K Lecture notes aie not a substitute for o lecture, Wo you see any typos, errors or have guy qyeskous 1 Veetor spaces email 0 chandana-w@ slit-lk 1.0 Vectors and scalars Sealar: has magnitude only. Examples: mass of o pockele, Fompecoture of a given object, length of acod Vector: has both magnitude and direction Examples: velocity, acelecahon, fore , positon, a Meron f ege ec ane, Norm of avector: att, (Rt, WAM is Ae langle oF magnitude Gaur magnitude of 9 vector, Equality of two vectors: Two vectors ace equal if they have and Same. diveckon. 1.1 Geometrical representation of vectors + Use on accow 7 or a directed line segrnent Vy eto Give) Pa P Cooks bike) Note Location of o vector is not specified 1.2 Vector operations Addition (parallelogram rule): Note tha’ Wave Val Gwen ost Scalar multiplication: a ode | “MEO / oN tet wmelR aa af ab / 1 J1.2.1 Properties of vector addition Let @, 0m be any svectucs and xp elk 22 Commutativity: Rav = Vee Acsociatvity: (Pa V4 P = BW+it) Distributivity: (see below) Zero vector (additive identity): +O = Negative vector (additive inverse): 0 + (-U') =3 1.2.2 Properties of scalar multiplication Identity; 4 2 = e Distributivity, = a (T49) = ae ov (apy = a+ pe ape) = Gp? Exercise 1: Given that ||A\j ae “J ol. = 2|[B|| determine graphically A +2(B — C). 281.3 Angle and dot product 3.1 Angle between two vectors vu oc OCT v, > i amt © 1.3.2 Dot product of two vectors tf and ° i UT =f NEU MTU cos O : Nofe thot eV er ieee, a? is @ scalat > = WAU HAE evo = UAE ae Note \ ve vis is scalar rey 1.3.4 Application: Work done by a force F 1.3.3 Projection of on 7 SP Be eet, whin og 6¢ 5 peojeckion & FP Vadae_pajecbor ts WPawse S is Whos? = Work dove by Fore F an object B when movin Exercise 2: An object is pulled a distance of 100 m along a horizontal path by a constant force of 25N. The force is applied at an angle of 30° above the horizontal. Find the work done by the force. Work dous = (oojaswszc = 125088 31.4 The n-space 1.4.1 2spave IRE { (4493) + aa,EIRy Y i Let Te Cuyty), Pe Orys) 1R™ 20 IPE we and ROP s= (urn, urs) a ce (du, ou) B = (0,0) (01,03) is @ vecte ai, 0) is a poiwt ) a Veely propechies given iw Loeb and (2-2 1.4.2 3-space RE = J (403,43) 2 ay, 2,03 EIRY | Lak Re Camas) Pew wayne | @ = (0,0,0) (wavy Mate, seve), ais Can, dk) 14.4 Properties in n-space “ Pera eane co (olatevaii ccm ei verify propeckes Gated im 2-11.5 Dot product, norm, and angle in n-space Suppose if = (u1, ua), 7 = (v1, 02) € R2. BF = Ha Tn cos 6 = Wey Pa s(P-*) = MPU WH (cosp ose + Simp s9%) = [ai cos cuter p + (irl Simpl sia = Uy ty Me + EI > RP = vy tude +a te Wyn 61g? WD = uy tuaus to * cane wi (Se) UVe8 a Wey = FPP = Exercise 4: Let a = (1,0) and # (2,2). Find @, the angle between @ and @. TV = 1G) + 0laye2, WW = Vaca = 2B S siz 2. Oe ws TE % Exercise 5: Let a = (2,—2,4,~1) and # = (5,9,—1,0). Find @, the angle between @ and @. PP = 265) + Gre 404 CHO —_ 7 BO Sie Wah Pree = 5, MuelPore «5 are) gs 103" R18 cad yrade 0. Le, A a ——_— by s/z WRTLe WR MUTT Ila? + 2a. a) + a? [fa @ Jand substitute in (1) to obtain (lai)? — (2) After simplifying (2) we get the desired inequality {i+ ] < lla o 1.6.2 Triangle inequality. For any two vectors @ and @, ||i + a] < [lal] + lla. Proof. (Optional) Consider la+ OP = (G+ 8). +0) = [tail? + 207-0) + [a1 Sal? + 2a a] + (a? < lai? + 2) i} | + |J])? by the Schwarz inequality = (lal + ony? a+ < all + (16) Exercise 7: Let @ = (1,~2) and # = (0,3). Verify Schwarz inequalty and triangle inequality graphically and algebrically. LHS = LAT] = (ilo) Gaal = bel = © RMS = enude = Jere Joes -HS 67 which gives the desired inequality Exercise 8: Let i = (1,2,4,0) and = (3,-1,2,5). Verify Schwarz inequalty and triangle inequality. bos = PPL = [tay 4 acne ty so) = (l= 4 RRS = HON WU = [Ree erat [Protas est = aI RS = 28-6 61.7 Orthogonality 1.7.1 Perpendicular vectors Le} OF 7,7 be two vecturs omd suppose WV=o Then 6 = c3'O = Wa. We Soy Bond P ace perpendicular. 1.7.2 Orthogonal vectors — = Let Pond be ony two vectors and suppose 2 = Then we soy Bond V ove ovthogonal Orthogonal set, set of vectuss LW, W,~-- ALY is on oethogoual ser pico iF Fj iP ecg veclue inthe set is odrogonal to every other vector. : Let ti = (2,3, ~1,0), ti = (1,2, 8,3) and 3 = (9, -6,0,1). Is {uii, i, tig} an orthogonal sh A = 0 foe a #5 = a @aateecios ot) £0 as LHR AY is an otthogoral oe. = 2G) £3) 4608 + 0G) A) +a) 4 Blode 3) = O 1.8.1 Normal vector Let Bei? be any vector, io hay Goon vrocmnalired. Exercise 10: Normalize a = (2, —3, 0, 1). SO a 2 3 Wt Sacre = 12 2 = ee ae 1.8.2 Orthonomal set A sek of vedus [a , TEI, 15 am oclhonomal set ib it is odhogonal set ond each vector is normolired. 1.8.3 Kronecker delta function Exercise 11: Let ti = (1,0,0,0), w2 = (0, 35.0, Jp) and a = (0, 4,0,-5). Is {i, 1,05} an orthonomal set? Yes. Check tris.1.9 Generalized vector spaces Let PF V be any set. Vis a vector spaw (over IR) iF fer any BPR Ev ond wp ER we hove P eT EV woev ¥, 8 v we PAP B= (Bad) ee thre is a VEN sucrthat Peo = See WP Aare is HWP EV cach that BC 7 (pe) = (apy? BS k(Dav) = xrav ss = Tae? . Ps 2+ pe V (tap) = tw + BU aud wh 1h = Exercise 12: Show that R" is a vector space. Lett os wa. (Show that vectvis in IR® sabety oboue propeckes 1-10) Exercise 13: Let u : [0,1] + R be continuous. The sum of two functions u and v is given by u+v = u(z) +(e) and scalar multiplication is given by au := au(z). Show that the function space $ = {u(s)|u: [0,1] + R} is a vector space. Left oy UW. iw oduct Note teat o vedoe space need wot to have a notwn of O wee re i. dot product) defied on We way deve an inne product Fert oc dof produc shown helow. above funchon space as show ee a made = approximade uo by ad sivailary won & (uyh, ven) e (vary 9 wv © uy b% : > P wy = {ucpvendt ww 8 61.9.1 Inner product (dot product) let Be ie P-V must sakisty 5 > sb «dy EIR , > Pwnage Aa 1S Wt GME ee ey ee 1.10.2 Span of vectors Let 7m, be vec iw a vector space V. Then dhe linear combinahions of FsB,-Te clenoted by a RRL, Tu set TAL, Hh set of — 7 Exercise 14:[Find the span rind the span of (= (2,3)] (2,3) fe spent spanhah = Jabaa ery ee Exercise 15] Find the span of {@ = (2,3),0=(40}.] otra) :#eiRh 9 Fee some wy? 0 de set of all is dhe Spam of TW TL ond is dhe generating1.11 Subspaces + oa subset S$ of » vector space V is itself a vector space (wth respect fo some _addikion and scalar rm lhiplicahon opecahon ond vill some sdtntty) dren S is a Subspace of Vs Fick Tio GL €5, Tan, spomfap al TA in srbspa el Wee ped ao } OES, APP ES fr Ll PLES ond KEIR Huw Sis a subspaa EV, Exercise 16: Let aj = (6,1) and a = (1,8). Is span{uij,} = R? or a subspace of R?? EIR? Conwe wate Pas 9 bear combination oF = a aw (oom we Bnd ay and dy fer oy PB Wovs) = a(S) + (08) = Gay tae) iB Sart as Goussion elimiwrkon 7 % + 5%. Avs bdy 4 LRT TRY is Greody dependant sf od least ont of thom be wetter as a Lnene combinakou of othes. WF none con be pressed 50, then dhe set 1 linearly independent. Exercise 17: Let i = (1,0), = (1,1) and a = ee . eae 17: Lat i = (0), Ui = (11) and a = (6,4). Je (Winn t@} linearly independent ot LU, MW is Id. swe Be Ure.Exercise 18: Let uj = (1,0), and w = (1,1). Is {uj, 15} linearly independent or linearly dependent? TRY Exercise 19: Let aij = (2,—1), w = (0,1) and wf = (0,0). Is {a wh, ti} linearly independent or linearly dependent? AAR u Aa. 1.12.1 Theorem (Test for linear independence) oA set {RW HZ is Lead. of there oe 45 vot all reco sudadhot ax Ke Hee 3 IE athe athe 7 +a i= then Me set Arh vat, soph is LE. © For al j kk, then Bxercise 20: Let ti = (2,0,1,-3), w = (0,1,1,1) and a independent or linearly dependent? (2,2,3,0). 15 {ui,1, 13} linearly Suppose at AR agi = B Poe some ojo, rote. 97 4 (2,01 4-8) 2 (011,11) + 03(2, 53,9) = (9:9,9,0) By 3m x24, = 9 ach +2042 O Oe aetna so FL ay 4d, = edul. 4,20 Ths, le sto, =O 3 Bore =o Be (200 Exercise 21: Let tH; =42,—4), ti = (0-4) and w} = (0:0). Is {ai,si5,2i4} linearly independent or linearly dependent? (1,0, ) (yy) 4 Guta) TR BTU, es a Daud Ky. aT RA oH gh © Be 30M Ard Mo ky (1,0)8) a (LN) ea (Na) + le (U9) eee Suppose ey hg tly FO Sk ak tay thy FO ae wt toyed 7A.d. dy 4 oy eaee =O aye at 2 a oy te dow oy =O a, + Ay + aetg tly =O u112.2 Propositions PA cet containing Ane 2000 vedor ic ide onal sot of momero vedo is Ai. Every Fate ov 2 Me Im, a,. 0b is 2 Hoon A)=p; For al jot--k in a verte spaw V con be oA set LEQ RS is a basis for V if each vector TEV wee watlen in ant foam Be By e- ~{BB,-- GB is a basis toc v IPF ; Bh V ond ABB BS dt. spon, BPs 4.2 + 2 1.13.1 Theorem (Test for basis) Exercise 22: Let é 2,1), and & = (2,4). Is {¢1,¢3} a basis for R? Gee 112.1) TFG is die spon QoBy = 1? cee Exe) | Exercise 23: Expand i= (6,2) in terms of the basis vectors éj = (~2,1), and & = (2,4) | P= 44 e a) ots (28) (6.2) = a(-2) + % (24) ae oe ere geht HS gy aera ael 9 FF 2 een tt2) 21.14 Dimension IF the laced amber of £4. vectors that con be Found tm a vecc space Viis kK, the me say Vis kedimensional veclos space, willen dimY=ek. 1.14.1 Theorem (Test for dimension) u IE Vihar a bois of k vecwo Jhon dimV= k- 2 dim IR* = 1 ap 3” dim span{@ a2, Tey = moxiwum L 1.14.2 Orthogonal basis WY ABT, By a bas foc V ondit » othosonal set then BP, = 04 iep is odlhogonal basis. oo Ves tn Ta Exercise 24: Expand if = (4,3,~3,6) in terms of orthogonal basis vectors = (1,0,2,0), & = (0,1, 0,0), € = (—2,0,1,5), and é = (—2,0, 1, —1) of R*. check dbi Vhis given thot lie basis LOB G73 ss otthogonal « Ccheck ) peeee ye let Pa He +4 OA BG taka R= a Bk -2 5 =e Sisley, ape Br%& ee “7 a 6 L123 Orthonorm: TEA BE wan orhog thon vb ts odhonomnal Lomas. (Thus, 72] 28) cual basis and each vecloc is nocmalired Exercise 25: Expand @ = (4,3, —3,6) in terms of orthonormal basis vectors in R‘. Un Bt2e.