MATHEMATICAL MONOGRAPHS

E D I T ED

Ma n s f i e l d Me rr i m a n

BY

Ro b e rt S

and

Woo d w a rd

Cl t h
f
M d r
Hi t ry
M th m ti
By
DA I E ENE S M I T H
t
Sy t h t i Pr j t i
G
m t ry
By
GE R E B R
E HA L T E
t
D t rmi
t
B y L N G I O WEL
O

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M AH ON
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ly i
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t
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D if f r t i l Eq t i
W LL IA M
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WOO L E Y ! O H N O N
f Eq u t i
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r y f R l t i i t y B y R ER D
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M A T H E M A T IC A L MO N OG R A P H S
E D IT E D

MAN S FI EL D ME RR I MAN A N D

BY

R O BE R T

N O;

WOO D WARD

A NA L Y S IS

V E CT O R

A ND

T
N
I
N
A
E
R
U
O
S
Q

BY

MA F A R

A LE X A N DE R
SE

CR E T A R Y

OF

I N T E N A TI ON A A
L

SS

O CI A TI ON

FOR

PR

F IRS T T H O USAND

Y OR

N
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W
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L ONDON :

C H A P MA N

UDY

OF

K:

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.

ST

SONS

1 906

TH E

O M OT IN G

FOURTH EDITION

NE

L A NE

L I MITE D

Q AT E
U

N I ON S

CO Y
P

IG HT

896,

BY

MANS F IE L D M ERRI M AN
U

R O B ER T

AND

ND ER

TH8

WOOD WARD

TIT L E

IGHER MATHEMATICS
Fi

r t Ed i i
s

S d Ed i
T h rd E d i
rt h E d
F
e co n
i

DR U

e pt e m be

tion ,

it o n

MM O

ND

PR

! a n u a ry

it on,

ou

RO B ER

t on ,

u g u st ,

896

89 8

90 0

! a n ua r y ,

I NT E R

NE

90 6

V OR

Ko

E DITO R S

T HE

PR E FA CE

ol u m e called Hi gher Mat h e m atics t h e rst ed i tion

of w h ic h was p ublis h ed i n 1 896 contai ned eleven ch apters by
eleven auth ors eac h c h apter bei n g i ndependent of th e oth ers
b ut all supposi n g th e reader to h ave at least a m ath em atical
trai ni n g equi valent to t h at g iven i n classical and engi neeri ng
colle ges T h e publi cation of t h at v olu m e i s now disconti n ued
and t h e c h apters are issued i n separate form I n t h ese reissues
it wi ll g enerally be found th at th e m onog rap h s are enlar ged
b y a d d i ti o n a l a r ti cl e s 0r appendices w hi c h eith er a m pli fy th e
for m er presentation or record recent advances T hi s plan of
publication h as been arran g ed i n order to m eet t h e de m and of
teac h ers a n d t h e convenience of classes but it i s also th ou gh t
th at it m a y prove advanta g eous to readers i n special li nes of
m at h e m ati cal li terature
I t i s t h e i ntention of t h e publi sh ers and editors to add oth er
m ono g rap h s to t h e series fro m ti m e to ti m e i f t h e call for t h e
sa m e see m s to warrant it Am on g t h e topi cs w h ic h are u nder
consideratio n are t h ose of ell iptic function s t h e t h eory of n um
bers t h e g roup t h eory t h e calculus of variations and non
E uc l idean g eo m etry ; possibly also m ono g rap h s on branc h es o f
astrono m y m ec h anics and m at h e m atical p hy sics m a y be i ncluded
I t i s th e h ope Of th e editors t h at t h i s for m of publication m a y
tend to pro m ote m at h e m atical stud y and researc h over a wid er
eld t h an t h at w h ic h t h e fo rm er volu m e ha s occupied
De m b r
90 5
iii
v

ce

A U THO R S PR E FA CE

S I NCE t h is I ntrod uction to Vector An alys is and Q uatern ion s

was rst p ublis h ed in 1 896 t h e stud y of th e subject has beco m e
m uc h m ore g en eral ; and w h ereas so m e revi ewers t h en regarded
t he a nal y sis as a l uxu ry i t is n ow recogn i z ed as a n ecess i ty for
t he e x act studen t of p hysics or engi n eer in g
In Am erica P ro
f e sso r Hat h awa y h as publis h ed 3 P ri m er Of Q ua tern ion s ( N ew
Y ork
and D r Wi lson h as a m pl i ed an d extend ed P ro
f e sso r G ibbs lectures on vector an al ysis in to a text -book for t h e
use Of students of m ath e m atics and p hysics ( N ew Y ork
I n G reat B ri ta i n P rofessor Hen ri ci and Mr T u rner h ave p ub
li she d a m an ual for stud ents entitled Vectors and R otors ( London
D r Kn ott h as prepared a new ed ition of Kelland and
T ait s I ntrod uction to Q u atern ions ( London
and P ro
f e sso r !ol y h as reali zed Ha m i lton s idea of a Man ual Of Q uater
n ions ( London
I n Germ an y D r B uche re r h as p ub
l i she d E le m ente der Vektoran al ysis ( Leip z ig 1 90 3) wh ic h has
n ow reac h ed a second ed ition
Also t h e writin g s of th e great m a sters h ave been rendered
,

m ore

accessible

A new ed ition O f Ha m ilton s classic , the E l e

m ents Of Q u a t e m i o n s, h as been prepared b y P rofessor ! ol y

London
1 8
Tait
s
S
cienti
c
P
ape
s
h
ave
been
r
r
e
,
,
99
(
printed i n collected for m ( Ca m bridge , 1 898,
and a co m

ed
ition
of
r a ssm a n n s m at h e m atical and ph ysical
works
l
e
t
e
G
p
h as been edited by F riedric h E ngel wi t h th e assistan ce O f several
of t h e e m i n ent m at h e m atician s of Germ an y ( Leip z i g 1 894
I n t h e sa m e i n terval m an y papers , pa m p h lets , and d iscussions
h ave appeared For th ose w h o desi re i n for m ation on t h e litera
tu re Of th e subject a B ibliograp hy h as been publis h ed by th e
Association for t h e pro m otion of th e stud y of Q uatern ion s an d
Allied Mat h e m atics ( D ublin ,
T h ere is still m uc h variety in th e m atter of notation , and the

relation Of Vector An alysis to Q uatern ion s is still the subject

m
of d iscu ssion ( see !ou rn al of t h e D eutsc h e Math e atiker Ver
e in igun g for 1 90 4 and
CHATHAM O NT AR IO CAN A D A D m b r 9 5
,

e ce

CONT E NTS

AR T

I NTR O DU CT IO N

2.

ADD IT IO N

P R O DU CT S

COAX I AL

9
Io

P a ge

COPLANAR

OF

COPLAN AR

E CTO S
V E CTO S

Q U AT E R N ION S

2I

E C O S IN S ACE
P OD C O T w V E C O S
P OD C
T EE V E C O S
LOC
C O M O S I IO N
E D Q AN I I E S
S H E I CA T I ONOME

ADD IT ION

OF

T OF

COMPOS IT ION

HR

OF

OF

I4

AT

TR Y

T T

26

31
35
39

ROT AT IONS
49

ANALYS l S

VE CTO R

AR T 1
.

AND

I
U
A
T
E
N
R
N
O
S
Q

I N T R O D U C TI O N

V ector A n al y sis i s m eant a spac e anal y sis i n w h ic h

th e vect o r i s t h e f u n d a m ental id ea ; by Q uatern io n s is m ean t
a space -anal y sis i n wh ich t h e q uaterni o n i s th e fun da m en tal
i d e a T h ey are i n t rut h co m ple m en tary parts o f o n e who l e ;
an d i n t his chapt er t h e y will be t reate d as su ch an d d evelop ed
s o as t o h ar m on i z e wi t h o n e an o the r an d with th e Cartesian
*
Th e su b j ec t t o be t reate d is th e an alysis o f q u an ti
A nalysis
t i es i n space wh eth e r t hey are vecto r i n n at u re o r q uat e rn io n
i n n at u re o r o f a st i ll d i fferen t n at u re o r are o f su c h a ki n d th at
t h e y ca n be ad equ atel y represente d by space quan ti t ies
By

ver y pro positi o n abo u t quan ti ties i n space oug h t t o r e

m ai n t r ue wh en restricte d t o a p l an e ; j u st as p ropositi on s
ab o ut q uan t i ties i n a plan e re m ai n t ru e w h e n rest ricte d t o a
st rai g h t li n e H en c e i n t he followi n g arti cles t h e ascen t t o t h e
algeb ra o f space is m ad e th ro ugh th e i n t er m ed i a t e algeb ra o f
t h e plan e A rts 2 4 t reat o f th e m o re rest ri cted an alysis

w hi l e A rts 5 1 0 t reat o f th e gen eral analysis

Th is space anal y sis is a u n i ve rsal Cart esian an alysis i n th e
sa m e m an n er as algebra is a u n ive rsal ari t h m et i c B y p r o v id
i n g an explicit n otat io n fo r d i rected qu an t ities i t en ables th ei r
gen e ral p ropert ies t o b e i n vest igat e d i n d epen d en tly o f any
particu lar syst e m o f coord in at es wh et h er rectangu lar cy l i n
d r i ca l o r p olar
I t also h as t h is advantage t h at i t can expres s
E

Fo r

a tu e

d i scu ss i o n

89 1 -1 89 3

f t he

re la t io n

of

V e ct o r A n a l

y si s

to

Q ua t e r n i o n s

se e

V E C T OR A N A L Y SI S A N D Q UA T E RN I O N S

d i rected qu an t ity by a l in ear fu n ct i on o f t h e coo rd i n at e s

i nstead o f i n a ro u n dab o u t wa y b y m ean s o f a qu ad rati c fu n c
t i on
Th e d i ffe re n t views o f t h is ext e n si on o f an a lysis w h ic h h av e
bee n h el d by i n d ep en d en t wri te rs are bri e y i n d i cated b y t h e
t i tles o f th ei r wo rks :
t he

A rg a n d E ss a i sur un e m a ni ere d e repr senter l e s q uantit s

i m ag in a ires d ans l e s constructions g o m tri q ues 1 80 6
Warren T reatise on the g eo m etric a l representation o f the s q uar e
r oots o f ne g a ti v e q uan t ities 1 82 8
Moe b ius D e r b a ryc e n t r i sc he C a l c u l 1 82 7
B e l l a v i t i s C a l co l o d e ll e E q uipo ll en z e 1 83 5
G r a ss m a nn D i e l inea l e A us d ehnun g s l ehre 1 84 4
D e Mor g a n T ri g ono m etry a n d D ou bl e Al g e b r a 1 84 9
O B r i e n Sy m b o l ic For m s d erive d f ro m the c on c eption o f the
Phi l osophical T rans a ctions
t rans l a t i on o f a d irecte d m a g nitu d e
,

85 1

H a m i l ton

L ectures

on Q uaternions

85 3,

an

E l e m ents

of

1
8
6
uaternions
6
Q
T a i t E l e m ent a ry T reatise on Q uatern ions 1 867
H a n k e l V o rl esu n g en ti b er d ie c o m p l e x e n Zah l en un d ihre
,

'

F un c t i o n e n ,

867

S c h l e g e l S yste m

d er

u m l ehre 1 87 2
H o ti ci T h orie d e s q u a n tit s co m pl e x es 1 87 4

G i bb s E l e m ents O f V e c tor A n a l ysis 1 88 1 4

P e a no C a l c o l o g eo m etri c o 1 888
H yd e T he D ire c tion a l C a l cu l us I 890
H e a v isi d e V ector A n a lysis in R eprin t o f E l ectrica l Papers
,

Ma c f a r l an e Prin cipl es o f the Al g e b ra o f Physics

,

89 1 3

89 1

Papers

on S p a ce An a l ysis 1
A n e x ce ll ent syn opsis i s g i v en b y H a g en in the second vo l u m e
o f hi s Synopsis d er hOhe r e n Mathe m a ti k
,

AR T 2
.

A DD ITI O N

OF

CO P L AN AR

V E CTO R S

a vect o r i s m ean t a qu an t it y w h ic h h as m agn it u d e

d i recti on I t i s grap h i call y represent ed b y a li n e w h ose

By
and

A D D I T IO N O F C O P L A N A R VEC T O RS

en g th rep rese nt s t h e m agn it ud e o n so m e c on ven i en t scale an d

w h ose d i recti on co i n cid es w ith o r represent s th e d i rect io n o f
t he vect o r
Th o ugh a vecto r i s rep rese nt e d by a li n e it s
m
m
a
h
y
sical
d
i
en
sion
s
be
d
i
f
fe
re
nt
fro
m
t
hat
o
f
a
li
n
e
E
x
p
y
a m ples are a li n ear velocity wh ic h is o f o n e d i m ension i n
length a d irec ted area wh ich is o f two di m ension s i n length
an axis wh ich is o f n o d i m en sion s i n length
,

'

vecto r will be d en ote d by a capital i talic letter as B it s

m a g n it u d e b y a s m all i t a l i c l e t t e r as 5 an d its d i recti o n b y a s m all
F o r exa m ple B
R
7p
S o m eti m es
G reek l etter as 6
i t is n ecessary t o in t rod u ce a d ot o r a m ark 1 t o se p arate
th e speci cati on O f t h e d i rec tion fro m th e exp ressio n fo r th e
m a g n it u d e ; 1 b ut i n su ch si m ple expression s as th e a b ove th e
d i fferen ce i s su fci e n t l y i n d i ca t e d b y t h e d i fferen c e o f type A
syst e m o f th ree m u t u ally rectan gular axes wi l l be i n d icat e d
3
a s u su al by th e lett e r s
*

Th e a n a l ysis o f a vect o r h ere s upp ose d is th at i n t o m agni

t u d e an d d i rection
A cco r d in g t o H a m ilto n an d Tait an d
oth er write rs o n Q uate rn io n s th e vecto r is an a l y z e d i nt o tenso r
an d u n it -vecto r which m ean s th at th e t e nsor is a m ere rat i o
d estit u t e of d i m en sion s while t h e u nit vecto r is th e physical
B u t it wi l l b e fo u n d that th e analysis i n to m agn i
m a g n it u d e
t u d e an d d i rectio n i s m u ch m o re i n accord with physical i d eas
an d explain s readily m any t hin gs wh i ch are d i f c ult t o explai n
b y t h e oth er an alysis
.

m
vec
to
r
qu
an
tity
be
su
ch
th
at
i
t
s
co
pon
en
ts
h
ave
a
a
m
A
y
m
o
o
n
poi
n
t
o
f
applicati
on
an
d
are
app
l
ie
d
S
i
u ltan eo usly ;
c m m
o r it m a y b e su ch t hat i ts co m po n en t s a re appli ed i n su cces
sio n each co m pon en t starti n g fro m th e en d o f its p red ecesso r
m
exa
ple
o
f
th
e
fo
r
er
is
fo
u
n
d
i
n
two
fo
rc
es
applie
d
si
ul
m
m
An
m
at
t
h
e
sa
e
poi
nt
an
d
an
exa
ple
o
f
t
h
e
latte
r
i
n
m
l
o
u
s
tan e
y
.

T h i s n o t t i o n i f o u d c n ve n i e n t b y e l e ct r i ca l wr i t e r s i n o rd e r t o b a r m o
o l s a d a bb r e v i a t i o n s
o
f
s
t
e
i
w
i
h
p
i
l
i
r
s
y
m
y
m
b
s
t
o
H
t
h
e
t
n ze
a
n
a
e
o
o
e
o
n
a
u
t
s
t
P
h
t
e
i
o
s
d
h
i
p
r
p
h
r
N
l
A
l
g
b
r
u
s
t
f
s
u
ot w s
h
e
d
T
{
a l p p e rs
o
e
n
h
i
e
c
t
c
u
s
i
s
e
a
e
s
h
o
e
ll
y
i
d
f
r
t
m
p
r
p
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r
i
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e
n
c
s
h
a
A
1 883 ; Ke n n
n

or

VEC T O R A N A L YSI S A N D Q U A TE RN IONS

10

t wo rec tili n ear d isplace m e nts m ad e i n s u ccessio n t o o n e a h

oth e r
Co m positi o n o f Co m p o n en t s h avi n g a c o m m o n P o i n t o f

A ppli cati o n
Let OA a n d OB rep resen t two vect ors o f t he
sa m e ki n d si m ultan eo usl y appli e d at t h e p o i n t O D raw B C
A
B
and
p
arall
el
t
o
an
d
paralle
l
t
o
A
O
C
O
0
j oi n O C T h e d iago n al O C represe n ts i n m a g
n i t ud e an d d i re cti o n an d p o in t o f applicati o n
t h e resu ltan t o f OA an d O B This pri n cipl e
was d iscovered w it h re feren ce t o force bu t i t applies t o a n y
vect o r q ua n t it y c o m in g u n d e r t h e ab ove co ndit i o n s
.

Take t h e d i rect i o n o f OA fo r t h e i n itial d i recti on ; th e d i

recti o n O f an y oth e r vecto r will b e s u i c i e n t l y d en ot e d by t he
an g l e ro u n d w h ic h t h e i nitial d i recti o n h as t o b e t u rn e d i n
o rd er to co i n cid e w i th i t T h u s OA m a y b e d en oted b y
H

B
F
ro
m
t
h
e
geo
m
et
r
y
o
f
th
e
by
b
y
O
C
O
O
f
g
/
f /
u re i t follows that
=
2f f
COS 9
f
f +
si n 0
f
an d
3
c
os
f +f
si
n
6
f
h en ce
C O S 6 / tan
I
cos
(
f +f
;

Let t h e fo rces ap plied a t a poi n t b e

E xa m pl e
and
.

I f th e rst co m pon en t i s given

m ore

0C

as

t h en we h ave th e

s y m m et ri cal fo r m u la
Vf

+f

S i

cos
a
f
(
f

si n

0.

W h e n t h e co m po n en ts are equal th e d i re c ti on o f th e r e
s u l t a n t bisects t h e an gle fo r m ed b y th e vec to rs ; an d t h e m a
g
n i t u d e o f t h e res u ltan t i s t wice t h e proj ecti o n o f ei th e r co m p o
n e n t o n t h e bisec tin g li n e T h e ab ove for m u la re d u ces t o
,

0C

'

CO S

9
3

A D DI T IO N O F C O P L ANA R V E C T ORS

11

xa m pl e Th e resu ltan t o f two equal altern atin g elect ro

m otive forces wh ich d i ffe r 1 2 0 i n p h ase is equal i n m agn i t u d e
t o eith e r an d h as a phase o f
Give n a vect o r and o n e co m pon e n t t o n d t h e oth er co m
Le t OC represe n t th e res ultan t an d OA th e co m p o
on
en
t
p
n en t ! oi n A C an d d raw O B e q ua l an d
parallel t o A C T h e lin e O B represe n ts
t h e co m p on e n t req u i red fo r i t is th e o n l y
l in e wh ic h c o m bi ne d with O A gives OC
Th e lin e O B is i d e n ti cal with t h e d ia g onal o f t h e
a s res u ltant
parallelogra m fo r m ed b y O C an d O A reverse d ; h en ce t h e rule
is
R everse th e d i rect i on o f th e c o m po n e n t the n co m p ou n d
i t wi th th e give n resu ltan t t o n d t he re q u i re d co m po n en t
L et f / 6 be t h e vect o r an d f /O o n e co m pon en t ; th e n th e
o th er co m pon e n t i s
E

f +f

'

co s

Give n th e res ultan t an d t h e d i rec ti o n s o f t he t w o c o m po

h e nts t o n d th e m a g n it u d e o f th e co m pon en t s Th e resu ltan t
i s rep resen ted b y O C an d t h e d i rectio n s by O X an d OY
F ro m C d ra w CA parallel t o OY an d CB
parallel t o O X ; t h e li n es OA an d O B c u t
It
O ff represen t t h e re q ui red c o m po n ents
is evi d en t that O A an d O B wh e n co m
po u n de d p rod u ce t h e gi ve n resu ltan t OC
a n d t h ere is o nl y o n e set o f two c o m p o n en ts which p rod u ces
a given resu ltan t ; h en ce th e y are th e o n l y pai r o f c o m pon en ts
h avi n g t h e given d i rect ion s
,

L e t f /6

Th e n

cos
6
f +f
(
6
cos
+f
f
(
w h ic h i t follows t h at
,

f ro m

an d / 6 th e give n d irecti on s

be th e vecto r an d

=f

co s

cos ( 6
f c os ( 6

6
( ,

12

EC TO R

F o r exa m ple le t
,

N A L Y SIS AN D Q U A TE RN I ON S

l oo

6
0
/

an d /90 b e give n

th e n

cos 30
1
00
f
I
cos
Co m posit io n o f any N u m ber o f Vec tors appli ed at a co m
m o n P o in t Th e resu l tan t m a y b e f o u n d b y th e follo wi n g
grap hic co n stru c t i o n : Ta k e t h e ve cto rs i n an y o rd er as A B C
F ro m th e en d O f A d raw 8 e qu a l an d par
al l el t o B an d fro m t h e e n d o f B d raw C
B eq ual an d para l le l t o C ; th e vect o r fro m
t h e begi n n ing o f A t o th e en d o f C i s th e
resu l tant o f the given vect o rs Th is follows
b y con tin u e d applicat ion o f th e parallelo
gra m con st ructio n Th e resu ltan t o b tai n ed is t h e sa m e what
eve r t h e o rd er ; an d as t h e o r d er i s ar b it rar y t h e area en cl ose d
h as n o p h y si ca l m ean i n g
Th e resu lt m a y b e obtai n e d an alytically as follows :

Given
NO W

S i m ilarl y

B
l
l/

6
,/
,

an d

H en ce

%f

V( f

6
/ }

f
f

+f

C0 5

COS

6, /O + f

5 in

cos
f
E
{

co s

E
( f

co s

Si n

sin

,,

61

6}

Z
{ f

tan

S In

sin

6}

2f

si n

gf

CO S

th e case o f a s u m o f si m ultan eo u s vecto rs app l ied at a co m

m o n poi n t th e o r d i n ary rul e a b ou t th e t ran spo si ti o n o f a t e r m i n
0 th e n
C
an e q uati o n h ol d s goo d F o r exa m pl e i f A + 3
B an d B + C _ A c t c
Th is i s per m issible beca u se t h e re is n o real o rd er o f su ccessi o n
*
a m on g th e give n co m po n e n ts
In

T h i s d o e s n o t h l d t r ue o f a
It i s a m i s t a k e t o a t t e m p t
o

si

on.

s um

to

f o un

r s h a vi n g
d sp c - a ly i
v e ct o
a

e an

s s

r l rd r f
up
r b i t r ry
ea

o n

s ucce s

fo r

ma l

A DDI T IO N O F C O P L A N A R V E C T O RS

13

S u cc essive Vecto r s Th e co m position o f

s uccessive vecto rs partakes m o re O f th e n at u re o f m u l tiplic a
tio n than o f a d d it ion L e t A be a vecto r start
i n g fro m th e poi n t O an d B a vec to r starti n g
fro m th e en d o f A D raw th e t h ir d S i d e O P
an d fro m O d raw a vecto r e qual t o B an d f ro m
i ts extre m ity a vec t or equ al t o A Th e l in e O P is n ot t he
B ; i f it were so i t w ou ld a l so b e
co m plet e e q u ivalen t o f A
t h e c om p l et e e q u ivalen t o f B + A B u t A
B an d B + A
d eter m in e d i fferen t paths ; an d as t h ey go oppositely aro un d
th e areas th ey d et er m in e with O P h ave d i ff e r e n t si g n s T he
B on l y so fa r as it is co n s i d
d iagon a l O P represe n ts A
ered i nd epen d en t o f path F o r any n u m b e r o f succ essive
vect o rs th e s u m so far as i t is in d epen d en t o f
Co m positio n

Of

pat h is th e vect o r fro m th e i nitial po i n t of th e

rst t o th e nal poi n t O f th e last This is a l s o
t ru e wh e n th e su ccessive vectors beco m e so s m a l l
a s t o fo r m a c on tin u o u s c u rve
Th e area betwee n
th e c u rve O PQ an d th e vect o r O Q d epen d s o n t h e path an d
h as a physical m ean i ng
.

Pro b
is

l oo

T he resu l t a n t v ector i s
n d the other co m ponent

an d one c o m ponent

Pro b 2 T he v e l oci t y o f a b o dy i n a g i v en p l a n e i s 2 0 0
an d
one co m pone n t i s
n d the other co m ponent
Pr o b 3 T hree a l ter n a t i n g m a g n eto m oti v e for c es a r e o f e q u a l
v irtu a l v a l ue b ut e a c h p a ir d i ff ers in ph a se b y
n d the r e
Z
ns
ero
A
su l t a n t
)
(
Pro b 4 Fin d t he co m ponen ts o f the v e c tor 1 0 0 / 7 o in t he d i r e c
tio n s 2 0 a n d
Pro b 5 C a l c u l a te the re su l t a nt v e c tor o f
2/ 2 o
3/ 3o
.

o
4
4/

Pro b
It S in ( n !

C o m pou n d

fo ll ow i n g
) 3 si n ( 72!

t he

m a gn

eti c fl u x es : l z si n 77 !
n s g / n t
A
(
)
.

l a ws ; t he fun d a m e n t a l r ul e s m us t b e m a d e t o e x p r e ss un i ve r sa l p r o p e r t i e s o f t he
In t h i s c h a p t e r n o a t t e m p t i s m a d e t o a p p l y f o r m a l l a w s t o
t h in g d e n o te d
d i r e ct e d q ua n t i t i e s Wh a t Is a t t e m p t e d i s a n a n a l y s i s o f t h e se q ua n t i t i e s
.

V E C T O R A NA L Y SI S A N D Q UA T ERNI O N S

i 4

Pro b

C o m poun d

an
d
/

a co s n t

si n n

t w o al ternatin g
A
n
s
(

a netic u x es at

m g

point

Pro b 8 Fin d the resu l t a nt o f t w o si m p l e a l ternatin g e l e c t ro m o

an d
t i v e f or c e s
Pro b 9 Pro v e that a uni for m c ircu l a r m otion i s o b t a ine d b y
c o m poun d in g t w o e q u a l si m p l e h a r m oni c m otion s w hich h a v e t he
S p a c e -ph a se o f their a n g u l a r positions e q u a l t o the supp l e m ent o f the
m
ti e phase o f their m otions
.

AR T

PR O DU C T S O F

CO P L A N AR

VECTO RS

W h en all th e vect o rs co n si d ered are co n n ed t o a c o m m o n

lan
e
eac
h
a y b e exp ressed as t h e s u m o f two rectangular
m
p
Let i an d j d en o t e t wo d ire ct io n s i n t h e p l an e at
c o m po n en ts
ri gh t angles t o on e an oth er ; t h e n A a z + a j B
an
d
are
n
ot
u
n
i
t
vect
o
rs
b
u
t
rat
h
e
r
R x z + yj H ere 2
j
S ign s o f d i recti o n
,

'

'

P rod u c t o f two Ve ct o r
Le t A
an d B
I H-I
L;
b e any tw o vect o rs n o t n ecessarily o f t h e sa m e ki n d physi cally
We assu m e t h at th ei r prod u c t is obtain ed by applyi n g th e
d i st ribu t ive law b u t w e d o n o t assu m e t h at t h e o rd er o f t h e
H en c e
f ac t o rs is i n d i ffe re nt

c
?
e
a z
AB
s
e
r
m
A1 )
e
me
m
(
s

w e ass u m e as s uggeste d b y o r d i nary algeb ra th at t h e

an d fu rth e r that t h e p ro d u ct
s q u are o f a S ign o f d irect ion i s
o f tw o d i recti on s at ri g h t an gles t o o n e an oth e r i s t h e d i recti o n
t h e n th e above re d uces t o
n o r m al t o b ot h
If

AB

,
,

,
,

Th u s t h e c o m plet e p ro d u c t b reaks u p i n t o two partial

rod
u
cts
n
w
h
ich
is
i
n
d
epen
d
e
n
t
o
f
d
i
rc
e
a m ely a 6
p
t ion an d ( a 6
wh i ch h as th e axi s o f th e plan e f or
*
d irec t i on
k i th t
f if
i
t
A mm
x pl t i wh i h i giv
p
j
,

'

ana

on e

co

en o

o n

s an

e ra

o r,

r e ul t T h k i d o f O p e r t o r w h i ch i i s s u p p o s d t o d e
i t i s s u pp se d
t t
b a
q u a d r n t f t u r n i g r o u d t he x i
xis
is
qu d r t o f r t t i r u d
x i s T h i e x p l i t h r e sul t if
f o r i t w o u ld g i v i t
i
xpl i i t
t
s
u n f o r tun a t e l y i t d

p e ra d
n

an

an

d l a t he

oe

o n

no

an

a n

a ns

n o

an

n o te

b ut
b ut

P R O D UC T S

or

C O P L A NA R V E C T OR S

15

S calar P ro d uct o f two Vecto rs B y a scalar quan tity is

m ean t a qu an tity wh ic h has m agn it ud e an d m a
be
posit
ive
or
y
n egative b u t is d estit u te o f d i recti on Th e fo r m er partial
p ro d uc t is so cal l e d becau se it is of such a n at u re I t is
d en oted b y S A B wh ere t h e sy m bo l S b ei n
i
n
o
an
t
y
pe
R
m
g
d en otes n o t a vector b ut a fu n ctio n o f the
vecto rs A an d B Th e g eo m et ri cal m ean
i n g o f S A B i s th e pro d u ct o f A an d th e
o rth ogon al proj ection o f B
u po n A Le t i)
O P an d O Q represen t the vecto rs A an d B ;
O
d raw Q M an d N L perpe n d ic ular t o O P
e
.

T he n

P
M
O
O
(
X
)

P
O
L
O
(
X
)

Co rollar y

S B A

61

b
,
,

6a

a
a

6
,
,

02

F or i n stan ce let A d en ot e a
fo rce an d B t he velocity o f its poin t o f application then S A B
d en o tes th e rate o f w o rkin g of th e fo rce Th e resu l t i s th e
sa m e wh eth er th e fo rce i s proj ec ted o n the veloci ty o r the
ve l ocity o n th e fo rce

E xa m pl e I
A fo rce o f 2 po u n d s E ast
po
u
n
d
s
N
o
rt
h
i
s
3
m oved with a velocity o f 4 f eet E ast p er sec o n d + 5 f eet N orth
p er sec o n d ; n d th e rate at which work is d on e
I

SA B

X 4

3 X

foot -p o u n d s per secon d

23

a
orollary
Th e s q u are o f any vecto r
a
a
A
2
C
i s i n d ep en d en t of d i rection ; i t is an essen t ia ll y posi tive o r
signle ss q u an tity ; for what ever t h e d i rect ion o f A th e d i rect i o n
O f th e o t he r A m ust b e th e sa m e ; h en c e t he scalar p ro d uc t
can not be n egative

xa
ple
A ston e o f IO pou n d s m ass i s m oving with a
m
2
E
1 00 feet h o ri z on ta l pe r
ve l ocity 64 f eet d own p e r seco n d
s econ d I ts ki n et ic en ergy th e n i s
.

10
2

6
( 4

foot -po u n d als

VEC T O R A N A L YSI S A ND Q U A T ER N I O N S

16

a quantit y w h ic h has n o di rect i on Th e ki n et i c e ne rg y d u e

to

t h e d own ward veloc i t y I S

O

tal

zo n

v e l o c1 t
y

IO

IS

t a in e d ,

10

t an d th at d u e t o th e h ori

t h e w h ole k i n e t i c en ergy

ob

18

n o t by vect o r b u t b y si m ple a d d i ti on wh e n th e co m
o
n
e
n
t s are rectan gular
p

Vec to r P rod u ct o f two Vect o r s T h e ot h er parti al p rod u c t

fro m i ts n at u re is called t h e v ecto r prod u ct an d i s d e n o t e d b y
V AB
I ts geo m et ri cal m ean in g is t he
p rod u c t o f A an d t he p roj e cti o n o f B wh i ch
i s pe rpen d icu la r t o A th at is t h e a rea o f
i
(
t
h
e
parallelogra
m
f
or
m
e
d
u
p
o
n
an
d
A
B
i
Let O P an d O Q represen t th e v e ct o r s A
j
an d B an d d raw th e li n es i n d icate d b y th e
gu re
I t i s t h e n evid en t that t h e area
6
a
o f th e t riangle O PQ
a
56
g p
M
,

Th u s
d e n ot e s t h e m agn it ud e o f t h e parallelo
gra mfo r m ed b y A an d B an d als o t h e axis o f t h e plan e i n
w h ic h i t l i es
I t follo ws t hat V B A
I t is t o b e observed
VAB
t h at th e c o o rd i n at es o f A an d B are m e re co m po n en t vec t ors
wh e reas A an d B th e m selves a re taken i n a real o rd e r
.

l
i
n
c
h
es
an
d
xa m pl e Let A
t
B
o
l
(
i n ch es t h e n V A B
1
2
square
i
n
ch
es
th
at
is
6
0
;
5 5%
(
5
squ are i n c h es i n th e plan e w h i ch h as th e d i recti o n 6 f o r axis
I f A i s expressed as a w an d B as
t h en S A B
6 6 cos a
w h ere a d e n ot es th e an gle bet ween th e d i rec tion s a an d 6

xa m pl e Th e e ffect ive elect ro m otive fo rc e o f 1 00 vo l t s

p er i n ch /90 alo n g a con d u ct o r 8 i n c h /4 5 is SA B
8 X 1 00
cos /4 5 /9 0 vol ts t h at is 800 cos 4 5 vo l ts H e re /4 5 i n d i cates
t h e d i rect i on a an d /90 t h e d i recti o n 6 an d /4 5 /90 m ean s
t h e an gl e b et wee n th e d i recti o n o f 4 5 an d t h e d i rect io n of
E

A lso V A B

w
h
ere
a d en ot es t h e d i recti o n

w h i ch i s n o r m al t o b ot h a an d )6 th at is t h ei r pol e
a

6 si n

P RODU C T S
At

xa m pl e
pounds

1 00

1O

C O P L A NA R V E C T O RS

OF

a d istan ce o f 1 0 feet / 30 th ere i s a fo rc e o f

T h e m o m en t is V A B

po u n d -fee t

sin / 30 /60
si n 30 po u n d -f ee t

1 00

0
9

1 000

H e re
speci es the plan e o f th e angle an d /90 t h e an g l e
Th e t w o t ogeth er writt en as above speci fy th e nor m al 6

ecip rocal o f a Vect or B y th e reciprocal o f a vec tor i s

m ean t th e vect or which co m b in ed with th e o rigin al vecto r p ro
d u c es th e prod u ct + 1
Th e reciproca l o f A is d en ote d
si n a
6 6 cos a
by A
S in c e A B
6 m ust e q ua l
f
(

"
a
an d ,6 m u st b e id e ntical wit h a i n o r d er that the p ro d u ct
I t f ol l ows that
m ay b e I
R

I
_a

_,

czar

Th e reci pro cal an d opposite vecto r is

A
let O P
z b e th e given vect or ; th e n O Q
cal an d O R
6 ) is its reciproca l an d
*
oppos i t e

-l

I n t h e gur e
is its r e ci p r o

2 :

E
10

feet

125

xa m pl e If

ast

feet N ort h

feet N ort h an d

1 25

feet N orth

125

feet

10

ast

ast

"
A

IO

"l

125

fee t

P ro d u ct o f t h e reci procal of a vect or an d an oth er vector

A

B
d

b
i
i

(12

:
(

Wr i t r
e

d e n e
r o ca l

w ho

id

ent

r e ci p r c l
m a g n i t ud e

t he

in

of a

+(

si
n
+

CO S

i fy v

52

e ct o

r wi t h

v e ct o r a s

1
2

e n

ua

q dr
b i g pp i t
a

mi

b
e
a

os

l ve rs o r

an

ta

in

a re

d i r e ct i o n

l o gi ca ll y l e d t o

as

we ll

as

re ci p

V E C T OR A N A L Y SI S A ND Q U A T ER N I O N S

18

"
H en ce S A B

P rod u ct o f th ree
C

co m m o n plan e

"
an d V A B

os

si n

Coplanar

Vecto rs Let A
d e n ot e an y th re e vectors i n a
2 :

e, ]

e,z

Th en

B
A
C
)
(

c,
e,

j)

j)

e, z

e,

j)

Th e fo r m e r partial p rod u ct m ean s t h e vect o r C m ulti pli e d

by th e scalar p rod u ct o f A an d B ; wh ile th e
lat t er partial pro d u ct m ean s th e co m ple
m en tary vecto r o f C m ulti pli e d b y th e m a g
n i t u d e o f t h e vecto r p rod u ct o f A a n d B
I
f
t
h
ese
partial
p
rod
u
cts
rep
resen
te
d
by
O
P
(
A
an d O Q ) u n it e t o for m a t otal p ro d u ct th e t o t a l p r o d u ct will b e
rep resent e d b y O R th e resu ltan t O f O P an d 0 Q
T h e fo r m e r p ro d u ct i s also exp ressed by SA B C w h ere th e
p oi n t separat es t h e vectors t o w h ic h th e S refe rs ; an d m o re
a nalyt ical l y b y 6 66 co s
y
Th e latt e r p ro d u ct is also exp ressed b y ( V A B ) C wh i c h i s
equivale n t t o V ( V A B ) C b ecau se V A B i s at righ t an gles
.

66

e
d
y

t o C I t i s also exp ressed b y

si n
wh e re
n ot es th e d i rectio n w h ic h is p erp en d i c u la r t o th e p erpe nd i c ul a r
t o 6 an d [3 an d y
I f th e p rod u ct i s for m ed aft er t h e ot h e r m od e of associat io n
w e have
6

6, c, ) 6

A ( B C)
6

j)

V A ( V B C)

SB C A
.

j)

6 j i s t h e opposit e o f t h e co m ple m e ntary

vect o r
f
r
H
en
c
e
th
e
a
partial
pro
d
uct
d
i
fe
rs
l
t
t
e
6
ect
o
r
o
f
v
j
w it h th e m od e o f associatio n

T he

E xa m pl e

5/

Let

Th e fo u rt h p rop ortio nal to

3/o

A, B

C is

P ROD U C T S O F C O P L A N A R VEC T OR S

19

i al o f Vect ors If A
B d en ot es a
su ccessive vect o rs it is en t i rely e qu ivalen t t o th e
s um o f n o n res ultan t vec t o r C B ut t h e square O f an y vec t o r i s a p ositiv e
B m u st b e a positive s ca l ar
scalar h e n ce t h e squ are o f A
S i n ce A an d B are i n reali ty c o m p o n ent s o f o n e vect o r th e
s q uare m u st b e for m ed after th e r u les fo r th e p rod u cts o f rect
an gu l ar co m po n en t s ( p
H en ce
S qu are o f a

Binom

A
(

A
(

A2

Th is

m ay

A
X

SAB

2 8A B

SB A

V AB + VB A ,

also b e writt en i n t h e fo r m
6

26

cos

B d en otes a s u m o f s u ccessive ve ct o rs t h e r e
wh e n A
is n o th ir d vec to r C whic h is t h e c o m plet e e q u ivalen t an d co n
se q u en tly we n eed n ot exp ect t h e s q u are t o b e a scalar qu an
t ity We o b serve that t h ere i s a rea l o r d e r n o t o f th e fact ors
b ut o f t h e ter m s i n t h e bi n o m ial ; th is causes bot h p rod u c t
t er m s t o be A B g ivi n g
B ut

A
(

A
A

2A 3

ZS A B

ZV A B

T h e scalar part gives th e square o f t he len gth o f t h e t h i rd

si d e wh ile th e vect o r part gives fo u r ti m es th e area i n cl u d e d
b etween th e path an d t h e th i rd si d e
,

S quare

a Tri n o m ia l o f Coplan ar Vect o rs L e t A + B +

Th e prod u ct t er m s m u s t
C d en ot e a s u m o f s u ccessive ve c to rs
b e for m ed so as t o preserve th e o rd er o f th e vect ors i n t h e t ri
n o m ial ; that is A is p ri o r t o B an d C an d B is p ri o r t o C
.

V E C T OR A N A L YSI S A N D Q U A T ER N I O NS

20

IIe n ce
A
(

C,

2E

C +

A
B
V
(

S (A

"

26

A
B
S
+ S A C + S B C) ,
(

V A C + V E C)

H e n ce

+ C)

cos

I
( )

( )
2

( )
cos 6 7
1

26 6

2 6c

c os y

and

si
n
6
6y }
{
y
T he scalar part gives th e S qu are o f t h e vect or fro m t h e b e
gi n n in g o f A t o th e e nd o f C an d is all that exist s
w h en t he V ec t o rs are n o n -su ccessive Th e vect o r
part is fo u r ti m es t he area i n c l u d e d betwe en t h e
s u ccessi ve si d es an d t h e resultant si d e o f th e
pol y go n
N o te t h at i t is h e re assu m ed th at V ( A B ) C = V A C
A l so that t h e p ro d
V B C wh ich is t h e th eo re m o f m o m en ts
u ct t er m s are n ot fo r m ed i n c y cli cal ord er b u t i n accor d an c e
w ith t h e o rd e r o f th e vect o rs i n th e t rin o m ial
26

si n

26 6

si n

2 6c

E x a m pl e
ar

ea

Of

L et

t h e p ol y go n

A
.

% V (A B
0
si
n
0
H 5
/ /3

74

Pro b

nd the

21

A C + B C)

sin

/4 5

si
n
0
35
3
/

a d ist a nce o f 2 5 centi m eters / 2 o t here i s a f orce

o f 1 0 0 0 d ynes / 8O ; n d the m o m ent
Pro b 1 1 A con d u c tor in an a r m a t ure ha s a v e l o c ity o f 2 4 0
l ines per
i nches per secon d / 30 0 a n d t h e m a g netic ux i s
s q u a re inch /0 ; n d the v ector pro d u c t
n
A
X 1 0 l ines per inch per seco n d )
( s
Pro b 1 2 F in d the sine an d Co sIn e o f the a n g l e b et w een the
N an d
E
E
d irections
N
Pro b 1 3 Whe n a force o f 2 0 0 poun d s / 2 7 o i s d i sp l a ce d b y
w h a t i s the w or k d one ( sc a l a r pro d u c t )
Wh a t i s the
1 0 f eet
?
a
a
a
m e a nin g o f the ne g ti v e S i g n in the sc l r pro d u c t
.

10

At

'

C OA X I A L Q U A T ERNI O NS

21

Pro b 1 4 A m ass o f 1 0 0 poun d s i s m ovin g w ith a ve l ocity o f 30

f eet E per secon d
0 f eet S E per secon d ; n d i t s k ineti c e ner y
5
g
Pro b 1 5 A f or c e o f 1 0 poun d s /4 5 i s actin g at the en d Of 8
f eet / z o o ; n d the tor q ue or vector pro d uct
Pro b 1 6 T he ra d ius o f curvature o f a curve i s
o ;
/
9
5
n d the curvature
ns
A
0 3/ o
(
Pro b 1 7 Fin d the f ourth proportion a l to
an d 6/ O
8/ o
Pro b 1 8 Fin d the a re a o f the po lyg on w hose successive si d es
a r e 1 0 / 3o
.

AR T 4
.

CO AX

I AL Q UAT E R N I O N S

a q uate rn i o n i s m ean t t h e op erat or w h ich c h an ges

I t is co m pose d o f a m agn i tu d e an d
o n e vector i n to an ot h er
a t u rn in g facto r
Th e m agn it u d e m a y o r m a y n o t be a m ere
rati o that is a qu anti t y d estit u t e o f ph y sical d i m ension s ; fo r
t h e t wo vect ors m a y o r m a y n o t b e of t he sa m e p h ysi cal ki nd
T h e t u rn ing i s i n a plan e th at is t o sa y it is n o t c o n ical F o r
t h e p resen t all t h e vectors co n sid ered li e i n a co m m o n plan e ;
*
h en ce all th e quat ern i o ns con si d ered h ave a co m m o n axis
Let A an d R b e two coi n i tial vecto rs ; th e d i rectio n n o r m al
Th e op e rato r wh i ch
t o th e plan e m a y b e d en ot ed b y 6
C hanges A i nt o R con sists o f a scalar m u lt ip l i er
Let th e for m er b e
a n d a t u rni n g ro u n d th e axis 6
d en ote d by r an d t h e latt er by
wh ere 6 d en otes
9
Th u s R 7 6 A an d reci p
t he an gle i n rad ians
By

-9

A lso

an d

m a y b e exp ressed as th e su m o f t wo
Th e t u rn i ng facto r
co m po n en t o p erators o n e of wh ich has a z ero angle an d th e
oth er an an gl e o f a q uad ran t Th us
,

m ilt
It s i m p r t
ce m a y
m a d s l i d t r i go m t r i c l
l y i p o ssib l
b jud g d f r m t h f t t h t i t h
t k y t
th
xt si
l y i s t sp
It i t h m st i m p r t
f
E tym l g i
ll y qu t r i
m
d d b y f u r e l e m e n t s ; w h i c h i s t ru i s p a
in
ly i it is d d by tw
pl
T he

ca

ane ana

ea of

t he

ac

an

id

a e

s s

on

ua t e

ean s

ne

rn io n

as

e e

ne

i s d ue t o H a
e

en
o

on

on

no

an a

s s

an a

a ce

an

o o

e.

ce

VEC T OR A NA L YSI S A N D Q U A T ERN IONS

22

W h e n t h e an gle i s n aug h t t h e t u rn i ng -fact o r m a y b e

o m itt ed ; b u t t h e abo ve fo r m s h ows that th e e quatio n i s
h o m ogen eo u s an d exp resses n o th in g b u t t h e equ ivale nce o f a
*
give n qu at ern i o n t o tw o c o m p o n e nt qu ate rn io n s
9
2
V
H en c e
76
7 cos 6
7 sin 6
6
,

'

: z

9
1

an d

9A

A
p

relati on s b etwe e n

T he

'

/ 9A

an d

6,
6

an d p an d
ta n

'

are give n b y

)
!

xa
pl
Le t E d en ot e a si n e alt ernat in g elect ro m ot iv e
m
e
E
forc e i n m agn it u d e an d ph ase an d [ th e altern ati n g c u rren t i n
m a g i t u d e an d p h ase t h en
,

whe re r i s t h e resistan ce 1 th e sel f-in d u ct io n n t h e alt ern at io n s

p e r u n i t o f t i m e an d 6 d en ot es t h e axis o f t h e plan e o f r e p re
7 1
I t follows t h at E
als
o
t
h
at
c utat i on
+
,

"
[ B

2 7m

t hat is t h e o pe rat o r wh ic h ch an ges th e c u rre nt i n t o t h e elec

T h e resistan c e i s th e S cala r
t r o m o t i v e force i s a quatern i on
part o f t h e qu at ern i on an d t h e i n d u ctan ce i s t h e vec t o r part
,

Co m p on e n ts

of t h e

ec ip ro cal o f a Q uat ern io n

th en

Give n

"

m p l x u m be r
i
x p r e d b y i wh i ch s t n d s
d va t g e s o f us i g t h e b o ve n t a t i
t h t i t i c p bl
I
Th
f r 4/
p p l i d t p ce
rv s t pe ci fy t he g e e r l t u r i g
d t h t it l
of b i g
f ct r 69 a w ll a s t he q u d r t l t u r i g f ct r
In

m e t ho d

e a

e n

t he

o s

co

an

an a

on

n a

e ss

s e

a s o se

n n

a re

n n

C O A X I A L Q U A T ERNI ONS

233

xa
pl
Take t h e sa m e ap plicati o n as abov e I t is i m E
m
e
p ortan t to o btai n I i n t er m s o f B B y th e above we d ed u c e
2 7 ml
t h at fro m B
(r
r

2 71 6

l (

2 7r n l

2
/
6
,

11

s
If t h e rati o o f eac h o f
A dd iti on o f Coaxial Q u at ern io n
several vect ors t o a c o nstan t vect o r A is given th e rat i o of
t h ei r res u ltan t t o th e sa m e con stan t vect o r is Obtai n ed b y t a k
in g t h e s um o f th e rat i os T h u s i f
2

th en
2
an d rec i procall y

(A

9.

(A

9.

(B

W
/
1
[ A

W/2

A
) I

2 p

2 4>

W2K
2

7
2
( 1)

( 2 9)

xa m pl e In th e case o f a co m p o u n d ci rc u it c o m p ose d
o f a n u m ber o f s i m ple ci rc u i ts i n parallel
2
W
r
2
7m l
r
6
E

r,

t h e re fo re

2 7r n

) l

r,

2 7 ml

'

7m

"

e tc

?
1
)
/2

1r

an d recip rocall y
(

2 717 22
2

P rod u ct of Coaxial Q u atern io n s If t h e qu atern i on s w h ic h

c h an ge A t o an d R t o R are given th e q u atern i o n which
c h an ges A t o R i s obtai n ed b y taking th e p rod u c t o f t h e given
qu atern io n s
T h i s t h r m w a s d i o v r d b y L rd R y l i gh ; P h i l s p h i c l M g zi e
A l t r t i g C urr e n t s p 2 38
M y 1 886 S e l s B e d l l Cr h
.

eo

sc

e a

o re s

na

24

EC T OR A N A L YSIS A N D Q U A TE RN I ONS

Give n
and

t h en R

"
0

6A
9

(p
(p

A ={

"
/ A
6 )
2

N ot e t h at t h e p ro d u ct is fo r m ed b y taki n g th e p ro d u ct
t he m

of

agn it u d es an d likewise t h e p ro d u ct o f t h e t u rn i n g fac

t o rs T h e angles are su m m ed becau se t h e y are i n d ices o f t he
*
c o m m o n bas e 6
Q u ot ien t o f two Coaxial Q uat ern io ns If t h e give n qu a
t h e n th a t
t ern io n s are t h ose w h i c h chan ge A t o R an d A t o R
R
R
wh i ch chan ges
to
i s obtai n ed b y taki n g t h e qu ot ie n t o f
t he latt er b y t h e fo r m e r
9
3
/
7
Give n R
A
6A
q 6 )
(p
,

a nd

t he n

A
'

6
(1

(p

(p

(M

( pi
6

M) W R
A

Pro b 1 9 T he i m presse d al ternatin g e l ectro m otive f orce i s 2 0 0

v o l ts the resist a nce o f the cir c uit i s 1 0 oh m s the se lf in d u c t ion i s
henry a n d there are 60 a l ternations per secon d ; re q uire d the
20
c urrent
a
peres
n
m
A
s
(
Pro b 2 0 If in the ab ove circuit the c urrent i s 1 0 a m peres nd
t he i m presse d vo l ta g e
Pro b 2 1 If the e l ectro m otive f orce i s 1 1 0 vo l ts / 6 an d the cur
n

n
d
the
resistance
an
d
the
se
l
f
in d uc
r ent i s 1 0 a m peres / 6
i
tio n there b ein g 1 2 0 al ternations per secon d
Pro b 2 2 A n u m b er O f coi l s ha v in g resistances r r etc an d
se l f in d uctions Z l e t c are p l a c e d in ser i es n d the i m presse d
e l ectro m otive f orce in ter m s o f the current an d reciprocally
.

,,

, ,

S t r i gh m i
i
if it w r

and
n

o n s as

A rga n d

et

ho d

su c

as

U ip l
t he

H a y wa r d i n

r A l g e b ra
p ro d uct o f ve ct o rs
n

ana

Ma n y wr i t e r s

,,

"
Tr i g
m ty
f
x i l qu t r

A l g b ra a n d
on
t t h i s p r o d u ct o
tr
co a
a
T h i s i s t he f un d a m e n t a l e rro r

V e ct o r

ea

e r

a e

i n t he

AR T

D D I T IO N O F V E C T ORS I N S P A C E
A DD ITI O N

25

O F V E CTO RS I N

S PAC E

vect o r i n space can be exp ressed i n t e r m s o f th re e i n d e

se t
en
d
en
t
c
o
p
on
en
ts
an
d
wh
e
n
th
ese
fo
r
m
a
rectangular
m
p
6
A n y vari
t he d i recti o n s o f resol u t i o n are expressed b y
rp
an d
a ble vecto r R m a y b e expressed as R
an y co nstan t vect o r B m a y b e exp ressed as
A

6,j +

I n space th e s y m bol p f o r t h e d irectio n i nvolves two ele

m e n ts
I t m a y b e sp eci e d as
.

p
w

h e re

s um

th e th ree squ ares are su b j ect to t h e co n d i t i o n t h at th ei r

is u n it y

Or it

m ay

b e sp eci ed b y t h i s n otati on

a gen erali z ati o n o f t h e n otat io n for a plan e

T h e a d d it io n al

ngl e 62/ is i n trod uc ed t o speci fy t h e plan e i n w h ic h t h e an gl e

fro m t h e i n itial li n e li es

I f we are give n
o th e r fo r m t h u s :
R

If

i n t h e for m

r si n

is given i n t h e fo r m

r co s

+3

F o r exa m ple
1 0 cos
A gai n ,

fro m
C:

10

qb

j+

+ yj +

tan

r si n

2 6,

tan

si n

w e d ed u ce

"

10

'

c os

t h e n we d ed u c e t h e

si n
3z

cos

sin

45

":

V4 I

j+
4j + 56 w e d ed u ce

45

'

16

25

0
3

tan

10

an

si n

30

9
To n d t h e resu ltan t o f any n u m b er o f co m pon e n t vec tors
a pplied at a co m m o n p oin t le t R
R
R represe n t t h e n
vect ors 0r
,

, ,

, ,

,,

V E C T O R A N A L Y SI S A N D Q U A T ERNI O NS

26

'

Z
i
j Ij l

+y j
,,

2
( y )/ l

2R

t h en

an d
tan

an d

96

t an

u
ccessive
d
d
iti
o
n
Wh en th e su ccessi ve vectors d o n o t
A
S
li e i n on e plan e th e several ele m en t s o f t h e area e n closed will
li e i n d i ff e ren t plan es b u t t h ese ad d b y vect o r add i ti o n i n t o a
resu ltan t d irec te d area
.

n
s
A
the f or m
(
Pro b 2 4 E xpress C
in the f or m x i + yj 2 6

an

an d

1 2
3

4 56

Pro b

the f or m
Pro b
3

E xpress 5

2 5.

an d

1 00

1 000

26

+ yj

Fin d the resu l tant o f

2 6.

an ci

20

10

Pro b
'

'

12

27

E x press

in the for m
2
6
an
d
6
+
7
5i
'

36, 4 2

AR T

PR O DU C T O F

the resu l tant vector

of

8j + 96

Tw o

V E CTO RS

B y th e r ules z
u les o f S ign s fo r Vect o rs i n S pac
2
6
we
obtai
n
e
d
a
p
ro
d
u
ct
o
f
a n d jz
6
z
4
3
(
p
)
]
j
t wo vec t ors c o ntain i n g tw o partial prod u cts each o f which h as
th e h igh est i m po rtan ce i n m at h e m at ical an d physical an alysis
A cc o rd in g l y fro m t h e sy m m et ry o f space w e assu m e th at th e
followi ng ru les are t ru e fo r th e p rod u ct o f t wo vecto rs i n space
R

'

if
t
j

'

j
6
j
6j
2

6,

6,

6i

T h e squ are co m bin at i on s give resu lts wh i c h are

in d e pe n

RO D U C T O F

V E C T O RS

wo

27

e n t o f d i rect ion an d co nsequ e n tl y are s u m m ed b y si m ple

a d d it io n
Th e a rea vecto r d eter m i ne d b y
2 an d f can b e rep resen t e d i n d i recti o n by 6
because 6 is i n t ri -d i m en si o nal space th e axis
wh ich is co m ple m e ntary t o 2an d j We a l so
o bserve that
th e thre e ru les
6 j6
6 2 = j a re d erived fro m o n e an o th er b y cyc
l i ca l per m u tati on ; likewise th e t h ree ru l es
2
6
6
T
h
e

gu
re
sh
ows
th
at
t
h
ese
f
j
f
rules are m ad e t o rep resen t t h e re l ati o n of th e a d van c e t o t h e
rotat io n i n t h e ri gh t h an d e d screw Th e ph y sical m ean in g o f
t h ese ru les i s m a d e clearer by a n applicatio n t o th e dyn a m o an d
t he e l ect ri c m oto r
I n th e d yn a m o t hree prin cipal vecto rs h ave
t o b e co n sid ere d : th e veloc ity o f th e c on d u ct o r at any i nstan t
t h e i n ten sity o f m agn eti c ux an d th e vector o f elect ro m o t ive
f o rc e
F requ e ntly al l t h at i s d e m an d e d is g iven two o f th ese
d i recti on s t o d eter m in e t h e th i rd
S u ppose th at t h e d i rect i on
o f t h e ve l ocity is
an d th at o f t h e ux ], t h e n th e d i rectio n of
Th e f o r m ula if
6 b eco m es
t h e elect ro m ot ive fo rce is 6
veloc ity ux
e l ectro m ot ive -fo rce
f ro m wh ich w e d e d u ce
ux electro m o t i ve -force
ve l oc ity
elect ro m o tive -fo rc e velo city
ux
a nd
T h e correspo n d i n g for m u la for t h e e l ectric m ot or i s
c u rren t u x
m echan ica l -f o rce
f ro m wh i ch w e d erive b y c y c l ical p er m utati on
u x f o rc e
cu rren t an d force c u rren t
ux
Th e f or m ula velocity u x
ele ct ro m otive -fo rce i s m u ch
an
d
i
e
r
than
any
th
u
m
b
an d -n g e r ru le ; f or it c o m pares th e
h
t h ree d i recti on s d i rectly w i th t h e ri g h t -han d ed screw
d

'

xa m pl
S u ppose that th e c on d u cto r i s n o r m al t o t h e
m
l
an
e
o
f
th
e
paper
t
at
i
ts
ve
l
ocity
i
s
t
owar
d
s
th
e
bott
o
an
d
h
p
t hat th e m a g n eti c ux i s t owar d s th e l eft ; c o rresp on din g t o
t h e ro tat io n f ro m th e velocity t o th e u x i n th e ri g h t h an d e d
s crew we h ave advan ce i n to t h e pap er : t hat th en is th e d i r e c
t i o n o f th e elect ro m ot ive forc e
A g ai n su ppo se th at i n a m oto r th e d i recti on o f th e cu rren t
E

V E C T OR A N A L YSIS A N D Q U A T ERN IONS

28

alo n g t h e c o n d u ct o r i s u p fro m t h e pap er an d that th e m a g

n eti c ux is t o t h e le ft ; c orrespo n d in g t o c u rre n t ux w e h av e
advan ce t owards th e b o tto m o f t h e page wh i c h t h erefore m us t
b e th e d i rect i o n o f th e m ech an i cal forc e wh ich i s applie d t o
th e co n d u ct o r
o
ple
t
e
P
rod
u
c
t
o
f
t
wo
Vec
to
rs
Let A
C m
an d B
b e any two vect o rs n ot n ecessari ly
o f th e sa m e kin d ph y sicall y T h ei r p ro d u c t accord in g t o t he
ru les ( p
is
,

AB

6
6
,
,
j

al

bl

6, j

j+
jj
6 66
j
,

61 2

52

628

53

629

6,

6,

6,

'

Thus
n

a m e ly
6

6,

t h e p rod u c t b reaks u p i n t o t wo part ial prod u ct s

w h i ch i s i n d epen d en t o f d i rect io n a n d

whic h h as t h e d i rect i o n n o r m al t o t h e plan e of

6,

6,

j
Th e fo r m e r is c alled th e scala r prod u c t an d t he
A and B
latte r t h e vect o r prod u ct
I n a s u m of vect ors t h e vecto rs are n ecessaril y h o m ogen e
o u s b u t i n a pro d u ct t h e vect o rs m a y be h et erogen eo u s B y
6
0 w e d ed u ce th e res ul ts alrea d y o b tain e d
m aki n g 6
fo r a plan e

t
w
o
S calar P rod uc t o f
Vec tor s T h e scalar p rod u ct is d e
n ot e d as be fo re b y S A B I ts geo m et rica l
m ean i n g i s th e p rod u ct o f A an d th e o r t h o
g
o n al proj ec tio n o f B u po n A Let O P re p
resen t A an d O Q rep resen t B an d let O L
P L M an d M N b e t h e o rth ogon al p roj e ct i on
s
u p o n O P o f th e coor d in ates
re
s p e ct i v e l
Th en O N is t h e orth ogo n al p ro
y
e
c
t
i
o
n
o f O Q an d
j
.

P R O DU C T O F

V E C T O RS

wo

29

0 N = OF x

OP

be

'

z
z

SA B

Let th e i n t en sit y o f a m agn et i c fl u x

an d le t th e area b e S
6j+
B
3 j +
t h en th e u x t h ro ug h th e area is S S B
o
rollary
I
H e n ce S B A
Fo r
SAB
C
E

xa m ple

be

Th e p ro d u c t of B an d t h e orth ogo nal proj ectio n o n i t o f A

is equa l to th e p ro d u c t o f A an d t he orthogo nal p roj ecti on o n
i t of B Th e p ro d u c t is posit ive w h e n th e vecto r an d th e p ro
e
t
i
o n h ave t h e sa m e d irecti o n
an
d
n
egative
wh
en
th
e
y
h
av
c
e
j
O pp osi te d i rectio n s

H e nce A
T h e squ are o f
Co rollary 2
A m u st be posit ive ; for th e two fact ors h ave t h e sa m e d i rect i o n
Vect o r P ro d u ct o f tw o Vect or s T he ve cto r p rod u c t a s
b efo re is d en ot e d b y V A B I t m ean s th e p rod u c t o f A a n d
t h e c o m p o n en t o f B wh ich is p erpen d icu lar t o A an d i s rep
resen ted by t h e area o f t h e parallelogra m fo r m ed by A an d B
Th e o rth o g o nal p roj ect io ns o f th is area up o n th e plan es o f j6
an d
represe n t th e respect ive co m p o n ent s o f th e pro d u ct
F o r let O P an d O Q ( see s eco n d gu re o f A r t 3) b e t h e o r
t ho g o n a l proj ectio n s of A an d B o n t h e plan e o f 2 an d ] ; th e n
t h e t rian gle O P Q is th e p roj ect i o n o f h al f of t h e paral l elogra m
for m ed by A an d B B ut i t i s th ere S h own t h at t h e area o f
th e t rian gl e O P Q is
Th u s
d en o tes
th e m agn it u d e an d d irect io n o f th e para l lelogra m for m e d by
th e proj ection s of A an d B o n th e plan e o f 2 an d f S i m i l arl y
d e n ot es i n m agn it u d e an d d i recti on th e p r o je c
6 6 )j that o n th e
ti o n o n th e p l an e o f j an d 6 an d
plan e o f 6 an d
V AB
Corollar y I e H e n ce V B A
2
E xa m pl e Given two li n es A
Ioj + 36 an d B
7
2+ 4
66
t
o

n
d
th
e
rectan
u
lar
p
roj
ecti
o
n
s
o
f
th
e
par
;
g
9
j
a l l e l o g ra m w h ich t h e y d e n e
.

'

V E C T O R A N A L YSIS A N D Q UA T ERN I ONS

30

y
I 5/

6
0
<

VAB

'

4 82

Cor ollar y

27

1z

2
4

2
8
2
1 +(

k
90

62 6

is expressed as 6 6 a n d B as 66 t h en
6 6 cos
an d V A B
wh e re
de
SAB
6 6 sin 6 6
n o t es t h e d i recti o n wh ic h is n or m al t o bot h 6 an d 6 an d
d rawn i n th e sen se give n b y t h e righ t -h an d e d screw
If A

m
E xa pl e

SA B

Given A

an d

ay/

C
T
h
e
n
[6

00 5

{
P rod u ct o f t wo S u m s of n on -su ccess ive Vecto r s Let A an d
B an d
B be tw o c o m po n en t vect ors givi ng t h e resu ltan t A
l e t C d en ot e an y oth e r vect o r h avi n g th e sa m e poi n t o f a pp l i
cati o n
rr

cos

co s

si n

si n

cos ( 65

Le t

6, j

C
S i n ce A

an d B are in d epen d en t o f o rd e r

+(
(
(
c o n se q u entl y b y th e p ri n c ip l e alread y establish e d
B

S( A

B)C

V (A

B)C

e.

e.

566,

e.

:2

e t c.

6, c, ) i

6 , c,

VAC

VB C

A C+ B C

:
B
C
A
( + )

H en c e

0.

SB C

SA C

S i m ila rl y

561

a.

I n t h e Sa m e wa y it m a y b e s h ow n th at i f t h e secon d fact o r
D
onsists
o
f
two
c
o
po
n
ent
s
an
d
wh
ic
h
are
n
o
n
s
u
ccessive
C
m
c
i n th ei r nat u re th en
,

A
(

P RO D U C T

Wh e n

is a

s um

OF

V E C T ORS

T HR E E

31

o f co m p o n e n t vec t o rs
A

2 5 AB

Pro b 2 8 T he re l a ti v e v e l ocity o f a con d uctor i s S W an d the

m a g ne t ic ux i s N W ; w hat i s the d irection o f the e l ectro m otive
f orce in the con d uctor ?
Pro b 2 9 T he d irection o f the current i s vertically d o w n w a r d
that o f the m a g netic ux i s West ; n d the d irection o f the m e c ha n i
c a l f orce on the con d uctor
6
Pro b 30 A b o dy to w hich a f orce o f
poun
d
s
i
s
+
4
3f
a p p l i e d m o v es w i t h a ve l o c ity o f
7 6 f eet per secon d ; n d
t he r a te at w hich w or k i s d one
1 0 6 inches l on g i s su b ect to
Pro b 3 1 A c on d uctor
j
1 6 vo l ts per i n c h ; n d the
1 2
a n e l e c tro m otive f orce o f 1 1 2
+
3
j
A
ns
2 6 v ol ts
d i ff erence o f potenti a l at the en d s
(
3
)
Pro b 3 2 Fi n d the re c t a n g u l a r projections o f the a re a o f t he
A
22
1
23
a
r
a
ll
e
l
o
r
a
m
d
ene
d
b
y
the
vectors
6
an d
4
p
g
f
3
.

'

'

i
4s

5 6+

67 6

Pro b 33 S ho w th a t the m o m ent o f the ve l ocity Of a b o dy w ith

r espect to a
m
t
1
m
m
o
5
e
q
ua
l
to
the
s
u
m
o
f
the
o
ents
o
f
i ts co m
p
p onent v e l ocities w ith respect to the sa m e point
r 1j + 1 36 f eet an d the f orce a pp l ie d
Pro b 34 T he a r m i s
a t either en d i s 1 7 z + 1 9j + 2 36 poun d s w ei ht ; n d the tor q ue
g
Pro b 35 A b o dy o f 1 0 0 0 poun d s m a ss ha s l inear v e l ocities o f 5 0
f ee t per secon d
an d 60 f eet p e r secon d
n d
i t s k inetic ener g y
Pro b 36 S ho w that i f a syste m o f a re a -v ectors c a n b e r e p r e
s en t e d b y the f a ces o f a po l yhe d ron their resu l tant v a nishes
Pro b 3 7 S ho w that w ork d one b y the resu l tan t v e l ocity 1 5 e q ua l
t o the sum o f the w ork s d one b y i t s co m ponents
.

'

AR T

P RO D U C T O F TH RE E V E CT O R S

P rod u c t Let u s take A

6 j +
B
6 z+ 6 j+
e
an d C
B y th e p rod u ct
j+
o f A B an d C is m ean t th e p rod u ct o f th e prod u ct o f A an d
B w ith C a cco rd i n g t o t h e ru les p
H en c e
Co m plet e

: 2

'

AB C
a
b
l
+ (
a

5
i
3 2)

(6
+

m m
(

at )
!

i
a
c,

j+

( 1)

V E C T O R A N A L YSIS A N D Q U A T ER N ION S

82

a: I

6, 6,

6, 6,

6, 6,

c,

e,

C:

xa m pl e Le t

2
6
8
+
7
j+ 9

Th e n

(4

( )
I

( )
2

9
6

( 3)

I f we

3
6

w ri t e A

d i rec ti on s

c,

c,

'

51

42

82+ 9 6)

2
3

'

66,

an d

(7i

666
6
8
2
7 + j

66 , C

6c

c os

62

Sin

Sin

6c

si n

c os

6 6

AB C :

w h e re cos

6
B
,
3

i
) (7

2 a

6, 6, 6,

12

'

c,

'

I8

10

( )
2

'

as as

'

the n
( )
I

( )
( 3)
2

d
en
o
tes
t
h
e
cosi
n
e
o
f
th
e
an
gle
betwee
n
h
t
e
6y
an d y an d 6 6y d e n ot es t h e d i rect i o n w h ic h i s
,

n o r m al t o bot h 6 6 an d
We m a y als o w rite
AB C :

SAB

A
B
VA
B
V
V
C
S
C
(
(
) +
)C
l

( )
( )
( 3)
F i rst P artial P ro d u ct It i s m e rel y t h e t h i rd vect or m u lt i
pli ed b y th e scalar p rod u ct o f th e ot h e r two o r weig h t ed b y
t h at prod u ct as an o rd i n ar y algeb rai c qu an ti ty I f th e d i re c
t i o ns are kept co n stan t eac h o f th e t h ree partial p ro d u cts i s
p rop o rti on al t o each o f t h e th re e m agn i t u d es
2

S ec o n d P artial P rod u c t T h e s co n d part ial p rod u ct m a y

b e exp ressed as t h e d i ffe ren ce o f two p rod u ct s si m ilar t o t he
rst F o r

V (V AB ) C

t
+i
+l

m
63
6
2
(
cl

l
(

61 6 1) a 1
.

ca

t
n, I

Cl d

b
) 9 i]

6 3a :

(6

&

a
) i

ce a 2

P R O D U C T O F T H REE V E C T O RS

ad d in g t o t h e rst o f t h ese c o m p on en t s t h e n ull t er m

we ge t
an d b y t reati n g
SB C
S CA
th e oth er two c o m p o n en ts si m ilarly an d ad d i ng t h e res u lts w e
obtai n
V (V A B ) C
SB C A
S CA B
Th e p ri n ci ple h e re p roved is o f great u se i n solvi n g equa
t i o n s ( see p
E xa m p l e Take th e sa m e th ree vecto rs as i n th e p re ce d
i ng exa m pl e Th en
By

V (VAB ) C

28

mm

40

6
1 +3 )
6
2
52
>
2

16

+
'

'

6j

8
2
7

666

T h e d eter m i nan t expression fo r t h is partial p rod uc t

also b e wri tte n i n th e f o r m
6

6, 6,

e,

6, 6,

c,

6, 6,

m ay

e,
'

j
j
I t follo w s t hat t h e freq u e nt l y o cc u rrin g d eter m i n an t expressi o n
6

c,

6, 6,

c,

e,

6, 6,

e,

c,

6, 6,

m ean s

Th i r d P art ial P rod u c t F ro m t h e d et er m i n an t expressio n

fo r th e t h i r d p rod u ct w e kn ow th at
.

S ( V A B ) C = S ( V B C) A
S (V B A ) C

S ( V CA ) B
S ( V A C) B

S ( V CB ) A

H en ce any o f th e t h re e for m er m a y b e exp ressed b y S A B C

an d an y o f t h e th r ee latt er by
SA B C
Th e th i rd p ro d u c t S (V A B ) C i s rep resen t ed b y t h e vol
parallelepiped for m ed by t h e vect o rs A B C
u m e o f th e
t ake n i n th at o r d e r Th e li n e V A B v B
represents i n m agni t u d e an d d i recti o n
t he a r e a for m ed by A an d B an d th e
prod u ct o f V A B with t h e p roj ection
o f C upo n i t i s t h e m easu re o f t he
vol u m e i n m agn it u d e an d Sign H en ce t h e vol u m e for m e d
by t h e t h re e vec to rs has n o d i rect i o n i n spac e b u t it i s p osi
t ive o r n egat ive accord in g t o t h e c y clical o rd er of t h e vect ors
,

VEC T O R A N A L YSIS A N D QU A T ERNI ON S

34

I n t h e exp ressi on 6 6c si n 6 6 c os 6 6y i t is evi de n t that si n

corresp o n d s t o si n 6 an d c os 6 6y t o cos 65 i n th e u s ua l for
m ula for th e vol u m e o f a para l lelepiped
,

xa
pl
Let t h e ve l ocity o f a st raig h t wi re parallel t o
m e
E
itself be V
c en ti m et e rs per seco n d let th e i n t en sit y
6000 /90 l i n es p er s quare ce n
o f t h e m agn et ic u x b e B
:

t im

an d let th e st raigh t wi re

e t e r,

Th e n V VB 6000000 si n 60
secon d H en c e S ( V VB ) L
p e r sec o n d wh ere cos
si n

m
ce
n
ti
eters
5
0
l
in
es
p
er
c
e
n
t
i
eter
pe
r
m
9
/
X 6000000 si n 60 cos ! lin es
si n 60
1

45

P rod u c t s B y

o f t h e P artial Vec t o r
ad d in g t h e rst
an d seco n d part ial prod u ct s we obtai n t h e t otal ve ct o r pro d u ct
of A B C wh ic h i s d en o ted by V (A B C) B y d eco m posi n g th e
seco n d pro d u c t w e o b tai n
S um

SA B

V ( A B C)

SE C A

S CA

re m ovi n g th e co m m on m ult i plie r

w e get
cos
cos
V ( a 6y )
6
cos
6
6
y
y
6
y
c os y a 6
S i m ilarl y V ( 6y a )
co s 6y 6
cos
y
and
cos y 6 6
c os 6 6 y
C O S 6y 6
V ( y a 6)
T h ese t h re e vec to rs h ave t h e sa m e m agn it ud e fo r t h e
squ are o f eac h i s
2 cos 6 6 c os 6
c os 6 6
cos y 6
cos
co s 6y
6
y
y
t h at i s I
Th e y h ave t h e d i recti o n s respectively o f
whi
ch
are
t
h
e
co
rn
e
rs
o
f
th
e
t
rian
gl
e
y
w h ose sid es are bisect ed b y th e co rn ers 6
o
f
t
h
e
give
n
t
rian
l
e
g
6 y
By

Pro b

Fin d the secon d p a rtia l pro d uct o f

1 1
Al so the thir d partial

8
3

IO

pro d uct
Pro b
.

39

Fin d the cosine o f t he a n g l e b et w een the p l a ne o f

2n j+
an d
an d the p l an e o f
m j+
,

an d
Pro b 4 0 F in d t he v o l u m e o f the p a r a ll e l epipe d d eter m ine d by
80 6
the v ectors 1 0 0 2 + 5oj + 2 5 6 50 2+ 1 0j + 80 6 a n d
2
0
75 + 4 j
.

'

C O M P OSI T ION O F Q UA N T I T I ES

35

Pro b 4 1 F in d the v o l u m e o f the tetrahe d ron d eter m ine d by the

2
6
2
1
2
w
o
f
the
f
o
ll
o
in
vectors
m
6
4
g
3
]
7
5/
e x tre ities
.

'

'

'

2 6,

7f

82+

k
s

'

47

Pro b 4 2 Fin d the v o l ta g e at the ter m inal s o f a con d uctor w hen

i t s v e l ocit yi s 1 5 0 0 c enti m eters per secon d the i n tensity o f the m a g
netic ux i s 7 0 0 0 l ines per s q uare centi m eter a n d the l en g th o f t he
c on d uctor i s 2 0 c en t i m eters t he a n g l e b et w een t h e rst a n d se c on d
b ei n g
a n d t h a t b et w een the p l ane o f the rst t w o a n d the d i r e c
t ion o f the thir d 60
( A n s 9 1 v o l ts )
Pro b 4 3 L e t
Fin
d
y
V 6 6y a n d d e d uce V 6y 6 a n d V y a /3
.

AR T

CO MP OS ITI O N

O F Q UAN TITI E S

n u m b e r o f h o m oge n eo u s q uan tities are si m u ltan eo usl y

locat ed at d i ffere n t p oi n ts ; i t i s requ i red t o n d ho w t o ad d o r
co m pou n d th e m

O
Le t 222A d en o te a
A d diti o n f a Located S calar Q uant it y
m ass 222 Si t u ate d at th e ext re m ity of th e radi us
vector A A m ass 222
222 m a y b e i n t ro d uced
at t h e extre m i t y o f any rad i u s-vecto r R s o
t h at
22
2
222 E + 722A
(
)
A

777 R

WA

222R

222

m l?

(A

H ere A
R i s a si m ultan eo u s s um an d d en ot es t h e ra d i us
vecto r fro m th e ext re m ity o f R t o th e ex t re m i t y o f A T h e
R ) i s wh at Clerk Maxwell called a m ass prod uc t 222 ( A
vect o r
an d m ean s th e d i rected m o m en t o f 222 with respec t to th e ex
t re m i t y o f R
Th e e q uatio n stat es that th e m ass 222 at t h e
extre m ity o f t h e vect or A i s e q u ivalen t t o th e equ al m ass at
t h e ext re m ity o f R toget h er wit h th e sai d m ass-vect o r app l i e d
at t h e ext re m ity o f R
Th e equ at io n exp resses a physical or
m echan ical p ri n c iple
H en c e for any n u m b er o f m asses 222 at t h e ext re m it y o f A
222 at th e ext re m ity o f A
etc
,

'

, ,

A
(

,,

36

A N A L Y SI S

EC TO R

QU ATERNIONS

A ND

t h e l atter te r m d e n o tes t h e sum o f t h e m ass -vecto rs

t reate d as s i m u l ta n eo u s vec to rs app l ie d at a c o m m o n p o i n t

w h e re

Z { m (A

S i n ce

2 wA

res u l ta n t

or

C o ro ll ary L e t

yj

37

h e re f o re
E

mm
i

2 (m a )

1:

m A

50

m gA2

7721

2 ( m c)

2 m

2 m

2m

f eet

'

si n

30 z

c
os
6
o
(

I 56
2

tb
Z
)
(

p
o
u
n
d
s
at
1
f
eet
0
a
n
d
0
8
5
3
/
fi n d t h e m o m e n t w h e n b ot h m asses

6
cos
45
5 (

m gR

m om e n t

( c os

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12

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G i ve n

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772A

2 m

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j + we) ;

2 (m a)

hf
b e writte n as

m ay

772

k
q ;

alz

t h e n t h e a b o ve co n d it i o n
z

R 2

'

and

o m e n t w i ll va n i s h i f

172

KZ 7

772A

E
t he

m A l

si n 4 5

30

cos 4 59 + s in

s i n 60 cos

si n 4 5 s i n

6
s
in
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i
n
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R

m
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A
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772

s in

co s

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C o m p os i t i o n o f a L ocate d

e
t
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ua
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i
t
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et
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e
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F m a y i n t ro d u ce d at t h e ex
t r e m i t y o f a ny ra d i u s -vecto r R we h ave

FA

T hi s

t
t

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e q u ati o n asserts t h at a f or c e F a p p l ie d
t h e ext re m i t y o f A i s e q u i va l e n t t o a n e q ua l f o rce app l i e d
t h e extre m i t y o f R to g et h e r w it h a c o u p l e w h ose m ag ni t u d e

C O MP O S I T I O N

Q U A N T I T IE S

OF

37

a n d d i rect i o n are gi ve n b y t h e ve c to r pro d u ct o f t h e ra d i u s

ve cto r f ro m t h e extre m i t y o f R t o t h e ext re m it y O f A a n d t h e
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By

E
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I4

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t h e p r i n c i p l e p re vi o u s l y esta b l i s h e d t h e l e f t

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l
SR
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a n d t h e ri gh t

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is

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t h at

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15 ,

A N A LY S

3 77

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o f t h e re su l ta n t f orce Th e ter m ( 2 ) m ea n s t h e
p ro je ct i o n o f R u po n t h at l i n e
1

T he

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h ave t h e sa m e d i rec t i o n ; h e n c e i t i s gi ve n b y

V fZ V A F

t h at i s

0 ;

V (V R E F ) 2 F = V (E A F ) 2 E

expa n d i n g t h e l e f t
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,

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i n t h e p rev i o us exa m p l e
S i n c e 27 F 8i + I Ij +
th e
d i rect i o n o f t h e l i n e i s
E

S i n ce

37
38 1
perpe n d i c u l ar to t h e l i n e i s

P ro b

44

an d

Find
20

a n d ZV A F _ 92

t h e m o m e n t at
p ou n d s at 5 f ee t

0f 1 0

18
]

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1
+9

ou
n
d
s
at
P

feet

S P H ER I C A L

P ro b

Fin d

45
1k
+
3f

T R I G O N O ME T R Y

t h e t or q ue f or

'

4 z + 3j +

39

p ou n d s w ei g h t at
at
3z + 4f + s

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1
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f eet w h e n t ra n s f e r re d t o
4
3
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a
m
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m ass e q ua l t o t h a t o f t h e w h o l e s ys t e m p l a c e d a t t h e c e n ter o f m ass
o f t h e s yste m is e q ua l to t h e sum o f t h e m ass ve c tors d ra w n f ro m
t h e sam e ori g i n to a ll t h e p a rti c l es o f t h e syste m
'

22

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ART

S PH E R I C A L T R I G O NO ME T RY

k d e n o te t h ree m u tua l ly perpe n d i cu l ar axes

L et
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or d e r t o d i sti n gu is h c l ear ly b etwee n a n ax i s a n d a q u a d ra n ta l
.

W/ z

k
ve rs i o n ro u n d i t l et 2
d en ote
q u a d ra n ta l versi o n s i n t h e p ositive se n se
k respect ive ly
a b o u t t h e axe s
The
d i rectio n s O f posit i ve ve rs i o n are i n d i cate d i
b y t h e arrows
,

i s m ea n t t h e p ro d u ct O f two
q u a d ra n ta l vers i o n s ro u n d
i t i s e q u iv
By

ale n

to a

S i m i l a rl y /

s e m 1 CIr c u l a r

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z

m
m
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ea n s t h e p ro d u ct o f two q ua d ra n ta l ve rs i o n s

S i m i l ar l y H W
a n d j fj = j
k
i s m ea n t a q u a d ra n t ro u n d 2 f o ll owe d b y a q u a d
By
ra n t ro u n d j ; i t i s e q u i va l e n t t o t h e q u a d ra n t f ro m f t o t h at

r o un

m/

d j,

mh

'
r

/3

'

is

to

i s e q u iva l e n t t o t h e q ua d ra n t f ro m

t o j t h at i s t o H
S i m i l ar ly f o r t h e ot h e r two pa i rs o f
p ro d ucts H e n ce we o b tai n t h e f o ll owi n g
.

R
W/a

t m
u

/a

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/a

/a

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77

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/s

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Va

o f t h ese ru l es wi ll b e see n f ro m t h e f o ll o w
Let lz
my
72%
d e n ote a n y ax i s t h e n
'

W/ z

i n g app l i cat i o n

V e r s o rs

/a

u l es f o r

VE

4O

C T O R A N A L Y S IS

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AND

d
e
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o
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l
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Th i s q u a d ra n ta l vers i o n ca n b e d eco m pose d i n to t h e t h ree

17
( +

777

recta n gu l ar co m p o n e n ts
77 %
a n d t h ese co m po n e n ts
a r e n o t su ccess i ve ve rs i o n s b u t t h e parts o f o n e ve rsi o n
S im
a

i l a rl y

o t h e r q u a d ra n ta l ve rs i o n ( 17 +
ca n b e
r eso l ve d i n t o
B y app ly i n g t h e a b ove ru l es
w e o b ta i n
an y

'

7 2
7

ow

my

1
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77
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)j +

Pro d u ct

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k
)

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A
.

o f T wo S p h e r i ca l V e r so rs L et 8 d e n ot e t h e a x i s
t h e rat i o o f t h e sp h er i ca l ve rs o r PA t h e n t h e ve rso r
i tse l f i s expresse d b y
S i m i l ar l y l e t y
d e n ot e t h e axis a n d c t h e rat i o o f t h e
sp h e ri ca l ve rso r A Q t h e n t h e ve rsor itse lf
i s expresse d b y y

and

No w

an d
t h e re f o re
cos
b
(
co s

si n

os
c
b co s c I

s in c

co s c

si n c
+

co s

w/ a

si n c

)
5

B ut f ro m t h e p rece d i n g paragrap h

t h e re f o re

cos y
cos 5 cos c
si n

si n

si n 7 cos y

si n c si n

I
( )

( )
it is
2

Th e rst t er m g i ves t h e cos i n e o f t h e p ro d u ct verso r ;

e q u iva l e n t to t h e f u n d a m e n ta l t h e o re m o f sp h er i ca l t r i g o n o m
e t r y n a m e ly
cos a
c os 5 c os c
s i n S i n c co s A
,

S P H ERI C A L

l R IG O N O ME T R Y

41

'

h e re A d e n otes t h e exte r n a l a n g l e i n stea d o f t h e a n g l e i n

c l u d e d b y t h e si d es
Th e seco n d ter m i s t h e d i rec te d si n e o f t h e a n g l e ; f o r t h e
s q u are o f ( 2 ) is e q ua l t o I m i n us t h e s q uare o f ( I ) a n d i ts d i
*
re ct i o n i s n o r m a l t o t h e p l a n e o f t h e p ro d u ct a n g l e
w

xa m p l

and y

co s 4 5 cos 30

cos y
a n

L et
2

c os
co s 30

and
y
t h ere f ore
V y

sin 45

cos

c
os
si
n
si
n
o
45
3
{

0
3

{
si
n
cos
4
5
{
45

si n

0
3

cos 30

c os 60

30

30

5,

si n 60
S in

Sin

0
3

'

8 111

V y ;
s i n y y
s i n 4 5 cos 30 j + s i n 4 5 s i n
s i n 30 cos 60 j + si n 30 si n
.

ut

Th e n

s
i
n
si
n
0
45
3
30 c os 60 } i
c os 4 5 s i n 30 si n 60
si n 4 5 cos 30 c os

u
ot
i
e
n
t
o
f
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wo
S
p
h
er
i
ca
l
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r
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e
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o
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o
s
Q
ive
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verso
r
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s
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e
rive
d
b
c
h
a
n
gi
n
g
t
h
e
S
i
g
n
o
f
t
h
e
i
n
d
ex
;
y
g
.

y
y

i s t h e rec i pro ca l o f y

"

cos

co s

cos
f
+

si n c
cos c

si n

cos

sin

si n

and

si n

A s ,6

sin

co s 5 s i n

cos y
.

si n

sin

o f Th re e S p h er i ca l V e r so rs L e t
b
d e n ote t h e ve rso r PQ t h e versor Q R
a
b
a n d y t h e verso r R S ; t h e n a y d e n otes
Pro d u ct

PS

NO W

c
o
s
si
n
a
a
(
cos 77 co s 5 c os c
cos 72 c os 5 s i n

si n

si n

r i n c i ples

of

( )
c os a cos 6 s i n

co s 6 S i n

( )
2

c os 5 s i n a si n c
cos 6

co s

cos a s i n

si n

m
m
si n a s i n 5 ar /3
.

ll i pt i c a n d Hyperb ol i c A n alys i s p
,

( 3)

42

si n
Th e

E C T O R A N A L Y S IS

a S in

v e r so r s

n a m e ly

t a in e d ,

si n

QU A TE RNION S

A ND

m
m
m
a

( 4)

i n ( 3) are expa n d e d

t h e ru l e a l rea d y

by

Ob

C OS y

si n

Th e ve rso r o f t h e f o u rt h te r m i s

cos
a
i
n
S
a
(
+

a
c
os
a

y l si n a si n a y

cos a
NO W s i n

si n

h e n ce t h e l ast te r m
Sin a

si n

c os

CO S

Il

co s a y
CO S y a (p
o f t h e p ro d u ct w h e n expa n d e d i s
y

"
/
cos a y
f

si n c {

cos y

c os a y }

e n ce
a

c os 77 cos 5 c os c
cos a s i n 5 s i n 6 cos y
c os 5 s i n a s i n 6 cos a y
cos 7 s i n a s i n 5 c os a
s i n a s i n 5 s i n 6 s i n a c os a y

a n d l ett i n g S i n d e n ote t h e d i recte d s i n e

,

Si n

cos

co s

cos 5

co s

si n c

co s c

Sin a

si n

6 Sin a

co s a co s c si n

-co s

si n

cos 6 s i n a s i n 5 s i n a
s i n a s i n 5 si n c fco s a

si n

si n c s i n

y y
.

c
os

y
a
c
o
s
y
y +
E xte n s i o n o f t h e E xpo n e n t i a l Th e ore m t o S p h e ri ca l T ri go

r
It h as b ee n s h ow n ( p 4 58) t h at
nomet y
b
si n 5 si n 6 co s y
cos y
co s 5 co s e
an d
.

s
i
n
(

cos e si n

co s

si n

si n
5

No w

co s

5 = I

4
1
4 !

si n

e tc

si n y

t h e a b ove case t h e t h ree axes f t h e su c cess i ve a n gles are t perfe c tl y

i n d epe n d e n t for t h e t h i rd a n gle m ust b eg i n w h ere t h e se c o n d leaves ff B ut
t h e t h eore m re m a i n s true w h e n t h e axe s are i n d epe nd e n t t h e fa c tors are t h e n
quater ni o n s in th e m ost ge n eral se n se
In

no

S PH E RI C A L

T R IG ON O ME T R Y .

si n

a nd

43

e tc

S u b st i tu te t h ese se r i es f or c os 5 si n 5 c os c a n d si n c i n
t he a b ove e q u at i o n s m u l t i p ly o u t a n d gro u p t h e h o m oge n eo u s
t er m s toget h e r I t w i ll b e f o u n d t h at
,

co s

"

2 5c

5
{

5
%
4

65%

CO S y
4 5c

co s y

cos y

5
?
5

7
5

656

cos y
3

20 7 7

cos

cos y
w h e re t h e coe f c i e n ts are t h ose o f t h e b i n o m ia l t h eo re m t h e
o n ly di ff e re n c e b e i n g t h at cos y Occu rs i n a ll t h e O d d t e r m s
a s a f acto r
S i m i l ar l y b y expa n d i n g t h e te r m s O f t h e s i n e we
o b tai n
+

WV?

/2

n /z

Fi

Si n

/2

B y a d d in g t h ese tw o expa n si o n s toge t h e r

i
n fo r
n
a
m
e
l
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n
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o
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y
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we

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n
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l
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6
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)+ l

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%
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s i n y Eff
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W

/2

65

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ex

4 4:

E C T O R A N A L Y S IS

By

Q U A T ER N I O N S

AND

restor i n g t h e m i n u s we n d t h at t h e ter m s o n
seco n d l i n e ca n b e t h row n in t o t h e f o r m
,

t he

an d th is i s equ al t o
I

{w H

/2

1?

7r

2
,

we h ave t h e s q u are o f a sum o f su c cess i ve ter m s I n

s i m i l ar m a n n er t h e te r m s o n t h e t hi r d l i n e ca n b e rest o re d t o

wh ere

m
m
xte
n
s
i
o
n
o
f
t
h
e
Bi
n
o
i
a
l
Th
eo
re
We h ave prove d
E
a b ove t h at
prov i d e d t h at t h e p o wers
o f t h e bi n o m i a l are expa n d e d as d u e t o a s u ccessive su m t h at
i s t h e o r d e r o f t h e te r m s i n t h e b i n o m ia l m u st b e p rese rve d
H e n ce t h e expa n s i o n f o r a p owe r o f a s ucc ess i ve bi n o m i a l i s
g i ve n b y
.

5
{

/z

/2

/
"
b

nb

-1

77 77

page 386 o f h i s E le m e n ts of Q uate rn i o n s Ha m i lto n sa y s : In t h

prese n t t h eor y o f d i pla n ar q uatern i o n s we ca nn ot expe c t t n d t h at t h e su m of
t h e logari t h m s f a n y t w o propose d fa c tors s h all b e ge n erally e q ual to t he
logar i t h m f t h e pro d u c t ; b ut for t h e s i m pler a n d e l i r ca s f c opla n a
q uater n i o n s t h at alge b ra ic property m ay b e co n s id ere d t o ex i st w i t h d u
"
m o di cat i o n f o r m ult i pl ici ty f value
He was le d t t hi s V i ew b y t di s
t i g u i shi g b etwee n vectors a n d q ua d ra n tal q uater n i o n s a n d b etwee n S i m ul
T h e a b ove d e m o n strat i o n was rst g i ve n i n
o u s a n d su cc ess i ve a dd i t i o n
ta
T h e F u n d a m e n tal T h eore m s f A n alys i s ge n eral i e d f
S pa c e
m y paper o
It fo r m s t h e k y t t h e hi g h er d evelop m e n t f spa c e a n al y s i s

At

ar

no

ne

or

C O MP O S I T I O N

xa m p l e

5
(

c.

L et 5

1
35

RO TATION S

2 5c

5
{

45

and

OF

cos y

2 5c si n

n
cos

y
) a w y)
3 .
(an ;
S u b st i t ut e t h e ca l cu l ate d va l u es o f cos y a n d s i n y ( page
P ro b 4 8 F i n d t h e e q uival e n t o f a q ua d ra n tal versio n rou n d

1
7 3

1 1 1+
2

V2

_5

V2

fo ll o w e d

by

a q ua d ra n tal

ersio n rou n d

4
4 9 In

P ro b
t h e e x a m p l e o n p 4 5 9 l et 5 2 5 a n d c
c al
c u l a t e o u t t h e c osi n e a n d t h e d i r e c t e d si n e O f t h e p ro d u c t a n g l e
P ro b 50 In t h e ab ove e x am p l e c al c u l a te t h e c osi n e a n d t h e
d i r e cte d si n e u p to a nd i n c l us i ve o f t h e f our t h p o w er O f t h e b i n o
n
A
m ia l
( s co s
P ro b 5 1 Cal c u l ate t h e rst f our term s Of t h e series w h e n
.

/
9
9 /
7 h
P ro b 5 2 F ro m t h e f u n d a m e n t a l t h eore m o f s ph eri cal tri g o
n o m e t r y d e d u c e t h e p o l ar t h eore m w i t h res p e ct t o b ot h t h e c osi n e
a n d t he d i r e c t e d si n e

P ro b 5 3 P rov e t h a t i f at y d e n ote t h e t h ree v e r so rs o f a

s ph eri ca l tria n g l e t h e n
si n y
si n y a
si n a
si n 5
si n 6
Si n a

1
c
5m

AR T

C O MPO S I T I O N

10
.

OF

R O TAT I O N S

versi o n re f e rs to t h e c h a n ge o f d i rect i o n o f a l i n e b u t a
rotati o n re f e rs to a r i gi d b o d y Th e co m p os i
t i o n o f rotati o n s i s a d i ff ere n t m atte r f ro m t h e
co m posit i o n o f ve rs i o n s
E ff ect o f a F i n i te R otati o n o n a Lin e S u p
pose t h at a r i gi d b o d y rotates 6 ra d i a n s rou n d
t h e axis passi n g t h ro ug h t h e po i n t O a n d t h at O
R is t h e ra d i us vecto r f ro m O t o so m e part i c l e
I n t h e d ia g ra m O B represe n ts t h e axis a n d
O P t h e vecto r R
D raw O K a n d O L t h e recta n gu l ar c o m p o
n e n ts of R
m
9
)
6 R
cos
s
i
n
0
6
5 m
(
,

46

VE

C T O R A NA L Y S IS

(
r fco s p
+ co s
r co s

sin

AND

Q U ATE RN IONS
3
1 +

H
C
[ AR

s i n p o )
s i n 6 si n p p }
.

si n p p
Wh e n co s p 0 ,t h i s re d u ces t o
o
R
cos 6R
s i n 6V ( R )

Th e ge n e ra l resu l t m a y b e writ te n
9
R
S R + cos 6( V R )
si n 6V R

Note t h a t ( V R ) is e q u a l t o V ( V R ) b ecau se
0 f o r i t i n vo l ves two co i n c i d e n t d i recti o n s
E xa m p l e L et
l i l 777j + 77 5 w h e re 1
777
xi
and R
[2:
my
77 2
+ yj + 3 5 ; t h e n S R
6

IX

'

77y

7777

777

77

V R = l

a nd

x
'

7
oR

x
I
(

777

5
77 5

my

777 2

773

77 77

I
7

si n

6 l
x

77
z

c
os
+

ly
mx

12

'

77

777 2

H e n ce

777

)
12

137

777

77

777 1 :

77
2

f
b
T o prove t h at p co in c id e s w i t h t h e ax i s o f
9
T a k e t h e m o re ge n e ra l ve rso r p
L et O P re p rese n t t h e ax i s
b/
B C t h e verso r
A B t h e ve rso r
AC
D A t h e re f ore
Th e n
.

DE

No w

h as t h e sa m e a n g l e as B C b u t i ts axi s
h as b ee n ro tate d ro u n d P b y t h e a n g l e 5
t h e ax i s o f
H e n ce i f 6

*
w i l l co in c id e wi t h p
Th e expo n e n t i a l e x p r e s s i o n f o r
DE

h i s th eore m was di s c overe d b y Cayle y It i n d ic ates t h at q uatern i o n

m u l t i pl ic at i o n i n t h e m ost ge n eral se n se h as i ts p h y s i c al m ea n i n g i n t h e c o m po
T

i t to n of rot a t i o n s

C O MP O S I T I O N

OF

ROT ATIONS

47

is e
w h i c h m a y b e expa n d e d
a c cor d i n g to t h e expo n e n tia l t h eo re m t h e s u ccessive p owe rs
m u l t i n o m ia l
o f t h e tri n o m ia l b e i n g f or m e d a cco r d i n g to t h e
t h eo re m t h e o r d er o f t h e f a cto rs b ei n g p rese rve d
C o m pos i tio n o f F i n it e R ota t i o n s ro u n d A xes w h i c h I n te r

e
t
L e t a n d y d e n ote t h e two a xes i n space ro u n d w h i c h
s c

t h e su ccessive rotati o n s ta k e p l ac e a n d l et d e n ote t h e rs t

a n d y t h e se c o n d
L et X y d e n ote t h e s i n g l e rotat i o n
w h i c h i s e q u iva l e n t to t h e two g ive n rotat i o n s ap p l ie d i n
s uccessi o n ; t he Sig n x is i n tro d u ce d t o d isti n gu is h f ro m t h e
p ro d u c t o f v e rso r s It h as b ee n s h ow n i n t h e p re ce d i n g p a ra
r a p h t h at
g
,

[3

as t h e res u l t i s a l i n e t h e sa m e pri n ci p l e app l i es t o t h e

s u b se q ue n t rotati o n
H e n ce
an

( p)

(y
b ecau se t h e f acto rs i n a pro d u ct o f v e rs o rs ca n b e associ at e d i n
a n y m a n n er
H e n ce reaso n i n g b a ck war d s
.

9
7 X

L et

and

777

77

d e n ote t h e cosi n e o f
c os
co s c 2
/

b/Z

/Z,

sin

t h e i r d i re cte d si n e n a m e ly

O b servati o n

n a m e ly

si n
,

T h e ex p ressi o n
is n ot as m i g h t b e
b
s u ppose d id e n ti ca l w i t h y
Th e f o r m e r re d u ces to t h e l at
te r o n ly w h e n a n d y are t h e sa m e o r

O p p osite
I n t h e gu re i s represe n te d
.

b y PQ ,

by

R
Q

/
P
3
b
R
y
7
7

by

V
b/z
2
S T a n d ( y W) by S U w h i ch i s twi ce
,

'

ST Th e cosi n e O f S U d i ff e rs f ro m t h e

b y t h e ter m
si
n
si
n
c 2 si n
c osi n e o f PR
(
/
evi d e n t f ro m t h e g u re t h at t h ei r axes a re a l so d i ff e re n t
.

It is
.

VE

48

C oro ll ar y

C T O R ANA L Y S IS

Wh e n

A ND

Q U A T ER NI O N S

a n d c are i n n i t e si m a l s cos x y
I

5
c y w h i c h i s t h e para ll e l ogra m ru l e
a nd S i n X y
f o r t h e co m posit i o n o f i n n i t es i m a l rotat i o n s
.

z:

P ro b

54

Le t

an d

r:

'

45 ;

27

al c u l a te R
P ro b 5 5

Le t

5+

5
3 ;

al c u l a t e R
P ro b 5 6 P rove by
.

P ro b

m u l ti p l yi n g

out t h at

"

P rov e b y m e a n s o f t h e exp o n e n ti a l t h eore m t h at

" b h as a n a n l e 5 a n d t h at its axis is
g
y
y
y
P ro b 5 8 P rove t h at t h e c osi n e o f
d i ff ers f ro m t he
.

57

Co sIn e

of

P ro b
P ro b

b
y
y

59

60

Co m p are

c
5 111
2

sm

axes o f

F i n d t h e va l ue o f

an d y
wh e n
b

t he

an d

/
y
g v
2
2
/
/
P ro b 6 1 F i n d t h e si n g l e rotat i o n e q u i val e n t to
X j
x A
P ro b 62 P rove t h a t su cc essi v e rot a tio n s a b out ra d i i to t w o
c or n ers O f a s ph eri c a l tria n g l e a n d t h rou g h a n g l e s d ou b l e O f t h o se
o f t h e tr i a n gl e are e q uiv a l e n t to a si n g l e rotatio n a b out t h e r a d ius
to t h e t h ir d c or n er a n d t h rou g h a n a n g l e d ou b l e o f t h e exter n a l
a n l e o f t h e tria n g l e
g
0
9

ir

INDE X

o f th e p l a n e 7 ; o f Spa c e 7
Algeb ra i c i m ag i n ary
( foot n ote)
Argan d m et h o d 4 ( foot n ote )
Asso c i at i o n of t h ree vectors 8
Al ge b ra

22

istrib ut i ve ru l e
D yn a m o rule 2 7
D

lectri c m otor rule 2 7

E xpo n e n ti al t h eore m i n S p h eri c a l tr i o
g
m try
i ew 44
4 2 ; Ha mi lto n s
( foot n ote )

no

Cartes i a n a n alysi s 8
Cayley 4 6
Ce n tral axi s 38
Coaxi al quatern i o n s 2 1 a dd i t io n o f
pro
d
uct
of
uot
i
e
n
t
o
f
4
;
;
3
3
q
Co m plete pro duct of t w vectors 4 8
of t h ree vectors 3
Co m po n e n ts of versor
; o f q uater
n ion
of rec i procal o f qu a
;
tern i o n
Co m pos i t io n of two im ultan eous co m
of
a
n
y
n
u
m
b
er
o
f
s
i
m
ul
t
o
;
p
co m po n e n ts 1 ; o f su c
t
u
co m po n e n ts 3 ; o f coax i a l
c
si
quater n i o n s 3 ; of s i m ultan eous
vectors i n space 5 ; o f m ass -ve c
tors 35 ; of locate d ve c tors 36;
of n i te rotat i o n s 45
Copla n ar vectors 4
Couple of forces 36; c o n d i t i o n for
couple va n i s h i n g 39
Cycl i cal an d n atural ord er
.

21

22

22

n en

an eo

es

s, 1 0

20

1 2

Ham i lto n s a n al ys i s o f vector 9 ;

id ea of q uaterni o n 2 ( foot n ote ) ; i ew
f exp o n e n ti a l t h eore m in sp h er ic a l
a n alys i s 44 ( foot n ote)
Haywar d 2 4 ( foot n ote )
Hosp i tal i er s y ste m 9

m agi n ary al geb ra i c

Ke nn elly
L

s n otat i o n

ocate d vectors

M ass -vector
M axwell 35
Mea n i n g of

22

f( oot n ote)

36

co m

35 ;

p o sIt l o n

of

35

of S 5 ;
vi n culu m over two axes
as i n dex 39

of

N otat i o n

for ve c tor
N atural or d er
,

of

d o t , 9 ; Of z , 9 ;
V , 1 6 ; Of
1 6;
7 , 2 5 ; Of { m

eterm in an t for vector pro du c t o f

two vectors 8; for seco n d par
t i al pro duct of t h ree vectors 3
an d 33; for sca l ar pro du c t of t h ree
ve c tors 33
,

orm al laws 2 ( foot n ote)

Fu n d a m e n ta l rules
( foot n ote ) a n d I 4
( foot n ote)
F

ve

46

i n i te rotat i o n s 4 5 ; versor exp ress io n

for 4 6; expo n e n t i al express i o n for

i l iograp h y 8 a n d preface
B i n o m i al t h eore m i n sp h eri c al a n al ys i s
44

30

B b

20

pposi te ve c tor

50
P

I DE X

arallelogra m
p o n e n t s,

IO

s im ulta n eous c o m

of

S i m ulta n eous co m po n e n ts

art i al pro du c ts 4 a n d 2 8; f t hree

vectors 3 ; resolut i o n o f se c o n d
part i al pro d uct 33
P olygo n
f s i m ulta n eous c o m po n e n ts
P

1 2

pos i t io n of 1 ; resolu t i o n of
parall elogra m f ; polygo n f
pro d uct O f t w s um s f 3
S pace -a n alys i s 7 ; a d va n tage over
Cartes i a n a n alys i s 8; fou n d at i o n o f
( foot n ote)
S p h eri cal tri go n o m etry 39 ;
fu n d a
m e n tal th eore m f 4 ; expo n e n t i al
th eore m 4 ; b i n o m i al t h eore m 44
S p h eri cal versor 4 ; pro d uct O f two
q uot i e n t f two 4 ; pro d uct
4 ;
f th ree 4
S q uare f a vector 4 ; f two s im u l
t
e us
co m po n e n ts 9 ; o f t w o
success ive co m po n e n ts 9 ; f t h ree
success i ve co m po n e n ts 9
S tri n g h am 4 ( foot n ote)
S uccess ive co m po n e n ts 9 ; c m p t
0

ro d uct co m plete 4 a n d 8; par

t i al 4 a n d 8; O f two copla n ar
vectors 4 ; scalar 5 a n d 8 ; vec
tor 6 a n d 9 ; of t h ree copla n ar
vectors 8 ; of coax i al q uater n i o n s
of t w vectors i n pace 6 ;
4;
o f two su m s o f s i m ulta n eous vec
tors 3 ; of t h ree vectors 3 ; of
two q ua dra n tal
4 ; o f two
f
thr ee
S p h er i cal
4 ;
sp h eri cal e
4
,

v e rso r s,

r so r s,

v e r so r s ,

10

versor 7
d e n i t i o n f 2 et ym ol
f
( foot n ote ) ; coax i al 2 ;
gy
rec i procal of
f
relat
i
o
n
uater
n
i
o
n
s
d
e
n
i
t
i
o
n
;
Q
7
to vector a n alys i s 7
Q uot i e n t O f coax i al q uatern i o n s 4
o

21

22

an

o f, I 3

o si Io n

a i t s an alys i s O f vector 9
T e n sor d e n i t i o n O f 9
T or q ue 3 7
T otal vec tor pro d uct f t h ree vect ors

34

R ayle i g h 2 3
R ec i procal o f a vector 1 7 ; o f a q ua
tern i o n
R elat i o n of r i gh t -h an d e d S crew 2 7
R esolut i o n O f a vector 1 ; o f se c o n d
part i al pro d uct o f t h ree ve c tors 33
R otat i o n s n i te 4 5
R ules for vectors 1 4 a n d 2 6 ; for
s 39 ; for expa n s i o n of pro d uct
O f t w q ua dra n tal v e s s 40 ; for
dy n am o 2 7

n i t -ve c tor

22

r or

S calar pro d uct

,

ector d e n i t i o n f 8 ; d i m e n s i o n s f
u
n
i
t
vector
n
otat
i
o
n
for
;
;
9;
9
9
i m ulta n eous 9 ; s u cess i ve 9 ;
pla n ar 4 ; re ci procal of 7 ; O ppo
s i te f 7 ; i n space 2 5
V ector a n alys i s d e n i t i o n f 7 ; rela
t i o n to Q uatern i o n s 7
6 ; of two vectors 1 6 ;
V ector pro d uct
f t h ree vectors 34
f
and 4 ;
V ersor co m po n e n ts
rules for 39 ; pro d uct of two q ua d
ra n tal 4 ; pro d uct f two ge n eral
sp h eri cal 4 ; of t h ree g e n era l
sp h eri cal 4 1
V

of

co

two copla n ar
5
vectors 5 ; geo m etr i cal m ea n i n g 5
S cr ew relat i o n O f r i g h t -h a n d e d
7
,

v e r so r

1 2

Q ua d ra n tal
Q uater n i o n

1 1

12

com

9;

21