Math 1201 Review

Semester B 2014/15

Instructor: Guo LUO

4. Vector Algebra
4.1 Vectors
Basic Definition

A vector is a directed line segment. The directed line segment AB has initial point A and terminal point B;

its length is denoted by |AB|. Two vectors are equal if they have the same length and direction.

Component Form

Definition. Given the points A(x1 , y1 , z1 ) and B(x2 , y2 , z2 ), the vector a with representation AB is
a = hx2 x1 , y2 y1 , z2 z1 i.
Length. The length or magnitude of the vector a = ha1 , a2 , a3 i is
q
|a| = a21 + a22 + a23 .

Vector Algebra Operations

Definition. If a = ha1 , a2 , a3 i, b = hb1 , b2 , b3 i are vectors and k is a scalar, then
a b = ha1 b1 , a2 b2 , a3 b3 i,

Vector addition/subtraction :

ka = hka1 , ka2 , ka3 i.

Scalar multiplication :

Properties of vector operations. If a, b, and c are vectors and k and l are scalars, then
1. a + b = b + a.
2. a + (b + c) = (a + b) + c.
3. a + 0 = a.

4. a + (a) = 0.

5. k(a + b) = ka + kb.

6. (k + l)a = ka + la.

7. (kl)a = k(la).

8. 0a = 0.

9. 1a = a.

10. |ka| = |k||a|.

Unit Vectors
Definition. A vector a of length 1 is called a unit vector.
Direction vector. The (unit) direction vector of the vector a = ha1 , a2 , a3 i, a 6= 0 is


q
a1 a2 a3
a
=
, ,
,
where
|a| = a21 + a22 + a23 .
|a|
|a| |a| |a|
a
The equation a = |a|
expresses a in terms of its length and direction.
|a|
Standard unit vectors. The standard unit vectors in three-dimensional space are
i = h1, 0, 0i,

j = h0, 1, 0i,

k = h0, 0, 1i.

Math 1201 Review

Semester B 2014/15

Instructor: Guo LUO

4.2 The Dot Product

Definition
If a = ha1 , a2 , a3 i and b = hb1 , b2 , b3 i, then the dot product of a and b is the scalar a b given by
a b = a1 b1 + a2 b2 + a3 b3 .
It is also called the scalar product or inner product of a and b.

Properties of the Dot Product

If a, b, and c are vectors and k is a scalar, then
1. a a = |a|2 .

2. a b = b a.

3. a (b + c) = a b + a c.

4. (ka) b = k(a b) = a (kb).

5. 0 a = 0.

Geometric and Physical Facts Related to the Dot Product

Angle between two vectors. If is the angle between the vectors a and b, then
a b = |a||b| cos

cos =

or

ab
.
|a||b|

a and b are orthogonal ( = 12 ) if and only if a b = 0.

Direction angles and direction cosines. If a = ha1 , a2 , a3 i is a nonzero vector, then


a1 a2 a3
a
=
, ,
= hcos , cos , cos i,
|a|
|a| |a| |a|
where , , and are the direction angles that a makes with the positive x-, y-, and z-axes.
Projections.
b
ab
compb a = a
=
.
|b|
|b|




b
b
ab
projb a = a
=
b.
|b| |b|
|b|2

Scalar projection of a onto b :

Vector projection of a onto b :

Work. The work done by a constant force F acting through a displacement D = PQ is

W = F D = |F||D| cos ,
where is the angle between F and D.

Math 1201 Review

Semester B 2014/15

Instructor: Guo LUO

4.3 The Cross Product

Definition
If a = ha1 , a2 , a3 i and b = hb1 , b2 , b3 i, then the cross product of a and b is the vector


 i

j
k



a b = ha2 b3 a3 b2 , a3 b1 a1 b3 , a1 b2 a2 b1 i =  a1 a2 a3  .
 b1 b2 b3 
It is also called the vector product of a and b.

Properties of the Cross Product

If a, b, and c are vectors and k is a scalar, then
1. a b = b a.

2. (ka) b = k(a b) = a (kb).

3. a (b + c) = a b + a c.

4. (a + b) c = a c + b c.

5. a (b c) = (a b) c.

6. a (b c) = (a c)b (a b)c.

Warning. (a b) c 6= a (b c)! e.g. (i i) j = 0 j = 0, but i (i j) = i k = j.

Geometric and Physical Facts Related to the Cross Product

The direction of a cross product.
(a) The vector a b is orthogonal to both a and b, pointing in a direction determined by the righthand rule.
(b) If is the angle between a and b, then
|a b| = |a||b| sin

or

sin =

|a b|
.
|a||b|

a and b are parallel ( = 0 or ) if and only if a b = 0.

The length of a cross product. The length of the cross product a b is equal to the area of the
parallelogram determined by a and b.
The scalar triple product. The volume of the parallelepiped determined by the vectors a, b, and c is
equal to
V = |a (b c)|,
where a (b c) is the scalar triple product of a, b, c and can be written as:


 a1 a2 a3 


a (b c) =  b1 b2 b3  .
 c1 c2 c3 
Torque. The torque (relative to a point P) produced by a force F acting on a rigid body at a point Q is

= PQ F.