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Vectors Summary
A vector includes magnitude (size) and direction.
Types of vectors:
Line vector: can slide along the line of action.
Free vector: not restricted, defined by magnitude & direction but can be anywhere.
Position vector: = 4 5,
one end is fixed and it usually starts at the origin (e.g.
means start at the origin and go along 4 and down 5).
Unit vector (): The vector with a length of 1 (sometimes called the normalised vector).
is a unit vector in the -direction
is a unit vector in the -direction
is a unit vector in the -direction
Addition of Vectors:
When adding vectors you can draw them as a chain with the 2nd vector starting where the 1st
one ended.
e.g. if
is the vector
Adding them gives: =
+
is the vector
and
When you are given the components you can just add the and add the :
e.g. add the vectors: = + and = +
+ = 7 + 6
Magnitude of Vectors:
To find the magnitude of vector ( ||) you would use Pythagoras.
, find ||
e.g. if = +
|| = 62 + (3)2 + 22 = 49 = 7
) of the vector = +
e.g. find the unit vector (
|| = 22 + (3)2 + 12 = 14
(2,3,1)
= || =
14
2 3 1
Therefore: = + (and || = 1)
14 14 14
i.e. If = + +
The direction cosines (, ) are: = || = || = ||
e.g.
let = +
|| = 32 + (2)2 + 62 = 7
the direction cosines (, & ) are: = , = , =
3
(We have found that () = 7 and so the angle between the vector and the -axis is:
3
= 1 (7) = 64.60 . We can find the other angles in the same way)
Resolving Vectors:
We can use basic trigonometry to resolve a vector into its and components. Remember
that if you go:
through the angle you use cos (because we are considering hypotenuse and adjacent)
away from the angle you use sin (because we are considering hypotenuse and opposite)
Vector Multiplication:
There are 2 types of vector multiplication the dot (scalar) product and the cross (vector)
product. See the following pages for explanations.
For two vectors and the dot product is calculated by multiplying the coefficients of
PLUS multiplying the coefficients of PLUS multiplying the coefficients of (you
could think of it as: ( ) + ( ) + ( ))
e.g. = + +
= + +
() () ()
. = (2 4) + (3 1) + (5 6) =
. = ||||
We already know that . = 41 (above) and we can work out the right hand side as follows:
|||| = 22 + 32 + 52 42 + 12 + 62 = 3853
Now we can use the equation to find the angle between the 2 vectors:
. = ||||
41 = 3853
41
= 1 ( )
3853
= 24
Parallel or perpendicular?
If . = then = 0 = 90 perpendicular
If . = then = 1 = 0 parallel
This looks like a complicated formula to remember but there is an easy way to do the cross
product using a matrix.
To find the component, cover up everything in the row & column, and find the determinant
of whats left (the minor). Do the same for and and apply the alternate signs (see matrix
summary sheet for more help). If youre not sure about (or just dont like) matrices see the
final page for an easy way to remember, and write out, the formula.
4 3 2 3 2 4
= +| | | | + | |
5 2 1 2 1 5
= + + (You have found the cross product)
Now we can find the angle between and using the cross product equation:
| | = ||||
614 = 2930
614
= 1 ( )
2930
= 57.1
Parallel or perpendicular?
If = then = 0 = 0 parallel
If = then = 1 = 90 perpendicular
H Jackson 2014/15/16 / Academic Skills 4
Right Hand Rule:
The answer to the cross product ( ) is a vector that acts perpendicular to both of the
original vectors ( ) and has magnitude ||||.
Useful information: = ( )
=
=
For RH rule: = = =
=
=
=
=
=
=
= (2 3 3 2 ) (1 3 3 1 ) + (1 2 2 1 )
Step 1: Write the formula out but without the subscript numbers:
= ( ) ( ) + ( )
In each bracket just use the opposite numbers from what you used for the
= (2 3 3 2 ) (1 3 3 1 ) + (1 2 2 1 )
H Jackson 2014/15/16 / Academic Skills 5