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Mec 101

This document appears to be lecture notes on statics of rigid bodies. It begins by defining a vector in terms of its direction angles and introduces the concept of a unit vector in the direction of a given vector. An example problem demonstrates finding the unit vector for a particular vector. The document then states that the sum of the squares of the direction cosines of a force vector is equal to 1. Finally, it provides definitions and properties for scalar multiplication of vectors and vector addition.

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Mec 101

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Rain Malabanan

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You are on page 1/ 18

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MEC 101 Statics of Rigid Bodies

Lecture Notes 3

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Page 1

1 Introduction
~ may be written in the form
In the last Lecture Notes, we have seen that any vector V
~ = a~i + b~j + c~k. In particular, if F
~ is a force with direction angles x, y , and z , then
V
~ = (F cos x)~i + (F cos y )~j + (F cos z )~k. Hence,
F
~ = F [(cos x)~i + (cos y )~j + (cos z )~k]
F

(1)

~ and any scalar c, the following holds:

Recall that for any vector V
~ k = |c| kV
~k
kcV
If we apply this to Equation (1) we obtain
~ = F [(cos x)~i + (cos y )~j + (cos z )~k]
F
~ k = F k(cos x)~i + (cos y )~j + (cos z )~kk
kF
F = F k(cos x)~i + (cos y )~j + (cos z )~kk
1 = k(cos x)~i + (cos y )~j + (cos z )~kk
So we see that the vector (cos x)~i + (cos y )~j + (cos z )~k is a unit vector in the
~ . Let us denote this unit vector by F
~u. Therefore, from Equation (1) we
direction of F
obtain
1~
~
Fu = F
F

Lecture Notes 3

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... ... ..
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Page 2

~ is a unit vector in the direction

~ is any non-zero vector, then 1 V
Therefore, in general, if V
V
~.
of V
Example 1. Unit vector in the direction of a given vector
~ has its initial point at A = (1, 1, 2) and its
One representation of a vector V
~ = AB.
~ Find a unit vector in the direction
terminal point at B = (5, 2, 10). That is V
~.
of V
~ is given by V
~ = (5 1)~i + (2 + 1)~j + (10 + 2)~k =
SOLUTION: The vector V
q
~ is V = 42 + 32 + 122 = 13. Therefore, the
4~i + 3~j + 12~k. The magnitude of V
~ is
unit vector in the direction of V
~u = 1 V
~ = 4 ~i + 3 ~j + 12~k
V
13
13
13
13

Lecture Notes 3

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... ... ..
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Page 3

Theorem 1.
~ be a force with direction angles x, y , and z . Then
Let F
cos2 x + cos2 y + cos2 z = 1

2 Scalar multiplication and vector addition

We have discussed multiplication of a vector by a scalar before and we have introduced
vector addition performed algebraically. We shall go through these again and state some
properties of these operations.
Definition 1. Vector addition
~ = a1~i + a2~j + a3~k and B
~ = b1~i + b2~j + b3~k be two vectors. Then their vector
Let A
~+B
~ is defined as:
sum, denoted by A
~+B
~ = (a1 + b1)~i + (a2 + b2)~j + (a3 + b3)~k
A

We also formally define scalar multiple of a vector.

Lecture Notes 3

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... ... ..
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Page 4

Definition 2. Scalar multiple of a vector

~ = a1~i + a2~j + a3~k be any vector and let c be any scalar.
Let A
~ by c, denoted by cA,
~ is the vector defined by
scalar multiple of A

The

~ = (ca1)~i + (ca2)~j + (ca3)~k

cA
Definition 3. Negative of a vector
~ = a1~i + a2~j + a3~k be any vector. The negative of vector A,
~ denoted by A
~
Let A
is the vector
~ = (a1)~i + (a2)~j + (a3)~k
A
~ is any vector then A
~ = (1)A.
~
REMARK: If A

Lecture Notes 3

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... ... ..
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........
... ...............
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Definition 4. Vector subtraction

~ and B
~ be vectors, We define the vector difference A
~B
~ as follows:
Let A
~B
~ =A
~ + (1)B
~
A
Examples 2.
~ = 2~i 3~j + ~k, B = ~i + 2~j + 5~k. Then
Let A
~+B
~ = 3~i ~j + 6~k
A
~ +A
~ = 3~i ~j + 6~k
B
~B
~ = ~i 5~j 4~k
A
~ A
~ = ~i + 5~j + 4~k
B
~ = 6~i 9~j + 3~k
3A
~ 3B
~ = ~i 12~j 13~k
2A

Page 5

Lecture Notes 3

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

... ... ..
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................ ... .......... ...
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Page 6

Definition 5. Zero vector

~
The vector 0~i + 0~j + 0~k is called the zero vector and is denoted by the symbol O.
We shall state some properties of vector addition and scalar multiple omitting their proofs.
Some of these properties are easy to prove and some are even trivial.
Properties of vector addition and scalar multiple
~ B,
~ C
~ and for all scalars c, d the following properties hold.
For all vectors A,
~+B
~ =B
~ +A
~ (+ is commutative)
(1) A
~ + B)
~ +C
~ =A
~ + (B
~ + C)
~ (+ is associative)
(2) (A
~+O
~ =A
~
(3) A
~ + (A)
~ =O
~
(4) A
~ + B)
~ = cA
~ + cB
~
(5) c(A
~ = cA
~ + dA
~
(6) (c + d)A
~ = (cd)A
~
(7) c(dA)
~=A
~
(8) 1A

3 Dot product or scalar product

The dot product of two vectors, also known as the scalar product of two vectors should

Lecture Notes 3

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Page 7

not be confused with scalar multiple. In a scalar multiple, we multiply a vector by a scalar
and the result is a vector. In a scalar product or dot product, we combine two vectors and
the result is a scalar.
Definition 6. Dot product or scalar product
~ and B
~ be two vectors making an angle of with each other. The dot product or
Let A
~ and B,
~ denoted by A
~ B,
~ is the scalar defined by
scalar product of A
~B
~ = AB cos
A
~ = a1~i + a2~j + a3~k and B
~ = b1~i + b2~j + b3~k. Assume that the initial point of both
Let A
~ is P = (a1, a2, a3) while the
vectors is the origin (0, 0, 0). Then the terminal point of A
~ is Q = (b1, b2, b3). In the triangle OP Q, the angle is at O. By the
terminal point of B
law of cosines,
|P Q|2 = A2 + B 2 2AB cos
2AB cos = A2 + B 2 |P Q|2
2 + a2 , B 2 = b2 + b2 + b2 , and |P Q|2 = (b a )2 + (b a )2 +
But A2 = a2
+
a
1
1
2
2
1
2
3
1
2
3
(b3 a3)2. Therefore,

Lecture Notes 3

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Page 8

2AB cos = 2a1b1 + 2a2b2 + 2a3b3

AB cos = a1b1 + a2b2 + a3b3
~B
~ = a1b1 + a2b2 + a3b3
A
~ = a1~i + a2~j + a3~k and B
~ = b1~i + b2~j + b3~k, then
Summarizing our result, if A
~B
~ = a1b1 + a2b2 + a3b3
A
Example 3. Dot product
~ = ~i 2~j + 3~k and B
~ = 3~i + 2~j ~k, and find
Find the dot product of the vectors A
the angle between these vectors.
SOLUTION: Using the formula we have derived,
~B
~ = (1)(3) + (2)(2) + (3)(1) = 4
A

Lecture Notes 3

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Page 9

~ and B.
~ Let be the
We use the definition of dot product to get the angle between A
angle between the vectors.
~B
~ = AB cos
A
q

12 + 22 + 32 32 + 22 + 12 cos

4 = 14 14 cos

4 =

4 = 14 cos
4 = 2
cos = 14
7

= 106.6
Exercise 1. Application of dot product
Given three points P = (1, 2, 3), Q = (3, 1, 2), and R = (1, 1, 1). Find the angles
of the triangle P QR using vectors and dot product.

Lecture Notes 3

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Page 10

Example 4. Orthogonal vectors

Two vectors are said to be orthogonal if they make an angle of 90 with each other.
~ = 2~i 5~j + ~k and B
~ = 4~i + 2~j + 2~k are orthogonal.
Prove that the vectors A
~B
~ = AB cos , where is the angle between A
~ and B.
~ If two
Let us recall that A
~B
~ = 0.
vectors are orthogonal, the angle = 90. But cos 90 = 0. Therefore, A
So two vectors are orthogonal if and only if their dot product is zero. Now,
~B
~ = (2)(4) + (5)(2) + (1)(2) = 0
A
~ and B
~ are orthogonal.
Therefore, A

4 Vector product
Two vectors may be combined to produce another vector. One operation that achieves
this is vector addition. We shall define another operation on two vectors that produces
another vector. This is called vector product.

Lecture Notes 3

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

... ... ..
....... ... .... ... ...
................ ... .......... ...
.................. ...... .......

........
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Page 11

Definition 7. Vector product

~ = b1~i + b2~j + b3~k be two vectors. The vector
~ = a1~i + a2~j + a3~k and B
Let A
~ and B,
~ in this order, denoted by A
~B
~ is defined by
product of A

a
a1 a2 ~
2 a3~ a1 a3 ~
~
~
AB =
j
j +
i
b1 b 2
b1 b3
b2 b3

REMARK: The above definition of the vector product is easily remembered by simply
expanding the following determinant form along the first row:

~i
~
~j k

~B
~ = a a a
A
2
3
1
b1 b 2 b 3

Lecture Notes 3

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... ... ..
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........
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Page 12

Example 5. Vector product

~ = ~i 2~j + 3~k and B
~ = 3~i + 2~j ~k. Find the vector products (a) A
~B
~ and
Let A
~ A.
~
(b) B
SOLUTION: . Using the remark after the definition of vector product, we have
~ B:
~
(a) A

i
j
k

~B
~ = 1 2 3
A

3 2 1

= 4~i + 10~j + 8~k

~ A:
~
(b) B

i
j
k

~ A
~ = 3 2 1
B

1 2 3

= 4~i 10~j 8~k

~ and B,
~ we have B
~ A
~ = A
~ B.
~
REMARK: It is true in general that for all vectors A
~ the vector A
~A
~ is the zero vector.
REMARK: For any vector A,

Lecture Notes 3

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... ... ..
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................ ... .......... ...
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........
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Page 13

~ B
~ of two vectors A
~ and B
~ is a vector. In relation to A
~ and B,
~ what
The vector product A
~B
~ is that
is its direction? One important thing we can say about the vector product A
~ and B.
~ Remember that our test for perpendicularity
this vector is perpendicular to both A
~B
~ and A.
~ Manipulations
is the zero dot product. Now, let us take the dot product of A
are shown below.
~B
~ A = (A
~ B)
~ A
~
A
~ (A
~ B)
~
=A
~A
~B
~
=A
~A
~B
=A
~ B
~
=O
= 0 B cos
=0
~B
~ C
~ = A
~B
~ V
~ . In other
In the above argument, we have used the fact that A
words, in a triple scalar product, we can interchange the dot and the cross.
~B
~ is also perpendicular to the vector B.
~
It is left to the reader to prove that A

Lecture Notes 3

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... ... ..
....... ... .... ... ...
................ ... .......... ...
.................. ...... .......

........
... ...............
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Page 14

Exercises 2.
Prove that (a) ~i ~j = ~k, (b) ~j ~k = ~i, and (c) ~k ~i = ~j

We state next a theorem whose proof is omitted.

Theorem 2.
~ and B
~ be vectors making an angle with each other. Then
Let A
~ Bk
~ = AB sin
kA
~ and B
~ as adjacent sides, then the area
REMARK: If we construct a parallelogram with A
of the parallelogram is AB sin . Therefore, in view of Theorem 2, we may get the area
~ B.
~
of the parallelogram as the magnitude of the vector A

Lecture Notes 3

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

... ... ..
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................ ... .......... ...
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Page 15

If we take A as the base

..............
.
......
.
.
.
.
.
.
B .......
......
.
.
.
.
.
.
........................
.....
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
......
......
.................................
.......................................

then the height is B sin .

Therefore, the area of the parallelogram
is equal to AB sin .

Exercise 3. Application of vector product

Given three points P = (1, 2, 3), Q = (3, 1, 2), and R = (1, 1, 1). Find the area
of the triangle P QR using vector product.

5 Triple scalar product

~ B,
~ and C
~ using dot product and vector product, each
We can combine three vectors A,
operation applied once.
~B
~ C
~ has two possible interpretations. We can insert parentheses
The expression A
in the following two ways:
~ B)
~ C
~
(A

~ (B
~ C)
~
A

Lecture Notes 3

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... ... ..
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Page 16

~ B)
~ is a scalar and we cannot
In the first case, the expression is undefined because (A
cross it with the vector C. The second case is defined and it means the dot product
~B
~ C
~ as in the second case. Likewise,
of two vectors. Hence, we should interpret A
~B
~ C
~ must be interpreted as (A
~ B)
~ C.
~
A
~B
~ C
~ and A
~BC
~ is called a triple scalar product.
Each of A
Example 6. Triple scalar product
~ = ~i ~j, B
~ = ~j + ~k, and C
~ = ~i + ~j + ~k. Compute for (a) A
~B
~ C
~ and (b)
Let A
~B
~ C
~
A
~B
~ C
~ = 1, (b) A
~B
~ C
~ = 1
ANSWERS: (a) A
~ B,
~ and C,
~ we have A
~B
~ C
~ =
REMARK: It is true in general that for all vectors A,
~ B
~ C.
~ The triple scalar product is a scalar whose value is conveniently evaluated as a
A
~ the second row consists
determinant where the first row contains the components of A,
~ and the third row consists of the components of C.
~ Thus, in
of the components of B,

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

Lecture Notes 3

... ... ..
....... ... .... ... ...
................ ... .......... ...
.................. ...... .......

........
... ...............
.. ..........
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Page 17

Example 5, we have

1 1 0

~B
~ C
~ =A
~B
~ C
~ = 0 1 1 = 1
A

1 1 1

Exercise 4.
~ B,
~ and C
~ be any three vectors. Prove that the following triple scalar products
Let A,
are equal except possibly for their signs.
~B
~ C,
A

~ C B,
~
A

~ A
~ C,
B

~ C
~ A,
~
B

~ A
~ B,
~
C

~ B
~ A
~
C

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Mec 101

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Mec 101

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........ ................................. ................... ....................... ........................ ..................... ................... ....

........ .. .. ........ .. ...

MEC 101 Statics of Rigid Bodies

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

~ and any scalar c, the following holds:

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

~ is a unit vector in the direction

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

2 Scalar multiplication and vector addition

We also formally define scalar multiple of a vector.

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

Definition 2. Scalar multiple of a vector

~ = (ca1)~i + (ca2)~j + (ca3)~k

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

Definition 4. Vector subtraction

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

Definition 5. Zero vector

3 Dot product or scalar product

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

2AB cos = 2a1b1 + 2a2b2 + 2a3b3

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

Example 4. Orthogonal vectors

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

Definition 7. Vector product

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

Example 5. Vector product

= 4~i + 10~j + 8~k

= 4~i 10~j 8~k

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

We state next a theorem whose proof is omitted.

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

If we take A as the base

then the height is B sin .

Exercise 3. Application of vector product

5 Triple scalar product

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

...... ...... ...................... ................. ...................... ..................... ................... ................. ....

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