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ES202: Mathematics For Engineers: Chapter 1-Week1 Online Lecture Notes
ES202: Mathematics For Engineers: Chapter 1-Week1 Online Lecture Notes
ES202:
MATHEMATICS FOR ENGINEERS
CHAPTER 1-WEEK1
ONLINE LECTURE NOTES
Vectors Matrices
(First order tensors) (Second order tensors)
𝑎&& 𝑎&' . 𝑎&$
𝑎'' . 𝑎'$
𝒗! = [𝑣1, 𝑣2, 𝑣3] 𝐀 "×$ = [𝑎!% ] = 𝑎
. '&
. . .
𝑎"& 𝑎"' . 𝑎"$
• a, b, c, …
𝑎$
• Column vector: 𝐚 = 𝑎. %
𝑎&
• Component of a vector: 𝑎$ , 𝑎% ,…
• A, B, C, …
• 𝐀 = 𝑎!" 𝑖 = 1, … , 𝑚 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑜𝑤 , 𝑗 = 1, … , 𝑛 (𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡ℎ𝑒 𝑐𝑜𝑙𝑢𝑚𝑛) mxn matrix which is the size
2 0
𝑩&×$ = 1 𝑒 !
1.7 0
Entry/Element: 2, 1, …
0 2
!
Columns: 𝑒 , 1
0 1.7
2 −2 1 𝑥$ 3
3 2 −1 𝑥% = 1 𝑨𝒙 = 𝒃
1 −1 4 𝑥S 0
3 −2 2 2
2 −2 1 3
𝑥$
1
𝑨= 3 2 −1 ∶ Coef5icient matrix 𝒙 = 𝑥% ∶ 𝑢𝑛𝑘𝑜𝑤𝑛 𝑣𝑒𝑐𝑡𝑜𝑟 𝒃= : Known vector
1 −1 4 𝑥S 0
3 −2 2 2
2 −2 1 3 2 −2 1 3
I= 3 2
𝑨 −1 1 = 3 2 −1 1 : Augmented matrix
1 −1 4 0 1 −1 4 0
3 −2 2 2 3 −2 2 2
ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh
METU
Addition of matrices:
𝑨 + 𝑩 = 𝑎'( + 𝑏'(
Ex:
1 −1 2 −2 3 −3
3 1 + 3 4 = 6 5
0 −1 1 −2 1 −3
4 −2 −1 −2 3 −4
Rules:
𝑨 + 𝑩= 𝑩 + 𝑨 commutative
𝑨+𝑩 +𝑪=𝑨+ 𝑩+𝑪 : 𝑨+𝑩+𝑪 Associative
𝑨+𝟎=𝑨
𝑨 + −𝑨 = 𝟎
c𝐀 𝒎×𝒏 = 𝑐𝑎'(
Ex:
1 −1 2 −2
2 3 1 = 6 2
0 −1 0 −2
4 −2 8 −4
Rules:
𝑐(𝑨 + 𝑩)=𝑐𝑨 + 𝑐𝑩
𝑐 + 𝑘 𝑨 = 𝑐𝑨 + 𝑘𝑨
𝑐(𝑘𝑨) = (𝑐𝑘)𝑨
𝑪)×- = 𝑐(+
Ex.:
1 −1
𝑨= 3 1 𝐁=
0 −1 1
0 −1 1 2 3
4 −2
−3
−1 −2
1 −1 6
𝑨0×"×𝑩"×# =
−1 −2 −3
−2 −8 −2
ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh
METU
Rules:
𝑘𝑨 𝑩 = 𝑘 𝑨𝑩 = 𝑨 𝑘𝑩 𝑘𝑨𝑩 𝑜𝑟 𝑨𝑘𝑩
𝑨 𝑩𝑪 = 𝑨𝑩 𝑪 Associative
𝑨 + 𝑩 𝑪 = 𝑨𝑪 + 𝑩𝑪 distributive on addition
𝑪 𝑨 + 𝑩 = 𝑪𝑨 + 𝑪𝑩 distributive on addition
𝑨𝑩 ≠ 𝑩𝑨 not commutative
𝑨𝑩 = 𝑨𝑪 𝑪≠𝑩 No cancelation
Then the 𝑦N 𝑦O -system is related to the 𝑤N 𝑤O -system indirectly via the 𝑥N 𝑥O -system.
The transpose of an mxn matrix 𝑨!×# = 𝑎$% is the nxm matrix AT (read A transpose) that has the first
row of A as its first column, the second row of A as its second column, and so on.
1 −1
Ex.: 𝑨 = 3 1 𝐁=
0 −1 1
0 −1 1 2 3
4 −2
0 1
1 3 0 4
𝑨𝑇 = 𝐁T = −1 2
−1 1 −1−2
1 3
Rules:
𝑨𝑇 𝑇 =𝑨
𝑐𝑨 𝑇 = 𝑐𝑨𝑇
𝑨+𝑩 𝑇 = 𝑨𝑇 + 𝑩𝑇 = 𝑩𝑇 + 𝑨𝑇
𝑨𝑩 𝑇 = 𝑩𝑻𝑨𝑻
Ex.:
5 4
5 −8 1
If 𝐴 = , then 𝐴, = −8 0 .
4 0 0
1 0
Furthermore, the transpose 6 2 3 ,of the row vector 6 2 3 is the column vector
-
6 6
, = 2 . Conversely,
6 2 3 2 = 6 2 3.
3 3
20 12 0 0 2 −4
𝐴 = 12 10 −1 is symmetric 𝐵 = −2 0 −2 is skew-symmetric.
0 −1 30 4 2 0
2 0 0 0
1 5 0 2 0 0
1 −10 9 −3 0 0
, 0 1 2 , 4 −1 0 ,
0 2 1 0 1 0
0 0 −2 1 0 8
8 2 3 6
Upper Triangular, Lower Triangular
𝑐 0 0
𝑺= 0 𝑐 0
0 0 𝑐
Unit (Identity Matrices) (If all entries of a diagonal matrix are equal to 1)
1 0 0
𝑰= 0 1 0
0 0 1
𝑨𝑺 = 𝑺𝑨 = 𝑐𝑨
𝑨𝑰 = 𝑰𝑨 = 𝑨
ES202: Mathematics for Engineers Instructor: Dr. Shaghayegh Karimzadeh
METU
4) Orthogonal Matrices
𝑨$% = 𝑨!
Or
If and only if its column vectors also its row vectors form an orthonormal system:
0 𝑗≠𝑘
𝒂# . 𝒂" = 𝒂#! 𝒂" = U
1 𝑗=𝑘
Important Note:
0 𝑗≠𝑘
Orthonormal vectors:𝒂# . 𝒂" = 𝒂#! 𝒂" = U
1 𝑗=𝑘
Orthogonal vectors: 𝒂# . 𝒂" = 𝒂#! 𝒂" = 0 𝑗≠𝑘