Quantum Mechanics for

Scientists and Engineers

David Miller
Background mathematics 3
Coordinates and vectors
Coordinate axes and vectors
Ordinary geometry
Three axes x, y, and z
All at right angles
Cartesian axes
(from Ren
Descartes)
Lines or directions at right
angles are also called
orthogonal
x
y
z
Coordinate axes and vectors
Right-handed axes
Using your right hand
Thumb x
Index (first) finger y
Middle finger z
No matter how you now
rotate your whole hand
the axes remain right-
handed
x
y
z
Coordinate axes and vectors
If you use your left hand
Thumb x
Index (first) finger y
Middle finger z
give left-handed axes
No rotation of this entire
set of left-handed axes will
ever make it right-handed
We use right hand axes unless
otherwise stated
x
y
z
Coordinate axes and vectors
For some point P in space
The corresponding
projections onto the
coordinate axes give
Cartesian coordinates
x
P
, y
P
, and z
P
,
relative to the origin of
the axes
Sometimes written
(x
P
, y
P
, z
P
)
P
.
(x
P
, y
P
, z
P
)
x
y
z
x
P
y
P
z
P
origin
.
Coordinate axes and vectors
A vector is something with
a magnitude
such as a length
and a direction
Usually written in bold font
e.g., G
Sometimes G or
And shown as an arrow
With length and
direction
G
G

Coordinate axes and vectors

A vector could be
the distance
and
direction
you need to walk to get
from A to B A
B
r
Coordinate axes and vectors
A vector could be
A force
how hard you are
pushing
and
what direction you are
pushing
F
Coordinate axes and vectors
A vector could be
A velocity
how fast you are going
(speed)
e.g., the number on
your car speedometer
and
what direction you are
going in
e.g., on a compass
v
Coordinate axes and vectors
An ordinary number
which has no direction
is called a scalar
Distance
how hard you push
speed
are all scalars
Scalars are in ordinary fonts
Usually italic in printing
r
F v
Coordinate axes and vectors
A vector has components
along three orthogonal axes
G
x
, G
y
, and G
z
We can also define vectors of
unit length along each axis
i unit vector along x
j unit vector along y
k unit vector along z
x
y
z
G
G
x
G
y
G
z
i
j
k
Coordinate axes and vectors
Then we can write
G=G
x
i+G
y
j+G
z
k
x
y
z
G
G
x
G
y
G
z
G
x
i
G
y
j
G
z
k
Coordinate axes and vectors
Then we can write
G=G
x
i+G
y
j+G
z
k
making the final vector up
by adding its vector
components
x
y
z
G
G
x
G
y
G
z
G
x
i
G
y
j
G
z
k
Background mathematics 3
Operations with vectors
Adding vectors
To add vectors
graphically
connect them head to tail in any
order
G
S
G + S
S
G
G + S
Adding vectors
To add vectors
algebraically
add them component by
component
G
x
i
S
x
i
G
y
j
S
y
j
G
z
k
S
z
k
G + S
( )
( )
( )
x
x
x x
z
z
y z
y
y
y z
G
S
G
S
G S G
S
G S S
G = + +
+ + +
+ + + = +
+
+
i
i
i j
k
k
G S j
j
k
Multiplying vectors
Two kinds of multiplications or products for
geometrical vectors
Dot product
Gives a scalar result
Cross product
Gives a vector result
a b
a b
Vector dot product
One formula for the dot product is
Here the modulus sign | | means
we take the length of the vector
Note that
Also
So
a = a
= a b b a
cos cos ab u u = a b b a
u
angle u
b
a
2
a = a a
a = a a
Vector dot product
One formula for the dot product is
We can think of as
The projection of vector b onto the
direction of vector a
Multiplied by the length of a
or
The projection of vector a onto the
direction of vector b
Multiplied by the length of b
u
angle u
a
b
cos cos ab u u = a b b a
cosu a b
Vector dot product
One formula for the dot product is
Note that
for two vectors at right angles
and
so
the dot product is zero
cos cos ab u u = a b b a
( )
cos / 2 0 t =
/ 2 90 t u =
t /2
a
b
Vector dot product
The unit vectors along the coordinate
directions are all orthogonal (at
right angles)
So all their dots products with one
another are zero
Also, since these are unit length
vectors, by definition
i
j
k 0 = i j 0 = j k 0 = i k
0 = j i 0 = k j 0 = k i
1 = i i 1 = j j 1 = k k
Vector dot product
Since
Forming the dot product
algebraically
gives
which is an equivalent formula for
the dot product
b
a
( ) ( )
x y z x y z
a b a a b b = + + + + b i j a i j k k
x z z y x y
a a b a b b = + + b a
0 = i j 0 = j k 0 = i k
0 = j i 0 = k j 0 = k i
Vector dot product
The components of a vector can be
found by
taking the dot product
with the unit vectors along the
coordinate directions
For example
G
i
( )
x z x y
G G G G = + + = j k i G i i
Vector cross product
For two vectors
the vector cross product is
n is a unit vector with a direction
given by the
right hand screw rule
x y z
a a a = + + a i j k
x y z
b b b = + + b i j k
b
a
u
sin sin b a u u = n a b b a n
Right hand screw rule
Imagine you have a corkscrew
With an ordinary right-handed
thread
with its handle lined up along
vector a
Now rotate the handle so it lines up
with vector b
The direction, in or out, that the
corkscrew moved is the direction
of the vector n
b
a
u
gives vector n
away from you
a b
b
a
u
gives vector n
towards you
a b
Vector cross product
Note that
If we have to turn clockwise to go
from a to b
So the corkscrew goes in
So n points inwards
Then we have to turn anti-clockwise
to go from b to a
So the corkscrew goes out
So n point outwards
b
a
u
= a b b a
Vector cross product
An equivalent algebraic formula for the vector
cross product is
A short-hand way of writing this is
which is the same as the determinant
notation used with matrix algebra
( )
( )
( )
z y x z y x y x y z z x
a a a a a b b a b b b b = + + j a i b k
x
x y z
y z
a a
b b b
a = a
k
b
i j