_ Vector Definition
By a vector we mean any physical quantity that can be represented by a directed section
of a line with a start point, such as O, and an end point, such as P. We may show a
vector by an ordered pair of points with an arrow, such as
−→
OP. The sign
−→
PP indicates
a zero vector at point P.
Length and direction are necessary to have a vector; however, a vector may have
five characteristics:
1. Length. The length of section OP corresponds to the magnitude of the physical
quantity that the vector is representing.
2. Axis. A straight line that indicates the line on which the vector is. The vector
axis is also called the line of action.
3. End point. A start or an end point indicates the point at which the vector is
applied. Such a point is called the affecting point.
4. Direction. The direction indicates at what direction on the axis the vector is
pointing.
5. Physical quantity. Any vector represents a physical quantity. If a physical quantity
can be represented by a vector, it is called a vectorial physical quantity.
The value of the quantity is proportional to the length of the vector. Having
a vector that represents no physical quantity is meaningless, although a vector
may be dimensionless.
Depending on the physical quantity and application, there are seven types of
vectors:
1. Vecpoint. When all of the vector characteristics—length, axis, end point, direction,
and physical quantity—are specified, the vector is called a bounded vector,
point vector, or vecpoint. Such a vector is fixed at a point with no movability.
2. Vecline. If the start and end points of a vector are not fixed on the vector axis,
the vector is called a sliding vector, line vector, or vecline. A sliding vector is
free to slide on its axis.
3. Vecface. When the affecting point of a vector can move on a surface while
the vector displaces parallel to itself, the vector is called a surface vector or
vecface. If the surface is a plane, then the vector is a plane vector or veclane.
4. Vecfree. If the axis of a vector is not fixed, the vector is called a free vector,
direction vector, or vecfree. Such a vector can move to any point of a specified
space while it remains parallel to itself and keeps its direction.
5. Vecpoline. If the start point of a vector is fixed while the end point can slide
on a line, the vector is a point-line vector or vecpoline. Such a vector has a
constraint variable length and orientation. However, if the start and end points
of a vecpoline are on the sliding line, its orientation is constant.
6. Vecpoface. If the start point of a vector is fixed while the end point can slide
on a surface, the vector is a point-surface vector or vecpoface. Such a vector
has a constraint variable length and orientation. The start and end points of a
vecpoface may both be on the sliding surface. If the surface is a plane, the
vector is called a point-plane vector or vecpolane.
1.1 Coordinate Frame and Position Vector 11
yy
x
r
A
z
O
B
y
x
r
z
O
x
z
O
r
(a) (b) (c)
y
x
z
O
r
(d)
Figure 1.5 (a) A vecpoint, (b) a vecline, (c) a vecface, and (d) a vecfree.
y
x
r
z
O
y
x
r
z
O
y
x
z
O
r
(a) (b) (c)
Figure 1.6 (a) a vecpoline, (b) vecpoface, (c) vecporee.
7. Vecporee. When the start point of a vector is fixed and the end point can
move anywhere in a specified space, the vector is called a point-free vector or
vecporee. Such a vector has a variable length and orientation.
Figure 1.5 illustrates a vecpoint, a vecline, vecface, and a vecfree and Figure 1.6
illustrates a vecpoline, a vecpoface, and a vecporee.
We may compare two vectors only if they represent the same physical quantity and
are expressed in the same coordinate frame. Two vectors are equal if they are comparable
and are the same type and have the same characteristics. Two vectors are equivalent
if they are comparable and the same type and can be substituted with each other.
In summary, any physical quantity that can be represented by a directed section
of a line with a start and an end point is a vector quantity. A vector may have five
characteristics: length, axis, end point, direction, and physical quantity. The length and
direction are necessary. There are seven types of vectors: vecpoint, vecline, vecface,
vecfree, vecpoline, vecpoface, and vecporee. Vectors can be added when they are
coaxial. In case the vectors are not coaxial, the decomposed expression of vectors
must be used to add the vectors.
Example 9 Examples of Vector Types Displacement is a vecpoint. Moving from a
point A to a point B is called the displacement. Displacement is equal to the difference
of two position vectors. A position vector starts from the origin of a coordinate frame
12 Fundamentals of Kinematics
and ends as a point in the frame. If point A is at rA and point B at rB, then displacement
from A to B is
rA/B = BrA = rA − rB (1.27)
Force is a vecline. In Newtonian mechanics, a force can be applied on a body at
any point of its axis and provides the same motion.
Torque is an example of vecfree. In Newtonian mechanics, a moment can be applied
on a body at any point parallel to itself and provides the same motion.
A space curve is expressed by a vecpoline, a surface is expressed by a vecpoface,
and a field is expressed by a vecporee.
Example 10 Scalars Physical quantities which can be specified by only a number
are called scalars. If a physical quantity can be represented by a scalar, it is called
a scalaric physical quantity. We may compare two scalars only if they represent the
same physical quantity. Temperature, density, and work are some examples of scalaric
physical quantities.
Two scalars are equal if they represent the same scalaric physical quantity and they
have the same number in the same system of units. Two scalars are equivalent if we
can substitute one with the other. Scalars must be equal to be equivalent.
1.2 VECTOR ALGEBRA
Most of the physical quantities in dynamics can be represented by vectors. Vector addition,
multiplication, and differentiation are essential for the development of dynamics.
We can combine vectors only if they are representing the same physical quantity, they
are the same type, and they are expressed in the same coordinate frame.