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GEOMETRIC VECTORS
Vectors can represented geometrically as directed line segments or arrows in 2-space and 3-space. We denote vectors in lowercase boldface type ( for instance a,b,u,v ). The tail of the arrow is called the initial point of the vector, and the tip of the arrow is called the terminal point
August 7, 2008
GEOMETRIC VECTORS
Definition If v and w are any two vectors, then vector v+w is represented by the arrow from initial point of v to terminal point of w where position the vector w so that its initial point coincides with terminal point of v u+w ? u w u u+w w
August 7, 2008
GEOMETRIC VECTORS
Definition If v is a nonzero vector and k is a nonzero scalar, then product kv is defined to be the vector whose length is |k| times the length of v and whose direction is the same as that of v if k>0 and opposite to that v if k<0.
2v -v
August 7, 2008
GEOMETRIC VECTORS
Definition If v and w are any two vectors, then the difference of w from v is defined by v-w = v + (-w) -w v-w w
August 7, 2008
VECTORS OPERATIONS
Vectors in Coordinate Systems
Definition If v and w are any two vectors in 3-space, k : scalar v = (v1,v2,v3) , w = (w1,w2,w3) then v+w = (v1+w1,v2+w2,v3+w3) v-w = (v1-w1,v2-w2,v3-w3) kv = (kv1,kv2,kv3) Vectors operations in 2-space are similar with vectors operations in 3-space
August 7, 2008
VECTORS OPERATIONS
Properties of Vectors Operations
If u,v and w are vectors in 2,3-space, k,m : scalar a. u+v = v+u b. u+0 = 0+u c. k(mu) = (km)u d. (k+m) u = ku +mu Norm a Vector The length of a vector u is often called the norm of u and denoted by ||u|| e. (u+v)+w = u+(v+w) f. u+(-u) = 0 g. k(u+v) = ku+kv h. 1u = u
August 7, 2008
VECTORS OPERATIONS
Let u = (u1,u2) then ||u|| is given by formula
|| u ||= u1 + u2
2
Let u = (u1,u2,u3) then ||u|| is given by formula || u ||= u1 + u 2 + u3 Distance between 2 point (vector) Let A(a1,a2) and B(b1,b2) are two points (vectors) in 2-space, then distance between A and B is given by formula
d ( A, B ) = AB =
(b1 a1 )2 + (b2 a2 )2
Let A(a1,a2,a3) and B(b1,b2,b3) are two points (vectors) in 3-space, then distance between A and B is
d ( A.B ) = AB =
August 7, 2008
VECTORS OPERATIONS
Example 1 Let u = (1,2,2), ||u||= ? Solution
|| u ||= 12 + 2 2 + 2 2 = 9 = 3
Example 2 Determine distance between A(1,1,1) and B(2,3,4) Solution d ( A.B ) =
14
9
August 7, 2008
DOT PRODUCT
Definition If u and v are vectors in 2 or 3 space and is the angle between u and v then dot product u.v is defined by
u .v = u v cos
,0
u v
u v
August 7, 2008
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DOT PRODUCT
Let u =(u1,u2,u3) and v =(v1,v2,v3) are vectors in 3-space,we can derive formula dot product u.v when entries of u and v are known, then using law of cosines
PQ = u 2 + v 2 2 u v cos
2
,0
u .v = u1v1 + u2 v2 + u3v3
If u and v vectors in 2-space, then dot product u.v is
u .v = u1v1 + u2 v2
August 7, 2008 Vectors in 2-space and 3-space 11
DOT PRODUCT
Formula
u .v = u v cos
can be written as
cos =
u.v u v
Formula of dot product can be used to obtain information about the angle () between two vectors is acute is obtuse = /2 if and only if if and only if if and only if u.v > 0 u.v < 0 u.v = 0
August 7, 2008
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DOT PRODUCT
Example Calculate sin where is angle between a=(1,1,2) and b=(2,1,0) Solution
u = 1+1+ 4 = v = 4 +1 = 5
cos =
u.v u v
3 3 = 6 5 30
u .v = 1.2 + 1.1 + 0 = 3
sin2 = 1 - cos2
sin 2 = 21 30
sin =
21 30
August 7, 2008
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DOT PRODUCT
Properties of the Dot Product a. u.v = v.u b. u. (v+w) = u.v + u.w c. k (u.v) = (ku).v = u.(kv) d. v.v > 0 if v 0 and v.v = 0 if v = 0
August 7, 2008
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DOT PRODUCT
An Orthogonal Projection
u
w2 w1
w1 : Projection of u on v w1+ w2 = u w2 : Vector component of u orthogonal to v v If u and v are vectors in 2 or 3-space and v0, then
u
w2
projv u = w1 = kv =
v
u .v v
2
w1
w2 = u w1
Vectors in 2-space and 3-space
August 7, 2008
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DOT PRODUCT
Example Let a =(2,-1,3) and b = (4,-1,2). Find the vector component of a along b and vector component of a orthogonal to b Solution Vector component of a along b is orthogonal projection of a on b a . b =15 ||b||2 =21
15 (4,1,2) projb a = w1 = 2 b = 21 b
a .b
Vector component of a orthogonal to b is w2=a-w1 =
August 7, 2008 Vectors in 2-space and 3-space
1 ( 18 ,6,33 ) 21
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CROSS PRODUCT
Definition Let a =(a1,a2,a3) and b = (b1,b2,b3) are vectors in 3-space, then cross product a x b is the vector defined by
i a x b = a1 b1 j a2 b2 k a3 b3
Where i,j,k are standard unit vector i=(1,0,0), j=(0,1,0) and k=(0,0,1)
Relationships Cross Product and Dot Product a. a.(axb) = 0 b. b.(axb) = 0 c. ||axb||2 = ||a||2 ||b||2 (a.b) ( axb ortogonal to a) ( axb ortogonal to b) (Lagrange Identity)
August 7, 2008
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CROSS PRODUCT
Properties of Cross Product If a,b and c are vectors in 3-space and k : scalar,then a. axb = - (bxa) b. ax(b+c) = (axb) +(axc) c. (a+b)xc = (axc) +(bxc) d. k(axb) = (ka)xb = ax(kb) e. ax0 = 0xa = 0 f. axa = 0
August 7, 2008
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CROSS PRODUCT
Geometric Interpretation
We can derive formula ||axb|| using Lagrange Identity. The formula is || axb || = ||a|| ||b|| sin a ||a|| sin ||b|| b Area of Triangle = . ||a|| ||b|| sin = || axb ||
August 7, 2008 Vectors in 2-space and 3-space 19
What is this ?
CROSS PRODUCT
Example Find the area of triangle determined by the point A(1,2,3), B(2,2,2) and C(2,0,2) Solution Let area of ABC triangle C AB = a = (1,0,-1) AC = b = (1,-2,-1) A B
i j k a x b = 1 0 1 1 2 1
1 2
( 8)=
2
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EXERCISES
1. Let a = (k,k,1) and b = (k,3,-4). Find k a. If angle between a and b is acute b. If angle between a and b is obtuse c. If angle between a and b is orthogonal 2. Let a =(2,-1,3) and b = (4,-1,2). Find the norm of vector component of a along b ? 3. Find a unit vector that is orthogonal to both u and v ? a. u = (1,1,-1), v = (3,2,1) b. u = (1,0,-1), v = (2,1,-1)
August 7, 2008
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EXERCISES
4. Find the area of triangle having vertices P,Q,R a. P(0,1,2), Q(-1,2,0), R(3,1,2) b. P(2,3,4), Q(-1,-2,1), R(3,2,1)
August 7, 2008
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