Chapter 1 VECTOR ANALYSIS

1/INTRODUCTION:
The most physical phenomena and in particular dynamic are represented by vectors (ex :
position vector 𝑂𝑀⃗ , velocity vector 𝑉⃗, acceleration 𝑎⃗ , force 𝐹⃗ , momentum 𝑃⃗, etc…)
1.1/ Définition of vector :
A vector is a line segment joining two given points, a vector must be characterized by:
- a starting point

- its modulus (magnitude) ‫مقياس‬ 𝐴𝐵⃗ = 𝑉⃗ = 5 unit

- his direction ‫اﻻتجاه و الحامل‬

a/ opposite vector:

The opposite vector of vector 𝐴𝐵⃗, is a vector with the same modulus as 𝐴𝐵⃗ but in the
opposite direction, denoted by : -𝐴𝐵⃗ = 𝐵𝐴⃗

The modulus of 𝐴𝐵⃗ is equal to the modulus of 𝐵𝐴⃗ : we write 𝐴𝐵⃗ = 𝐵𝐴⃗ or else AB = BA
B B

𝐴𝐵⃗

𝐵𝐴⃗

A B

b/ The unit vector :

The unit vector of 𝐴𝐵⃗ : is a vector which has the same direction as 𝐴𝐵⃗ but whose modulus is
equal 1. B
⃗
𝐴𝐵⃗ = 𝐴𝐵⃗ . µ⃗AB → µ⃗AB = ⃗

µ⃗A
A
Note : Each vector has its own unit vector.
Example : The unit vector of vector 𝑉⃗ = 4𝚤⃗ + 3𝚥⃗
⃗ ⃗
Is 𝑈⃗ 𝑉⃗ = = 0,8𝚤⃗ + 0,6𝚥⃗

1.2/ Vector projection:

- The vector projection on an axis (Δ) is equal to the modulus of the vector multiplied by the
cosine of the angle between the vector and the axis
𝑉⃗
α
Proj 𝑉⃗ /(Δ) = 𝑉⃗ .cos(𝑉⃗ ,𝑢⃗) 𝑢⃗= 𝑉⃗ .cosα 𝑢⃗
𝑢⃗ (Δ)

The modulus of the projection of 𝑉⃗ on (Δ) is equal to : 𝑉⃗ .cosα = V.cosα

- A vector can be projected onto another vector.

For example the modulus of the projection of vector 𝑎⃗ (acceleration) on the vector 𝑉⃗
(velocity) is written :

Proj 𝑎⃗ /𝑉⃗ = |𝑎⃗𝑉⃗ | = |𝑎⃗|.cosα 𝑎⃗

α 𝑉⃗
𝑎⃗𝑉⃗
2/ The scalar product (dot product):
2.1/ Definition :

The scalar product of two vectors 𝐴⃗ by 𝐵⃗ is defined by the scalar quantity obtained by :

𝐴⃗.𝐵⃗ = 𝐴⃗ . 𝐵⃗ .cos(𝐴⃗, 𝐵)⃗ = 𝐴⃗ . 𝐵⃗ .cosθ = scalar 𝐴⃗

with θ : is an angle between the vectors 𝐴⃗ 𝑎𝑛𝑑 𝐵⃗. θ 𝐵⃗

Note :
 The scalar product is commutative

𝐴⃗.𝐵⃗ = 𝐵⃗.𝐴⃗
  The scalar product of a vector by itself is equal to the square of its magnitude.
𝐴⃗.𝐴⃗ = 𝐴⃗ . 𝐴⃗ .cos0 = 𝐴⃗ . 𝐴⃗ = A²

 The dot product of two perpendicular vectors is zero.

If 𝐴⃗ ⊥ 𝐵⃗ → 𝐴⃗.𝐵⃗ = 𝐴⃗ . 𝐵⃗ .cos = 0

 In an orthonormal reference frame, the scalar products of the unit vectors has as
values:

𝚤⃗ . 𝚤⃗ = 𝚥⃗ . 𝚥⃗ = 𝑘⃗ . 𝑘⃗ = 1
𝚤⃗ . 𝚥⃗ = 𝚥⃗ . 𝑘⃗ = 𝑘⃗ . 𝚤⃗ = 0
2.2/ Analytical expression of the scalar product:

The scalar product of two vectors 𝐴⃗ and 𝐵⃗ is equal to the sum of product of their
components :
𝐴 𝐵
𝐴⃗ 𝐴 and 𝐵⃗ 𝐵 So 𝐴⃗.𝐵⃗ = (𝐴 𝚤⃗ + 𝐴 𝚥⃗ + 𝐴 𝑘⃗ ). (𝐵 𝚤⃗ + 𝐵 𝚥⃗ + 𝐵 𝑘⃗)
𝐴 𝐵

we will have: 𝐴⃗.𝐵⃗ = 𝐴 . 𝐵 + 𝐴 . 𝐵 + 𝐴 . 𝐵

Example :
1 −4
⃗ ⃗
𝐴 2 and 𝐵 5 → 𝐴⃗.𝐵⃗=1.(-4 )+ 2.5 + 3.3 =15
3 3

Note: Determining an angle between two vectors

By knowing the components of 𝐴⃗ and 𝐵⃗, we can determine the angle θ between these two
vectors using the scalar product :

𝐴⃗= 𝐴 𝚤⃗ + 𝐴 𝚥⃗ + 𝐴 𝑘⃗ and 𝐵⃗= 𝐵 𝚤⃗ + 𝐵 𝚥⃗ + 𝐵 𝑘⃗

𝐴⃗. 𝐵⃗ = 𝐴⃗ . 𝐵⃗ . 𝑐𝑜𝑠θ . . .
→ cosθ = ⃗. ⃗
→ θ=?
𝐴⃗. 𝐵⃗ = 𝐴 . 𝐵 + 𝐴 . 𝐵 + 𝐴 . 𝐵
3/ The vector product (cross product) :
3.1/ Mathematical reminder: (calculation of a determinant)
 A determinant of second order is an array with 4 elements (2x2) :

1st line a1 a2
= a1xb2 – b1xa2
2nd line b1 b2

1st column 2nd column

 A 3rd order determinant is an array with 9 elements (3x3) :

+ - +
𝑎 𝑎 𝑎
𝑏 𝑏 𝑏 𝑏 𝑏 𝑏
𝑏 𝑏 𝑏 = 𝑎 . - 𝑎 . +𝑎 .
𝑐 𝑐 𝑐 𝑐 𝑐 𝑐 𝑐 𝑐 𝑐
= 𝑎 . (𝑏 . 𝑐 − 𝑐 . 𝑏 ) − 𝑎 . (𝑏 . 𝑐 − 𝑐 . 𝑏 ) + 𝑎 . (𝑏 . 𝑐 − 𝑐 . 𝑏 )

3.2/ Definition of cross product (vector product) :

The cross product of two vectors 𝐴⃗ and 𝐵⃗ is a vector denoted 𝐶⃗ = 𝐴⃗ x 𝐵⃗ = 𝐴⃗ʌ𝐵⃗
which has the following characteristics :
- The direction of 𝐶⃗ : 𝐶⃗⊥ 𝐴⃗ and 𝐶⃗⊥𝐵⃗
- The orientation of 𝐶⃗ : it can be found using the right-hand rule.
Point your index finger (of your right hand) along the first vector. Then orient your
hand so that your middle finger points along the second vector. Extend your thumb. It
points in the direction of the cross product 𝐶⃗.

- The magnitude of 𝐶⃗ is : 𝐶⃗ = 𝐴⃗ʌ𝐵⃗ = 𝐴⃗ . 𝐵⃗ .sinθ

 REMARK :

𝐴⃗ = 𝐵⃗ = 0
 if 𝐴⃗ ʌ 𝐵⃗ = 0⃗ →
𝐴⃗ 𝑎𝑛𝑑 𝐵⃗ 𝑎𝑟𝑒 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙 (𝜃 = 0 𝑜𝑟 𝜋)

 Cross product is anti-commutative: 𝐴⃗ ʌ 𝐵⃗ = - 𝐵⃗ ʌ 𝐴⃗

 Cross product is distributive: 𝐸⃗ ʌ (𝐴⃗ + 𝐵⃗) = 𝐸⃗ ʌ 𝐴⃗ + 𝐸⃗ ʌ 𝐵⃗

 Cross product of unit vectors:

𝚤⃗ ʌ 𝚥⃗ = 𝑘⃗ but 𝚤⃗ ʌ 𝚥⃗ = - 𝑘⃗
𝚥⃗ ʌ 𝑘⃗ = 𝚤⃗ but 𝚥⃗ ʌ 𝑘⃗ = - 𝚤⃗
𝑘⃗ ʌ 𝚤⃗ = 𝚥⃗ but 𝚤⃗ ʌ 𝑘 = - 𝚥⃗

Without forgetting that: 𝚤⃗ ʌ 𝚤⃗ = 𝚥⃗ ʌ 𝚥⃗ = 𝑘⃗ ʌ 𝑘⃗ = 0⃗

3.3/ Analytical expression :

𝐶⃗ = 𝐴⃗ ʌ 𝐵⃗, determine the component of the vector 𝐶⃗ according to the compenents of the
vectors 𝐴⃗ 𝑎𝑛𝑑 𝐵⃗:

𝚤⃗ 𝚥⃗ 𝑘⃗ 𝐴 𝐴 𝐴 𝐴
𝐴 𝐴
𝐶⃗ = 𝐴⃗ ʌ 𝐵⃗ = 𝐴 𝐴 𝐴 = 𝚤⃗. − 𝚥⃗. + 𝑘⃗ .
𝐵 𝐵 𝐵 𝐵 𝐵 𝐵
𝐵 𝐵 𝐵

= 𝐴 . 𝐵 − 𝐵 . 𝐴 ) 𝚤⃗ − (𝐴 . 𝐵 − 𝐵 . 𝐴 ) ⃗𝚥 + 𝐴 . 𝐵 − 𝐵 . 𝐴 𝑘⃗

= 𝐶 𝚤⃗ + 𝐶 𝚥⃗ + 𝐶 𝑘⃗

Finaly the compenents of 𝐶⃗ are:

𝐶 = 𝐴 .𝐵 − 𝐵 .𝐴 )
𝐶⃗ 𝐶 = −(𝐴 . 𝐵 − 𝐵 . 𝐴 )
𝐶 = 𝐴 .𝐵 − 𝐵 .𝐴
Example:

Determine the components of the vector 𝐶⃗ such that 𝐶⃗ = 𝐴⃗ ʌ 𝐵⃗ : we give

2 1
𝐴⃗ 3 et 𝐵⃗ −2
1 3
𝚤⃗ 𝚥⃗ 𝑘⃗
𝐶⃗ = 𝐴⃗ ʌ 𝐵⃗ = 2 3 1 = [9 − (−2)]𝚤⃗ − [6 − 1)] ⃗𝚥 +[2. (−2) − 3]𝑘⃗
1 −2 3
= 11𝚤⃗ − 5𝚥⃗ − 7𝑘⃗
REMARK:

The modulus of the cross vectors 𝐴⃗ ʌ 𝐵⃗ represents the area of the parallelogram
formed by 𝐴⃗ and 𝐵⃗ :

𝐴⃗ʌ𝐵⃗ = S = 𝐴⃗ .h = A.h

𝐵⃗ h= B.sinθ
θ

𝐴⃗
4/ The derivative of a vector:

The derivative of a vector is found by differentiating each component of the vector with
respect to the variable of interest.
⃗
𝐴⃗= 𝐴 𝚤⃗ + 𝐴 𝚥⃗ + 𝐴 𝑘⃗ then = 𝚤⃗ + 𝚥⃗ + 𝑘⃗

 𝜆 𝐴) = 𝜆 𝐴⃗ with : 𝜆 = constant
⃗ ⃗
 (𝐴⃗ + 𝐵⃗) = +
⃗ ⃗
 (𝐴⃗ . 𝐵⃗) = 𝐵⃗ + 𝐴⃗
⃗ ⃗
 (𝐴⃗ ʌ 𝐵⃗) = ʌ 𝐵⃗ + 𝐴⃗ ʌ
5/ NOTION OF DERIVATIVE:
5.1/ Derivative of a function :
Either a function, 𝑦 = 𝑓(𝑥), the rate of increase of this function at a point 𝑥 is
given by : 𝑦 = 𝑓(𝑥)

∆ ( ) ( )
∆
= 𝑓(𝑥 )

𝑖𝑓 𝑤𝑒 𝑟𝑒𝑝𝑙𝑎𝑐𝑒 : 𝑥 = 𝑥
so : 𝑓(𝑥 ) = 𝑓(𝑥) 𝑓(𝑥 )
𝑎𝑛𝑑 ∶ 𝑥 = 𝑥 + ∆𝑥
𝑓(𝑥 ) = 𝑓(𝑥 + ∆𝑥) 𝑥 𝑥 𝑥

and 𝑥 − 𝑥 = ∆𝑥

∆
The derivative of a function f(x) is defined as the limit of the rate when ∆𝑥 tends
∆
to zero.

𝑑𝑓 ∆𝑓 𝑓 (𝑥 + ∆𝑥) − 𝑓(𝑥)
𝑓 (𝑥 ) = = lim = lim
𝑑𝑥 ∆ → ∆𝑥 ∆ → ∆𝑥

5.2/ The differential of a function:

Either a function depending on 3 variables x, y, and z : the differential of this function
is written:

𝑑𝑓 = 𝑑𝑥 + 𝑑𝑦 + 𝑑𝑧

with : : is the partial derivative of f with respect to 𝑥 ;

: is the partial derivative of f with respect to 𝑦 ;

and : is the partial derivative of f with respect to z .

Example :
Determine the differential of the function f : f(x, y, z) = 2xy² - xz3

We have : = 2y² - z3

= 4xy

= -3xz²

so: 𝑑𝑓 = (2y² - z3) dx + 4xy dy - 3xz² dz

6/ GRADIENT – DIVERGENCE –ROTATIONAL :

𝝏 𝝏 𝝏
Let operator ‘nabla’ 𝛁⃗ defined by : 𝛁⃗ = ⃗ + ⃗ + 𝒌⃗
𝝏𝒙 𝝏𝒚 𝝏𝒛

This operator allows us to determine (to learn) in a simply way the mathematical notions
(gradient, divergence and rotational).

6.1/ Gradient of a function:

The gradient of a function f(x, y, z) is a vector denoted by : 𝒈𝒓𝒂𝒅⃗𝒇 = 𝛁⃗f whose

components are the partial derivatives with respect to x, y and z.
𝜕𝑓
𝜕𝑥
𝝏𝒇 𝝏𝒇 𝝏𝒇 ⎛ 𝜕𝑓⎞
𝒈𝒓𝒂𝒅⃗ f = 𝛁⃗f = ⃗ + ⃗ + 𝒌⃗ → 𝑔𝑟𝑎𝑑⃗ ⎜ 𝜕𝑦⎟
𝝏𝒙 𝝏𝒚 𝝏𝒛
𝜕𝑓
⎝ 𝜕𝑧 ⎠

6.2/ Divergence of a vector:

The divergence of a vector 𝑉⃗ represents the scalar product of 𝛁⃗ by this vector:

𝜕
𝜕𝑥 𝑉
⎛𝜕 ⎞
⃗
∇ ⎜ 𝜕𝑦⎟ and 𝑉⃗ 𝑉
𝜕 𝑉
⎝ 𝜕𝑧 ⎠
𝝏𝑽𝒙 𝝏𝑽𝒚 𝝏𝑽𝒛
div 𝑽⃗ = 𝛁⃗.𝑽⃗ =
𝝏𝒙
+ 𝝏𝒚
+ 𝝏𝒛
6.3/ Rotational of a vector:

The rotational of a vector 𝑉⃗ is a vector represented by the cross product of 𝛁⃗ by this vector :

⃗ ⃗ 𝒌⃗
𝝏𝑽𝒛 𝝏𝑽𝒚 𝝏𝑽𝒛 𝝏𝑽𝒙 𝝏𝑽𝒚 𝝏𝑽𝒙
𝑹𝒐𝒕⃗ 𝑽⃗ = 𝛁⃗ʌ𝑽⃗ = 𝝏 𝝏𝒙 𝝏 𝝏𝒚 𝝏 𝝏𝒛 = − ⃗- − ⃗+ − 𝒌⃗
𝝏𝒚 𝝏𝒛 𝝏𝒙 𝝏𝒛 𝝏𝒙 𝝏𝒚
𝑽𝒙 𝑽𝒚 𝑽𝒛

So the components of 𝑟𝑜𝑡⃗ 𝑉⃗ are written:

𝜕𝑉𝑧 𝜕𝑉𝑦
𝜕𝑦
− 𝜕𝑧
⎛𝜕𝑉𝑧 𝜕𝑉𝑥 ⎞
𝑅𝑜𝑡⃗ 𝑉⃗ = ∇⃗ʌ𝑉⃗ =⎜ − 𝜕𝑧 ⎟
𝜕𝑥
𝜕𝑉𝑦 𝜕𝑉𝑥
⎝ 𝜕𝑥 − 𝜕𝑦 ⎠

 If the vector is a force 𝐹⃗ = 𝐹 𝚤⃗ + 𝐹 𝚥⃗ + 𝐹 𝑘⃗ so the rotational of the force 𝐹⃗ will be :

𝜕𝐹𝑧 𝜕𝐹𝑦
𝜕𝑦
− 𝜕𝑧
⎛𝜕𝐹𝑧 𝜕𝐹𝑥 ⎞
𝑅𝑜𝑡⃗ 𝐹⃗ = ∇⃗ʌ𝐹⃗ =⎜ − 𝜕𝑧 ⎟
𝜕𝑥
𝜕𝐹𝑦 𝜕𝐹𝑥
⎝ 𝜕𝑥 − 𝜕𝑦 ⎠

REMARK :

- Either a function f(x,y,z) : we always have 𝑟𝑜𝑡⃗ 𝑔𝑟𝑎𝑑⃗ f = 0⃗

- Eihter a vector 𝐹⃗ (x,y,z) : we always have div 𝑟𝑜𝑡⃗ 𝐹⃗= 0