School of Mathematics, Statistics & Physics

ENG1001 – ENGINEERING MATHEMATICS 1

Notes on Matrices & Vectors - weeks 1-3

1 Matrices
(Note: see also the additional sheet of Matrix examples for this module.)

1.1 What is a matrix?

1.1.1 Definitions and Notation

Engineering analysis often produces very large systems of simultaneous equations, sometimes
more than 1,000 equations in 1,000 unknowns. To solve these systematically, we need a method
of recording and calculating that can be programmed on a computer.
A matrix is a rectangular array of numbers, or symbols representing numbers or other quan-
tities.
As a first, simple example, here are three equations in variables x, y, z:

2x +3y +4z = 1
3x −y =2 (1)
x +2y +1.5z = 3

We can write this in the form:

    
2 3 4 x 1
3 −1 0  y  = 2 (2)
1 2 1.5 z 3

This is a 3 x 3 square matrix (i.e. 3 rows and 3 columns), and two 3x1 matrices, also called
column matrices or column vectors. Note the way they combine to produce the equations.
Here’s some more examples of matrices of various shapes and sizes, with descriptions:
 
2 5 −1
- a 2 x 3 rectangular matrix
0 3 2
 
0 0
- a 2 x 2 square matrix, which is also a zero matrix (all entries zero).
0 0
 
2 0 0
0 3 0 - a 3 x 3 diagonal matrix. (3)
0 0 4
Note: we can use either (..) brackets or [..] brackets. Square brackets are clearer for large
matrices.

ENG1001 Notes Matrices & Vectors 1 October 2020

If we use a capital letter A for a matrix, then we use the letter a for the elements (entries) of the
matrix. Then aij gives the element in row i and column j. For example (3), a11 = 2, a23 = 0,.
For a diagonal matrix the only elements that aren’t zero are on the principal diagonal, i.e. top
left to bottom right, so we can say: aij = 0 if i 6= j.
More examples:
 
2 4
a 2 x 2 symmetric matrix (reflects in the principal or main diagonal).
4 −3
 
1 3 −7
 3 0 2  - a 3 x 3 symmetric matrix. Note, aij = aji
−7 2 −5
 
0 2 −3
−2 0 0.1 - an antisymmetric matrix.aij = −aji if i 6= j, and aii = 0. (4)
3 −0.1 0
 
a b c
 0 d e  - an upper triangular matrix. aij = 0 if i > j.
0 0 f
 
a 0 0
 b c 0  - a lower triangular matrix. aij = 0 if i < j.
d e f

1.1.2 Matrix Transpose

The transpose of a matrix is another matrix with rows and columns swapped from the original,
and hence the number of rows and columns is also swapped. For example:
 T  
2 −1 2 3
=
3 4 −1 4
 
 T 3 2
3 0 −1
= 0 5  (5)
2 5 7
−1 7
For both these examples, (aij )T = aji , as rows and columns have been swapped. If we swap
twice, we get back to where we started: (AT )T = A.
 
 T 1
1 0 −3 =  0  so the transpose of a 1 x 3 matrix is a 3 x 1 matrix.
−3
For a symmetric matrix, AT = A. For an antisymmetric matrix (see eq.(4)), AT = −A.

1.2 Matrix Algebra

1.2.1 Addition, subtraction, multiplication by a scalar

If
   
2 3 0 2
A= , B=
−1 4 1 −5

ENG1001 Notes Matrices & Vectors 2 October 2020

then
     
6 9 0 4 6 5
3A − 2B = − = (6)
−3 12 2 −10 −5 22

3A or 2B means multiplying every element of that matrix by a number - we call this multi-
plication by a scalar. Note: all the matrices here are of the same order (size). Addition and
subtraction of matrices requires this.

1.2.2 Matrix multiplication

If
   
2 −1 5 0
A= , B=
3 4 −2 −3

then AB is also a 2 x 2 matrix. Working along the rows of A and down the columns of B, we
get:
  
2 −1 5 0
AB = =
3 4 −2 −3
 
1st row of A x 1st col of B 1st row of A x 2nd col of B
=
2nd row of A x 1st col of B 2nd row of A x 2nd col of B
   
(2)(5) + (−1)(−2) (2)(0) + (−1)(−3) 12 3
= (7)
(3)(5) + (4)(−2) (....)(....) + (....)(....) 7 −12

The entries like (....) are for you to fill in yourself!

Note: number of elements in each row of A = number of elements in each column of B. It’s
also important which way round we multiply:

    
5 0 2 −1 10 −5
BA = = 6= AB. (8)
−2 −3 3 4 −13 −10

Another example, using rectangular matrices:

   
2 1   0 5 10
 −3 0  1 2 3
=  −3 −6 −9  (9)
−2 1 4
−4 1 −6 .... ....

Note the numbers of rows and columns: [3(a) x 2(b)]x[2(b) x 3(c)] = [3(a) x 3(c) ], where e.g.
(a) means these are equal.
The same two matrices, multiplied in the opposite order:
 
  2 1  
1 2 3  −16 4
−3 0  = (10)
−2 1 4 −23 2
−4 1

ENG1001 Notes Matrices & Vectors 3 October 2020

Here: [2 x 3] x [3 x 2] = [2 x 2]. The results are even different sizes! As a final example here:

       
2 1 1 5 1 2 1
= , but =? (11)
−3 4 3 9 3 −3 4

which can’t even be done! As a general result, AB 6= BA in most cases, even where both are
possible.

     

2 2
4 6
2 3 = (13) - the scalar product, but 2 3 = . (12)
3 3 6 9
Hence [1 x 2] x [2 x 1] = [1 x 1], whilst [2 x 1] x [1 x 2] = [2 x 2].
 
T 2
We could also write A = (2 3), then A = and AAT = (13).
3
For any matrices where the multiplications are all possible, (AB)C = A(BC), but the ordering
mustn’t be changed.

1.2.3 Identity matrix

    
2 −5 1 0 2 −5
= . (13)
1 3 0 1 1 3

The second matrix is labelled I and is called the unit matrix or identity
 matrix.
 Here it’s a 2x2
1 0 0
matrix, but it can be a 3x3 or any NxN square matrix, e.g. I =  0 1 0 . For any order
0 0 1
of I, we can say: aii = 1, aij = 0 if i 6= j.

 
       1 0 0
1 0 2 3 4 2 3 4 2 3 4  0 1 0 .
= = (14)
0 1 −1 −2 0 −1 −2 0 −1 −2 0
0 0 1

We can always say: IA = A = AI, if I is the right size for each calculation (I is different in
the two sides of this equation!).

Next, do the exercises on Problem Sheets 1A and 1B.

1.3 Simultaneous equations

1.3.1 Familiar method and determinant

Solving two simultaneous equations in the usual way:


2x −3y = 4
- Take 5 x 1st eq and 2 x 2nd eq (15)
5x +y = 6

ENG1001 Notes Matrices & Vectors 4 October 2020

 
10x −15y = 20
Subtract 2nd from 1st (16)
10x +2y = 12
−17y = 8, y = −8/17 (17)
Substitute into the first equation:

2x = 4 + 3y = 4 − 24/17, x = 22/17 (18)

The General method for this is:


ax +by = p
To eliminate y, take 1st x d - 2nd x b (19)
cx +dy = q

pd − qb
(ad − bc)x = pd − qb, x= (20)
ad − bc
   
a b a b 
ad − bc is the determinant of the matrix , written detA = 
  = ad − bc. If it’s
c d c d
zero, the method fails, the matrix is singular.
In matrix form:
    
a b x p
= , or Ax = p (21)
c d y q

−→
Note that vectors must be written as underlined or bold symbols or with an arrow, e.g. AB.
 
a b 
det(A) = |A| = 
  = ad − bc (for a 2 x 2 matrix) (22)
c d

If |A| = 0, the matrix is singular and we can’t find a unique solution to the equations.
Consider a single equation. Which of the following can be solved?

(a) 3x = 5, (b) 3x = 0, (c) 0x = 5, (d) 0x = 0. (23)

Which of these have a unique solution? Which has many solutions? Which has no solution?
In a general form, if we wish to solve ax = b, there are three possibilities. If a 6= 0, it has a
unique solution. If a = 0, b = 0, it has multiple solutions. If a = 0, b 6= 0, is has no solution.
These outcomes apply to many real-life problems!
For two equations, a graph illustrates these - two lines crossing at one point, two lines coinciding,
two parallel lines.

1.3.2 Inverse of a matrix

To solve ax = b, multiply both sides by a−1 , provided a 6= 0:

a−1 (ax) = a−1 (b), (a−1 a)x = a−1 b, (1)x = a−1 b, x = a−1 b (24)

Similarly, to solve the matrix equation Ax = b, we multiply both sides by A−1 :

A−1 (Ax) = A−1 (b), (A−1 A)x = A−1 b, Ix = A−1 b, x = A−1 b (25)

ENG1001 Notes Matrices & Vectors 5 October 2020

This works provided A−1 exists, which is true if det(A) 6= 0.
For a 2 x 2 matrix,
   
a b −1 1 d −b
A= , the inverse A = . (26)
c d ad − bc −c a

Checking that this works:

      
−1 1 d −b a b 1 da − bc db − bd 1 0
AA = = =
ad − bc −c a c d ad − bc −ca + ac −cb + ad 0 1
(27)
Thus A A−1 = I. It’s also true that A−1 A = I (check this!). Note: method (26) works only for
2 x 2 matrices. For larger matrices, it’s more complicated!

1.3.3 Solving equations using the inverse

Examples:

1.
    
2 −3 x 2
= , or Ax = b (28)
1 4 y −5
|A| = (2)(4) − (−3)(1) = 11 6= 0 (29)
   
−1 1 4 3 4/11 3/11
A = = (30)
11 −1 2 −1/11 2/11
  
−1 1 4 3 2
x=A b= (31)
11 −1 2 −5
       
1 −7 1 7 −7/11 7/11
x= =− = = − 12 - four valid forms! (32)
11 −12 11 12 −12/11 /11
2.
    
−1 −4 x1 3
= , or Ax = b (33)
−1/2 3 x2 0
|A| = (−1)(3) − (−4)(−1/2) = −5 6= 0. (34)
    
1 3 4 3 1 9
x= =− (35)
−5 1/2 −1 0 5 3/2
     
1 18 3 6 −1.8
=− =− = (36)
10 3 10 1 −0.3
3.
   
1 1 0 −3 −2 1
1
If A =  −3 −1 1  then A−1 =  6 2 −1  (37)
3
0 1 2 −3 −1 2

Check that A−1 A = AA−1 = I by multiplying the matrices. (The method for finding the
inverse of a 3 x 3 matrix is not given in this course and you don’t need to know it!)

ENG1001 Notes Matrices & Vectors 6 October 2020

1.3.4 Properties of matrices

Assume all matrices in these statements conform, i.e. have row and column numbers that make
these calculations possible:

(AT )T = A, (A−1 )−1 = A (38)

(AB)C = A(BC), A(B + C) = AB + AC (39)

(AB)T = B T AT , (AB)−1 = B −1 A−1 , |AB| = |A||B| (40)
AB 6= BA in most cases, even if both are possible. (41)
Choose some examples (i.e. write down some 2 x 2 matrices) and check these properties.

1.4 Simultaneous equations solved by elimination

1.4.1 Efficiency

For a 2 x 2 matrix, it’s efficient to find A−1 and use this to solve equations. For a 3 x 3 matrix,
it’s also OK. For a 10 x 10 matrix, i.e. 10 equations in 10 variables, about 107 operations are
needed if the ‘explicit’ inverse matrix is used (i.e. a formula producing every element of it).
For a 100 x 100 matrix, using the explicit inverse would take until the end of time! Therefore,
for large systems of equations, we use other methods (to find the inverse, or otherwise).

1.4.2 Elementary Row Operations or EROs

Elementary Row Operations are:

1. Swap order of any two equations.

2. Multiply any equations by a constant (or divide).

3. Add (or subtract) any equation to any other.

4. (Combines previous two:) Add a multiple (+/-) of one equation to another.

Example:

x −3y +z = −9
2x +5y +3z = 24 (42)
−x +2y +z =1

can be written in Extended matrix form.

  
1 −3 1  −9
 2 5 3  24  (43)
−1 2 1  1

Aim to produce an upper-triangular matrix using EROs, then solve by back-substitution.

ENG1001 Notes Matrices & Vectors 7 October 2020

Add 1st equn to 3rd equn, and subtract 2 x 1st equn from 2nd equn, to get:
  
1 −3 1  −9
 0 11 1  42  (44)

0 −1 2  −8

Swap 2nd and 3rd equns:

  
1 −3 1  −9
 0 −1 2  −8  (45)
0 11 1  42

Add 11 x 2nd equn to 3rd equn:

  
1 −3 1  −9
 0 −1 2  −8  (46)

0 0 23  −46

Now solve by back-substitution (find last variable first, using last equation).
Solve 3rd equn for z: 23z = −46, z = −2.
Substitute z into 2nd equn: −y + 2z = −8, −y − 4 = −8, y=4
Substitute y, z into 1st equn: x − 3y + z = −9, x = −9 + 3y − z = −9 + 12 + 2 = 5.
Notes:
1. Don’t want zeroes on main diagonal. Ideally maximise diagonal entries to minimise
rounding errors.

2. If the final equn ends up as, e.g. (0 0 0 : 7), there is no solution - the equns are inconsistent.

3. If the final equn is e.g. (0 0 0 : 0), there are multiple solutions.

4. If the number of equns > number of unknowns, either some equns are redundant, or
there is no solution.

5. If number of equns < number of unknowns, multiple solutions are likely.

This method is also called Gaussian Elimination.

1.4.3 Finding matrix inverse using EROs

Use EROs to convert a matrix to I, and simultaneously do the same to I to turn it into the
inverse. For example:
    
2 3 2 3  1 0
A= , (A|I) = Divide 1st equn by 2 (47)
−1 4 −1 4  0 1
  
1 3/2  1/2 0
Add 1st equn to 2nd (48)
−1 4  0 1
  
1 3/2  1/2 0 2
Multiply 2nd by (49)
0 11/2 1/2 1
 11

ENG1001 Notes Matrices & Vectors 8 October 2020

   
1 3/2
 1/2 0
 1st - 3/2 x 2nd (50)
01  1/11 2/11
  
1 0  4/11 −3/11
(51)
0 1  1/11 2/11
The right-hand part of this extended matrix gives the inverse:
 
−1 1 4 −3
A = (52)
11 1 2

This method can be used for a square matrix of any size. It’s efficient, but there are neater
ways of doing the same thing!

1.4.4 Determinant of a 3 x 3 matrix

This is needed for the vector cross product, and works for larger matrices too. (Here we use the
top row, but any row or column can be used if the +/- signs are correct.)
Work along the top row, multiplying each element by the smaller (2 x 2) determinant obtained
by deleting the top row and the current column, and alternating +/- in turn:
 
 2 3 −1      
  1 2   4 2  4 1
0 3 − (3) −1 3 + (−1) −1 0 = 2(3) − 3(14) − 1(1) = −37 (53)
 4 1 2  = +(2)      
 
−1 0 3 

Next, do the exercises on Problem Sheets 2A and 2B.

Also, study the additional matrices examples on the separate sheet.

2 Vectors
Note: see the videos for diagrams illustrating much of this topic!

2.1 Definitions
A vector has a magnitude and a direction, e.g. force, acceleration, displacement, velocity,
temperature gradient.
A scalar has only a magnitude, e.g. energy, speed, distance, mass, temperature, pressure.
We work with vectors in both ‘overall’ form and in component form. Several notations are
used: a or →
−
a or a (bold - used in print), or .

ENG1001 Notes Matrices & Vectors 9 October 2020

  

5
Components are written in one of the forms: 2 3 1 or −4 or 2i + 3j + k, where i, j, k are

2
unit vectors along the x, y, z axes with magnitude or modulus = 1. This is the Cartesian
form of vectors in a right-hand set.

The third diagram shows the vector a = 2i + 3j - a vector in 2D.

2.2 Vector addition and subtraction

If we write 2a we mean a vector in the same direction but with twice the magnitude (or
modulus). 0.5a means half the magnitude, and −3a means three times the magnitude but
in the opposite direction. These are all called multiplication by a scalar. (Note: scalar
multiplication is not the same - rather confusing!)
Addition of vectors is familiar from combining forces, using a triangle (or a parallelogram):
Subtraction of vectors is best thought of as addition of a negative vector, i.e. a − b = a + (−b).
Note: For addition and subtraction, it’s OK to ‘move vectors around’ on the page - these are
free vectors.
Another use of vectors is e.g. to find the velocity of an aircraft relative to the ground, if its
velocity relative to the air (its airspeed) and the speed of the wind are both known, or the
velocity of one boat relative to another, indicating how they are moving together or apart.
Addition or subtraction is used as appropriate.
(See video for illustrations.)

2.3 Scalar product (or Dot Product)

2.3.1 Work done by a force

W = F (d.cosθ) = (F.cosθ)d
- a scalar derived from two vectors. The scalar product of F and d (or dot product), is

ENG1001 Notes Matrices & Vectors 10 October 2020

defined as:

F · d = |F||d|cosθ, where |F| is the modulus or magnitude of F. (54)

2.3.2 Properties of scalar product

π
If θ = 0, F · d = |F||d|. If θ = , F · d = 0. (55)
2

Note that a zero dot product implies the two vectors are at right angles (or one is zero). This
is useful if we want to show that two directions are perpendicular.

i · i = 1 × 1 × 1 = 1, so i·i=j·j=k·k=1 (56)

i · j = 1 × 1 × 0 = 0, so i · j = j · i = i · k = k · i = j · k = k · j = 0. (57)

NB p·q=q·p for any vectors. (58)

2.3.3 Scalar product in component form

p √
If a = 3i − 2j + 4k, then |a| = (3)2 + (−2)2 + (4)2 = 29. (59)
If a = 3i + 2j − k and b = 2i − 4j + 3k then
a · b = (3i + 2j − k) · (2i − 4j + 3k) (60)
We can expand the brackets and arrange terms to give:

a · b = 6i · i − 12i · j + 9i · k + 4j · i − 8j · j + 6j · k − 2k · i + 4k · j − 3k · k

= 6 − 0 + 0 + 0 − 8 + 0 − 0 + 0 − 3 = 6 − 8 − 3 = −5 (61)

In general, a · b = a1 · b1 + a2 · b2 + a3 · b3 . (62)

Another example: If c = 2i − 3j + k, d = −i − 2j − 4k, find c · d and comment.

c · d = −2 + 6 − 4 = 0, so the vectors are perpendicular.
Alternative notation:
     
2 −1 −1
cT d = 2 −3 1 −2 = −2 + 6 − 4 = 0


c = −3 , d = −2 , (63)
1 −4 −4
√
(also dT c = 0). Also a · a = |a|2 or |a| = a · a.

ENG1001 Notes Matrices & Vectors 11 October 2020

2.3.4 Finding angles using scalar product

1
a · b = |a||b|cosθ, so cosθ = a·b (64)
|a||b|
The result of cos−1 x is an angle always between 0 and π.
Examples Note: many examples make use of two standard right-angled triangles, one with
angles π/4 = 45◦ and the other with angles π/6 = 30◦ and π/3 = 60◦ - this is half of an
equilateral triangle with angles π/3 = 60◦ . (See video for diagram.)
√ √
1. If a = i + j, b = 3j, then a · b = 0 + 3 + 0 = 3, |a| = 12 + 12 = 2, |b| = 3.
3 1 π
cosθ = √ = √ , θ = .
3 2 2 4
√ √
2. c = 2i − 3j + k, d = i + 2j + 2k c · d = −2, |c| = 4 + 9 + 1 = 14, |d| = 3,
−2
cosθ = √ = ....., hence θ = ....... Note: θ > π/2 as cosθ < 0.
3 14

2.3.5 Unit vectors

i, j, k are unit vectors - by definition they have modulus=1 (i.e. |i| = 1).
We can convert any vector to
a unit vector by dividing by its modulus.
For example: a = 2 −2 1 , |a| = 3, so we write:

a = 31 2 −2 1 , or 23 i − 23 j + 31 k


b (65)

1
so b
a= a · b.
a, hence cosθ = b b (66)
|a|

2.3.6 Component of a vector in a specified direction

There are several possible aims. We can find the component of vector F in the direction given
by vector a as a scalar (i.e. just its size) or as a vector (F1 ). We can also find the component
of F perpendicular to a as a scalar or as vector F2 . To find the scalar component:
1
|F1 | = |F|cosθ = F·a=F·b
a. (67)
|a|

To find the vector component, we need to give this a direction:

F1 = |F1 |b
a = (F · b
a)b
a. (68)

ENG1001 Notes Matrices & Vectors 12 October 2020

For example, if F = − 12 i + 31 k N , to find the component in the direction given by a = 5j + 12k
we calculate:
√ 1 1 4
|a| = 25 + 144 = 13, a=
b (5j + 12k), F·b
a= (0 + 0 + 4) = N.
13 13 13
4 1 4
The vector component is then F1 = . (5j + 12k) = (5j + 12k).
13 13 169
To find the perpendicular component as a vector, we find F2 = F − F1 .

Next, do exercises 1,2,4,5,7 on Problem Sheet 3A and 1,3,4,5 on Sheet 3B.

Also study additional worked examples 1-4 on the separate sheet.

2.4 Vector product (or Cross Product)

2.4.1 Definition and interpretation

A position vector gives a displacement relative to an origin, so it’s a fixed vector (not a
free vector). This is important when we find the moment of a force about an axis or a point.

In 2D, the moment of a force about a point as shown is given by M = d|F|. If we don’t know
d, but we do know the position of a point on the line of the force, given by the position vector
d, then we can write M = |F||d|sinθ.
In 3D, we also need to find the direction of the torque, which will be the direction of the axis
if the body is free to turn (ship, satellite, etc.). If the axis is fixed, we can find the moment or
torque about that axis as a later calculation.
We specify a unit vector n
b perpendicular to both d and F, with d, F, n
b in a right-hand set. We
can also use the corkscrew rule - if we turn from d to F, the screw travels along nb . We then
get:

M = d × F = |d||F|sinθ n
b. (69)

This is often expressed as ‘d cross F’, and is sometimes written d ∧ F.

Note also that a × b = −b × a, following the ‘right-hand rule’.

ENG1001 Notes Matrices & Vectors 13 October 2020

2.4.2 Component form

From (69), the cross product of parallel vectors is zero (as sinθ = 0), also of any vector with
itself. Hence:

i×i=j×j=k×k=0 (note that this is the zero vector). (70)

Also, as unit vectors have modulus = 1, and i, j, k are all perpendicular to each other (hence
sinθ = 1) and form a r.h.set:

i × j = −j × i = k, j × k = −k × j = i, k × i = −i × k = j. (71)

We’ll use these results just once, then explain a simpler method for working out cross products.
Example
If a = 2i − k, b = −i + j + 3k, then:

a × b = (2i − k) × (−i + j + 3k)

= (2i) × (−i) + (2i) × (j) + (2i) × (3k) + (−k) × (−i) + (−k) × (j) + (−k) × (3k)
= 2k − 6j + j + i = i − 5j + 2k = c (72)
where we’ve given the result a new name c. Now we look at how this result relates to the two
vectors we combined:

a · c = (2i − k) · (i − 5j + 2k) = 2 + 0 − 2 = 0, b · c = −1 − 5 + 6 = 0 (73)

As both results are zero, c must be perpendicular to both a and b. That is, the cross product
is perpendicular to both vectors. This can be used to construct a direction perpendicular to
two given directions (e.g. to a plane).

2.4.3 Determinant form

For vectors b × c,
 
 i j k      
   b2 b3   b1 b3   b 1 b2 
b × c = b1 b2 b3  = +i   − j
 c1 c3  + k  c1 c2 
   (74)
 c1 c2 c3  c2 c3 

For example, (3i − j + k) × (2i − 2j − 4k) =

 
i j k       
3 −1 1  = +i −1 1  − j 3 1  + k 3 −1 = 6i + 14j − 4k
       
  −2 −4 2 −4 2 −2 (75)
2 −2 −4

2.4.4 Properties of vector (or cross) product

1. c = a × b is perpendicular to both a and b.

2. a × a = 0 (or any parallel vectors).

3. a × b = −b × a

ENG1001 Notes Matrices & Vectors 14 October 2020

 4. If a × b = 0, then either one of a or b is zero or they are parallel.

5. a × (λb) = λa × b, where λ is a scalar.

6. a × (b + c) = a × b + a × c

7. a × (b × c) 6= (a × b) × c
In fact, a × (b × c) = (a · c)b − (a · b)c As an exercise, choose some vectors for a, b, c
and check by calculating both sides of this.

8. a · (b × c) = (a × b) · c You can check this too using any vectors you’ve chosen (note
that the result is a scalar – this is called the scalar triple product).

2.4.5 Applications of Vector Product

1. (Already given) Moment of a force: M = d × F.

2. Corliolis acceleration: −2Ω×v - in this form relevant to meteorology, giving an additional

acceleration term for movement of air or sea in the rotating frame of the Earth. (In
mechanics, Coriolis acceleration has a more restricted definition.)

3. Charged particles: F ∝ v × H.

4. 3D rigid body rotation: The velocity of a point at position d from the axis is |d|sinθ|ω|,
hence v = ω × d.

(See video for illustrations of these.)

2.5 Vectors and Differentiation

Differentiation and integration of vector quantities requires no new theory at all! A simple
example illustrates this:
If the position of a moving object is given by the vector x = 3ti − 2t3 j + 4tsintk, then find
expressions for velocity and acceleration:
dx
v= = 3i − 6t2 j + 4(sint + tcost)k
dt
dv
a= = −12tj + 4(2cost − tsint)k
dt
.

Next, do exercises 3,6 on Problem Sheet 3A and exercise 2 on Sheet 3B.

Also study additional worked examples 5,6 on the separate sheet.

ENG1001 Notes Matrices & Vectors 15 October 2020