Vector
Introduction and Types of Vectors
a. Scalar and vector quantities, zero, unit, like and unlike vectors
Introduction Of Vectors:
⎯
Equal Vectors: Two vectors ⎯
a and b are said to be equal, if
⎯ ⎯
(i) a = b , (ii) They have the same sense of direction
Co-Initial Vectors: vectors having same initial point.
Unit Vector: A vector of unit magnitude is called a unit vector. A unit vector i
nthe direction of ⎯ a is denoted by a. Thus
⎯
a vector a
∧ a
= ⎯ =
a magnitude of a
Note:-
∧
(i) a = 1
∧∧ ∧
(ii) Unit vector parallel to the x-axis, y-axis, and z-axis are denoted by i, j and k
respectively.
(iii) Two unit vectors may not be a equal unless they have a same direction.
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Position vector and direction cosines
a. Position vector, Direction cosine(ratio) and magnitude of vector
Position Vector:
⎯⎯⎯⎯
Let O be fixed point in space, then vector OP(p is any point in space) is called
position vector of point P w.r.t. O. if A and B are any two point in space then
⎯⎯⎯ ⎯⎯⎯⎯ ⎯⎯⎯⎯
AB= p.v. of B− p.v. of A = OB− OA.
⎯⎯⎯ ⎯
i.e. AB= b − ⎯
a
Note:
The position vector of a point P(x,y,z) in terms of its
∧ ∧ ∧
⎯⎯⎯⎯
cartesian coordinate is OP= x i + y j + zk.
Direction cosines:
∧ ∧ ∧
if α,β,γ are the angles which vector ⎯
a = a1 i + a2 j + a3 k makes with the positive
direction of the x,y,z axes respectively then α,β,γare called direction angles and
their cosines cosα,cosβ,cosγ are called the direction cosines of the vector and are
generally denoted l, m, n respectively. Thus l= cosα,m = cosβ,n= cosγ
a b c
∴ l= ± ,m = ± andn= ±
a2 + b2 + c2 a2 + b2 + c2 a2 + b2 + c2
Direction Ratios:
If a,b,c are three numbers proportional to the direction cosines l,m,n of a straight
line, then a,b,c are called its direction ratios.
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Algebra of vectors
a. Triangle law,Parallelogram law of addition
Addition Of Vectors:
Triangle Law of Vector Addition:
If two vectors are represented by two consecutive
sides of a triangle then their sum is represented by the
third side of the triangle but in opposite direction.
Parallelogram Law Of Vector Addition:
If two vectors are represented by two adjacent sides of a
parallelogram then their sum is represented by the
diagonals of the parallelogram whose initial point is the
same as the initial point of the given vectors.
b. Properties of vector addition, subtraction, scalar multiplication and section formula
Section Formula:
Internal Division:
⎯
let A and B be two points with position vectors ⎯
a and B respectively and C be a
point dividing AB internally in the ratio m:n then the position vector of C is given by
⎯
m b + n⎯
⎯⎯⎯⎯ a
OC =
m+n
External Division:
⎯ ⎯
Let A and B be two points with position vectors a and b respectively and c be a
⎯⎯⎯ ⎯
point dividing AB externally in the ratio m:n then the position vector of C is given
⎯
m b − n⎯
⎯⎯⎯ a
by Oc =
m−n
c. Vector along angle bisector
Vector Along the Angle Bisector:
⎯
⎛⎜a
⎯
b ⎞⎟⎟
♦ Any vector along the internal bisector is λ ⎜⎜⎜
⎯ + ⎯
⎟⎟
a
⎝ b
⎠
⎯
⎯⎯⎯⎯⎯ ⎛⎜ ⎯a b ⎞⎟⎟
♦ Any vector along the external bisector is AC' = λ ⎜⎜⎜ ⎯ − ⎯ ⎟⎟
⎝ a b ⎠
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Collinearity and coplanarity of vectors
a. Relation b/w collinear vectors, collinearity of 3 points
b. Test of coplanarity of 3 vectors/ 4 points
Coplanar Vectors:
⎯
♦ If ⎯
a and b are two non-collinear vectors, then every vector
⎯ ⎯
r coplanar with ⎯
a and b can be expressed in one and only one way as a linear
⎯
combination x⎯
a + y b; x and y being scalars.
⎯
♦ If ⎯
a, b and ⎯
⎯
c are non-coplanar vectors, then any vector r can be uniquely
→ → →
expressed as a linear combination x a + y b + z c ; x, y, and z being scalars.
⎯
♦ If vectors ⎯
a = a1 i + a2 j + a3k, b = b1 i + b2 j + b3k and ⎯
c = c1 i + c2 j + c3k are
coplanar, then
a1 a2 a3
b1 b2 b3 = 0
c c c
1 2 3
⎯ ⎯
♦ Four points with position vectors ⎯
a, b, ⎯
c and d are coplanar if there exist scalars
⎯ ⎯ ⎯
x, y, z, and w (sum of any two is not zero) such that x⎯
a + y b + z⎯
c + w d = 0 with x +
y + z + w = 0.
c. Linear dependence and independence of vectors
1. Two collinear vectors are always linearly dependent.
2. Two non-collinear non-zero vectors are always linearly independent.
3. Three coplanar vectors are always linearly dependent.
4. Three non-coplanar non-zero vectors are always linearly independent.
5. More than three vectors are always linearly dependent.
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Product of two vectors
a. Dot product and Angle b/w two vectors
Scalar Product Of Two Vectors:
⎯
If ⎯
a and b are two vectors and θ be the angle between their tails or heads then their
⎯ ⎯
scalar product is defined as ⎯
a . b = ⎯
a b cosθ
⎯ ⎯
⎯ a .b
⎯
♦ If θ be the angle between any two non-zero vectors a & b then cos θ = ⎯ ⎯
a . b
⎯ ⎯ ⎯ ⎯
♦ If a = a1 i + a2 j + a3k and b = b1 i + b2 j + b3k then a . b = a1b1 + a2b2 + a3b3 .
b. Properties of dot product
Properties Of Dot Product:
⎯ ⎯ ⎯ ⎯
1. ⎯
a . b = b .⎯ 2. ⎯
a . ( b + ⎯ c ) = ⎯
a . b + ⎯
a .⎯
⎯ ⎯ ⎯ 2 ⎯ ⎯ ⎯
a c 3. a . a = a ⇒ a = a . a 4.
⎯ 2 ⎯ ⎯ 2
(⎯
a + b ) = ⎯ a + 2⎯
2
a . b + b
⎯ 2 ⎯ ⎯ 2 ⎯ ⎯ 2 ⎯ 2
5. (⎯
a − b ) = ⎯ a − 2⎯ 6. (⎯
a + b ) . (⎯
a − b ) = ⎯
2
a . b + b a − b
c. Projection, Components of vector
Geometrical Interpretation:
⎯ ⎯
a .b ⎯ ⎯
1. Projection of b on a = ⎯
a
⎯ ⎯
⎯ ⎯ a .b
2. Projection of a on b = ⎯
b
⎯ ⎯ ⎯⎯⎯⎯⎯
3. Component of b along a = OM
⎯
(⎯
a . b)
= 2 .a
a
⎯
4. Component of b
perpendicular to
⎯ ⎯⎯⎯⎯
a = ON
⎯
⎯⎯⎯⎯ (⎯
a . b) ⎯
⎯
ON = b − a.
a2
d. Cross product of two vectors
Vector Or Cross Product Of Two Vectors:
⎯ ⎯
If a and b be two vectors and θ (0≤ θ≤ π) be the angle between them, then the
vector (or cross) product is defined to be a vector whose magnitude is ab sinθ and
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whose direction is perpendicular to the plane of ⎯
a and b such that ⎯
a, b and ⎯
+919920265265
axb
form a right-handed system.
⎯ ⎯ ∧
∴ ⎯
a × b = ⎯
a b sinθ n
∧ ∧ ∧ ⎯ ∧ ∧ ∧
♦ If ⎯
a = a1 i + a2 j + a3 k and b = b1 i + b2 j + b3 k then
i j k
⎯
⎯
a × b = a1 a2 a3 = (a2b3 − a3b2) i + (a3b1 − a1b3) j + (a1b2 − a2b1) k
b b b
1 2 3
e. Properties of cross product
Properties Of Vector Product:
⎯ ⎯ ⎯ ⎯
1. In general ⎯
a × b ≠ b × ⎯
a .In fact ⎯
a × b = − b × ⎯
a.
⎯ ⎯
2. ⎯
a × ( b ± ⎯
c ) = ⎯
a × b ± ⎯
a × ⎯
c
⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯
3. If ⎯
a ∥ b then θ= 0 or π ⇒ ⎯
⎯ ⎯ ⎯
a × b = 0 (but a × b = 0 ⇒ a = 0 or b = 0 or a ∥ b ) . In
⎯
particular ⎯
a × ⎯
a = 0.
∧ ∧ ∧ ∧ ∧ ∧ ∧ ∧ ∧ ∧ ∧ ∧ ∧ ∧ ∧
4. i × i = j × j = k × k = 0 and i× j = k , j × k = i and k × i = j
⎯ ⎯
⎯ a×b
5. Unit vector perpendicular to ⎯
a and b is given by ± ⎯ ⎯
a × b
⎯ ⎯
⎯ a × b
6. If θ is the angle between ⎯
a and b then sinθ = ⎯ ⎯
a b
f. Area of a Triangle and parallelogram
Area Of Parallelogram:
⎯
The vector product of the vectors ⎯
a and b represents a vector whose modulus is
equal to the area of the parallelogram whose two adjacent sides are represented
⎯
by ⎯
a and b .
♦ Area of parallelogram
⎯
= base × height = ab sin θ = ⎯
a × b
♦ Area of quadrilateral if its diagonals vector are
⎯ ⎯⎯ 1 ⎯ ⎯
d 1& d2 is given by = d 1 × d 2
2
1 1 ⎯
♦ Area of triangle = (Area of the parallelogram) = ⎯ a × b
2 2
⎯
♦ If ⎯
a, b,⎯ c are position vectors of vertices of a △ABC then its
1 ⎯ ⎯
Area = (⎯ a × b ) + ( b × ⎯
c ) + (⎯
c × ⎯
a)
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Product of three vector
a. Scalar Triple Product,Geometrical interpretation of scalar triple product
Scalar Triple Product:
⎯
If ⎯
a = a1 i + a2 j + a3k, b = b1 i + b2 j + b3k, and ⎯
c = c1 i + c2 j + c3k, then Scalar triple
product of these vectors,
a1 a2 a3
⎯ ⎯ ⎯ ⎡ ⎯ ⎯ ⎤⎥
♦ a . ( b × c ) = ⎢⎢⎣ ⎯
a b c ⎥⎦ = b1 b2 b3 = Volume of the parallelopiped whose
c c c
1 2 3
⎯ ⎯
coterminous edges are a, b and ⎯ c.
b. Properties of scalar triple product
Properties of Scalar Triple Product:
⎯ ⎯
1. The position of ( · ) and ( × ) can be interchanged i.e. ⎯ a · ( b × ⎯c ) = (⎯ a × b ) · ⎯
c
⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥
2. ⎢⎣ a b c ⎥⎦ = ⎢⎣ b c a ⎥⎦ = ⎢⎣ c a b ⎥⎦ = − ⎢⎣ a c b ⎥⎦ = − ⎢⎣ b a c ⎥⎦ = − ⎢⎣ c b a ⎥⎦
3. The scalar triple product of three vectors when two of them are equal or parallel,
is zero i.e.
⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥
⎢⎣ a b b ⎥⎦ = ⎢⎣ a b a ⎥⎦ = 0
⎯ ⎯ ⎯ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥
4. a, b, c are three coplanar vectors if ⎢⎣ a b c ⎥⎦ = 0
⎯ ⎯ ⎯ ⎯
5. For any vectors a, b, c , d
⎡⎢ ⎯ ⎯ ⎯ ⎯ ⎤⎥ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥
⎢⎣ a + b c d ⎥⎦ = ⎢⎣ a c d ⎥⎦ + ⎢⎣ b c d ⎥⎦
⎯ ⎯ ⎡ ⎯ ⎯ ⎤⎥
6. ⎢⎢⎣ ⎯ a + b, b + ⎯ c , ⎯
c + ⎯a ⎥⎥⎦ = 2 ⎢⎢⎣ ⎯
⎡ ⎤
a b c ⎥⎦
⎡⎢ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎤⎥
7. ⎢⎣ a − b b − c c − a ⎥⎦ is always zero.
⎯ ⎯ ⎯
l · ⎯
a l · b l · ⎯ c
⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯
8. ⎢⎣ l m n ⎥⎦ ⎢⎣ a b c ⎥⎦ = m · a m · b m · ⎯ c , where l , m, n & a, b, c are non-
⎯ ⎯ ⎯ ⎯ ⎯ ⎯
n ·a n ·b n ·c
coplanar vectors.
⎯
p · ⎯
a ⎯
q · ⎯
a ⎯
a
⎡ ⎯ ⎯ ⎤⎥ ⎯ ⎯ ⎯
9. ⎢⎢⎣ ⎯
a b c ⎥⎦ (⎯
p × ⎯
q ) = ⎯
p · b ⎯
q ·b b
⎯ ⎯ ⎯ ⎯ ⎯
p ·c q ·c c
⎯ ⎯ ⎯ ⎯
10. If ⎯ ⎯
a = a1 𝓁 + a2m + a3⎯
⎯
n, b = b1 𝓁 + b2m + b3⎯
n and ⎯
⎯
c = c1 𝓁 + c2m + c3⎯
n
then
a1 a2 a3
⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎡ ⎯ ⎯ ⎯ ⎤⎥
⎢⎣ a b c ⎥⎦ = b1 b2 b3 ⎢⎢⎣ 𝓁 m n ⎥⎦
c c c
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c. Volume of tetrahedron
Volume Of Tetrahedron:
⎯
♦ If ⎯ ⎯
a , b, c are position vectors of vertices A, B, and C with respect to O, then the
volume of tetrahedron OABC represented by V is given by
1 1 ⎡ ⎯ ⎯ ⎤⎥
V = Base area × height = ⎢⎢⎣ ⎯ a b c ⎥⎦
3 6
⎯ ⎯
♦ If ⎯ a, b, ⎯ c , d are position vectors of
vertices A, B, C, D of a tetrahedron ABCD,
then its volume
⎧⎪ ⎡
⎪⎪ 1 ⎢⎢ ⎯⎯⎯⎯ ⎯⎯⎯⎯⎯ ⎯⎯⎯⎯ ⎤⎥
⎪⎪ ⎣ AB AC AD ⎥⎦
⎪⎪ 6
⎪
= ⎪⎨⎪⎪ Or
⎪⎪ ⎡
⎪⎪ 1 ⎢⎢ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎤⎥⎥
⎪⎪ ⎣ b − a c − a d − a ⎦
⎪⎩ 6
d. Important points about tetrahedron
Important Points Of Tetrahedron:
♦ If OABC is a tetrahedron as shown in the figure,
⎯
where OA= ⎯
a, OB= b, OC = ⎯ c then the volume of
1 ⎡ ⎯ ⎯ ⎤⎥
tetrahedron = ⎢⎢⎣ ⎯
a b c ⎥⎦
6
♦ The six mid-point of the six edges of a tetrahedron
lie in a sphere if the pair of the opposite are
perpendicular to each other
♦ Centre of the sphere is the centroid of the
tetrahedron.
♦ GA2 + GB2 + GC2 + GO2 = 12r2 .G being the
centroid.
1
♦ The angle between any two plane faces of a regular tetrahedron is cos−1 .
3
1
♦ Angle between an edge and a face not containing the edge is cos−1 (for
3
regular tetrahedron)
♦ Any two edges of the regular tetrahedron are perpendicular to each other.
♦ The distance of any vertex from the opposite face of a regular tetrahedron is
2
k Where k is the length of the edge.
3
e. Vector Triple Product
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⎯
♦ The vector triple product of three vectors ⎯ ⎯
a, b, c is defined as the vector product
⎯ ⎯ ⎯ ⎯
of two vectors ⎯
a and b × ⎯
c . It is denoted by (⎯
a × b ) × ⎯
c = (⎯
a · ⎯
c ) b − ( b · ⎯
c ) ⎯
a.
⎯
⎯
a · ⎯
a ⎯
a · b ⎯
a · ⎯
c
⎡⎢ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎤⎥ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ 2 ⎯ ⎯ ⎯ ⎯ ⎯ ⎯
♦ ⎢⎣ a × b b × c c × a ⎥⎦ = ⎢⎣ a b c ⎥⎦ = b · a b · b b · c
⎯ ⎯ ⎯ ⎯ ⎯ ⎯
c ·a c ·b c ·c
⎯ ⎯
♦ ⎯ ⎯ ⎯ ⎯
a × (b × c ) ≠ (a × b) × c
Product of four vectors
a. Scalar product of four vectors
Scalar Product of Four Vector:
⎯ ⎯ ⎯ ⎯
⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ a .c a .d
⎯ ⎯ ⎯ ⎯
♦ ( a × b ) . ( c × d ) = ( a . c ) ( b . d ) − ( a . d ) ( b . c ) = ⎯ ⎯ ⎯
⎯
b .c b .d
b. Vector product of four vectors
Vector Product of Four Vector:
⎯ ⎯ ⎡ ⎯ ⎯ ⎤⎥ ⎯ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎯ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎯ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎯
♦ (⎯
a × b ) × (⎯
c × d ) = ⎢⎢⎣ ⎯
a b d ⎥⎦ c − ⎢⎣ a b c ⎥⎦ d = ⎢⎣ a c d ⎥⎦ b − ⎢⎣ b c d ⎥⎦ a
Reciprocal System of Vectors
a. Reciprocal system of vectors
Reciprocal System Of Vectors:
⎯ ⎯
If ⎯
a, b, ⎯
c and ⎯
a', b', ⎯
c ' are 2 sets of non coplanar vectors such that
⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯ ⎯
a · a' = b · b' = ⎯
c · ⎯
c ' = 1 and ⎯
a · b' = ⎯
a · ⎯
c ' = b · ⎯
a' = b · ⎯
c ' = ⎯
c · ⎯
a' = ⎯
c · b' = 0, then
⎯ ⎯ ⎯ ⎯
a, b, c and ⎯
a', b', ⎯
c are said to constitute reciprocal system of vectors.
♦ Reciprocal system of vectors exists only in the case of the dot product.
⎯ ⎯ ⎯ ⎯
⎯ ⎯
♦ It is possible to define a', b', c ' in terms of a, b, c as.
⎯ ⎯
b × ⎯
⎯
c × ⎯
⎯
⎯ c ⎯ a ⎯ a×b ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥
a' = ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ; b' = ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ; c ' = ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ( ⎢⎣ a b c ⎥⎦ ≠ 0)
⎢⎣ a b c ⎥⎦ ⎢⎣ a b c ⎥⎦ ⎢⎣ a b c ⎥⎦
⎡⎢ ⎯ ⎯ ⎯ ⎤⎥ ⎡ ⎯ ⎯ ⎤⎥ 1 ⎡ ⎯ ⎯ ⎤⎥ ⎡⎢ ⎯ ⎯ ⎯ ⎤⎥
♦ If ⎢⎣ a b c ⎥⎦ = V then ⎢⎢⎣ ⎯ a' b' c' ⎥⎦ = ⇒ ⎢⎢⎣ ⎯ a b c ⎥⎦ ⎢⎣ a' b' c ⎥⎦ = 1
V
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Solution of vector equation
a. Solution of vector equation
Solution Of Vector Equation:
There is no general method for solving such equations however, dot or cross with
⎯
⎯
known or unknown vectors or dot with a × b , generally isolates the unknown
vector. The use of linear combinations also proves to be an advantage.
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