ELE 311: Electromagnetics

Fall 2015

Lecture 1: Vector Algebra

Amer Zakaria

Week 1

This lecture is based on Dr. N. Qaddoumi lecture notes and uses material from Elements
of Electromagnetics, 6th edition by M. Sadiku and covers therein:
Chapter 1
In this lecture you will be learn how to:
Calculate unit vectors.
Perform algebraic operations on vectors.
Perform dot and cross product operations on vectors.

Important: These lecture notes are a work in progress and may contain errors and/or typos.
Please do not distribute without the authors consent.

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Lecture 1: Vector Algebra

1.1
1.1.1

Week 1

Vector Algebra
Scalars and Vectors

Definition: A scalar is a quantity that has only a magnitude. For example, mass, speed,
population, etc. are scalars.
Definition: A vector is a quantity that has both magnitude and direction. Weight (force),
velocity, electric field intensity, etc. are examples of vectors.
In this course, a vector is either a bold letter (e.g. A) or a letter with an arrow on top (e.g.
~ On the other hand, a scalar is simply represented by a letter (e.g. A).
A).

1.1.2

Unit Vector

~ has a magnitude and a direction. The magnitude of A

~ is a scalar written as |A|
~
A vector A
~ is defined as vector whose magnitude is unity. So,
or A. A unit vector a
A along A
a
A =

~
A
|
aA | = 1
~
|A|

~ Thus we can write A

~ as
The direction of a
A is the same as A.
~ = A
A
aA
~ can be written as
In Cartesian coordinates, a vector A
~ = Ax a
A
x + Ay a
y + Az a
z
~ in the x-, y-, z-directions, and a
where Ax , Ay , Az are the component of A
x , a
y , a
z are the
unit vectors in the x-, y-, z-directions.
~ is given as
The magnitude of A
~ =
|A|

q
A2x + A2y + A2z

~ = 5
Example 1.1: Find unit vector of A
ax + 6
ay + 2
az .
5
ax + 6
ay + 2
az
5
6
2
a
A =
= a
x + a
y + a
z
52 + 62 + 22
65
65
65
You can check that the magnitude of the unit vector is |
aA | = 1
Amer Zakaria

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Lecture 1: Vector Algebra

1.1.3

Week 1

Vector Addition and Subtraction

~ and B,
~ they can be related to each other in different ways.
Given two vectors A

~
These two vectors can be added together to give another vector C.

Amer Zakaria

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Lecture 1: Vector Algebra

Week 1

Note that the addition of vectors obeys the following laws:

~ =A
~+B
~ =B
~ +A
~
1. Commutative Law: C
~ + B)
~ +C
~ =A
~ + (B
~ + C)
~
2. Associative Law: (A
~ and B
~ can be subtracted from each other,
Similarly two vectors A
~B
~ =A
~ + (B)
~
A
The commutative law doesnt apply to vector subtraction, that is
~B
~ 6= B
~ A
~
A
However the magnitude of the subtractions are the same, that is
~ B|
~ = |B
~ A|
~
|A
~ is multiplied by a positive scalar k, its direction will not change, however its
If a vector A
~
magnitude will change to k|A|
~ = k|A|
~ aA
kA
~ with a negative scalar will change magnitude and direction,
But multiplying A
~ = k|A|(
~ aA )
kA

1.2

Vector Multiplication

~ and B
~ are multiplied, the result is either a scalar or a vector depending
When two vectors A
on how they are multiplied. There are two types of vector muliplication:
~ B.
~
Scalar (or dot) product: A
~ B.
~
Vector (or cross) product: A

Amer Zakaria

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Lecture 1: Vector Algebra

1.2.1

Week 1

Scalar or Dot Product of Vectors

~ and B,
~ their dot product is given as
Definition: Given two vectors A
~B
~ = |A||
~ B|
~ cos() = AB cos ,
A
where is the smallest angle between the two vectors as shown in the figure. The dot
product produces a scalar quantity.

~B
~ = 0, if A
~ = 0, B
~ = 0, or = 90 .
The dot product A
~ onto A
~ is B cos ; whereas the projection of A
~ onto B
~ is A cos .
Herein, the projection of B
The projections are shown in the figure below.

Note that the dot product obey the following laws:

~A
~ = AA cos 0 = A2 = |A||
~ A|;
~ therefore |A|
~ =
1. A

p
~ A.
~
A

~B
~ =B
~ A.
~
2. Commutative Law: A
~ (B
~ + C)
~ =A
~B
~ +A
~ C.
~
3. Distributive Law: A
To find the scalar component of a vector in a given direction, use the dot product with a
unit vector of that direction.
~ = Ax a
~ with
Example 1.2: Given A
x + Ay a
y + Az a
z . Find the x-component dot product A
a unit vector in the x-direction a
x .
~a
A
x = Ax
Amer Zakaria

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Lecture 1: Vector Algebra

Week 1

Also note that,

a
x a
x = a
y a
y = a
z a
z = 1
a
x a
y = a
y a
z = a
z a
x = 0
To find the component of a vector in a certain direction, you find the scalar component first
then give it the direction by multiplying it with the unit vector of that direction.
~ = Ax a
~ in the a
Example 1.3: Given A
x + Ay a
y + Az a
z . The vector component of A
y
~
direction is found by (A a
y )
ay = Ay a
y .

~ = 3
~ = 2
Example 1.4: Given two vectors A
ax + 2
ay + 2
az , and B
ay a
z . Find the scalar
~
~
and vector components of A in the B direction.
~ to get its direction,
First, find the unit vector of B
2
ay a
z
a
z
2
ay
a
B =
= .
22 + 12
5
5
Next, to find the scalar component of AB
~a
AB = A
B = (3
ax + 2
ay + 2
az )

2
a
a

y z
5
5

2
2
4
= =
5
5
5
~B,
Now to find A
2
~ B = (A
~a
A
B )
aB =
5
2
4
= a
y a
z
5
5

2
a
y z
5
5

Two vectors are parallel if their dot product is equal to the product of their magnitudes, i.e.
~B
~ = AB, or we can even say a
A
A a
B = 1.

Amer Zakaria

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Lecture 1: Vector Algebra

1.2.2

Week 1

Vector or Cross Product of Vectors

~ and B,
~ their cross product is given as
Definition: Given two vectors A
~B
~ = |A||
~ B|
~ sin()
A
an = AB sin
an ,
~ and B.
~ The direction of a
where a
n is the unit vector normal to the plane containing A
n can
be determined using the right-hand rule (or right-handed screw rule). Using the right-hand
rule, the right thumb is the direction of a
n when the fingers of the right hand rotate from
~
~
A to B.

Note that the cross product has the following basic properties:
~A
~ = 0.
1. A
~B
~ 6= B
~ A;
~ Anti-commutative: A
~B
~ = B
~ A.
~
2. Not Commutative: A
~ (B
~ C)
~ 6= (A
~ B)
~ C
~
3. Not associative: A
~ (B
~ + C)
~ =A
~B
~ +A
~C
~
4. Distributive: A
~ (B
~ C)
~ =B
~ (C
~ A)
~ =C
~ (A
~ B)
~ = scalar.
5. Scalar Triple Product: A
~B
~ C
~ = B(
~ A
~ C)
~ C(
~ A
~ B)
~
6. Vector Triple Product: A
Amer Zakaria

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Lecture 1: Vector Algebra

Week 1

Also note that,

a
x a
y = a
z
a
y a
z = a
x
a
z a
x = a
y .
These can be obtained by cyclic permutation as shown in the figure.

Recommended Problems from Chapter 1: 1.1 1.30.

Recommended Reading for this lecture: Read chapter 1 from M. Sadiku, Elements
of Electromagnetics, 6th edition.

References
[MS14] M. Sadiku, Elements of Electromagnetics, NY: Oxford University Press, 6th
edition, 2014, pp. 427.

Amer Zakaria

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