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The most common tools in Physics (Sciences) are vector notations. They are abstract tools
that can help us to visualize imaginary fields such as Electric or Magnetic fields. To make
Vectors more tangible, we give them Magnitude (Length) and Direction (Angle)
Given a vector from starting point P( Px , Py , Pz ) to terminal point Q(Qx , Q y , Qz ) , the vector
y2 z2
, Tan 1
x
x2 z2
, Tan 1
y
y
x
x2 y2
with x, y, z-axis.
z
, Tan 1
x
y
A2 B 2 C 2
V
with unit vector of U v
V
Equation of Sphere: Location of all the points that are equidistance to a point call center
Equation of a plane: A plane is defined by a point and a normal vector (A vector which is
perpendicular to the plane). The equation of a plane with a point P ( x1 , y1 , z1 ) and normal
vector N a, b, c is a( x x1 ) b( y y1 ) c( z z1 ) 0
or
ax by cz d
Given a point Q( x0 , y0 , z 0 ) on plane S and a Normal vector N a, b, c to the plane S, for any
N a, b, c .
PQ N 0 or a( x x1 ) b( y y1 ) c( z z1 ) 0
or
ax by cz d
Dot product /inner product/ scalar product is defined as A B . (Two ways to find it)
a1b1 a 2 b 2 a3b3
AB
A B
A B
)U B
b) Component of A on B = Comp
, Projection of A on B = Pr oj BA (
B
B
A
B
x x1 at
( PQ ) 2 (CompVPQ ) 2
D= Comp NPQ
Step3: Now you have x,y, and z all in terms of t. That is an equation of line of intersection.
i
With the components A B = a x
bx
j
ay
by
k
a z a y bz a z b y , a z bx a x bz , a x b y a y bx
bz
A B
a) The angle between two vectors if the components are given Sin 1
AB
Step2: Find N OA OB
x x1 at
1
OA OB
2
Step1: Find D A B
V= A B X Comp C = C D
D
Line: Plot the given point and stretch it in the direction of its directional vector. Or pick
two different values for time T and evaluate the x, y, z. Then ploy the points and connect
them. Plane: Find x, y, and z intercepts and connect them. If any of variables is missing in
the equation then draw a line with two other variables and elongated in the direction of
missing variable. If two variables are missing then the plane is elongated in two directions.
Sphere: Plot the center and stretch the center with length R along positive and negative
of x, y, and z axes. Then connect the end points of the lines with circular curves.
Chapter 11 vectors
We all started learning mathematics with arithmetic (Numbers and Basic operations).
You have been misled to memorize order of operations blindly and use it over and over
(Since there were so many rules) until you thought that you had the mastery of these
basic operations. All is well since you had the mastery of these basic operations but as you
moved up to Algebra and pre-Calculus, you came across more operations and more rules.
Lets learn mathematics with less rules and a better conceptual understanding.
All we need addition and scalar multiplication as two operations to do all arithmetic and
vector algebra.
Numbers are scalar with no directions such as mass, Energy, distance, and speed.
You know how to solve problems such as pulling a chain with which a mass M is attached
to the end of it. Easily you use concept of super-position to add the work needed to pull
the chain and then added to the work needed to pull the mass. Now if there was multiple
identical masses were attached, then simply you multiply the energy needed for one mass
to pull up and then multiply that value by the number of masses. This is called scalar
multiplication.
How do the mathematics of vectors which possess the magnitude and direction work?
One can define a direction in a few ways. 1- Introduce the starting and terminal point of
the vector. 2- Give the length and angles with respect to some known axis. 3- Describe the
components of the vector.
Some of the vectors which you have seen in the past including displacement, Velocity and
acceleration are mathematical properties of an object. The vector fields such as Force
Field, Electric, and Magnetic Fields are assumed to be measured at a point and they are
properties of the space.
Each vector can be resolve in to its components; number of non-zero components gives you
the rank of the vector (The minimum dimension needed for the vector to be in that space).
If V 3,4,0 then the rank of V is 2 in a 3D space. This vector is fixed in time since the
magnitude of it is in dependent of time. So, it can be a vector in a vector field which was
measured at a point in time or space. For the vectors which are time dependent, then we
can differentiate and integrate them respect to time.
dr
a) Speed v
3, 2t 2 At t 1sec r 3, 2(1) 2 3,4 speed v 5m / s
dt
b) Acceleration in Tangential direction aT 0, 2 at any time aT 2m / s 2
2
dp
Momentum we know by Newtons 2 law that F
so P F .dt 3t 2 , 2t 1 dt
dt
0
nd
2
3t dt,
(2t 1)dt t
c1 , t 2 t c2 0 t 2 P 8 2 N / Sec
Example3: A particle under the influence of a force field F ( x) 2 x,4 y N moves from
origin to point (2, 4). Find the work done. Note that the force is a function of space and it
contains the mass of the particle.
2
2
2 xdx 4 ydy 4 ydy 2 xdx 2 y x 32 4 36 Joule
4
b) Velocity vector V
d) Speed V v
v2
for any mass M
R
Example4: Given vector V and line L with directional vector U . Find the reflection of
vector V respect to line L.
*
v
Then V 2PROJ u V
(a b) (a b) 0
aa ab ba bb 0
a b
2
||=||
Parallelogram is a rhombus
Proposition 2: Every angle inscribed in a semicircle is a right angle.
a xm r , y m
b r xm , y m
= < , >
| = = +
|
(2)
l1 : r (t ) (a b)t
1
1
1
1
l3 : r (v) 2 a (b 2 a)v
t uv
1
3
sin
||
||
sin
||
sin
||
sin
||
sin
||
(2)
ab ca 0
sin
||
sin
||
||
Proposition 7: If two distinct planes have a point in common, they have a line in common.
Plane (S1) has the normal vector n and plane (S2) has the normal vector N.
Let R and Ro be two random points on plane S1.
Let r and ro be two random points on plane S2.
Let A be the point in common between two planes S1 and S2.
We have:
n . (R - Ro) = 0
and
N . (r - ro) = 0
From (1) & (3), and (2) & (4), we have 0 = 0 (true); therefore all points on the line in
common are also on the two planes.
Conclusion: If two distinct planes have a point in common, they have a line in common.
Figure 1 Axiom 1
Figure 2 Axiom 2
Axiom 2: For two points p1 and p2 , there is a unique fold that place p1 onto p2 .
This creates the perpendicular bisector to a line that contains the two points
Axiom 3: For two lines L1 and L2 , there is a fold that place L1 onto L2 .
This is equivalent to bisecting the angle between the two lines
Figure 3 Axiom 3
Figure 4 Axiom 4
Axiom 4: For a point p1 and line L1 , there is a unique fold perpendicular to L1 that passes
through point p1
This is equivalent to finding the perpendicular to a line that goes through a given point
Axiom 5: For two points p1 and p2 and a line L1 , there is a fold that places p1 onto L1 and
passes through p2 .
This is equivalent to solving a second degree equation.
Figure 5 Axiom
5
Figure 6 Axiom 6
Axiom 6: For two points p1 and p2 and two lines L1 and L2 , there is a fold that places p1 onto
L1 and p2 onto L2 .
This is equivalent to solving a third degree equation
Axiom 7: For one point p and two line L1 and L2 , there is a fold that places p onto L1 and is
perpendicular to L2 . (Solving a first degree equation)
Figure 7 Axiom 7
Figure 8 Parabola
Figure 9 Ellipse
Parabola: (Axiom 5 above). For two points P and Q and line L, one folds along a line through
Q , taking P to a point p on L. So if the point P is the focus and L is the directrix, then the
folded line is the tangent line of the parabola.
Ellipse: A circle with radius R , center at origin with a point A on x axes. Fold the paper
such that every point A1 on the circle is the reflection point of A . Repeat the same for
different point A1 and find the collection of the points on these lines.
dp d
V ma If the mass of the object stays constant for duration of measurement then
F m
the equation reduces to F ma Newton deduced his universal Laws of Gravity from
Keplers Law
1
R
a 2 and U r n
r
R
a a U arU r Since the Gravitational force is along the line joining the masses then
a 0 and a r
K
r2
d
d U r Sin , Cos U
U r Cos , Sin
Since
U
U Sin , Cos
d U Cos , Sin U
r
d
R rU r
d
d
d
dt U r d U r dt U
d
Since V r U r rU r rU rU r
dt
d U d U d U
r
dt
a (r r 2 )U r (r 2r)U
d
dt
The angular component of acceleration is a (r 2r)
Since a 0 then
a r (r r 2 )
d 2
c
(r ) 0 and (r 2) Const then 2
dt
r
K
dr dr d dr c
since r
2
dt d dt d r 2
r
r c
r 2 2rr 1 d 2
(r )
r
r dt
Let z
1
r
dz 1dr
d r 2 d
dz
This sub eliminate r 2 from the equation
d
2
2
d 2z c
c2 d 2 z
2 2 d z
2 c 2 z 2 d z c 2 z 3
Rewrite
a
c
z
r
d 2 r 2
r 2 d 2
d 2
d 2
a r c 2 z 2 (
d 2z
d 2z
K
2
z
)
Kz
z 2 . This differential equation can
it
simplifies
to
2
2
d
d
c
be written as
d2
K
K
( z 2 ) ( z 2 ) 0 then the solution of this second order differential
2
d
c
c
equation is linear combination of the solutions, in this case Sine and Cosine functions.
The solution is z
K
HCos( ) Recall ASin BCos HCos( )
c2
1 K
HCos( )
r c2
A2 B 2
c2
c2 / K
K Hc 2 Cos( ) 1 ( Hc 2 / K )Cos ( )
1
1 2
Recall A r 2 d so the rate of change of area is r 2
2
2 1
Since r 2 Const then
1 2 c
r . This shows that the rate at which area is swept out by
2
2
Then
c
(Rate at which area swept out) ab (Area of an ellipse)
2
2ab
and we have from the ellipse b 2 a 2 (1 e 2 ) and Pe a(1 e 2 )
T
3
c2
2ab 2 1
4 2 a 2 b 2 4 2 a 2 a 2 (1 e 2 ) 4 2 3
2 a
(
)
2
2
Pe
T
Pe T
Pe
T
a(1 e 2 )
T2
T2
T 2 4 2 4 2 Pe
2
Const This is the third law of planetary motion
a3
c
c2
Pe
GMm
a2
T 2 4 2
GMm
2
2 2 GM
,
we get ( ) 3 simplify to 3
which is constant
F ma
GM
T
T
a
a2
a
2
T2
is constant but he did not know its value.
a3
Homework set #2
1- For line l : p(3,2,2) and V 1,1,2 and the plane S which contains points A(1,2,1),
B(2,-1,2), and C(0,-2,1).
a) Find the point of intersection of the line and the plane. (time and space)
b) Find the acute angle between the line and the plane
c) How far the position of a particle on the line at t 2 sec is away from the plane?
d) If the source of light is shines normal to the plane, how fast the shadow of the
particle is moving on the plane?
2- For the given Planes S1 : 2 x y z 4 and S 2 : x 2 y z 1
a) Find line of intersection of the planes
b) Find the angle between the planes
c) Graph the planes and indicate the line of intersection and the angle
d) If a particle on plane S1 at point (1,1,-1) moves directly to pint H on line of
intersection of the planes, what are the coordinates of point H?
e) If the point P(1,1,-1)shines a laser beam in the direction of V 1,1,1 , what are
the coordinate of point (Q) intersection of laser beam with plane S 2 ?
f) Find the Area of a triangle made by point P, Q, and H as its vertices?
3- Solve the systems of equations by finding point of intersection of the planes.
x 2 y z 3
2 x y z 4
2 x y 2 z 5
First find line of intersection of two planes and then use the line and the third plane to
find the point of intersection.
4-A Laser beam at point P (1,2,1) shines on to mirror S: 2 x y 2 z 6 ,in the direction of
V 2,2,1 . We want to locate position of a detector after 2sec which the beam bounces
off of the plane. How far this point is away from point P(1,2,1)?
5- A Laser beam at point P (1, 1, -1) is aimed at point Q (-2, -1, 0) after it bounces off of
mirror S: x y z 4 . What is the location on the mirror which the beam bounces off of?
14- Find the equation of the plane that passes through the point (-1, 2, 1) and contains the
line of intersection of the planes x y z 2 and 2 x y 3z 1.
15-Given a system of equations.
2x y z 2
x 2y z 1
2x y 2z 3
a) Solve for line of intersection of first two planes.
b) Solve for the point of intersection of above line with the third plane.
16- Graph x y z 4 and Find the closest point on the above plane to point (-1, -3, 2)
17- Graph 2 x y z 2 Find the shortest distance from the plane to the origin in 4
different methods.
1) Partial derivatives. 2) Dot product. 3) Cross product. 4) Geometry
18-When a charge particle moves in an electric field. The force excreted on the charge
particle is
that
F qE
F ma
then the ma qE can be used to find the mass of a charge particle if the
electric field, acceleration and charge of the particle are known. Find the mass of a
a 16, 24 10 20 m / s 2 .
19- When a charge particle moves in a magnetic field. The force excreted on the charge
field (vector). We know that F ma then the ma q(v B) can be used to find the
particle is
mass of a charge particle if the magnetic field, acceleration, velocity and charge of the
particle are known. Find acceleration of a charged particle with
magnetic field.
20-When a particle moves in straight line, and then its kinetic energy is KE
1
mv v
2
around a circle of radius R with linear speed of v , then the magnitude of the central petal
v v
force will be F m
and the direction is toward the center of circle. What is
R
acceleration (direction and magnitude) of a mass going around a circle ( R 0.5m) and
r 3, 2 m and v 10, 6 m / s
24- Angular momentum in 3D: Find L for a 0.5 kg object going around a circle
r 3, 4 2 m and v 8, 4, 6 m / s
10
6
25- Find acceleration of a charged particle with m 5 10 Kg and q 5 10 C in a
6
field B 10, 20, 5 Tesla and velocity v 8, 4, 12 10 m / s . Find angle between
these forces.
29- Prove the formula for dot product and cross product.
30-
and
x 2y z 1
and
field with a 0, 2, 0 m / s 2 . Find all the points that the particle intersects the plane
S : x y z 3.
37-Two planes S1 : x 2y z 4 and S2 : x y z 1 intersect at line L.
Find the distance of the point P (1, 0, 2) to both planes and line L.
41- Find the work done to move a 4kg mass with an acceleration a 2,3,1 form point
42- Find magnitude of torque if the moment arm is r 2,2,1 and applied force is
F 3,4,12 . What is the angle between moment arm and the force in above question?
43- a)Find parametric equation of a line L whose passes through point A(1,1,2) , B(2,2,3) .
b) Find equation of a plane S1 whose passes through points C (3,2,2) , D(3,2,4) , E (4,2,1) .
c) Find equation of a plane S 2 whose passes through point F (1,1,2) and contains
r (t ) 2,3,1 t 1,3,2 .
r (t ) 3,2,1 t 2,1,1 .
e) Find point of intersection of line L (from #43a) and each of the planes (from
#43b,#43c,and 43d)
f) Find line of intersection of S1 and S 2 . Call the line L3.
d
d
U r U and
U U r then show that
d
d
V rU rU r
a (r r 2 )U r (r 2r)U
R rU
K
r2
for value of H
A2 B 2
T 2 4 2
between the period and mean distance of the
a 3 GM