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3)
Geometrical Expression in
Properties
definition components.
Geometrical Definition in
Properties
expression components.
We choose the first way, the textbook chooses the second way.
Dot product and vector projections (Sect. 12.3)
v w = |v | |w| cos().
O W
0= / 2
Theorem
The non-zero vectors v and w are perpendicular iff v w = 0.
Proof.
) (
0 = v w = |v| |w| cos() cos() = 0
= .
|v| =
6 0, |w| =
6 0 066 2
i j y
i i = 1, j j = 1, k k = 1,
i j = 0, j i = 0, k i = 0,
i k = 0, j k = 0, k j = 0.
C
Dot product and vector projections (Sect. 12.3)
1
0
V0
1W = |W| cos(O)
|V|
O W
V
O W
11
00
V0
1W = |V| cos(O)
|W|
Dot product and vector projections (Sect. 12.3)
Theorem
(a) v w = w v , (symmetric);
(b) v (aw) = a (v w), (linear);
(c) u (v + w) = u v + u w, (linear);
(d) v v = |v |2 > 0, and v v = 0 v = 0, (positive);
(e) 0 v = 0.
Proof.
Properties (a), (b), (d), (e) are simple to obtain from the
definition of dot product v w = |v| |w| cos().
For example, the proof of (b) for a > 0:
0V W
0
0W
U w
|V+W| cos(0)
|W| cos(0W)
|V| cos(0V)
u (v + w)
|v + w| cos() = ,
|u|
uw
|w| cos(w ) = , u (v + w) = u v + u w
|u|
uv
|v| cos(v ) = ,
|u|
v w = vx w x + vy w y .
Proof.
Recall: v = vx i + vy j and w = wx i + wy j . The linear property of
the dot product implies
v w = (vx i + vy j ) (wx i + wy j )
= vx w x i i + vx w y i j + vy w x j i + vy w y j j .
v w = vx w x + vy w y .
Theorem
If v = hvx , vy , vz i and w = hwx , wy , wz i, then v w is given by
v w = vx w x + vy w y + vz w z .
Furthermore,
v w = (1)(2) + (2)(1)
p 4
|v| = 12 + 22 = 5, cos() = .
p 5
2 2
|w| = 2 + 1 = 5,
V V
O W O W
PW (V) = V0 11
00
W = |V| cos(O)
1 P (V) = V0
1W W
W
|W| |W| |W|
Example
Find the scalar projection of b = h4, 1i onto a = h1, 2i.
Solution: The scalar projection of b onto a is the number
ba (4)(1) + (1)(2)
pa (b) = |b| cos() = = .
|a| 12 + 22
2
We therefore obtain pa (b) = .
5
b
a
p (b)
a
Example
Find the vector projection of b = h4, 1i onto a = h1, 2i.
Solution: The vector projection of b onto a is the vector
ba a 2 1
pa (b) = = h1, 2i,
|a| |a| 5 5
2 4
we therefore obtain pa (b) = , .
5 5
b
a
p (b)
a
Example
Find the vector projection of a = h1, 2i onto b = h4, 1i.
Solution: The vector projection of a onto b is the vector
ab b 2 1
pb (a) = = h4, 1i,
|b| |b| 17 17
8 2
we therefore obtain pa (b) = , .
17 17
b a
p (a)
b
Cross product and determinants (Sect. 12.4)
Geometrical Expression in
Properties
definition components.
Geometrical Definition in
Properties
expression components.
Definition
Let v , w be vectors in R3 having length |v | and |w| with angle in
between , where 0 . The cross product of v and w,
denoted as v w, is a vector perpendicular to both v and w,
pointing in the direction given by the right hand rule, with norm
|v w| = |v | |w| sin().
WxV
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V
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1111111 O
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1111111
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0000000
1111111
VxW
Theorem
|v w| is the area of the parallelogram formed by vectors v and w.
Proof.
|V| sin(O)
Theorem
The non-zero vectors v and w are parallel iff v w = 0.
Proof.
Recall: Vector v w = 0 iff its length |v w| = 0, then
= 0,
) (
|v| |w| sin() = 0
sin() = 0
or
|v| =6 0, |w| = 6 0 066
= .
Example
The closer the vectors v, w are to be parallel, the smaller is the
area of the parallelogram they form, hence the shorter is their cross
product vector v w.
VxW
1111111
00000001111111111111111111
0000000000000000000
00000000
11111111 VxW
W
0000000
1111111
0000000
1111111 00000000
11111111
00000000
11111111
0000000
1111111
0000000 00000000
11111111
1111111
0000000
1111111 00000000
11111111
0000000
1111111 00000000
11111111
00000000
11111111
0000000
1111111
0000000
1111111 00000000
11111111
00000000
11111111
W
0000000
1111111
0000000
1111111 00000000
11111111
O
0000000 1
1111111 00000000
11111111 000000000000
111111111111 000000000000
111111111111
1111111111111111111
0000000000000000000
0000000
1111111 00000000
11111111
00000000
11111111 111111111111
000000000000 000000000000
111111111111
0000000
1111111 000000000000
111111111111 000000000000
111111111111
0000000
1111111
0000000
1111111
00000000
11111111
00000000
11111111
00000000
11111111
000000000000
111111111111 O
000000000000 2
111111111111
000000000000
111111111111
000000000000
111111111111
000000000000
111111111111
000000000000
111111111111
0000000
1111111 00000000
11111111 000000000000
111111111111 000000000000
111111111111
V V
C
Example
Compute all cross products involving the vectors i, j , and k.
Solution: Recall: i = h1, 0, 0i, j = h0, 1, 0i, k = h0, 0, 1i.
z
i j y
i j = k, j k = i, ki = j,
i i = 0, j j = 0, k k = 0,
i k = j , j i = k, k j = i.
Theorem
(a) v w = (w v ), (Skew-symmetric);
(b) v v = 0;
(c) (a v ) w = v (a w) = a (v w), (linear);
(d) u (v + w) = u v + u w, (linear);
(e) u (v w) 6= (u v ) w, (not associative).
Proof.
Part (a) results from the right hand rule. Part (b) comes from part
(a). Parts (b) and (c) are proven in a similar ways as the linear
property of the dot product. Part (d) is proven by giving an
example.
Example
Show that i (i k) = k and (i i) k = 0.
Solution:
i (i k) = i (j ) = (i j ) = k i (i k) = k,
(i i) k = 0 j = 0 (i i) k = 0.
C
Recall: The cross product of two vectors vanishes when the
vectors are parallel
Cross product and determinants (Sect. 12.4)
Theorem
If the vector components of v and w in a Cartesian coordinate
system are v = hv1 , v2 , v3 i and w = hw1 , w2 , w3 i, then holds
i j = k, j k = i, ki = j,
Proof.
Recall:
v = v1 i + v2 j + v3 k, w = w1 i + w2 j + w3 k.
Then, it holds
Use the linearity property. The only non-zero terms are those with
products i j = k and j k = i and k i = j . The result is
Example
Find v w for v = h1, 2, 0i and w = h3, 2, 1i,
C
Exercise: Find the angle between v and w above, and then check
that this angle is correct using the dot product of these vectors.
Cross product and determinants (Sect. 12.4)
Claim
If the vector components of v and w in a Cartesian coordinate
system are v = hv1 , v2 , v3 i and w = hw1 , w2 , w3 i, then holds
i j k
v w = v1 v2 v3
w1 w2 w3
Example
Given the vectors v = h1, 2, 3i and w = h2, 3, 1i, compute both
w v and v w.
The result is
Definition
Given vectors u, v , w, the triple product is the number given by
u (v w).
u (v w) = w (u v ) = v (w u).
The triple product is related to the volume of the
parallelepiped formed by the three vectors
Theorem
If u, v , w are vectors in R3 , then |u (v w)| is the volume of the
parallelepiped determined by the vectors u, v , w.
WxV
WxV
U
0
h
V
A
W
Proof.
Recall the definition of a dot product: x y = |x| |y| cos(). So,
|u (v w)| = h A,
Example
Compute the volume of the parallelepiped formed by the vectors
u = h1, 2, 3i, v = h3, 2, 1i, w = h1, 2, 1i.
Solution: We use the formula V = |u (v w)|. We must compute
the cross product first:
i j k
vw= 3 2 1 = (2 + 2) i (3 1) j + (6 2) k,
1 2 1
Example
Compute the volume of the parallelepiped formed by the vectors
u = h1, 2, 3i, v = h3, 2, 1i, w = h1, 2, 1i.
Solution:
1 2 3
u (v w) = 3 2 1 .
1 2 1
The triple product is computed with a determinant
Example
Compute the volume of the parallelepiped formed by the vectors
u = h1, 2, 3i, v = h3, 2, 1i, w = h1, 2, 1i.
Solution:
1 2 3
u (v w) = 3 2 1 .
1 2 1