1.

3 DOT PRODUCT AND MATRIX MULTIPLICATION

In this section introduce the operation of matrix multiplication. Unlike
we

matrix addition, matrix multiplication ha[ some properties that distinguish it

from multiplication of real numbers.

DEFINITION The dot product or inner product of the n-vectors

b
b2
and b=
a =a a2

is defined as

a b =abi +azb2+ +abn =a,bji."

i=l

The dot product is an important operation that will be used here and in
later sections.

EXAMPLE 1 The dot product of

u-1-2 34 and v=|

is
-6.
u v =
(1)(2) +(-2)(3) + (3)-2) +(4)(1) =
EXAMPLE 2 Let a =x 2 3 and b = If a b = -4. find x.

2
Solution We have

a b = 4x +2+6 = -4
4x 8 -4
x=-3.
5.2 CROSS PRODUCT IN R3
Prerequisites. Section 4.1, Vectors in the Plane. Chapter 3.

In this section we discuss an operation that is meaningful only in R°. Despite

this limitation, it has many important applications in a number of different
situations. We shall consider several of these applications in this section.

DEFINITION If
u = =uji +u2j + u3k and v= vi + vzj+vzk
are two vectors in R°, then their cross product is the vector u x v defined by

uxv = (u2V3- u3V2)í + (u3V1 - u 1 V 3 ) j+ (41v2 - u2U1)k.

(1)

The cross product u x v can also be written as a *determinant,"

i
uxv= U1 u2
k
u3 (2)
V2

but it is convenient to think

The right side of (2) is not really determinant,
a
manner. If we expand (2) along the first row, we
of the computation in this
obtain
42 43 u u2 k,
uxv=F
V2 v2
is
right side of (1). Observe that the cross product
u x v a vector
which is the
v is a number.
while the dot product u

2i+j+2k and v =
3i-j-3k. Then expanding along the first row,
EXAMPLE 1 Let u=

we have

uxv=2
-
| 3-1 -3
2 =-i+12j-Sk.
 EXAMPLE 2 It follows from (1) that

ixi=jxj =
kxk =0; ixj=k, jxk=i, kxi=j.

Also,
jxi=-k, kxj=-i, ixk=-i.
These rules can be remembered by the method indicated in Figure 5.7. Mov
ing around the circle in a clockwise direction, we see that the cross product of
J two vectors taken in the indicated order is the third vector; moving in a coun-
terclockwise direction, we see that the cross product taken in the indicated
order is the negative of the third vector. The cross product of a vector with
Figure5.7A itself is the zero vector.

Although many of the familiar properties of the real numbers hold for
the cross product, it should be noted that two important properties do not
hold. The commutative law does not hold, sinceuxv = -(v x u). Also
the associative law does not hold, since ix (ixj) = ixk = -j while

ixi) xj =0xj =0.

We shall now take a closer look at the geometric properties of the cross
product. First, we observe the following additional property of the cross prod-
uct, whose proof we leave to the reader:

(ux v). W = u. (Vxw) Exercise T.2. (3)

Iis also easy to show (Exercise T.4) that

(u x v) W=| V V2 V3 (4)
W W2 W3

EXAMPLE 3 Let u and y be as in Example 1, and let w = i++3k. Then

uxv=-i+ 12j - Sk and (ux v). w =8,=

VxW= 3i- 12j + 7k and u (vxw) =8, =