VECTOR THEORY I
Module 4
The dot product, cross product,
and triple product
Module Learning Outcomes
• Solve problems involving scalar products.
• Solve problems involving vector products.
Introduction
Vector analysis is a mathematical tool with which
many engineering concepts are most conveniently
expressed and best comprehended.
We must learn its rules and techniques before we
can confidently apply it.
This module introduces the basic concepts of vector
algebra in Cartesian coordinates only.
SCALARS AND VECTORS
• A quantity can be either a scalar or a vector.
• A scalar is a quantity that is completely specified
by its magnitude. Quantities such as time, mass,
distance, temperature, entropy, electric potential,
and population are scalars.
• A vector has not only magnitude, but direction in
space. Vector quantities include velocity, force,
momentum, acceleration displacement, and
electric field intensity.
SCALARS AND VECTORS
To distinguish between a scalar and a vector it is
customary to represent a vector by a letter with an
arrow on top of it, such as
𝐴റ and 𝐵
or by a letter in boldface type such as
A and B.
A scalar is represented simply by a letter—
for example, A, B, U, and V.
UNIT VECTOR
• A unit vector aA along 𝐴റ is defined as a vector whose
റ that
magnitude is unity (i.e., 1) and its direction is along 𝐴;
is
𝐴റ 𝐴റ
𝑎𝐴 = =
𝐴 𝐴
𝐴 - the magnitude of vector 𝐴റ
𝑎𝐴 ℎ𝑎𝑠 𝑎 𝑚𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑜𝑓 𝑢𝑛𝑖𝑡𝑦 𝑖. 𝑒. , 1
∴ 𝐴റ = 𝐴𝑎𝐴
• Note: 𝐴റ is specified in magnitude by A and direction by 𝑎𝐴 .
VECTOR REPRESENTATION
In Cartesian coordinate
(rectangular), 𝐴റ is represented as:
𝐴𝑥 , 𝐴𝑦 , 𝐴𝑧 or ൫𝐴𝑥 𝑎𝑥 + 𝐴𝑦 𝑎𝑦 +
THE MAGNITUDE OF A VECTOR
The magnitude of 𝐴റ is represented as:
𝐴റ = 𝐴2𝑥 + 𝐴2𝑦 + 𝐴𝑧2
The unit vector along 𝐴റ is given by:
𝐴𝑥 𝑎𝑥 + 𝐴𝑦 𝑎𝑦 + 𝐴𝑧 𝑎𝑧
𝑎𝐴 =
𝐴2𝑥 + 𝐴2𝑦 + 𝐴𝑧2
VECTOR ADDITION AND SUBTRACTION
Two vectors 𝐴റ and 𝐵 can be added together to give
another vector 𝐶.റ The addition of the vectors is done
component by component:
For example:
𝐴റ = 𝐴𝑥 , 𝐴𝑦 , 𝐴𝑧 ; 𝐵 = 𝐵𝑥 , 𝐵𝑦 , 𝐵𝑧
Thus
𝐶റ = 𝐴𝑥 + 𝐵𝑥 𝑎𝑥 + 𝐴𝑦 + 𝐵𝑦 𝑎𝑦 + 𝐴𝑧 + 𝐵𝑧 𝑎𝑧
VECTOR ADDITION AND SUBTRACTION
Two vectors 𝐴റ and 𝐵 can be subtracted from each
together to give another vector 𝐷. The subtraction of
the vectors is done component by component:
For example:
𝐴റ = 𝐴𝑥 , 𝐴𝑦 , 𝐴𝑧 ; 𝐵 = 𝐵𝑥 , 𝐵𝑦 , 𝐵𝑧
𝐷 = 𝐴റ − 𝐵 = 𝐴റ + −𝐵
Thus
𝐷 = 𝐴𝑥 − 𝐵𝑥 𝑎𝑥 + 𝐴𝑦 − 𝐵𝑦 𝑎𝑦 + 𝐴𝑧 − 𝐵𝑧 𝑎𝑧
OTHER LAWS OBEYED BY VECTORS
Commutative Law:
𝑨+𝑩=𝑩+𝑨
𝑘𝑨 = 𝑨𝑘
Associative Law:
𝑨 + 𝑩 + 𝑪 = (𝑨 + 𝑩) + 𝐶
𝑘(𝑙𝑨) = (𝑘𝑙)𝑨
Distributive Law:
𝑘 𝑨 + 𝑩 = 𝑘𝑨 + 𝑘𝑩
𝑘(𝑙𝑨) = (𝑘𝑙)𝑨
𝑁𝑜𝑡𝑒: 𝑘 𝑎𝑛𝑑 𝑙 𝑎𝑟𝑒 𝑠𝑐𝑎𝑙𝑎𝑟𝑠
VECTOR MULTIPLICATION
When two vectors A and B are
multiplied, the result is either a scalar
or a vector depending on how they are
multiplied. Thus there are two types of
vector multiplication:
1. Scalar (or dot) product: A . B
2. Vector (or cross) product: A × B
VECTOR MULTIPLICATION
Multiplication of three vectors A, B, and C
can result in either:
3. Scalar triple product: A . 𝐁 × 𝐂
or
4. Vector triple product: A× 𝐁 × 𝐂
DOT PRODUCT
The dot product of two vectors A and
B, written as A . B, is defined
geometrically as the product of the
magnitudes of A and B and the cosine
of the smaller angle between them
when they are drawn tail to tail.
𝑨. 𝑩 = 𝐴𝐵𝑐𝑜𝑠𝜃𝐴𝐵
𝜃𝐴𝐵 - smaller angle between A and B
DOT PRODUCT
When
𝑨 = 𝐴𝑥, 𝐴𝑦, 𝐴𝑧
𝑩 = 𝐵𝑥, 𝐵𝑦, 𝐵𝑧
𝑨. 𝑩 = 𝐴𝑥 𝐵𝑥 + 𝐴𝑦 𝐵𝑦 + 𝐴𝑧 𝐵𝑧
Two vectors A and B are said to be orthogonal
(or perpendicular) with each other if A.B = 0.
DOT PRODUCT
Note also:
1. Commutative law: 𝑨. 𝑩 = 𝑩. 𝑨
2. Distributive law: 𝑨. 𝑩 + 𝑪 =
𝑨. 𝑩 + 𝑨. 𝑪
2 2
3. 𝑨. 𝑨 = 𝑨 = 𝐴
4. 𝒂𝒙 . 𝒂𝒚 = 𝒂𝒚 . 𝒂𝒛 = 𝒂𝒛 . 𝒂𝒙 = 𝟎
5. 𝒂𝒙 . 𝒂𝒙 = 𝒂𝒚 . 𝒂𝒚 = 𝒂𝒛 . 𝒂𝒛 = 𝟏
CROSS PRODUCT
The cross product of two vectors A and B,
written as A×B, is a vector quantity whose
magnitude is the area of the parallelogram
formed by A and B and is in the direction of
advance of a right-handed screw as A is
turned into B.
𝑨 × 𝑩 = 𝐴𝐵𝑠𝑖𝑛𝜃𝐴𝐵 𝑎𝑛
𝒂𝒏 - unit vector normal to the plane containing
A and B
CROSS PRODUCT
If
𝑨 = 𝐴𝑥 , 𝐴𝑦 , 𝐴𝑧
𝑩 = 𝐵𝑥 , 𝐵𝑦 , 𝐵𝑧
Then,
𝑎𝑥 𝑎𝑦 𝑎𝑧
𝑨 × 𝑩 = 𝐴𝑥 𝐴𝑦 𝐴𝑧
𝐵𝑥 𝐵𝑦 𝐵𝑧
= 𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 𝑎𝑥 − (𝐴𝑧 𝐵𝑥 −
CROSS PRODUCT
The cross product has the following properties:
1. It is not commutative:
𝑨×𝑩≠𝑩×𝑨
2. It is anti-commutative:
𝑨 × 𝑩 = −𝑩 × 𝑨
3. It is not associative:
𝑨× 𝑩×𝑪 ≠ 𝑨×𝑩 ×𝑪
4. It is distributive:
𝑨× 𝑩+𝑪 =𝑨×𝑩+𝑨×𝑪
5. Scaling:
𝑘𝑨 × 𝑩 = 𝑨 × 𝑘𝑩 = 𝑘 𝑨 × 𝑩
CROSS PRODUCT
𝑨×𝑨=𝟎
𝒂𝒙 × 𝒂𝒚 = 𝒂𝒛
𝒂𝒚 × 𝒂𝒛 = 𝒂𝒙
𝒂𝒛 × 𝒂𝒙 = 𝒂𝒚
CROSS PRODUCT
Given three vectors A, B and C, the scalar triple product
becomes:
𝑨. 𝑩 × 𝑪 = 𝑩. 𝑪 × 𝑨 = 𝑪. 𝑨 × 𝑩
If
𝑨 = 𝐴 𝑥 , 𝐴𝑦 , 𝐴𝑧
𝑩 = 𝐵𝑥 , 𝐵𝑦 , 𝐵𝑧
𝑪 = 𝐶𝑥 , 𝐶𝑦 , 𝐶𝑧
𝐴𝑥 𝐴𝑦 𝐴𝑧
∴ 𝑨. 𝑩 × 𝑪 = 𝐵𝑥 𝐵𝑦 𝐵𝑧
𝐶𝑥 𝐶𝑦 𝐶𝑧
VECTOR TRIPLE PRODUCT
The vector triple product of vectors A,
B, and C is defined as:
𝑨 × 𝑩 × 𝑪 = 𝑩 𝑨. 𝑪 − 𝑪 𝑨. 𝑩
Note:
𝑨. 𝑩 . 𝑪 ≠ 𝑨 𝑩. 𝑪
But
𝑨. 𝑩 . 𝑪 = 𝑪 𝑨. 𝑩
UNIFORM AND NON-UNIFORM VECTORS
Uniform or constant vectors
A vector field is said to be constant or uniform if it
does not depend on space variables x, y, and z. For
example, vector B = 3𝑎𝑥 + 2𝑎𝑦 +10𝑎𝑧 is a uniform
vector.
Non-Uniform Vectors
A vector field is said to be non-uniform if it varies
from point to point. For example, vector 𝑨 =
2𝑥𝑦𝑎𝑥 + 𝑦 2 𝑎𝑦 + 𝑥𝑧 2 𝑎𝑧 is a non-uniform vector.
EXAMPLE 1
Given that:
𝐴 = 2𝑖 + 4𝑗 − 𝑘,
𝐵 = 3𝑖 − 5𝑗 + 4𝑘
𝐶 = 𝑖 + 𝑗 − 2𝑘
Find:
i. 𝐴 + 𝐵
ii. 𝐴 + 𝐵 + 𝐶
iii. 2𝐴 − 𝐵 + 3𝐶
EXAMPLE 2
Given that:
𝐴 = 4𝑖 − 2𝑗 + 3𝑘,
𝐵 = 2𝑖 − 𝑗 + 𝑘
𝐶 = 3𝑖 − 2𝑗 + 𝑘
Find the magnitudes of:
i. 𝐴
ii. 𝐴 + 𝐵 + 𝐶
iii. 2𝐴 − 𝐵 + 𝐶
EXAMPLE 3
Given that:
𝐴1 = 4𝑖 + 2𝑗 − 𝑘,
𝐴2 = 8𝑖 − 𝑗 + 5𝑘
𝐴3 = 2𝑖 + 4𝑗 + 3𝑘
𝐴4 = 30𝑖 − 3𝑗 + 10𝑘
Determine the scalars a, b, and c such that :
𝐴4 = 𝑎𝐴1 − 𝑏𝐴2 − 𝑐𝐴3
EXAMPLES
4. Determine the unit vector in the
direction of 𝐴 = 5𝑖 − 𝑗 − 2𝑘.
5. Given a scalar field defined by
Φ = 𝑥, 𝑦, 𝑧 = 5𝑥 2 𝑧 − 𝑥𝑦 2 + 3. Find Φ
at the points 1,1,1 , −2,1,2 , 𝑎𝑛𝑑 (3,0,1).
EXAMPLES
If 𝑝 and 𝑞 are non-collinear vectors with
𝐴 = 2𝑥 − 𝑦 𝑝 + 𝑥 − 𝑦 + 2 𝑞
and 𝐵 = 4𝑥 + 3𝑦 + 1 𝑝 + 𝑥 − 𝑦 𝑞.
Find 𝑥 and 𝑦 such that 2𝐴 = 5𝐵.
EXAMPLE 7
If 𝐴 = 3𝑖 + 2𝑗 − 5𝑘and 𝐵 = 4𝑖 − 3𝑗 + 𝑘,
Find
I. 𝐴. 𝐵
II. the angle between A and 𝐵.
EXAMPLES
8. Determine the value of 𝑞 so that 𝐴 = 3𝑖 +
𝑗 + 𝑎𝑘 and 𝐵 = 5𝑖 + 3𝑗 + 3𝑘 are
perpendicular.
9. Two forces 𝐹1 = 3𝑖 + 7𝑗 + 6𝑘 and 𝐹2 =
𝑖 + 3𝑗 + 2𝑘, act on a body. Determine the
work done, if the body is moved from the
position 𝐴 to 𝐵. Given that 𝐴 = 2𝑖 − 2𝑗 −
3𝑘 and 𝐵 = 4𝑖 + 6𝑗 − 𝑘.
EXAMPLES
10. If 𝐴 = 3𝑖 + 4𝑗 − 2𝑘 and 𝐵 = 2𝑖 − 𝑗 + 5𝑘
Find:
i. 𝐴×𝐵
ii. 𝐴+𝐵 × 𝐴−𝐵
10. If 𝐴 = 5𝑖 − 2𝑗 + 3𝑘 and 𝐵 = 2𝑖 − 𝑗 + 𝑘 and C = 4𝑖 + 2𝑗 +
3𝑘
Find:
i. 𝐴. 𝐵 × 𝐶
ii. 𝐴× 𝐵×𝐶
iii. 𝐴× 𝐵×𝐶
iv. 𝐴×𝐵 ×𝐶
EXAMPLES
12. Determine if the three vectors, 𝐴 = 𝑖 +
2𝑗 + 3𝑘 and 𝐵 = 𝑖 + 4𝑗 + 2𝑘 and 𝐶 =
2𝑖 + 6𝑗 + 5𝑘 are coplanar.
13. If 𝐴 = 2𝑖 − 𝑗 + 𝑘 and 𝐵 = 𝑖 + 2𝑗 −
3𝑘 and 𝐶 = 3𝑖 − 4𝑗 + 𝑎𝑘 are coplanar.
Find the value of 𝑎.
