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UNIT 2: VECTOR

______________________________________________

LEARNING OUTCOME
After completing this unit, students should be able to:

1. Identify the notation of vector Identify the various type of vectors.

2. State the definition of:
• Scalar and vector
• Zero vector
• Unit vector
• Negative vector
• Equal vector
3. Perform the standard operation with vector including:
• Addition
• Multiplication
4. Compute the addition of a vector in two and three dimensions.
5. Find the magnitude and unit vectors of two and three dimensions
6. Perform scalar product in two and three dimensions.
7. Perform the vector product in two and three dimensions

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2.1 DEFINITION

Vector is a quantity which has a magnitude and direction example displacement,

velocity, accelerations, etc. Scalar is a quantity which has magnitude only example
speed, mass, length.

Vector notation
A vector can be represented by a line segment with an arrow, known as a directed line
segment.

Example: B
a
AB

Vector can be denoted by either as AB or AB i.e. an arrow that shows the direction of a
vector from A to B whose magnitude is AB or letters with bold printing. Vectors can also
be denoted by a or a, i.e. a small letter with a line under it or small letter with bold
printing.

Negative vector
A negative vector means it has an opposite direction from a given vector but it has the
same magnitude.

Example: a -a

Zero or Null vectors

Zero vector means a vector which has no magnitude and direction. It is denoted by 0.
For example, AA=0, where the endpoint of the vector is the same as its starting point.

Parallel vector

Two vectors are parallel if the vectors can be written as a multiple of the other vector

Example:
a= mb where m is a scalar

For b =3a , then a and b are parallel and in the same direction.

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For x =-2y , then x and y are parallel but in the opposite direction.

Equal vector
Two vectors are equal if they have the same magnitude and direction

Example:

p = m: m

2.2 VECTOR ALGEBRA

2.2.1 ADDITION AND SUBTRACTION OF VECTORS

Triangle Law of vector addition

If the sides AB and BC of a triangle ABC represent vector a and b respectively , then
the side AC represents the sum of a and b . This vector is denoted a + b
B
a b
A C
a+b
or

Given two vectors AB and BC

B B

C
A

Then AB + BC = AC
B

C
A

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Parallelogram Law of vector addition

If the sides OA , OB of a parallelogram OACB represent vectors a and b respectively,

the diagonal OC represents the sum of a + b

A
C

a a+b

O B
b

The subtraction of vectors a - b is defined as the vector a + ( - b )

Given a vector a and b

a b

Then a – b = a + ( - b )
-b

a–b

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2.2.2 SCALAR MULTIPLICATION

If a vector is multiplied by scalars say k then the result will be another vector with k
factor. a
a x k = ka
2a
Example:
mx5=5m – 3a

px ½ =½p
½a
q x 0.7 = 0.7 q

It follows the following laws:

Let k & m be scalars and a & b be vectors then Note: All 4 vectors are
parallel vectors
(a) The commutative law: k a = a k

(b) The associative law: m ( k a ) = ( m k ) a

(c) The distributive law: m ( a + b ) = m a + m b

Example
R

Q
In the diagram, OPQR is a straight line such that
→ 1 → 1 → →
OP = OQ = OR . If OP = a , express each of
3 4
the following vectors in terms of a .
→ → a P
a. OQ c. RO
→ → O
b. PQ d. PR
Solutions:

a. OQ = 3OP = 3a
b.
c.
d.

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2.3 COMPONENT OF VECTOR

A single vector PQ can be replaced by a + b then vector a , b is called the component

vector of PQ so long as they form a chain in the vector diagram.
Q
b
a+b

a
P

Example

OAB is a triangle. P and R are mid points of OB and AP respectively. Q is a point on OA

where OQ = ¾ OA. Given that OA = 4 a and OB = 6 b. Express the following
Vector in term of a and b
(i) AB (ii) QR
A B

R
Q
P

Solution: O

(i) OA + AB = OB then AB = OB - OA therefore AB = 6b – 4a

(ii) OA + AP = OP then AP = OP – OA = ½ ( 6b) - 4a = 3 b – 4 a

therefore RP = ½ AP = ½ ( 3 b – 4 a )

OQ + QR + RP = OP therefore QR = OP - OQ - RP

3
QR = ½ ( 6 b ) - ¾ ( 4a ) - ½ ( 3 b – 4 a ) = b–a
2

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Example

In the diagram below, AB = 3 a , AD = 5 b , 3 AP = 2 PD dan 3 PQ = 4 QB . Express

PB and QD in term of a and b
B

Q
A

Solution :

(i) AP + PB = AB therefore PB = AB – AP

2
Given that 3 AP = 2 PD therefore AP : PD = 2 : 3 or AP = AD
5

2 2
PB = AB - AD = 3a - (5b) = 3a - 2b
5 5

(ii) PQ + QD = PD therefore QD = PD - PQ

3 3
PD = AD = (5b)= 3b
5 5

4
3 PQ = 4 QB therefore PQ : QB = 4 : 3 or PQ = PB
7

4 12 8 29 12
QD = 3 b - (3a–2b) = 3b - a + b = b - a
7 7 7 7 7

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EXERCISE 2.1

1. Diagram 1, shows a triangle OAB. The straight line AP intersects line OQ

1 1
at R. It is given that OP = OB , AQ = AB, OP = 6 x and OA = 2y.
3 4
Express in terms of x and / or y:
A
(a) AP

Q Diagram 1
(b) OQ

O P B

2. Diagram 2 shows, OA = a, OB = b, 3OP = OA, OQ = 2OB. Express AQ and BP

in terms of a and b
A

Diagram 2

P Q

O R

Answer : 1. a) AP = -2y + 6x b) OQ = 9 x+ 3 y, 2.a) AQ = -a + 2b, b)BP = -b + 1 a

2 2 3

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1 1
3. (a) In the diagram 3, OB = 3 b , OE = 2 a , BC = OE and ED = OB.
2 3
Express the following in term of a and b.

(i) OC (ii) OD (iii) DC (iv) BD

(b) Given that OK = m OC and BK = n BD. Find the value of m and n.

D
E Diagram 3

C
2a K

O 3b B

4. Diagram 4 shows a parallelogram ABCD with BED as a straight line.

Given that
AB = 6 a, AD = 4b and DE = 2 EB , express, in term of a and b.
D C
a) BD

b) EC
Diagram 4
c) AC E

A B

Answer : 3.a)i) OC = 3b + a, ii) OD = 2a + b, iii) DC = -a + 2b, iv) BD = -2b + 2a, b) m = 3 , n = 3

4 8

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5. Diagram 5, shows a triangle ABC. P is a midpoint BC and Q is a midpoint of AC.

Given that AB = u , AC = v and AR : RP = 2 : 1 .

(a) Write AP and BR in terms of u and / or v

(b) If S is the midpoint of AB, shows that C, R and S are on the same straight
line.

P
Diagram 5
R

A C
Q

Answer : 4.a) BD = -6a + 4b b) EC = 2a + 8 b, c) AC = 6a + 4b, 5.a) AP = 1 v + 1 u, BR = 1 v - 2 u, b) CS = 3RS

3 2 2 3 3
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2.3.1 VECTOR IN CARTESIAN COORDINATES

Any vector with magnitude 1 is called a unit vector. The unit vectors in the direction of
positive x – axis is called i and in the direction of y-axis is called j
j
1

i
1

Vectors in the form of i and j can be expressed as a = x i + y j or in the form of

x
column vector a =  
 y

Example
5 
(a) p = 5i + 3j or p = 3
 

− 7
(b) q = - 7i - 2j or q =  
 − 2

Position Vector

The position of any point P can be defined by the displacement vector OP .

The vector OP is the position vector of P relative to O and is unique.
j

3 P

i
O 4

4
Vector OP can be expressed as OP = 4i + 3j or OP =  
3

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Geometric Representation of vectors in Cartesian Coordinates are as follows

p = 3i + 2j q = - 3i - 4j

j –3
2 P
q
p
–4
O i
3

Can you determine the position vector of OQ = - 3i – 7j and OM = 4i ?

Operations of vectors in Cartesian coordinates

In determining the sum of a few vectors, we add the corresponding components that are
parallel to the x-axis and the y-axis separately.
x p
a = xi + y j =   and b = pi + q j =  
y  q
 x  p  x + p
then a + b =   +   =   = (x + p) i + (y + q)j
 y   q  y + q

In determining the difference between two vectors, we minus the corresponding

components that are parallel to the x-axis and the y-axis separately.

 x  p  x − p
a − b =   −   =   = (x − p)i + (y − q)j
 y   q  y − q

Example

1. Given that p = a i + b j and q = m i + n j. Then

(i) p + q = ( a i + b j ) + ( m i + n j )

= (a+m)i + (b+n)j

(ii) p – q =

(iii) 2p + 3q = 2 ( a i + b j ) + 3 ( m i + n j )

= ( 2a + 3m ) i + ( 2b + 3n ) j

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(iv) -2p – 3q =

2. Given vector a = 3i – 5j and b = - 2i – 3j . Find

(i) a + 3 b = ( 3i – 5j ) + 3 ( - 2i – 3j )

= (3 -6)i + ( -5–9)j
= - 3 i - 14j

(ii) - 5a – 2b =

1 3
(iii) a + b =
2 4

EXERCISE 2.2

1. Given that v = 2i + 5j , u = -3i - 7j and w = i – j. Find the following in

terms of i and j

(a) 3v -2u
(b) 5w–2v -7u

2. Given that OA = 3i – 8j , OB = 6i + 2j and OP = x i+ y j . Find the

value of x and y if OP = 2 OA – 3OB .

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5  − 3  −1 
3. Given that a =   , b =   and c =   , find
 4  7   − 2

(a) - c – 5b (c) a – 4b – 3c
(b) 5a – 2c (d) 3a + 5c – 7b

4. Given that A ( 3 , 5 ) , B ( 6 , 9 ) , C ( - 1 , 4 ) and O is origin. Find

(a) the positions vector of OA , OB and OC

(b) the vectors of AB , BC and AC in terms of i and j
(c) if D ( - 2 , - 4 ) then the vectors of DA , DB , and DC

Answer : 1.a) 12i + 29j, b) 22i + 34j , 2. x = -12 , y = -22 3, 3.a),  16  , b)  27  , c)

 
 20  , d)
 
 31 
 
 − 33 
   24   −18   − 47 

Answer : 4.b) AB = 3i + 4j, BC=-7i – 5j, AC = -4i - j ,c) DA =  5  , DB =  8  , DC =

 
1 
 
9 
  13  8 

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2.3.2 MAGNITUDE AND UNIT VECTOR

The length of the directed line segment is called the magnitude of the vector AB or a
and is denoted by  AB or  a .

In Cartesian Coordinates, the magnitude of the vectors can be calculated using

Pythagoras Theorem for example,
j
B
Given that a = x i + y j then the magnitude of a is defined as a
yj
A
xi
a = x 2 + y 2 unit
O i

Example

1. Find the magnitude of vector p = 3i + 4j

Solution:
Magnitude p ,  p = 32 + 42
= 9 + 16
= 25 = 5 unit

2. Given that a = 3i + 4j and b = - 3i – 5j . Find the magnitude of 2 a + b.

Solution:
2 a + b = 2 ( 3i + 4j ) + ( - 3i – 5j )
= (6–2)i + (9–5)j
= 3i + 3j
Therefore, magnitude of 2 a + b or  2 a + b  = 3 2 + 3 2 = 18 = 3 2 unit

3. Given that p = i + 3j and q = 3i – 5j then the magnitude of -3p – 2q is

Solution:

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Unit Vector in the direction of a vector

The unit vector in the direction of a vector a = xi + y j is a vector whose magnitude is 1

unit in the direction of a . The symbol of unit vector is â
xi + y j
Given that a = xi + yj then â =
x2 + y2

Example

1. Find the unit vector of m = - 3i + 2 j

Solution :
− 3i + 2 j
m̂ =
(− 3)2 + 2 2
− 3i + 2 j
=
13
−3 2
Unit vector in the direction of m is i+ j
13 13

2. Given m = 2i + 3j and p = 2i – 5j then Find the unit vector 2 m + p .

Solution :

2m + p = 2 ( 2i + 3j ) + ( 2i – 5j ) = ( 4 + 2 ) i + ( 6 – 5 ) j
= 6i + j
6i + j
Unit vector in the direction of 2m + p =
6 2 + 12
6 1
= i+ j
37 37

3. Given that p = 4i + j , m = -2i – 3j and q = i - 5j . Find

(a) p + m + 2q

(b) the magnitude of vector 3m – 2p

(c) the unit vector in the direction of 2q + 3m

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EXERCISE 2.3

1. Given that and , find

(a) and (b) and

2. Given that and , find

(a) and
(b) and
(c) If and , find the unit vectors in the
directions of
(i) (ii)

3. Given that v = 2i + 5j , u = -3i - 7j and w = i – j. Find the following in

terms of i and j
(a) magnitude of 2 v – 3 w
(b) the vector unit in the direction of u – w

4. Given that and , find

(a) the coordinates of A
(b) the unit vector in the direction of .

Answer : 1.a) 5i+12j, 13 unit , b) 3i + 4j, 5 unit , 2a)  3  , 5 unit, b)  − 3  , 5 unit, c) (i) 3 4 3 4
4    i + j , (ii) − i − j
  − 4 5 5 5 5

Answer : 3.a) 170 unit, b) − 4 i − 6 j ,4.a) (-6,-8), b) − 3 i − 4 j

52 52 5 5

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2.4 DOT PRODUCT

→ → → →
If A and B are two vectors, the scalar product of A and B is defined as AB cos  ,
→ →
where A and B are the magnitudes of the vectors A and B , and  is the angle
between them.
→ →
The scalar product is denoted by A • B ,sometimes called the ‘dot product’.

→ → → →
A • B = A B cos 

To multiply two vectors, we need to

consider their size and the angle
between them.

Now suppose our two vectors are expressed in terms of the unit vectors.
→ →
Let A = a1 i + b1 j + c1 k and B = a2 i + b2 j + c2 k i•i = j • j = k •k =1
i• j = i•k = j•k = 0
( ) ( )
→ →
Then A • B = a1 i + b1 j + c1 k • a2 i + b2 j + c2 k
= a1 a2 i • i + b1 b2 j • j + c1 c2 k • k
= a1 a2 + b1 b2 + c1 c2

Properties of Dot Product

1. If the vectors are parallel and in the same direction,  = 0 .

a

2. If the vectors are parallel and in the opposite direction,  = 

a

3. If the vectors are perpendicular,  = 90o .

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Example

→ →
1. Find the scalar product, given that A = 2i + 3 j + 4 k and B = i − 2 j + 3k

Solution:
Since we don’t have the value for  , we need to use

A · B = AxBx + AyBy+ AzBz = (2)(1) + (3)(-2) + (4)(3) = 8

2. Given two vectors, u = 3 i − 2 j + 6 k and v = 2 i + 5 j + 6 k with  = 55.5o .

~ ~ ~ ~ ~ ~ ~ ~

Calculate dot product of the two vectors.

Solution:
Since we have the value for  , we need to use the formula u• v = u v cos
~ ~ ~ ~

STEP 1: Calculate the magnitude for both vectors

u = 32 + ( −2 ) + 62 = 49 = 7
2

v = 22 + 52 + 62 = 65 = 8.0623
~

STEP 2: Substitute into the formula.

u• v = 7 (8.0623)cos 55.5o
~ ~
= 31.97

3. Calculate the angle between a = 2i + 3j + 2k and b = i + 2j - k.

Solution:
→ → → →
a • b = a b cos 

→ →

cos  =
a• b
=
(2i + 3 j + 2 k ) • (i + 2 j − k )
→ →
17 6
a b

cos  = 0.59409
 = 53.550

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EXERCISE 2.4

Given that u = 3 i − 2 j + 6 k and v = 2 i + 5 j + 6 k , find the dot product for u and v

1. ~ ~ ~ ~ ~ ~ ~ ~ ~ ~

2. Taking a = j + 3k and b = 2i - j + 2k and c = 3i – k. Find a.b , a.c and b.c

3. Find the angle between the vector u = i − 2 j + 2 k and v = −3 i + 6 j + 2 k .

~ ~ ~ ~ ~ ~ ~ ~

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4. Find the angle between the vector 3i - j - 2k and i + 2j - 3k.

5. Find the angle between the vector 2i - 3j + k and -3i + j +9k.

Answer : 1) 32, 2) a.b = 5, a.c = -3, b.c = 4, 3) 121.59o , 4) 60o, 5) 90o

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2.5 VECTOR PRODUCT

Two vectors in component forms are written as:

→ →
Let A = a1 i + b1 j + c1 k and B = a2 i + b2 j + c2 k

The definition of the cross product can be represented by the determinant of a formal
matrix :

i j k
A B = a1 b1 c1 = (b1c2 − b2c1 )i − (a1c2 − a2c1 ) j + (a1b2 − a2b1 )k
a2 b2 c2

Example

1. Given that a = 2 j − k and b = i − 3 j . Find vector product for vector a and b .

~ ~ ~ ~

Solution:

a  b = (2 j − k )  (i − 3 j ) = [2 j  (i − 3 j ) ] + [−k  (i − 3 j ) ]
~ ~
= (−2 k ) − ( j + 3i )
= − 3i − j − 2 k
or

i j k
2 −1 0 −1 0 2
ab = 0 2 −1 =i −j +k
~ ~ −3 0 1 0 1 −3
1 −3 0
= − 3i − j − 2k

 
2. Find the vector product of P = 2 i + 4 j + 4 k and Q = i + 5 j − 2 k .

i j k
  4 3 2 3 2 4
P  Q= 2 4 3 =i −j +k
5 −2 1 2 1 5
1 5 −2
= i ( −8 − 15 ) − j ( −4 − 3 ) + k (10 − 4 )
= − 23 i + 7 j + 6 k

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EXERCISE 2.5

1. If a = 2i + 3j and b = - 3i – 2j, find a x b.

2. Given vector c = - 8i + 2j and d = 2i + 3j. Find c x d .

3. Find the vector product of .

Answer : 1) 5k, 2) -28k, 3) -6i + 7j + 23k

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