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Z plane
Unit (Base) vectors
x plane e
A unit vector aA along A is a vector plan
y
whose magnitude is unity z y y1
x Ay
y
A Ax
a x1
A
x
Unit vector properties
x y z
x x y y z z 1
y z x
x y y z z x 0
z x y
Vector Representation
z
Vector
representation z1
A xAx yAy zAz
Z plane
Magnitude of A
A( x1 , y1 , z1 )
x plane e
Az plan
A A A Ax2 Ay2 Az2 z y
y
y1
x y
Ay
Position vector A Ax
x1
Dot product:
A B Ax Bx Ay B y Az Bz Az A
B
Cross product: y
Ay
Ax
x y z x
A B Ax Ay Az
Bx By Bz
Multiplication of vectors
Two different interactions (whats the difference?)
Scalar or dot product :
A B | A || B | cos B A
the calculation giving the work done by a force during a
displacement
work and hence energy are scalar quantities which arise from the
multiplication of two vectors
if AB = 0 A
The vector A is zero
The vector B is zero
= 90 B
Vector or cross product
A B | A || B | sin n
n is the unit vector along the normal to the plane containing A and B and its positive
direction is determined as the right-hand screw rule
A B B A
the magnitude of the vector product of A and B is equal to the area of the parallelogram
formed by A and B
if there is a force F acting at a point P with position vector r relative to an origin O, the
moment of a force F about O is defined by :
if A x B = 0
The vector A is zero A
The vector B is zero
= 0
B
Commutative law :
A B B A
A B B A
Distribution law :
A (B C) A B A C
A (B C) A B A C
Associative law :
A BC D ( A B)(C D)
A BC ( A B )C
A B C ( A B) C
A ( B C ) ( A B) C
Unit vector relationships
It is frequently useful to resolve vectors into components
along the axial directions in terms of the unit vectors i, j, and
k.
i j j k k i 0 A Ax i Ay j Az k
i i j j k k 1 B Bx i B y j Bz k
ii j j k k 0 A B Ax Bx Ay B y Az Bz
i j k i j k
jk i A B Ax Ay Az
k i j Bx By Bz
Scalar triple product
A B C
The magnitude of A B C is the volume of the parallelepiped with edges parallel to
A, B, and C.
AB
C
B
A B C A B C B C A B C A C A B [ A, B, C ]
Vector triple product
A B C
The vector A B is perpendicular to the plane of A and B. When the further vector
product with C is taken, the resulting vector must be perpendicular to A B and
hence in the plane of A and B :
( A B ) C mA nB where m and n are scalar constants to be determined.
m C B
C ( A B ) C mC A nC B 0
n C A
( A B ) C (C B ) A (C A) B
Since this equation is valid
for any vectors A, B, and C
Let A = i, B = C = j: AB
C
1 B
( A B) C ( A C ) B ( B C ) A A
A ( B C ) ( A C ) B ( A B )C
Coordinate Systems
RECTANGULAR
Choice is based on
symmetry of problem
CYLINDRICAL
SPHERICAL
Examples:
Sheets - RECTANGULAR
Wires/Cables - CYLINDRICAL
Spheres - SPHERICAL
Coordinate Systems
z
P(x,y,z)
P (x,y,z) x
z
z
P(r, , z)
Cylindrical Coordinates
P (r, , z) r y
x
z
Spherical Coordinates
P(r, , )
r
P (r, , )
y
x
VECTOR REPRESENTATION: UNIT VECTORS
Rectangular Coordinate System
z
a z Unit Vector
Representation
for Rectangular
Coordinate
System
a x a y
x
The Unit Vectors imply :
ar
x f y
Vector representation
A zA
A a A A z
Base
Vectors
Magnitude of A
Base vector properties
A A A A2 A2 Az2
z,
Position vector A
z ,
1 zz1
z
Cylindrical Coordinates
Dot product:
A B Ar Br Af Bf Az Bz
B A
Cross product:
r f z
A B Ar Af Az
Br Bf Bz
VECTOR REPRESENTATION: UNIT VECTORS
Spherical Coordinate System
z af
P
ar
r
a
f y
x
Magnitude of A
A A A AR2 A2 Af2
Position vector A
R R1
Base vector properties
R , R , R
Spherical Coordinates.
Dot product:
A B AR BR A B Af Bf
Cross product:
R f
A B AR A Af
BR B Bf
VECTOR REPRESENTATION: UNIT
VECTORS
Summary
RECTANGULAR CYLINDRICAL SPHERICAL
Coordinate Coordinate Coordinate
Systems Systems Systems
a
x ay az a
r af az a
r a af
r,f, z r, ,f
METRIC COEFFICIENTS
1. Rectangular Coordinates:
Unit is in meters
Differential quantities:
Differential
distance:
dl xdx y dy zdz
Differential surface:
dsx xdydz
dsy ydxdz
dsz zdxdy
Differential Volume:
dv dxdydz
Cylindrical Coordinates:
y Differential Distances:
Distance = r df
( dr, rdf, dz )
df
r
x
Cylindrical Coordinates:
Differential Distances: ( d, rdf, dz )
dl d a df af dz az
Differential Surfaces:
d s d f dz a
d sf d dz a f
d s z d f d a z
Differential Volume:
Spherical Coordinates:
y Differential Distances:
Distance = r sin df
( dr, rd, r sin df )
z
df
r sin P
x
r
f y
x
Spherical Coordinates
dlR dR
Differential quantities:
Length:
dl Rd
dl R dlR
dl
dl dl R sin d
R dR Rd
R sin d
Area:
dsR R dl dl R R 2 sin dd
dl dl R sin dRd
ds R
dlR dl RdRd
ds
Volume:
dv R 2 sin dRdd
METRIC COEFFICIENTS
dx
Example:
y
7 6
6
AREA = dy
3 2
dx = 16
d s dx dy a z
DIFFERENTIALS FOR INTEGRALS
d s dx dy a z or d s rd f dz a r
y x
x
z
P(r, , z)
r y
x
Cartesian to Cylindrical Transformation
(x, y, z) to (r,,)
A r A x cos f A y sin f
Af A x sin f A y cos f
Az Az
r x2 y 2
f tan 1 ( y / x)
zz
r x cos f y sin f
f x sin f y cos f
z z
Cartesian to Cylindrical
Vectoral Transformation
Cartesian to Spherical
(x, y, z) to (r,,)
(r,,) to (x, y, z)
Cartesian to Spherical
Vectoral Transformation
Reference
[1] Stewart, James B.; Redlin, Lothar; Watson, Saleem (2008). College Algebra (5th ed.). Brooks Cole.
pp. 1319. ISBN 0-495-56521-0.
[2] Moon P, Spencer DE (1988). "Rectangular Coordinates (x, y, z)". Field Theory Handbook, Including
Coordinate Systems, Differential Equations, and Their Solutions (corrected 2nd, 3rd print ed.). New York:
Springer-Verlag. pp. 911 (Table 1.01). ISBN 978-0-387-18430-2.
[3] Finney, Ross; George Thomas; Franklin Demana; Bert Waits (June 1994). Calculus: Graphical, Numerical,
Algebraic (Single Variable Version ed.). Addison-Wesley Publishing Co. ISBN 0-201-55478-X.
[4] Margenau, Henry; Murphy, George M. (1956). The Mathematics of Physics and Chemistry. New York
City: D. van Nostrand. p. 178. ISBN 9780882754239. LCCN 55010911. OCLC 3017486.
[5] Morse PM, Feshbach H (1953). Methods of Theoretical Physics, Part I. New York: McGraw-Hill.
p. 658. ISBN 0-07-043316-X. LCCN 52011515.
[6] Jones, Alfred Clement (1912). An Introduction to Algebraical Geometry. Clarendon.
[7] Hodge, W. V. D.; D. Pedoe (1994) [1947]. Methods of Algebraic Geometry, Volume I
(Book II). Cambridge University Press. ISBN 978-0-521-46900-5.
[8] Tang, K. T. (2006). Mathematical Methods for Engineers and Scientists. 2. Springer. p. 13. ISBN 3-540-
30268-9.
[9] Liseikin, Vladimir D. (2007). A Computational Differential Geometry Approach to Grid Generation.
Springer. p. 38. ISBN 3-540-34235-4.
[10]Munkres, James R. (2000) Topology. Prentice Hall. ISBN 0-13-181629-2.
[11]Hanspeter Schaub; John L. Junkins (2003). "Rigid body kinematics". Analytical Mechanics of Space
Systems. American Institute of Aeronautics and Astronautics. p. 71. ISBN 1-56347-563-4.