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4 VECTORS
Objectives
After studying this chapter you should
4.0
Introduction
a , b , etc.
~
~
It is very important for you to conform to this notation. Always
remember to underline your vectors, otherwise great confusion
will arise!
Activity 1
Make a list of scalar and vector quantities, distinguishing between
them.
89
Chapter 4 Vectors
4.1
Vector representation
a
a
AB
Modulus
The modulus of a vector a is its magnitude. It is written as a ,
and is equal to the length of the line representing the vector.
Equal vectors
The vectors a and b are equal if, and only if,
a = b and
a and b are in the same direction.
B
a
b
A
Q
90
2a
a
a
Chapter 4 Vectors
Activity 2
Draw any vector b on a sheet of paper, and then also draw
(a) b
(b) 2b, 3b, 4b
(c)
1
2
(d) 2b,
1
2
b
c
h
Activity 3
a
e
4.2
Vector addition
AB = p , BC = q
p
p+q
A
AC = p+ q
AB = BC AC.
10
Example
91
Chapter 4 Vectors
Solution
AC = AB + AC = a+ b
CA = AC = a b
DC = DA + AC
= AD + AC
AB)
=
1
2
a+ b
Example
Solution
AC = AB + BC = a + b
AM =
so
1
2
( a + b) .
Similarly,
BD = BA + AD = AB + BC = a + b ,
( a + b)
so
BN =
and
AN = AB + BN
1
2
= a+
1
2
( a + b)
= a 1a+ 1b
2
2
=
1
2
( a + b)
= AM .
Chapter 4 Vectors
Exercise 4A
1. Four points, O, A, B and C are such that
OA = a , OB = b , OC = c.
(a) AB + BC
(b) BC + CD
(c) AB + BC + CD
AB + BC + CA = 0 .
AB + BC + CD + DA = 0 .
4.3
BD in terms of a and b.
Position vectors
Theorem
If A and B are points with position vectors a and b and point C
divides A and B in the ratio : , then C has position vector
a+ b
( + )
93
Chapter 4 Vectors
Proof
If C divides AB in the ratio : , then
AC =
AB
( + )
?
O
(and
CB =
AC =
Hence
AB )
( + )
AB
( + )
AC =
OB OA
( + )
(b a)
( + )
OC = OA + AC
and
= a+
(b a)
( + )
a( + ) + b
( + )
a + b
, as required.
( + )
OC = 1 ( a + b)
2
and this result has already been developed in the last section.
Example
94
Chapter 4 Vectors
Solution
From the result in the theorem above
2a + b 2
1
= a+ b
3
3
3
1
b,
3
OC =
Clearly
OD =
so
2
1
2
1
DC = DO + OC = b + a + b = a
3
3
3
3
Example
In the figure opposite, X and Y are the midpoints of OA and OB
Solution
Thus
1
1
OX = a and OY = b .
2
2
XB = XO + OB
1
= a+ b
2
=b
1
a
2
1
XZ = t XB = t b a
and
OZ = OX + XZ
=
1
1
a + t b a
2
2
1
(1 t )a + tb .
2
95
Chapter 4 Vectors
Similarly, for some scalar number s, using the fact that Z lies on
AY gives
OZ = sa +
1
(1 s )b .
2
1
( a + b)
3
OZ =
Hence
2s + t = 1
1
s=t= .
3
s + 2t = 1
Example 4B
C
C
1. In the diagram
TA = 2BT
OA = a
B
B
2b
2b
T
T
OB = b
bb
AC = 2b
O
O
A
A
a
a
(v) TC .
(b) From (iv) and (v), what can you deduce about
O, T and C?
2. From an origin O the points A, B and C have
position vectors a, b and 2b respectively. The
points O, A and B are not collinear. The
midpoint of AB is M, and the point of trisection
of AC nearer to A is T. Draw a diagram to show
O, A, B, C, M, T.
Find, in terms of a and b, the position vectors of
M and T. Use your results to prove that O, M
and T are collinear, and find the ratio in which M
divides OT.
3. The vertices A, B and C of a triangle have
position vectors a, b, c respectively relative to an
origin O. The point P is on BC such that
BP:PC = 3:1; the point Q is on CA such that
CQ: QA = 2:3; the point R is on BA produced
such that BR: AR = 2:1.
96
Chapter 4 Vectors
4.4
Components of a vector
a=
a
i, j and k .
k
O
i
x
Clearly
OA = xi ( = x)
and
OA + AB = xi+ OC
P (x, y, z)
= xi+ yj
and
= xi+ yj+ zk
k
O
Thus
r= OP = xi+ yi+ zk
This vector is often written as a 3 1 column matrix
x
r= y
z
97
Chapter 4 Vectors
Activity 4
c
b
a
j
O
i
f
:
Then the vector c+ e is simply 3i+ 2 j adding vectors
in form is just a matter of adding components.
r= OP = xi+ yj
and its magnitude is given by the length OP,
OP = x 2 + y 2
where
r = x 2 + y2
y
y
P (x, y)
Example
If a = i+ 3j, b = 2i 5j, c= 2i+ 4 j, find
(a) the component form of the vectors
(i) a + b (ii) b + c (iii) a b (iv) a + b c (v) 3a + 2b ;
(b) the magnitude of the vectors in (a);
(c) unit vectors in the direction of a + b and b + c.
Solution
(a) (i)
a + b = ( i+ 3j + (2i 5j = 3i 2 j
)
)
a + b = 32 + ( 2 ) = 9 + 4 = 13
2
(ii) b + c = 1
(iii) a b = ( 1) + 82 = 65
2
(iv) a + b + c = 25 + ( 6 ) = 61
2
98
Chapter 4 Vectors
(v)
3a + 2b = 72 + ( 4 ) = 65
2
(c) If n = a + b , n =
(3i 2 j = 3 i 2 j
)
13
13
13
1 )
If n = b + c, n = ( j = j
1
For vectors in 3 dimensions, the position vector of the point P
with coordinates (x, y, z) is given by
r= xi+ yj+ zk
and its magnitude is given by
r =
x 2 + y2 + z 2
thus
a + b = (3i+ 2 j+ k) + ( i 2 j+ k)
= 4i+ 2k
a b = (3i+ 2 j+ k) ( i 2 j+ k)
= 2i+ 4 j
a = 32 + 2 2 + 12 = 14
( )
b = 12 + 2 2 + 12 = 6
Note that two vectors, a and b are parallel if a = b for some
non-zero ; furthermore, if > 0 they are actually in the same
direction.
Also note that two vectors
a1 = b1 , a2 = b2 , a3 = b3 .
99
Chapter 4 Vectors
Activity 5
If a = 2i+ j k, b = i 2 j+ 3k , which of the vectors below are
parallel to a or b?
2i j+ k
(ii)
5i 10 j+ 15k
(iii) 4i 2 j 2k
(iv)
6i+ 3j 3k
(v) 2i+ 4 j 6k
(vi)
4i 2 j+ 2k
(i)
Exercise 4C
1. Write in the form xi+ yj+ zk , the vectors
4. If a = 2i+ 5 j k , b = i+ j+ 2k , c= 2i+ 3j k
find
(a) (1, 1, 1)
(b) (2, 1, 1)
(c) (1, 1, 0)
(d) a 5b + 11c
5. Show that the points A(4, 2, 16), B(0, 10, 4 )
and C(6, 22, 14) are collinear.
(b) b = 2i j 2k
(c) c= a+ b
(d) d = a b
4.5
Products of vectors
Scalar product
For any two vectors a and b, the scalar product, denoted by a.b
is defined by
a.b = a b cos
100
Chapter 4 Vectors
Example
If a = 2i, b = 5j and c= i+ j find
,
b
(a) a.b
(b) a.c
(c) b.c
Solution
a
(a) a. b = a b cos90
= 250 = 0
(b) a. c= a c cos 45
=2 2
1
2
(since
c = 2
=2
(c) b. c= b c cos 45
= 5 2
1
2
=5
a.a = a 2
Activity 6
Evaluate the scalar products
.i .
.k
(a) i , i j, i
.i .
.k
(b) j , j j, j
Chapter 4 Vectors
.k
(2i+ k).k = 2i + k.k
Assuming that the scalar product always behaves in this natural
way, deduce a formula for a.b when a and b are expressed in
component form
a = a1i+ a2 j+ a3k , b = b1i+ b2 j+ b3k
+a2 ( b1 j b2 j j+ b3 j )
.i+ .
.k
+a3 ( b1k.i+ b2 k. j+ b3k.k)
= a1 b1 + a2 b2 + a3 b3
So
a.b = a1 b1 + a2 b2 + a3 b3
Example
If a = 2i+ j+ 3k , b = 3i+ j 2k , find a.b and the cosine of the
angle between a and b.
Solution
a.b = ( 2i+ j+ 3k). ( 3i+ j 2k)
= 2 ( 3) + 1 1 + 3 ( 2 ) = 6 + 1 6 = 11
a.b = a b cos = 11
So
102
14 14 cos = 11
cos =
11
14
Chapter 4 Vectors
Example
Show that the vectors, a = i+ 2 j k and b = 2i 2 j 2k , are
perpendicular.
Solution
a.b = ( i+ 2 j k). ( 2i 2 j 2k)
= 1 2 + 2 ( 2 ) + ( 1) ( 2 )
=24+2
=0
Activity 7
For the vector x = 3i+ 2 j y = i+ mj, determine the values of m
,
for which
(a) x is perpendicular to y
(b) x is parallel to y
(c) the angle between x and y is 30 .
Example
If a = 3i j+ 2k and b = mi 2 j 3k , find the value of m for
which a and b are perpendicular.
Solution
a.b = (3i j+ 2k). ( mi 2 j 3k)
= 3m + ( 1)( 2 ) + 2( 3)
= 3m + 2 6
= 3m 4
=0
m=
4
3
4
.
3
103
Chapter 4 Vectors
Vector product
For any two vectors, a and b, the vector product, denoted by
a b (or a b ) is defined by
n
b
turn from a to b
a b = a b sin n
direction
of screw
motion
n
b a = a b sin ( n)
turn from b to a
a
= a b .
b a+ a b = 0
So
y
b
Example
If a = 2i, b = 5i and c= i+ j find
,
(a) a b
(b)
(c) a c
(d) a a
Solution
(a) a b = 2 5 sin 90k = 10k (k is perpendicular to a and
b)
(b) b c= 5 2 sin 45 ( k) = 5k
(c) a c= 2 2 sin 45 ( k) = 2k
(d)
a a = 2 2 sin 0 = 0 a a = 0
Chapter 4 Vectors
Activity 8
Determine all the vector products
(a) i i, i j, i k
(b) j i, j j j k
,
(c) k i, k j k k
,
whereas
j i= k , k j= i, i k = j
and
i i= j j= k k = 0
Again assuming that addition and subtraction behave in a
natural way, you can use these results to find a formula for a b
in terms of their components. If
Activity 9
Prove the formula above for a b .
Writing out an array
i j k
a a a
1 2 3
b1 b2 b3
Example
If a = i+ j+ k , b = 2i+ 3j k , find a b .
105
Chapter 4 Vectors
Solution
a b = ( i+ j+ k) (2i+ 3j k)
= i (2i+ 3j+ k) j2i+ 3j k) + k (2i+ 3j k)
(
= 20+ 3k ( j + ( 2k) + 30 i+ 2 j 3i 0
)
= 4i+ 3j+ k
Alternatively you can quickly evaluate the vector product using
the formula from Activity 9; this gives
a b = ( 1 3)i+ (2 ( 1)) j+ (3 2 )k
= 4i+ 3j+ k
a b = 0n = 0
Conversly, for non-zero vectors a and b,
a b = 0 sin = 0 = 0,
Hence
a b = 0 a = 0 or b = 0 or a, b parallel
Example
If a = i 3j+ 2k and b = 2i+ 6 j 4k , find a b . What can you
say about a and b?
Solution
a b = ( i 3j+ 2k) ( 2i+ 6 j 4k)
= i ( 2i+ 6 j 4k) 3j ( 2i+ 6 j 4k) + 2k ( 2i+ 6 j 4k)
Hence a and b are parallel. In fact you can readily see that
b = 2a .
106
Chapter 4 Vectors
Exercise 4D
1. If a = 2i+ j 2k and b = 3i+ 4k , find
(a) a.b
4.6
Applications
Projection of a vector
Let P be the foot of the perpendicular from A to the line OB.
is called the projection of a onto the line OB.
Note that
OP
107
Chapter 4 Vectors
Example
Solution
45o
c=
(i+ j
)
2
O
i
10
(i+ j
)
2
So
F=
and
F.i =
10
(i+ j .i
)
2
10
10
.1 +
.0
2
2
10
2
Area of a triangle
B
a = OA, b = OB
So
a b = a b sin
= OA (OBsin )
= OA BP
( = base height )
So
Area of OAB =
1
2
a b
Example
If A is the point (5, 0), B is the point (3, 0), find the area of the
triangle OAB.
Solution
a = 5i b = 3i+ 6 j
,
Area of triangle =
=
1
2
1
2
a b
5i (3i+ 6 j
)
= 1 150+ 30k
2
=
108
1
2
30k = 1 .30 = 15
2
Chapter 4 Vectors
Example
The triangle ABC is defined by the points A(0, 1, 2), B(1, 5, 5)
and C(2, 3, 1). Find the area of ABC.
Solution
calculate AB AC as
10i+ 7j 6k.
1
2
( 10, 7, 6)
1
2
100 + 49 + 36
1
2
185
Example
A block slides down an inclined plane from A to B. Ignoring
friction, the forces acting on the block are its weight, W and a
normal reaction R. Calculate the work done by the forces in
terms of h.
h
W
O
Solution
W = Wj, d = hj+ ai
W .d = Wj( hj+ ai = Wh
.
)
and
R .d = 0
since R and d are perpendicular.
So the work done is simply W h.
109
Chapter 4 Vectors
4.7
Miscellaneous Exercises
12. The position vectors of points P and R are
2i 3j+ 7k and 4i+ 5 j+ 3k respectively. Given
that R divides PQ in the ratio 2:1, find the
position vector of Q if
variable, determine
(a) the values of t for which p and q are
perpendicular.
8. QP = p , OR = 3p , OQ = q . M is the midpoint
of QR.
(1 + )i+ (3 2 ) j+ ( 4 + 2 )k
P
Q
7. If OA = 4i+ 14 j 5k , OB = i+ 2 j+ 7k , and
to NP .
110