Vector Multiplication

PHYSENG
 Vector Basics
 Remember that vectors have both Ways of writing vector notation
magnitude and direction e.g. F  ma
 
 You should know how to find the F  ma
a, 
components of a vector from its F  ma
magnitude and direction
a x  a cos 
a y  a sin  y

 You should know how to find a a
vector’s magnitude and direction from ay
its components q
ax x
a  a x2  a y2
  tan 1 a y / a x

February 18, 2011

 Projection of a Vector in Three
Dimensions
 Any vector in three dimensions
can be projected onto the x-y
plane. z
 The vector projection then

makes an angle f from the x a
axis.
q
 Now project the vector onto
the z axis, along the direction
f y
of the earlier projection.
 The original vector a makes an
angle q from the z axis. x

February 18, 2011

 Vector Basics
 You should know how to generalize the
case of a 2-d vector to three dimensions,
e.g. 1 magnitude and 2 directions a,  , 
 Conversion to x, y, z components z
a x  a sin  cos  
a
a y  a sin  sin 
a z  a cos  q
 Conversion from x, y, z components
f y
a  a x2  a y2  a z2
  cos 1 a z / a
x
  tan 1 a y / a x
 Unit vector notation:

a  a x iˆ  a y ˆj  a z kˆ
February 18, 2011
 A Note About Right-Hand
z
Coordinate Systems
 A three-dimensional y
coordinate system MUST obey
the right-hand rule. (Fleming’s
Right Hand Rule)
x

 Curl the fingers of your RIGHT z

HAND so they go from x to y.
Your thumb will point in the z
direction.
y

February 18, 2011

x
 Vector Math
 Vector Inverse
 
 Just switch direction A A
 
 Vector Addition A B
  
 Use tail-tip method, or A B A
parallelogram method 
  B
A B
 Vector Subtraction 
A
 Use inverse, then add
 A  B Vector Math by Components
 B  
 Vector Multiplication B B   A   Ax iˆ  Ay ˆj  Az kˆ
 Three kinds!  
 Multiplying a vector by a scalar A  B  ( Ax  Bx )iˆ  ( Ay  B y ) ˆj  ( Az  Bz )kˆ
 
 Scalar, or dot product A  B  ( Ax  Bx )iˆ  ( Ay  B y ) ˆj  ( Az  Bz ) kˆ
 Vector, or cross product  
B  sA  sAx iˆ  sAy ˆj  sAz kˆ
February 18, 2011
 Scalar Product of Two Vectors
 The scalar product of
two vectors
 is written
as A  B
 It is also called the dot
product
 
 A  B  A B cos 
 q is the angle
between A and B
 Applied to work, this  
means W  F r cos   F  r
February 18, 2011
 Dot Product
 The dot product says
something about how parallel
two vectors are.
 The dot product (scalar
product) of two vectors can be
thought of as the projection of
one onto the direction of the 
other. B
 
A  B  AB cos 
 ( A cos  ) B
A  iˆ  A cos   Ax q

A
 Components
  A( B cos  )
A  B  Ax Bx  Ay B y  Az Bz

February 18, 2011

Projection of a Vector: Dot Product
 The dot product says
something about how parallel
two vectors are.
 The dot product (scalar
product) of two vectors can be
thought of as the projection of
one onto the direction of the 
other. B Projection is zero
 
A  B  AB cos 

A  iˆ  A cos   Ax
 Components p/2
  
A  B  Ax Bx  Ay B y  Az Bz A

February 18, 2011

 Derivation
 
 How do we show that A  B  Ax Bx  Ay B y  Az Bz ?

 Start with A  A iˆ  A ˆj  A kˆ
x y z

B  Bx iˆ  B y ˆj  Bz kˆ
 Then A  B  ( A iˆ  A ˆj  A kˆ)  ( B iˆ  B ˆj  B kˆ)
x y z x y z

 Ax iˆ  ( Bx iˆ  B y ˆj  Bz kˆ)  Ay ˆj  ( Bx iˆ  B y ˆj  Bz kˆ)  Az kˆ  ( Bx iˆ  B y ˆj  Bz kˆ)

 But
iˆ  ˆj  0; iˆ  kˆ  0; ˆj  kˆ  0
iˆ  iˆ  1; ˆj  ˆj  1; kˆ  kˆ  1
 So  
A  B  Axiˆ  Bx iˆ  Ay ˆj  B y ˆj  Az kˆ  Bz kˆ
 Ax Bx  Ay B y  Az Bz

February 18, 2011

 Cross Product
    
B
C  A B B sin 

 The cross product of two vectors says 

something about how perpendicular they are. q A
 Magnitude: 
   A sin 
C  A  B  AB sin 
y
  is smaller angle between the vectors
 Cross product of any parallel vectors = zero j i
 Cross product is maximum for perpendicular x
vectors k
z
 Cross products of Cartesian unit vectors:
i
iˆ  ˆj  kˆ; iˆ  kˆ   ˆj; ˆj  kˆ  iˆ
iˆ  iˆ  0; ˆj  ˆj  0; kˆ  kˆ  0 j k
February 18, 2011
 Cross Product
 Direction: C perpendicular to
both A and B (right-hand rule)
 Place A and B tail to tail
 Right hand, not left hand
 Four fingers are pointed along
the first vector A
 “sweep” from first vector A    
into second vector B through A B  B  A ?
the smaller angle between
them
 Your outstretched thumb
   
points the direction of C
A B  - B  A
 First practice
   
A B  B  A ?
February 18, 2011
 More about Cross Product
 The quantity ABsin is the area of the
parallelogram formed by A and B
 The direction of C is perpendicular to
the plane formed by A and B
 Cross product is not commutative
   
A B  - B  A
 The distributive law
      
A  (B  C)  A  B  A  C
 
d   dA   dB
The derivative of cross product
 

obeys the chain rule A B   B  A
dt dt dt
 Calculate cross product
 
A  B  ( Ay Bz  Az B y )iˆ  ( Az Bx  Ax Bz ) ˆj  ( Ax B y  Ay Bx )kˆ
February 18, 2011
 Derivation
 
 How do we show that A  B  ( Ay Bz  Az B y )iˆ  ( Az Bx  Ax Bz ) ˆj  ( Ax B y  Ay Bx ) kˆ ?
 Start with 
A  Ax iˆ  Ay ˆj  Az kˆ

B  Bx iˆ  B y ˆj  Bz kˆ
 Then  
A  B  ( Ax iˆ  Ay ˆj  Az kˆ)  ( Bx iˆ  B y ˆj  Bz kˆ)
 Ax iˆ  ( Bx iˆ  B y ˆj  Bz kˆ)  Ay ˆj  ( Bx iˆ  B y ˆj  Bz kˆ)  Az kˆ  ( Bx iˆ  B y ˆj  Bz kˆ)
 But ˆ ˆ ˆ
i  j  k; iˆ  kˆ   ˆj; ˆj  kˆ  iˆ
iˆ  iˆ  0; ˆj  ˆj  0; kˆ  kˆ  0

 So  
A  B  Ax iˆ  B y ˆj  Axiˆ  Bz kˆ  Ay ˆj  Bx iˆ  Ay ˆj  Bz kˆ
 Az kˆ  Bxiˆ  Az kˆ  B y ˆj

February 18, 2011

 Torque as a Cross Product
    The torque is the cross product of a force
  rF vector with the position vector to its point
of application
  rF sin   r F  r F
 The torque vector is perpendicular to the
plane formed by the position vector and
the force vector (e.g., imagine drawing
them tail-to-tail)
 Right Hand Rule: curl fingers from r to F,
thumb points along torque.
Superposition:
   
 net   i   ri  Fi (vector sum)
all i all i
 Can have multiple forces applied at multiple
points.
 Direction of t is angular acceleration axis
net

February 18, 2011

 Calculating Cross Products
   
Find: A  B Where: A  2iˆ  3 ˆj B  iˆ  2 ˆj
 
Solution: A  B  (2iˆ  3 ˆj )  (iˆ  2 ˆj ) i
 2iˆ  (iˆ)  2iˆ  2 ˆj  3 ˆj  (iˆ)  3 ˆj  2 ˆj
j k
 0  4iˆ  ˆj  3 ˆj  iˆ  0  4kˆ  3kˆ  7 kˆ
Calculate torque given a force and its location
 
F  (2iˆ  3 ˆj ) N r  (4iˆ  5 ˆj )m
  
Solution:   r  F  (4iˆ  5 ˆj )  (2iˆ  3 ˆj )
 4iˆ  2iˆ  4iˆ  3 ˆj  5 ˆj  2iˆ  5 ˆj  3 ˆj
 0  4iˆ  3 ˆj  5 ˆj  2iˆ  0  12kˆ  10kˆ  2kˆ (Nm)
February 18, 2011
Net torque example: multiple forces at a single point z
F2
3 forces applied at point r :  
 F1 F3
r  r cos() î  0 ĵ  r sin() k̂ 
   r
F1  2 î F2  2 k̂ F3  2 ĵ r3   30o q y

Find the net torque about the origin:

    x
net  r  Fnet  r  ( F1  F2  F3 )
set rx  rsin()  3sin(30 o )  1.5
 (rx î  rzk̂ )  (2 î  2 ĵ  2k̂) rz  rcos()  3cos(30 o )  2.6

 2rx î  î  2rx î  ĵ  2rx î  k̂  2rzk̂  î  2rzk̂  ĵ  2rzk̂  k̂

net  0  2rxk̂  2rx ( ) ĵ  2rz ĵ  2rz ( ) î  0
i
oblique rotation axis
 net   3i  2.2 ĵ  5.2k̂ through origin
j k
Here all forces were applied at the same point.
For forces applied at different points, first calculate
the individual torques, then add them as vectors,
i.e., use:    
net   i   ri  Fi (vector sum)
February 18, 2011
all i all i
 Angular Momentum
 Same basic techniques that were used in linear
motion can be applied to rotational motion.
 F becomes 
 m becomes I
 a becomes 
 v becomes ω
 x becomes θ
 Linear momentum defined as p  mv
 What if mass of center of object is not moving,
but it is rotating?
 Angular momentum
L  I
February 18, 2011
 Angular Momentum I
 Angular momentum of a rotating rigid object
  
L  I 
L


 L has the same direction as 

 L is positive when object rotates in CCW
 L is negative when object rotates in CW
 Angular momentum SI unit: kgm2/s
 Calculate L of a 10 kg disc when  = 320 rad/s, R = 9 cm = 0.09 m
 L = I and I = MR2/2 for disc
 L = 1/2MR2 = ½(10)(0.09)2(320) = 12.96 kgm2/s
February 18, 2011
 Angular Momentum II
 Angular momentum of a particle
L  I  mr 2  mv r  mvr sin   rp sin 
 Angular momentum of a particle
    
L  r  p  m( r  v )

 r is the particle’s instantaneous position vector

 p is its instantaneous linear momentum
 Only tangential momentum component contribute
 r and p tail to tail form a plane, L is perpendicular to
this plane
February 18, 2011
 Angular Momentum of a Particle in
Uniform Circular Motion
Example: A particle moves in the xy plane in a circular path of
radius r. Find the magnitude and direction of its angular
momentum relative to an axis through O when its velocity is v.
 The angular momentum vector
points out of the diagram
 The magnitude is
L = rp sin = mvr sin (90o) = mvr
 A particle in uniform circular motion O
has a constant angular momentum
about an axis through the center of
its path

February 18, 2011

 Angular momentum III
 Angular momentum of a system of particles
     
Lnet  L 1  L 2  ...  L n  
all i
Li  
all i
ri  p i

 angular momenta add as vectors

 be careful of sign of each angular momentum

for this case:

      
Lnet  L1  L2  r1  p1  r2  p2

| Lnet |   r1 p1 - r 2 p2

February 18, 2011

 Example: calculating angular momentum for particles

Two objects are moving as shown in the figure . What

is their total angular momentum about point O?
      
Lnet  L1  L2  r1  p1  r2  p2 m2

Lnet  r1mv1 sin 1  r2 mv2 sin  2

 r1mv1  r2 mv2
 2.8  3.1 3.6  1.5  6.5  2.2
 31.25  21.45  9.8 kgm 2 / s
m1

February 18, 2011

Angular Momentum and Torque
 Net torque acting on an object is equal to the time
rate of change of the object’s angular momentum
   0 I  I0
   I  I  I( )
t t t
 Angular momentum is defined as
change in angular momentum L
  
time interval t
 Analog in impulse
p
F
L t
 
t
 SUMMARY
Translation Rotation
   
Force F Torque   r F
Linear   Angular   
Momentum p  mv l  r p
Momentum
Kinetic 1 2 Kinetic 1 2
Energy K 2
mv Energy K 
2

Systems and Rigid Bodies

  
Linear P   pi  Mv cm Angular   
L  L i  i i
 
Momentum Momentum
 for rigid bodies about common 
fixed axis
Second  dP Second  dL sys
Fnet  net 
Law dt Law dt

Momentum conservation - for closed, isolated systems

 
Psys  constant L sys  constant
Apply separately to x, y, z axes