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Outline: 3. VECTOR PRODUCTS AND GEOMETRY
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3.1 Scalar Triple Product
I The scalar triple product, a.(b × c), is the scalar product of
the vector a with the cross products of vectors (b × c).
I The result is a scalar.
I Scalar triple product is also written [a, b, c].
I Scalar triple product in component form :
i j k
a.(b × c) = a. bx by bz
(1)
cx cy cz
= (ax i+ay j+az k).((by cz −bz cy )i−(bx cz −bz cx )j+(bx cy −by cx )k)
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3.1.2 Geometrical interpretation
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Example
I Solution:
−2 1 1
Volume = c.(a × b) = 1 1 2
(3)
1 3 2
=8−0+2
= 10
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3.2 Vector Triple Product
a × (b × c) = (a.c) b − (a.b) c
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Partial proof (x-component only):
i j k
(b × c) = bx by bz
(4)
cx cy cz
i j k
a × (b × c) = ax ay az
(5)
by cz − bz cy −(bx cz − bz cx ) bx cy − by cx
I x-component only
i: ay (bx cy − by cx ) + az (bx cz − bz cx )
= (ay cy + az cz ).bx − (ay by + az bz ).cx +
+ ((ax cx )bx − (ax bx )cx ) ← [note, add this extra term, sum = 0]
= i ((a.c) bx − (a.b) cx ) Similarly for j and k components.
I Also easy to show:
(a × b) × c = (a.c) b − (b.c) a.
I Can also show from above expressions:
a × (b × c) + b × (c × a) + c × (a × b) = 0
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3.2.1 Lagrange’s identity
Another useful identity (can be proved using components)
I (a × b) · (c × d) = d · ((a × b) × c) = c · (d × (a × b))
(Using properties of scalar triple product)
I = c · ((d · b) a − (d · a) b)
(Using identity of vector product)
I = (a · c)(b · d) − (a · d)(b · c)
(Rearranging)
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3.3 Generating orthogonal axes
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