1. If a = 4i + j ! k, b = 3i ! 2j + 2k and c = !i ! 2j + k, calculate: (i) a + b + c; Ans. 6i ! 3j + 2k (ii) | a + b + c |; Ans. 3"5 (iii) a unit vector parallel to 2a ! b ! c but in the opposite direction. Ans. ! 97 1 (6i + 6j ! 5k) Solution:
Solving (2) and (3) simultaneously gives # = = !1. Substituting in (1) we get a consistent result. Hence the three vectors are linearly dependent.
Sheet 1 Vectors / Solutions 2 of 8 4. Let a = $ % OA ,
b = $ % OB + and c = $ % OC . Then if c = #a + b with # + = 1: (a) show that the terminal points A, B and C lie on the same straight line. (b) find the values of # and if: (i) C is the midpoint of AB; Ans. # = = ! (ii) A is the midpoint of CB; Ans. # = 2, = !1 (iii) C is one-third the distance from A to B. ans. # = 2 3 , = 1 3
Solution: (a) We have c ! !! ! b = #a + b ! b = #a + (1 !#)b ! b = #(a ! !! ! b) Hence c ! !! ! b is parallel to a ! !! ! b and since b is common then a, b and c lie along the same line. This means that A, B and C lie on the same straight line.
(b) C is the midpoint of AB if c ! !! ! a = b ! !! ! c. Hence c = ! (a + b) = ! a + ! b. Hence # = = ! (c) CB = 2AC. Hence b ! !! ! c = 2(c ! !! ! a) ! 3c = 2a + b ! c = 2 3 a + 1 3 b. Hence # = 2 3 , = 1 3
5. Points D, E and F are the mid-points of the sides BC, CA and AB, respectively , of a triangle. If a, b and c are the position vectors of the points A, B and C, respectively, show that: (a) the sum of the vectors $ % AD ,
$ % BE and $ % CF is zero; and (b) The medians have a common point P of trisection. Deduce the position of point P.
Solution: (a) The diagram represents the situation. We know that $ % AB + $ % BC + $ % CA = 0 (closed triangle) We also have $ % AD = $ % AB + $ % BD , $ % BE = $ % BC + $ % CE and $ % CF = $ % CA + $ % AF . Hence $ % AD + $ % BE + $ % CF = $ % AB + $ % BD + $ % BC + $ % CE + $ % CA + $ % AF = $ % BD + $ % CE + $ % AF = ! ( $ % AB + $ % BC + $ % CA ) = 0
(b) Let P be the point of intersection of AD and BE. Hence
$ % OP = $ % OB + # $ % BE = $ % OA + $ % AD where O is the origin outside plane.
Let a = $ % OA , b = $ % OB , c = $ % OC , d = $ % OD , e = $ % OE , f = $ % OF and p = $ % OP .
A B C O C B A F D E C B A P D E Sheet 1 Vectors / Solutions 3 of 8 p = a + (d ! a) = a + ( ! (b + c) ! a) = (1 ! )a + ! b + ! c p = b + #(e ! b) = b + #( ! (a + c) ! b) = (1 ! #)b + ! #a + ! #c
Equating for a, b and c we get, 1 ! = ! #, ! = 1 ! # and = #. Hence # = = 2 3 . Hence p = $ % OP = 1 3 a + 1 3 b + 1 3 c = 1 3
$ % OA + 1 3
$ % OB + 1 3
$ % OC .
Note that 1 3
$ % OA + 1 3
$ % OB + 1 3
$ % OC
is symmetric in A, B and C, and there was nothing special in our choice of medians. Hence a similar analysis with the other medians will lead to same result. Hence medians meet at same point.
6. (a) In a parallelogram ABCD, X is the midpoint of AB and the line DX cuts the diagonal AC at P. Writing $ % AB = a, $ % AD = b,
$ % AP = # $ % AC , $ % DP = $ % DX , express $ % AP :
(i) in terms of #, a and b; (ii) in terms of , a and b. Deduce that P is a point of trisection of both AC and DX.
(b) The resultant of two vectors a and b is perpendicular to a. If |b| = "2 |a|, show that the resultant of 2 a and b is perpendicular to b.
Solution: (a) (i) $ % AP = # $ % AC = #(b + a)
(ii) $ % AP = $ % AD + $ % DP = b + $ % DX = b + ( $ % AX ! $ % AD ) = b +( ! a ! b) = ! a + (1 ! )b
Last part: $ % AP = #a + #b = ! a + (1 ! )b (from above). Hence # = ! = 1 ! ! = 2 3 and # = 1 3 . hence $ % AP = ! a + (1 ! )b = 1 3 a + 1 3 b = 1 3 $ % AC .
A X B C D P Sheet 1 Vectors / Solutions 4 of 8 7. Two points A and B have position vectors a and b respectively relative to the origin O. Show that the position vector d of the point D, which divides the line AB internally in the ratio AD: DB as # : , is given by:
# # + + = a b d
Solution: AD : DB = # : ! $ % AD = # # + $ % AB = # # + (b ! a)
$ % DB = #
+ $ % AB = #
+ (b ! a) d = $ % OD = $ % OA + $ % AD = a + # # + (b ! a) = # # + + a b as required.
8. Obtain the acute angle between two diagonals of a cube. (N.B.: It does not matter which two diagonals to take).
Solution: | $ % AH | = | $ % FC | = "3
$ % AH & && & $ % FC = | $ % AH || $ % FC | cos ' 1 + 1 ! 1 = "3 ( "3 cos ' cos ' = 1 3
)' = 70.53
9 Given a i + 2j !3k and b 3i ! j + 2k: (a) show that the vectors a + b and a ! b are mutually orthogonal; (b) calculate the acute angle between the vectors 2a + b and a + 2b; (c) obtain a unit vector orthogonal to both a and b.
A B O D a b d F(0, 0, 1) E A(0, 0, 0) H(1, 1, 1) C(1, 1, 0) D G ' Sheet 1 Vectors / Solutions 5 of 8 10. Given that a 2i ! 3j + k, b !i + k and c 2j ! k: (a) calculate in terms of i, j and k: (i) a* ** *b (ii) b* ** *c (iii) c* ** *a (b) obtain a unit vector orthogonal to both b and c.
(b) b* ** *c = ! (2i + j + 2k) is orthogonal to both b and c. |b* ** *c | = 3 2 1 2 2 2 2 = + + . Hence 3 1 (2i + j + 2k) are two unit vectors orthogonal to both b and c.
11. The vectors a, b and c lie along the sides of the triangle ABC such that a + $ % BC , b + $ % CA , and c + $ % AB , show that a* ** *b = b* ** *c = c* ** *a and hence obtain the sine and the cosine rules for the triangle ABC.
Solution: Since a, b and c form a closed polygon then a + b + c = 0. Hence we have a = !(b + c) ! a* ** *b = !(b + c)* ** *b = !b* ** *b ! c* ** *b = b* ** *c Hence a* ** *b = b* ** *c Also c* ** *a = !c* ** *(b + c) = !c* ** *b ! c* ** *c = b* ** *c. Hence result.
For the sine rule, |a* ** *b| = |a| |b| sin (, ! -) = |a| |b| sin - = BC . CA sin - |b* ** *c| = AC . AB sin . and |c* ** *a| = AB . BC sin / Hence from result of first part, a* ** *b = b* ** *c = c* ** *a we obtain AC . AB sin . = AB . BC sin / = BC . CA sin -. Dividing by AB . BC . CA we obtain the sine rule: AC sin AB sin BC sin - / . = =
For the cosine rule, a = ! (b + c) ! a& && &a = (b + c) & && & (b + c) = b& && &b + c& && &b + b& && &c + c& && &c = b& && &b + c& && &c + 2b& && &c
BC 2 = CA 2 + AB 2 + CA.AB cos (, ! .) = CA 2 + AB 2 ! CA.AB cos .
A B C . / - b a c Sheet 1 Vectors / Solutions 6 of 8 12. Prove that for any vectors a, b and c: (i) (a* ** *b)& && &(a* ** *b) = (a& && &a)(b& && &b) ! (a& && &b) 2
15. The velocity v of a particle is related to its angular velocity 0 00 0 and its space position vector r by v 0 00 0* ** *r. If the particle has mass m, show that its kinetic energy T, given by T ! mv 2 may be expressed in the form: T = ! m(0 00 0 2 r 2 ! (0 00 0& && &r) 2 )
Solution: v 2 = | 0 00 0* ** *r | 2 = 0 00 0 2 r 2 sin 2 ' = 0 00 0 2 r 2 (1 ! cos 2 ') = 0 00 0 2 r 2 ! 0 00 0 2 r 2 cos 2 ' = 0 00 0 2 r 2 ! (0 00 0& && &r) 2
Sheet 1 Vectors / Solutions 7 of 8 16. Prove that for any vectors a, b, c, d, e and f we have: (a) (a& && &(b*c))(d& && &(e*f)) = f c e a d c f b e b d b f a e a d a & & & & & & & & &
Solution: (a) (a& && &(b*c))(d& && &(e*f)) = [a, b, c] [d, e, f] = det((a, b, c)) det ((d, e, f)) = det((a, b, c) T ) det ((d, e, f)) = det((a, b, c) T (d, e, f)) = 3 3 3 2 2 2 1 1 1 3 2 1 3 2 1 3 2 1
f e d f e d f e d c c c b b b a a a = f c e a d c f b e b d b f a e a d a & & & & & & & & &
17. The vectors a, b, c and d lie along the sides of the quadrilateral ABCD such that a = $ % DA , b = $ % AB , c = $ % BC and d = $ % CD . Show that
a 2 = b 2 + c 2 +
d 2 + 2b& && &c + 2c& && &d + 2d& && &b and, hence, show that, if the figure is coplanar (i.e. A, B, C, D lie in the same plane), then:
AD 2 = AB 2 + BC 2 + CD 2 ! 2AB.BC cos B ! 2BC.CD cosC + 2 AB.CDcos (A + D)
If the figure is skew, i.e. the sides AB and CD are not in the same plane, show that the angle ' between AB and CD is given by:
cos ' = CD AB C CD BC B BC AB CD BC AB DA . 2 cos . 2 cos . 2 2 2 2 2 + + ! ! !
Solution: First part: a + b + c + d = 0 ! a = !(b + c + d)
Hence a 2 = b 2 + c 2 + d 2 + 2b& && &c + 2c& && &d + 2d& && &b
d& && &b = CD. AD cos (A + D) (from exterior angle of a triangle theorem) b& && &c = AB. BC cos (, ! B) = ! AB. BC cos B c& && &d = BC. CD cos (, ! C) = ! BC. CD cos C
Hence
AD 2 = AB 2 + BC 2 + CD 2 ! 2AB.BC cos B ! 2BC.CD cosC + 2 AB.CDcos (A + D)
A +D A C B D d b c a , ! C , ! B , ! D Sheet 1 Vectors / Solutions 8 of 8 Second part:
b& && &d = AB. CD cos ' b& && &c = AB. BC cos (, ! B) = ! AB. BC cos B c& && &d = BC. CD cos (, ! C) = ! BC. CD cos C
From first part, we found that
2d& && &b = a 2 ! b 2 ! c 2 +
d 2 ! 2b& && &c ! 2c& && &d 2AB.CD cos ' = DA 2 ! AB 2 ! BC 2 ! CD 2 + 2AB.BC cos B + 2BC.CD cosC
Hence cos ' = CD AB C CD BC B BC AB CD BC AB DA . 2 cos . 2 cos . 2 2 2 2 2 + + ! ! !