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Vectors
Introduction of Vector
Physical quantities having magnitude, direction
and obeying laws of vector algebra are called vectors.
Example : Displacement, velocity, acceleration,
momentum, force, impulse, weight, thrust, torque,
angular momentum, angular velocity etc.
If a physical quantity has magnitude and direction
both, then it does not always imply that it is a vector.
For it to be a vector the third condition of obeying laws
of vector algebra has to be satisfied.
Example : The physical quantity current has both
magnitude and direction but is still a scalar as it
disobeys the laws of vector algebra.
Types of Vector
(1) Equal vectors : Two vectors A and B are said
to be equal when they have equal magnitudes and same
direction.
(2) Parallel vector : Two vectors A and B are
said to be parallel when
(i) Both have same direction.
(ii) One vector is
multiple of another vector.
scalar
(positive)
non-zero
A
Since, A
A
.
A AA
i ,
j
are
and k
k
z
Fig. 0.1
y
x
z
, j
,k
i
y
x
z
x x
j , z zk
i , y y
(8) Polar vectors : These have starting point or
point of application . Example displacement and force
etc.
(9) Axial Vectors : These represent rotational
effects and are always along the axis of rotation in
accordance with right hand screw rule. Angular velocity,
torque and angular momentum, etc., are example of
physical quantities of this type.
Axial vector
Anticlock wise
rotation
Axis of rotation
Axis of rotation
Axial vector
Vectors
If two non zero vectors are represented by the
two adjacent sides of a parallelogram then the resultant
is given by the diagonal of the parallelogram passing
through the point of intersection of the two vectors.
Fig. 0.2
OB OA AB
Since, R 2 ON 2 CN 2
R 2 (OA AN)2 CN 2
R A B
(1) Magnitude
R 2 A2 B 2 2AB cos
R | R | | A B |
B
Fig. 0.3
sin
BN
B
AN B cos
R A B when = 0o
o
A 2 B 2 when = 90
CN
B sin
ON
A B cos
tan
B sin
N
B cos
(2) Direction
R A B when = 180o
In OBN, we have OB 2 ON 2 BN 2
Special cases :
Fig. 0.5
BN B sin
B sin
AN
B
C
R AB
A 2 B 2 2AB cos
B
Fig. 0.4 cos
R 2 (A B cos )2 (B sin )2
R 2 A2 B 2 cos2 2AB cos B2 sin2
R A BC D E
OA AB BC CD DE OE
R 2 A2 B 2 2AB cos
A 2 B 2 2AB cos
is
A 2 B 2 2AB cos
R makes
an angle with
OBN,
tan
BN
BN
ON OA AN
tan
B sin
A B cos
If
| A B|
R
A,
then in
B
O
Note
A
Fig. 0.6
not be zero.
Resultant of three co-planar vectors may
or may not be zero
Resultant of three non co- planar vectors
can not be zero.
Vectors
Since R and are usually known, Equation (ii) and
Subtraction of vectors
Since, A B A ( B) and
A 2 B 2 2AB cos
| A B|
A 2 B 2 2AB cos(180o )
| A B|
A 2 B 2 2AB cos
| A B|
R sum A B
Rx2 Ry2
180
i Ryj Rzk
R R x R y R z q or R Rx
Y
R dif A ( B)
Fig. 0.7
B sin
tan 1
A B cos
Fig. 0.9
and
cos(
180 ) cos
tan 2
and
B sin
A B cos
R Rx R
Now
A An
Ry
as
for
so, R x
any vector
i Rx and R y jRy
z
z
n
cos R
Rx2 Ry2 Rz2
Rx
Fig. 0.8
l 2 m2 n2
i Rx jRy
so R
(i)
But from figure Rx R cos
Note
(ii)
and Ry R sin
y
y
m
cos R
2
Rx Ry2 Rz2
x
x
l
cos R
2
Rx Ry2 Rz2
sin(180 ) sin
But
Rx
Rz
B sin(180 )
A B cos(180 )
and tan 2
Ry
(iii)
Vectors
r (x2 x1)
i (y2 y1)j (z2 z1)k
[Ax Bx Ay By AZ Bz ]
It
is
commutative,
It
is
As
A
Fig. 0.10
distributive,
or
force
The
between
dW
ds
F.
dt
dt
the
vectors
(A . B)max AB
ds
velocity.
dW
ds
P and
v
As
dt
dt
by
definition
...(ii)
Fig. 0.11
of
scalar
product
B . d s Bdscos
d B . d s
or
B. ds
in a field of
(A)2 A . A AA cos A 2
A. A
so
.k
1
.n
n
i .
i
j .
j k
i,
j and
(ix) In case of orthogonal unit vectors
k
.
i .
j
j .k
i 1 1 cos90 0
with
.n
1 1 cos0 1
n
P F .v
or
i.e.
A. B
cos1
AB
,
k
W F .s
[As F is constant]
i.e.
A . B AB cos
(iv) As by definition
i.e.
(ii)
(ii) Power P :
A .(B C) A . B A . C
angle
A. B B. A
(iii)
Vectors
(vi) The self cross product, i.e., product of a vector
by
itself
vanishes,
i.e.,
is
null
vector
C A B AB sin n
0
A A AA sin0o n
n
0 so that
n
k
0
i
i j j k
Fig. 0.12
Fig. 0.13
i
j k
jk
i
and k
i
j
j
i k
j
i and
i k
j
(2) Properties
(i) Vector product of any two vectors is always a
vector perpendicular to the plane containing these two
vectors, i.e., orthogonal to both the vectors A and
though the vectors A and B may or may not be
orthogonal.
B,
[A B]max AB n
0 or 180
[ A B]min 0
i
A B Ax
Bx
k
Az
Bz
j
Ay
By
i (Ay Bz Az By )
(A B A B )
j(Az B x A x Bz ) k
x
y
y
x
Lami's Theorem
In any A B C with sides
a, b, c
180
sin
sin
sin
a
b
c
c
180
Fig. 0.14
180
Vectors
is r
.
PS
time is r
a (a b) a c
b a b b b c
v r12 = v1 v2
get
v1
| a b| | b c| | c a|
v2
absin(
180 ) bcsin(
180 ) casin(180 )
P2
sin sin
sin
a
b
c
r
PS
rS' S
S
Fig. 0.15
r12 1 2
(iii) If the two particles are moving in the mutually
perpendicular directions, then:
r12 12 22
r12 1 2
Relative Velocity
P1
Fig. 0.16
(iv)
magnitude,
[as
a b b c a b b c
Taking
or
(iii)
b (a b) b c
v dr /dt ]
0 a b a c
a b c a
or
(ii)
a b c
dt
dt
dt
(i)
SS
relative to S at any
r12 12 22 21 2 cos
PS'
X
X
1/ 2
2 be , then
Vectors
(3) Relative velocity of satellite : If a satellite is
vse vs v e
vr
vm
Upstream
cos
2
2
vR
vM
vR
vM
vR
vM
vM
vR
to observer will be v
RM vR vM
vRM
Downstrea
m
Fig. 0.18
vr
vse vs (ve) vs ve
Also
sin
r
m
t1
Fig. 0.17
r
m
w
2
m
r2
t2
m
A
v vM vR , i.e., vM v vR
vr
vm
vr
Upstream
O
Fig. 0.19
Downstrea
m
Vectors
AB r t2 r
w
m
or
AB
r
w
m
So unit vector v
has no unit as East is not a physical
quantity.
.k
1
i .
i
j .
j k
k
0
i
i j j k
i
j k
jk
i, k
i
j
k
.
i .
j
j .k
i 0
A A 0 . Also A A 0 But A A A A
B
.
If A B , then A = B and A
B
.
If A B 0 , then A = B but A
added,
subtracted
A.B 0 .
divided
algebraically.
cannot be divided.
The
v
5ms1(East)
v
East
| v|
5ms1
The
of
unequal
Vectors
current. These quantities have magnitude and
direction but they are scalar. This is because they do
not obey the laws of vector addition.
If
A B , then Ax Bx , Ay By and
Az Bz
A B C . Or if A B C 0 , then A, B
If A B C , then C is perpendicular to A as
well as B .
and B is 90.
If
P 2 Q 2 2PQ cos0 | P Q |
P 2 Q 2 2PQ cos180 | P Q |
Rmin P Q 0
[
| P || Q |]
| A | | B|
vector B
A.B
| B|
Projection of a vector
A.B
| A|
If vectors
A, B andC
are represented by
three sides ab, bc and ca respectively taken in a
order, then
| A| | B | | C |
ab
bc
ca
The vectors
i j k
If A B C , then A . B C 0 .
A. B C 0
If
, then
A. B
and
are
coplanar.
then A . B | A B |
A1 A2 A3 ...... An 0
If
and