Vectors Coordinate Systems
Vectors Coordinate Systems
Vectors Coordinate Systems
ഥ or 𝐀
• Representation: A or A
• Magnitude of A: 𝐀 or 𝐴
• Two vectors are equal only when they have the same length
and the same direction
2
Vectors
A
bA, if b is positive bA, if b is negative
3
Vectors
B
A+B B
A
-B
A
A-B
4
Vectors
• Multiplication of 2 vectors:
1. End result is scalar: scalar product or dot product
2. End result is vector: vector product or cross product
(B cosθ)
A.B = 0, for perpendicular vectors (θ=π/2) 5
Vectors
• Vector product or cross product, C = A X B
• Magnitude, C or 𝐂 = AB sinθ
• Direction of C is perpendicular to both A and B and given by the
right-hand thumb rule
2 ● P (1.6, 1.8)
• Cartesian system: Simplest coordinate system, 1
defined by 3 mutually perpendicular
directions X, Y, and Z (in 3D) 1 2 3 X
(magnitude = 1)
(perpendicular)
𝐢Ƹ (parallel)
መ 𝐣Ƹ (perpendicular)
𝐤
8
Coordinate Systems: Cartesian Coordinates
• Components of a vector = projections along the corresponding axes
z
A 𝐀. 𝑖Ƹ = proj. of 𝐀 . 𝑖Ƹ = 𝐴𝑥
Az 𝐀. 𝑗Ƹ = 𝐴𝑦 , 𝐀. 𝑘 = 𝐴𝑧
x Ay y
Ax Ax
x
2
𝐀. 𝐀 = 𝐴 = 𝐴2𝑥 + 𝐴2𝑦 + 𝐴2𝑧
10
Coordinate Systems: Plane Polar Coordinates
12
Coordinate Systems: Plane Polar Coordinates
• Basis or unit vectors are 𝐫ො and 𝛉
• 𝐫ො is along radial direction
is along the tangent
• 𝛉
changes
• Direction of 𝐫ො and 𝛉
with position
Image source: An Introduction to Mechanics, Daniel
Kleppner & Robert J. Kolenkow, Cambridge University Press
13
Coordinate Systems: Plane Polar Coordinates
• Addition/Substraction
• Dot product
Multiply the corresponding
components and add
2
𝐀. 𝐀 = 𝐴𝐴 𝑐𝑜𝑠0 = 𝐴 = 𝐴2𝑥 + 𝐴2𝑦 + 𝐴2𝑧 Magnitude of a vector 1
Vectors & Cartesian Coordinates
• Dot product in Cartesian coordinate system
𝐀. 𝐁 = 𝐴𝑥 𝑖Ƹ + 𝐴𝑦 𝑗Ƹ + 𝐴𝑧 𝑘 . 𝐵𝑥 𝑖Ƹ + 𝐵𝑦 𝑗Ƹ + 𝐵𝑧 𝑘
2
Vectors & Cartesian Coordinates
• Vector/cross Product in
Cartesian coordinate system
𝐀x𝐁 = 𝐴𝑥 𝑖Ƹ + 𝐴𝑦 𝑗Ƹ + 𝐴𝑧 𝑘 x 𝐵𝑥 𝑖Ƹ + 𝐵𝑦 𝑗Ƹ + 𝐵𝑧 𝑘
𝐀x𝐁 = 𝐴𝑥 𝐵𝑥 𝑖xƸ 𝑖Ƹ + 𝐴𝑥 𝐵𝑦 𝑖xƸ 𝑗Ƹ + 𝐴𝑥 𝐵𝑧 𝑖xƸ 𝑘
+ 𝐴𝑦 𝐵𝑥 𝑗xƸ 𝑖Ƹ + 𝐴𝑦 𝐵𝑦 𝑗xƸ 𝑗Ƹ + 𝐴𝑦 𝐵𝑧 𝑗xƸ 𝑘
+ ………………… 𝐀x𝐁 = AB sinθ
𝐀x𝐁 = 𝐴𝑥 𝐵𝑦 𝑘 − 𝐴𝑥 𝐵𝑧 𝑗Ƹ
𝐢Ƹ
− 𝐴𝑦 𝐵𝑥 𝑘 + 𝐴𝑦 𝐵𝑧 𝑖Ƹ
መ
𝐤 𝐣Ƹ
+ ………………… 3
Vectors & Cartesian Coordinates
−1 3 2 3 −1 3
𝐀x𝐁 = 𝑖Ƹ − 𝑗Ƹ + ..……… 𝑖Ƹ
1 −2 1 −2 1 −2
+
𝐀x𝐁 = −
4
Vectors & Cartesian Coordinates
Question: Consider two vectors and .
Find the angle between them.
−1 𝐀.𝐁
Soln: Dot product A.B = AB cosθ θ = cos
𝐴𝐵
𝐀. 𝐀 = 𝐴 2
→𝐴= 𝐴2𝑥 + 𝐴2𝑦 + 𝐴𝑧2 = 22 + −1 2 + 32 = 14
Similarly, B = ………………………………… = 6
Notice, 𝐀x𝐁 = AB sinθ
−5 𝐀x𝐁
θ= cos−1 = cos −1 −0.55 = 1230 θ= sin−1
𝐴𝐵
14x6
5
Triple Product
Since the cross product of two vectors is itself a vector, it can be dotted or crossed with a third
vector to form a triple product.
Volume of a parallelepiped
Triple Product
Question:
X and Y y y
components of r
O
x
r, x, y and θ are part of
the right angled triangle
6
Plane Polar Coordinates
Question: Calculate rො x θ
Soln: Use the expressions for rො and θ in terms of iƸ and jƸ and
take their vector product
iƸ jƸ k
rො x θ = cosθ sinθ 0
−sinθ cosθ 0
= iƸ 0 − jƸ 0 + k(cos 2
θ − −sin2 θ
= k
Using definition of vector product
rො x θ = rො θ . sin900 = 1
Direction by right hand thumb rule along Z axis or k 8
Polar Coordinate System-III
Consider the figure,
We can now derive the relationship between two sets of unit vectors 𝑟𝑟̂ = cos 𝜃𝜃 𝚤𝚤̂ + sin 𝜃𝜃 𝚥𝚥̂ and
𝜃𝜃̂ = − sin 𝜃𝜃 𝚤𝚤̂ + cos 𝜃𝜃 𝚥𝚥̂
The inverse relationship reads: 𝚤𝚤̂ = cos 𝜃𝜃 𝑟𝑟̂ − sin 𝜃𝜃 𝜃𝜃̂ and 𝚥𝚥̂ = sin 𝜃𝜃 𝑟𝑟̂ + cos 𝜃𝜃 𝜃𝜃̂
Position vector of an arbitrary point P in two coordinate systems is given by 𝑟𝑟⃗ = 𝑥𝑥 𝚤𝚤̂ + 𝑦𝑦 𝚥𝚥̂ ⇒
𝑟𝑟⃗ = 𝑟𝑟𝑟𝑟̂
Infinitesimal displacement 𝑑𝑑 𝑟𝑟⃗ is given by 𝑑𝑑 𝑟𝑟⃗ = 𝑑𝑑𝑥𝑥 𝚤𝚤̂ + 𝑑𝑑𝑦𝑦 𝚥𝚥̂ = 𝑑𝑑𝑟𝑟 𝑟𝑟̂ + 𝑟𝑟𝑑𝑑𝜃𝜃 𝜃𝜃̂
Infinitesimal Displacement:
Spherical Polar Coordinate Systems
Infinitesimal Volume:
Unit Vectors: , ,
Infinitesimal Volume:
da2 da1