Vector Operations

ES 11 LECTURE 3

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Solution to Quiz # 2 2

A 160-kg load is supported by

the SMOOTH rope-and-pulley
arrangement shown. Knowing
that β = 20°, determine the
magnitude and direction of
the force P that must be
exerted on the free end of the
rope to maintain equilibrium
 Solution to Quiz # 2 3

+→ 𝐹𝑥 = 0
2𝑃 cos 70 − 𝑃 cos 𝛼 = 0
P
𝛼 = 46.84°
P
+↑ 𝐹𝑦 = 0
2𝑃 sin 70 + 𝑃 sin 𝛼 − 160(9.81) = 0 70°
𝑃 = 601.65 𝑁
W
 Vector Operations
ES 11 LECTURE 3

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Vector Operations 5

1. Vector Addition/ Subtraction

2. Product of a vector and a scalar
3. Scalar Product (Dot Product) 6

𝑃 ⋅ 𝑄 = 𝑃𝑄 cos 𝜃
Properties:
 Commutative
𝑃⋅𝑄 =𝑄⋅𝑃
 Distributive
𝑃 ⋅ 𝑄1 + 𝑄2 = 𝑃 ⋅ 𝑄1 + 𝑃 ⋅ 𝑄2
3. Scalar Product (Dot Product) 7

𝑃 ⋅ 𝑄 = 𝑃𝑄 cos 𝜃

𝑃 ⋅ 𝑄 = (𝑃𝑥 𝑖 + 𝑃𝑦 𝑗 + 𝑃𝑧 𝑘) ⋅ (𝑄𝑥 𝑖 + 𝑄𝑦 𝑗 + 𝑄𝑧 𝑘)

𝑃 ⋅ 𝑄 = 𝑃𝑥 𝑄𝑥 + 𝑃𝑦 𝑄𝑦 + 𝑃𝑧 𝑄𝑧
3. Scalar Product (Dot Product) 8

Applications
 Angle between vectors
𝑃 ⋅ 𝑄 = 𝑃𝑄 cos 𝜃 = 𝑃𝑥 𝑄𝑥 + 𝑃𝑦 𝑄𝑦 + 𝑃𝑧 𝑄𝑧

𝑃𝑥 𝑄𝑥 + 𝑃𝑦 𝑄𝑦 + 𝑃𝑧 𝑄𝑧
cos 𝜃 =
𝑃𝑄
 Perpendicular vectors
𝑃⋅𝑄 =0
3. Scalar Product (Dot Product) 9

Applications
 Projection of a vector on an axis

𝑃 ⋅ 𝑄 = 𝑃𝑄 cos 𝜃
𝑃⋅𝑄
𝑃𝑂𝐿 = 𝑂𝐴 = 𝑃 cos 𝜃 =
𝑄
𝑃𝑂𝐿 = 𝑃 ⋅ 𝜆𝑄 = 𝑃 ⋅ 𝜆𝑂𝐿

𝑃𝑂𝐿 = 𝑃 ⋅ 𝜆𝑂𝐿 𝜆𝑂𝐿

4. Vector Product (Cross Product) 10

𝑃 × 𝑄 = 𝑃𝑄 sin 𝜃
Properties:
 NOT Commutative
𝑃 × 𝑄 = −𝑄 × 𝑃
 Distributive
𝑃 × 𝑄1 + 𝑄2 = 𝑃 × 𝑄1 + 𝑃 × 𝑄2
 NOT Associative
𝑃× 𝑄×𝑆 ≠ 𝑃×𝑄 ×𝑆
4. Vector Product (Cross Product) 11

𝑃 × 𝑄 = (𝑃𝑥 𝑖 + 𝑃𝑦 𝑗 + 𝑃𝑧 𝑘) × (𝑄𝑥 𝑖 + 𝑄𝑦 𝑗 + 𝑄𝑧 𝑘)

𝑃 × 𝑄 = 𝑃𝑦 𝑄𝑧 − 𝑃𝑧 𝑄𝑦 𝑖
+(𝑃𝑧 𝑄𝑥 − 𝑃𝑥 𝑄𝑧 )𝑗

+(𝑃𝑥 𝑄𝑦 − 𝑃𝑦 𝑄𝑥 )𝑘
4. Vector Product (Cross Product) 12
Applications:
 Area of a parallelogram
𝐴= 𝑃×𝑄
 Unit vector perpendicular to
a plane
𝑃×𝑄
𝜆⊥ =
𝑃×𝑄
Parallel vectors
𝑃×𝑄 =0
5. Mixed Triple Product 13

𝑆⋅𝑃×𝑄
Properties:
 Partially Commutative/
Associative
𝑆⋅𝑃×𝑄 =𝑆×𝑃⋅𝑄 =𝑃⋅𝑄×𝑆
= −𝑆 ⋅ 𝑄 × 𝑃 = −𝑃 × 𝑆 ⋅ 𝑄
= −𝑃 ⋅ 𝑆 × 𝑄
5. Mixed Triple Product 14

𝑆⋅𝑃×𝑄

𝑃 × 𝑄 = 𝑃𝑦 𝑄𝑧 − 𝑃𝑧 𝑄𝑦 𝑖 + 𝑃𝑧 𝑄𝑥 − 𝑃𝑥 𝑄𝑧 𝑗 + 𝑃𝑥 𝑄𝑦 − 𝑃𝑦 𝑄𝑥 𝑘

𝑆 ⋅ 𝑃 × 𝑄 = 𝑆𝑥 𝑃𝑦 𝑄𝑧 − 𝑃𝑧 𝑄𝑦 + 𝑆𝑦 𝑃𝑧 𝑄𝑥 − 𝑃𝑥 𝑄𝑧 + 𝑆𝑧 (𝑃𝑥 𝑄𝑦 − 𝑃𝑦 𝑄𝑥 )
𝑆𝑥 𝑆𝑦 𝑆𝑧 𝑆𝑥 𝑆𝑦
𝑆 ⋅ 𝑃 × 𝑄 = 𝑃𝑥 𝑃𝑦 𝑃𝑧 𝑃𝑥 𝑃𝑦
𝑄𝑥 𝑄𝑦 𝑄𝑧 𝑄𝑥 𝑄𝑦
𝑆⋅𝑃×𝑄 = ↘− ↗
5. Mixed Triple Product 15

𝑆⋅𝑃×𝑄
Applications:
 Volume of a parallelepiped
∀= 𝑆⋅𝑃×𝑄
 Coplanar vectors
𝑆⋅𝑃×𝑄 =0
 Component of a vector
parallel/ perpendicular to a
plane
Example # 3.1 16

Plane PQR contains points P, Q,

and R with coordinates as
shown in the figure.
 Decompose the vector H =
10i + 8j + 3k that into its
components that are
perpendicular and parallel to
plane PQR. Express your
answer in vector form.
Example # 3.1 17

𝑃𝑄 × 𝑃𝑅
𝜆⊥ =
𝑃𝑄 × 𝑃𝑅
𝑃𝑄 =< −3,4,0 > 𝑃𝑅 =< −3,0,5 > 𝑯 =< 𝟏𝟎, 𝟖, 𝟑 >
<20,15,12>
𝜆⊥ = H┴
769

356 H//
𝐻⊥ = 𝐻 ⋅ 𝜆⊥ =
769
𝐻⊥ = 𝐻⊥ 𝜆⊥ =< 9.26, 6.94, 5.56 >
Example # 3.1 18

𝐻⊥ = 𝐻⊥ 𝜆⊥ =< 9.26, 6.94, 5.56 >

𝐻 = 𝐻⊥ + 𝐻∥
𝑯 =< 𝟏𝟎, 𝟖, 𝟑 >

𝐻∥ = 𝐻 − 𝐻⊥
H┴
𝐻∥ =< 0.74, 1.06, −2.26 > H//
Example # 3.2 19

Given points O (5, -3, 7), P (9, -2, -4), and Q (-1, 8, -6),
determine the shortest distance of point O from the
line containing points P and Q using vector operations.
𝑃𝑄 × 𝑃𝑂 = 𝑃𝑄 𝑃𝑂 sin 𝜃
Q (-1,8,-6)
O (5, -3, 7) 𝑃𝑄 × 𝑃𝑂 d
𝑑= = 𝜆𝑃𝑄 × 𝑃𝑂
d 𝑃𝑄

θ < −10,10, −2 >

𝑑= ×< −4, −1,11 >
204
P (9,-2,-4) 𝑑 = 11.73 𝑢𝑛𝑖𝑡𝑠
Quiz # 3 20

Given points A, B, C, D, E, and F, determine the angle

between the plane containing points A, B, and C,
and the plane containing points D, E, and F.

A (0,0,0) B (1,2,3) C (-5,6,2)

D (-8,3,4) E (1,-4,3) F (2,4,-1)

 Vector Operations
ES 11 LECTURE 3

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