Scalar and vector magnitudes

Scalar magnitude:
physical magnitude that is completely defined by a scalar
Vector magnitude:
physical magnitude that needs to be defined, in addition to a
scale, a direction and a sense.

Scalar magnitudes: Vector magnitudes:

Speed (2i3j1k) + r
r + r m/s
Temperatura (23 ºC) r
Force (2k)N
Dough (10 g)
Time (5 s)
Length (15 mm)

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 Scalar and vector magnitudes

scalar magnitudes
Pressure
density
dough
time
electric potential
vector magnitudes electric charge
•...

force
speed
moment of a force
acceleration
position vector
amount of motion
•...

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Vector algebra

Properties of vectors

Vector: directed segment in space

through an arrow that allows representation
a vector magnitude
module: its length expresses the measurement
of the magnitude that it represents.
direction: that of the line over which it
find (line of action).
•meaning: it is indicated with the tip of the arrow.

vr

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 Vector Algebra

Free vector: can Types of vectors

to move parallel to itself
same (speed of a) Slippery vector:
body in motion can move to
length of its line of r
rectilinear F
action (applied force
with a rope
r
v
r
v rv
r
v r
F
r
r v
v

r
r F
Fixed vector: the origin is F
applied at a fixed point
(force that produces a
turn)
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Vector Algebra

Properties of vectors

Product of a vector by a scalar (a>0)

[Link]
Same address and direction
Module multiplied by
avr

vr Unit vector

Same direction and sense

vr
Unit module
ur v
vr
ur v
vr

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Vector Algebra

Sum of vectors

sum of two vectors:

resultant vector of joining
the origin of the first with
the end of the second to
put them one by one
ar continuation of the other.

r
b

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Vector Algebra

Sum of vectors

Triangle rule
sum of two vectors:
resultant vector of joining
the origin of the first with
the end of the second to
place them one by one
ar r br
a+ ar continuation of the other.

r
b

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Vector algebra

Sum of vectors

Parallelogram Rule
sum of two vectors:
the diagonal of
obtained parallelogram
when putting both vectors
with the common origin.
ar r br
a+

ar
r
b

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Vector algebra

Sum of vectors

Of various vectors
c
r
b
c

ar r
b

ar
a+ b+ c

sum of several vectors: they are placed one after the other, with the
same direction. The sum is a vector with origin at the first and end at
the last.
It can also be done in pairs, that is, two are added and the result,
with the third and the new result with the next, and so on.
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 Vector algebra

Vector subtraction

Difference of two vectors: to subtract from a vector

(minuend) another vector (subtrahend), is added to vector a
opposite vector ab.

d ab a + (b)

r
b
ar ar
d

b

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 Vector algebra

Dot product of two vectors

Dot product:
scalar product of the
modules by the cosine
of the angle formed a
the two vectors ar
r
b

r r
a·b
r
ar · b c o s a

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 Vector Algebra

Dot product of two vectors

Scalar product:
dot product of the
modules by the cosine
of the angle formed a
the two vectors ar
r
b
Special cases:
r r r ra·acos0 r
acosa
a·a a 2

ar
r rr 0
b a·b r r
a·b
r
ar · b c o s a

ur v

ur v·urv 1
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 Vector algebra

vector product Cross product of two vectors

it is a vector
r
module the product ar b
of the modules by the
sine of the angle that r
b
they form the two
vectors, direction a
normal to the plane that r
forman, and I feel the ar b
What are the three doing?
vectors a tetrahedron
to the right, going ar
from the first to the
second for the
shorter path.
Rule of the hand
right or forward a b a·b sina
of a screw

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Vector algebra

Cross product of two vectors

a hundreda a b area
a
ar
r
b
Special cases:

a a a·a sen00 0

ur v a b a·b sena

ur v ruv 0

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Vector algebra
Resumen
sum
r br ar
a·vr a+
product by r
b
a scalar
r
b
r
vr ar b

scalar product ar

vector product
a
ar a b a·b sena
r
b
r r
a·b
r
ar · b c o s a
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Vector algebra

Reference system

reference system
Z
right-handed orthonormal
represent by means of three
rays originating from the point
O, origin of the system, and axes
OX, OY and OZ

Z Y
O Y

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Vector algebra

Reference system

Z
coordinates of a
· point in a system of
reference (x, y, z) are
the values of the three
(x,y,z) projections about the
z three axes: on the
x-axis, and about the axis
OY about the OZ axis.
y
O Y
x

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Vector algebra

Components of a vector

The components of a
Z
vector in a system
the references are the
coordinates of the point
end of the vector to
put the origin of the
vz vector at the origin of the
vr reference system
(vx,vy,vz)
(vx, vy, vz).
vz
O Y
vx vy
vx
vy
X The modulus of a vector is
can calculate from
vr vx2+ v 2y+ vz2
its components such as:
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Vector algebra

Coenos directors

Choose us directors
they are the cosines of the
anglesa, bygwhat
vz form the vector with
g vr the axes of the system
(vx,vy,vz)
for reference.
b
O Y
vx a vy
r
v x vcosa
r
v y vcosb
X r
v z vcosg
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Vector Algebra

Unit vectors

Z
The unitarians in the
positive sense of the
axes of a system of
reference,i,j,k,are
the vectors that
r they form the base
k orthogonal of the system
r
j for reference.
O Y
ir ir I
rj j
X r
k k
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Vector algebra

Unit vectors

Z
scalar product
ri·ir r r1i·j
r r
0i·k 0
r r
a·b
r
ar · b c o s aj·ir r r0j·j
r r 1j·k 0 r
r r rr
k ·ri 0k·j r0k·k 1
r
k
r
j
O Y
ir vector product
ri r r
ir 0i j r k r i k r  j r
r r r ri  k r j r j r 0j k r i r r
X ar b arb s i n t h e aj
r r r r
k ir j r k j r I r k k 0
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Vector Algebra

Components of a vector

A vector can be
Z express in function of
its components and of
unit vectors
of the system of
referencia como la
sum of three vectors
vr in the addresses of
(vx,vy,vz) the same
r v r
vy j zk
O Y
vx rI
r r r
vr vxI+ v yj+ vz k
 r
rv X vr cosai+ r
cosbj+ cosgk
r

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Vector Algebra

Components of the unit vector

Z
The components
of unit vector
of a vector are the
our directors
from the vector (cosa,
vr cosb, becauseg)
(vx,vy,vz)
ur v
O Y

vr  r
rv cosai+ r
cosbj+ cosgk
r

vr r r r
ur v
X
cosaI+ cosbj+ cosgk
vr
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Vector Algebra

Vector between two points

Z
r a j+r a k r
OA axI+ y z
A(ax,y,az)
r b j r+ b k r
OB bxi+
AB y z

OA
B(bx,by,bz)
O OB
Y

r a)j+ (b a)kr r

AB OB OA (bx a)i+x (b
X y y z z

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 Vector Algebra

Component operations
sum
ar r br r a j r+ a k r  +  b ri+ b jr+ b kr 
r br
a+ a+  a i+ x y z
x
y z

 r a y+ b yj+ azr+ bz k r
a x + bxi+
r
b    
scalar product
a r r
a·b r a j+r a k r   b i+
 a i+ ·
r b k r
r b j+
ar x y z x y z
r
b a x .bx+ a y·b y+ a z·bz
   
vector product
a
b a b  a i+ a
x
j+
y  
a k z b i+ bx j+ by k z 
a
I jk
axa yaz

ar
r
b
bxbybz
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 Vector algebra

Determinants

a11a12a13
b21b22b23  a 11b 22c+33 a b12 c+ a b c13 21 32 
23 31

c31c32c33  a b13 c+ a b c+
22 31
a b c 12 21 33 
11 23 32

vector product
ra rb  a i+r a j+r a k r   b ri+ b j+r b k r 
x y z
x
y z
r r r
i jk
r a
b a xa ya z
ar bxbybz

 a b a b
y z
i+ a b a bz xj+ ax bza b k
z y
x y
y x

r
ar b
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Geometry and trigonometry

Sine and cosine of an angle Pythagorean Theorem

a
c
a

b
c b
youa cosa
a a

Tangent of an angle

youac a c In a right triangle, the

tga
cosaa b b The square of the hypotenuse is equal to the
sum of the squares of the legs
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Geometry and trigonometry

Cosine theorem

In every triangle, the

square of a side is
equal to the sum of the
squares of the others
two, minus double
product of both by
the cosine of the angle
understood.

a2 b 2+ c 2 2b·c·cos(A)

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Geometry and trigonometry

Sine theorem

In every triangle, the

ratio between the sine of
one of its angles and
the opposite side is the
same for its three
angles

sen(A)sen(B)sen(C)
a b c

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 Derivation

Derivative of a function

f(t) f(t+ Dt)

f(t) Df

t
Dt t
The derivative of a
function at a point
df(t) Df it is the slope of
lim tg a the tangent line to
dt Dt 0 Dt the curve in that
dot.

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 Derivation

Z Derivative of a vector function

Dvx vx(t+ Dt) vx(t)
Dv y v y(t+ Dt) v y(t)
r rv(t+Dt) v(t)
Dv r Dvz vz (t+ Dt) vz (t)
r
v(t)
r j+Dv
r xi+Dv r k r
DvDv y x
r
v(t+ Dt)
O Y
r
dv(t) r
Dv Dvx r Dvry Dvz r
dt lim
Dt 0 Dt lim
Dt 0 Dt
i+ lim
Dt 0 Dt
j+ lim
Dt 0 Dt
k
X
The derivative of a
vector function is a
r
dv(t)dv dv(t)
x (t) dvz (t) r
i+ j+ kr r
y component vector
the derivative of the
dt dt dt dt components.

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 Integration

Indefinite integral of a function

f(t)

t
dF(t)
yesF (t) f(t) f(t)dt F(t)+ C
dt
The integral
indefinite is equal to
the primitive of the
function.
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 Integration

Indefinite integral of a function

f(t)

t
INTEGRALS
from the database
n x n+1 b+ a dx a.b+ C
Ax ·dx A+ C
n +1 dx dx
A Alnx+ C 1
·dx e ax ·dx e ax+ C
x a
1 1
cos t·dt you t+ C you t·dt  cos t+ C
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 Integration

Definite integral of a function

f(t) f(ti)
f(ti)Dt

t1 ti
Dt
t2 t
i n t2 The definite integral
t of a function is
f(t)dt limDt 0 f(ti)Dt equal to the area
t1 2
i 1 t1 defined under the
curve (in green).
t
f(t)dt F(t 2)  F(t 1 ) BARROW'S RULE
t1 2
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 Vector algebra

Moment of a vector
regarding a point O

r
M
r
M OP rv
O

vr

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