Complete Study Guide & Notes On

VECTOR ALGEBRA
A Formulae Guide By OP Gupta (Indira Award Winner)
If there is a God, He has to be a Mathematician!
BASIC ALGEBRA OF VECTORS
IMPORTANT TERMS, DEFINITIONS & RESULTS
01. Vector - Basic Introduction: A quantity having magnitude as well as the direction is called vector. It is

denotedas AB or a .Itsmagnitude(ormodulus)is AB or a otherwise,simply AB or a .

Vectorsaredenotedbysymbolssuchas a or a or a.
[Pictorial representation of vector]

02. Initial and Terminal points: The initial and terminal points mean that point from which the vector
originatesandterminatesrespectively.

03. Position Vector:Thepositionvectorofapointsay P( x, y , z ) is OP r xi yj z k andthemagnitude

x 2 y 2 z2 .Thevector OP r xi yj zk issaidtobeinitscomponent form.Here x, y , z are

calledthescalar components or rectangular components of r and xi, yj , z k arethevectorcomponentsof

r alongx-, y-, z-axesrespectively.

Also, AB Position Vector of B Position Vector of A .Forexample,let

A(x ,y ,z ) and B(x ,y ,z ) .Then, AB ( x i y j z k) ( x i y j z k) .

is r

Here i, j and k aretheunitvectorsalongtheaxesOX,OYandOZrespectively.(The

discussionaboutunitvectorsisgivenlaterinthepoint05(e).)

04. Direction ratios and direction cosines: If r xi yj z k, thencoefficientsof i, j , k in r i.e., x, y, z

are called the direction ratios (abbreviated as d.r.s) of vector r . These are denoted by a , b, c (i.e.

a x , b y, c z ; in a manner we can say that scalar components of vector r and its d.r.s both are the
same).

Also,thecoefficientsof i, j , k in r (whichistheunitvectorof r )i.e.,

z
2

x y2 z2

x
2

x y z

arecalleddirection cosines(whichisabbreviatedasd.c.s)ofvector r .

y
2

x y z

Thesedirectioncosinesaredenotedbyl, m, nsuchthat l cos , m cos , n cos and

l 2 m2 n 2 1 cos 2 cos2 cos2 1 .

x
y
z
Itcanbeeasilyconcludedthat l cos ,
m cos , n cos .
r
r
r

Therefore, r lri mrj nrk r (cos i cos j cos k ) .(Here r r .)

[Seethe OAP inFig.1]

Angles , , aremadebythevector r withthepositivedirectionsofx, y,z-axes

respectivelyandtheseanglesareknownasthedirection anglesofvector r ).

Forabetterunderstanding,youcanvisualizetheFig.1.

05. TYPES OF VECTORS

a) Zero or Null vector: Its that vector whose initial and terminal points are coincident. It is denoted

by 0 .Ofcourseitsmagnitudeis 0 (zero).

Anynon-zerovectoriscalledaproper vector.

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Vector Algebra By OP Gupta (INDIRA AWARD Winner, Elect. & Comm. Engineering)

b) Co-initial vectors: Those vectors (two or more) having the same initial point are called the coinitialvectors.
c) Co-terminous vectors: Those vectors (two or more) having the same terminal point are called the
co-terminousvectors.

d) Negative of a vector:Thevectorwhichhasthesame magnitudeasthe r butopposite direction.It

isdenotedby r .Henceif, AB r BA r .Thatis AB BA , PQ QP etc.

e) Unit vector: Itisavector withtheunit magnitude.Theunitvectorinthedirectionofvector r is

r
givenby r
r

x y z

r 1 .So,if r xi yj zk thenitsunitvectoris:

suchthat

y
2

x y z

k .

x y z

a b
Unitvectorperpendiculartotheplaneof a and b is: .
a b

f) Reciprocal of a vector: It is a vector which has the same direction as the vector r but magnitude

1
.
r

equaltothereciprocalofthemagnitudeof r .Itisdenotedas r .Hence r

g) Equal vectors: Two vectors are said to be equal if they have the same magnitude as well as
direction,regardlessofthepositionsoftheirinitialpoints.

Also,if a b a1i a 2 j a3k b1i b2 j b3k a1 b1 , a2 b2 , a 3 b3 .

a
b

Thus a b

a andb havesamedirection .

h) Collinear or Parallel vector: Twovectors a and b arecollinearorparallelifthereexistsanon-

zeroscalar suchthat a b .

Itisimportantto notethattherespectivecoefficientsof i, j , k in a and b areproportional

providetheyareparallelorcollineartoeachother.

Consider a a1i a2 j a3k , b b1i b2 j b3k , then by using a b , we can conclude

that:

Thed.r.sofparallelvectorsaresame(orareinproportion).

Thevectors a and b willhavesameoroppositedirectionas ispositiveornegative.

Thevectors a and b arecollinearif a b 0 .

i) Free vectors:Thevectorswhichcanundergoparalleldisplacement withoutchangingits magnitude

anddirectionarecalledfreevectors.

a1 a2 a3
.
b1 b2 b3

06. ADDITION OF VECTORS

a) Triangular law:Iftwoadjacentsides(saysidesABandBC)ofatriangleABCarerepresentedby

a and b takeninsameorder,then thethirdsideofthetriangletakeninthereverseorder givesthe

sumofvectors a and b i.e., AC AB BC AC a b .SeeFig.2.

Alsosince AC CA AB BC CA AA 0 .

And AB BC AC AB BC AC 0 AB BC CA 0 .

b) Parallelogram law:Iftwovectors a and b arerepresentedin magnitudeandthedirectionbythe

two adjacent sides (say AB and AD) of a parallelogram ABCD, then their sum is given by that

diagonal of parallelogram which is co-initial with a and b i.e., OC OA OB . For the

illustration,seeFig.3.

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A Complete Formulae Guide Compiled By OP Gupta (M.+91-9650350480 | +91-9718240480)

07. PROPERTIES OF VECTOR ADDITION

Commutative property: a b b a .

Consider a a1i a2 j a3k and b b1i b2 j b3k beanytwogivenvectors.

Then a b a1 b1 i a2 b2 j a3 b3 k b a .

Associative property: a b c a b c

Additive identity property: a 0 0 a a .

Additive inverse property: a ( a ) 0 ( a ) a .

Multiplication of a vector by a scalar

Let a beany vector and k be any scalar.Then the product ka is defined as a vector whose

magnitudeis k timesthatof a andthedirectionis

(i)sameasthatof a if k ispositive,and

(ii)oppositetothatof a if k isnegative.

08. Section formula:ThepositionvectorofapointsayPdividingalinesegmentjoiningthepointsA andB

whosepositionvectorsare a and b respectively,intheratiom:n

(a)

mb na
internally,is OP

mn

mb na
(b)externally,is OP
.
mn

a b
AlsoifpointPisthemid-pointoflinesegmentABthen, OP
.
2

PRODUCT OF VECTORS
DOT PRODUCT & CROSS PRODUCT
IMPORTANT TERMS, DEFINITIONS & RESULTS
01. PRODUCT OF TWO VECTORS

a) Scalar product or Dot product:Thedotproductoftwovectors a and b isdefinedby,

a . b a b cos whereistheanglebetween a and b , 0 .SeeFig.4.

Consider a a1i a2 j a3 k, b b1i b2 j b3 k .Then a . b a1b1 a2b2 a3b3 .

Properties / Observations of Dot product

i.i i i cos 0 1 i.i 1 j. j k.k .

i. j i j cos 0 i. j 0 j.k k.i .

2

a . b R, where R isrealnumberi.e., anyscalar.

a . b b . a (Commutative property of dot product).


a . b 0 a b .

2
2
If = 0 then, a . b a b .Also a . a a a ;as inthiscaseis 0 .


Moreoverif = then, a . b a b .


a . b c a . b a . c (Distributive propertyof dot product).

a . b a . b a . b .

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Vector Algebra By OP Gupta (INDIRA AWARD Winner, Elect. & Comm. Engineering)

Angle between two vectors a and b canbefoundbytheexpressiongivenbelow:

a .b
a .b
1

cos or, cos .

a b
a b

a.b

Projection of a vector a ontheothervectorsay b isgivenas i.e., a . b .

b

ThisisalsoknownasScalar projectionorComponent of a along b .

a.b

Projection vectorof a ontheothervectorsay b isgivenas . b .

b

ThisisalsoknownastheVector projection.

Work done WinmovinganobjectfrompointAtothepointBbyapplyingaforce F is

givenas W F.AB .

b) Vector product or Cross product: The cross product of two vectors a and b is defined by,

a b a b sin ,where istheanglebetweenthevectors a and b , 0 and isaunit

vector perpendicular to both a and b .Forbetterillustration,seeFig.5.

Consider a a1i a2 j a3 k , b b1i b2 j b3 k .

j k
i

Then, a b a a a a b a b i a b a b j a b a b k .
1

b1

b2

b3

2 3

3 2

1 3

3 1

1 2

2 1

Properties / Observations of Cross product

i j i j sin . k k i j k, j k i, k i j .
2

Fig.6attheendofchaptercanbeconsideredformemorizingthevectorproductof i, j, k .

a b isavector c (say)andthisvector c is perpendicular to both the vectors a and b .

a b a b sin a b sin i.e., a b ab sin .



a b 0 a // b or, a 0, b 0 .

a a 0 .


a b b a (Commutative property does not hold for cross product).


a b c a b a c ; b c a b a c a

(Distributive property of the vector product or cross product).

Angle between two vectors a and b intermsofCross-productcanbefoundbythe

i i i i sin 0. j 0 i i 0 j j k k .

a b
a b
1
expressiongivenhere: sin or, sin .
a b
a b

If a and b representtheadjacent sides of a triangle,thenthearea of trianglecanbe

1
obtainedbyevaluating a b .
2

If a and b represent the adjacent sides of a parallelogram, then the area of parallelogram

canbeobtainedbyevaluating a b .

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A Complete Formulae Guide Compiled By OP Gupta (M.+91-9650350480 | +91-9718240480)

If p and q representthetwo diagonals of a parallelogram,thenthearea of

1
parallelogramcanbeobtainedbyevaluating p q .
2

If a and b represent the adjacent sides of a parallelogram, then the

diagonals d1 and d 2 of the parallelogram are given as:

d1 a b , d 2 b a .
02. Relationship between Vector product and Scalar product [Lagranges Identity]

Considertwovectors a and b .Wealsoknowthat a b a b sin .

a b a b sin

Now,

a b a b sin

a b a b sin

2 2

2 2 2
a b a b 1 cos2

2 2 2 2 2
a b a b a b cos 2
2
2 2 2

a b a b a b cos

2 2 2
2
a b a b a .b
2
2 2 2
a b a . b a b .

2 a . a a .b
Notethat a b .HeretheRHSrepresentsadeterminant of order 2.
a .b b .b

or,

03. Cauchy- Schwartz inequality:

Foranytwovectors a and b ,wealwayshave a.b a b .

Proof:The giveninequality holdstrivially wheneither a 0 or b 0 i.e.,insuchacase a.b 0 a b .

So,letuscheckitfor a 0 b .

Asweknow, a . b a b cos

a .b

2 2
a b cos 2

Alsoweknow cos 1 forallthevaluesof .

2 2
2 2
a b cos2 a b
2 2 2
a .b a b

a . b a b .

04. Triangle inequality:

[H.P.]

Foranytwovectors a and b ,wealwayshave a b a b .

Proof: The given inequality holds trivially when either a 0 or b 0 i.e., in such a case

a b 0 a b .So,letuscheckitfor a 0 b .
2 2 2

Thenconsider a b a b 2a . b

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Vector Algebra By OP Gupta (INDIRA AWARD Winner, Elect. & Comm. Engineering)
2 2 2

a b a b 2 a b cos

For cos 1 ,wehave: 2 a b cos 2 a b

2 2

2 2

a b 2 a b cos a b 2 a b

2
2
a b a b

[H.P.]
a b a b .

SCALAR TRIPLE PRODUCT OF VECTORS

IMPORTANT TERMS, DEFINITIONS & RESULTS
01. SCALAR TRIPLE PRODUCT:

If a , b and c areanythreevectors,thenthescalarproductof a b with c iscalledscalartripleproduct

of a , b and c .

Thus, ( a b ). c iscalledthescalartripleproductof a , b and c .

Notation for scalar triple product: The scalar tripleproductof a , b and c isdenoted

by [ a b c ] .Thatis, ( a b ). c [a b c ] .
Scalar triple product is also known as mixed product because in scalar triple product, both the signs
of dot and cross are used.

Consider a a1i a2 j a3k , b b1i b2 j b3k, c c1i c2 j c3k .

a1 a 2

Then, [ a b c ] b1 b2
c1 c2

a3
b3 .
c3

Properties / Observations of Scalar Triple Product

( a b ). c a .(b c ) . Thatis, thepositionof dotandcross can be interchanged without

change in the value of the scalar triple product (provided their cyclic order remains the

same).

[ a b c ] [b c a ] [c a b ] . Thatis,thevalue of scalar triple productdoesntchange

whencyclicorderofthevectorsismaintained.

Also [ a b c ] [b a c ]; [b c a ] [b a c ] .Thatis,thevalueofscalartriple

productremains the same in magnitude but changes the sign when cyclic orderof the

vectorsisaltered.

Foranythreevectors a , b , c andscalar ,wehave [ a b c ] [a b c ] .

Thevalueofscalartripleproductiszeroifanytwoofthethreevectorsareidentical.That



is, [ a a c ] 0 [a b b ] [a b a ] etc.

Valueofscalartripleproductiszeroifanytwoofthethreevectorsareparallelor
collinear.

Scalartripleproductof i, j and k is1(unity)i.e., [i j k ] 1 .

If [ a b c ] 0 then,thenon-parallelandnon-zerovectors a , b and c arecoplanar.

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Volume Of Parallelopiped

If a , b and c represent thethreeco-terminus edgesofaparallelopiped,then its

volumecanbeobtainedby: [ a b c ] ( a b ). c .Thatis,

( a b ). c BaseareaofParallelopiped HeightofParallelopipedonthisbase .

If for any three vectors a , b and c , we have [ a b c ] 0 , then volume of

parallelepipedwiththeco-terminusedgesas a , b and c ,iszero.Thisispossible

onlyifthevectors a , b and c areco-planar.

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VARIOUS FIGURES RELATED TO THE VECTOR ALGEBRA