Basic Math

Vectors and Scalars

Addition/Subtraction of Vectors
Unit Vectors
Dot Product

Scalars and Vectors (1)

Scalar physical quantity that is specified in terms of a single

real number, or magnitude
Ex. Length, temperature, mass, speed
Vector physical quantity that is specified by both magnitude
and direction
Ex. Force, velocity, displacement, acceleration
We represent vectors graphically or quantitatively:
Graphically: through arrows with the orientation representing the
direction and length representing the magnitude
Quantitatively: A vector r in the Cartesian plane is an ordered pair
of real numbers that has the form <a, b>. We write
r=<a, b> where a and b are the components of vector v.
Note: Both r and r represent vectors, and will be used
interchangeably.

Scalars and Vectors (2)

The components a and b are both scalar quantities.

The position vector, or directed line segment from
the origin to point P(a,b), is r=<a, b>.
The magnitude of a vector (length) is found by using
the Pythagorean theorem:

r r a, b

a 2 b2

Note: When finding the magnitude of a vector fixed

in space, use the distance formula.

Operations with Vectors (1)

Vector Addition/Subtraction
The sum of two vectors, u=<u1, u2> and
v=<v1, v2> is the vector
u+v =<(u1+v1), (u2+v2)>.

Ex. If u=<4, 3> and v=<-5, 2>, then u+v=<-1, 5>

Similarly, u-v=<4-(-5), 3-2>=<9, 1>

Operations with Vectors (2)

Multiplication of a Vector by Scalar

If u=<u1, u2> and c is a real number,
the scalar multiple cu is the vector
cu=<cu1, cu2>.

Ex. If u=<4, 3> and c=2, then cu=<(24), (23)>

cu=<8, 6>

Unit Vectors (1)

A unit vector is a vector of length 1.

They are used to specify a direction.
By convention, we usually use i, j and k to represent
the unit vectors in the x, y and z directions,
respectively (in 3 dimensions).

i=<1, 0, 0>
j=<0, 1, 0>
k=<0, 0, 1>

points along the positive x-axis

points along the positive y-axis
points along the positive z-axis

Unit vectors for various coordinate systems:

Cartesian: i, j, and k
Cartesian: we may choose a different set of unit vectors,
e.g. we can rotate i, j, and k

Unit Vectors (2)

To find a unit vector, u, in an arbitrary direction,

for example, in the direction of vector a, where
a=<a1, a2>, divide the vector by its magnitude (this
process is called normalization).

a
a

1
a12 a 22

1
a12 a 22

a1 , a 2

Ex. If a=<3, -4>, then <3/5, -4/5> is a unit vector in the

same direction as a.

Dot Product (1)

The dot product of two vectors is the sum of the

products of their corresponding components. If
a=<a1, a2> and b=<b1, b2>, then ab= a1b1+a2b2 .

Ex. If a=<1,4> and b=<3,8>, then ab=3+32=35

If is the angle between vectors a and b, then

a b a b cos
Note: these are just two ways of expressing the dot product

Note that the dot product of two vectors produces a

scalar. Therefore it is sometimes called a scalar
product.

Dot Product (2)

Convince yourself of the following:

a b a b cos a cos b proj (a.on.b ) b

Conclusion: After you define the direction of an

arbitrary vector in terms of the Cartesian system,
you can find the projection of a different vector onto
the arbitrary direction. By dividing the above
equation by the magnitude of b, you can find the
projection of a in the b direction (and vice versa).

a b
b

proj (a.on.b )