01 Vectores

jogomez@fis.upv.
es Departamento de
jriera@fis.upv.es Fsica Aplicada
1. Scalar and vectorial quantities
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
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 function of a scalar variable. Derivative.

Integral.
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:

PoliformaT/Recursos/Temas/Tema 1 Anlisis dimensional y vectores/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 instead of metric units was
used in the software application
Dimensional analysis
What?
Dimensions: length, velocity, area, volume,

acceleration, etc.
Magnitudes / units: meter, kg, K, etc.
Dimensions => properties
Units => standard to quantify dimensions
Dimensional analysis => nature of the dimension
Length =L; mass=M; time=T; temperature=Q.

g
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 (u
a
): An element of the magnitude that is taken
as reference.
Measurement (a): Compare the magnitude with the

unit:
( A)
u
A
=a
Magnitude = quantity unit
We must express a magnitude with a number or quantity and a unit.
v=70 m/s
The international System of Units (SI)
A small number of fundamental units are sufficient

to express all physical quantities.
The rest of the magnitudes are called derivative

magnitudes.
SI: Systm Internationale
Magnitude Unit Symbol
Length Meter (m) L
Time Second (s) T
Mass Kilogram (kg) M
Current Ampere (A) I
Temperature Kelvin (K)

Luminous intensity Candela (cd) I
v
Amount of substance Mole (mol) N
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 magnitude.
[F]=MLT
-2
; [W]=ML
2
T
-2
Dimensions
Potentials of ten
1,000,000
100,000
10,000
1,000
100
10
1
0.1
0.01
0.001
0.0001
0.00001
0.000001
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
10
6
10
5
10
4
10
3
10
2
10
1
10
0
10
-1
10
-2
10
-3
10
-4
10
-5
10
-6
Scientific notation
Multiples and submultiples
Tera (T) 10
12
Giga (G) 10
9
Mega (M) 10
6
Kilo (k) 10
3
Hecto (h) 10
2
Deca (da) 10
Deci (d) 10
-1
Centi (c) 10
-2
Mili (m) 10
-3
Micro() 10
-6
Nano (n) 10
-9
Pico (p) 10
-12
Prefix (symbol) equivalent
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
except by the trivial solution C
1
= C
2
... = C
n
= 0.
Example. Prove that

1
and
2
are dimensionally dependent
1
C
1
2
C
2
n
C
n
=1
1
=v
2
a
1
L
2
=v
4
a
2
L
2

1
C
1
2
C
2
=1
There is solution other than C
1
= C
2
= 0
Vaschy-Buckingham Pi-theorem
A physically meaningful equation involving a

certain number, n, of physical variables, and these
variables are expressible in terms of h independent
fundamental physical quantities, then the original
expression is equivalent to an equation involving a
set of i = n h dimensionless variables constructed
from the original variables.
f(x
1
..., x
n
) = 0 F(
1
, ... ,
i
) = 0
1) The most general form of all physical equation
f(x
1
..., x
n
) = 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
1
a
1
x
n
a
n
|=L
0
M
0
T
0
= x
1
|
a
1
x
n
|
a
n
x
1
|=L
C
11
M
C
21
T
C
31
x
n
|=L
C
1n
M
C
2n
T
C
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
)
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 F
L

Drag force F
D
F
L
= 0 because of symmetry
F
D
= f(U,D,,)
To carry out a set of experiments to characterize the drag forces on spheres, we need
to vary four parameters independently: U,D,,.
It 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.
Relative
wind
Flying forces
Force of a fluid over a solid
F
D
= f(U,D,,)
Force of a fluid over a solid: experimental study F
D
= f(U,D,,)
[F
D
] = ML/T
2
[U] = L/T
[D] = L
[] = M/L
3
[] = M/(LT)
We should be able to reduce the total number of the dimensional
parameters to (5-3)=2
(
1 0 0 1 1
1 1 1 3 1
2 1 0 0 1
)
[F
D
] = ML/T
2
[U] = L/T
[D] = L
[] = M/L
3
[] = M/(LT)
1
=
1
U
2
D
2
F
D
=
F
D
U
2
D
2
=F
D
a
U
b
D
c
e
|=(MLT
2
)
a
(LT
1
)
b
L
c
(ML
3
)
d
(ML
1
T
1
)
e
=M
0
L
0
T
0
a+ d + e=0
a+ b+ c3de=0
2abe=0
a=1
e=0
d=1
c=2
b=2
[F
D
] = ML/T
2
[U] = L/T
[D] = L
[] = M/L
3
[] = M/(LT)
2
=p
1
U
1
D
1
=

pU D
=F
D
a
U
b
D
c
e
|=(MLT
2
)
a
(LT
1
)
b
L
c
(ML
3
)
d
(ML
1
T
1
)
e
=M
0
L
0
T
0
a+ d + e=0
a+ b+ c3de=0
2abe=0
a=0
e=1
d=1
c=1
b=1
f(x
1
..., x
n
) = 0 F(
1
, ... ,
i
) = 0
f(F
D
,U,D,,) = 0 F(
1
,
2
) = 0
2
=

U D
=
1
Re
1
=
F
D
U
2
D
2
Re=
U D
Reynolds
number
F(
1,
2
)=0
F
D
U
2
D
2
=f
(

U D
)
F
D
=U
2
D
2
f
(

U D
)
Pi-theorem
Force of a fluid
over a solid
Defining the Drag
coefficient:
C
D
=
F
D
pU
2
D
2
/2
F(
1,
2
)=0 F ' (Re ,C
D
)=0 C
D
=g (Re)
F
D
U
2
D
2
=f
(

U D
)
Vectors
Vector
A vector is a geometric object that has
both a magnitude (or length), direction
and sense.
D
i
r
e
c
t
i
o
n
Sense
M
a
g
n
i
t
u
d
e
Initial point
Final point
A
B
AB
AB
Vector: classification
Free:
Magnitude
Direction
Sense
Sliding:
Magnitude
Direction
Sense
Support straight line
Fix:
Magnitude
Direction
Sense
Support straight line
Application point
v
v
r
v
r
P
System of reference
X
Y
O
Z
X
Y
Z
Components
A=A
x
i + A
y
j+ A
z
k=( A
x
, A
y
, A
Z
)
X
Y
Z
A
x
i
A
y
j
A
z
k
Magnitude and unit vector
Magnitude
Unit vector
and unit vectors
A=A
x
i +A
y
j+A
z
k=( A
x
, A
y
, A
Z
)
A=
A=
A
x
2
+ A
y
2
+ A
z
2
u
A
=
A
A
u
A
=1
Y
Z
X
O
i ,
j

k
(Tipler)
Dot product
b=
bcos o=
=a
x
b
x
+a
y
b
y
+a
z
b
z
o
a
b
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:
o
b
a
b
a
=b cos=
ba
a
Direction cosines
X
Y
Z
A
x
i
A
y
j
A
z
cos =

A
i
A
=
A
x
A
cos=
j
A
=
A
y
A
cos =

A
k
A
=
A
z
A
Cross product
b=
i

j

k
a
x
a
y
a
z
b
x
b
y
b
z
=a
sin
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
a
S=a
b
a
Scalar triple product
The scalar triple product (also called the
box product or mixed triple product)
the absolute value of the box product is the volume of the parallelepiped which has edges that
are defined by the three vectors.
a(
bc)
b
c
h=acos o
S=
bc
V =h
S=a(
bc)
Derivative and integral of a vector
d

A
dt
=
d A
x
dt

i +
d A
y
dt

j +
d A
z
dt

k
A dt =
A
x
dt +

j
A
y
dt +

k
A
z
dt
Sliding vectors
v
v
r
P
We say that a vector is a slight vector if it can be substitute by
any other equipotential vector in the same support straight line.
For defining a slight vector, we need the components of the
vector, (v
x
,v
y
,v
z
) and one point of its straight support line
P(P
x
,P
y
,P
z
).
( P; v)
S
u
p
p
o
r
t

s
t
r
a
i
g
h
t

l
i
n
e
Moment of a vector: Moment of force
Torque, also called moment or moment of force
F
1
F
2
F
3
Direction influence
wrenc
h
nut
Moment of force
F
1

F
2

F
3
Distance influence
wrenc
h
nut
Moment of force
y
F
x
x
y
Effect = (y) (F
x
)
Component influence
wrenc
h
nut
Moment of a vector
M
A
(v)=
AP
1
v
Definition
The moment of a vector is perpendicular to the plane containing A
and P
1
and its direction is given by the right-hand rule.
v
A
P
1
Moment of a vector
M
A
(v)=
AP
1
v
M
A
(v)=
AP
1
v=
(
AP
2
+
P
2
P
1
)
v=
AP
2
v
The moment of a vector does not depend on the point P inside
de direction of vector . v
v
A P
2
P
1
Moment of a vector
v
M
A
(
v)=
AP
1
v=
(
AB+
B P
1
)
v=
AB
v+

M
B
(
v)
B
M
A
(v)=
AP
1
v
A
P
1
Centre of moment shift:
Moment of a vector
v
M
A
(v)=
AP
1
v
A
P
1
M
A
(
v)
AP
1
vsin =
vd
d
Moment of a vector with respect to an axis
v
A
P
1
Axis E
u
M
E
(v)=

M
A
(v)u
M
A
(v)=
AP
1
v
B
M
E
(v)=

M
A
(v)u=

M
B
(v)u
The moment of a vector with respect to an axis it is
independent of the axis point:
M
E
(
v)=

M
A
(
v)
u=
(
AP
1
v
)
u=
=
(
(
AB+
BP
1
)
v
)
u=
(
ABv
)
u+
(

M
B
(v)
)
u=

M
B
(v )u
0
Sliding Vector System (SVS)
P
2
P
3
P
1
v
1
v
2
v
3
Sliding Vector System (SVS): a set
(finite or infinite) or sliding vectors
(
P
i
; v
i
)
i=1, 2,, n
Resultant:
R=
i
v
i
Moment of a Sliding Vector System:
M
A
=
M
A
(v
i
)=
AP
i
v
i
Sliding Vector System (SVS)
P
2
P
3
P
1
v
1
v
2
v
3
Centre of moment shift
B
A
M
A
M
A
=

M
B
+
AB
R
Moment of a SVS respect to an axis
P
2
P
3
P
1
v
1
v
2
v
3
A
M
A
M
E
=
i=1
n
M
E
(v
i
)=
i =1
n
(

M
A
(v
i
)
)
u=

M
A
u
u
Equivalent Vector System
P
2
P
3
P
4
P
1
P
2
P
3
P
1
v
2
v
4
v
3
v
1
v
2
v
1
v
3
Two SVS are equivalent if:
R=
R'
M
A
=

M '
A
A

M
B
=

M '
B
is invariant:
M
A
M
A
=
R
(
AB
R+

M
B
)
=
M
A
'
'
'
M '
B
=

M '
A
+
BA
R' =
M
A
+
BA
R=

M
B
Concurrent Sliding Vector System
C
A
v
1
v
2
v
3
v
4

R
M
A
=
AP
i
v
i
=
ACv
i
=
AC
i
v
i
=
AC
R
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 (applied at
C), respect to point A.
M
A
=
AC
R

M
A
=
AC
R
Couple
A
P
2
v
1
v
2
M
A
(v)=
AP
1
v
1
+
AP
2
v
2
=
AP
1
v
1
AP
2
v
1
=
P
2
P
1
v
1
M
A
(v)=
P
2
P
1
v
1
v
2
=v
1
P
1
Two opposite vectors on
parallel support straight lines
Parallel Sliding Vector System
P
i
0
P
1
P
n
C
v
1
v
i
v
n
v
i
=v
i
*
u
M
O
=
OP
i
v
i
=
OP
i
(
v
i
*
u
)
=
(
i
v
i
*
OP
i
)
u
R=
i
v
i
M
O
(
R)=
OC
i
v
i
=
i
(
v
i
*
OCu
)
=
(
i
(
v
i
*
OC
)
)
u
OC=
i
(
v
i
*
OP
i
)
i
v
i
*
Centre of the
system
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:
Their support straight line are parallel.

01 Vectores

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01 Vectores

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jogomez@fis.upv.

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

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 of a vector function of a scalar variable. Derivative.

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

Notes on Vectores deslizantes:

Dimensions: length, velocity, area, volume,

Magnitudes / units: meter, kg, K, etc.

Dimensions => properties

Units => standard to quantify dimensions

Dimensional analysis => nature of the dimension

Length =L; mass=M; time=T; temperature=Q.

A physical magnitude (A) is a measurable

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

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

Measurement (a): Compare the magnitude with the

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

Dimensional equation. Functional relationship

A magnitude is dimensionless (=no dimension) when the

Example. Prove that

A physically meaningful equation involving a

and unit vectors

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