1

CHAPTER 1:
PHYSICAL QUANTITIES
AND MEASUREMENTS
(3 Hours)
2
At the end of this chapter, students should be able to:
a) State basic quantities and their respective SI units:
length (m), time (s), mass (kg), electrical current (A),
temperature (K), amount of substance (mol) and
luminosity (cd).
b) State derived quantities and their respective units and
symbols: velocity (m s
-1
), acceleration (m s
-2
), work (J),
force (N), pressure (Pa), energy (J), power (W) and
frequency (Hz).
c) State and convert units with common SI prefixes.
Learning Outcome:
1.1 Physical Quantities and Units (1 hours)
1.1 Physical Quantities and
Units
Physical quantity is defined as a
quantity which can be measured.
It can be categorized into 2 types
Basic (base) quantity
Derived quantity
3
4
Basic quantity is
defined as a
quantity which
cannot be
derived from any
physical
quantities.
Table 1.1 shows
all the basic
(base) quantities.
Quantity Symbol SI Unit Symbol
Length l metre m
Mass m
kilogra
m kg
Time t second s
Temperature T/u kelvin K
Electric
current I ampere A
Amount of
substance N mole mol
Luminous
Intensity candela cd
Table 1.1
5
Derived quantity
is defined as a
quantity which
can be
expressed in
term of base
quantity.
Table 1.2 shows
some examples
of derived
quantity.
Derived
quantity
Symbol Formulae Unit
Velocity v s/t m s
-1
Volume V l w t M
3
Acceleration a v/t m s
-2
Density m/V kg m
-3
Momentum p m v kg m s
-1
Force F m a kg m s
-2
@
N
Work W F s kg m
2
s
-2
@ J
Table 1.2
6
Unit is defined as a standard size of
measurement of physical quantities.
Examples :
1 second is defined as the time required
for 9,192,631,770 vibrations of
radiation emitted by a caesium-133
atom.
7
1 kilogram is defined as the mass of a
platinum-iridium cylinder kept at
International Bureau of Weights and
Measures Paris.
1 meter is defined as the length of the
path travelled by light in vacuum
during a time interval of
s
458 , 792 , 299
1
8
o
o
o
57.296
180
rad 1
180 rad
= =
=
t
t
The unit of basic quantity is called base unit
addition unit for base unit:
unit of plane angle
radian (rd)
unit of solid angle-
steradian (sr)
9
Notes:
oThe common system of units
used today are S.I unit
(System International/metric
system) and cgs unit - UK.
o The unit of derived quantity
called derived unit.
10
It is used for
presenting larger
and smaller
values.
Table 1.3 shows all
the unit prefixes.
Prefix Value Symbol
tera 10
12
T
giga 10
9
G
mega 10
6
M
Kilo 10
3
k
Deci 10
1
d
centi 10
2
c
milli 10
3
m
micro 10
6

nano 10
9
n
pico 10
12
p
1.1.1 Unit Prefixes
Table 1.3
Examples:
(i) 5740000 m = 5740 km
= 5.74 Mm
(ii)0.00000233 s = 2.33 10
6
s
= 2.33 s
11
12
Table 1.4 shows the conversion factors between SI
and British units for length and mass only.
1.1.2 Conversion of Unit
Length Mass
1 m = 39.37 in = 3.281 ft 1 kg = 10
3
g
1 in = 2.54 cm 1 slug = 14.59 kg
1 km = 0.621 mi 1 lb = 0.453 592 kg
1 mi = 5280 ft = 1.609 km 1 kg = 0.0685 slug
1 angstrom () = 10
10
m
Table 1.4
13
Solve the following
problems of unit conversion.
a. 30 mm
2
= ? m
2
b. 865 km h
1
= ? m s
1
c. 300 g cm
3
= ? kg m
3
d. 17 cm = ? in
e. 24 mi h
1
= ? km s
1
Example 1 :
( ) ( )
2
3
2
m 10 mm 1

=
2 6 2
m 10 mm 1

=
2 5
2 6 2
m 10 3.0
m 10 30 mm 30

=
=
Solution :
a. 30 mm
2
= ? m
2
14
Solve the following
problems of unit
conversion.
a. 30 mm
2
= ? m
2
b. 865 km h
1
= ? ms
1
c. 300 g cm
3
= ? kgm
3
d. 17 cm = ? in
e. 24 mi h
1
= ? kms
1
Example 1 : Solution :
b. 865 km h
-1
= ? m s
-1
1
st
method :
|
|
.
|

\
|

=

h 1
m 10 865
h km 865
3
1
|
|
.
|

\
|

=

s 3600
m 10 865
h km 865
3
1
1 1
s m 240 h km 865

=
15
Solve the following
problems of unit
conversion.
a. 30 mm
2
= ? m
2
b. 865 km h
1
= ? ms
1
c. 300 g cm
3
= ? kgm
3
d. 17 cm = ? in
e. 24 mi h
1
= ? kms
1
Example 1 :
Solution :
b. 865 km h
-1
= ? m s
-1
2
nd
method :
|
.
|

\
|
|
.
|

\
|
|
.
|

\
|
=

s 3600
h 1
km 1
m 1000
h 1
km 865
h km 865
1
|
.
|

\
|
|
.
|

\
|
|
.
|

\
|
=

s 3600
h 1
km 1
m 1000
h 1
km 865
h km 865
1
1 1
s m 240 h km 865

=
16
Solve the following
problems of unit
conversion.
a. 30 mm
2
= ? m
2
b. 865 km h
1
= ? ms
1
c. 300 g cm
3
= ? kgm
3
d. 17 cm = ? in
e. 24 mi h
1
= ? km s
1
Example 1 :
Solution :
c. 300 g cm
-3
= ? kg m
-3
( )
|
|
.
|

\
|
|
|
.
|

\
|
|
.
|

\
|
=
3
3
2 -
3 3 -
3
3 -
m 10
cm 1
g 1
kg 10
cm 1
g 300
cm g 300
-3 5 3
m kg 10 3.0 cm g 300 =

17
Solve the following
problems of unit
conversion.
a. 30 mm
2
= ? m
2
b. 865 km h
1
= ? ms
1
c. 300 g cm
3
= ? kgm
3
d. 17 cm = ? in
e. 24 mi h
1
= ? kms
1
Example 1 :
d. 17 cm = ? in
e. 24 mi h
-1
= ? km s
-1
Solution :
( )
|
|
.
|

\
|
=
cm 1
in
cm 17 cm 17
2.54
1
in 6.69 cm 17 =
|
.
|

\
|
|
.
|

\
|
|
.
|

\
|
=
s 3600
h 1
mi 1
km 1.609
h 1
mi 24
h mi 24
1 -
-1 -2 1
s km 10 1.07 h mi 24 =

18
At the end of this chapter, students should be
able to:
a) Define scalar and vector quantities.
b) Perform vector addition and subtraction
operations graphically.
c) Resolve vector into two perpendicular
component (2-D):
i) components in the x and y axes
ii) component in the unit vectors in Cartesian
coordinate.
Learning Outcome:
1.2 Scalars and Vectors (2 hours)
19
At the end of this chapter, students should be able to:
d) Define and use dot (scalar) product;
c) Define and use cross (vector) product;
Direction of cross product is determined by
corkscrew method or right hand rule.
Learning Outcome:
1.2 Scalars and Vectors (2 hours)
( ) ( ) A B B A B A cos cos = = -

( ) ( ) A B B A B A sin sin = =

20
Scalar quantity is defined as a quantity with
magnitude only.
e.g. mass, time, temperature, pressure,
electric current, work, energy and etc.
Mathematics operational : ordinary algebra
Vector quantity is defined as a quantity with
both magnitude & direction.
e.g. displacement, velocity, acceleration,
force, momentum, electric field, magnetic field
and etc.
Mathematics operational : vector algebra
1.2 Scalars and Vectors
21
Table 1.6 shows written form (notation) of vectors.
Notation of magnitude of vectors.
1.2.1 Vectors
Vector A
Length of an arrow magnitude of vector A
displacement velocity acceleration
v v =

a a =

s a v
s (bold)
v (bold)
a (bold)
Direction of arrow direction of vector A
22
Two vectors equal if both magnitude
and direction are the same.
(shown in figure 1.1)
If vector A is multiplied by a scalar
quantity k
Then, vector A is
if k = +ve, the vector is in the
same direction as vector A.
if k = - ve, the vector is in the
opposite direction of vector A.
A k

Figure 1.1
P

Q P

=
A k

23
Can be represented by using:
a) Direction of compass east, west,
north, south, north-east, north-west,
south-east and south-west.
b)Angle with a reference line
e.g. A man throws a stone with a
velocity of 10 m s
-1
, 30 above
horizontal.
c) Cartesian coordinates
2-Dimension (2-D)
1.2.2 Direction of Vectors
30
v

x
y
0
m) 4 m, 2 ( ) , ( = = y x s

y/m
x/m
4
2
0
s

24
1.2.2 Direction of Vectors
c)Cartesian coordinates
3-Dimension (3-D)
m 2) 3, 4, ( ) , , ( = = z y x s

y/m
x/m
z/m
0
s

4
2
3
25
d)Polar coordinates
e)Denotes with + or signs.
( )

N,120 50 = F
F

120
+
+
-
-
26
There are two methods involved in
addition of vectors graphically;
Parallelogram
Triangle
1.2.3 Addition of Vectors
Parallelogram
Triangle
B

B A

+
O
B

B A

+
O
A

For example :
B A

+
27
28
Triangle of vectors method:
a)Use a suitable scale to
draw vector A.
b)From the head of vector A
draw a line to represent the
vector B.
c)Complete the triangle.
Draw a line from the tail of
vector A to the head of
vector B to represent the
vector A + B.
A B B A

+ = +
Commutative Rule
B

A B

+
O
29
If there are more than 2 vectors therefore
Use vector polygon and associative rule.
E.g.
R Q P

+ +
( ) ( ) R Q P R Q P

+ + = + + Associative Rule
P

( ) R Q P

+ +
Q

30
Distributive Rule :
a.
b.
For example :
i Proof of case a: let o = 2
( ) B A B A

o o o + = +
( ) A A A

| o | o + = +
number real are , | o
( ) ( ) B A B A

+ = + 2 o
A

B A

+
O
( ) B A

+ 2
31
A

2
O
B

2
B A

2 2 +
( ) B A B A

2 2 2 + = +
B A B A

2 2 + = +o o
ii
32
Proof of case b: let o = 2 and | = 1
( ) ( ) A A A

3 1 2 = + = + | o
A

3
A

3
A A A A

1 2 + = + | o
A

2
A

+
=
( ) A A A

1 2 1 2 + = +
Parallelogram
Triangle
C

O
D

D C

O
D

D C

1.2.4 Subtraction of Vectors

33
34
Vectors subtraction can be used
to determine the velocity of one object
relative to another object i.e. to
determine the relative velocity.
to determine the change in velocity of a
moving object.
35
1. Vector A has a magnitude of 8.00 units and 45
above the positive x axis. Vector B also has a
magnitude of 8.00 units and is directed along the
negative x axis. Using graphical methods and
suitable scale to determine
a) b)
c) d)
Hint : use 1 cm = 2.00 units)
Exercise 1.2 :
B A

+
B A

B 2 A

+
B A 2

1.2.5 Resolving a Vector

o1
st
method :
2
nd
method :
0
x
y
D

y
D

x
D

u
D

x
D

|
|
y
D

0
x
y

D
D
x
cos = D D
x
cos =

D
D
y
sin = D D
y
sin =
| = sin
D
D
x
| = sin D D
x
| = cos
D
D
y
| = cos D D
y
36
37
The magnitude of vector D:
Direction of vector D:
Vector Din terms of unit vectors written
as
( ) ( )
2
y
2
x
D D D D + = or

x
y
D
D
= tan
or
|
|
.
|

\
|
=

x
y
D
D

1
tan
j D i D D
y x

+ =

38
A car moves at a
velocity of 50 m s
-1
in
a direction north 30
east. Calculate the
component of the
velocity
a) due north.
b) due east.
Example 6 :
N
E W
S
N
v

E
v

30
60
a)
b)

30 v v
N
cos =
1
s m 43.3

=
N
v

30 50 v
N
cos =
or

60 v v
N
sin =

60 50 v
N
sin =

30 v v
E
sin =
1
s m 25

=
E
v

30 50 v
E
sin =
or

60 v v
E
cos =

60 50 v
E
cos =
Solution :
39
A particle S experienced a
force of 100 N as shown in
figure above. Determine the
x-component and the y-
component of the force.
Example 7 :
120
F

S
x
S
x
y
120
60
F

y
F

x
F

Solution :
40
A particle S experienced a force of 100 N as shown in
figure above. Determine the x-component and the y-
component of the force.
Solution :
Example 7 :
120
F

S
x
Vector x-component y-component

60 F F
x
cos =
N 50 =
x
F

60 100 F
x
cos =
or
F

120 F F
x
cos =
N 50 =
x
F

120 100 F
x
cos =

60 F F
y
sin =
N 86.6 =
y
F

60 100 F
y
sin =
or

120 F F
y
sin =
N 86.6 =
y
F

120 100 F
y
sin =
41
The figure above shows three forces F
1
, F
2
and F
3
acted on a particle O. Calculate the magnitude and
direction of the resultant force on particle O.
Example 8 :
y
45
o
O
) ( N 30 F
2

) ( N 10 F
1

30
o
x
) ( N 40 F
3

20
42
Solution :

+ + = =
3 2 1 r
F F F F F


+ =
y x r
F F F

x 3 x 2 x 1 x
F F F F

+ + =

y 3 y 2 y 1 y
F F F F

+ + =

O
y
x
3
F

45
o
30
o
20
1
F

y 1
F

2
F

y 2
F

x 1
F

y 3
F

x 3
F

x 2
F

43
Solution :
Vector x-component y-component

20 F F
1 x 1
cos =
1
F

3
F

2
F

20 10 F
x 1
cos =
N 9.40 =
x 1
F

20 F F
1 y 1
sin =

20 10 F
y 1
sin =
N 3.42 =
y 1
F

45 30 F
x 2
cos =
N 21.2 =
x 2
F

45 30 F
y 2
sin =
N 21.2 =
y 2
F

30 40 F
x 3
cos =
N 34.6 =
x 3
F

30 40 F
y 3
sin =
N 20.0 =
y 3
F
Vector
sum
( ) 34.6 21.2 9.40 + + =
x
F
N 4.00 =
x
F
( ) ( ) 20.0 21.2 3.42 + + =
y
F
N 37.8 =
y
F
44
Solution :
The magnitude of the resultant force is
and its direction is
( ) ( )
2 2

+ =
y x r
F F F
N 38.0 =
r
F
( ) ( )
2 2
37.8 4.00 + =
r
F
|
|
.
|

\
|
=

x
y
F
F

1
tan
( ) ise anticlockw axis - x positive from 264 or 84.0

=
|
.
|

\
|

=

4.00
37.8
tan
1

y
x
O
r
F

y
F

x
F

84.0

264
45
1. Vector has components A
x
= 1.30 cm, A
y
= 2.25 cm; vector has
components B
x
= 4.10 cm, B
y
= -3.75 cm. Determine
a) the components of the vector sum ,
b) the magnitude and direction of ,
c) the components of the vector ,
d) the magnitude and direction of .
( Young & freedman,pg.35,no.1.42)
ANS. : 5.40 cm, -1.50 cm; 5.60 cm, 345; 2.80 cm, -6.00 cm;
6.62 cm, 295
2. For the vectors and in figure 1.2, use the method of vector resolution to
determine the magnitude and direction of
a) the vector sum ,
b) the vector sum ,
c) the vector difference ,
d) the vector difference .
(Young & freedman,pg.35,no.1.39)
ANS. : 11.1 m s
-1
, 77.6; U think;
28.5 m s
-1
, 202; 28.5 m s
-1
, 22.2
Exercise 1.3 :
B A

+
A

B A

+
A B

A B

B A

+
A B

+
B A

A B

Figure 1.2
y
x
0
37.0
( )
-1
s m 18.0 B

( )
-1
s m 12.0 A

46
notations
E.g. unit vector a : a vector with a magnitude of
1 unit in the direction of vector A.
Unit vector for 3 dimension axes :
1.2.6 Unit Vectors
A

c b a ,

,
1

= =
A
A
a

) ( @

- bold j j axis y
1

= = = k j i
) ( @

- bold i i axis x
) ( @

- bold k k axis z
47
Vector can be written in term of unit vectors as :
Magnitude of vector,
x
z
y
k

k r j r i r r
z y x


+ + =

( ) ( ) ( )
2
z
2
y
2
x
r r r r + + =
48
E.g. :
( )m

4 k j i s + + =

( ) ( ) ( ) m 5.39 2 3 4
2 2 2
= + + = s
j

3
x/m
y/m
z/m
0
s

4 k

2
49
Two vectors are given as:
Calculate
a)the vector and its
magnitude,
b)the vector and its
magnitude,
c) the vector and its
magnitude.
Example 9 :
( )m

2 k j i a + =

( )m

7 k j i b + + =

a b

b a

+
b a

+ 2
Solution :
a)
The magnitude,
( )


2i 7i 5
x x
x
a b a b i + = + = =

( )


4j 8j 4
y y
y
a b a b j + = + = + =

( )m

5 k j i b a + + = +

( )

5k 1k 6
z z
z
a b a b k + = + = + =

( ) ( ) ( )
2 2 2
5 4 6 a b + = + +
8.78 m =
Two vectors are given as:
Calculate
a)the vector and its
magnitude,
b)the vector and its
magnitude,
c) the vector and its
magnitude.
Example 9 :
( )m

2 k j i a + =

( )m

7 k j i b + + =

a b

b a

+
b a

+ 2
Solution :
b)
( )


7i 2i 9
x x
x
b a b a i = = =

( )


8j 4j 12
y y
y
b a b a j = = + =

( )

1k 5k 4
z z
z
b a b a k = = =

( )m

12

9 k j i a b + =

The magnitude,
( ) ( ) ( )
2 2 2
9 12 4 b a = + +
15.5 m =
50
51
Two vectors are given as:
Calculate
a) the vector and its
magnitude,
b) the vector and its
magnitude,
c) the vector and its
magnitude.
Example 9 :
( )m

2 k j i a + =

( )m

7 k j i b + + =

a b

b a

+
b a

+ 2
Solution :
c)
The magnitude,
( )m

11

3 2 k i b a + = +

( ) ( ) m 11.4 11 3 2
2 2
= + = +b a
( )
2 2
x x
x
a b a b + = +

( )


2 2 7i 3 i i = =
( )
2 2
y y
y
a b a b + = +

( )


2 4 8j 0 j j = + =
( )
2 2
z z
z
a b a b + = +

( )

2 5 1k 11 k k = + =
52
Scalar (dot) product
The physical meaning of the
scalar product can be
explained by considering two
vectors and as shown in
figure 1.3a.
1.2.7 Multiplication of Vectors
A

u
A

Figure 1.3a
53
Scalar (dot) product
Figure 1.3b shows the projection of
vector onto the direction of vector
.
Figure 1.3c shows the projection of
vector onto the direction of vector
.
1.2.7 Multiplication of Vectors
A

u
A

Bcos
Figure 1.3b
u
A

Acos
Figure 1.3c
( ) B A B B A

to parallel of component = -
( ) A B A B A

to parallel of component = -
54
From the figure 1.3b, the scalar product can be
defined as
meanwhile from the figure 1.3c,
where
The scalar product is a scalar quantity.
The angle u ranges from 0 to 180 .
When
( ) B A B A cos = -

vectors o between tw angle :
( ) A B A B cos = -

A B B A

- = -
55
The scalar product obeys the commutative
law of multiplication i.e.
Example of scalar product is work done by
a constant force where the expression is
given by

90 0 < <
scalar product is positive

180 0 9 < <
scalar product is negative

90 =
scalar product is zero
( ) ( ) F s s F s F W cos cos = = - =

The scalar product of the unit vectors are

shown below :
x
z
y
k

( ) ( ) 1 1 1 cos

2
= = = -
o 2
0 i i i
1


= - = - = - k k j j i i
( ) ( ) 1 1 1 cos

2
= = = -
o 2
0 j j j
( ) ( ) 1 1 1 cos

2
= = = -
o 2
0 k k k
( )( ) 0 9 cos

= = -
o
0 1 1 j i
0

= - = - = - k i k j j i
( )( ) 0 9 cos

= = -
o
0 1 1 k i
( )( ) 0 9 cos

= = -
o
0 1 1 k j
57
Vector (cross) product
Consider two vectors :
In general, the vector product is defined as
and its magnitude is given by
where
The angle u ranges from 0 to 180 so the
vector product always positive value.
k r j q i p B


+ + =

k z j y i x A


+ + =

C B A

=
AB B A C B A sin sin = = =

vectors o between tw angle :
58
Vector product is a vector quantity.
The direction of vector is
determined by CORKSCREW
METHOD or RIGHT HAND RULE
C

59
For example:
How to use right hand rule :
Point the 4 fingers to the
direction of the 1
st
vector.
Swept the 4 fingers from the 1
st
vector towards the 2
nd
vector.
The thumb shows the direction
of the vector product.
Direction of the vector product
always perpendicular to the
plane containing the vectors
and .
A

C B A

=
C A B

=
A B B A

=
but
( ) A B B A

=
B

) (C

60
The vector product of the unit vectors are
shown below :
x
z
y
k

i j k k j

= =
k i j j i


= =
j k i i k

= =
0


= = = k k j j i i
0 in

= =
o 2
0 s i i i
0 in

= =
o 2
0 s j j j
0 in

= =
o 2
0 s k k k
61
Example of vector product is a magnetic
force on the straight conductor carrying
current places in magnetic field where the
expression is given by ;
The vector product can also be expressed in
determinant form as
( ) B l I F

=
IlB F sin =
r q p
z y x
k j i
B A

=

62
1
st
method :
2
nd
method :
Note :
The angle between two vectors can only
be determined by using the scalar (dot)
product.
( ) ( ) ( )k yp xq j zp xr i zq yr B A


+ =

( ) ( ) ( )k yp xq j xr zp i zq yr B A


+ + =

63
Given two vectors :
Determine
a)
b) the angle between
vectors and .
Example 11 :
B A

-
k j i A

4

5 + =

k j i B

5

+ + =

Solution :
a)
( ) ( ) k j i k j i B A

5

5 + + - + = -

( )( ) ( )( ) ( )( ) k k j j i i B A

5 4

1 2

1 5 - + - + - = -

20 2 5 + = - B A

23 = - B A

64
Given two vectors :
Determine
a)
b) the angle between
vectors and .
Example 11 :
B A

-
k j i A

4

5 + =

k j i B

5

+ + =

Solution :
b)
The magnitude of vectors,
Using the scalar (dot) product
formula,
( ) ( ) ( ) 45 4 2 5
2 2 2
= + + = A
( ) ( ) ( ) 27 5 1 1
2 2 2
= + + = B
AB B A cos = -

|
.
|

\
|
=
|
|
.
|

\
|
-
=

27 45
23
cos cos
1 1
AB
B A

7 . 48 =
65
1. If vector and vector , determine
a) , b) , c) .
ANS. :
2. Three vectors are given as follow :
Calculate
a) , b) , c) .
ANS. :
Exercise 1.4 :
46 ; 26 ;

2k
j i a

+

= 5 3

j i b

+

= 4 2

b a

b a

-
( ) b b a

- +
k j i c k j i b k j i a

2 and

3 + + = + = + =

( ) c b a

- ( ) c b a

+ - ( ) c b a

+
k j i

9

11

5 ; 9 ; 21
66
3. If vector and vector
. Determine
a)
b) the angle between and .
ANS. :
Exercise 1.4 :
k j i P

3 + =

k j i Q

3

2 + + =

Q P

92.8 ;

16

10 k j i +
67
THE END
Next
Chapter
CHAPTER 2
:
Kinematics
of
Linear