Ilovepdf Merged 1
Ilovepdf Merged 1
Ilovepdf Merged 1
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
Matrices
Integration
Complex numbers
Differential equations
Power series
Where we are and where we are going
8
Canvas
Assessment
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*
𝑟
𝜃 sin 𝜃 = cos 𝜃 = tan 𝜃 =
𝑡𝑒𝑟𝑚𝑖𝑛𝑎𝑙 𝑠𝑖𝑑𝑒 𝑜𝑓 𝑎𝑛𝑔𝑙𝑒 𝜃
𝑥
𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑠𝑖𝑑𝑒 𝑜𝑓 𝑎𝑛𝑔𝑙𝑒 𝜃
𝑦 ASTC rule :
𝐵 (−1, 3)
𝐴( 2, 2)
𝑟
𝜃
𝑥
𝐶 (− 2, − 2) 𝐷( 3, −1)
Reference angles:
The reference angle 𝛼 is the acute angle between the terminal side of the
given angle 𝜃 and the 𝑥 −axis
𝑙 180° 𝑖𝑛 𝑟𝑎𝑑𝑖𝑎𝑛𝑠
÷𝑟 =
2 1 𝑟𝑎𝑑𝑖𝑎𝑛
180° 𝑖𝑛 𝑟𝑎𝑑𝑖𝑎𝑛𝑠 = 𝜋
Revision of some topics of trigonometry
tan 55 tan
4M
B
Revision of some topics of trigonometry*
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 =
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
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
ftp.dint
iiIi
i
y
iiit.int
Standard basis vectors
2110103
𝑐 = 1, −3,4 =
IF 4k
Vector between two points
AFF
4
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
a d
Direction of a vector
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 vector in the opposite direction and with half of the length of the
vector −1,0,9
It
• Find 3 4,7,1 2 −1,0,9
cost
Ñc 2 0 27
ATP 28 2 2
a
IN ADI F
cost
0 cos 60
4 2
Problems
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 ,
7
We often write points in 2D space like
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.
12
Write set notation for a sphere of radius 3, centred at the point C(0,1,0):
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
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
3
1 y
4
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:
k̂
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:
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
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.
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
a b c a b a c
a (kb ) (ka ) b ka b
36
Another formula for the dot product is
b
a b a b cos a
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
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
k̂
î ĵ y
x
We can write any vector in two ways:
51
Can we do this in other directions?
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
b
projba