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2 Vectors in R3
A vector is a line segment with a direction. A point P = (x1 , x2 , x3 ) uniquely cor-
responds to v = OP ~ , which visualized geometrically as the arrow pointing from the
origin O to the point P . In this way, there is one-to-one correspondence between
the vectors v in R3 and the points P ∈ R3 (as well as an ordered 3-tuple of real
numbers (x1 , x2 , x3 )). In this course, we usually do not distinguish the point P ,
an ordered 3-tuple of real numbers (x1 , x2 , x3 ), as well as the vector v. We also
use R3 to denote the set of vectors v in the space. On R3 , we can do addition
v + w = (x1 + y1 , x2 + y2 , x3 + y3 ), if v = (x1 , x2 , x3 ), w = (y1 , y2 , y3 ), and scalar
multiplication λv = (λx1 , λx2 , λx3 ) if v = (x1 , x2 , x3 ). The set R3 forms a vector
space with the addition and scalar multiplication defined above.
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3 The dot product in R3
Definition 1.2 The dot product of two vectors v = (x1 , x2 , x3 ), w = (y1 , y2 , y3 ) is
defined as
v · w = x 1 y1 + x2 y2 + x3 y3 .
(a) kvk2 = v · v;
(b) v · w = kvkkwk cos θ, where θ is angle between v and w;
(c) v · w = 0 if and only if v and w are orthogonal;
(d) |v · w| ≤ kvkkwk (Schwarz inequality);
(e) v · w = w · v;
(f) u · (v + w) = u · v + u · w;
(g) kv + wk ≤ kvk + kwk (the triangle inequality).
v × w = (x2 y3 − x3 y2 , x3 y1 − x1 y3 , x1 y2 − x2 y1 ).
kv × wk = kvkkwk sin θ,
2
Let i = (1, 0, 0), j = (0, 1, 0), k = (0, 0, 1). Then we have (called the right-hand
rule)(Click here to see the right-hand rule)
(1.1) i × j = k, k × i = j, j × k = i.
We can use (1.1) to calculate the cross product. For example, to calculate v × w
for v = (1, 2, 3), w = (2, 5, 1), we write v = i + 2j + 3k, w = 2i + 5j + k, then, using
(1.1) and the fact that i × i = j × j = k × k = 0, we have
3
Similarily, we define the integration of u(t) over [a, b] as
!
Z b Z b Z b Z b
u(t)dt = x1 (t)dt, x2 (t)dt, x3 (t)dt .
a a a a