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Notes for

Examination of this module:

CIVE1620 Engineering Mathematics 1.1


Calculus, differentiation and integration
Solution of linear equations and Matrix Algebra

Formal Exam:
80% of total module mark
Mandatory

January 2008

Dr Andrew Sleigh
Room 307
P.A.Sleigh@leeds.ac.uk

2 hours.
Answer 4 questions out of 6
3 questions on Calculus, differentiation and integration
3 questions on linear equations and Matrix Algebra

These notes cover ONLY


Linear Equations and Matrix Algebra

Coursework
20% of total module mark

Syllabus

4 problem sheets, each worth 5%

Linear Equations

3 on Calculus, differentiation and integration


1 on linear equations and Matrix Algebra

Solution of systems of linear equations by Echelon


method
Matrix Algebra
Operations with matrices
Determinants
Inverse of a matrix
Linear equations (revisited)
Eigenvalues and Eigenvectors

Further support material for this module can be found here:


www.efm.leeds.ac.uk/CIVE/CIVE1620
CIVE 1620: Engineering Mathematics 1.1

CIVE 1620: Engineering Mathematics 1.1

Consider the linear simultaneous equations

Linear Equations

a 1
b

x  y 3
2x  3y 7

x Introduction

replacing the second equation by (b) 2 (a)

x Solution of linear equations in three variables

a 2
b

x y 3

x Definitions

y 1
x Linear equations with no solution

back substitution into (a) gives (x, y) = (2, 1)


x Linear equations with non unique solutions
Graphical solution of x  y

x Test for unique solutions

3 and 2 x  3 y

x Linear equations with unknown coefficients

x+y=3
2x+3y=7

x Engineering problems involving linear equations


3

(2,1)
2

0
-1

-0.5

0.5

1.5

2.5

3.5

-1

In general, to obtain a solution we can


x Multiply an equation (i.e. all the terms) by a
constant
x Subtract one of the simultaneous equations from
another
x Substitute back the value of one term to obtain the
value of the other term
CIVE 1620: Engineering Mathematics 1.1

CIVE 1620: Engineering Mathematics 1.1

Example Problem

Simultaneous Linear Equations

Solve the following linear equations:


Definition:

a
b 3
c

x y  z 6
x  2 y  2z 9
x  3 y  4 z 13

Two sets of simultaneous linear equations are


equivalent when they have exactly the same solution.
Definition:

Perform the following operations, 2u(3a)-(3b) gives

b  a
c  a

x y  z 6
0 y  z 3
0  2 y  3z 7

Elementary operations on a set of linear equations are


operations that:
(i) Switch positions of two equations
(ii) Multiply any equation by a non-zero real
number
(iii) Add (or subtract) two equations

a
b
c

Definition:
A set of simultaneous equations is in echelon form
when the number of zero coefficients at the start of
each equation increases by at least one between
subsequent equations in the set.

x y z 6

c  2 u a

0 y z 3
0 0 z 1

This is known as echelon form.

Substituting row by row, starting at the last equation gives


z 1
y 3 1 2
x 6  2 1 3

CIVE 1620: Engineering Mathematics 1.1

CIVE 1620: Engineering Mathematics 1.1

Method of solutions

Linear equations with no solution.


x  y  z

1.

Apply an appropriate sequence of elementary


operations to produce an equivalent set of equations
that are in echelon form.

2.

Use back substitution on the equations in echelon


form to find the solution.

a
b 6
c

x  2 y  2z 9
2 x  4 y  4 z 12

Performing the following operations: (6a) unaltered; (6b)(6a); (6c) 2 (6a)


x y  z

y z 3
2 y  2z 0

Note:
Not every set of simultaneous equations has a
solution.

a
b 7
c

Then (7a), (7b) unaltered and 2 (7b) (7c)


x y z 6
yz 3
0 6

a
b 8
c

Notes:

x This is an inconsistent result.


x This means that there is no solution to this set of
equations.
x The three planes that the three equations describe
never cross at a single point.

CIVE 1620: Engineering Mathematics 1.1

CIVE 1620: Engineering Mathematics 1.1

Linear equations with non-unique solutions.


x y  z

Test for a unique solution

a
b 9
c

x  2 y  2z 8
x  3 y  3 z 10

We will briefly look at the two-dimensional case and return


to the more general case when we have covered matrices.

Performing (12a) unaltered, a1 (12b) a2 (12a)

Performing the following operations: (9a) unaltered; (9b)(9a); (9c) (9a)


x y  z

y z 2
2 y  2z 4

a1c2  a2 c1
a1b2  a2b1

Then (10a), (10b) unaltered and (10c) 2 (10b)

a
b 11
c

x y z 6
yz 2
0 0

a 13
b

b1 y
c1
a1 x 
0  a1b2 y  a2b1 y a1c2  a2 c1

a
b 10
c

a 12
b

a1 x  b1 y c1
a2 x  b2 y c2

There will be at least one solution provided


a1b2  a2b1 z 0

Notes:
And this solution will be unique provided

x This is consistent, but it means that there is more than


one solution.

a1c2  a2 c1 z 0

x The three planes that the three equations describe


must all cross along a single line.

CIVE 1620: Engineering Mathematics 1.1

CIVE 1620: Engineering Mathematics 1.1

Unknown coefficients

Exercise problem

Find the value of k for which the following linear equations


have a solution, and find those solutions.
x y  z

a
b 14
c

x  2 y  2z 2
x  3 y  3z k

10

Find the values of a for which the following linear


equations have no solution, then solve for k = 1
x  2 y  kz

a
b 17
c

k 2 x  y  2z k
kx
 3kz 2

Reduce to echelon form by performing the following


operations: (14a) unaltered; (14b)-(14a); (14c) (14a)
x y  z

0 y  z
1
0  2 y  2z k 1

x

a
b 15
c

2y

kz

1  2k y  2  k z
2ky  3k  k z
2

k  k2
2k

a
b  a k 2
c  a k

o a
o b
o c

Then (15a), (15b) unaltered and (15c) 2 (15b)


x y z

0 y z
1
0 00 k 3

x

a
b 16
c

2y

1  2k y 

kz

2  k z
k k
1  2k  2k 2  k @z 2  k 1  2k  2k k  k
3

> 3k  k

Therefore, this is only consistent when


There is no solution when

k=3

3k  k 1  2k  2k 2  k
2

By back substitution
x 1 1

x 0
y 1 z
z 1 y
CIVE 1620: Engineering Mathematics 1.1

11

CIVE 1620: Engineering Mathematics 1.1

12

Expanding gives

Engineering Example
Consider the one dimensional system

3k  k 1  2k  2k 2  k

3k  6k 3  k 2  2k 4  4k  2k 4

6k 3  k 2  k

Ka

k 6k 2  k  1 0

node 1

k 3k  1 2k  1 0
G1
Kb

So when either k = 0, k = -1/3 or k = ., there is no solution.

node 2

Kd

G2
Kc

When k = 1, from substituting in the echelon form above we


get
x2y  z

Spring tensions are calculated from elasticity

3y  z 0
 4z 3

Back substitution gives,


x = -0.25

Ta

ka G1

Tb

kb G 2  G1

Tc

kc G 3  G 2

Td

kd G 3  G1

Equilibrium at each node gives

y = -0.25

Ta  Tb  Td

Tb  Tc

Tc  Td

z = 0.75

CIVE 1620: Engineering Mathematics 1.1

13

CIVE 1620: Engineering Mathematics 1.1

Combining these equations

14

Example spring problem

ka G1  kb G 2  G1  kd G 3  G1 0

For the spring system shown below, develop a set of


simultaneous equations in three nodal displacements 1, 2,
3 . Convert these equations to an equivalent set of
equations in echelon form (you may use the following
spring constants Ka = 4 N/mm, Kb = 1 N/mm, Kc = 2 N/mm,
Kd = 6 N/mm, Ke = 2 N/mm.) Find the nodal displacements
when the applied load W = 18 N.

kb G 2  G1  kc G 3  G 2 0
kc G 3  G 2  kd G 3  G1 W

which can be rewritten:

ka  kb  kd G1   kb G 2 
0
 kb G1  kb  kc G 2  kc G 3
 kd G1   kc G 2  kc  kd G 3

node 3

G3

0
0
W

Kc

Kb

Ka

node 2
node 1
G2

G1

Determination of displacements requires the solution of


simultaneous linear equations

Kd

Ke
node 3
W

G3

Spring tensions are calculated from elasticity

CIVE 1620: Engineering Mathematics 1.1

15

Ta

ka G1

Tb

kbG 2

Tc

kcG 2

Td

kd G 3  G1

Te

ke G 3  G 2

CIVE 1620: Engineering Mathematics 1.1

16

Equilibrium at each node gives

We need to solve this by reducing the set of simultaneous


equation to echelon form:

Ta  Td

Tb  Tc  Te

r1-3ur2 and 4ur2+r3 gives

Td  Te

10G1 15G 2  0 0

 6G1 18G 2  0 18

Combining these equations


k a G1
kb G 2 

r1/5 and r2/3 gives

 k d G 3  G1 0

2G1
 2G1

kc G 2  k e G 3  G 2 0
k d G 3  G1  k e G 3  G 2 W

 3G 2 0
 6G 2 6

adding gives
which can be rewritten:

ka  kd G1 

kd G 3

3G 2 6
G 2 2 mm
0

0
0
 kb  kc  ke G 2  ke G 3
 kd G1   ke G 2  kd  ke G 3 W

then back-substituting gives

G1 3 mm
G 3 5 mm

Substituting in the values from the question gives


10G 1  0  6G 3

0  5G 2  2G 3 0
 6G 1  2G 2  8G 3 18

CIVE 1620: Engineering Mathematics 1.1

17

CIVE 1620: Engineering Mathematics 1.1

Matrices

18

Matrix definitions

Matrix notation is an easy way of representing an equation


in a series of unknowns.

Matrix
a rectangular array of numbers (elements)

In matrix notation the coefficients are stored


separately from the unknowns
(for analytical convenience)

x

b c y

z

ax  by  cz

e.g. A

2 11

1 2 3
3 21

1 11

Order of a matrix
a matrix order of ( m n ) denotes m rows and n
columns. For example matrix A is a 4 3 matrix.

This provides a concise way of representing


simultaneous linear equations

a
1
a2
a
3

b1
b2
b3

c1 x

c2 y
c3 z

d1

d2

d3

Line matrix

a1 x  b1 y  c1 z

d1

a 2 x  b2 y  c2 z
a3 x  b3 y  c3 z

d2
d3

a matrix containing only one row e.g.


(321)

Column matrix
To handle linear equations in matrix form it is necessary to
know a few definitions, and to understand the rules of
matrix algebra.

CIVE 1620: Engineering Mathematics 1.1

19

2

1
a matrix containing only one column e.g.
3
1

CIVE 1620: Engineering Mathematics 1.1

20

Double suffix notation

Diagonal matrix

a23 is an element in the 2nd row and 3rd column i.e. the
elements of A are

all the elements are zero except those on the leading


diagonal
2 0 0

e.g. 0 3 0

0 0 5

a11 a12 a13

a21 a22 a23


a a a
31 32 33
a41 a42 a43

Unit matrix (I)

Equal matrices

diagonal matrix with elements on the leading diagonal


equal to unity. For example the 3 3 unit matrix is

all corresponding elements are equal


Square matrices

1 0 0

I 0 1 0

0 0 1

a m m matrix
b11 b12 b13

b21 b22 b23


b b b
31 32 33
b41 b42 b43

Null matrix
all elements are zero
Transpose

symmetric: bij = bji

rows and columns are interchanged. The transpose of


the matrix A shown above is denoted by AT, where,
2 1 3 1

A T 1 2 2 1
1 3 1 1

skew symmetric: bji = bii

CIVE 1620: Engineering Mathematics 1.1

21

CIVE 1620: Engineering Mathematics 1.1

Scalar multiplication of a matrix

Matrix addition

Any matrix can be multiplied by a real number: the results


is a matrix of the same order where each element of the
original matrix is multiplied by the real number.

During matrix addition and subtraction the corresponding


elements are added or subtracted

If A

a a
11 12
a21 a22 and B
a a
31 32

AB

22

b b
11 12
b21 b22 then
b b
31 32

a b a b
11 11 12 12
a21  b21 a22  b22
a  b a  b
31 31 32
22

a a
11 12
a21 a22 ,
a a
31 32

If

then

Da Da
11 12
DA Da21 Da22
Da Da
31 32

Notes:
Notes:

1. For addition and subtraction the matrices must be of


the same order (i.e. matrix addition is not defined for
matrices of different orders)

Multiplication by scalars is distributive

D A  B DA  DB
D  E A DA  EA
D EA DE A

2. Addition is commutative:
A+B=B+A
3. Addition is associative:
A + (B + C) = (A + B) + C

CIVE 1620: Engineering Mathematics 1.1

23

CIVE 1620: Engineering Mathematics 1.1

24

Matrix multiplication

Exercise problem

The product of two matrices, A.B, can only be calculated if


the number of columns in A is equal to the number of rows
in B.

If
a
a
A 11 12
a21 a22

2 1
A

1 2

5 1
B

7 5

Calculate A.B then B.A

a13

a23

2 u 5  1u 7 2 u 1  1u 5 17 7
A.B


1u 5  2 u 7 1u 1  2 u 5 19 11

b b
11 12
b21 b22
b b
31 32

then
a b a b a b
A.B 11 11 12 21 13 31
a21b11  a22b21  a23b31

5 u 2  1u 1 5 u 1  1u 2 11 7
B.A


7 u 2  5 u 1 7 u 1  5 u 2 19 17

a11b12  a12b22  a13b32

a21b12  a22b22  a23b32

CIVE 1620: Engineering Mathematics 1.1

25

Application of Matrix Algebra

CIVE 1620: Engineering Mathematics 1.1

26

From geometry we can see that the coordinate are related


thus:

Change of Coordinate system.

x'
x'
x'
x'

Consider two coordinate systems :

x same origin
x different angle

OA  AB  BC
x cos T  BC sin T  BP sin T
x cos T  BC  BP sin T
x cos T  y sin T

and

y ' PC
y ' BP cos T
y ' y  BC cos T
y ' y  x tan T cos T
y '  x sin T  y cos T

y
P

x
C

B
A

therefore

T
T
O

x' cos T

y '  sin T

sin T x

cos T y

Point P has coordinates (x, y) in one system, and


coordinates (x,y) in the other system.

CIVE 1620: Engineering Mathematics 1.1

27

CIVE 1620: Engineering Mathematics 1.1

28

Consider now two coordinate systems

The two of these situations combined represents the


general case of two different coordinate systems

x different origins
x parallel axes

x different origin
x different angle

P
y

x
x

First rotate to an intermediate axes system (x, y) whose


origin is at the same point a the axes (x, y) gives

Again, point P has coordinates (x, y) in one system and


coordinate (x, y) in the other system. Again, from
geometry we can see that the coordinate are related thus:

x' ' x cos T  y sin T


y ' '  x sin T  y cos T

x' x  a
y' y  b

The translation required to move the origin to the origin of


the (x, y) system is

x' x a

y' y b

Along the x axis

a cos T  b sin T
Along the y axis

 a sin T  b cos T
CIVE 1620: Engineering Mathematics 1.1

CIVE 1620: Engineering Mathematics 1.1

29

30

Example problem
Combining gives the coordinates in the (x, y) axes

x'

Points A, B and C have coordinates (4, 1), (1, 5) and (8, 4)


with respect to the axes (x, y), and points A and B have
coordinates (40, 20) and (43, 24) with respect to the axes
(x, y).

x  a cosT  y  b sin T

and

y '  x  a sin T  y  b cosT

What will be the coordinate of the point C with respect to


the axes (x, y).

therefore
Solution
x' cos T

y '  sin T

sin T x a

cos T y b

This problem will be easiest to solve by first rotating


coordinate system (x, y) so that the new axes are parallel to
y
D

A change of coordinate system can be conveniently


handled by a matrix approach.

Uses in civil engineering

the (x, y) axes, then to translate this new coordinate


system so that it maps on to system (x, y).

x When surveying it is often convenient to use a local


coordinate system on site, then to convert this to a
national coordinate system later.
x In stress analysis it is often convenient to analyse
individual elements of the structure using a local
coordinate system then convert to a global coordinate
system to consider overall behaviour.

CIVE 1620: Engineering Mathematics 1.1

Conclusion

31

The angle a line joining A to B makes with a vertical on


each axis system are
4 1
D tan 1
36.9q
5 1
43  40
tan 1
36.9q
24  20
The required rotation is then

CIVE 1620: Engineering Mathematics 1.1

32

Determinant of a Matrix

T D E

36.9  36.9 73.8


You may recall that when we considered the test for a
unique solution to the equation

The coordinates of A in the intermediate system are

a1 x  b1 y c1
a2 x  b2 y c2

cos 73.8 sin 73.8 4 2.08

 sin 73.8 cos 73.8 1  3.56


or
To map these onto the coordinate system (x, y) requires a
translation of

40.0  2.08 37.92


20.0  3.56 23.56

a1
a
2

b1 x c1

b2 y c2

we found an equation in the form


Checking this calculation using point B

a1b2  a2b1 y a1c2  a2c1


x' cos 73.8 sin 73.8 1 37.92 43



y '  sin 73.8 cos 73.8 5 23.56 24

equally we could have written

a1b2  a2b1 x
Therefore the coordinates of point C are:

 b1c2  b2 c1

for a unique solution a1b2  a2b1 z 0

x' cos 73.8 sin 73.8 8 37.92 44





y '  sin 73.8 cos 73.8 4 23.56 17

a1
a2

a1b2  a2b1 is known as the determinant of


a
The determinant of 1
a2

CIVE 1620: Engineering Mathematics 1.1

33

b1
b2
b3

b1
b2

CIVE 1620: Engineering Mathematics 1.1

Consider the Homogenous Equation


a
1
a2
a
3

b1
a
is denoted by 1
b2
a2

b1

b2

34

Determinant of a 3 u 3 matrix

c1 x

c2 y 0
c3 z

a
1
The determinant of the matrix a2
a
3

Such equations always have the trivial solution


x=y=z=0

a1

b1

c1

a2

b2

c2

a3

b3

c3

a1

b2

c2

b3

c3

 b1

a2

c2

a3

c3

b1

c1

c2 is defined
c3

b2
b3

 c1

a2

b2

a3

b3

By reducing to echelon form we can get the equation


a1

b1
a1b2  a2b1

c1

x

a1c2  a2 c1 y 0

F
z

Exercise problem
Calculate the determinant of A where

where

1 2 3

A 4 5 6

7 8 9

a1b2 c3  b2 a3c1  a2b1c3  a1b3c2  b3a2 c1  a3b1c2


a1 b2 c3  b3c2  b1 a2 c3  a3c2  c1 b2 a3  b3 a2
a1

b2
b3

c2
a
 b1 2
c3
a3

c2
a
 c1 2
c3
a3

b2
b3

1u 5 u 9  8 u 6  2 u 4 u 9  7 u 6  3 u 4 u 8  7 u 5
3  12  9 0

A unique solution requires F z 0 , therefore the trivial


solution is the only unique one.

CIVE 1620: Engineering Mathematics 1.1

1 2 3
5 6
4 6
4 5
2
3
4 5 6 1
8 9
7 9
7 8
7 8 9

35

CIVE 1620: Engineering Mathematics 1.1

36

Determinant of a matrix

Alternatively the determinant could have


been rearranged to give

By considering the solution to a set of linear equations in


three variables, we identified the determinant of the matrix
a1 b1 c1

a2 b2 c2
a b c
3 3 3

a3b2 c1  a3b1c2  a2b3c1  a1b3c2  a1b2 c3  a2b1c3


a3 b1c2  b2 c1  b3 a1c2  a2 c1  c3 a1b2  a2b1
a3

b1

c1

b2

c2

 b3

a1

c1

a2

c2

 c3

a1

b1

a2

b2

as
a1

b1

c1

a2

b2

c2

a3

b3

c3

a1

b2

c2

b3

c3

 b1

a2

c2

a3

c3

 c1

a2

b2

a3

b3

In other words, a matrix determinant can be expanded


along any row, provided proper account is taken of the
sign of each term.
In a 3 u 3 matrix, the sign of each term is given by
  

  .

  

a1b2 c3  a1b3c2  a2b1c3  a3b1c2  a3b2 c1  a2b3c1


a1 b2 c3  b3c2  b1 a2 c3  a3c2  c1 a2b2  a3b3
a1

b2
b3

c2
a
 b1 2
c3
a3

c2
a
 c1 2
c3
a3

b2
b3

Once a row has been selected for the expansion, each term
in that row is multiplied by both the relevant minor
and the appropriate sign

Rearranging this equation

 a2b1c3  a2b3c1  a1b2 c3  a3b2 c1  a1b3c2  a3b1c2


 a2 b1c3  b3c1  b2 a1c3  a3c1  c2 a1b3  a3b1
 a2

b1
b3

c1
a
 b2 1
c3
a3

The Minor is the determinant of the matrix that remains


once the row and column where the term resides is deleted

c1
a b
 c2 1 1
c3
a3 b3

CIVE 1620: Engineering Mathematics 1.1

37

CIVE 1620: Engineering Mathematics 1.1

Rules for determinants

38

Exercise problem
0 1 0

a) Two rows (or columns) of a matrix are equal

1 0 2

a11

a12

a13

a21

a22

a23

a31

a32

a33

a11

a12

a13

a21

a22

a23

a21

a22

a23

Evaluate 2 4 4

a11

a22

c23

a32

c33

a11

 a12

a22

c23

a22

c23

a21

a23

a31

a33

 a12

 a13

a21

a23

a21

a23

a21

a22

a31

a32

 a13

a21
a21

a22
a22

0 1 0
2 4 4
1 0 2

4 4 2 4
2 4
1
0
0 2 1 2
1 0

 4  4
0

Thus, if two rows (or columns) are the same the


determinant is zero

This example demonstrates that a consequence of (a) and


(b) is that if any row (or column) is a multiple of another
row (or column) then the determinant is zero.

b) Multiply a row by a scalar

a11

a12

a13

a21

a22

a23

a31

a32

a33

Oa11 Oa12 Oa13


B

a21
a31

a22
a32

a23
a33

CIVE 1620: Engineering Mathematics 1.1

OA

39

CIVE 1620: Engineering Mathematics 1.1

40

c) Interchange of two rows


consider

d) Addition rule
a11

a12

a13

a21

a22

a23

a21

a22

a23 and B

a11

a12

a13

a31

a32

a33

a31

a32

a33

(For convenience here we will write Aij = the minor of the


matrix element at row i, column j.)

Expanding A by the first row,

a11

a12

a13

a21

a22

a23

a31

a32

a33

a11

a22

c23

a32

c33

 a12

a21

a23

a31

a33

 a13

a21

a22

a31

a32

a11  b11
a21
a31

a12  b12
a22
a32

a13  b13
a23
a33

a11 A11  a12 A12  a13 A13  b11 A11  b12 A12  b13 A13
a11
a21
a31

And B by the second

a21

a22

a23

a11

a12

a13

a31

a32

a33

a11  b11 A11  a12  b12 A12  a13  b13 A13

a11

a22

c23

a32

c33

 a12

a21

a23

a31

a33

 a13

a21

a22

a31

a32

a12
a22
a32

a13 b11
a23  a21
a33 a31

b12
a22
a32

b13
a23
a33

thus
A

B

So, interchanging two rows (or columns) changes the sign


of the determinant.
CIVE 1620: Engineering Mathematics 1.1

41

(e) Adding multiples of rows (or columns)

a11

a12

a13

a21

a22

a23

a31

a32

a33
a12  Oa22

a13  Oa23

a21

a22

a23

a31

a32

a33

a11

a12

a13

a21

a22

a23

a21

a22

a23  O a21

a22

a23

a31

a32

a33

a32

a33

a31

AB

a11
a
21

a12

a22

b11 b12
b b
21 22

a11b11  a12b21

a11b12  a12b22

a21b11  a22b21

a21b12  a22b22

a11b11  a12b21 a21b12  a22b22  a21b11  a22b21 a11b12  a12b22

and, using (a) since the determinant of the second term is


zero

AB

Although difficult to prove , it can easily be seen by


expanding the 2 u 2 matrices:

Using (d) then (b) we see that

42

g) Product
AB

a11  Oa21
B

CIVE 1620: Engineering Mathematics 1.1

a11a22b11b22  a11a22b12b21  a12 a21b11b22  a12 a21b12b21

A
AB

This means that adding multiples of rows (or columns) to


any other row (or column) does not change the
determinant.

a11a22  a12 a21 b11b22  b21b12


a11a22b11b22  a11a22b12b21  a12 a21b11b22  a12 a21b12b21

f) Transpose
AT

CIVE 1620: Engineering Mathematics 1.1

43

CIVE 1620: Engineering Mathematics 1.1

44

Applying the rules for Determinants to Their evaluation.


Note that this determinant was obtained by multiplying the
elements on the leading diagonal.

4 2 2

Evaluate A

2 4 2
2 2 4

If the matrix is upper triangular or lower triangular


(that is all the matrix elements are zero below, or above the
leading diagonal)
then the determinant is the product of the elements of the
leading diagonal.

Firstly label the rows and columns to show which


operations you will perform

4 2 2 r1

Using matrix operations we can reduce the amount of work


required to calculate a determinant.

2 4 2 r2
2 2 4 r3
c1 c 2 c3
r1  r 2

c 2  c1

The aim is to get as many zeros as possible above (or


below) the leading diagonal.

2 2 0

r1

r2

r3

2 0 0

r1

2 6 2

r2

2 4 4

r3

2 0 0

r1

r 2  12 r 3 1 4 0

r2

2 4 4

r3

2 u 4 u 4 32

CIVE 1620: Engineering Mathematics 1.1

45

CIVE 1620: Engineering Mathematics 1.1

Exercise problem

46

Evaluation of a Determinant Involving an Unknown


Calculate the values of x that satisfy the equation

Evaluate
1 2 2
4 3 5
4 2 7

3 3

x2 2 1
1

c 2  2c1 1

2 x

c 2  c1

c3  2c1 4  5  3
4 6

c3  c1

1

0
0

 6 1

x  2  x  x 1
1

1
0
r 2  3r 3  8 13

0
3

x 1

 x  x  1
x 1
3

3  x x  1  3 x  1

1u 13 u  1 13

3  x 2  2 x  3
3 x  3 x  1

So

 3 x  3 x  1 0

x  3

x 3

x  1
x

CIVE 1620: Engineering Mathematics 1.1

47

0
1

CIVE 1620: Engineering Mathematics 1.1

48

Exercise Problem

Additional Note

Calculate the values of k that satisfy the equation


3 1
2
4

k

You may recall that when we considered the test for a


unique solution to the equation

2  1 3k

c1  3c 2

c 3  2c 2

a1 x  b1 y c1
a2 x  b2 y c2

2 2 k 4
5  1 3k  2

or
a1
a
2

2 k 4
5 3k  2

b1 x c1

b2 y c2

16  k

We found an equation in the following form


16  k
k

a1b2  a2b1 x

16

 b1c2  b2 c1

a1b2  a2b1 y a1c2  a2c1


Which can be written

a1
a2

b1
x
b2

b1
b2

c1
c2

c1
c2

a1
a2

CIVE 1620: Engineering Mathematics 1.1

49

Cramers Rule

b1
b2
b3

c1 x

c2 y
c3 z

b1
y
b2

a1
a2

c1
c2

CIVE 1620: Engineering Mathematics 1.1

50

Notes on Cramers Rule:


1. It is only applicable when the number of unknowns is
equal to the number of equations

Cramers rule will be illustrated by considering a set of


three equations in three unknowns:
a
1
a2
a
3

b1
b2

2. It can only be applied when there is a unique solution

d1

d2

d3

3. It is very inefficient at solving linear equations when


there are more than three variables.

There is a unique solution when


a1

b1

c1

a2

b2

c2 z 0

a3

b3

c3

When a solution exists it is given by


a1

b1

c1

d1

b1

c1

a2

b2

c2 x

d2

b2

c2

a3

b3

c3

d3

b3

c3

a1

b1

c1

a1

d1

c1

a2
a3

b2
b3

c2 y
c3

a2
a3

d2
d3

c2
c3

a1

b1

c1

a1

b1

d1

a2

b2

c2 z

a2

b2

d2

a3

b3

c3

a3

b3

d3

CIVE 1620: Engineering Mathematics 1.1

51

CIVE 1620: Engineering Mathematics 1.1

52

Exercise Problem

Homogeneous Equations

Use Cramers rule to solve the following equation:

We have shown that there is only a unique solution to the


general linear equation

 12 5 x  40

1 1 y 9
 12 5
1

a
1
a2
a
3

 40 5

 12 5
y
1 1

when

 12 5
1 1

12  5 17

 40 5
9
1

40  45 85

 12  40
1
9

a
1
a2
a
3

108  40 68
Note

Calculus, differentiation and integration


Solution of linear equations and Matrix Algebra

CIVE 1620: Engineering Mathematics 1.1

53

a22

a23

a32
a12

a33
a13

a32
a12

a33
a13

a32

a33





b3

c3

b1
b2
b3

c1 x

c2 y 0
c3 z

b1

c1

54

Properties of the Adjoint Matrix

Definition

A32

a3

CIVE 1620: Engineering Mathematics 1.1

The Adjoint Matrix

A22

c1
c2 z 0

The unique solution is the trivial solution x = y = z = 0.

a1

Dr Andrew Sleigh
Room 307
P.A.Sleigh@leeds.ac.uk

A13

A23
A33

b1
b2

a2 b2 c2 0
a3 b3 c3
Note: although this equation is a test for a non-trivial
solution, that solution can only be found by reducing the
equation set to echelon form.

January 2004

A12

a1
a2

Therefore there is a non-trivial solution to a homogenous


equation when

CIVE1620 Engineering Mathematics 1.1

b3

d1

d2

d3

This provides a useful test for a non-trivial solution to the


homogenous equation

s for

adj A

b2

c1 x

c2 y
c3 z

 12  40
1
9

A11

A21
A
31

b1

Consider
4 7 3

A 3 9 8
2 4 5

Then

a21

a23

a31
a11

a33
a13

a31
a11

a33
a13

a21

a23





a21
a31
a11
a31
a11
a21

a22

a32
a12

a32
a12

a22

9

4
7
adj A 
4
7

9

8
5
3
5
3
8

3
2
4

2
4

3


8
5
3
5
3
8

 6
1
13



23
14
2

29  23 15

13  23 29

14  23
1
 6  2 15

A adj A 3
2

41

0
CIVE 1620: Engineering Mathematics 1.1

55

3
2
4

2
4

3


4
7

4
7

7 3 13  23 29

9 8 1
14  23
4 5  6  2 15
0 0

41 0
0 41

CIVE 1620: Engineering Mathematics 1.1

56

The determinant of A is

The Inverse of a Matrix

4 u 45  32  7 u 15  16  3 u 12  18

The inverse of matrix A is written A-1, and is defined such


that:

41

A 1A

Therefore

A AT

Therefore

0
0

A adj A

0
A
0

0
A

A 1

adj A
A

Note:
The inverse A-1 only exists if A z 0

A I

Thus when a matrix is multiplied by its adjoint the answer


is the product of a scalar (equal to the determinant of the
matrix) and the unit matrix.

Singular matrix

A square matrix A is called


non-singular if A z 0
and
singular if A

CIVE 1620: Engineering Mathematics 1.1

57

CIVE 1620: Engineering Mathematics 1.1

Solving Equations Using the Inverse of a Matrix

Find the inverse of the matrix B

Consider the linear equation:

1 2 0

B 2 1 0
1 1 1

Ax B
It can be rewritten
A Ax

58

Exercise Problem

Linear equations can be solved using the inverse.

Then demonstrate that B 1B

A B

1

1

B 1

adj B
B

Remember:
1 2 0

matrix multiplication is not commutative,


so order matters.

Rewriting using the definition of the inverse A-1A=I, gives:

Ix

A 1B

A B

2 1 0
1 1 1

C2-2uC1
1
B

1

2 3 0
1

3

1 1

We have solved the set of equations as the column matrix


x contains the solutions.
Although this clearly works it is an inefficient way to solve
linear equations.

CIVE 1620: Engineering Mathematics 1.1

59

CIVE 1620: Engineering Mathematics 1.1

60

adj B

1

1
2

1
2

1

0
1
0
1
0
0

2
1
1

1
1

2


1 2 1

1
 2 1
0
0  3

0
1
0
1
0
0

2
1
1

1
1

2


1
2

1
2

To demonstrate that B 1B

B 1B

 1 / 3 2 / 3 0 1 2 0

2 / 3  1 / 3 0 2 1 0
 1 / 3  1 / 3 1 1 1 1

 23  23
 13  34

2 2

4
1
33

3  3
 1  2  1  2  1  1 1
3 3

3
3

1 0 0

0 1 0
0 0 1

1 2 0

0
 2 1
1
1  3

Thus the inverse is given by


1/ 3 2 / 3 0

2 / 3 1/ 3 0

1/ 3 1/ 3 1

adjB
B

B 1

CIVE 1620: Engineering Mathematics 1.1

61

Eigenvalues and Eigenvectors

CIVE 1620: Engineering Mathematics 1.1

When O = 4 then

Consider the homogeneous equation

1  O

 3 2 x

0
3  2 y

2 x
0
2  O y

Solving this gives

 3x  2 y

For a non trivial (but non-unique) solution the determinant


of the first matrix must be zero i.e.

y
1 O
0
3

62

2
2O

0
2
x
3

So

x

y

1  O 2  O  6
2

O  3O  4

2
3

O  4 O  1
This set of equations only has non-trivial solutions for two
values of O, and each of these solutions lie on a straight
line through the origin.

i.e. Non-trivial solutions occur if O = 4 or O = -1


When O = -1

The values O = -1 and 4 are called the


1 2
eigenvalues for the matrix
.
3 2

2 2 x

0
3 3 y
Solving this gives

x
1
x
2
Vectors D and E are the
y
 1
y
3

2x  2 y 0
y x
So

corresponding eigenvectors.

x
1
D
y
 1

CIVE 1620: Engineering Mathematics 1.1

63

CIVE 1620: Engineering Mathematics 1.1

64

Note on Vector Notation


1.

Exercise Problem

Coordinate of a single point:

x a
are the vector coordinates of a point in x, y space.
y b

Find the eigenvalues of and the eigenvectors of


5 4
the matrix

1 2
Answer:

5  O

1
2. Coordinate os a series of point on a line:

x
a
D are the vector coordinates of a series of points in
y
b
x, y space that lie on a straight line through the origin.

4 x 0

2  O y 0

5O

2O

5  O 2  O  4

10  5O  2O  O2

O  7O  6 0
Similarly,

O  6 O  1

x
a


y D b are the vector coordinates of a series of points
z


c
that lie on a straight line through the origin in x, y, z space.

CIVE 1620: Engineering Mathematics 1.1

65

O 6
O 1

CIVE 1620: Engineering Mathematics 1.1

66

Example Problem

For O = 6

5  6 x  4 y

Find the eigenvalues and eigenvectors of the matrix


 2 2  3

1  6
2
1 2 0

 x  4y 0
x
y
4

So the eigenvector associated with

To do this we need to expand the determinant and find the


roots of the resulting cubic expression.

eigenvalue O =6
2O

3

is the

1 O

6

4
eigenvector D
1

2

O

Expand along the top row

 2  O > 1  O  O  12@  2> 2O  6@  3> 4  1  O @


 2  O >O2  O  12@  4O  12  9  3O

For O = 1

5  1 x  4 y
4x  4 y
y

0
0

 O3  O2  21O  45 0

0
0
x

O  5 O  3 O  3

So O = 5 and O = 3 are the eigenvalues. These values should


be substituted into the equation

So the eigenvector associated with

2
 2  O

1 O
2
1
2

eigenvalue O = 1
is the

 3 x

 6 y 0
 O z

1
eigenvector E
1
CIVE 1620: Engineering Mathematics 1.1

67

CIVE 1620: Engineering Mathematics 1.1

68

When O = 5
We cant solve this by adding rows because this matrix
equation contains one independent equation so it has two
linearly independent eigenvectors. The usual approach is
to give one vector in the z = 0 plane and the other in the
y=0 plane.

 7 2  3 x


2  4  6 y 0


1  2  5 z
We must now solve this.

Hence, let z = 0 in row 1

x  2y 0
x
y 
2

Add 2ur2 to r1 and expand r1

 7  1 x  2  2 y  (3  3) z
 6x  6z
z

0
0
x

So
x
2


y E  1
z
0

Substitute this into r1 and expand

 7 x  2 y  3x 0
 4x  2 y 0
y 2x

Let y = 0 in row 1

x  3z
x
z
3

So the eigenvector associated with eigenvalue O = 5 is


So

x
1


D
y

2
z
 1

x
3


y
J

0
z
1

When O = -3

These are the two linearly independent eigenvectors for the


eigenvalue O = -3

1 2  3 x


2 4  6 y 0


1  2 3 z
CIVE 1620: Engineering Mathematics 1.1

69

A Physical Interpretation of Eigenvalues

T1

node 1

y1

y1
K2

node 1

T2

node 2
m2

70

T1

K1
m1

CIVE 1620: Engineering Mathematics 1.1

For these example it is convenient to use the force


convention that the tension force on a spring is acting to
stretch the spring. This means that we always draw force
arrows toward a node.

Consider the system

node 1

m1

node 2
y2

y2
In Static
Equilibrium

T2

In Motion

If the masses at each node are given some impulse the


whole system will begin to oscillate with the following
accelerations:
node 1

d 2 y1
which can be written y1
dt 2

node 2

d 2 y2
which can be written y2
dt 2

When considering equilibrium of forces we take


downwards as positive and upwards as negative.
So at each node (neglecting masses of the springs and
damping) we get
For node 1

m1 y1  T1  T2
m1 y1  k1  k2 y1  k2 y2

The tension in each spring is equal to the spring constant


multiplied by the elongation. So
T1

k1 y1

CIVE 1620: Engineering Mathematics 1.1

and

T2

m1 y1  k1 y1  k2 y2  y1 0

y1 

k 2 y 2  y1

71

k1  k2 y
m1

k2
y2
m1

CIVE 1620: Engineering Mathematics 1.1

72

For node 2

Substituting these into our matrix equation gives:

m2 y2  T2

0
 Z 2 x cos Zt  H  Ax cos Zt  H 0

m2 y2  k2 y2  y1 0
m2 y2  k2 y1  k2 y1

0
where x

y1 

k2
k
y1  2 y2
m2
m2

x1

x2

0
Simplifying gives:

Ax  Z 2 x

These can be written as the matrix equation


y  Ay

or expanded in matrix form:


k
k1  k2
 2

x
m1 x1
m1
 Z 2 1
k2
k2 x2

x2

m
m

2
2

where
y

y1

y2

k
k1  k2
 2

m1
m1
k2
k2

m
m

2
2

y1

y2

Such a differential equation has a general solution of the


form

k  k
2
1 2 Z
m1
k

 2

x cos Zt  H

y Z x cos Zt  H
2

k2

m1 x1

k2

 Z 2 x2
m2

This is an eigenvalue problem.


Where is the natural frequency and x is the normal mode
of vibration of the system.

Where the eigenvalue, O = 2


Solution for 2, the eigenvalues, and the corresponding
eigenvectors, x, give the natural frequency and normal
modes of vibration of the system.

CIVE 1620: Engineering Mathematics 1.1

73

Example Problem

CIVE 1620: Engineering Mathematics 1.1

74

Considering equilibrium of forces at each node (neglecting


masses of the springs and damping) we get

Find the natural frequency and normal modes of vibration


of the system shown below with the following constants:
m1=1, m2 = 4, k1 = 1, k2 = 4, k3 = 4 in suitable units.

m1 y1  T1  T2

m1 y1  k1 y1  k2 y2  y1 0
m1 y1  k1  k2 y1  k2 y2

K1
node 1

y1 

m1

k1  k2 y
m1

y1
K2
node 2
y2

k2
y2
m1

For node 2

m2

m2 y2  T2  T3

K3

m2 y2  k2 y2  y1  k3 y2

m2 y2  k2 y1  k2  k3 y1

k  k3 y
k2
y1  2
2
m2
m2

Solution

y1 

The tension in each spring is equal to the spring constant


multiplied by the elongation. So
or
T1

k1 y1

T2

k 2 y 2  y1

T3

k 3  y 2

k1  k2

y1 m1

y2  k2

m2

k 3 y 2

k2

m1 y1
k2  k3 y2
m2


(1)

Assuming the solution of the form

CIVE 1620: Engineering Mathematics 1.1

75

x cos Zt  H

CIVE 1620: Engineering Mathematics 1.1

76

When 2 = 1 equation (2) becomes

Then we can write (1) as

Ax  Z 2 x

4  4 x1

0
 1 1 x2

(2)

Therefore the eigenvalues are the roots to the equation

k1  k2  Z 2

k2
m1
k2  k3  Z 2
m2

k2
m2

1
So the associated eigenvector is D
1

m1

and the motion of the system is given using y


by
y1
cos t  H 1
D

y
2
cos t  H 2

Substituting actual value in the equation gives

5 Z2
1

4
2 Z2

x cos Zt  H

0
When 2 = 6 equation (2) becomes

5  Z 2  Z  4
2

 1  4 x1

0
 1  4 x2

 1 Z 2  6 0

4
So the associated eigenvector is E
1

The eigenvalues are 2 = 1 or 6.

and the motion of the system is given by

y1
y
2

CIVE 1620: Engineering Mathematics 1.1

77

4 cos 6 t  H 1

 cos 6 t  H 2

CIVE 1620: Engineering Mathematics 1.1

Rank of a Matrix

The Augmented Matrix

The rank of matrix A is defined as the number of linearly


independent row vectors it contains.

The augmented matrix is a concise way of writing an


equation.

A more straight forward explanation is that the rank of


matrix A is the number of non-zero rows it contains in
equivalent echelon form.

Consider the equation

The rank of a matrix of coefficients, A, in the simultaneous


equation

Ax

78

a
11
a21
a
31

a12
a22
a32

a13 x1

a23 x2
a33 x3

b
1
b2
b
3

the augmented matrix of coefficients for this set of


equations is defined as

(1)

gives the number of independent equations expressed by


this equation.

a
11
a21
a
31

a12
a22
a32

a13 : b1

a23 : b2
a33 : b3

If the rank of matrix A is equal to the number of variables in


x, there is a unique solution to equation (1).

CIVE 1620: Engineering Mathematics 1.1

79

CIVE 1620: Engineering Mathematics 1.1

80

Uses of the Augmented Matrix: 1

Step 2 (4r3 r2)

Use the augmented matrix to reduce the following equation


to echelon form
1 2 1 x


3 2 1 y
1 3 3 z

1

1
1

1 : 1
1 2

0
4
2 :  2



0 0
6 :  2

The rank of the coefficients matrix is 3.


State the rank of the matrix of coefficients, and find the
solution to the equations.
There are 3 variables and therefore a unique solution.
Solution
The augmented matrix is

By back substitution the solution is


x

y

z

1 2 1 : 1

3 2 1 : 1
1 3 3 : 1

2/3
 1/ 3

Step 1 (r2 - 3r1, r3 r1)

1 : 1
1 2

0
4
2 :  2



0 1
2 : 0

CIVE 1620: Engineering Mathematics 1.1

81

Exercise Problem

82

Uses of the Augmented Matrix: 2

Use the Augmented Matrix to reduce the following


equations to echelon form
3 2 1 x


2 1 2 y
1 2 3 z

CIVE 1620: Engineering Mathematics 1.1

The linear equations

1

1

1

a11 x1  a12 x2  a13 x3

y1

a21 x1  a22 x2  a23 x3


a31 x1  a32 x2  a33 x3

y2
y3

( 2)

can be written in the form


State the rank of he matrix of coefficients, and find the
solution to the equations.

a11 x1  a12 x2  a13 x3 1 y1  0 y2  0 y3

Write in augmented form and reduce to echelon form

a21 x1  a22 x2  a23 x3 0 y1  1 y2  0 y3


a31 x1  a32 x2  a33 x3 0 y1  0 y2  1 y3

3 2 1 : 1

2 1 2 : 1

1 2 3 : 1

Elementary operations can be applied to equations (3) to


obtain the equivalent set of equations:
1x1  0 x2  0 x3 b11 y1  b12 y2  b13 y3
0 x1  1x2  0 x3 b21 y1  b22 y2  b23 y3
0 x1  0 x2  1x3 b31 y1  b32 y2  b33 y3

1 : 1
3 2

r 2  2r 3 0  3  4 :  1
r1  3r 3 0  4  8 :  2

3r 3  4r 2

(3)

( 4)

Which can also be written as

1 : 1
3 2



0
3
4 : 1

0 0  8 :  2

x1 b11 y1  b12 y 2  b13 y3


x2 b21 y1  b22 y 2  b23 y3
x3 b31 y1  b32 y 2  b33 y3

(5)

Thus if y1, y2, y3 are known, equations (5) can be solved for
the unknowns x1, x2, x3.

The rank of the matrix of coefficients is 3.


Back substituting gives, the solution:
x = 0.25, y = 0, z = 0.25
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CIVE 1620: Engineering Mathematics 1.1

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Matrix Notation

Example problem
Find the inverse of the following matrix
1 2 1

3 2 1
1 3 3

The equations (2) can be written in the matrix for

Ax

Ax Iy

( 6)

Whose solution can be written as

A 1y

Solution

(7 )

Consider the augmented matrix

Noting that equation (7) is the matrix equivalent of equation


(5).
It can be seen that the inverse of A can be found by
applying elementary operations to the augmented matrix

1 2 1 : 1 0 0

3 2 1 : 0 1 0
1 3 3 : 0 0 1

0 : 1 1 0
r1  r 2  2 0

r 2  3r1 0  4  2 :  3 1 0
1
2 :  1 0 1
r 3  r1 0

a a a : 1 0 0

11 12 13
a21 a22 a23 : 0 1 0
a a a : 0 0 1
31 32 33

 2 0 0 : 1 1 0

r 2  r3 0  3 0 :  4 1 1
r 2  4r 3 0
0 6 :  7 1 4
0
r1 /  1 1 0 0 :  1 / 2 1 / 2

r 2 /  3 0 1 0 : 4 / 3  1 / 3  1 / 3
r 3 / 6 0 0 1 :  7 / 6 1 / 6
4 / 6

The inverse is then


0
1/ 2 1/ 2

4 / 3  1/ 3  1/ 3
 7 / 6 1/ 6
4 / 6

CIVE 1620: Engineering Mathematics 1.1

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Use the augmented matrix to find the inverse of the


following matrix, A,
1 1 2

3 1 1
1 3 4

/  10

0 .3
1 0 0 :  0 .7 0 .2

0
1
0
:


1
.
3
0
.
2
0
.7

0 0 1 : 0 .8
0.2  0.2

/ 10
/ 10

Write down the augmented matrix containing the identity


matrix
1 1 2 : 1 0 0

3 1 1 : 0 1 0
1 3 4 : 0 0 1

The inverse matrix, A-1, is thus


0 .3
 0 .7 0 .2

 1 .3  0 .2 0 .7
0 .8
0.2  0.2

Transform the left hand matrix to become the identity


matrix
r1  2r 2  7 3 0 : 1  2 0

r 3  4r 2  13 7 0 : 0  4 1
2 2 :  1 0 1
r 3  r1 0

7 r 2  13r1

86

 2  3
 10 0 0 : 7

0 10 0 :  13  2 7
5r 3  r 2 0
0 10 : 8
2  2

Exercise Problem

7 r1  3r 2

CIVE 1620: Engineering Mathematics 1.1

To test this use

A A 1

 10 0 0 : 7  2  3

0 10 0 :  13  2 7
0
2 2 : 1 0
1

0 .3
 1 1 2  0.7 0.2

3  1 1  1.3  0.2 0.7


 1 3 4 0.8
0.2  0.2

1 0 0

0 1 0

0 0 1

So it is correct

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CIVE 1620: Engineering Mathematics 1.1

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Module Summary

Matrix Operations

The syllabus for the final quarter of this module was

1. Matrix addition Corresponding elements of the


matrices are added together
x The matrices must be of the same order
x Addition is commutative and associative

x Linear Equations
o Solution of systems of linear equations by Echelon
method
x Matrix Algebra
o Operations with matrices
o Determinants
o Inverse of a matrix
o Linear equations (revisited)
o Eigenvalues and Eigenvectors

2. Scalar multiplication Each term in the matrix is


multiplied by the scalar
3. Matrix multiplication For the equation

AB C

Linear Equations
Elements of C are given by
1. Gaussian reduction of simultaneous equations to
equivalent echelon form
x Unique solution if the last equation in echelon
form yields a specific number
x Non-unique solutions if the last equation can be
satisfied by any value
x No solution if the last equation cannot be solved

Cik

aij b jk
j 1

where A is a (m u n) matrix and B is a (n u p) matrix


and C is a (m u p) matrix.

x In general matrix multiplication is not commutative


but is associative and distributive over addition

2. Apply Cramers rule to the matrix equations


x Gives a unique solution when the matrix of
coefficients is non-singular

Determinants
1. The determinant of a (n u n) matrix A is defined
A

 1 aij M ij
i j

3. Multiply the matrix equation by the inverse of the


matrix of coefficients
x Inverse matrix cannot be defined for a singular
matrix

2. The number of calculations necessary to evaluate a


determinant can be greatly reduced by application of
the rules for determinants

4. Gaussian reduction of augmented matrix


x Matrix equivalent of method 1

3. The rules for determinants are not the same as for


matrix operations

CIVE 1620: Engineering Mathematics 1.1

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j 1

CIVE 1620: Engineering Mathematics 1.1

Example Problem

90

Determinants

Evaluate a determinant of a 4x4 matrix.

1. For the equation

Ax

Here a complete solution is given for you. Do the same


solution yourself and use this to check.

(1)

to have a unique solution the A z 0


D

1
2

24 21
 37  1

 2 35
 3 177
r1

93
194

2. If A 0 there is either no solution or a non-unique


solution to the equation (1).

0  171
63 234
24

21

93

r 2  2r1 0  85  43
r3  r 2 0  2  1

8
23

r 4  3r1 0

513

249

126

Inverse of a Matrix
1. The inverse of a matrix is defined such that

Expand column 1
 85  43
1 2
249
r1
r2

A 1 A I
2. It can be calculated using t he formula

1
126

23
513

 85  43
 2 1

r 3  3r1  6

3

1  43
c1  2c 2 0
0

1
3

adj A
A
3. The inverse of matrix A can also be calculated by
augmenting matrix A with the unit matrix and then
applying a series of elementary processes.
A 1

8
23
537
8

23
537

expand column 1
1

1

23

 3 537

537   69
468
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CIVE 1620: Engineering Mathematics 1.1

92

Example problem

Eigenvalues and Eigenvectors

Find the inverse of A where

1. Eigenvalues are values of O that yield non-trivial


solutions to the equation

5 1 5

A 0
2
0
 5 3  15

A  OI x

2. For a particular eigenvalue, O, the solution for x is the


associated eigenvector.

Again a complete solution is given for you. Do the same


solution yourself and use this to check.

3. Eigenvalues are found from the equation

The Augmented matrix is

A  OI

5 1 5 : 1 0 0

2
0 : 0 1 0
0
 5 3  15 : 0 0 1

10 0 0 : 3 0 1

0 2 0 : 0 1 0
0 2  10 : 1 0 1

10 0 0 : 3 0 1

0 2 0 : 0 1 0
0 0  10 : 1  1 1

10 0 0 : 3 0 1

0 10 0 : 0 5 0
0 0 10 :  1 1  1

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CIVE 1620: Engineering Mathematics 1.1

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Exercise Problem
When O = 0
Find the eigenvalues and the eigenvectors of the matrix
0 1 1

2 1  1

1 0  1

0 1 1 x


2 1  1 y 0
1 0  1 z

To do this we need to expand the determinant and find the


roots of the resulting cubic expression.
0O

1 O

1

We must now solve this.


From r1
yz

1
0
1 O
Expand along the top row

From r3
xz
z

1>1 u  1  1  O u 1@   1  O > O 1  O  2 u 1 @ 0

 1  1  O   1  O  O  O2  2
2

 2  O  O  O  2  O  O  2O

4O  O 3

0
x

So, (taking x = 1), the eigenvector associated with


eigenvalue O = 0 is
x
1


D
y

 1
z


1

O 4  O2 0
O 0
O

0
z

or
r2

So O = 0, O = 2 and O = -2 are the eigenvalues. These values


should be substituted into the equation

1
 O

O
2
1


1
0

1 x

 1 y 0
 1  O z

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CIVE 1620: Engineering Mathematics 1.1

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When O = 2

When O = -2

1 x
 2 1


2
1
1 y 0



0  3 z
1

2 1 1 x


2 3  1 y 0
1 0 1 z

Replacing r2 by r2-2r3 gives

Replace r2 by r2-2r3 gives


2 1 1 x


0 3  3 y 0


1 0 1 z

1 x
 2 1



0
1
5 y 0

0  3 z
1

From r3

xz
z

From r3

x  3z 0
x 3z

From r2

3 y  3z
y

From r2

 y  5z 0
y 5z

E 5

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CIVE1620: Engineering Mathematics 1.1: Example Sheet 1

 85
5
 17
 68
4
 17

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CIVE1620: Engineering Mathematics 1.1: Example Sheet 2

1. (a) Solve the following set of equations:


x  2 y  3z 1
2x  3y  4z 2
 2x  3y  9z 2

1. (i) By relating the tension in each spring to its


extension and then considering equilibrium at each
node, develop a set of linear equations relating the
nodal displacements G1, G2 and G3 to the nodal
forces (W1, W2, W3) for the spring system shown
in the figure

(b) For what values of D does the following equation have a non-trivial solution, and find a general
solution for each D.

(ii) Rewrite the linear equations in matrix form.


Invert the stiffness matrix to calculate the nodal
displacements when W1=10N, W2=0, W3=30 N
and Ka= 1 N/mm, Kb= 1 N/mm, Kc= 1 N/mm,
Kd= 2 N/mm and Ke= 5 N/mm.

x  2 y  4z 0
3x  5 y  z

0
z

So (taking z=1)
x
1


y J  1
z


 1

So (taking z=1)
x

y

z

0
x

2 x  3 y  Dz 0

2. For the spring system shown,


i)

develop a set of simultaneous


linear equations in the three
nodal displacements G1, G2 and
G3.
For the spring constants; Ka= 1
N/mm, Kb = 1 N/mm, Kc = 1
N/mm, KD = 3 N/mm, KE = 6
N/mm, and the nodal loads W1
= 7N, W2 = 2N and W3 = 0.
Convert these equations to an
equivalent set in echelon form
and hence find the nodal
displacements.

ii)

Kc

Kb

Ka
node 1
G1

W1

W2

Kd

Ke

2
3

ii)

Use elementary row operations to find the inverse of the matrix

-11
D= 1
-1

G3

0
1
2
0

0
2
3
1

1
-1
0
1

4. Let E be the matrix

2 1
2

2  1  1
2 4 2

2 4 1

6 2 1
4 8 2

1 2 6

4. Let E be the matrix


 2 4  5

3 1 3
4 4 7

i)

C = ( 3 -1 1)

ABC, ABCT, CBTAT, AB+CT, ACT

node 3
W3

3 -1 1
B = 4 3 2

State which of the following expressions are not defined, and evaluate the others:

G2

3. Use the rules of determinants to


evaluate the determinant of the matrix

1 -1
A = 2 3

node 2

2
(a) Show that -3 is an eigenvector of E and find the corresponding eigenvalue
2
(b) Find the other eigenvalues of E and for each find the corresponding eigenvector.

1

Show that 0 is an eigenvector of E and find the corresponding eigenvalue.
1

Find the other eigenvalues of E and for each find the corresponding eigenvectors.

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CIVE 1620: Engineering Mathematics 1.1

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