Vectors

1.
Dimensional analysis and vectors
Objectives:
To know the concept of physical quantity
To know the SI
To be able to apply PI Theorem
To be able to perform basic operations between vectors
To learn how to work with sliding vectors
To know how to obtain Equivalent Vector Systems
Relationship to other subjects:
Mathematics:
Systems of equations
The determinant of a matrix
jogomez@fis.upv.es Departamento de
jriera@fis.upv.es Fsica Aplicada
1. Dimensional analysis and vectors

1- Dimensional equation and system of units
Magnitude and measurement. Magnitude. Quantities. Measurement.

Fundamental and derived Magnitudes. Dimensional equation.
International System. System of units. SI. Fundamental quantities and units.
PI theorem. Statement. Applications.
2- Vectors
Vectorial magnitude. Definition. Representation. Algebraic operations.
Cartesian representation. Unit vector. Reference System. Components.

Direction cosines.
Dot product. Definition. Consequences: square of a vector, perpendicular

vector, projection, angle between vectors. Analytical expression.
Cross product. Definition. Consequences: parallel vectors, parallelogram

surface. Analytical expression.
Scalar triple product. Definition. Properties. Consequences: coplanar vectors,

volume of the parallelepiped. Analytical expression.
Derivative and integral

of a vector Departamento
function of
jogomez@fis.upv.es
de a scalar variable. Derivative.
Integral.
1. Dimensional analysis and vectors

3- Sliding vectors
Definition. Magnitude. Direction. Sense. Support line.
Moment of a vector. Definition. Uniqueness. Change reduction centre.
Moment respect to an axis. Definition. Uniqueness. Geometric meaning.
Sliding Vector System (SVS). Definition. Resultant. Resultant moment.
Equivalent Vector System (EVS). Definition. Condition.
Special Vector System. Couple. Concurrent VS. Parallel VS.
Bibliography
Temas preliminares de Fsica, UPV, Ref. 2010.130

Notes on Vectores deslizantes: Physics: Recursos / Units / Unit 1: Dimensional
analysis and vectors / Vectores deslizantes
Applets:
http://personales.upv.es/mhgimene/Magnitudes/Magnitudes.html
http://dspace.upv.es/handle/10251/9246
Dimensional analysis
The Mars Climate Orbiter

disintegrated because English
units were used in the software
application instead of metric
units (1999)
Physical magnitude
A physical magnitude (A) is a measurable property

of a material.
Can we measure the mass of a coin? Yes, we can.

So the mass of a coin is a physical magnitude or
magnitude.
Can we measure the volume of a coin? Yes, we can.

So the volume of a coin is a physical magnitude or
magnitude.
We measure mass
with
a
scale
(weighing scale)
We measure volume
with a test-tube
Unit and measurement
Unit (ua): An element of the magnitude that is taken

as reference.
Measurement (a): Compare the magnitude with the
unit:
( A)
=a
uA
We must express a magnitude with a number or quantity and a unit.
Magnitude = quantity unit
x=100 cm
The international System of Units (SI)
A small number of fundamental units are sufficient

to express all physical quantities.
SI: Systm Internationale
The rest of the magnitudes are called derivative

magnitudes.
Dimensions
The rest of the magnitudes are called derivative

magnitudes.
v=x/t; a=x/t
Dimension has a specific meaning it denotes the

physical nature of a quantity
Dimensional equation. Functional relationship
between a derivative magnitude and the
fundamental magnitudes.
[F]=MLT-2; [W]=ML2T-2
Problems: 1, 2
Dimensions
Potentials of ten
Decimal notation
One million
One hundred thousand
Ten thousand
One thousand
One hundred
Ten
One
Zero point one
hundredth
Thousandth
Point to the fourth
Point to the fifth
Millionth
Scientific notation
1,000,000
100,000
10,000
1,000
100
10
1
0.1
0.01
0.001
0.0001
0.00001
0.000001
106
105
104
103
102
101
100
10-1
10-2
10-3
10-4
10-5
10-6
Multiples and submultiples

Prefix (symbol)
equivalent
Tera (T)
Giga (G)
Mega (M)
Kilo (k)
Hecto (h)
Deca (da)
1012
109
106
103
102
10
Deci (d)
Centi (c)
Mili (m)
Micro()
Nano (n)
Pico (p)
10-1
10-2
10-3
10-6
10-9
10-12
monomials
A magnitude is dimensionless (=no dimension) when the

exponents of his dimensional formula are equal to zero.
A group of monomials, 1, 2, n, are dimensionally
independent when it is not possible to satisfy the equation
1C 2C n C =1
1
except by the trivial solution C1 = C2 ... = Cn = 0.
Example. Prove that 1 and 2 are dimensionally dependent

1
1=l g T
2 2 4
2=l g T
l = distance
g = gravitational acceleration
T = time
C1
1
C2
2 =1
There is solution other than C1 = C2 = 0
Vaschy-Buckingham Pi-theorem
All natural law can be reduced to an equation that

relates a complete set of dimensionless products of
the quantities involved in the phenomenon
expressed by the law ( monomials).
f(x1..., xn) = 0
F(1, ... , i) = 0
i = n h, where h is the rank of the matrix formed

with dimensional exponents relative to any base.
1) The most general form of all physical equation
f(x1..., xn) = 0,
It is
F(1, ... , i)=0
Where 1, ... , i are the dimensionless and dimensionally independent
monomials ( monomials) that can be formed with the magnitudes
given.
2) The number of these monomials is i = n h, where h is the rank of
the matrix formed with the dimensional exponents converted into the
basic units (dimensional matrix).
= x a1 x an
1
[ ]=L 0 M 0 T 0 =[ x 1 ]a [ x n ]a
1
[ x 1 ]= L C M C T C
C
C
C
[ x n ]= L M T
11
21
31
1n
2n
3n
a 1 C 11+ + a n C 1n =0
a 1 C 21+ + a n C 2n =0
a 1 C 31+ + a n C 3n =0
C 11 C 1n
C 21 C 2n
C 31 C 3n
rank of this matrix

Example: mathematical pendulum

Relevant parameters:
Period, T
[T] = T
Mass, m
[m] = M
Length, l
[l] = L
Gravity, g [g] = LT
T m l
M
L
T
0 1 0 0
0 0 1 1
1 0 0 2
Rank = 3
The rank is the order
of the largest square
submatrix nonzero.
We should be able to reduce the total number

of the dimensional parameters to (4-3)=1
Example: mathematical pendulum

=T a mb l c g d
[]=(T )a (M)b Lc (LT2)d =M0 L0 T0
a=1
a2 d =0
b=0
c+ d=0
1/ 2
=T l
d =1/2
c=1 /2
1/ 2
g =T
g
l
f ()=0
=K
l
T=K
g
[T] = T
[m] = M
[l] = L
[g] = LT
Example: Aerodynamic forces on a Bluff Body (a Sphere)

Aerodynamic forces on a Bluff Body (a Sphere)
Relevant parameters:
free-stream velocity, U
diameter of the sphere, D
density of the fluid,
viscosity of the fluid,
forces on the sphere:
Lift force FL
Drag force FD
FL = 0 because of symmetry
FD = f(U,D,,)
To carry out a set of experiments to characterise the drag forces on spheres, we need
to vary four parameters independently: U,D,,.
This is time consuming and the resulting data set will be difficult to analyse
Some kinds of scaling are needed to apply the wind tunnel testing data to a real flow
problem.
Flying forces
Relative
wind
Force of a fluid over a solid

FD = f(U,D,,)
Force of a fluid over a solid: experimental study
FD = f(U,D,,)

[FD] = ML/T2
[U] = L/T
[D] = L
[] = M/L3
[] = M/(LT)
vA
F=
z
[ ]
Fz
1 1
=M L T
[]=
Av
Two plates of equal area with a viscous fluid

between them. When the upper plate is
moved relative to the lower one, each layer
of fluid exerts a drag force on the adjacent
layers. The force needed to pull the upper
plate is directly proportional to v and the area
A, and inversely proportional to z, the
separation between the plates. The
proportionality constant is the coefficient of
viscosity :

[FD] = ML/T
[U] = L/T
[D] = L
[] = M/L3
[] = M/(LT)
FD
M
L
T
1
0 0 1
1
1
1 1 3 1
2 1 0 0 1
Rank = 3
The rank is the order of the largest square
submatrix nonzero.
We should be able to reduce the total number of the dimensional

parameters to (5-3)=2

a
D
= F U D
[ ]=(MLT 2)a (LT 1 )b L c (ML3 )d (ML1 T1 )e =M 0 L0 T 0
a=1
e=0
a+ d + e=0
a+ b+ c3de=0
2abe=0
1= U
D F D=
d =1
c=2
b=2
FD
2
U D
[FD] = ML/T2
[U] = L/T
[D] = L
[] = M/L3
[] = M/(LT)

a
D
= F U D
[ ]=(MLT 2)a (LT 1 )b L c (ML3 )d (ML1 T1 )e =M 0 L0 T 0
a=0
e=1
a+ d + e=0
a+ b+ c3de=0
2abe=0
d =1
c=1
b=1
2= U D =
U D
1
[FD] = ML/T2
[U] = L/T
[D] = L
[] = M/L3
[] = M/(LT)
f(F ,U,D,,) = 0
f(x1..., xn) = 0
F(1, ... , i) = 0
F(1,2) = 0
1=
FD
2
U D
1
2=
=
U D Re
F (1, 2 )=0
FD
=f
2
2
U D
U D
F D = U D f
U D
2
Reynolds
number
U D
Re=
Pi-theorem
Force of a fluid
over a solid
Defining the Drag

coefficient:
CD=
FD
2
U D /2
FD
2
U D
=f
2
U D
F (1, 2 )=0 F ' (Re ,C D )=0 C D = g (Re)

Scale
Scale 1/10
F D = U D f
U D
2
Depend on size to
the power of two
Problems: 3 10
Vectors
http://dspace.upv.es/handle/10251/9246
Vector
A vector is a geometric object that has
magnitude (or length), direction and sense.
Sense
AB
e
d
u
it
n
g
a
M
AB
on
i
t
c
e
r
Di
A
Initial point
Final point
Vector: classification
Free:
Magnitude
Direction
Sense
Sliding:
Magnitude
Direction
Sense
Line of support
Fix:
Magnitude
Direction
Sense
Line of support
Application point
r
v
v
P
System of reference
Z
Z
X
Components
A= A x i + A y j+ A z k=( A x , A y , AZ )
Z
Az
k
A x i
A y j
X
Magnitude and unit vector
A= A x i A y j A z
k = A x , A y , AZ
Magnitude
2
2
2
A=A= A x + A y + A z
Unit vector
A
u A=
i , j and k unit vectors
u A=1
Z
k
O
X
(Tipler)
Dot product
a
b=ab cos =
=a x b x a y b y a z b z
Projection
The vector projection (also known

as the vector resolute, or vector
component) of a vector b in the
direction of a vector a,
is given by:
ba
b a=b cos=
a
Direction cosines
Z
Ai Ax
cos =
=
A
A
Az
k
A x i
Aj A y
cos =
=
A
A
A y j
A
k Az
cos =
=
A
A
X
Problems: 11, 12, 13
Cross product
i j k
a b = a x a y a z
b x b y bz
a b=absin
Geometric meaning
The magnitude of the cross product can be interpreted as the positive area of the parallelogram
having
a and
b as sides
S=a b
S=a b
a
a
Scalar triple product

The scalar triple product (also called the
box product or mixed triple product)
a(bc )
the absolute value of the box product is the volume of the parallelepiped which has edges that
are defined by the three vectors.
V =h
S=
a(bc )
S =bc
h=
acos
Problems: 14, 15
Derivative and integral of a vector

d
A d Ax d Ay d Az
=
i+
j+
k
dt
dt
dt
dt
A dt=i A x dt+ j A y dt + k A z dt
Problem: 16
Sliding vectors
of sup
port
Straig
h
t line
We say that a vector is a slight vector if it can be substitute by

any other equipotential vector in the same line of support.
For defining a slight vector, we need the components of the
vector, (vx,vy,vz) and one point of its straight line of support
P(Px,Py,Pz).
( P ; v )
P
Moment of a vector: Moment of force

Torque, also called moment or moment of force
Direction influence
wrench
(hex) nut
F 1
3
F
2
F
Moment of force
Distance influence
wrench
(hex) nut
1
F
2
F
3
F
Moment of force
Component influence
y
F
x
F
x
Effect = (y) (Fx)
Moment of a vector
Definition
v
P1
A ( v )=
M
AP 1 v
A
The moment of a vector is perpendicular to the plane containing A
and P1 and its direction is given by the right-hand rule.
Moment of a vector
v
P1
A ( v )=
M
AP 1 v
P2
The moment of a vector does not depend on the point P inside

the direction of vector
v.
A v =
M
AP 1 v =
AP 2
P 2 P 1 v =
AP 2v
Moment of a vector
v
P1
A ( v )=
B (v )
M
AB v + M
A
B
Reduction centre shift:
A ( v )=
B (v )
M
AP 1 v = (
AB+
B P 1) v =
AB v + M
Moment of a vector
v
P1
A v =
M
AP 1 v
AP 1v sin =v d
M A (v )=
Moment of a vector with respect to an axis
A (v )u
M E (v )= M
Axis E
v
u
A
B
P1
A v =
M
AP 1 v
The moment of a vector with respect to an axis it is
independent of the axis point:
A (v )
B (v )u
M E (v )= M
u= M
A (v )
M E (v )= M
u = (
AP 1 v )
u=
B (v ))u = M
B (v )
= ( (
AB+
BP 1 ) v )u = (
ABv )
u+ ( M
u
0
Problems: 17 20
Sliding Vector System (SVS)

P2
v 2
P3
v 3
{ ( P i ; v i ) }
Resultant:
v 1
P1
Sliding Vector System (SVS): a set

(finite or infinite) of sliding vectors
i=1, 2, , n
R = v i
i
Moment of a Sliding
Vector System:
A
RM
A = M
A (v i )=
M
AP iv i
is invariant:
A=
B )= R
M
B
RM
R(
AB
R+ M
Sliding Vector System (SVS)

A
M
v 2
P2
P3
B
v 3
v 1
P1
Reduction centre shift
A= M
B+
M
AB
R
Moment of a SVS respect to an axis

A
M
A
P2
v 2
P3
v 3
u
v 1
Axial moment
P1
n
i=1
i =1
A (v i ))
Au
M E = M E (v i )= ( M
u=M
Equivalent Vector System

v 2
P2
P4
v 4
v 3
P1
Two SVS are equivalent if:
P3
R=
R'
A= M
'A
M
v 1
' B=M
' A+
M
BA
R'=
A+
B
M
BA
R= M
v'2
P'2
v '3
B= M
'B
M
v 1'
P'3
P'1
Translation moment
v 2
P2
P4
v 4
P3
v 3
P1
R=
R'
A=M
'A+ M
t
M
v 1
v'2
P'2
v '3
If two Vector Systems are not equivalents, the

translation moment is the moment that we have to
sum to one of them, in order that the moment of the
two system would be the same
v 1'
P'3
P'1
Problems: 21, 22
Concurrent Sliding Vector System

A
v 2
v 1
v 3
v 4
Varignon theorem: The

moment for a concurrent
vector system at a point C
relative to an arbitrary point
is equal to the moment of
the resultant R (applied at
C), respect to point A.
A =
M
AC R
A =
M
AC R
A =
M
AP i v i =
AC v i =
AC v i=
AC R
i
Couple
Two opposite vectors on
parallel support straight lines
v 1
A=
M
AP1 v 1+
AP 2v 2=
P1
AP 1 v 1
AP 2 v 1 =
P 2 P 1 v 1
P2
v 2
A=
M
P2 P1 v 1
v 2 =v 1
v 2=v 1
Parallel Sliding Vector System

R =
vi
Their support straight line are parallel.
vi
C
Pi
0
P1
v1
*
i
v i =v u
vn
R
=
M
OC
v = v
OC
u = v
OC u
O =
M
OP iv i =
OP i v *i
u =
i
Pn
*
i
*
v
OP i
u
i
i
*
i
Varignon theorem: the moment of the system

is equal to the moment of the resultant with the
support line going through the centre of the
system (point C). The vector of position of this
point is giving by:
OP i
v
*
i
OC =
Centre of the
system
*
v
i
i
Problem: 23

Vectors

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1.

Dimensional analysis and vectors

To know the concept of physical quantity

To be able to apply PI Theorem

To be able to perform basic operations between vectors

To learn how to work with sliding vectors

To know how to obtain Equivalent Vector Systems

Relationship to other subjects:

The determinant of a matrix

1. Dimensional analysis and vectors

Magnitude and measurement. Magnitude. Quantities. Measurement.

International System. System of units. SI. Fundamental quantities and units.

PI theorem. Statement. Applications.

Vectorial magnitude. Definition. Representation. Algebraic operations.

Cartesian representation. Unit vector. Reference System. Components.

Dot product. Definition. Consequences: square of a vector, perpendicular

Cross product. Definition. Consequences: parallel vectors, parallelogram

Scalar triple product. Definition. Properties. Consequences: coplanar vectors,

Derivative and integral

1. Dimensional analysis and vectors

Definition. Magnitude. Direction. Sense. Support line.

Moment of a vector. Definition. Uniqueness. Change reduction centre.

Moment respect to an axis. Definition. Uniqueness. Geometric meaning.

Sliding Vector System (SVS). Definition. Resultant. Resultant moment.

Equivalent Vector System (EVS). Definition. Condition.

Special Vector System. Couple. Concurrent VS. Parallel VS.

Temas preliminares de Fsica, UPV, Ref. 2010.130

The Mars Climate Orbiter

A physical magnitude (A) is a measurable property

Can we measure the mass of a coin? Yes, we can.

Can we measure the volume of a coin? Yes, we can.

Unit and measurement

Unit (ua): An element of the magnitude that is taken

The international System of Units (SI)

A small number of fundamental units are sufficient

The rest of the magnitudes are called derivative

The rest of the magnitudes are called derivative

Dimension has a specific meaning it denotes the

Multiples and submultiples

A magnitude is dimensionless (=no dimension) when the

except by the trivial solution C1 = C2 ... = Cn = 0.

Example. Prove that 1 and 2 are dimensionally dependent

There is solution other than C1 = C2 = 0

All natural law can be reduced to an equation that

i = n h, where h is the rank of the matrix formed

rank of this matrix

Example: mathematical pendulum

We should be able to reduce the total number

Example: mathematical pendulum

Example: Aerodynamic forces on a Bluff Body (a Sphere)

Force of a fluid over a solid

Force of a fluid over a solid: experimental study

Example: Aerodynamic forces on a Bluff Body (a Sphere)

Two plates of equal area with a viscous fluid

Example: Aerodynamic forces on a Bluff Body (a Sphere)

We should be able to reduce the total number of the dimensional

Example: Aerodynamic forces on a Bluff Body (a Sphere)

[ ]=(MLT 2)a (LT 1 )b L c (ML3 )d (ML1 T1 )e =M 0 L0 T 0

Example: Aerodynamic forces on a Bluff Body (a Sphere)

[ ]=(MLT 2)a (LT 1 )b L c (ML3 )d (ML1 T1 )e =M 0 L0 T 0

Example: Aerodynamic forces on a Bluff Body (a Sphere)

Defining the Drag

F (1, 2 )=0 F ' (Re ,C D )=0 C D = g (Re)

Magnitude and unit vector