CHAPTER 51 SCALAR AND VECTOR PRODUCTS

EXERCISE 216 Page 591

1. Find the scalar product a b when (i) a = i + 2j k and b = 2i + 3j + k

(ii) a = i 3j + k and b = 2i + j + k

(a) a b = (1)(2) + (2)(3) + (1)(1) = 7

(b) a b = (1)(2) + (3)(1) + (1)(1) = 2 3 + 1 = 0

2. Given p = 2i 3j, q = 4j k and r = i + 2j 3k, determine: (a) p q (b) p r

(a) p q = (2)(0) + (3)(4) + (0)(1) = 12

(b) p r = (2)(1) + (3)(2) + (0)(3) = 2 6 = 4

3. Given q = 4j k and r = i + 2j 3k, determine: (a) q r (b) r q

(a) q r = (0)(1) + (4)(2) + (1)(3) = 0 + 8 + 3 = 11

(b) r q = (1)(0) + (2)(4) + (3)(1) = 0 + 8 + 3 = 11

4. Given p = 2i 3j and r = i + 2j 3k, determine: (a) p (b) r

(a) p = ( (2) 2
)
+ (3) 2 + (0) 2 = 13

(b) r = ( (1) 2
)
+ (2) 2 + (3) 2 = 14

5. Given p = 2i 3j, q = 4j k and r = i + 2j 3k, determine: (a) p (q + r) (b) 2r (q 2p)

(a) p ( q + r ) = (2i 3j)(4j k + i + 2j 3k) = (2i 3j)( i + 6j 4k)

= (2)(1) + (3)(6) + (0)(4) = 2 18 + 0 = 16

(b) 2r (q 2p) = (2i + 4j 6k) (4j k 2(2i 3j)) = (2i + 4j 6k) ( 4i + 10j k)
886 2014, John Bird
 = (2)(4) + (4)(10) + (6)(1)
= 8 + 40 + 6 = 38

6. Given p = 2i 3j, q = 4j k and r = i + 2j 3k, determine: (a) p + r (b) p + r

(a) p + r = ( (2 + 1) 2
)
+ (3 + 2) 2 + (0 3) 2 = 19

(b) p + r = ( (2) 2
)
+ (3) 2 + (0) 2 + ((1) + ( 2) + ( 3) ) =
2 2 2
13 + 14 = 7.347

7. Given p = 2i 3j, q = 4j k and r = i + 2j 3k, find the angle between (a) p and q (b) q and r

a1b1 + a2b2 + a3b3

(a) From equation (4), page 589, cos =
a + a2 2 + a32 b12 + b2 2 + b32
1
2

(2)(0) + (3)(4) + (0)(1) 12

= = = 0.8072
2 + (3) + 0
2 2 2
0 + 4 + (1)
2 2 2
13 17

from which, = cos 1 (0.8072) = 143.82

(0)(1) + (4)(2) + (1)(3) 11

(b) cos = = = 0.713024
0 + 42 + (1) 2 12 + 22 + (3) 2
2
17 14

from which, = cos 1 (0.713024) = 44.52

8. Given p = 2i 3j, q = 4j k and r = i + 2j 3k, determine the direction cosines of:

(a) p (b) q (c) r

2 2 3 0
=
(a) For p, cos = = 0.555, cos = = 0.832 and cos = =0
2 + (3) 2
2
13 13 13

0 0 4 1
=
(b) For q, cos = = 0, cos = = 0.970 and cos = = 0.243
4 + (1) 2
2
17 17 17

1 1 2
=
(c) For r, cos = = 0.267, cos = = 0.535
1 + 2 + (3) 2
2 2
14 14
3
and cos = = 0.802
14

887 2014, John Bird

9. Determine the angle between the forces: F1 = 3i + 4j + 5k and F2 = i + j + k

(3)(1) + (4)(1) + (5)(1) 12

cos = = = 0.979795...
32 + 42 + 52 12 + 12 + 12 50 3

from which, = cos 1 (0.979795...) = 11.54

10. Find the angle between the velocity vectors v 1 = 5i + 2j + 7k and v2 = 4i + j k

(5)(4) + (2)(1) + (7)(1) 15

cos = = = 0.40032
52 + 22 + 7 2 42 + 12 + (1) 2 78 18

from which, = cos 1 (0.40032) = 66.40

11. Calculate the work done by a force F = (5i + j + 7k) N when its point of application moves from

point (2i 6j + k) m to the point (i j + 10k) m.

Work done = F d where d = (i j + 10k) (2i 6j + k)

= 3i + 5j + 9k

Hence, work done = (5i + j + 7k) (3i + 5j + 9k)

= 15 + 5 + 63 = 53 N m

888 2014, John Bird

EXERCISE 217 Page 594

1. Given p = 3i + 2k, q = i 2j + 3k and r = 4i + 3j k determine:

(a) p q (b) q p

i j k
0 2 3 2 3 0
(a) p q = 3 0 2 = i j +k = 4i 7j 6k
2 3 1 3 1 2
1 2 3

i j k
2 3 1 3 1 2
(b) q p = 1 2 3 = i j +k = 4i + 7j + 6k
0 2 3 2 3 0
3 0 2

2. Given p = 3i + 2k, q = i 2j + 3k and r = 4i + 3j k determine:

(a) p r (b) r q

( p p )( r r ) ( p r ) where p p = (3)(3) + (2)(2) = 13,

2
(a) p r =

r r = (4)(4) + (3)(3) + (1)(1) = 26

and p r = (3)(4) + (0)(3) + (2)(1) = 14

Hence, pr = (13)(26) (14)

= 2
(338 196)
= 142 = 11.92

( r r )( q q ) ( r q ) where r r = (4)(4) + (3)(3) + (1)(1) = 26,

2
(b) r q = =

q q = (1)(1) +(2)(2) + (3)(3) = 14

and r q = (4)(1) + (3)(2) + (1)(3) = 13

Hence, rq = (26)(14) (13)

= 2
(364 169)
= 195 = 13.96

3. Given p = 3i + 2k, q = i 2j + 3k and r = 4i + 3j k determine:

(a) 2p 3r (b) (p + r) q

(a) 2p = 2(3i + 2k) = 6i + 4k and 3r = 3( 4i + 3j k) = 12i + 9j 3k

889 2014, John Bird

 i j k
0 4 6 4 6 0
Hence, 2p 3r = 6 0 4 =i j +k = 36i 30j + 54k
9 3 12 3 12 9
12 9 3

(b) p + r = 3i + 2k + ( 4i + 3j k) = i + 3j + k

i j k
3 1 1 1 1 3
Hence, (p + r) q = 1 3 1 =i j +k = 11i + 4j k
2 3 1 3 1 2
1 2 3

4. Given p = 3i + 2k, q = i 2j + 3k and r = 4i + 3j k determine:

(a) p (r q) (b) (3p 2r) q

i j k
(a) r q = 4 3 1 = 7i + 11j + 5k
1 2 3
i j k
Hence, p (r q) = 3 0 2 = (22)i (1)j + (33)k = 22i j + 33k
7 11 5
i j k
(b) 3p 2r = 9 0 6 = (36)i (18 + 48)j + (54)k = 36i 30j + 54k
8 6 2

i j k
(3p 2r) q = 36 30 54 = (90 + 108)i (108 54)j + (72 + 30)k
1 2 3
= 18i + 162j + 102k

5. For vectors p = 4i j + 2k and q = 2i + 3j 2k determine

(i) p q (ii) p q (iii) p q (iv) q p and (v) the angle between the vectors

(i) p q = (4)( 2) + (1)(3) +(2)(2) = 15

i j k
(ii) p q = 4 1 2 = i ( 2 6 ) j( 8 + 4) + k(12 2) = 4i + 4 j + 10k
2 3 2

(iii) p p = (4)(4) + (1)(1) + ( 2 )( 2 ) = 21

890 2014, John Bird

 q q = (2)(2) + (3)(3) + (2)(2) = 17

p q = (4)(2) + (1)(3) + ( 2 )( 2 ) = 15

pq = ( 21)(17 ) ( 15=
)
2
( 357 225
= ) 132 = 11.49

k i j
(iv) q p = 2 3 2 = i ( 6 2 ) j( 4 + 8) + k(2 12) = 4i 4 j 10k
4 1 2

(4)(2) + (1)(3) + ( 2 ) (2) 15

(v) cos = = = 0.793884...
(4) 2 + (1) 2 + ( 2 )
2
(2) 2 + (3) 2 + (2) 2 21 17

from which, = cos 1 (0.793884...) = 142.55

1
6. For vectors a = 7i + 4j + k and b = 6i 5j k find
2

(i) a b (ii) a b (iii) a b (iv) b a and (v) the angle between the vectors

1 1
(i) a b = (7)(6) + (4)(5) + ( )(1) = 62
2 2
i j k
1 5 1
(ii) a b = 7 4 = i 4 + j(7 3) + k(35 24) = 1 i 4 j + 11k
2 2 2
6 5 1

1 1
(iii) a a = (7)(7) + (4)(4) + = 65.25
2 2
b b = (6)(6) + (5)(5) + (1)(1) = 62
1
a b = (7)(6) + (4)(5) + ( 1) = 62.5
2

ab = ( 65.25 )( 62 ) ( 62.5
= )
2
( 4045.5 3906.25
= ) 139.25 = 11.80

i j k
5 1
(iv) b a = 6 5 1 = i + 4 j(3 7) + k(24 35) = 1 i + 4 j 11k
2 2
1
7 4
2

891 2014, John Bird

 1
(7)(6) + (4)(5) + (1)
2 62.5
(v) cos = = = 0.9826388
2
1 65.25 62
(7) 2 + (4) 2 + (6) 2 + (5) 2 + (1) 2
2

from which, = cos 1 (0.9826388) = 169.31

7. Forces of (i + 3j), ( 2i j), (i 2j) newtons act at three points having position vectors of (2i + 5j),

4j and (i + j) metres, respectively. Calculate the magnitude of the moment.

Magnitude of the moments = the sum of the magnitudes of the three forces

When position vector, r = 2i + 5j and F = i + 3j

( r r )( F F ) ( r F )
2
Magnitude of M, M = r F =

where r r = (2)(2) + (5)(5) +(0)(0) = 29

F F = (1)(1) + (3)(3) +(0)(0) = 10
r F = (2)(1) + (5)(3) + (0)(0) = 17

( 29 )(10 ) (17 )
2
i.e. M = =1Nm

When position vector, r = 4j and F = 2i j

( r r )( F F ) ( r F )
2
Magnitude of M, M = r F =

where r r = (0)(0) + (4)(4) +(0)(0) = 16

F F = ( 2)(2) + (1)(1) +(0)(0) = 5
r F = (0)(2) + (4)(1) + (0)(0) = 4

(16 )( 5) ( 4 )
2
i.e. M = =8Nm

When position vector, r = i + j and F = i 2j

( r r )( F F ) ( r F )
2
Magnitude of M, M = r F =

where r r = (1)(1) + (1)(1) + (0)(0) = 2

F F = (1)(1) + (2)(2) + (0)(0) = 5

892 2014, John Bird

 r F = (1)(1) + (1)(2) + (0)(0) = 3

( 2 )( 5) ( 3)
2
i.e. M = =1Nm

Hence, magnitude of the moment = 1 + 8 + 1 = 10 N m

8. A force of (2i j + k) newtons acts on a line through point P having coordinates (0, 3, 1) metres.

Determine the moment vector and its magnitude about point Q having coordinates (4, 0, 1)

metres.

Position vector, r = (0i + 3j + k) (4i + 0j k) = 4i + 3j + 2k

i j k
Moment, M = r F where M = 4 3 2 = (3 + 2)i (4 4)j + (4 6)k
2 1 1
= (5i + 8j 2k) N m

( r r )( F F ) ( r F )
2
Magnitude of M, M = r F =

where r r = (4)(4) + (3)(3) + (2)(2) = 29

F F = (2)(2) + (1)(1) +(1)(1) = 6
r F = (4)(2) + (3)(1) +(2)(1) = 9

( 29 )( 6 ) ( 9 )
2
i.e. M = = 9.64 N m

9. A sphere is rotating with angular velocity about the z-axis of a system, the axis coinciding with

the axis of the sphere. Determine the velocity vector and its magnitude at position

(5i + 2j 7k) m, when the angular velocity is (i + 2j) rad/s.

i j k
Velocity vector, v = r = (i + 2j ) (5i + 2j 7k) = 1 2 0
5 2 7

= (14 0)i ( 7 0)j + (2 + 10)k

= 14i + 7j + 12k

893 2014, John Bird

 ( )( r r ) ( r )
2
Magnitude of v, v =

where = (1)(1) + (2)(2) + (0)(0) = 5

r r = ( 5)(5) + (2)(2) + (7)(7) = 78

r = (5)(1) + (2)(2) + (7)(0) = 1

( 5)( 78) ( 1)
2
Hence, v = = 19.72 m/s

10. Calculate the velocity vector and its magnitude for a particle rotating about the z-axis at an

angular velocity of (3i j + 2k) rad/s when the position vector of the particle is at (i 5j + 4k) m.

i j k
Velocity vector, v = r = (3i j + 2k) (i 5j + 4k) = 3 1 2
1 5 4

= (4 + 10)i (12 2)j + (15 + 1)k

= 6i 10j 14k

( )( r r ) ( r )
2
Magnitude of v, v =

where = (3)(3) + (1)(1) + (2)(2) = 14

r r = (1)(1) + (5)(5) + (4)(4) = 42
r = (1)(3) + (5)(1) + (4)(2) = 16

(14 )( 42 ) (16 )
2
Hence, v = = 18.22 m/s

894 2014, John Bird

EXERCISE 218 Page 596

1. Find the vector equation of the line through the point with position vector 5i 2j + 3k which is

parallel to the vector 2i + 7j 4k. Determine the point on the line corresponding to = 2 in the

resulting equation.

Vector equation of the line, r = a + b = (5i 2j + 3k) + (2i + 7j 4k)

i.e. r = (5 + 2)i + (7 2)j + (3 4)k

When = 2, r = 9i + 12j 5k

2. Express the vector equation of the line in Problem 1 in standard Cartesian form.

The vector equation of a straight line in standard Cartesian form is:

x a1 y a2 z a3
= = =
b1 b2 b3

Since a = 5i 2j + 3k, a1 =
5, a2 =
2 and a3 =
3

and b = 2i + 7j 4k, b1 = 2, b2 = 7 and b3 = 4

x 5 y + 2 z 3 x 5 y + 2 3 z
then the Cartesian equations are: = = = or = = =
2 7 4 2 7 4

3x 1 5 y + 1 4 z
3. Express in vector form: = =
4 2 3

1 1
3 x 5 y +
3x 1 5 y + 1 4 z 3 5 1( z 4 )
= = i.e. = =
4 2 3 4 2 3

1 1
x y+ ( z 4)
i.e. = 3
=
5
4 2 3
3 5

1 1
i.e. a1 = , a2 =
and a3 =
4
3 5

895 2014, John Bird

 4 2
and b1 = , b2 = and b3 = 3
3 5

Hence, in vector form the equation is:

r = ( a1 + b1 ) i + ( a2 + b2 ) j + ( a3 + b3 ) k

1 4 1 2
= + i + + j + ( 4 3 ) k
3 3 5 5

1 1
or r= (1 + 4 ) i + ( 2 1) j + ( 4 3 ) k
3 5

1 4 y 3z 1
4. Express in vector form: 2x + 1 = =
5 4

1 1 1
x+ y z
2 x + 1 1 4 y 3z 1 2 = 4 3
= = i.e. =
1 5 4 1 5 4

2 4 3
1 1 1
i.e. a1 =
, a2 = and a3 =
2 4 3
1 5 4
and b1 = , b2 =
and b3 =
2 4 3

Hence, in vector form the equation is:

r = ( a1 + b1 ) i + ( a2 + b2 ) j + ( a3 + b3 ) k

1 1 1 5 1 4
= + i + j + + k
2 2 4 4 3 3

1 1 1
or r= ( 1) i + (1 5 ) j + (1 + 4 ) k
2 4 3

896 2014, John Bird