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Vectors in Space

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59 views44 pages

Vectors in Space

Uploaded by

Joshua Rellorosa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CHAPTER 2

VECTORS IN SPACE
Chapter Outline

The Pythagorean Theorem can be


2.1 Vectors in the Plane
used to find missing side lengths in
2.2 Vectors in three
right angled triangles. Dimensions
2.3 The Dot Product
2.4
The The Cross
formula statesProduct
that in right
2.5 Equations
angled ofsquare
triangles, the lines and
of theplanes in space
2.6 Quadric
hypotenuse Surfaces
is equal to the sum of
the2.7 Cylindrical
squares andtwo
of the other Spherical
sides. Coordinates
Vector
is a mathematical object that has both
magnitude and direction.
Vectors Representation
is represented by a directed line segment (an arrow). The
endpoints of the segment are called the initial point and the
terminal point of the vector. An arrow from the initial point to the
terminal points indicates the direction of the vector. The lenght
of the line segment represents its magnitude. We use the
notation ||v|| to denote the magnitude of the vector v. A vector
with an initial point and terminal point that are the same is called
the zero vector denoted 0. The zero vector is the only vector
without a direction, and by convention can be considered to
have any direction convenient to the problem at hand.
Vectors with the same magnitude and direction are
called equivalent vectors. We treat equivalent as equal ,
and if they have different initial points. Thus, if v and w
are equivalent, we write

v=w
Terminal point

v2
v4
v v1

v3 v5
Initial point

(a) (b)
Example
Sketch a vector in the plane from initial point P(1,1) to
terminal point Q(8,5).
Component form of a vector
Let v be a vector with initial point (x , y ) and terminal
i i
point (x , y ). Then we can expres v in component form as
t t
v=( x - x , y - y ).
t i t i
Example

Express v with initial point (-3, 4) and terminal point (1,2) in


component form.
Solution
a. Geometric
1. Sketch the vector in the coordinate plane
2. The terminal point is 4 units to the right and 2 units down form the initial
point.
3. Find the point that is 4 units to the right and 2 units down from the origin.
4. In standard position, the vector has initial point (0,0) and terminal point
(4,-2).
Example
b. Algebraic
In the first solution, we used a sketch of the vector to see that the
terminal point lies 4 units to the right. We can accomplish this
algebraic by finding the difference of the x-coordinates:

x - x = 1-(-3)=4
t i
Similarly, the difference of the y-coordinates shows the vertical
lenght of the vector.

y - y =2-4=-2
t i
So, in component form ,
v= (x -x , y - y )
t i t i
= (1-(-3), 2-4)
=(4, -2)
To find the magnitude of a vector, we calculate the distance
between its initial point and its terminal point. The magnitude of
vector v=(x , y) is denoted || v ||. or | v |, and can be computed
using the formula

|| v ||= √x2+ y 2
Let v= ( x
Express v with
, y) and
1 initial
1
w=
point (-3,
(x ,
2 2
y) be vectors, and let k be a
,4 scalar 2 2 2
2
Scalar Multiplication: kv= ( kx1 , ky)1 36 + 64 = c 2
? 100 = c 2
8
Vector Addition: kv= v + w= (x 1, y1 ) + (x 2, y 2) = (x1 + x 2, y1 + y2 )
2. Square root to the find the value c:
c = √100
6 c = 10
Example

Let v be the vector with initial point ( 2, 5) and terminal point (8, 13),
and let w= (-2, 4)

a. Express v in component form and find || v ||. Then, using Algebra


find
b. v + w
c. 3v, and
d. v - 2w
Solution

a. To place the initial point of v at the origin, we must translate the


vector 2 units to the left and 5 units down . Using the algebraic
method, we can express v as v = ( 8-2, 13-5) = ( 6, 8):

|| v || =√6 + 8
2 2

= √36 + 64
= √100
= 10
Solution
b. To find v + w , add the x-components and the y-components
separately;
v + w = ( 6, 8) + (-2, 4) = (4, 12)

c. To find 3v, multiply v by the scalar k=3;


3v = 3 (6, 8) = (3 x 6, 3 x 8) = (18, 24)

d. To find v - 2w, find -2w and add it to v;


v - 2w = (6, 8) -2 (-2, 4) = (6, 8) + (4, -8) = ( 10, 0)
Vectors in three dimensions
Three-dimesional rectangular coordinate system consists
of three perpendicular axes; the x-axis, the y-axis and the z-
axis, because each axis is a number line representing all real
numbers in R , the three- dimensional system is often
denoted by R 3
Example

Locating points in space


1.Sketch the point (1, -2, 3) in three-dimensional space.

2. Sketch the point (-2, 3, -1) in three-dimensional space.


The distance between two points in space

The distance d between points (x1 , y1 , z1 ) and (x 2, y 2, z 2) is


given by the formula

d = √(x - x ) + (y , - y )
Example

Find the distance between points P1 = (3, -1, 5)


and P2 = (2, 1, -1).
The Dot Product
The Dot Product
The dot product of vectors u = (u 1 , u2 , u3 )
and v = (v1 , v2 , v3 ) is given by the sum of the
products of the components

u x v = u1 v1 + u2 v2 +u 3v 3
Note that if u and v are two-dimensional vectors,
we calculate the dot product in a similar fashion.
Thus, if u = ( u 1 , u2 ,) and v = (v1 , v2 ), then

u x v =u 1 v 1+ u 2 v2
When two vectors are combined under addition
or substraction, the result is a vector. When two
vectors are combined using the dot product, the
result is a scalar. For this reason, the dot product
is often called the scalar product. It may also be
called the inner product.
Example

Calculating the dot product

a. Find the dot product of u =(3, 5, 2) and v = ( -1, 3, 0).

b. Find the scalar product of p = 10i-4j+7k and q = -2i + j + 6k


Solution
a. Substitute the vector components into the formula for
the dot product:

u x v = u1 v 1+ u2v 2+ u 3v 3
=3(-1) + 5(3) + 2(0)
= -3 + 15 + 0
= 12
Solution
b. The calculations is the same if the vectors are written
using standard unit vectors. We still have three
components for each vector to substitute in the formula for
the dot product:

p x q = u1 v 1+ u2v 2+ u3 v3
=10(-2) + (-4)(1) + 7(6)
= -20 -4+ 42
= 18
Properties of the dot product

Let u, v, and w be vectors, and let c be a scalar.

i. u x v = v x u Commutative property
ii. u x ( v + w ) = u x v + u x v Distributive property
iii. c(u x v) = ( cu) x v = u x (cv) Associative property
iv. v x v = || v || 2
Property of magnitude
Proof
Let u = (u1 , u2, u3) and v = (v1 , v2 , v 3). Then,

u x v = (u 1 , u2 , u3) x (v1 , v2 , v3 )
= u 1v 1+ u2v 2+ u 3v 3
= v 1u 1+ v2u2+ v3 u3
= (v1 ,v2 ,v 3) x ( u1 ,u2,u3 )
=vxu
Proof
c(u x v )= c(u1 v1 + u2 v2+ u3 v3)
= c(u 1v 1) + c(u2 v 2)+ c( u3 v3 )
= (cu 1)v1 + (cu2 ) v2+ (cu3 )v 3
= [cu 1, cu2, cu3 ] x [v1 , v2 , v3 ]
= c[u 1 , u2 , u3 ] x [v1 , v2 , v3 ]
= (cu) x v

The proof that c(u x u) = u x (cv) is similar


Proof
v x v = [v 1, v 2, v3 ] x [v ,1 v2, v3 ]
= (v1 ) + (v )2 + (v3)
2 2 2

=[ √(v1 ) + (v2) + (v3) ]


2 2 2 2

= || v || 2

Note that the definition of the dot product yields 0 x v =


0. By property iv, if v x v = 0, then v = 0
Example
Using properties of the dot product

Let a = (1, 2 -3), b = (0, 2 ,4) and c = (5, -1,3).Find


each of the following products.
a. (a x b)c
b. a x (2c)
c. || b ||
2
Solution
a. (a x b)c = [(1,2,-3) x (0,2,4)](5,-1,3)
= (1(0) = 2(2) + (-3)(4)) [5,-1,3]
= -8(5,-1,3)
= (-40,8,-24)
b. a x (2c) = 2(a x c )
= 2((1,2,-3) x (5,-1,3))
= 2(1(5) + 2(-1) + (-3)(3)
= 2(-6)
= -12
c. || b || = b x b = (0,2,4) x (0,2,4)
2

=0+2+4
2 2 2

= 0 + 4 + 16
= 20
The Cross Product
the dot product is a multiplication of two vectors
that results in a scalar.

in this section, we introduce a product of two vectors


that generates a third vector orthogonal to the first two.
Consider how me might find such a vector. Let u = (u1 , u2 ,
u3) and v = (v1 , v2, v3) be nonzero vectors. We want to find
a vector w = (w1 , w2 ,w3 ) orthogonall to both u and v. We
want to find u x w = 0 and v x w = 0. Therefore, w1 , w2 , and
w3 must satisfy.
u1 w1+ u2w2+ u3w 3= 0
v1w 1+ v2w 2+ v3 w3+ 0

If we apply the top equation by v3 and the bottom equation


by u3and subtract, we can eliminate the variable w 3which
gives
(u1 v3 - v1 u3 )w 1+ ( u2v 3- v2u 3)w2= 0
w 1= u2v3- u 3v2
w 2= -(u 1v3 -u3v 1)
u1 w1+ u2w2+ u3w 3= 0
v1w 1+ v2w 2+ v3 w3+ 0

If we apply the top equation by v3 and the bottom equation


by u3and subtract, we can eliminate the variable w 3which
gives
(u1 v3 - v1 u3 )w 1+ ( u2v 3- v2u 3)w2= 0
w 1= u2v3- u 3v2
w 2= -(u 1v3 -u3v 1)
w3 = u1v2- u 2v1
w = (u2v3- u3 v2- (u1 v 3- u3v1), u1 v2 - u2v 1
Definition

Let u = (u 1 , u2 , u3) and v = ( v 1, v2, v3 ). Then the cross product


u x v is vector

u x v = (u2v3- u3v2 )i - ( u1 v3- u 3v1 )j + ( u1 v2- u2 v1 )k


= (u2v3- u3v2 ), - (u1 v3- u1 3 v1 ), u 1v2- u2 v 1
Example
Finding a cross product

Let p = ( -1,2,5) and q = (4,0,-3)


Find pxq
The cross product of the standard unit vectors i, j, and k
can be useful for simplifying some calculations, so let’s
consider these cross products. A straightforward
application of the definition shows that

ixi=jxj=kxk=0

ixj=k j x i = -k
jxk=i k x i = -i
kxi=j ixk=-j
Example
Cross product of standard unit vectors

Find i x (j x k)

Solution:
i x(j x k) = i x i = 0
Properties of cross products:
i. u x v = -(v x u) Anticommutative property
ii. u x (v + w) = u x v + u x w Distributive property
iii. c(u x v) = (cu) x v = u x (cv) Multiplication by
a constant
iv. u x 0 =0 x u = 0 Cross product of a zero
vector
v. v x v = 0 Cross product of a vector with itself
vi. u (v x w) = ( u x w)w Scalar triple product
Determinants and the cross
product
Example
Evaluate the determinant
2 5 -1
-1 1 3
-2 3 4

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