude.

Introduction: scalar and vector
quantities

A vector quantity is defined completely
when we know not only its magnitude
(with units) but also the direction in
which it operates, e.g. force, velocity,
acceleration. A vector quantity
necessarily involves direction as well as
magnitude.
Introduction: scalar and vector
quantities
Example:

1. A speed of 10 km/h is a (scalar/vector)
quantity
2. A velocity of 10 km/h due north is a
(scalar/vector) quantity
3. A temperature of 100
O
C is a
(scalar/vector) quantity.
4. An acceleration of 9.8 m/s
2
vertically
downward is a (scalar/vector) quantity
Introduction: scalar and vector
quantities
Example: (contn)

5. An acceleration of 9.8 m/s
2
vertically
downward is a (scalar/vector) quantity
6. The weight of a 7 kg mass is a
(scalar/vector) quantity
7. The sum of P500 is a (scalar/vector)
quantity
8. A north-easterly wind of 20 knots is a
(scalar/vector) quantity
Introduction: scalar and vector
quantities
Field a function that specifies a
particularly quantity everywhere in a region;
may be a scalar field or a vector field
Example:
Scalar field temperature distribution in a
building, sound intensity in a theater,
electric potential in a region, etc.
Vector field gravitational force on a body
in space, velocity of raindrops in the
atmosphere, etc.
Vector Representation
A vector quantity can be represented
graphically by a line, drawn so that:
(a). the length of the line denotes the
magnitude of the quantity, according to
some stated vector scale.
(b). the direction of the line denotes the
direction in which the vector quantity acts.
The sense of the direction is indicated by
an arrowhead.
Vector Representation
Example:
A horizontal force of 35 N acting to the
right, would be indicated by a line
and if the chosen vector scale were 1 cm =
10 N, the line would be _____ cm long.
Vector Representation
The vector quantity AB is referred to as
or a (unit vector).


The magnitude of the vector quantity is
written , or , or simply AB or a
AB
AB a
Vector Representation
can be represented by a vector
quantity with the same magnitude but
opposite in direction
BA
Vector Representation
Two Equal Vectors

If a = b, then
(a) a = b (equal magnitude)
(b) the direction of a = direction of b, i.e.
the two vectors are parallel.


Vector Representation
Two Equal Vectors

If b = -a, then
(a) a = b (equal magnitude)
(b) the direction of a = opposite direction of
b.
Vector Representation
Types of Vectors
(a) A position vector occur when the
point A is fixed.
(b) A line vector is such that it can slide
along its line of action, e.g. a mechanical
force acting on a body.
(c) A free vector is not restricted in any way.
It is completely defined by its magnitude
and direction and can be drawn as any one
of a set of equal length parallel lines.



AB
Vector Representation
Unit vector along - is a vector
whose magnitude is unity (1) and its
direction is along .

) (
) (
) (
magnitude
vector
B
B
vector unit a
B
= =
B
a
B
B
2 2 2
z y x
z z y y x x
B
B B B
a B a B a B
a
+ +
+ +
=
Vector Addition and Subtraction
Vector addition is carried out component
by component. Graphically done by the
parallelogram method or head-to-tail rule.
head-to-tail rule.
parallelogram method
Basic Laws of Vector Algebra
Law Addition Multiplication
Commutative
Associative
Distributive
A B B A + = +
K A A K =
) ( ) ( C B A C B A + + = + +
A Kn A n K ) ( ) ( =
B K A K B A K + = + ) (
Cartesian, or Rectangular,
Coordinate System.
three coordinate axes (known as x,y, and
z) mutually at right angles to each other.

Cartesian, or Rectangular,
Coordinate System.
Consider a vector r extending outward from
the origin and lying along the three
coordinate axes, then r = x + y + z.
Position vector, r is
defined as the
directed distance
from the origin to a
reference point.
Cartesian, or Rectangular,
Coordinate System.
A reserve symbol a for a unit vector is use
to identify the direction of the unit vector by
an appropriate subscript. Thus ax, ay, and
az are the unit vectors in the Cartesian
coordinate system. They are directed along
the x, y, and z axes.
Cartesian, or Rectangular,
Coordinate System.
Cartesian, or Rectangular,
Coordinate System.
Example
A vector r
P
pointing from the origin to point
P(1, 2, 3) is written as r
P
= ax + 2ay + 3az.
And another vector r
Q
pointing from the
origin to point Q(2, -2, 1) is written as r
Q
=
2ax - 2ay + az. Find the distance vector
from P to Q.
Note: distance vector is the displacement
vector ( displacement from one point to
another)
Cartesian, or Rectangular,
Coordinate System.
Cartesian, or Rectangular,
Coordinate System.
Example
A vector r
P
pointing from the origin to point
P(1, 2, 3) is written as r
P
= ax + 2ay + 3az.
And another vector r
Q
pointing from the
origin to point Q(2, -2, 1) is written as r
Q
=
2ax - 2ay + az. Find the distance from P to
Q.

Cartesian, or Rectangular,
Coordinate System.
Example:
Given the vectors
and , find: (a) the
component of along a
z
, (b) a unit
vector along the direction of , (c)
magnitude of , (d)

Answer: -2; 0.92a
x
+0.36a
y
+0.14a
z
; 33.67; -
580.483a
x
+3192.654a
y
-2902.413a
z
z y x
a a a A 8 4 10 + =
z y x
a a a B 2 7 8 + =
B
B A 2 +
B A a
x
3 5 +
) ( 2 B A B A +
Cartesian, or Rectangular,
Coordinate System.
Example:
Given points P(1,-3,5), Q(2,4,6) and
R(0,3,8), find: (a) the position vectors of P
and R, (b) distance vector ; (c)
distance between Q and R.

Answer: a
x
-3a
y
+5a
z
; 3a
y
+8a
z
; -2a
x
-a
y
+2a
z
; 3
QR
R
Vector Multiplication
Multiplying two vectors A and B may
result as either a scalar or vector
depending on how they are carried out:

Types:
1. Scalar product (dot product or inner
product)
2. Vector product (cross product)
Dot Product
The dot product of two vectors A and B is
defined as the product of the magnitude of
A and magnitude of B and the cosine of
the angle between the vectors


where: is the smaller angle between
the vectors.
AB
B A B A u cos = -
AB
u
Dot Product
Properties:
1. Commutative:
2. Distributive:
3. Scaling:
4.
5.
6.
7. Alternatively:
8. If the dot product of the two vectors is zero, then
the two vectors are orthogonal to each other.
A B B A - = -
) ) ( C A B A C B A - + - = + -
) ( ) ( ) ( B K A B A K B A K - = - = -
2
A A A = -
0 = - = - = -
x z z y y x
a a a a a a
1 = - = - = -
z z y y x x
a a a a a a
z z y y x x
B A B A B A B A + + = -
Dot Product
Parallel-Perpendicular Decomposition

Scalar Projection:



Scalar projection of vector B along the
direction of unit vector a
Dot Product
Parallel-Perpendicular Decomposition

Vector Projection:



Vector projection of vector B along the
direction of unit vector a
Dot Product
Example:
The three vertices of a triangle are located
at A(6,-1,2), B(-2,3,-4), and C(-3,1,5).
Find: (a) R
AB
; (b) R
AC
; (c) the angle
BAC
at
vertex A; (d) the (vector) projection of R
AB

on R
AC
.

Ans. -8ax + 4ay 6az; -9ax + 2ay + 3az;
53.6
O
; -5.94ax + 1.319ay +1.979az


Dot Product
Scalar Triple Product: dot product
between a vector and a cross product





Dot Product
Geometrically, this gives the volume
of a parallelepiped spanned by
vectors A,B,C.

Triple scalar product obeys cyclic
symmetry:


Cross Product
The cross product of two vectors A and B
is a vector quantity whose magnitude is
the area of the parallelepiped form by A
and B and is in the direction of advance of
a right handed screw as A is turned into B.
Cross Product

AB N
B A a B A u sin =
where: a
N
is a
unit vector
normal to the
plane containing
vector A and
vector B.
Cross Product
Properties:
1. Anti-Commutative:
2. Distributive:
3. Scaling:
4.
5.
6. If the cross product of two vectors is zero, then
the two vectors are parallel.
7. Alternatively:
) ( ) ( ) ( C A B A C B A + = +
) ( ) ( B K A B A K B A K = =
0 = A A
y x z x z y z y x
a a a a a a a a a = = = ; ;
z y x
z y x
z y x
B B B
A A A
a a a
B A =

Cross Product
Vector Triple Product: vector product
between a vector and a cross product


Geometrically, the vector triple
product has to lie in a plane parallel to
B - C plane (since there are only
three dimensions).



Cross Product
Example:
The three vertices of a triangle are located
at A(6,-1,2), B(-2,3,-4), and C(-3,1,5).
Find: (a) R
AB
; (b) R
AC
; (c) the angle
BAC
at
vertex A.

Ans. -8ax + 4ay 6az; -9ax +2ay + 3az;
53.6
O
;

Cross Product
Example:
Three field quantities are given by:



Find: (a) , (b) , (c)
(d) , (e) unit vector
perpendicular to both and .
Answer: 2a
x
+12a
y
+4a
z
; 14; 14; 2a
x
+3a
y
+4a
z
;
(0.745a
x
+0.298a
y
-0.596a
z
)
z y x
z y x
z x
a a a R
a a a Q
a a P
+ =
+ =
=
3 2
2 2
2
) ( ) ( Q P Q P + ) ( P R Q -
) ( R Q P -
) ( R Q P
Q
R
Cylindrical Coordinate System
A point P(x,y,z) can also be represented in
terms of P(,,z):
= projection of the position vector in the
xy-plane.
= angle from the positivex-axis cutting
the xy-plane.
z = projection on the z-axis.
Cylindrical Coordinate System
Point Transformation
Cylindrical Coordinate System
Cylindrical to Cartesian
x = cos
y = sin
z = z
Cylindrical Coordinate System
Cartesian to Cylindrical
z = z
) 0 ( ,
2 2
> + = y x
x
y
1
tan

= |
Cylindrical Coordinate System
Range of coordinates:


Vector Transformation:

a

a

a
z

a
x
cos - sin 0
a
y
sin cos 0
a
z
0 0 1
< < < < < < z ; 2 0 ; 0 t |
Cylindrical Coordinate System
Example
(a) Give the Cartesian coordinates of the
point C( = 4.4, = -115
O
, z = 2). (b)
Give the cylindrical coordinates of the
point D(x = -3.1, y = 2.6, z = -3). (c)
Specify the distance from C to D.

Ans. C(x = -1.860, y = -3.99, z = 2); D( =
4.05, = 140.0
O
,z = -3); 8.36.
Spherical Coordinate System
A point P(x,y,z) can also be represented in
terms of P(r,,):
r = radius of the sphere.
= angle the vector makes with the
positive z-axis.
= same angle defined in cylindrical
coordinates.
Spherical Coordinate System
Point Transformation
Spherical Coordinate System
Spherical to Cartesian
x = r sin cos
y = r sin sin
z = r cos
Spherical Coordinate System
Cartesian to Cylindrical
2 2 2
z y x r + + =
x
y
1
tan

= |
r
z
1
cos

= u
Spherical Coordinate System
Range of coordinates:


Vector Transformation:

a
r
a

a

a
x
sin cos cos cos - sin
a
y
sin sin cos sin cos
a
z
cos - sin 0
t | t u 2 0 ; 0 ; 0 < < < < < < r
Spherical Coordinate System
Example:
Given the points C(-3, 2, 1) and D(5, 20
O
, -
70
O
), find: (a) the spherical coordinates of
C; (b) the rectangular coordinates of D; (c)
the distance from C to D

Answer:
r=3.742,=74.5,=146.3;x=0.585,y=-
1.607,z=4.698;6.288
Example
Using the coordinate system named give
the vector at point A(2,-1,-3) that extends
to B(1,3,4); (a) cartesian; (b) cylindrical; (c)
spherical


Answer: -a
x
+4a
y
+7a
z
; -2.68a

+3.13a

+7a
z
; -
7.22a
r
-2.03a

+3.13a

Example
(a) Find ax in spherical components at
P(3,-4,5), (b) Find a

in cartesian
components at P.



Answer: 0.42a
r
+0.424a

+0.8a

; 0.424a
x
-
0.566a
y
-0.707a
z
Seatwork
1. Given three points, A(4,3,2), B(-2,0,5),
and C(7,-2,1); (a) specify the vector A
extending from the origin to point A; (b)
give a unit vector extending from the
origin toward the midpoint of line AB; (c)
calculate the length of the perimeter of
triangle ABC.

Answer:4ax+3ay+2az; (0.25,0.38,0.89);23.32
Seatwork
2. Given points A(10,12,-6), B(16,8,-2),
C(8,1,4), and D(-2,-5,8), determine the
projection of R
AB
+ R
BC
on R
AD
;(b) the
vector projection of R
AB
+ R
BC
on R
DC
; (c)
the angle between R
DA
and R
DC

Ans: (-6.7,-9.5,7.8); (-8.3,-0.5,3.3);26
O
Seatwork
3. Three vectors extending from the origin
are given as r
1
= 7a
x
+3a
y
-2a
z
, r
2
= -
2a
x
+7a
y
-3a
z
, and r
3
= 2a
x
-2a
y
+3a
z
. Find: (a)
a unit vector perpendicular to both r
1
and
r
2
; (b) a unit vector perpendicular to the
vectors r
1
- r
2
and r
2
- r
3
; (c) the area of the
triangle defined by r
1
and r
2
; (d) the area of
the triangle defined by the heads of r
1
, r
2
,
and r
3
.
Answer: (0.08,0.41,0.91);(0.30,0.81,0.5);
30.3;32
Homework
1. Given points A( = 5, = 70
O
, z = -3)
and B( = 2, = -30
O
, z = 1), find:(a) a
unit vector in cartesian coordinates at A
directed toward B; (b) a unit vector in
cylindrical coordinates at A directed toward
B; (c) a unit vector in cylindrical
coordinates at B directed toward A.

Answer: (0.003,-0.82,0.57);-0.77a

-0.28a

+0.57a
z
; -0.43a

+ 0.71a

- 0.57a
z
Homework
2. At point P(-3,-4,5), express that vector
that extends from P to Q(2,0,-1) in: (a)
rectangular coordinates; (b) cylindrical
coordinates; (c) spherical coordinates. (d)
Show that each of these vectors has the
same magnitude.

Answer: 5a
x
- 4a
y
- 6a
z
,8.8; 6.2a

+ 1.6a

-
6a
z
,8.8; 0.14,8.62,1.6