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Linear Algebra: Section 4: Vectors Section 5: Lines and Planes

The document summarizes key concepts in linear algebra, including: 1) Vectors are described by their magnitude and direction, and can be added and multiplied by scalars. 2) Lines in 2D and 3D are defined by points and slopes or direction vectors. 3) Planes are surfaces defined by points and normal vectors perpendicular to the plane.

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James Grossi
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54 views12 pages

Linear Algebra: Section 4: Vectors Section 5: Lines and Planes

The document summarizes key concepts in linear algebra, including: 1) Vectors are described by their magnitude and direction, and can be added and multiplied by scalars. 2) Lines in 2D and 3D are defined by points and slopes or direction vectors. 3) Planes are surfaces defined by points and normal vectors perpendicular to the plane.

Uploaded by

James Grossi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Chapter 3: Linear Algebra

q Section 4: Vectors
q Section 5: Lines and Planes

Vectors
q The length
of the arrow representing a

vector A is called a length or magnitude or

norm of A :

A A A = Ax2 + Ay2

in 2D

A A A = Ax2 + Ay2 + Az2

in 3D

q The

x- and yangle between


A
components of vector is given by:

= arctan

Ay
Ax

Unit vectors
q Unit vectors along x-, y- and z- axes are
labeled i , j and k , respectively.

q Any vector A can be written in terms of its


components:

A = Ax i + Ay j + Az k

q When adding two vectors we can write:


A + B = (Ax + Bx )i + (Ay + By ) j + (Az + Bz ) k

Vector operations
y

q Vectors
can also be added geometrically:

To find S = A + B, place the tail of B at the


head
of A and draw the vector from the tail

of A to the head of B .

A
O


q Commutative law for vector addition: A + B = B
+A

q Associative law for vector addition:


( A + B) + C = A + ( B + C )

scalar: C = cA

q Multiplying vector by a

The magnitude of C is C = cA , and


it has the same (opposite) direction

as A if c>0 (c<0).

q Vector subtraction D = A B can be done geometrically

and B ; or algebraically: Dx = Ax Bx , Dy = Ay By

q Zero vectoris a vector with zero length.

q Unit vector is a vector with unit length. A / A is a unit vector.

(by adding A

Scalar product of vectors


q Scalar (dot) product of two vectors is a scalar:

A B = A B cos

, where is the angle between A and B .

Or, in terms of components:


A B = Ax Bx + Ay By + Az Bz

q The above two equations give us expression for the angle between vectors

and B :

cos =

Ax Bx + Ay By + Az Bz
=
AB

Ax Bx + Ay By + Az Bz
Ax2 + Ay2 + Az2 Bx2 + By2 + Bz2

q Commutative
law for scalar product of vectors:


A B = B A

q Distributive law for scalar product of vectors:


( B + C ) A = B A + C A

q Scalar product of any two perpendicular vectors is equal to zero.


q Scalar product of


A A = A 2

Vector product of vectors


q Vector (cross) product of two vectors is a vector:
where


C =AB

magnitude of C is determined
C = A B sin

as:

here is the smallest angle between A and B .

The direction
of
is determined using

the right-hand rule shown in the figure.

q Note that: A B = B A
q Vector product of any two parallel vectors is

equal to
zero.
Thus
A
A =0 .

q Distributive law for vector product of two

vectors:



A (B + C ) = A B + A C

Vector product of vectors


q For unit vectors we can write:
i i = j j = k k = 0

j k = i

k i = j

j i = k

k j = i

i k = j

i j = k

q In terms of unit vectors, cross product of any two vectors can be


written as:


A B = (Ay Bz Az By )i + (Az Bx Ax Bz ) j + (Ax By Ay Bx ) k =
j
i
k
= Ax Ay Az
Bx By Bz

Distance between two points


z

q A point is a set of three coordinates (x,y,z).

But we can also associate a vector r to the

point
r = xi + yj + zk

(x,y,z)

q Lets say we have otherpoint (x,y,z)


and theassociated vector

r"

r " = x"i + y"j + z"k

q To calculate distance between point (x,y,z)


and the point (x ,y,z), we can introduce

another vector d that connects head of r " to

head of r . That is

(x,y,z)


d = r r # = (x x#)i + (y y#) j + (z z#) k

q Then the distance


between (x,y,z) and the point (x,y,z) is the

length
of vector d :
d = (x x#) 2 + (y y#) 2 + (z z#) 2
8

Line in 2D
q Lets say, we know that a line goes
through a point (x0 , y0 ) and has a slope m.
Then equation for this line is:

(x, y) .
(x0 , y0)
.
x - x0

y y0
=m
x x0

m = tan

y - y0

Line in 2D
y

q Lets say, we know that a line goes


through a point (x0 , y0 ) and is parallel to a

vector A = ai + bj .
First, note that the vector along the line that
connects (x0 , y0 ) to (x, y ) is


r r0 = (x x 0 )i + (y y 0 ) j

Given that
and r r0 are parallel vectors
we
can write:
x x 0 y y 0

=
a
b

or equivalently

(x, y) .

r r0
y - y0
(x0 , y0)
.
x - x0

y y0 b
=
x x0 a

These are equations for line in 2D.

q There is also a parametric way to write line equation:



r = r0 + At

or equivalently

{xy == yx ++ aa tt
0

10

Line in 3D
q If we know that a line goes through point (x0, y0, z0 ) and is parallel to a

vector A = ai + bj + ck , then equation for the line is:


x x 0 y y 0 z z0
=
=
a
b
c

where

a 0, b 0, c 0

q If we know that a line goes through point (x0, y0, z0 ) and is parallel to

for the line is:


a
vector
A
= ai + bj , then equation

x x0 y y0
=
, z = z0
a
b

where

a 0, b 0, c = 0

q There is also a parametric wayof writing line equation in 3D:



r = r0 + At

or equivalently

!# x = x0 + ax t
" y = y0 + ay t
#$ z = z0 + az t

If t has a meaning of time, then above equations describe linear motion

of a particle.
11

Plane
q Lets say, we know that a plane goes
through a point (x0 , y0 , z0)and is
perpendicular to a vector N = ai + bj + ck .
A vector that connects point (x0 , y0 , z0)
with any other point
(x , y, z) on the
plane is:

r r0 = (x x 0 )i + (y y 0 ) j + (z z0 ) k


r r0

.(x, y, z)

(x0, y0, z0 )

Since N and r r0 are perpendicular vectors,

So we can write:


( r r0 ) N = 0

a(x
x 0 ) + b(y y 0 ) + c(z z0 ) = 0

or equivalently

ax + by + cz = d where d = ax 0 + by 0 + cz0

"
$
$
#
$
$%

Plane equations

12

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