CHAPTER 24 SCALAR AND VECTOR PRODUCTS

EXERCISE 127 Page 317

1. Find the scalar product a  b when (a) a = i + 2j - k and b = 2i + 3j + k

(b) a = i - 3j + k and b = 2i + j + k

(a) = (1)(2) + (2)(3) + (- 1)(1) = 7

(b) = (1)(2) + (- 3)(1) + (1)(1) = 2 – 3 + 1 = 0

2. Given p = 2i - 3j, q = 4j - k and r = i + 2j - 3k, determine: (a) p  q (b) p  r

(a) = (2)(0) + (- 3)(4) + (0)(- 1) = - 12

(b) = (2)(1) + (- 3)(2) + (0)(- 3) = 2 – 6 = - 4

3. Given q = 4j - k and r = i + 2j - 3k, determine: (a) q  r (b) r  q

(a) = (0)(1) + (4)(2) + (- 1)(- 3) = 0 + 8 + 3 = 11

(b) = (1)(0) + (2)(4) + (- 3)(- 1) = 0 + 8 + 3 = 11

4. Given p = 2i - 3j and r = i + 2j - 3k, determine: (a) (b)

(a) =

(b) =

5. Given p = 2i - 3j, q = 4j - k and r = i + 2j - 3k, determine: (a) p (q + r) (b) 2r (q - 2p)

(a) = (2i – 3j)( 4j – k + i + 2j – 3k) = (2i – 3j)( i + 6j – 4k)

= (2)(1) + (-3)(6) + (0)(-4) = 2 – 18 + 0 = - 16

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(b) 2r  (q – 2p) = (2i + 4j – 6k)  (4j – k – 2(2i – 3j)) = (2i + 4j – 6k)  (– 4i + 10j – k)
= (2)(-4) + (4)(10) + (-6)(-1)
= - 8 + 40 + 6 = 38

6. Given p = 2i - 3j, q = 4j - k and r = i + 2j - 3k, determine: (a) (b) +

(a) =

(b) = = = 7.347

7. Given p = 2i - 3j, q = 4j - k and r = i + 2j - 3k, find the angle between (a) p and q (b) q and r

(a) From equation (4), page 277,

= = -0.8072

from which, = = 143.82

(b) cos  =

from which, = = 44.52

8. Given p = 2i - 3j, q = 4j - k and r = i + 2j - 3k, determine the direction cosines of:

(a) p (b) q (c) r

(a) For p, = 0.555, = - 0.832 and =0

(b) For q, = 0, = 0.970 and = - 0.243

(c) For r, = 0.267, = 0.535

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 and = - 0.802

9. Determine the angle between the forces: F1 = 3i + 4j + 5k and F2 = i + j + k

cos  =

from which, = = 11.54

10. Find the angle between the velocity vectors v1 = 5i + 2j + 7k and v2 = 4i + j - k

cos  =

from which, = = 66.40

11. Calculate the work done by a force F = (-5i + j + 7k) N when its point of application moves

from

point (- 2i - 6j + k) m to the point (i - j + 10k) m

Work done = F  d where d = (i – j + 10k) - (-2i – 6j + k)

= 3i + 5j + 9k

Hence, work done = (-5i + j + 7k)  (3i + 5j + 9k)

= -15 + 5 + 63 = 53 N m

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EXERCISE 128 Page 320

1. Given p = 3i + 2k, q = i - 2j + 3k and r = -4i + 3j – k determine:

(a) p  q (b) q  p

(a) = =i -j +k = 4i – 7j – 6k

(b) = =i -j +k = - 4i + 7j + 6k

2. Given p = 3i + 2k, q = i - 2j + 3k and r = -4i + 3j – k determine:

(a) (b)

(a) = where p  p = (3)(3) + (2)(2) = 13,

r  r = (-4)(-4) +(3)(3) + (-1)(-1) = 26
and p  r = (3)(-4) + (0)(3) + (2)(-1) = -14

Hence, = = 11.92

(b) == where r  r = (-4)(-4) + (3)(3) + (-1)(-1) = 26,

q  q = (1)(1) +(-2)(-2) + (3)(3) = 14

and r  q = (-4)(1) + (3)(-2) + (-1)(3) = -13

Hence, = = 13.96

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3. Given p = 3i + 2k, q = i - 2j + 3k and r = - 4i + 3j – k determine:

(a) 2p  3r (b) (p + r)  q

(a) 2p = 2(3i + 2k) = 6i + 4k and 3r = 3(- 4i + 3j – k) = - 12i + 9j – 3k

Hence, 2p  3r = =i -j +k = - 36i – 30j + 54k

(b) p + r = 3i + 2k + (- 4i + 3j – k) = - i + 3j + k

Hence, (p + r)  q = =i -j +k = 11i + 4j - k

4. Given p = 3i + 2k, q = i - 2j + 3k and r = -4i + 3j – k determine:

(a) p  (r  q) (b) (3p  2r)  q

(a) r × q = = 7i + 11j + 5k

Hence, p × (r × q) = = (-22)i – (1)j + (33)k = - 22i - j + 33k

(b) 3p × 2r = = (-36)i – (-18 + 48)j + (54)k = -36i - 30j + 54k

(3p × 2r) × q = = (-90 + 108)i – (-108 - 54)j + (72 + 30)k

= 18i + 162j + 102k

5. For vectors p = 4i - j + 2k and q = -2i + 3j - 2k determine

(i) p  q (ii) p  q (iii) (iv) q  p and (v) the angle between the vectors

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 (i) p  q = (4)(- 2) + (- 1)(3) +(2)(- 2) = - 15

(ii) pq = =i - j(- 8 + 4) + k(12 – 2) =

(iii) p  p = (4)(4) + (- 1)(- 1) + = 21

q  q = (- 2)(- 2) + (3)(3) + (- 2)(- 2) = 17

p  q = (4)(- 2) + (- 1)(3) + = - 15

= = 11.49

(iv) q  p = =i - j(- 4 + 8) + k(2 – 12) =

(v) cos  =

from which, = = 142.55

6. For vectors a = -7i + 4j + k and b = 6i - 5j - k find

(i) a  b (ii) a  b (iii) (iv) b  a and (v) the angle between the vectors

(i) = (-7)(6) + (4)(-5) +( )(-1) = - 62.5

(ii) = =i - j(7 – 3) + k(35 – 24) =

(iii) a  a = (-7)(-7) + (4)(4) + = 65.25

b  b = (6)(6) + (-5)(-5) + (-1)(-1) = 62

a  b = (-7)(6) + (4)(-5) + = - 62.5

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 = = 11.80

(iv) = =i - j(3 – 7) + k(24 – 35) =

(v) cos  =

from which, = = 169.31

7. Forces of (i + 3j), (- 2i - j), (- i - 2j) newtons act at three points having position vectors of

(2i + 5j), 4j and (- i + j) metres respectively. Calculate the magnitude of the moment

Magnitude of the moments = the sum of the magnitudes of the three forces.

When position vector, r = 2i + 5j and F = i + 3j

Magnitude of M, =

where r  r = (2)(2) + (5)(5) +(0)(0) = 29

F  F = (1)(1) + (3)(3) +(0)(0) = 10
r  F = (2)(1) + (5)(3) + (0)(0) = 17

i.e. = =1Nm

When position vector, r = 4j and F = - 2i - j

Magnitude of M, =

where r  r = (0)(0) + (4)(4) +(0)(0) = 16

F  F = (- 2)(- 2) + (- 1)(- 1) +(0)(0) = 5
r  F = (0)(- 2) + (4)(- 1) + (0)(0) = - 4

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i.e. = =8Nm

When position vector, r = - i + j and F = - i - 2j

Magnitude of M, =

where r  r = (1)(1) + (1)(1) +(0)(0) = 2

F  F = (- 1)(- 1) + (- 2)(- 2) +(0)(0) = 5
r  F = (1)(- 1) + (1)(- 2) + (0)(0) = - 3

i.e. = =1Nm

Hence, magnitude of the moment = 1 + 8 + 1 = 10 N m

8. A force of (2i - j + k) newtons acts on a line through point P having co-ordinates (0,3,1) metres.

Determine the moment vector and its magnitude about point Q having co-ordinates (4,0,-1) metres

Position vector, r = (0i + 3j +k) – (4i + 0j – k) = -4i + 3j + 2k

Moment, M = r × F where M = = (3 + 2)i – (-4 - 4)j + (4 - 6)k

= (5i + 8j - 2k) N m

Magnitude of M, =

where r  r = (-4)(-4) + (3)(3) +(2)(2) = 29

F  F = (2)(2) + (-1)(-1) +(1)(1) = 6
r  F = (-4)(2) + (3)(-1) +(2)(1) = -9

i.e. = = 9.64 N m

9. A sphere is rotating with angular velocity  about the z-axis of a system, the axis coinciding with

the axis of the sphere. Determine the velocity vector and its magnitude at position

(- 5i + 2j - 7k) m, when the angular velocity is (i + 2j) rad/s

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Velocity vector, v =  × r = (i + 2j ) × (- 5i + 2j - 7k) =
= (- 14 - 0)i – (- 7 - 0)j + (2 + 10)k

= - 14i + 7j + 12k

Magnitude of v, =

where  = (1)(1) + (2)(2) + (0)(0) = 5

rr = (- 5)(- 5) + (2)(2) + (- 7)(- 7) = 78

r = (1)(- 5) + (2)(2) + (0)(- 7) = - 1

Hence, = = 19.72 m/s

10. Calculate the velocity vector and its magnitude for a particle rotating about the z-axis at an

angular velocity of (3i - j + 2k) rad/s when the position vector of the particle is at (i - 5j + 4k) m

Velocity vector, v =  × r = (3i – j + 2k) × (i – 5j + 4k) =

= (-4 + 10)i – (12 - 2)j + (-15 + 1)k
= 6i - 10j - 14k

Magnitude of v, =
where  = (3)(3) + (-1)(-1) + (2)(2) = 14
rr = (1)(1) + (-5)(-5) + (4)(4) = 42
r = (3)(1) + (-1)(-5) + (2)(4) = 16

Hence, = = 18.22 m/s

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EXERCISE 129 Page 322

1. Find the vector equation of the line through the point with position vector 5i - 2j + 3k which is

parallel to the vector 2i + 7j - 4k. Determine the point on the line corresponding to  = 2 in the

resulting equation

Vector equation of the line, r = a + b = (5i – 2j + 3k) + (2i + 7j – 4k) from equation (8)

i.e. r = (5 + 2)i + (7 - 2)j + (3 - 4)k

When  = 2, r = 9i + 12j – 5k

2. Express the vector equation of the line in problem 1 in standard Cartesian form

The vector equation of a straight line in standard Cartesian form is:

from equation (9)

Since a = 5i – 2j + 3k,

and b = 2i + 7j – 4k,

then the Cartesian equations are: or

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3. Express in vector form: = =

i.e.

i.e.

i.e.

and

Hence, in vector form the equation is:

r= i+ j + k

= i+ j + k

or r= i+ j + k

4. Express in vector form: 2x + 1 = =

i.e.

i.e.

and

Hence, in vector form the equation is:

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 r= i+ j + k

= i+ j + k

or r= i+ j + k

EXERCISE 130 Page 322

1. (b) 2. (c) 3. (a) 4. (d) 5. (a) 6. (b)

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