Chapter 3

Vectors

Phys1101_144510_IMSIU
3.1 Coordinate Systems
• In order to describe a position in space, a coordinate system is required.

• In two dimensions, we can deal with two coordinate systems:

1. The Cartesian (or rectangular) coordinate system: in which points are characterized by the rectangular coordinates (𝑥, 𝑦)

2. The polar coordinate system: in which points are characterized by the polar coordinates (𝑟, 𝜃)

• The figure below shows the rectangular and polar coordinates. Notice the simple trigonometric relations between them.

• Therefore, we can obtain the polar coordinates using rectangular

𝑦
coordinates as follows: 𝑟= 𝑥 2 + 𝑦2 and 𝜃 = tan−1
𝑥

• Similarly, we can obtain the rectangular coordinates from polar

coordinates using the relations: 𝑥 = 𝑟 cos 𝜃 and 𝑦 = 𝑟 sin 𝜃

Example 3.1
The Cartesian coordinates of a point in the 𝑥𝑦 plane are (𝑥, 𝑦) = (−3.50, −2.50) m. Find the polar coordinates of this point. 2
Phys1101_144510_IMSIU
3.2 Vector and Scalar Quantities
• A scalar quantity has no direction. It can be completely specified by a single value.
Examples: mass, temperature, time, volume, speed.

• A vector quantity has a direction in addition to its value (magnitude).

Example: Consider the movement of a particle from point A to point B (along the dashed curve) as in the figure below.
The displacement is a vector quantity that has:
(1) a magnitude that equals the length of the straight line connecting the two points (black arrow)
(2) a direction, as indicated by the head of the black arrow.

Examples for vector quantities: displacement, velocity, acceleration, force.

Ԧ They can also be represented by a bold letter (e.g. 𝑨), or both a

• Vectors are commonly represented by an arrow above the letter (e.g. 𝐴).
bold letter and an arrow (e.g. 𝑨).

• The magnitude of a vector 𝐴Ԧ is written as 𝐴 (without the arrow or boldness). 3

Phys1101_144510_IMSIU
3.3 Some Properties of Vectors
Equality of Two Vectors
• If two vectors have the same magnitude and direction, they can be considered equal

(even if they have different starting points). The four vectors in the figure on the

right are equal because they have equal lengths and point in the same direction.

• This property allows you to think of a vector as a sticky notes arrow that can be

moved from one place to another on a paper plane while keeping its original

direction.

4
Phys1101_144510_IMSIU
Adding Vectors
• Addition of two vectors 𝑅 = 𝐴Ԧ + 𝐵 is graphically shown in the • Vector addition can be shown to be commutative, i.e. 𝐴Ԧ + 𝐵 = 𝐵 + 𝐴Ԧ

Ԧ then add 𝐵 starting from the

figure below. First draw 𝐴,

Ԧ
endpoint of 𝐴.

• Vector addition can also be shown to be associative, i.e.

• The vector addition process can be extended to more vectors
𝐴Ԧ + (𝐵 + 𝐶)
Ԧ = (𝐴Ԧ + 𝐵) + 𝐶Ԧ
as shown in the figure below.

5
Phys1101_144510_IMSIU
Negative of a Vector

• The negative of a vector 𝐴Ԧ is the vector that when added to 𝐴Ԧ gives a vector sum of zero, i.e. 𝐴Ԧ + −𝐴Ԧ = 0.

• The vectors 𝐴Ԧ and its negative vector −𝐴Ԧ have the same magnitude but opposite directions.

Subtracting Vectors

• Vector subtraction 𝐴Ԧ − 𝐵 is defined as the addition of 𝐴Ԧ and −𝐵, i.e.

𝐴Ԧ − 𝐵 = 𝐴Ԧ + −𝐵

• Graphically, 𝐴Ԧ − 𝐵 is the difference vector that you need to add to the

endpoint of 𝐵 in order to reach the tip of 𝐴Ԧ as shown in the figure.

6
Phys1101_144510_IMSIU
Multiplying a Vector by a Scalar
• If a vector 𝐴Ԧ is multiplied by a positive scalar 𝑚, the product 𝑚𝐴Ԧ will be a vector which has the same direction of 𝐴Ԧ and whose

magnitude is 𝑚𝐴.

• If a vector 𝐴Ԧ is multiplied by a negative scalar 𝑚, the product 𝑚𝐴Ԧ will be a vector which has a direction that is opposite to 𝐴Ԧ and whose

magnitude is 𝑚𝐴.

Quick Quiz 3.2

The magnitude of two vectors 𝐴Ԧ and 𝐵 are 𝐴 = 12 units and 𝐵 = 8 units. Which pair of numbers represent the largest and smallest possible
values for the magnitude of the resultant vector 𝑅 = 𝐴Ԧ + 𝐵?
(a) 14.4 units, 4 units (b) 12 units, 8 units (c) 20 units, 4 units (d) None of these answers

7
Phys1101_144510_IMSIU
Quick Quiz 3.3
If vector 𝐵 is added to vector 𝐴,Ԧ which two of the following choices must be true for the resultant vector to be equal to zero?
(a) 𝐴Ԧ and 𝐵 are parallel and in the same direction.
(b) 𝐴Ԧ and 𝐵 are parallel and in opposite directions.
(c) 𝐴Ԧ and 𝐵 have the same magnitude.
(d) 𝐴Ԧ and 𝐵 are perpendicular.

Example 3.2
A car travels 20.0 km due north and then 35.0 km in a direction 60.0o west of north. Find the magnitude and direction of the car’s resultant
displacement.

8
Phys1101_144510_IMSIU
3.4 Components of a Vector and Unit Vectors
• Graphical addition/subtraction of vectors is NOT recommended when high
accuracy is required.
• A more accurate method is to use the projections of vector along coordinate
axes. A vector can be decomposed into its 𝑥 -component 𝐴Ԧ𝑥 and 𝑦 -
component 𝐴Ԧ𝑦 .
• Look at the figure on the right and confirm that all the following relations
are correct:
𝐴Ԧ𝑥 + 𝐴Ԧ𝑦 = 𝐴Ԧ

𝐴𝑦
𝐴𝑥 = 𝐴 cos 𝜃 , 𝐴𝑦 = 𝐴 sin 𝜃 , 𝐴= 𝐴2𝑥 + 𝐴2𝑦 , 𝜃 = tan−1
𝐴𝑥

• Note also that the signs of the components 𝐴𝑥 and 𝐴𝑦 depend on the angle 𝜃 (which is measured
from the positive 𝑥-axis). For example, if 𝜃 = 120o, 𝐴𝑥 is negative and 𝐴𝑦 is positive. If 𝜃 = 225o,
both 𝐴𝑥 and 𝐴𝑦 are negative. The figure on the right summarizes the signs of 𝐴𝑥 and 𝐴𝑦 in the
different quadrants of the 𝑥𝑦 plane.

Quick Quiz 3.4

Choose the correct response to make the following sentence true: A component of a vector is (a) always, (b) never, or (c) sometimes larger
than the magnitude of the vector. 9
Phys1101_144510_IMSIU
Unit Vectors
• Any vector that has the following two properties is called a unit vector:

1. It has a magnitude of 1.

2. It has no unit (i.e. has no physical significance)

• Unit vectors are used to specify a given direction only.

• A unit vector pointing along the positive 𝑥-axis is labelled 𝑖.Ƹ

• A unit vector pointing along the positive 𝑦-axis is labelled 𝑗.Ƹ

෠
• A unit vector pointing along the positive 𝑧-axis is labelled 𝑘.

• The 𝑖,Ƹ 𝑗,Ƹ and 𝑘෠ vectors form a set of mutually perpendicular unit vectors in a right-handed coordinate system as shown in the figure

above (part a). Therefore, the unit-vector notation of the vector 𝐴Ԧ in the figure (part b) is: 𝐴Ԧ = 𝐴𝑥 𝑖Ƹ + 𝐴𝑦 𝑗.Ƹ

• Addition, subtraction and scalar multiplication of vectors can be performed by performing these operations separately on the 𝑥-, 𝑦-

and 𝑧-components.
10
Phys1101_144510_IMSIU
Quick Quiz 3.5
For which of the following vectors is the magnitude of the vector equal to one of the components of the vector?
(a) 𝐴Ԧ = 2𝑖Ƹ + 5𝑗Ƹ (b) 𝐵 = −3𝑗Ƹ (c) 𝐶Ԧ = +5𝑘෠

Example 3.3
Find the sum of two displacement vectors 𝐴Ԧ and 𝐵 lying in the 𝑥𝑦 plane and given by: 𝐴Ԧ = 2.0𝑖Ƹ + 2.0𝑗Ƹ m and 𝐵 = 2.0𝑖Ƹ − 4.0𝑗Ƹ m

Example 3.4
A particle undergoes three consecutive displacements: Δ𝑟1 = 15𝑖Ƹ + 30𝑗Ƹ + 12𝑘෠ cm, Δ𝑟2 = 23𝑖Ƹ − 14𝑗Ƹ − 5𝑘෠ cm, and Δ𝑟3 = −13𝑖Ƹ + 15𝑗Ƹ cm.
Find unit-vector notation for the resultant displacement and its magnitude.

Example 3.5
A hiker begins a trip by walking 25.0 km southeast from the origin in the first day. On the second day, she walks 40.0 km in a direction
60.0o north of east.
(a) Determine the components of the hiker’s displacement for each day.
(b) Determine the components of the hiker’s resultant displacement 𝑅 for the trip. Find an expression for 𝑅 in terms of unit vectors.
11
Phys1101_144510_IMSIU