This document provides information about 3-D vectors including:
1. Basic concepts of vectors such as notation, characteristics, addition and subtraction laws.
2. Components of vectors in 2-D and 3-D space including position vectors.
3. Dot/scalar product and its properties including applications to work done.
4. Cross/vector product and its properties including the determinant formula and applications.
1. BMM 104: ENGINEERING MATHEMATICS I Page 1 of 22
CHAPTER 3: 3-D SPACE VECTORS
Basic Concept of Vector
A vector is a quantity that having a magnitude/length (absolute) and a direction.
→ →
Notation: i. AB or a is vector
→ →
ii. AB or a is modulus/absolute value/length of the vector
→ →
BA is opposite to AB
→ →
BA = − AB
→ →
Meanwhile AB = BA .
Characteristics of vectors
2. BMM 104: ENGINEERING MATHEMATICS I Page 2 of 22
→ → → → → →
1. If AB is parallel to c , then AB = k c OR c = t AB where k and t are the
scalars or parameters.
→ →
2. If k < 0 OR t < 0 , then AB and c are in the opposite directions.
3. If k > 0 OR t > 0 , then they are in the same direction.
Example:
→ →
→ 1 →
i) AB = 2 c or c= AB
2
→
ii) 1→ or
→ →
AB = − d d = −2 AB
2
Addition Law of Vectors
→ → → →
Let c = AB , d = BC . Refer to below diagram.
→ → → → →
AC = AB + BC = c + d
→ →
If OA is the position vector for A and OB is the position vector for B then
→ → →
OA+ AB = OB
→ → → → → →
AB = OB − OA BUT AB ≠ OA −OB
→
Example: Find NS = ?
Components of Vectors
2-D Space
3. BMM 104: ENGINEERING MATHEMATICS I Page 3 of 22
i j
2 basic vectors : ~ and ~
They are also called unit vectors as i =1 and j =1
~ ~
→
Position vector of point A( a ,b ) is given by OA = a ~ + b j .
i
~
→
Absolute/ modulus OA = a 2 + 2
b by Pythagoras Theorem
Example:
→
i) OA = −3 i + 4 j
~ ~
→
OA = 9 +16 =5
3-D Space
4. BMM 104: ENGINEERING MATHEMATICS I Page 4 of 22
o All the x-axes, y-axes are perpendicular to each other.
o There are 3 basic vectors: i , j , k .
~ ~ ~
o They are all unit vectors that parallel to the axes respectively and thus they also
perpendicular to each other.
a
→
Position vector of A( a ,b , c ) is OA = a ~ + b j + c k = ( a ,b , c ) = b and
i
~
~
c
→
Length is OA = a 2 + 2 + 2
b c
3
→ →
Example: Given OA = 4 . Find OA =?
6
Addition of vectors for 3-D Space
→ →
The sum of two vector OA = ( a1 , a 2 , a 3 ) and OB = ( b1 ,b2 ,b3 ) is the vector formed by
adding the respective component;
5. BMM 104: ENGINEERING MATHEMATICS I Page 5 of 22
→ →
OA+ OB = ( a1 + b1 , a 2 + b2 , a 3 + b3 )
Subtraction of vectors for 3-D Space
→ →
The subtraction of two vectors OA = ( a1 , a 2 , a 3 ) and OB = ( b1 ,b2 ,b3 ) is the vector
formed by adding the respective component;
→ → →
AB = OB − OA
→ →
OB − OA = ( b1 − a1 ,b2 − a 2 ,b3 − a 3 )
Example: Given A( −1,1,4 ) , B ( 8 ,0 ,2 ) and C ( 5 ,− ,11) . Find
2
→
(i) OA
→
(ii) OB
→
(iii) OC
→
(iv) AB
→
(v) AC
→
(vi) AB
→
(v) AC
→
Unit Vector v~
in the Direction of v
→
→
→
v
v=
~
→
→
is a unit vector in the direction of v .
v
6. BMM 104: ENGINEERING MATHEMATICS I Page 6 of 22
− 1
→ →
Example: Given v = 2 . Find unit vector in the direction of v ?
3
Dot/ Scalar Product
→ →
Notation for Dot product: a • b ∈ ℜ
→ →
The dot product of a = ( a1 , a 2 , a 3 ) and b = ( b1 ,b2 ,b3 ) is the real number a • b obtained
→ →
by
→ → →→
a• = a
b b cos θ
where θ is the angle between a and b and 0 ≤ θ ≤ π .
→ →
When we measuring angle between two vectors, the vectors must have the same initial
point.
→ → → →
Example: (i) Given a =6 and b =7. Find a • b .
→ →
= and θ =
π → →
(ii) Given a =5 and b 4 . Find a • b .
4
7. BMM 104: ENGINEERING MATHEMATICS I Page 7 of 22
Example:
i • i = i i cos 0
~ ~ ~ ~
i • i = 1 ×1 ×1 = 1
~ ~
Important:
(a) j• j = k • k = i • i = 1
~ ~ ~ ~ ~ ~
(b) i• j = i
~ ~ ~
j cos 90
~
(c) i• j = 1×1×0 = 0
~ ~
(d) i • j = 0 = i • k = j• k
~ ~ ~ ~ ~ ~
.
→ →
→ →
If a ⊥ b then a • b = a b cos 90 = 0 .
~ ~
Note:
8. BMM 104: ENGINEERING MATHEMATICS I Page 8 of 22
~ ~ → →
(i) If a• b = 0 then a ⊥ b
→ → → →
(ii) a× b ≠ b× a
Properties of the dot product
→ → → →
a) a• b = b• a : Cumulative
→ → → → → →
b •a = b a cos θ=a •b
→
→ → → → → →
b) a •b + c = a • b + a • c
: Distributive
→ → → → → →
c) k a • b = k a • b = a •k b
Example:
5 8
→
→ → →
Finding angle between the vectors a = 3 and b = − 9 given that a • b = −9 .
− 2 11
Formula to compute scalar product
a1 b1
→ →
a • b = a 2 • b2
a b
3 3
→ →
a • b = a1b1 + a 2 b2 + a 3 b3
3 − 2
→→ → → → →
Example: Given a = 4 and b = 6 . Verify a • b = b • a .
− 1 3
Remark: By using addition law of vectors and the law of cosine, it can be showed that
→ →
a b + b + b = a b cos θ.
a 1 a
1 2 2 3 3
→
→ →
Component of a in the direction of n : Denoted as comp n a →
9. BMM 104: ENGINEERING MATHEMATICS I Page 9 of 22
OQ
cos θ =
OP
OQ = OP cos θ
a cos θ
→
=
→ →
OQ is called component of vector a in the direction of n
→
OQ = Comp→ a
n
= OP cos θ
= a cos θ
→
^
n=1
→ ^
= a cos θ ⋅ n since
~
~
By the definition of product
→ → ^
comp → a = a • n
n ~
Example:
Find
2 1
→ →
→
(i) comp → a given a = 1 and n = 1 .
n
1 1
10. BMM 104: ENGINEERING MATHEMATICS I Page 10 of 22
2 1
→ → →
(ii) comp → a given a = − 1 and n = 1 .
n
−7 1
Application of Dot Product : WORK DONE
Work done = Magnitude of force in the direction of motion times the distance it travels
= F cos θPQ
→ →
→ →
W =F •PQ
1
→
Example: A force F = − 2 causes a body to move from P (1,− ,2 ) to Q (7 ,3 ,6 ) .
1
3
Find the work done by the force.
Vector/ Cross Product
→ →
Definition: a×b is defined as a vector that
→ → → →
1. a×b is perpendicular to both a and b .
→ → → → → →
( a× b ) • a = 0 and ( a× b ) • b = 0
11. BMM 104: ENGINEERING MATHEMATICS I Page 11 of 22
→ → → →
2. Direction of a×b follows right-handed screw turned from a to b
→ → → →
b× a = − a× b
b sin θ
→→
→ →
3. Modulus of a×b is a
Remarks:
a sin θ
→→
→ →
Modulus of b×a is therefore b
→ → → →
a× b ≠ b× a
→ → → → → → → →
a× b = − b × a or b× a = − a× b
12. BMM 104: ENGINEERING MATHEMATICS I Page 12 of 22
→ →
a×b ∧
=e
Unit Vector : → →
a×b
~
→ → → → ∧ → → ∧
a×b = a×b e = a b sin θ e
~ ~
4. i× i = 0 j× j = 0 k× k = 0
~ ~ ~ ~ ~ ~
i× j = i
~ ~ ~
j sin 90 k =k
~ ~ ~
and ~ ~ ~ ~
( )
j×i = j i sin 90 −k = −k
~ ~
Similarly, j× k = i and k× j = −i
~ ~ ~ ~ ~ ~
k× i = j and i× k = − j
~ ~ ~ ~ ~ ~
→ →
Determinant Formula for a×b
13. BMM 104: ENGINEERING MATHEMATICS I Page 13 of 22
i j k
→ → ~ ~ ~
a× b = a1 a2 a3
b1 b2 b3
a2 a3 a1 a3 a1 a2
= i− j+ k
b2 a3 ~ b1 b3 ~ b1 b2 ~
= ( a 2 b3 − a 3 b2 ) i − ( a1b3 − a 3 b1 ) ~ + ( a1b2 − a 2 b1 ) k
~
j
~
3
→ → → → →
→
→ →
→
Example: Find a×b , b×a and verify that a× b = −b× a given a = − 4 and
2
9
→
b = −6 .
2
Applications of Cross Product
1. The moment of a force
→ →
A force F is applied at a point with position vector r to an object causing the object to
rotate around a fixed axis.
14. BMM 104: ENGINEERING MATHEMATICS I Page 14 of 22
As the magnitude of moment of the force at O is
M 0 = F • d = ( Magnitude of force perpendicular to d ) × (Magnitude of displacement)
→ → → →
Thus we have M 0 = F sin θ• r = r×F
Therefore we define the moment of the force about O as the vector
→ → →
M 0 = r×F
→ → → → →
As r×F =r F sin θ= M 0 =M 0
→
The magnitude, M0 , is a measure of the turning effect of the force in unit of Nm.
2
→
Example: Calculate the moment about O of the force F = 3 that is applied at the point
1
with position vector 3j. Then calculate its magnitude.
2. Calculate the area of a triangle
15. BMM 104: ENGINEERING MATHEMATICS I Page 15 of 22
By the sine rule:
1 1 → →
Area of ∆ABC = 2 bc sin A = 2 AC× AB
1 1 → →
= 2 ac sin B = 2 BC× BA
1 1 → →
= 2 ab sin C = 2 CB×CA
Example: Find area for a triangle with vertices A(0 ,7 ,1) , B (1,3 ,2 ) and C ( − 2 ,0 ,3 ) .
Equations (Vector, parametric and Cartesian equations) of a line
16. BMM 104: ENGINEERING MATHEMATICS I Page 16 of 22
x v1
→ → →
Let r ( t ) = OP = y and v = v 2 as a vector that parallel to the line L.
z v
3
→ → → →
As P0 P // v thus P0 P = t v , t is a parameter (scalar).
By the addition law of vectors, we obtain
→ → →
OP = OP 0 + P0 P
i.e. the vector equation of a line passing through a fixed point P0 and parallel to a vector
→ → → →
v is r ( t ) = OP 0 + t v .
x a v1
y = b + t v2
z c v
3
x a + tv1
y = b + tv 2
z c + tv
3
⇒ x = a + tv1 , y = b + tv 2 , z = c + tv 3 are the parametric equations of L.
x −a y −b z −c
⇒ = = is the Cartesian equation of L.
v1 v2 v3
17. BMM 104: ENGINEERING MATHEMATICS I Page 17 of 22
Example: Find the vector equation of line passes through A( 3,2 ) and B(7 ,5 ) .
Example: Find Cartesian equation of line passes through A( 5 ,− ,3 ) and B ( 2 ,1,− ) .
2 4
Equation (Vector and Cartesian equations) of a plane
n1 x n1 a
Vector equation: n2 • y = n2 • b
n z n c
3 3
Cartesian equation: n1 x + n 2 y + n 3 z = n1 a + n 2 b + n 3 c
Remark: In general, Ax + By + Cz = D OR Ax + By + Cz = 1 is the Cartesian equation of a
A
plane with a normal vector B .
C
18. BMM 104: ENGINEERING MATHEMATICS I Page 18 of 22
Example: A plane contains A(1,0 ,1) , B ( − 2 ,5 ,0 ) and C ( 3 ,1,1) . Find the vector and
Cartesian forms of the equation of the plane.
→ →
AB = −3 i + 5 j − k and AC = 2 i + j
~ ~ ~ ~ ~
Distance From A Point to A Line and to A Plane
Distance From A Point to A Line
→ → →
Distance, d, from a fixed point P to a line: r ( t ) = OA+ t v where A is a point on the line
→
and v is a vector parallel to the line is given by
→ → ∧ → ∧
d = AP sin θ = AP v sin θ = AP×v
~ ~
1−t
→
Example: Find the distance from point ( 4 ,3 ,2 ) to the line L : r ( t ) = 2 + 3t .
3 +t
Distance From A Point to A Plane
19. BMM 104: ENGINEERING MATHEMATICS I Page 19 of 22
→ → → →
Distance, D, from a fixed point P to a plane n • r = n • OA where A is a point on the plane
→
and n is a normal vector to the plane is given by
→
→ → ∧ ∧
D = AP cos θ = AP n cos θ = AP •n .
~ ~
Example: Find the distance from point ( 4 ,− ,3 ) to the plane x + 3 y − 6 z = 9 .
3
PROBLEM SET: 3-D SPACE VECTORS
1. Points P , Q and R have coordinates ( 9 ,1,0 ) , ( 8 ,− ,5 ) and C ( 5 ,5 ,7 )
3
respectively. Find
(a) the position vectors of P, Q and R.
→ →
(b) PQ and QR .
20. BMM 104: ENGINEERING MATHEMATICS I Page 20 of 22
→ →
(c) PQ and QR .
2. A triangle has vertices A(1,3 ,2 ) , B ( −1,5 ,9 ) and C ( 2 ,7 ,1) respectively.
Calculate the vectors which represent the sides of the triangle.
→ → → → → →
3. Find a • b and verify that a • b = b • a if
2 3 1 3
→ → → →
(a) a = − 5 , b = 2 (b) a = 8 , b = − 2
0 0 7 5
4. (a) Find the component of the vector 2 ~ + ~ + 7 k in the direction of the vector
i j
~
i + j+ k .
~ ~ ~
(b) Find the component of the vector 7 ~ + 2~ j − k in the direction of the vector
i
~
i − j+ 2 k .
~ ~ ~
→
5. A force F = 3 i + 7 k causes a body to move from point A(1,1,2 ) to point
~ ~
B (7 ,3 ,5 ) .
Find the work done by the force.
3 5
→ → → →
6. (a) If a = 2 and b = − 1 , find a×b .
− 1 − 1
→ → → →
(b) Verify that a× b = −b× a .
7. (a) Find the area of the triangle with vertices P (1,2 ,3 ) , Q( 4 ,− ,2 ) and
3
R ( 8 ,1,1) .
→
(b) A force F of magnitude 2 units acts in the same direction of the vector
3 i − 2 j + 4 k . It causes a body to move from point S ( −2 ,− ,− ) to
3 4
~ ~ ~
point T (7 ,6 ,5 ) . Find the work done by the force.
8. Find the vector equation of the line passing through
(a) A( 3 ,2 , ) and B ( −1,2 ,3 ) .
7
→ →
(b) the points with position vectors p = 3 i + 7 k − 2 k and q = −3 ~ + 2 j + 2 k .
i
~
~ ~ ~ ~
Find also the cartesian equation of this line.
21. BMM 104: ENGINEERING MATHEMATICS I Page 21 of 22
1
(c) ( 9 ,1,2 ) and which is parallel to the vector 1 .
1
9. Given A( 9 ,1,1) , B ( 8 ,1,1) and C ( 9 ,0 ,2 ) . Find
(a) the area of the triangle ABC.
(b) the Cartesian equation of the plane containing A, B and C.
4 −t
→
10. (a) Find the distance from point (6 ,3 ,5 ) to the line L : r ( t ) = − 3 + 2t .
2 + 5t
(b) Find the distance from point ( 4 ,− ,6 ) to the plane 2 x − 4 y + 3 z = 8 .
3
−7
→
11. (a) Find the distance from A( 2 ,1,− ) to the plane 5 • r ( t ) = 10.
3
6
y +4 z −3
(b) Find the distance from point B (6 ,3 ,− ) to the line L :
5 = ,x = 5
3 2
.
ANSWERS FOR PROBLEM SET: 3-D SPACE VECTORS
9 8 5
→ → →
1. (a) OP = 1 , OQ = − 3 , OR = 5
0 5 7
−1 − 3
(b) − 4 , 8 (c) 42 , 77
5 2
− 2 3 1
→ → →
2. AB = 2 , BC = 2 , AC = 4
7 − 8 − 1