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Vectors: Example: Displacement, Velocity, Acceleration
Vectors: Example: Displacement, Velocity, Acceleration
Chapter
0
Vectors
Introduction of Vector (5) Zero vector (0) : A vector having zero
Physical quantities having magnitude, direction magnitude and arbitrary direction (not known to us) is a
and obeying laws of vector algebra are called vectors. zero vector.
Example : Displacement, velocity, acceleration, (6) Unit vector : A vector divided by its magnitude
momentum, force, impulse, weight, thrust, torque, is a unit vector. Unit vector for A is  (read as A cap or
angular momentum, angular velocity etc. A hat).
If a physical quantity has magnitude and direction
both, then it does not always imply that it is a vector. ˆ A
Since, A ˆ .
A AA
For it to be a vector the third condition of obeying laws A
of vector algebra has to be satisfied. Thus, we can say that unit vector gives us the
Example : The physical quantity current has both direction.
magnitude and direction but is still a scalar as it (7) Orthogonal unit vectors ˆ
i ,ˆ
j and k̂ are
disobeys the laws of vector algebra. y
called orthogonal unit vectors.
Types of Vector These vectors must form a Right
Handed Triad (It is a coordinate ĵ
(1) Equal vectors : Two vectors A and B are said
system such that when we Curl x
to be equal when they have equal magnitudes and same
the fingers of right hand from x to k̂
direction.
y then we must get the direction
î
z
Fig. 0.1
(2) Parallel vector : Two vectors A and B are of z along thumb). The
said to be parallel when
ˆ x ˆ y ˆ z
i , j ,k
(i) Both have same direction. x y z
(ii) One vector is scalar (positive) non-zero ˆ
multiple of another vector.
x xˆ i , y yˆj , z zk
(8) Polar vectors : These have starting point or
(3) Anti-parallel vectors : Two vectors A and
point of application . Example displacement and force
B are said to be anti-parallel when etc.
(i) Both have opposite direction. (9) Axial Vectors : These represent rotational
(ii) One vector is scalar non-zero negative multiple effects and are always along the axis of rotation in
of another vector. accordance with right hand screw rule. Angular velocity,
torque and angular momentum, etc., are example of
(4) Collinear vectors : When the vectors under
physical quantities of this type.
consideration can share the same support or have a
Axial vector Axis of rotation
common support then the considered vectors are
collinear.
R 2 A2 B 2 2AB cos D D C
R A 2 B 2 2AB cos E C
| A B| A 2 B 2 2AB cos B
R sum A B
(2) The direction of the vector R is obtained by
dividing equation (iii) by (ii), i.e.
B
tan (Ry / Rx ) or tan1(Ry / Rx )
1
2 A
Rectangular Components of 3-D Vector
180 –
B ˆ
R R x R y R z q or R Rxˆ
i Ryˆj Rzk
R dif A ( B)
Fig. 0.7
Ry R
B sin Rx
tan 1
A B cos
Rz
X
B sin(180 )
and tan 2 Z
A B cos(180 ) Fig. 0.9
But sin(180 ) sin and If R makes an angle with x axis, with y axis
180 ) cos
cos( and with z axis, then
B sin R R
tan 2 cos R
x x
l
A B cos
Rx Ry2 Rz2
2
R Rx R X
y Rx Where l, m, n are called Direction Cosines of the
Fig. 0.8 vector R and
Now as for any vector
ˆ
A An so, R x i Rx and R y ˆjRy
ˆ
l 2 m2 n2
so R ˆ
i Rx ˆjRy 2 2 2 Rx2 Ry2 Rz2
cos cos cos 1
…(i) Rx2 Ry2 Rz2
But from figure Rx R cos
…(ii) Note : When a point P have coordinate
(x, y, z) then its position vector OP xˆ
i yˆ ˆ
j zk
and Ry R sin …(iii)
When a particle moves from point (x1,
y1, z1) to (x2, y2, z2) then its displacement vector
4 Vectors
ˆ A . B (iAx jAy kAz ).(iBx jBy kBz )
r (x2 x1)ˆ
i (y2 y1)ˆj (z2 z1)k
[Ax Bx Ay By AZ Bz ]
Scalar Product of Two Vectors
(3) Example : (i) Work W : In physics for constant
(1) Definition : The scalar product (or dot
force work is defined as, W Fs cos
product) of two vectors is defined as the product of the
magnitude of two vectors with cosine of angle between …(i)
them. But by definition of scalar product of two vectors,
F . s Fs cos
Thus if there are two vectors A and B having
…(ii)
angle between them, then their scalar product
written as A . B is defined as A . B AB cos So from eqn (i) and (ii) W F .s i.e. work is the
scalar product of force with displacement.
(2) Properties : (i) It is always a
scalar which is positive if angle B (ii) Power P :
between the vectors is acute (i.e., < dW ds
90°) and negative if angle between As W F .s or F.
dt dt
them is obtuse (i.e. 90°< < 180°).
[As F is constant]
(ii) It is commutative, i.e. A
A. B B. A
or P F .v i.e., power is the scalar product of
Fig. 0.10
(iii) It is distributive, i.e.
A .(B C) A . B A . C force with velocity. ds
dW ds B
(iv) As by definition A . B AB cos
As P and v
dt dt
The angle between the vectors
A. B (iii) Magnetic Flux :
cos1
O
AB
Magnetic flux through an
area is given by
(v) Scalar product of two vectors will be maximum
d B dscos …(i) Fig. 0.11
when cos max 1, i.e. 0o , i.e., vectors are
parallel But by definition of scalar product
B . d s Bdscos ...(ii)
(A . B)max AB
So from eqn (i) and (ii) we have
(vi) Scalar product of two vectors will be minimum
when | cos | min 0, i.e. 90o d B . d s or B. ds
ĵ ĵ
The direction of A B, i.e. C is perpendicular
to the plane containing vectors A and B and in the
sense of advance of a right handed screw rotated from k̂
A (first vector) to B (second vector) through the î î
smaller angle between them. Thus, if a right handed
screw whose axis is perpendicular to the plane framed k̂ Fig. 0.13
by A and B is rotated from A to B through the
smaller angle between them, then the direction of ˆ
iˆ ˆ,
j k ˆ ˆˆ
jk i ˆˆ
and k i ˆ
j
advancement of the screw gives the direction of A B And as cross product is not commutative,
i.e. C
ˆ
j ˆ ˆ, k
i k ˆ ˆ
j ˆ
i and ˆ ˆ ˆ
i k j
(2) Properties
(x) In terms of components
(i) Vector product of any two vectors is always a
vector perpendicular to the plane containing these two ˆi ˆj kˆ
vectors, i.e., orthogonal to both the vectors A and A B Ax Ay Az
B, though the vectors A and B may or may not be Bx By Bz
orthogonal.
(ii) Vector product of two vectors is not ˆ
i (Ay Bz Az By )
commutative, i.e., A B B A [but B A] ˆ(A B A B )
ˆj(Az Bx A x Bz ) k x y y x
Here it is worthy to note that (3) Example : Since vector product of two vectors
| A B|| B A| AB sin is a vector, vector physical quantities (particularly
representing rotational effects) like torque, angular
i.e. in case of vector A B and B A momentum, velocity and force on a moving charge in a
magnitudes are equal but directions are opposite. magnetic field and can be expressed as the vector
product of two vectors. It is well – established in physics
(iii) The vector product is distributive when the
that :
order of the vectors is strictly maintained, i.e.
(i) Torque r F
A (B C) A B A C
(ii) Angular momentum L r p
(iv) The vector product of two vectors will be
maximum when sin max 1, i.e., 90o (iii) Velocity v r
(iv) Force on a charged particle q moving with
ˆ
[A B]max AB n
velocity v in a magnetic field B is given by
i.e. vector product is maximum if the vectors are F q(v B)
orthogonal.
(v) The vector product of two non- zero vectors will be (v) Torque on a dipole in a field E p E and
minimum when | sin | minimum = 0, i.e., B M B
o o
0 or 180 Lami's Theorem
[ A B]min 0 In any A B C with sides a, b, c
180 –
i.e. if the vector product of two non-zero vectors sin sin sin
vanishes, the vectors are collinear.
a b c
c b
180 –
180 – a
Fig. 0.14
6 Vectors
r
PS'
r12 12 22 – 21 2 cos 1/ 2
.
r
PS
X
S
rS' S
S X
Fig. 0.15
Vectors 7
(3) Relative velocity of satellite : If a satellite is And if the swimming is opposite to the flow of
moving in equatorial plane with velocity v and a point water, vM v vR
s
vr
w vm
v vM vR , i.e., vM v vR