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Vectors
Vectors
Algebra 7
Chapter 7 Vectors
1. Scalar quantities: mass, density, area, time, potential, temperature, speed, work, etc.
2. Vectors are physical quantities which have the property of directions and magnitude.
e.g. Velocity v , weight w , force f , etc.
3. Properties:
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Vectors
Advanced Level Pure Mathematics
(a) The magnitude of u is denoted by u .
(c) AB BA
(d) Null vector, zero vector 0 , is a vector with zero magnitude i.e. 0 0 .
u
(f) u
u
u uu
AB BC CD AD
PQ q p
2. Properties: For any vectors u , v and w , we have
(a) u v v u ,
(b) u (v w) (u v) w ,
(c) u 0 0 u
(d) u ( u ) (u ) u 0
N.B. (1) u v u ( v )
(2) c a b a c b
When a vector a is multiplied by a scalar m, the product ma is a vector parallel to a such that
(a) The magnitude of ma is m times that of a .
(b) When m 0 , ma has the same direction as that of a ,
When m 0 , ma has the opposite direction as that of a .
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Vectors
Advanced Level Pure Mathematics
These properties are illustrated in Figure.
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Vectors
Advanced Level Pure Mathematics
Properties
(a) If a, b are two non-zero vectors, then a // b if and only if a mb for some m R .
(b) a b a b , and a b a b
(a) We define i, j , k are vectors joining the origin O to the points (1,0,0) , (0,1,0) , (0,0,1)
respectively.
(b) i, j and k are unit vectors. i.e. i j k 1 .
(c) To each point P ( a, b, c ) in R 3 , there corresponds uniquely a vector
OP p ai bj ck
ai bj ck
(e) p
a2 b2 c2
(f) Properties : Let p1 x1i y1 j z1 k and p 2 x 2 i y 2 j z 2 k . Then
(i) p1 p 2 if and only if x1 x 2 , y1 y 2 and z1 z 2 ,
(ii) p1 p 2 ( x1 x 2 )i ( y1 y 2 ) j ( z1 z 2 )k
(iii) p1 ( x1i y1 j z1 k ) x1i y1 j z1 k
(a) Find the position vectors of A and B . Hence find the length of AB .
Solution
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Vectors
Advanced Level Pure Mathematics
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Vectors
Advanced Level Pure Mathematics
Definition If v1 , v 2 , , v n are vectors in R n and if every vector in R n can be expressed as the linear
Remark : The basis vectors have an important property of linear independent which is defined as follow:
Definition The set of vector v1 , v 2 , , v n is said to be linear independent if and only if the vectors
equation k1v1 k 2 v 2 k n v n 0 has only solution k1 k 2 k n 0
Definition The set of vector v1 , v 2 , , v n is said to be linear dependent if and only if the vectors
equation k1v1 k 2 v 2 k n v n 0 has non-trivial solution.
(i.e. there exists some k i such that k i 0 )
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Vectors
Advanced Level Pure Mathematics
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Vectors
Advanced Level Pure Mathematics
Example If vectors a, b and c are linearly independent, show that a b, b c and c a are also
linearly independent.
Solution
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Vectors
Advanced Level Pure Mathematics
Theorem
(1) A set of vectors including the zero vector must be linearly dependent.
(2) If the vector v can be expressed as a linear combination of v1 , v 2 , v n , then the set of vectors
v1 , v 2 , v n and v are linearly dependent.
(3) If the vectors v1 , v 2 , v n are linearly dependent, then one of the vectors can expressed as a linear
combination of the other vectors.
Proof
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Vectors
Advanced Level Pure Mathematics
Theorem Two non-zero vectors are linearly dependent if and only if they are parallel.
Proof
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Vectors
Advanced Level Pure Mathematics
Theorem Three non-zero vectors are linearly dependent if and only if they are coplanar.
Proof
Definition The scalar product or dot product or inner product of two vectors a and b , denoted by
a b , is defined as a b a b cos (0 )
where is the angle between a and b .
a b
Remarks By definition of dot product, we can find by cos a b .
(2) a b b a
(3) a (b c) a b a c
(5) a a 0 if a 0 and a a 0 if a 0
a1 a 2 b1b2 c1c 2
= 2 2 2 2 2 2
a1 b1 c1 a 2 b2 c 2
Remarks Two non-zero vectors are said to be orthogonal if their scalar product is zero. Obviously, two
perpendicular vectors must be orthogonal since , cos 0 , and so their scalar product
2
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Vectors
Advanced Level Pure Mathematics
Example Let a, b and c be three coplanar vectors. If a and b are orthogonal, show that
ca c b
c a b
aa bb
Solution
Example Determine whether the following sets of vectors are orthogonal or not.
(a) a 4i 2 j and b 2i 3 j
(b) a 5i 2 j 4k and b i 2 j k
(c) a 3i j 4k and b 2i 2 j 2k
Solution
B. Vector Product
Definition If u (u1 , u 2 , u 3 ) and v (v1 , v 2 , v3 ) are vectors in R 3 , then the vector product and cross
product u v is the vector defined by
uv = (u 2 v3 u 3 v 2 , u 3 v1 u1v3 , u1v 2 u 2 v1 )
i j k
= u1 u2 u3
v1 v2 v3
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Vectors
Advanced Level Pure Mathematics
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Vectors
Advanced Level Pure Mathematics
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Vectors
Advanced Level Pure Mathematics
2 2 2
Remarks (i) By (c) uv = u v (u v ) 2
sin 2
2 2
= u v
uv = u v sin
(ii) u v v u and uv vu
(iii) i j jk k j
Definition The vector product (cross product) of two vectors a and b , denoted by a b , is a vector
such that (1) its magnitude is equal to a b sin , where is angle between a and b.
(2) The magnitude of the vector product of a and b is equal to the area of parallelogram with a and b
Corollary (a) Two non-zero vectors are parallel if and only if their vector product is zero.
(b) Two non-zero vectors are linearly dependent if and only if their vector product is zero.
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Vectors
Advanced Level Pure Mathematics
Example Find a vector perpendicular to the plane containing the points A(1,2,3), B (1,4,8) and
C (5,1,2) .
Solution
Example Find the area of the triangle formed by taking A(0,2,1), B (1,1,2) and C (1,1,0) as
vertices.
Solution
(a) Find AB AC .
Solution
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Vectors
Advanced Level Pure Mathematics
a a b b 1 and a b 0
Let S a b R 3 : , R .
Solution
Example Let a, b, c R 3 .
If a (b c) (a b) c 0 , prove that a b b c c a 0 .
Solution
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Vectors
Advanced Level Pure Mathematics
Show that :
u1 v1 w1
then u 2 v2 w2 0
u3 v3 w3
(c) If u (v w) (u v) w 0 , then u v v w w u 0 .
(d) If u v v w w u 0 ,
r u r v rw
then r u v w for all r R 3 .
u u vv w w
Solution
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Vectors
Advanced Level Pure Mathematics
( a b) c =
The absolute value of the scalar triple product ( a b) c is equal to the volume of the parallelepiped with
a, b and c as its adjacent sides.
a1 a2 a3
Remarks Volume of Parallelepiped = b1 b2 b3
c1 c2 c3
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Vectors
Advanced Level Pure Mathematics
Example A, B, C are the points (1,1,0) , ( 2,1,1), ( 1,1,1) respectively and O is the origin.
Let a OA, b OB and c OC .
(a) Show that a, b and c are linearly independent.
(b) Find
(i) the area of OAB , and
(ii) the volume of tetrahedron OABC .
Solution
Matrix Transformation*
Consider the case with the point P( x, y ) P' ( x' , y ' ) such that x x' , y y '
x' 1 0 x
=
y' 0 1 y
1 0
r' = Ar , where A
0 1
A is a matrix of transformation of reflection.
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Vectors
Advanced Level Pure Mathematics
In general, any column vector pre-multiplied by a 2 2 matrix, it is transformed or mapped ( x' , y ' ) into
another column vector.
a b x' a b x
Example A ,
c d y' c d y
We have x' ax by
y ' cx dy
If using the base vector in R 2 , i.e (1,0), (0,1) .
a b 1 a a b 0 b
,
c d 0 c c d 1 d
then a, b, c, d can be found.
The images of the points (1,0), (0,1) under a certain transformation are known. Therefore,
the matrix is known.
I. Reflection in x-axis
III. Reflection in x y .
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Vectors
Advanced Level Pure Mathematics
I. Enlargement
If OP r , then OP ' kr .
k 0
A
0 k
III. Rotation
Example If the point P ( 4,2) is rotated clockwise about the origin through an angle 60 , find its final
position
Solution
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Vectors
Advanced Level Pure Mathematics
x
Example A translation on R 2 which transforms every point P whose position vector is p
y
x'
To another point Q with position vector q defined by
y'
x' x 2
y' y 3
Find the image of (a) the point (4,2)
(b) the line 2 x y 0
Solution
Linear Transformation
Definition Let V and U be two sets. A mapping : V U is called a linear transformation from
V to U if and only if it satisfies the condition:
(au bv) a (u ) b (v), u , v V and a, b R.
Example Let V be the set of 3 1 matrices and A be any real 3 3 matrix. A mapping f : V V
Such that f ( x) Ax, x V . Show that f is linear.
Solution
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Vectors
Advanced Level Pure Mathematics
Therefore, (v ) can be found if (i ), ( j ) and (k ) are known. That is to say, to specify completely,
it is only necessary to define (i ), ( j ) and (k ) .
: R 3 R 3 by (i ) 2i j 3k , ( j ) i 2k , (k ) 3i 2 j 2k .
(3i 2 j 4k ) =
= 4i 5 j 13k
2 1 3
= 1 0 2
3 2 2
3 2 1 3 3 4
Consider A 2 = 1 0 2 2 = 5
4 3 2 2 4 13
The result obtained is just the same as (3i 2 j 4k ) .
The matrix A representing the linear transformation is called the matrix representation of the linear
transformation
Example Let : R 3 R 2 , defined by (i ) i 2 j , ( j ) j , (k ) 4i 3 j.
1 0 4
The matrix represent representation of a linear transformation is 2 .
1 3 23
1 2
Example The matrix B 0 1 represents a linear transformation
1 1
: R 2 R 3 , defined by (i ) i k , ( j ) 2i j k .
Example Let , : R 3 R 3 be two linear transformations whose matrix representations are respectively
1 0 1 0 2 1
A 0 1 2 and B 1 1 0 .
1 1 0 2 1 1
Find the matrix representation of .
Solution
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Vectors
Advanced Level Pure Mathematics
x' a b x a b
Example If for any ( x, y ) R 2 , then is said to be the matrix representation
y' c d y c d
Solution
Example It is given that the matrix representing the reflection in the line y (tan ) x is
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Vectors
Advanced Level Pure Mathematics
cos 2 sin 2
sin 2 cos 2
1
Let T be the reflection in the line y x.
2
1
(c) The point ( 4,10) is reflected in the line y x 3 to another point ( x 2 , y 2 ) .
2
Find x 2 and y 2 .
Solution
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