Scalars and Vectors
* Scalar quantities: have only magnitude +unit
Ex : time (T=7s), length (x=8cm), mass (M=9kg)
* Vectorial quantities: are quantities that have magnitude +unit+ direction
Vectors are essential to physics and engineering. Many fundamental physical quantities are vectors, including
Ex :
Position : OM 2t i t 2 j
Velocity : V 2i 2t j
Force : F 2i 3 j
Mathematic tools
Vectors
Definition
A vecteur is a quantity that have:
• a direction
•a magnitude V AB AB V
P1
Example: Displacement P1P2
Notions P2
Unit Vector V V u Vu
u is a unit vector So u 1
Two vectors are equals
AB CD if they have:
same direction
Same magnitude
Two vectors are Opposit
B
AB -CD ou AB -BA si:
A
Same magnitude C
Opposite directions D
Adding two vectors There are Two ways to add
A B A
S A B Or
S A B S
Properties:
B
1. A B B A by placing them
A B C A B C head to tail. by constructing a
2. parallelogram.
3. A ( A) 0
4. V 0 V
Adding 3 vectors: different ways
R A B C A B C A B C
Substraction of two vectors:
A B
A B A ( B)
A- B
-B
Multiplying a vectorby a scalar: k>0
A
kA
A and B kA have
- magnitude: B kA k A
k<0
-same direction if k > 0,
A
- opposit direction if k < 0, kA
A et kA are parallel
Particular cases:
if k= 1, B= A
if k= -1, B= -A
Example1: A 2i 3 j A 4 9 13
B 16 36 52 2 13 2 A
B 2A B 4i 6 j
Example2:
F ma F 2a m= 2 g
The direction of F is the same as that of the acceleration because m is positive
The magnitude
F 2 a
Relation of Chasles: AC AB BC
Example: Write the vector as simple as possible
V BC DE AD EB
AD DE AE V BC AE EB
AE EB AB V BC AB
AB BC AC V AC
Coordinate Systems and Components of a Vector
Vectors are usually described in terms of their components in a coordinate system:
z
i j k 1
i j, i k , j k k
j y
i O
x
i , j & k : unit vecto rs
In the plane: i j 1 et i j y
P
j i x
O
Componants of a vector in a plane
V OP y
In a rectangular (Cartesian) xy-coordinate system in a plane, a Vy P
point in a plane is described by a pair of coordinates (x, y).
Vx
V Vx i Vy j j i
Vx x
V y O
Vx et Vy : components of V (orthogonal projections)
Magnitude: V Vx2 V y2 Vx V cos
So
Vy V sin
Vy
The direction angle tg
Vx
Example:
V - 4i 2 j
V 16 4 20
Componants of a vector in the space
In a cartesien coordiantes, the position is:
x z
x
OM x i y j z k OM y M y
z z
z
k j
y
Magnitude: OM x y z
2 2 2 O
x
i m
x
y
example:
V 2 i 2 j 4k
V 2 2 2 2 4 2 24
Vector components with origin ≠ from O
x2 x1
As M1(x1, y1, z1) & M2(x2, y2, z2) : V M 1M 2 y2 y1
z z
2 1
Example: diplacement P1P2 : P1(3 ; 2) ; P2(5 ; 6)
5 3 2
V P1 P2 , V
6 2 4
Products of Vectors
There are two kinds of products of vectors used broadly in physics and engineering:
scalar multiplication of two vectors:
.
vector multiplication of two vectors:
Scalar product of two vectors
Definition: the scalar product of : V Vx i V y j & U U x i U y j
Is a number (scalar) defined by V .U V U cos Is the angle between V and U
In the Cartesian coordinate system V .U VxU x VyU y VzU z
2 5
Example: the scalar product of V
3 and W
3
V · W 2 5 (-3) 3 1
Properties:
V . U U.V
U.(V W) U.V U.W
2
V.V V
(V ).W V (W ) (V .W ) V .W
Application of the sclara prdocuct
Find the Angle between two vectors
U.V U V cos( ) V .U
cos( )
V U 0° <θ< 180°
Particular cases: i. i j. j k . k 1 0
i. j i. k j. k 0 ( /2)
Example: Find the angle between : & .
The vector product two vectors (cross product)
Definition
The cross product of 2 vectors gives another vector: V A B
Properties:
Direction: the plane that conta ins A & B
(V A) & (V B)
V A B B
Magnitude: l’aire du parallelogram defined by A and B :
A
A B A . B sin( A, B)
Direction: : given by the right hand fingers or corkscrew right-hand rule
Example:
The cross product of: A 4 i j 2k B i 5 j 3k
i j- k
-1 2 4 2 4 -1
AB 4 -1 2 i j k
5 -3 1 -3 1 5
1 5 -3
A B 3 - 10 i - 12 - 2 j 20 1k
A B 7 i 14 j 21k
Properties: A B B A
A (B C) A B A C
( A) B A ( B) ( A B)
i i j j k k 0
Applications of the cross product
In mathematics
Area of a triangle ABC is given as :
1
S AB BC
2
In physics
The Torque of a Force F applied in A for a rotation by O :
M AB / O OA F
The double vector produit
A B C A D
Le mixed product
A. B C
Applications of the mixed prodcut
Parallelepiped Volume :
V AB. AC AD
Exercise : Vectors 2 2 2
A 3 , B 3 , C 1
For the following 3 vectors :
1 1 0
1-Represent these 3 vectors in cartesien coordinate
2- Calculate their unit vectors
3- Calculate : et
(with 2 methodes; geometric & algebric)
3. Calculate the scalar product & the cross product between &
3. Find the angle between &
5- Calculate the AOB triangle area
6-Calculate the paralleliped difined by
Derivative & integral of a function
f f f
df (x, y, z) dx dy dz
x y z
Integral :
Dervative :
n 1
x
df (x) f (x) x n f (x)dx
f (x) x n
nx n 1 n 1
dx
df (x) sin( x)
f (x) cos(x) sin( x) f (x) cos(x) f (x)dx
dx
cos( x)
f (x) sin( x)
df (x)
cos( x) f (x) sin( x) f (x)dx
dx
Derivative & integral of a vector: A Ax t i Ay t j Az t k
dA dAx t dAy t dAz t
Derivative : i j k
dt dt dt dt
Integral :
At dt Ax dt i Ay dt j Az dt k
3
Example : V 3t i 2t j t k
2
We assume : at
t=0s,x=0, y=0, z=0
Derivative :
dV
d 3t d 2t 2 d t 3
a
dt
dt
i
dt
j
dt
k a 3 i 4t j 3t k
2
t2
Integral: x 3
2
t3
OM y 2
OM V t dt 3t dt i 2t dt j t dt k
2 3
3
t4
z
4
Mathematical tools:
For :
f(x,y,z) a scalar function & V Vx i Vy j Vz k a vector
The operator Nabla: i j k
x y z
The vector divergence: Vx Vy Vz
divV .V
Scalar product with Nabla
x y z
The scalar gradiant f f f
Scalar multiplication with Nabla grad f .f i j k
x y z
i j k
The rotation of a vector: rotV V
Cross product with Nabla x y z
Vx V y Vz
Mathematical tools :
Trigonometric relations Trigonometric derivatives
cos( a b) cos a cos b sin a sin b
d sin x
cos( a b) cos a cos b sin a sin b cos x
dx
sin( a b) sin a cos b cos a sin b d cos x
sin x
sin( a b) sin a cos b cos a sin b dx
sin 2a 2 sin a cos a
Primitive Sin x Derivative
cos 2a 2 cos 2 a - 1 1 - 2 sin 2 a
-cos x cos x
-Sin x