LESSON 2.

2
VECTORS AND UNIT VECTOR

Objective:
1. Define a vector and unit vector.
2. Determine the magnitude and direction of a vector
3. Present vector and unit vector graphically

2.4.1. Basic Aspects

In physical computations and analyses, we have to be aware of the difference between vector and scalar
quantities because the mathematical treatments are not the same. For example, we add scalar arithmetically but
we cannot do the same to vectors. Special methods are used which are discussed in the following sections.

2.4.2. Vector Representation

A vector quantity is usually represented by a straight line with an arrowhead at one end to show the direction
of the quantity. The length of the line is proportional to the magnitude of the quantity.

2.4.3. Vector Notations

Vectors are usually denoted with capital letters (except for special purpose vectors) written in boldface or
with special markings.

A or A, B or B, etc.

2.4.4. Vector Classification:

1. Co-linear vectors = vectors which lie along the same line or axis.
2. Co-planar vectors = vectors which lie on a single plane

2.4.5. Direction Specification

For coplanar vectors there are two common methods being used:
a. Using the angle θ that the vector makes with the “zero reference line”
Example is the graph of vectors A,B and C

B at 1500 y
A at 300
-x +x
C at 2150

The directions of vectors A, B and C could be defined as s follows:

If the “zero reference line” is the + x axis then
A is at 300 (counter clockwise) with respect to the +x axis
B is at 1500 (counter clockwise) with respect to the +x axis
C is at 2150 (counter clockwise) with respect to the +x axis
If the “zero reference line” is the -x axis then
B is at 300 (clockwise) with respect to the -x axis
C is at 350 (counter clockwise) with respect to the -x axis

b. Using the geographic directions

The direction is specified using the North (+y axis) , South (- y axis) , West(-x axis) and East (+x axis)
locations.

Physics for Engineers Lecture Module 1

 Examples are plotted vectors A, B, C and D:

C 45o Φ = 60o B
o
45 θ = 30o
W A E

D 20o
S
The directions of vectors A,B, C and D can be define as follows:
A is due East, E
B is 30o North of East (N of E) or 60o East of North (E of N)
C is due Northwest (NW)
D is 20o West of South (W of S)

2.4.6. Unit Vector Defined

Unit vectors are vectors of magnitude one (1) or unity and in any direction. For purpose of vector
operations, a special set of unit vectors are used. These are sometimes called the rectangular unit vectors
because they are mutually perpendicular to each other and they are along the coordinate axes.
i is a unit vector always directed along the x - axis
j is a unit vector always directed along the y – axis
k is a unit vector always directed along the z – axis
y
+j z
-k

-i +i x
+k -j

2.4.7. Components Of A Unit Vector

Many vector operations and analyses are carried out using their components. These are two or more
vectors which when added will give the original vector. For coplanar vectors (assumed to be on the xy-plane) it
is usually convenient to use two components which are perpendicular to each other: one along the x-axis is
called the x-component and the other one along the y-axis which is the called the y-component. These two
components are collectively called the rectangular components. A two-dimension vector can then be written as
a. A = Axi + Ayj with components at the x and y axes

Ay A
q
Ax x
where Ay = the y-component
Ax = the x-component
q = angle that the vector makes with the nearer side of the x-axis

Magnitude of the vector

A2 = Ax2 + Ay2

Direction of the vector

qx = tan-1 Ay/Ax

b. A = Ayj + Azk with components at the y and z axes

y

Ay z
A
q
Az

where Ay = the y-component

Az = the z-component
q = angle that the vector makes with the nearer side of the y-axis

Physics for Engineers Lecture Module 2

 Magnitude of the vector
A2 = Ay2 + Az2
Direction of the vector
qx = tan-1 Az/Ay

c. A = Axi + Azk with components at the y and z axes

z
Ax x
Az q
A

where Az = the z-component

Ax = the x-component
q = angle that the vector makes with the nearer side of the x-axis

Magnitude of the vector

A2 = Ax2 + Az2

Direction of the vector

q = tan-1 Az/Ax

Example: A vector has Ay = 3 units and Az = -2 units. Determine

a. the magnitude of the vector
b. the angles it makes with the axes. Show the diagram of the vector.

Solution:
a. The magnitude of the vector could be determined using the formula above for two component
vector and this would gives us
A =Ö[Ay2 + Az2] = Ö[(3)2+(-2)2]= 3.61 units
b. Direction could be determined using the corresponding formula for two component vector.
q = tan-1 Ay/Az = tan-1 (3/2) = 56.31o from z towards y axis

* note that the sign of the given components are not included in the computation of the direction
when tangent function is used.
The diagram is as shown: y

Ay=3 z
q=56.31o

Az = -2

For non-coplanar or spatial vectors, three components are used (which is why they also classified as
three dimensional vectors): the x-component, the y-component and the z-component. In unit vector form, A
vector can then be written as
A = Axi + Ayj + Azk
y

Ay qy A
qx
Ax x
qz

z
where Ax =x component of vector A = A cos qx
Ay = y component of vector A = A cos qy
Az = z component of vector A = A cos qz
A = magnitude of vector A
qx, qy, qz = angles the vector makes with the x, y, and z axes respectively.
`

Physics for Engineers Lecture Module 3

 Magnitude of the vector
A2 = Ax2 + Ay2 + Az2

Direction of the vector

qx = cos-1 Ax/A, qy = cos-1 Ay/A, qz = cos-1 Az/A

Example:
A spatial vector has Ax = 30 units, Ay = -50 units and Az = +20 units. Determine
c. the magnitude of the vector
d. the angles it makes with the axes. Show the diagram of the vector.

Solution:
c. The magnitude of the vector could be determined using the formula above for three component
vector and this would gives us
A =Ö [Ax2+Ay2 + Az2] = Ö[(30)2 + (-50)2+(20)2 ] = 61.64 units

b. Direction could be determined using the corresponding formula for three component vector.
qy = cos-1 Ay/A = cos-1 (-50/61.64) = 144.21o
qx = cos-1 Ax/A = cos-1(30/61.64) = 60.88o
qz = cos-1 Az/A = cos-1(20/61.64) = 71.07o
** the sign of the components are included in the computation of the direction when cosine function is used
y
Ax=30 x
Az=20 qx
qz

z Ay=-50 qy A

Physics for Engineers Lecture Module 4