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Revision,

vectors and
3D space
Workshop 1
33130 Mathematics 1

Notes by Dr. Julia Memar, with acknowledgements to staff at the UTS School
of Mathematical and Physical Sciences.

UTS CRICOS
00099F
Introduction

From the subject outline:

“Contribution to the development of graduate attributes


Engineers Australia Stage 1 Competencies
This subject contributes to the development of the following Engineers Australia Stage 1
Competencies:
1.2 Conceptual understanding of the mathematics, numerical analysis, statistics, and computer and
information sciences which underpin the engineering discipline.
3.2. Effective oral and written communication in professional and lay domains.
This subject is fundamental for Mathematics and Science students as it introduces them and
contributes to the development of the most important characteristics of the modern scientist. It enables
them to understand and apply fundamental mathematical principals to scientific theories and
methodologies, to use problem-solving techniques, and to approach scientific challenges
systematically. Furthermore, it helps them ensure that their work aligns with professional standards
and ethical guidelines, and enables them to efficiently communicate scientific findings”
Content

 Vectors and 3D space

 Matrices

 Functions and derivatives

 Integration

 Complex numbers

 Differential equations

 Power series
Where we are and where we are going

8
Canvas
Assessment

 10 x Skills Development Tests: 60%


Each worth 6%, done each week in the Tutorial class starting Week 2.

 Final Examination: 40%


In the formal examination period at the end of semester. e NO 50
for exam
or more after all assessments
BUT i skills test are attempted
in official tutes
2 No excused tests
Sample Test 1

30 F

ran

sin E
Sample Test 1

11.5
1.5

i
1.5
1 131
I
15
Sample Test 1

5
30 45 I 5

x̅ rads

135
Sample Test 1
4H

E
FI i BT
i
df
da
fI
THE FEE
E KA
dB I xp
B
S
Revision of some topics of trigonometry*

 Trigonometric ratios for any angle:

𝐴(𝑥, 𝑦) is the point on the terminal side of 𝜃 where the


𝑦 terminal side intersects with the circumference. Then
𝑟 = 𝑥 + 𝑦 and we define the trigonometric ratios as
𝐴(𝑥, 𝑦) following:

𝑟
𝜃 sin 𝜃 = cos 𝜃 = tan 𝜃 =
𝑡𝑒𝑟𝑚𝑖𝑛𝑎𝑙 𝑠𝑖𝑑𝑒 𝑜𝑓 𝑎𝑛𝑔𝑙𝑒 𝜃
𝑥
𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑠𝑖𝑑𝑒 𝑜𝑓 𝑎𝑛𝑔𝑙𝑒 𝜃

cosec 𝜃 = sec 𝜃 = cot 𝜃 =


Revision of some topics of trigonometry*

𝑦  ASTC rule :

𝐵 (−1, 3)
𝐴( 2, 2)

𝑟
𝜃
𝑥
𝐶 (− 2, − 2) 𝐷( 3, −1)

Trigonometric ratios of angles are


sometimes positive and sometimes
negative. An easy way to remember
when ratios are positive is with the
ASTC rule, which can be derived
using the definitions above, or by
experimenting with a calculator.
Revision of some topics of trigonometry*

 Reference angles:
The reference angle 𝛼 is the acute angle between the terminal side of the
given angle 𝜃 and the 𝑥 −axis

 • It can be shown , that


sin 𝜃 = sin 𝛼
cos 𝜃 = cos 𝛼
tan 𝜃 = tan 𝛼
Revision of some topics of trigonometry*

 If we know the quadrant of 0° ≤ 𝜃 ≤ 360°and trig ratio of its reference


angle, we know the trig ratio of the given angle 
Revision of some topics of trigonometry*

 Radians: One radian is the angle subtended at the centre of a circle by an


arc equal in length to the radius.
 Conversion: in any circle, the ratio of circumference 𝑙 and the diameter 𝑑
is
𝑙
W r
𝑑
= 𝜋.
r
𝜃 = 1 𝑟𝑎𝑑

r Arc corresponding to 180° is ; arc corresponding to 1 𝑟𝑎𝑑 is 𝑟.


° °
Hence, =

𝑙 180° 𝑖𝑛 𝑟𝑎𝑑𝑖𝑎𝑛𝑠
÷𝑟 =
2 1 𝑟𝑎𝑑𝑖𝑎𝑛

180° 𝑖𝑛 𝑟𝑎𝑑𝑖𝑎𝑛𝑠 = 𝜋
Revision of some topics of trigonometry

 Calculate and give the exact answer for the following:


 sin

 cos 495° 495 310


for 135 is 45
ref angle
cos 135 cos 45
 tan

tan 55 tan
4M
B
Revision of some topics of trigonometry*

 Pythagoras’ identity: 𝒔𝒊𝒏𝟐 𝜽 + 𝒄𝒐𝒔𝟐 𝜽 = 𝟏

 The Sum and Difference Formulas

𝑠𝑖𝑛 𝛼 + 𝛽 = 𝑠𝑖𝑛 𝛼 𝑐𝑜𝑠 𝛽 + 𝑐𝑜𝑠 𝛼 𝑠𝑖𝑛 𝛽 𝑠𝑖𝑛 𝛼 − 𝛽 = 𝑠𝑖𝑛 𝛼 𝑐𝑜𝑠 𝛽 − 𝑐𝑜𝑠 𝛼 𝑠𝑖𝑛 𝛽
𝑐𝑜𝑠 𝛼 + 𝛽 = 𝑐𝑜𝑠 𝛼 𝑐𝑜𝑠 𝛽 − 𝑠𝑖𝑛 𝛼 𝑠𝑖𝑛 𝛽 𝑐𝑜𝑠 𝛼 − 𝛽 = 𝑐𝑜𝑠 𝛼 𝑐𝑜𝑠 𝛽 + 𝑠𝑖𝑛 𝛼 𝑠𝑖𝑛 𝛽

𝑡𝑎𝑛 𝛼 + 𝛽 = 𝑡𝑎𝑛 𝛼 − 𝛽 =

 Double angle formulas – use the above with 𝛼 = 𝛽


Revision of some topics of trigonometry

 Typical graphs : sinx

25

cosa

a
Coordinate systems z

2D y 3D 5

µ
4

1 2 3 4 5
y
1

+z
2
3
4
x 5
+x
 Rectangular (Cartesian)  Rectangular (Cartesian)
coordinate system (2D): coordinate system (3D):
right L +y

 Distance between any  Distance between any


two points 𝑥 , 𝑦 and two points 𝑥 , 𝑦 , 𝑧
𝑥 , 𝑦 is and 𝑥 , 𝑦 , 𝑧 is
𝑑=
5 91927
𝑑=
ME É f
x a 6 z e r
3D coordinate system
y
centre a b c
radius r
 Describing sets of points in 3D:
• What is the set of all points such
that distance from 𝐶(1,2,3) to the
point is 5? centre at C
There with
radius 5
and
• What is the set of all points such
that 𝑧 + 𝑥 = 0 is any
y
Vectors and scalars

 Scalar is  Vector is
quantity
a a
quantity
charact by
magnitude only by magnitude and
direction

Examples: Examples:

miss velocity
Force
time
temp
Vectors in 2D and 3D

 2D  3D

𝒃= 𝑏 , 𝑏
𝒂 = 𝑎 , 𝑎 ,𝑎

What are the components?


Draw 𝒄 = 1, −3,4

How do we draw the vector?

ftp.dint
iiIi
i
y
iiit.int
Standard basis vectors

 Any vector 𝒂 = 𝑎 , 𝑎 , 𝑎 can be expressed in terms vectors 𝚤,̂ 𝚥̂ 𝑎𝑛𝑑 𝑘:

2110103
 𝑐 = 1, −3,4 =

IF 4k
Vector between two points

 Vector between points 𝐴 𝑎 , 𝑎 , 𝑎 and 𝐵 𝑏 , 𝑏 , 𝑏 is denoted as


z
B
5

 Coordinates of the vector between points

AFF
4

3 𝐴 𝑎 , 𝑎 , 𝑎 and 𝐵 𝑏 , 𝑏 , 𝑏 are found


2 as
1

y AB 6 62 92 83 937
1 2 3 4 5
1
2
3
4
x 5  Find coordinates of the vector between
the points 𝐴 7, 0, −1 and 𝐵 −3, 2, −1

AB 1 c D
s 3
BI 4101 2 07
933
a a.az
at fatal
Properties of the vectors

For each of the vectors


𝒂 = 4,7,1 , 𝒃 = 4𝚤̂ + 7𝚥̂ + 𝑘, 𝒄 = 0,4,7,1 and 𝐝 = −4, −7, −1

 Find the magnitude:


Tfom 47

fat THAT FP 181 Icl Idl

 Are these vectors equal?

a d
Direction of a vector

 How is the direction of a vector defined?

 Coordinates: 𝒂 =< 𝒂𝟏 , 𝒂𝟐 , 𝒂𝟑 >

 Direction angles: the direction angles of 𝒂 are the angles in the interval 0, 𝜋
that 𝒂 makes with positive direction of 𝑥, 𝑦 𝑎𝑛𝑑 𝑧 axis:

in
cosa if
cos α

cos
β
cos p
Vector algebra

 Find unit vector in the direction of 𝒂 = 4,7,1 : 𝒂 =


6 6
hagnitude of latex
181
 Find 3 4,7,1 − 2 −1,0,9 =

 Find vector in the opposite direction and with half of the length of the
vector −1,0,9

C L 1 0 as 121 582 582


as C
1,0
Dot product  Dot product of two vectors 𝒂 𝐛 is
a … scalar number
 𝒂 𝒃 𝒗𝒔 𝒃 𝐚
𝒃
𝒂 a 6 191161 cost

It
• Find 3 4,7,1 2 −1,0,9
cost

• Find angle 𝜃 between


3 4,7,1 and 2 −1,0,9
Ér cosine
7 1 9
cost
I
Problems

1. Sketch a tetrahedron with vertices at the


points A(2, 0, 0), B(0, 2, 0), C(0, 0, 2),
and D(2, 2, 2).
2. Use vector methods to find the angle
between CA and DA. (Ans. 60○)

Ñc 2 0 27
ATP 28 2 2
a
IN ADI F

cost
0 cos 60
4 2
Problems

The structure of a Methane molecule CH4 is the


shape of a tetrahedron with the four hydrogen
atoms at the vertices of the tetrahedron and the
carbon atom at the centroid. The bond angle is
the angle between the lines that join the carbon
atom to two of the hydrogen atoms. Show that
the bond angle is about 109.5○ degrees.

Note that if the tetrahedron in 1 is used as the


model for this molecule, the centroid is at the
point (1,1,1).

ii a
02 1 1 17

cost 921
4 r I 50 0 095
Scalar and Vector Projections

i
𝒂
𝒂

EEE
𝒄
𝒃

am É of so
at cost

ax
a comp
proj
Problems


Homework
Resolve the vector 𝒂 = 𝚤̂ + 6𝚥̂ + 4𝑘 into two vectors, one parallel to 𝒄 = 2𝚤̂ + 2𝚥̂ + 7𝑘 ,

and one perpendicular to c.


Points in two dimensions
Any point in two dimensions can be represented by two numbers.
We usually refer to these numbers as the x and y coordinates of the point.

Any combination (x,y) is known as an


Origin ordered pair. We say that

7
We often write points in 2D space like

to designate a given point A.


The distance between two points A(x1,y1) and B(x2,y2) is

8
Points in three dimensions
Any point in three dimensions can be represented by three numbers:
the 𝑥 and 𝑦 and 𝑧 coordinates.
We draw the coordinate axes
z using the right-hand rule

Origin
2

1 y

x
We say that

9
The distance between two points
A(x1,y1,z1) and B(x2,y2,z2) is
z

Origin
2

1 y

10
A set of points is a collection of points. The sets are useful for
describing physical objects mathematically.

z
We can build a set of points in 3D using the following notation:

“The set of y
numbers x,y,z
x
which obey the
following condition:
(some condition involving x,y and z)”
In 2D: if the condition is an equation connecting x and y,
then this equation describes a curve or line: What is the set of all points
2 units away from the point C(2,1)?
e.g.

In 3D: if the condition is an equation connecting x,y, and z,


then this equation describes a surface:

12
Write set notation for a sphere of radius 3, centred at the point C(0,1,0):
z

Write set notation for a plane of constant y = 3:


z

x
Draw or describe the following surfaces:

z z

y y

x x
Vectors
A scalar quantity is completely specified by a single number Scalar quantities:

Temperature
Mass
Air pressure
Charge

A vector is specified by a magnitude and a direction Vector quantities:

Velocity
Acceleration
Electric field
Force
Vectors are used in all branches of science. From meteorology…
… to electromagnetic theory.
Everything

Scalars Vectors
More complicated
Temperature Velocity things (i.e. Tensors)
Mass Acceleration
Air pressure Electric field
Charge Force
Energy Momentum
Torque
A vector in 3D can be written in terms of its components,
Using angled brackets:

a= Vectors are usually written in bold text when typeset

Important: When writing a vector by hand,


we always put a “squiggle” underneath:
z

a
3

1 y
4

x When writing any quantity, make


sure the reader knows whether it is a
vector or a scalar!
When we don’t know what the components are, we
use subscripts to indicate which component is which:

a = < a1 , a2 , a3 >
In 2D: b = < a 1 , a2 >
z

a
a3

a1 y
a2

x
The vectors, ̂, ,̂ and 𝒌 are known as z
the coordinate axis vectors:

î ĵ y
The vectors i j and k form a complete basis,
i.e. any vector a can be expressed in terms of x
i j and k.

We can use these vectors as “building blocks” to write other vectors. E.g.

a = < 2,4,1> =

a = <-1,2,3>=
So, we can write any vector in two ways:

In this subject, unless told otherwise, you can use


either of these two notations.

When a vector represents a line joining two points A and B,


we write it as .
The magnitude, or length of the vector is written

a  a12  a22  a32


z

a
a3

a1 y
a2

x
|a| = |< 1 , 3 , 2> |=
Example for exercise: Draw, and find the magnitude of, the following vectors:

y
1. a = < 1 , -2 >

2. b = < -1 , 4, -2 > z

3. c = <1 , 2, -1, 3> x


The dot product

Definition:
The dot product between two vectors a and b is b
a

a  b  a1b1  a 2 b2  a3b3
The dot product is a scalar quantity,
and is sometimes called the scalar product or inner product.

Two vectors Scalar

Example:
a = < 1 , 0 , 3>
b = < 2 , 1 , -4>
Example 1:
Find the dot product of a = <3,1> and b = <5,0>

[Ans: 15]

Example 2:
Find the dot product of a = <2,2> and b = <-1,1>

[Ans: 0]
The dot product is commutative: The dot product of a vector with itself is

a b  b a

The dot product is distributive over vector addition:

a  b  c   a  b  a  c

For any scalar k:

a  (kb )  (ka )  b  ka  b

36
Another formula for the dot product is

b 
a  b  a b cos  a

Where  is the angle between the two vectors.

37
Another formula for the dot product is

a  b  a b cos 
Where  is the angle between the two vectors.

2
2
2
2
2
1
Why are these two formulas the same?
a  b  a b cos 
a  b  a1b1  a 2 b2  a3b3
The dot-product can be used to find the angle between two vectors. Example:
Find the angle between the vectors a = <1,-1,2> and b = <1,2,1>

a
b

40
41
42
gravity

weight

The Work done by a force on an object is defined by


z
Definition: A unit vector is a vector of length 1.
They are usually written with a “hat”
above the vector symbol.

eg:
î y
is the unit vector in the x direction.
x

Any vector can be made into a unit vector by dividing it by its own length:

a Example:
aˆ  Find the unit vector pointing in the same
a direction as a = <-1,2,3>

49
The coordinate vectors, ̂, ,̂ and 𝒌
are all unit vectors z

î ĵ y

x
We can write any vector in two ways:

The vector component

is called the projection of a onto the x axis.

51
Can we do this in other directions?

The scalar projection of a vector a onto a vector b is

This quantity tells us how much of the vector 𝒂


is pointing in the direction given by 𝒃.
b

52
Example:
A 10,000 kg truck is on a 30 degree incline. Compute the magnitude of the force due to
gravity pulling the truck downhill.

53
The scalar projection gives the magnitude of the force.
What if we want the force itself, which is a vector?

54
Example:
The vector projection of a onto b is
In the previous example, we had
and found

What is the vector force acting down the slope?

b
projba

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