VECTOR & 3-D

VECTOR & 3­D

VECTORS 1.6 Position Vector of A Point

1. VECTORS & THEIR REPRESENTATION Let O be a fixed origin, then the position vector of a point P is
G G
Vector quantities are specified by definite magnitude and definite the vector OP . If a and b are positive vectors of two points A
directions. A vector is generally represented by a directed line G G
and B, then, AB b  a = pv of B – pv of A.
segment, say AB . A is called the initial point and B is called
G G
If a and b are the position vectors to two points A and B then
the terminal point. The magnitude of vector AB is expressed
the p.v. of a point which divides AB in the ratio m : n is given by
by AB . G G G G
G na  mb a+b
: r . Note p.v. of mid point of AB =
mn 2
1.1 Zero Vector
2. ALGEBRA OF VECTORS
A vector of zero magnitude is a zero vector i.e. which has the
same initial & terminal point, is called a Zero Vector. It is
2.1 Addition of vectors
G
denoted by O . The direction of zero vector is indeterminate. G
G
If two vectors a & b are represented by OA & OB , then their
1.2 Unit Vector
G G
sum a  b is a vector represented by OC , where OC is the
G
A vector of unit magnitude in direction of a vector a is called diagonal of the parallelogram OACB.
G G G G G
G a “ a  b b  a (commutative)
unit vector along a and is denoted by â symbolically â G .
a
G G G G G G
“ a  b  c a  b  c (associativity)
1.3 Equal Vector
“ G G G G G
a 0 a 0a
Two vectors are said to be equal if they have the same magnitude,
direction & represent the same physical quantity. G G G G G
“ a  a 0 a a
1.4 Collinear Vector
2.2 Multiplication of a Vector by a scalar
Two vectors are said to be collinear if their directed line segments G G G
are parallel disregards to their direction. Collinear vectors are If a is a vector & m is a scalar, then m a is vector parallel to a
G
also called Parallel Vectors . If they have the same direction whose modulus is |m| times that of a . This is multiplication is
they are named as like vectors otherwise unlike vectors. G G
called Scalar Multiplication. If a & b are vectors & m, n are
G G
Symbolically, two non – zero vectors a and b are collinear if scalars, then :
G G G G G
and only, if a Kb , where K R – {0}. m a a m=m a
G G G
1.5 Coplanar Vector m(n a ) = n(m a ) = (mn) a
G G G
A given number of vectors are called coplanar if their line (m + n) a = m a + n a
segments are all parallel to the same plane. Note that “Two G G G G
m (a  b ) = m a + mb
Vectors Are Always Coplanar”.
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G G
3. TEST OF COLLINEARITY “ if a = a1ˆi + a 2 ˆj + a 3 kˆ and b = b1ˆi + b2 ˆj + b3 kˆ then
G G G G G
Three points A, B, C with position vectors a, b, c respectively a . b = a1 b1 + a2 b2 + a3 b3
are collinear, if & only if there exist scalar x, y, z not all zero
G G G G
simultaneously such that; xa  yb  zc 0 , where x +y +z =0 “ a a 12  a 22  a 32

4. TEST OF COPLANARITY G
“ b b12  b 22  b 23
G G G G
Four points A, B, C, D with position vectors a , b, c, d
respectively are coplanar if and only if there exist scalars x, y, z
w not all zero simultaneously such that
G G G G
xa  yb  zc  wd 0 where, x + y + z + w = 0 G G G G
(i) Maximum value of a . b a b
5. PRODUCT OF VECTORS
G G G G
(ii) Minimum values of a . b  a b
5.1 Scalar product of two vectors
G
(iii) Any vector a can be written as,
G G G G
“ a ˜b a b cos T (0 d TdS)
G G G G
a a ˜ î î  a ˜ ĵ ĵ  a ˜ k̂ k̂.
G G
note that if T is acute then a . b > 0 & if T is obtuse then (iv) A vector in the direction of the bisector of the angle
G G G G
a.b < 0 a b
G G
between two vectors a & b is aG  G .
G G G2 G G G G G b
“ a .a a a2, a . b b . a (commutative)
G G G G G G G Hence bisector of the angle between the two vectors
a˜ bc a ˜ b  a ˜ c (distributive)
G G
a & b is O â  b̂ , whereO R+.
G G G G
“ a.b 0 œa Ab
G G
Bisector of the exterior angle between a & b is
G G
az0bz0
O â  b̂ O R–{0}.
G G G G G G
“ (ma) . b a . (mb) m (a . b) (associative), where m is
scalar. 5.2 Vector product of two vectors

“ ˆi.iˆ = ˆj.jˆ = k.k

ˆ ˆ = 1; G G
“ If a & b are two vectors & T is the angle between them
G G G G
ˆˆ
i.j = ˆj.k
ˆ = k.i
ˆ ˆ=0 then a u b a b sin T n̂ , where n̂ is the unit vector
G G G G
G G perpendicular to both a & b such that a , b & n̂ forms
G G a.b
“ projection of a on b G a right handed screw system.
b
G G
“ Geometrically a u b = area of the parallelogram whose
G G G G
G G a.b two adjacent sides are represented by a & b
“ the angle I between a & b is given by cos I G G
a b G G G G G
“ a u b 0 œ a and b are parallel (collinear) (provided
G G G
0 dIdS G
a z 0, b z 0 ) i.e. a Kb , where K is scalar..
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G G G G 5.3 Scalar triple product

“ a u b z b u a (not commutative)

G G G G G G G G G
“ ma u b a u mb m a u b where m is scalar “ The scalar triple product of three vectors a , b & c is

defined as :
G G G G G G G
“ a u (b  c) (a u b)  (a u c) (distributive)
G G G G G G
aub.c a b c sin T cos Iwhere Tis the angle between
“ ˆi × ˆi = ˆj× ˆj = kˆ × kˆ 0
G G G G G
a & b & Iis angle between a u b & c
“ iˆ × ˆj =k,
ˆ ˆj × kˆ = ˆi, kˆ × ˆi ˆj
GGG
G G It is also defined as [a b c] , spelled as box product.
“ If a = a1ˆi +a 2 ˆj + a 3 kˆ and b = b1ˆi +b2 ˆj + b3 kˆ then
“ Scalar triple product geometrically represents the volume
ˆi ˆj kˆ of the parallelopied whose three coterminous edges are
G G
aub a1 a2 a G G G GGG
represented by a , b & c i.e. V [a b c]
b1 b2 b

“ In a scalar triple product the position of dot & cross can

G G
“ Unit vector perpendicular to the plane of a & b is be interchanged i.e.

G G G G G G G G GGG GGG GGG

aub a . (b u c) (a u b) .c Also [a b c] [b c a] [c a b]
n̂ r G G
aub
G G G G G G GGG GGG
a . (b u c ) a . ( c u b) i.e. [a b c] [a c b]
“ A vector of magnitude ‘r’ & perpendicular to the plane
G G
G G “ If a = a1ˆi + a 2 ˆj + a 3 kˆ ; b = b1ˆi + b2 ˆj + b3 kˆ and
G
of a and b is r r Ga uGb
G
aub
a1 a2 a
G GGG
G G c = c1ˆi + c2 ˆj + c3 kˆ then [a b c] b1 b2 b .
G a ub c1 c2 c
G
“ If T is the angle between a & b then sin T = G G
a b
G G G G G G G G
G G G In general, if a a1A  a 2 m  a 3n; b b1 A  b 2 m  b3n and
“ If a, b & c are the pv’s of 3 points A, B and C then the

1 G G G G G G a1 a 2 a
vector area of triangle ABC = [ a u b  b u c  cua ] . G G G G GGG G G G
2 c c1A  c 2 m  c3n then a b c b1 b 2 b ªA m nº ;
¬ ¼
G G G G G c1 c2 c
The point A, B & C are collinear if a u b  b u c  c u a 0
G G G G
“ Area of any quadrilateral whose diagonal vectors are d1 & where A, m & n are non coplanar vectors.

G 1 G G G G G G G G
d 2 is given by d 1 u d 2 “ a, b, c are coplanar œ ¬ª a b c ¼º = 0.
2
G “ Scalar product of three vectors, two of which are equal or
“ Lagranges Identity : for any two vector aG & b ;
parallel is 0.

G G G G
G G G2 G2 G G a .a a.b
( a u b) 2 a b  ( a . b) 2 G G G G
a .b b.b
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G G G
but b u c is a vector perpendicular to the plane containing b &
G G G G G G
c , therefore a u ( b u c ) is a vector lying in the plane of b & c

G G G GGG G G G G
If a, b, c are non-coplanar then [a b c] ! 0 for right and perpendicular to a . Hence we can express a u (b u c ) in

GGG
G G G G G G G
handed system & [a b c]  0 for left handed system. terms of b & c i.e. a u (b u c) = xb  yc where x and y are
scalars.
G G G G G G G G G
“ ªˆi ˆj kˆ º 1 “ a u (b u c) (a . c) b  (a . b) c
¬ ¼
G G G G G G G G G
GGG GGG (a u b) u c (a ˜ c) b  ( b ˜ c) a
“ [ K a b c] K [ a b c ]
G G G G G G
G G GG GGG GGG “ (a u b) u c z a u (b u c)
“ [(a  b) c d] [a c d]  [b c d]

“ The volume of the tetrahedron OABC with O as origin 6. LINEAR COMBINATIONS

G G G
& the pv’s of A, B and C being a , b & c respectively is G G G
Given a finite set of vector a , b, c, ..... then the vector
1 GGG G G G G G G G
given by V [a b c ] r xa  y b  zc  .... is called a linear combination of a , b, c, .....
6
for any x, y, z..... R. We have the following results :
“ The position vector of the centroid of a tetrahedron if the
G G
G G G G (a) If a , b are non zero, non-collinear vectors then
pv’s of its angular vertices are a , b, c, d are given by
G G G G
xa  yb x ' a  y' b Ÿx = x’ ; y = y’
1 G G G G
[a  b  c  d ].
4 G G
(b) Fundamental Theorem : Let a, b be non zero, non
Note that this is also the point of concurrrency of the
G G
lines joining the vertices to the centroids of the opposite faces collinear vectors. Then any vector Gr coplanar with a , b
and is also called the centre of the tetrahedron. In case the can be expressed uniquely as a linear combination of
tetrahedron is regular it is equidistant from the vertices and the G G
four faces of the tetrahedron. a , b i.e. There exist some unique x, y  R such that
G GG GG G G G G
“ Remember that : [a  b b  c c  a ] 0 & xa  yb r

G GG GG G GGG G G G
[a  b b  c c  a] 2 [a b c] (c) If a, b, c are non-zero, non-coplanar vectors then :

5.4 Vector triple product G G G G G G

xa  yb  zc x ' a  y' b  z' c Ÿx = xcy = ycz = zc
G G G G G G
Let a, b, c be any three vectors, then the expression a u ( b u c) G G G
(d) Fundamental Theorem in Space : Let a , b, c be non
is vector & is called vector triple product.
zero, non collinear vectors in space. Then any vector Gr
G G G
GEOMETRICAL INTERPRETATION OF a u ( b u c) can be uniquely expressed as a linear combination of
G G G G G G
Consider the expression a u ( b u c) which itself is a vector, since a , b, c i.e. There exist some unique x, y, z  R such that

G G G G G G G G G G
it is a cross product of two vectors a and (b u c) . Now a u ( b u c ) xa  yb  zc r.

G G G
is a vector perpendicular to the plane containing a and (b u c)
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G G G
(e) If x1 , x 2 .................. x n are n non zero vectors & k1, 7. RECIPROCAL SYSTEM OF VECTORS
k2,............kn are n scalars& if the linear combination G G G G G G
If a, b, c & a ' , b' , c' are two sets of non-coplanar vectors such
G G G
k 1 x 1  k 2 x 2  ......k n x n 0 Ÿ k1 =0, k2 =0,.......kn = 0 G G G G G G
that a ˜ a ' b ˜ b' c ˜ c' 1 then the two systems are called
G G G Reciprocal System of vectors.
then we say that vectors x1 , x 2 .................. x n are

Linearly Independent Vectors.

G G G
(f) If x 1 , x 2 .................. x n are not Linearly Independent then
G G G G G G
they are said to be Linearly Dependent vectors i.e. if bu c cua aub
a ' G G G ; b' G G G ; c ' G G G
G G G [a b c ] [a b c ] [a b c ]
k 1 x 1  k 2 x 2  ......k n x n 0 & if there exists at least one
G G G
kr z 0 then x 1 , x 2 .................. x n are said to be Linearly

Dependent.

G
(a) Work done against a constant force F over a
G G G G
displacement s is defined as W F . s
G
(b) The tangential velocity V of a body moving in a circle
G G G G G
“ If a = 3iˆ + 2jˆ + 5kˆ then a is expressed as a Linear is given by V w G
u r where r is the pv of the point P..

G
Combination of vectors ˆi, ˆj, kˆ . Also a ˆi, ˆj, kˆ form a

linearly dependent set of vectors. In general, every set of

four vectors is a linearly dependent system.

“ ˆi, ˆj, kˆ are Linearly Independent set of vectors. For

G G G
(c) The moment of F about ‘O’ is defined as M Gr u F
K1ˆi + K 2 ˆj + K3 kˆ = 0 Ÿ K1 = 0 = K2 = K3
G
where Gr is the pv of P wrt ‘O’. The direction of M is
G G G G G G
“ Two vectors a & b are linearly dependent Ÿ a is parallel along the normal to the plane OPN such that r , F & M
G G G G form a right handed system.
to b i.e. aG u b 0 Ÿ linear dependence of a & b .
G G G G G
G G (d) Moment of the couple ( r1  r2 ) u F where r1 & r2 are pv’ss
G
Conversely if aG u b z 0 then a & b are linearly G G
of the point of the application of the force F & – F .
independent.

G G G
“ If three vectors a, b, c are linearly dependent, then

G G G
they are coplanar i.e. [a, b, c] 0 conversely, if

G G G
[a, b, c] z 0 , then the vectors are linearly independent.