Some Vector Algebra: Appendix F

Appendix F Some vector algebra
Some knowledge and understanding of basic vector algebra is needed in dealing with complexities of elements oriented in space as occur in beams, shells, etc. Some of the operations are summarized here. Vectors (in the geometric sense) can be described by their components along the directions of the x, y, z axes. Thus, the vector V01 shown in Fig. F.1 can be written as V01 = x1 i + y1 j + z1 k in which i, j, k are unit vectors in the direction of the x, y, z axes. Alternatively, the same vector could be written as V01 = x1 y1 z1 (F.1)
(F.2)
(now a vector in the matrix sense) in which the components are distinguished by positions in the column.
Addition and subtraction

Addition and subtraction is dened by addition and subtraction of components. Thus, for example, V02 V01 = (x2 x1 )i + (y2 y1 ) j + (z2 z1 )k The same result is achieved by the denitions of matrix algebra; thus V02 V01 = V21 = x2 x1 y2 y1 z2 z 1 (F.3)
(F.4)
Scalar products
z 2 V21 1
695
z1
V02 y
z2
x2 y2 x
V01
x1 y1
Fig. F.1 Vector addition.
Scalar products
A scalar product of two vectors is dened as
3
AB=BA =
k=1
ak bk
(F.5)
If A = ax i + a y j + a z k B = bx i + by j + bz k then Using the matrix notation A= the scalar product becomes ax ay az B= bx by bz (F.8) A B = ax bx + ay by + az bz
(F.6) (F.7)
A B = AT B = BT A
(F.9)
Length of vector
The length of the vector V21 is given, purely geometrically, as l21 = (x2 x1 )2 + (y2 y1 )2 + (z2 z1 )2 (F.10)
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Some vector algebra

C
Ic = Ia Ib sin lb lc
Fig. F.2 Vector multiplication (cross product).
or in terms of matrix algebra as l21 = V21 V21 =

T V21 V21
(F.11)
Direction cosines
Direction cosines of a vector are simply, from the denition of the projected component of lengths, given as (Fig. F.1) cos x = x2 x1 V21 i = l21 l21 (F.12)
The scalar product may also be written as (Fig. F.2) A B = B A = la lb cos (F.13)
where is the angle between the two vectors A and B and la and lb are their lengths, respectively.
Vector or cross product

Another product of vectors is dened as a vector oriented normally to the plane given by two vectors and equal in magnitude to the product of the length of the two vectors multiplied by the sine of the angle between them. Further, the direction of the normal vector follows the right-hand rule as shown in Fig. F.2 in which AB=C is shown. Thus, from the right-hand rule, we have A B = B A (F.15) (F.14)
Elements of area and volume
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It is worth noting that the magnitude (or length) of C is equal to the area of the parallelogram shown in Fig. F.2. Using the denition of Eq. (F.6) and noting that ii = jj=kk =0 ij = k , jk =i, ki =j we have A B = det i j k ax ay az bx by bz = (ay bz az by )i + (az bx ax bz )j + (ax by ay bx )k (F.16)
In matrix algebra this does not nd a simple counterpart but we can use the above to dene the vector C ay bz az by az bx ax bz (F.17) ax by ay bx The vector product will be found particularly useful when the problem of erecting a normal direction to a surface is considered. C=AB=
Elements of area and volume

If and are some curvilinear coordinates, then the following vectors in two-dimensional plane x x d d = d (F.18) d = y y dened from the relationship between the cartesian and curvilinear coordinates, are vectors directed tangentially to the and equal constant contours, respectively. As the length or the vector resulting from a cross product of d d is equal to the area of the elementary parallelogram we can write x x (F.19) d(area) = det y y d d by Eq. (F.17).
If we rewrite A as a skew symmetric matrix 0 az ay A = az 0 ax ay ax 0
then an alternative representation of the vector product in matrix form is C = AB.
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Some vector algebra
Similarly, if we have three curvilinear coordinates , , in the cartesian space, the triple or box product denes a differential volume x x x y y y (F.20) d(vol) = (d d) d = det d d d z z z this follows simply from the geometry. The bracketed product, by denition, forms a vector whose length is equal to the parallelogram area with sides tangent to two of the coordinates. The second scalar multiplication by a length and the cosine of the angle between that length and the normal to the parallelogram establishes a differential volume element. The above equations serve in changing the variables in surface and volume integrals.

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Appendix F Some vector algebra

Addition and subtraction

Fig. F.1 Vector addition.

Some vector algebra

Fig. F.2 Vector multiplication (cross product).

or in terms of matrix algebra as l21 = V21 V21 =

Vector or cross product

Elements of area and volume

Elements of area and volume

then an alternative representation of the vector product in matrix form is C = AB.

Some vector algebra

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