H U

1-PHYSICAL
- E
S T
QUANTITIES AND
F
VECTORS
ic s
y s
Ph 1

Bibliography

Some of the contents that will be worked on this block can be found in the
following book chapters:

Book
H UChapter

6th ed., W.H. Freeman & Co Ltd, 2007.

- E
P.A. Tipler, G. Mosca. Physics for Scientists and Engineers. 1

T
H.D. Young, R.A. Freedman, F. Sears, M. Zemansky. 1
University Physics with Modern Physics. Global Edition (14th

S
ed.), Pearson Education, 2015.

F
W. Bauer, G.D. Westfall, University Physics with Modern
Physics. McGraw-Hill Global Education, 2011.
1

ic s
P.M. Fishbane, S. Gasiorowicz, S.T. Thornton, Fisika
zientzialari eta ingeniarientzat. UPV/EHU-ko argitalpen
1

s
zerbitzua, 2008.

y
UEUko Fisika Saila. Fisika Orokorra. UEU, 1992. 1,2

h
UEUko Fisika Saila. Fisika Orokorra: Ariketak. UEU, 1989. 1,2

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Some images appearing in the current document were taken from these
bibliographic sources. 2
OBJECTIVES

The student should be able to:

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E
• distinguish physical quantities: scalars and vectors.

-
T
• learn using the units of physical quantities.

• define a frame of reference.

FS
ic s
• analyse the fundamentals of vector calculus (algebra, basic

s
operations, etc.)

h y
• identify scalar and vector fields.

P 3

This topic is VERY IMPORTANT: It revises all the basic maths we will use

●
You are supposed to know from high-school
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E
●
You have to revise all the topic at home

-
●
Ask questions if there is anything you don’t know/understand

S T
Things in red boxes will be revised in a lecture very quickly

F
ic s
s
If you don’t do it you risk getting lost in the course in the 1st week.

h y
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Exercises: Only 14,17,23 and 24 will be done by the lecturer. It
is your responsibility to make sure you can do all of them.
4
FRAMES OF REFERENCE
● For the mathematical analysis of a physical phenomenon it is
necessary to know how to locate points in space. With this purpose
the FRAMES OF REFERENCE (FR) are defined.
●

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CARTESIAN SYSTEM: 3 directions that are perpendicular to each

DIRECT yE
other intersecting in a point (origin of coordinates).

- INVERTED
TRIHEDRON

S T TRIHEDRON

☑ F 
s
z

s ic
h y
PHYSICAL QUANTITY
It is a physical property of a phenomenon, body, or substance, that can be

P
quantified by measurement (measurable), being independent of the
human existence. 5

SCALAR AND VECTOR QUANTITIES

To express physical quantities:

SCALARS: number + unit

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Examples: length, mass, time, temperature, volume, density, etc.

VECTORS: number + direction + orientation + unit

(=3 numbers + unit)
- E
T
Examples: force, velocity, acceleration, etc.

U S
They are expressed by means of an arrow; oriented segments.

F U

ic s
Magnitude: Vector length. Always positive. ∣U∣=∣U∣


y s
Unit vector in the direction of U: u ∣u∣=1

Ph u =
U

∣U∣
 u
 =∣U∣
U  ⋅u
6
FUNDAMENTAL PHYSICAL QUANTITIES
They cannot be simplified:

U
●
Length (m)

H
●
Mass (kg)
Time (s)
E
●

-
Intensity of electric current (or electric charge) (A (C))
Thermodynamic temperature (K)
T
●

Amount of substance (mol)

FS
Luminous intensity (candela = cd)

s
●

ic
DERIVED PHYSICAL QUANTITIES
s
y
All remaining physical quantities can be derived from a combination of the

h
fundamental quantities.

P
Examples: Area, force, acceleration, velocity, pressure, density, etc.
7

UNITS

SI: International System

QUANTITY SI
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CGS

E
Length meter (m) cm

-
Mass kilogram (kg) g
Time second (s) s
Electric current
Temperature
S T
ampere (A)
kelvin (K)
Luminous intensity
F candela (cd)

ic s
Amount of substance mol

y s
h
Several derived quantities receive a specific name.

P
Example: kg m/s2= newton (N)
8
UNIT CHANGE
Express 90 km/h in m/s

90 km/ h=
90 km 1000 m
× ×
1h
=25 m/ s
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E
h 1 km 3600 s

DIMENSIONS -
S T
F
LENGTH [L] = L
MASS [m]= M
TIME [t] = T

ic s m

s
Example: dimension of the density =
V

h
[m] M
y Therefore, the SI units for density are: kg/m3

P
[]= =
[V ] L 3
9

COVARIANCE OF PHYSICAL LAWS

Both sides of equations describing physical phenomena must represent

U
the same physical quantities.

Example: A=B+C

E H
-
●
If A is a vector, B + C must be a vector.
Dimensions of A and dimensions of B + C must be the same (and those

T
●

of B and C must also be the same)

FS
DIMENSIONAL ANALYSIS (dimensional equations)

i c s
Dimensional equations are very important, because when writing the

s
equation describing physical laws both sides of these equations (and the

y
different terms) must have the same dimensional equation.

P h
Very useful to check if the equations are properly written.
10
Example: Kepler's 3rd law relates the period of a planet (T), its orbital
radius (r), the Gravitational constant (G) and the Sun's mass (Me) Which
combination of these factors provides the correct dimensions for the

U
period of the planet?

a
T =M r G
b c

E H
[T ]=[ M ]a [r ]b [G]c
-
Which are the dimensions for [G]?

S T Exercise

F
ic s
y s
Ph 11

Example: Dimensionless quantity: radian

U
l
l =
R

H
q

E
R [l ] L
[]= = = M 0 L0 T 0

-
[ R] L

S T
F
ic s
y s
Ph
Exercises: 1-3
12
FREE VECTORS
Can be applied at any point in space.

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E
ADDITION

-
S T
F
ic s
y s
Ph 13

VECTOR TIMES SCALAR


2A −
2A

U

A

E H
-
SUBTRACTION  =
C B=
A−  A−
B

S T
F
ic s
y s
Ph 14
COMPONENTS OF A VECTOR
AS = component of vector A in the direction of vector S

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- E
S T
F
ic s
y s
Ph 15

CARTESIAN COMPONENTS OF A VECTOR

Ay

U
tg =
Ax

E H 2
∣A∣= A x  A y
2

-
S T Three dimensions:

F 2 2
∣A∣=  A x  A y  A z
2

ic s  =
C A B

y s C x= Ax B x
C y= A y B y

Ph Exercises: 24
16
CARTESIAN UNIT VECTOR
A = A x i A y j A z k


U
H 
Ax
A= A y



∣i∣=∣j∣=∣k∣=1
- E Az
2 2
∣A∣=  A x  A y  A z
2

S T
Example: for the vectors
F
A=4 i 3 j 
B=2 i−3 j

A∣=  4232 =5
∣

ic s
A

y s
B∣= 22 3 2=  13
∣
B =42 i3−3 j=6 i


Ph
A−B =4−2 i3−−3 j=2 i6 j

17

POSITION VECTOR OF A POINT

Cartesian coordinates
r =x i  y jz k

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Cylindrical polar coordinates: (r, f, z)
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S T
F
x=ρ cos φ ρ =√ x 2+ y 2
y=ρ sin φ y

s
φ =arctg
z= z x

ic
z=z

y s Unit vectors: point in the +

Ph direction of each coordinate

 u , u , uz 
18
 Spherical coordinates: (r, q, f)

U
x=r sin θ cos ϕ
y=r sin θ sin ϕ
z=r cos θ

E H
-√ 2
r= x + y + z
2 2

S T ϕ =arctg
y
x

F
z
θ=arcos 2 2 2

s
√ x + y +z

s
Unit vectors: point in the +ic
y
direction of each coordinate

h
P
 ur , u , u 
19

SCALAR (DOT) PRODUCT BETWEEN TWO VECTORS

Result: scalar A⋅B =∣ A∣∣B
∣cos A , B


A⋅
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B= B⋅A

- E
Magnitude of the projection of
vector A along the direction
of vector B.
 A 
B ⋅C
 = A⋅C B⋅C
  

(1)  
A⋅B =0 (5)

S T
F
⇒ A ⊥ B A⋅B
  = A x i A y j A z k ⋅B x iB y jB z k =
A ≠0, 
 B ≠0
= A x B x A y B y A z B z

s
(2)
i⋅j=0

ic
i⋅i =1 (6) a Ax=  A⋅i
j⋅j=1 
j⋅k=0 au =a⋅u

s
u au =a⋅u ⋅u A y=  A⋅j
 k=1
k⋅   i =0
k⋅

y
au A z=  A⋅k
(3)  

h
2
A⋅A = A (7) V A B
= 

P
(4) cos A , B =
 
A⋅B

∣ A∣∣B
∣
⃗ 2 =( ⃗
∣V∣ A+⃗
B )⋅( ⃗ ⃗ )= A 2 + B2 +2 ⃗
A+ B
Exercises: 4-12,16-17
A⋅B
⃗
20
VECTOR PRODUCT BETWEEN TWO VECTORS
The result is a vector (C) perpendicular to both vectors, A and B,
and therefore normal to the plane containing them. The orientation

U
is given by the right-hand rule (always from the first vector
towards the second one through the smallest angle). Its
magnitude is:
∣ A × B
 ∣=∣A
 ∧B
∣=∣A∣∣B∣sin A , B
E H
-A∧ B  ∧ A
 =− B

T
Area of the parallelogram  A 
B ∧C
 =A∧C B ∧C
with sides A and B.

S
 A∧ 
B ∧C
 ≠A∧ 
B ∧C

F
(1) ⃗
A∧ ⃗
B =0
⃗A≠0, B≠0
⃗ ⇒ ⃗A∥⃗
B

ic s (3)
⃗
A∧ ⃗
|
^i
B= Ax
^j
Ay
^k

|
A z =⋯

s
^i ∧^i =0
(2) ^i ∧^j=^k Bx By Bz

y
^j∧^k =^i ^j ∧^j=0
(4) Surfaces by vectors: ⃗
S = ⃗A× ⃗B

h
^ ^ ^ ^k ∧^k =0
k∧i = j ^ ^ ⃗S magnitude= area

butP i → j→k
^j∧^i =−^k
direction= perpendicular
orientation=right-hand rule
Exercises: 18,20,21,23
21

SCALAR TRIPLE PRODUCT

Ax A y Az
It is a scalar:
A⋅ 
∣ ∣
 = B B B =⋯
B ∧C x y
Cx Cy Cz
z

H U
A  B C

A⋅   =− 
B ∧C B⋅ A∧C
 =C⋅
  B =− 
A∧   
A⋅ C∧ B
- E
S T
F  Area of the base
B ∧C∣
∣

ic s A cos  Height of the parallelepiped

with sides A, B and C.

y s (Projection of vector A along

the B^C direction)

A⋅ 
Ph = The volume of the parallelepiped
B ∧C
Exercise: 22
formed by vectors A, B and C.
What does it happen
when the three vectors
are in the same plane? 22
DERIVATIVE OF A VECTOR WITH RESPECT TO A SCALAR
If u is a vector function, e.g. a function of t, where t is a scalar,
u (t )=u x (t )^i +u y (t )^j +u z (t )^k
⃗

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the derivative of the function u with respect to t, if i , j , k are constant is:

dt
=
dt
i
dt
j
dt
- E
d u t  d u x t   d u y t   d u z t  
k

T
Example: Find the derivative with respect to time of the following vector

S
F
2
r t =3t i 5t j−2 k

s
MAIN RULES TO HANDLE DERIVATIVES
d
dt
u v − w

s
 =  −
dt dt ic
d u d v d w

dt
d
dt
d u
u⋅v = ⋅v u⋅
dt
d v
dt
d
dt
h
a⋅u =a
y
d u da
 u
dt d t
d
 u ∧v =
d u
∧v u ∧
d v

P[ ]
dt dt dt
u [u ]
d
= 23
dt T Exercises: 13,14

INTEGRAL OF A VECTOR WITH RESPECT TO A SCALAR

If a is a vector function, e.g. a function of t, where t is scalar,
a t =a x t  i a y t  ja z t  k

H U
the integral of the function a with respect to t, if i , j , k are constant is:
t1 t1

- E
A =∫ a t dt=∫  ax t  ia y t  ja z t  k dt=


T
t0 t0
t1 t1 t1

t0
S
∫ a x t  dt i∫ a y t  dt j∫ az t dt k
F
t0 t0

ic s [A
 t ]=[a t ]T

y s
Example: Find the integral of the following vector function.

Ph 2
r t =3t i 5t j−2 k
24
 d u
u is constant, then u ⊥
Prove that if the magnitude of vector 
dt
2

U
2 d|⃗
u|
|⃗u|=const ⇒ |⃗u| =const ⇒ =0
dt

∣u∣2 =u⋅u
E H
d d
u d u d u
- d u

T
0= u⋅u =
u⋅  ⋅u =2u⋅ u ⊥
dt dt dt dt dt

Example: CIRCULAR MOTION

FS
ic s v =
d r
dt |⃗r |=constant

y sr
d r

h
v = ⊥r
dt

P 25

SCALAR AND VECTOR FIELDS

FIELD: It is a function with a vector variable (i.e. a function of space and,
perhaps, also varying with time)

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SCALAR FIELD: It is a function with a vector variable and a scalar value

Example: the temperature at each point in a room:

- E
T
T(P) = T(r) = T(x,y,z)

FS
VECTOR FIELD: It is a function with a vector variable and a vector value

s
Example: the electric field generated by an electric charge on a point in space:

ic
s
E(P) = E(r) = E(x,y,z)

h y E(x,y,z)

P 26
COLLECTION OF COMMON ERRORS - 1

H U
- E 
S T
F
Dimensions!!
s
icX = M ☑
y s CM
2( M +m)
l

Ph 27

COLLECTION OF COMMON ERRORS - 2

Dimensions!!

H U
- E 
S T
F
ic s
y s 

Ph 28
COLLECTION OF COMMON ERRORS - 3

H U
- E ☑
S T
F
ic s
y s
h
NOT RIGHT

P  29

COLLECTION OF COMMON ERRORS - 4

H U
- E 

S T
F
s
icv =v iv 0y j
y s 0 0x ☑

Ph 30
COLLECTION OF COMMON ERRORS - 5

H U
- E
S T 
F
s
ic  0
y s
FB =I ' ∫ dl× B
=
2 d
I ' I l u ☑

Ph 31

COLLECTION OF COMMON ERRORS - 6

H U
- E 

S T
F
ic s
y s dV =v × B 
 ⋅dr ☑

Ph 32
 COLLECTION OF COMMON ERRORS - 7

H U 

- E
S T
F v ×B =0
F =q E
ic
s
 q ☑
qsE =−q v × B

h y
P !!!!
33

COLLECTION OF COMMON ERRORS - 8

H U 

- E
S T
F
s
ic 
s
EP= E1 E 2 E3  E4
y
☑

Ph
∣EP∣=∣E1  E2  E3  E4∣≠∣E1∣∣E2∣∣E3∣∣E4∣
34
COLLECTION OF COMMON ERRORS - 9

H U
- E
S T 

F VECTOR

s
SCALAR

s ic
h y
P 35

COLLECTION OF COMMON ERRORS - 10

H U 

- E
S T
F
c s
 =i∫ dB=
 I  r
dl×
s ☑
 0
B ∫
y 4 2
r

Ph 36
COLLECTION OF COMMON ERRORS - 11

U
Number of decimals. Truncation and rounding.

E H 

-
49.40 m
=3.52857142857142857142 m/ s
14 s

S T
F
ic s49.40 m
14 s
=3.53 m/ s

y s ☑

Ph 37

Mathematical tools studied during high school that

need to be revised (your own responsibility)

H U
Basic trigonometry
E
●

-
T
●
Limits

FS
Definition and geometrical interpretation of derivative

ic s
Basic functions' derivatives

y s
Basic functions' integrals
h
●

P 38