2.

Vectors

2.1 Definition
2.2 Vector Algebra
2.3 Vectors in a Cartesian Coordinate System
2.4 Mutiplication of vectors
2.5 Direction Cosine

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Vectors and Scalars

2.1 Definition:
A vector quantity is one which has magnitude and
which is related to a given direction in space. Quantities
such as velocity v, force F, displacement s, and
momentum p, for example must require both
magnitude and direction. These are contrast with such
quantities as time, t, volume, v, and mass, m. which have
magnitude only and are called scalars.

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2.2 vector Algebra
A vector a may be represented graphically by an
appropriately directed one segment whose length is
drawn to a suitable scale and whose direction is
indicated by arrow drawn on the line.

a
b

a = b = c  a = b= cand same direction

Vectors notation: a (bold) or a (quantity with the bar at
the bottom)a
or
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Vectors obey mathematical rules of combination, which
are different from those of ordinary algebra e.g.
carrying 2 kg of sugar, 4 kg of rice and 10 kg of meat is
equal to carrying 16 kg.

But a car driven eastwards for a distance of 50 km, then

Northwards for 30 km and then in a direction 30º east of
North for 25 km is not equal to moving a total
displacement of 105 km.

Addition and Subtraction

The addition of two vectors a and b to form a vector c is
accomplished by placing the tail of vector b at the head
of vector a such that 4
 c

a+b=c
Note all vectors must have the same units

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Completion of the parallelogram of factor becomes

C
b
b

a+b=C=b+a
Property: Vector addition is commutative

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Addition of more than one vector

a + b +c = R

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Subtraction of Vectors

R
(-a )

b
b

b + (-a)=R
Note: Subtraction in vector algebra is defined by a negative of
vector to be another vector of equal magnitude but opposite
direction.

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2.3 Vector in a Cartesian Coordinate System
Generally a space vector needs three coordinates to
specify it: These are x, y, z coordinates in a Cartesian Co-
ordinates-system i is the unit vector in the x axis, j is the
unit vector in the y axis and k is the unit vector in the z
direction. In the cartesian coordinate system, vector a is
written as:
a = axi + ayj + azk and b =bxi +byj +bzk
z

a
b
k
x
i xyz system of coordinates
j

y
y 9
 z

Polar system of coordinates

ay= a sincos 
ax=  a sinsin
a
 az=  a cos
k
j  x

y

Magnitude of vector, a sometimes is denoted as  a 

and is given as

a  ax2  a y2  az2

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The resultant of vectors a & b is therfore :
a + b =C, then
C = (ax + bx) i + (ay +by) j+ (az +bz)k

Therefoore
cx =ax +bx, cy =ay +by, and cz =az +bz

What is the magnitude of the vector C ?

C  Cx2  C y2  Cz2

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 2.4 Multiplication of vectors
We shall distinguish between three kinds of
multiplication of vectors:
i. Multiplication of vector by scalar eg. na here n is a
scalar quantity and a is a vector quantity or n(a +b)
=na +nb

ii. Multiplication of two vectors in such a way as to yield

a scalar. This is often called dot product. A scalar
product of two vectors a and b is written as a.b .

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 Definition of a scalar product: a.b = a bcos,
where a and b are magnitudes of vectors a and b and 
is the angle between the vectors.

In other terms, the dot product is the product of the

magnitude of either vector (a and b) by the component of
the other vector in the direction of the first vector (see
figure below) ,
b

b cos 13
If two vectors are perpendicular, their dot product
vanishes. Using the definition of dot product, we can
derive the following relationships for cartersian unit
vectors i, j, k

i .i = j .j = k .k =1

i .j =i .k =j .k =0

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iii Multiplication of two vectors in such a way as to
yield another vectors
This is often known as cross product eg. ab or a ˄ b.
For the purpose of this course, we will use the notation
instead of ˄

Definition: axb = absinr

where absin are as in (ii) and r is a unit vector
describing the direction of the new vector C= a b.
The vector C is defined to be perpendicular to the plane
formed by vectors a and b unlike addition or scalar
product of two vectors the cross product does not
commute with each other.
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but a  b  b  a
a  b  -b a

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To get the right direction
of vector c; the right hand
screw rule is often used. c ab= c

The direction of a cross- 

product (ab) is that in a
which a right-handed
screw advances when
turned from a to b b

through the small angle. If 

we consider the indicated a

dirction as being positive

c
then when the screw is ba= -c
turned from b to a the
resultant vector c is in the
opposite dirction. 17
The vector product of a and b can be computed from
the components of these vectors by:
a  b   aybz  azby  i   azbx  axbz  j   axby  a ybx 

which can be abbreviated by the notation of the

determinant:
i j k
a  b  ax ay az
bx by bz

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