B

vector

scalar

x-y A
x 4 y 2

A
A
A

r
A A A A
r
A A A A
A A

4
x

A = 4i + 2j

r
r
r
A = 4i + 2 j

r
r
i j i j x y unit
vector 1

r
r
r
A = 4i + 2 j

A = 4i + 2j

P = AB

A i j i

r
P = AB

P A B A B

A = Axi + Ayj

Ax x Ax Ay
y Ay x

y x y 1
i + 4j 1i + 4j
x y 0

A = 4i + 2j

A = (4, 2) <4, 2>

4i

-2i

A = (4i, 2j)

-4j

0 4i + 0j

i j x y 1
r
x-y-z k k z
A = i -3j + 4k x 1

2
4
4

y -3 y 3 z 4

A = 4i + 2j i 4 x component
projection x j 2 y y

A = i -3j + 4k
4
1
-3

-3i + 3j
4i + 2j

-3
1

i - 4j
x

-4i - 2j

x-y x-y-z z = 0
x-y A = 4i + 2j A = 4i +2j + 0k

Ay

x
A

A = Axi + Ayj + Azk

x

Ax

| |

A = Axi + Ayj + Azk

i j k x y z

A= A =

Ax2 + Ay2 + Az2

A= A =

Axy2 + Az2 =

(A

2
x

A = Axi + Ayj + Azk AxAy Az

scalar component

+ Ay2 ) + Az2

Az

magnitude x-y
A = Axi + Ayj

Ay

A= A =

Ax2 + Ay2

Ax Ay A
x

A = 2i 3j

A = 2i 3j = 2 2 + ( 3) = 13
2

Ax
y

 > 90 o < -90 o > /2 < -/2

Ax < 0

B = i +4j -6k

A = i + 4 j 6k = 12 + 4 2 + ( 6) = 53
2

= tan 1

Ay
Ax

180o 180 o

+x
+x 0
y

C = -2i + 3j tan-1(3/-2) 180 o = 123.7 o -236.3 o

360 o 123.7 o

D = -2i - 3j tan-1(-3/-2) 180 o = -123.7 o 236.3 o

360 o -123.7 o

A
Ay

C = -2i + 3j
= 180 - 56.3
= 123.7

Ax
x

A = 2i + 3j
= 56.3

56.3

tan =

D = -2i - 3j

Ay

= -180 + 56.3
= -123.7
B = 2i - 3j

= 56.3 o = -123.7 o

Ax

tan = 1.5 = 3/2 = tan-1 (Ay/Ax) = tan-1(3/2)

tan = 3/2 Ax

= tan 1

= -56.3

56.3

180 o
A = Axi + Ayj

Ay
Ax

-90 o 90 o /2 /2

A = 2i + 3j = tan-1(3/2) = 56.3 o

1
tan
=
tan 1

Ay
Ax
Ay
Ax

Ax 0
180o

Ax < 0

B = 2i 3j = tan-1(-3/2) = -56.3 o

tan-1 x Ax

A=3

A=3

35

35
= 90 - 35 = 65

x
o

A y 35
x +x 90 o - 35 o = 65 o A = 3

A = 3cos65 o i + 3sin65 o j = 1.27i + 2.72j

+x

Ay

= 180 - 50 = 130

Ax

= 90 + 45 = 135

45

50

Ax = Acos

Ay = Asin

15

A A

A = Axi + Ayj = Acos i + Asin j

20

= -180 + 15 = -165

= -90 - 20 = -110

5 50 o

A = 5cos50 o i + 5sin50 o j = 3.21i + 3.83j

cos50 o sin50 o

10

sin0 = 0 b = 0

r b a

cos0 = 1 b = 0 a = r
sin90 o = 1 a = 0 b = r
cos90 o = 0 a = 0

0 o 90 o
sin cos

x = rcos r
a

y = rsin r

sin =

cos =

tan =

= 150

= 150 o II x

b = rsin Ay = Asin

y cos = x/r sin = y/r |cos150 o | = |x|/r

= cos 30 o = sin60 o cos150 o = cos30 o ;| sin150 o |=|y|/r = sin30 o

a = rcos Ax = Acos

sin150 o = sin30 o = cos60 o

sin210 o = -sin30 o = -cos60 o cos210 o = -cos30 o

b = atan

cos cos

a2 + b2 = r2
tan = b/a = (b/r)/(a/r)

= -sin60 o

sin(-) = -sin

sin + cos = (b/r) + (a/r) = (a + b )/r = r /r = 1

2

30

= sin /cos

cos(-) = cos

x cos = x/r y
sin = y/r

sin(90 o - ) = cos 90 o -
cos(90 o - ) = sin 90 o -

tan sin cos tan

11

12

-y

r sin cos -1 1
r tan = 90 o -90 o tan
tan = sin /cos cos 0

position r

displacement r

velocityv

accelerationa

forceF

momentump

impulseI

torque

r r = |r| r |r|
r

P (x, y, z) O P

A=

B
C

r = OP = xi + yj +zk
P position vector P
xi + yj + zk (x, y, z)

B = AC

cos = a/r a = rcos

= /

=>

A = Axi + Ayj + Azk

B = Bxi + Byj + Bzk

= / => =
= / => =
= / => =
= / => =

A + B = (Axi + Ayj + Azk) + (Bxi + Byj + Bzk)

= (Ax + Bx)i + (Ay + By)j +(Az + Bz)k

A = 2i -3kB = -i + 2j A + B = (2i + 0j 3k) + (-i + 2j + 0k) = (2 -1)i

+ (0 + 2)j + (-3 + 0)k = i + 2j 3k

x-y

13

14

B = -i +2j

A = 2i + 3j

B A
A + B

A B A + B
B
A

A + B

AB A B + BC B C
= AC A C

15

16

A = 2.00i + 3.00j m B = i + 2.00j m

C = A + B = (2.00 1.00)i + (3.00 + 2.00)j m = 1.00i + 5.00j

F1 = 2.00i + 3.00j N F2 = -i + 2.00j N

net forceresultant force F = F1 + F2 = 1.00i +
5.00j N

F1+F2

A + (B + C) = (A + B) + C

A+B=B+A

F1
F2

A = 2i + 3j 2i 3j
2i 3j A x y vector component
2 3 scalar component

3j

A = 2.00 mi + 3.00 mj
A = 2.00i + 3.00j m
(2.00 m,
3.00 m) (2.00, 3.00) m

2i

A A A = Axi + Ayj
A = -Axi AyjA = 2i 3j -A = -2i + 3j

A+B=B+A
(A + B) + C = A + (B + C)

17

18

Ay

0
0 0 0i + 0j + 0k
0

Ax

-Ay
-A

-Ax

i i i i x
1
F12 2 1 F21 1

A B A + (-B) A B
A = 2i + 3jB = i - 5jA B = A + (-B) = (2i + 3j) + (-i + 5j) = (2 1)i +
(3 (-5))j = i + 8j

2
F12 = -F21

A B = (Ax Bx)i + (Ay By)j + (Az Bz)k

A B

A = B
A = Axi + Ayj + AzkB = Bxi + Byj + Bzk A

-B

= B Ax = BxAy = By Az = Bz
A-B

A B = A + (-B)
B

Ay

B -B B A
A B = A + (-B)

Ax

A B B A
A B
By

Bx

A B A B
B A

A B A B

P1 P2 (x1, y1, z1) (x2, y2,

z2) r1 = OP1 = x1i + y1j + z1k r2 = OP2 =

19

20

x2i + y2j + z2kP2 P1 P1 P2 P1P2 =

OP2 OP1 = r2 r1 = (x2 x1)i + (y2 y1)j + (z2 z1)k OP2 = OP1
+ P1P2 r21 = r2 r1 P2 P1
P1 P2
(1) A (2, -1) B (3, 2) A
B AB = (3 2)i + (2 (-1))j = i + 3j
BA = -i 3j AB
(2) OP1 (x1 0)i + (y1 - 0)j + (z1 0)k
P1 0

ri rf
i f initial final
r = rf ri

A vA B vB B
A vBA = vB vA

(1) F1 F2 F3
equilibrium 0
F = F1 + F2 + F3 = 0 F1
F2 F3 = -F1 F2
(2) r1 r2
r3 r1 + r2 + r3 = 0 r1 r2 r3 =
- r1 - r2

2A

A/2
-A/2

-2A

aA a A a A

3i 4j 3i +x
1 -4j +y
y 4

F = ma F m
a

p = mv v

1 ij k
A A A

a A aA
A |a| A a < 0

A 1

eA = A/A = A/|A|
A k
keA = kA/A

A = 2i 6j + 2k
A = |A| =

2 2 + ( 6) + 2 2 = 44
2

eA = A/A = (2i 6j + 2k)/ 44 = 0.302i 0.905j + 0.302k

21

22

 A 5.00

1.82 2 + 4.50 2 = 4.85 km

o
o
(12) CB = tan (4.50/1.82) = 68 68 CB
o
x 180

(11) CB = |CB| =

5eA = (5.00)( 0.302i 0.905j + 0.302k) = 1.51i - 4.52j + 1.51k

-1

c 2 = a 2 + b 2 2ab cos

+x +y O
10.0 km 5.00 km A
50 o 8.00 km B
C 20 o 6.00 km

CB
CB =

sin sin
=
a
b

ab c

A(-2, 3) m B(2, 1) m F

B
y

= 5.00 N F =
?

50

C
20

5.00 km

?
x
O

10.0 km

(1)

A (10.0, 5.00) km

(2)

OA = 10.0i + 5.00j km

A B B A A
B BA = OA OB = (-2i + 3j) (2i + j) = -4i + 2j m

(3)

AB +x = 90 o + 50 o = 140 o

AB A B AB =

(4)

AB = (8.00 km)(cos140 o i + sin140 o j) = -6.13i + 5.14j km

(5)

OB = OA + AB = (10.0i + 5.00j) + (-6.13i + 5.14j)

(6)

= 3.87i + 10.14j km
B (3.87, 10.14) km

(7)

OC 90 o - 20 o = 70 o

(8)

OC = (6.00 km)(cos70 o i + sin70 o j) = 2.05i + 5.64j km

= 20 m AB

F e = AB/AB = (-4i + 2j)/ 20 = -0.894i +

0.447j F = Fe = (5.00)(-0.894i + 0.447j) = -4.47i + 2.24j N
BA = tan-1(2/-4) + 180 o = 153.4 o

BA F AB F =
F(cos153.4 o i + sin153.4 o j) = (5.00)( cos153.4 o i + sin153.4 o j) = -4.47i + 2.24j N

(9) (2.05, 5.64) km

(10) CB = OB OC = (3.87i + 10.14j) (2.05i + 5.64j) = 1.82i + 4.50j km
23

( 4 )2 + 2 2

24

A B = A// B

A B = B// A

153.4
B

A// = A cos A B B// = B cos B A

A B = 0 o cos = cos0 o = 1 A
B = 90 o cos = cos90 o = 0 0

A (1, 3,
-2) mB (2, 0, 5) m F 5.00 N

F = -0.651i + 1.95j 4.56k N

ij k
1 1 |i| = |j| = |k| = 1
ij k

i j = j i = j k = k j = k i = i k = 0

i i = |i||i|cos0 o = (1)(1)(1) = 1

A B = AB cos
A = |A|B = |B|
dot product

scalar product

j j = k k = 1

A = Axi + Ayj + AzkB = Bxi + Byj + Bzk

A B = (Axi + Ayj + Azk) ( Bxi + Byj + Bzk)

= AxBx (i i) + AxBy (i j) + AxBz (i k) + AyBx (j i) + AyBy (j j)

A B AB

+ AyBz (j k) + AzBx (k i) + AzBy (k j) + AzBz (k k)

A Bcos B Acos

A = -i + 3kB = 2i + j + 2k A B = (-i + 0j + 3k) (2i + j + 2k) = (-1)(2)

+ (0)(1) + (3)(2) = -2 + 0 + 6 = 4

A B = B A
A

A
Bcos

= AxBx + AyBy+ AzBz

= AxBx (i i) + AyBy (j j) + AzBz (k k) 0

25

A B = ABcos A B = ABcos(-) = ABcos

F
26

 r work W = F r
energy F W = 0
F = 0r = 0W 0

A(1, 0, 2)B(0, 2, 3) C(1, 4, -1) A

|A B| = ABsin

A = |A|B = |B| A B
A B

A AB = OB OA = (0-1)i + (2-0)j + (3-2)k

= -i + 2j + kAC = OC OA = (1-1)i + (4 0)j + (-1-2)k = 4j 3k

AB AC = (-i + 2j + k) (0i + 4j 3k) = (-1)(0)+(2)(4) +(1)(-3) = 5

AB = |AB| =

( 1)2 + 2 2 + 12

AC = |AC| =

0 2 + 4 2 + ( 3) = 25 = 5

= 6
2

AB AC = |AB||AC|cos
AB AC A

cos =

AB AC
=
AB AC

5
1
=
6 (5)
6

( )

A B
A B A
B A B

-1 1
1
o
A = = cos 1
= 65.9
6

B A = -(A B)

0 0
-90 o < < 90 o cos <
0 cos 0

A B = 0 o 180 o
sin o = 0 0 |A B| = ABsin
= 0 0 0

A B = 0 A B 0 A B
A B > 0A B A B < 0A B

A B A B
27

28

B A = A B

B A = -(A B)

cross product
vector product

()() = ()

() () = ()

i j = k

j k = i

k i = j

j i = -k

k j =- i

i k = -j

A = -i + 3j + 2kB = 2j 3k
A B = (-i + 3j + 2k) (2j 3k) = (-1)(2)(i j) + (-1)(-3)( i k)

+ (3)(2)(j j) + (3)(-3)(j k) + (2)(2)( k j) + (2)(-3)( k k)

() () = ()

= (-1)(2)(i j) + (-1)(-3)( i k) + (3)(-3)(j k) + (2)(2)( k j)

i j k
= -2k + 3(-j) 9i +4(-i) = -13i -3j -2k

sin0 o = 0
i i = j j = k k = 0 0

i j x y
= 90 o sin90 o = 1
| i j | = |i||j|sin90 o = (1)(1)(1) = 1

x-y-z i j
z 1

A B 0 0
A B
(A B) A = (-13i -3j -2k) (-i + 3j + 2k) = (-13)(-1) + (-3)(3)+(-2)(2)
= 13 9 4 = 0
(A B) B = (-13i -3j -2k) (0i + 2j 3k) = (-13)(0) + (-3)(2)+(-2)(-3)
=06+6=0

i j = k

29

30

ijk

ij k

A B = 1 3
0

k
2 = 13i 3j 2k

2 3

ij k j k j
k i +i

i xj=k

A B x-y
x-y z A = 2i
jB = -i + 3j A B = 6k k = 5k
z z
5k k

k xi=j

j xk=i

A B 6

z x-y
z

j x i = -k

k x j = -i

i x k = -j

ijkijk

AxB

i j k i j k

y
i xj=k

i j k i j k

i j k i j k

i j k i j k

j xk=k

i j k i j k

i j k i j k

k xi=j

i j k i j k

j x i = -k

k x j = -i

Ax B

A = Axi + Ayj + AzkB = Axi + Ayj +

Azk

A B |A B | = ABsin A
B ABsin
= A Bsin B
Asin

A B = Ax

Ay

Az = (Ay Bz Az B y )i + ( Az B x Ax Bz )j + (Ax B y Ay B x )k

Bx

By

Bz

31

i x k = -j

32

B
= Absin/2

= ABsin

A 3.00 m
D

A
A

B(8, 0, 8) m

C(0, 4, 6) m

= |A B| A

x
y

B |A B|/2

OABC OAB C
(0, 0), (3, 0), (4, 3) (1, 4))
y

A(0, 0, 3) m

C(1, 4)
O

B(4, 3)

(1)

AB = OB OA = (8i + 8k) (3k) = 8i + 5k m

(2)

AC = OC OA = (4j + 6k) (3k) = 4j + 3k m

AD AB AC
AB AC

(3)

AB AC = (8i + 5k) (4j + 3k) = (8)(4)k + (8)(3)(-j) + (5)(4)(-i)

x
O(0, 0)

= -20i 24j + 32k m2

AB AC

A(3, 0)

OABC
OAC ABC OABC

z z

(1)

OA = 3i

(2)

OC = i + 4j
OA OC = (3i) ( i + 4j) = (3)(4)(i j) = 12k

(3)
(5)

|OA OC | = 12
OAC = |OA OC |/2 = 6

(6)

AB = OB OA = (4i + 3j) 3i = i + 3j

(7)

AC = OC OA = (i + 4j) 3i =-2i + 4j
AC AB = (-2i + 4j) (i + 3j) = (-2)(3)(k) + (1)(4)(-k) = -10k
|AB AC| = 10

(4)

(8)
(9)

AC AB = -(AB AC) = 20i + 24j - 32k m2

-20i 24j + 32k z 32 AD

(10) ABC = |AB AC |/2 = 5

(11) OABC = OAC + ABC =
6 + 5 = 11
A B A B

( 20)2 + ( 24 )2 + 32 2

(4)

|AB AC| =

= 2000 = 44.7 m

(5)

AD AB AC
AC 20i 24 j + 32k
= -0.447i - 0.537j + 0.716k
eAD =
=
AC
2000

(6)

AD = (3.00 m)eAD = (3.00 m)( -0.447i - 0.537j + 0.716k)

= -1.34i 1.61j + 2.15k m

(7)
(8)
(9)

OD = OA + AD = 3k + (-1.34i 1.61j + 2.15k) = -1.34i 1.61j +5.15k m

D (-1.34, -1.61, 5.15) m

ABC =

= r Fr F
r F x-y z

33

34

v = r
r

F = qv B q v
B

0 0 0

A = (Ax, Ay, Az)

A = Axi + Ayj +
Azk

35