MP254-Lecture 1

1 Key Ideas

Force Systems 1

description of a 3-dimensional force system in terms of vectors concept of equivalence of dierent 3-dimensional force systems concept of the resultant of a force system at a point used to measure the eect of a force system the wrench resultant of a force system

Vectors

Imagine a wind blowing into the sail of a boat with constant force, pushing the boat at ten knots an hour. Now imagine the direction of the wind changes so that it doesnt catch the sail so well, and the boat slows down to ve knots an hour. This tells us that the direction of the force must be important to describe the system. So to express some systems mathemtically we need a notation which represents direction. It was this need which inspired Irish mathematician Hamilton to dene the vector... Vectors are quantities with both a magnitude ( 0) and direction, which are summed according to the Triangle (or Parallelogram) rule. vector notation a typescript or a handwritten a magnitude of a vector a The magnitude of a vector is the length of a vector, e.g. the objective force of the wind. |a| or a or |a| unit vector - a vector n with unit magnitude, i.e. |n| = 1 The unit vector has the same direction of its vector but has magnitude one. 1

2.1

Component Representation

As shown in the diagram, a vector can be represented as the combination of its image on each axis a = (a1 , a2 )

Using the compenent representations we can easily see the following a = an where a is the magnitude and n is the unit vector of a. a = (x, y) a = x2 + y 2 x and n = , x2 + y 2 but a = a n a = (x, y)

y x2 + y 2

note: a means a vector of the same magnitude as a but in the opposite direction a = a ( n) For a 3 dimensional vector a = (a1 , a2 , a3 ) = a1 i + a2 j + a3 k where a1 , a2 , a3 are called the (cartesian) components of the vector.

Figure 1: i, j and k are unit vectors along the x, y and z axis.

2.2

Elementary vector algebra in the component representation

Addition / subtraction of vectors a b = (a1 b1 ) i + (a2 b2 ) j + (a3 b3 ) k Addition/subtraction can be conveniently represented by the triangle rule the sum of two vectors is the new vector formed by creating a triangle from the two original

Multiplication by a scalar a = (a1 ) i + (a2 ) j + (a3 ) k 3

2.3

Link between the two repesentations

Given a vector in component form a = a1 i + a2 j + a3 k Magnitude |a| = Direction 1 a = |a| = 1 (a1 ) + (a2 ) + (a3 ) a1
2 2 2

(a1 )2 + (a2 )2 + (a3 )2

(a1 i + a2 j + a3 k) i+ a2 (a1 )2 + (a2 )2 + (a3 )2 j+ a3 (a1 )2 + (a2 )2 + (a3 )2 k

(a1 )2 + (a2 )2 + (a3 )2

The following notation is used for to denote the unit vector of a vector a a= 1 a |a|

Vector Algebra
1. scalar (or dot) product, a b, which produces a scalar 2. vector (or cross) product, a b, which produces a vector

How do we multiply two vectors? Well there are two ways

3.1

Scalar Product or Dot Product

So called because the outcome of the product is a scalar and we use a dot to denote it. Magnitude/direction denition a b = a b cos A where A is the angle between the vectors a and b. This is a scalar.

Figure 2: the length of b cos(A) is shown here

Component denition a b = a1 b 1 + a2 b 2 + a3 b 3 Special case a a = a2 = |a|2 a scalar a scalar

3.2

Applications of the Scalar Product

ab

Useful for testing if two non-zero vectors are perpendicular ab=0 cos A = 0 A= 2 also if A = 0 a b = | a || b | max/min =an

Useful for nding the projection of a vector a along a direction n

3.3

Vector Product or Cross Product

So called because the outcome of the product is a vector and we use an to denote it. Magnitude/direction denition a b = a b sin A n where A is the angle between the vectors a and b. n is a unit vector to a and b {n, a, b} is an ordered right-handed set of vectors Special cases aa = 0 a b = b a

Component denition We nd the determinant of a special matrix ab= i j k a1 a2 a3 b1 b2 b3 = i (a2 b3 a3 b2 ) j (a1 b3 a3 b1 ) + k (a1 b2 a2 b1 )

notice the sign in the second term! Using this method there is no need to nd any angles.

Figure 3: a b has magnitude ab sin(A) and direction n

3.4

Applications of the vector product

to test if two non-zero vectors are parallel ab = 0 sin A = 0 A = 0, a b

motion of a charged particle of velocity v, in a magnetic eld H, given by F = v H moment or torque of a force about a point (see later) angular velocity of a rigid body, v = w r

3.5

Products involving 3 vectors

There are two distinct such products that we will make reference to this year, namely

the vector triple product ... so named because the outcome is a vector it involves the vector product twice

 the scalar triple product ... so named because the outcome is a scalar it involves both the scalar and vector products

Vector triple product Consider a vector triple product involving the three vectors a, b and c - The properties of the vector product mean that we cannot denote it by abc as this quantity is ambiguous. (What would the compenent determinant be?) It is easy to see in particular cases that a (b c) and (a b) c give dierent results. We must use the brackets to indicate which of the two is intended. a (b c) = (a c) b (a b) c It is mainly used in vector algebra. Scalar triple product The scalar triple product involves the vector product as the rst product evaluated and the scalar product as the second product evaluated, so that we can end up with a scalar quantity. Consider a scalar triple product involving the three vectors a, b and c the general formula is given by the determinant form a (b c) = a1 a2 a3 b1 b2 b3 c1 c2 c3

It is used mainly in vector algebra but has some specic uses, such as computing the volume of a parrallelepiped. 8