CHAPTER 1

FUNDAMENTAL CONCEPTS: VECTORS

K K
1.1 (a) A + B = (iˆ + ˆj ) + ( ˆj + kˆ) = iˆ + 2 ˆj + kˆ
K K 1
A + B = (1 + 4 + 1) 2 = 6

K K
(b) 3 A − 2 B = 3(iˆ + ˆj ) − 2( ˆj + kˆ) = 3iˆ + ˆj − 2kˆ
K K
(c) A ⋅ B = (1)(0) + (1)(1) + (0)(1) = 1

iˆ ˆj kˆ
K K
(d) A × B = 1 1 0 = iˆ(1 − 0) + ˆj (0 − 1) + kˆ(1 − 0) = iˆ − ˆj + kˆ
0 1 1

K K 1
A × B = (1 + 1 + 1) 2 = 3

K K K
( )( )
1.2 (a) A ⋅ ( B + C ) = 2iˆ + ˆj ⋅ iˆ + 4 ˆj + kˆ = (2)(1) + (1)(4) + (0)(1) = 6

K K K
( A + B ) ⋅ C = ( 3iˆ + ˆj + kˆ ) ⋅ 4 ˆj = (3)(0) + (1)(4) + (1)(0) = 4
2 1 0
K K K
(b) A ⋅ ( B × C ) = 1 0 1 = −8
0 4 0

K K K K K K
( A × B ) ⋅ C = A ⋅ ( B × C ) = −8
K K K K K K K K K
( ) ( )
(c) A × ( B × C ) = ( A ⋅ C ) B − ( A ⋅ B ) C = 4 iˆ + kˆ − 2 4 ˆj = 4iˆ − 8 ˆj + 4kˆ

K K K K K K K K K K K K
( A × B ) × C = −C × ( A × B ) = − ( C ⋅ B ) A − ( C ⋅ A) B 
= − 0 ( 2iˆ + ˆj ) − 4 ( iˆ + kˆ )  = 4iˆ + 4kˆ
 

1
 K K
A ⋅ B (a )(a ) + (2a )(2a) + (0)(3a) 5a 2
1.3 cos θ = = = 2
AB 5a 2 14a 2 a 5 14

5
θ = cos −1 ≈ 53°
14

1.4
K
(a) A = iˆ + ˆj + kˆ : body diagonal
K K
A = A⋅ A = iˆ ⋅ iˆ + ˆj ⋅ ˆj + kˆ ⋅ kˆ = 3
K
(b) B = iˆ + ˆj : face diagonal
K K
B = B⋅B = 2

iˆ ˆj kˆ
K K K
(c) C = A × B = 1 1 1
1 1 0

K K
A⋅ B 1−1
(d) cos θ = = =0 ∴θ = 90D
AB 3 2

1.5
K K K B
B = B = A × C = AC sin θ ∴ C y = C sin θ =
A
K K u
A ⋅ C = AC cos θ = u ∴ Cx = C cos θ =
A
K K K K K
K A B× A u K B× A B 
C = Cx + K K Cy = 2 A +  
A B× A A AB  A 
u K 1 K K
= 2 A+ B× A
A A2

K
dA ˆ d d d
1.6 = i (α t ) + ˆj ( β t 2 ) + kˆ (γ t 3 ) = iˆα + ˆj 2 β t + kˆ3γ t 2
dt dt dt dt
K
d2A ˆ
= j 2 β + kˆ6γ t
dt 2

2
 K K
1.7 0 = A ⋅ B = ( q )( q ) + ( 3)( − q ) + (1)( 2 ) = q 2 − 3q + 2

( q − 2 ) ( q − 1) = 0 , q = 1 or 2

K K2 K K K K K K
1.8 A + B = ( A + B ) ⋅ ( A + B ) = A2 + B 2 + 2 A ⋅ B

K K 2
 A + B  = A2 + B 2 + 2 AB
 
K K K K K K
Since A ⋅ B = AB cosθ ≤ AB , A+ B ≤ A + B

K K K K K K
A ⋅ B = AB cosθ = A B cosθ ≤ A B

B cos θ ≤ B

K K K K K K K K K
1.9 Show A × ( B × C ) = ( A ⋅ C ) B − ( A ⋅ B ) C
iˆ ˆj kˆ
K K K
or A × Bx By Bz = ( Ax Cx + Ay C y + Az Cz ) B − ( Ax Bx + Ay By + Az Bz ) C
Cx Cy Cz
= ( Ax BxCx + Ay Bx C y + Az Bx Cz − Ax Bx Cx − Ay By Cx − Az Bz Cx ) iˆ
+ ( Ax By Cx + Ay By C y + Az By Cz − Ax Bx C y − Ay By C y − Az Bz C y ) ˆj
+ ( Ax Bz Cx + Ay Bz C y + Az Bz C z − Ax BxCz − Ay By Cz − Az Bz Cz ) kˆ

( A B C + A B C − A B C − A B C ) iˆ
y x y z x z y y x z z x

= + ( A B C + A B C − A B C − A B C ) ˆj
x y x z y z x x y z z y

+ ( A B C + A B C − A B C − A B C ) kˆ
x z x y z y x x z y y z

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 iˆ ˆj kˆ iˆ ( Ay Bx C y − Ay By Cx − Az Bz Cx + Az Bx Cz )
Ax Ay Az = + ˆj ( Az By Cz − Az Bz C y − Ax Bx C y + Ax By Cx )
By Cz − Bz C y Bz Cx − Bx Cz Bx C y − By Cx + kˆ A B C − A B C − A B C + A B C
( x z x x x z y y z y z y)

1.10

y = A sin θ

1 
Α = 2  xy  + y ( B − x ) = xy + yB − xy = AB sin θ
2 
K K
Α = A× B

1.11
iˆ ˆj kˆ Ax Ay Az Bx By Bz
K K K K K K K
A ⋅ ( B × C ) = A ⋅ Bx By Bz = Bx By Bz = − Ax Ay Az = − B ⋅ ( A × C )
Cx Cy Cz Cx Cy Cz Cx Cy Cz

1.12
x z

G G
u A

G
C
G x
B

K K G
Let A = (Ax,Ay,Az), B = (0,By,0) and C = (0,Cy,Cz)
K K G G G
Cz is the perpendicular distance between the plane A , B and its opposite. u = B x C is
G G G G
directed along the x-axis since the vectors B , C are in the y,z plane. u x = B x C = ByCz
G G
is the area of the parallelogram formed by the vectors B , C . Multiply that area times the
K K
height of plane A , B = Ax to get the volume of the parallopiped
G G G
V = Ax u x = Ax By Cz = A • B x C ( )

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1.13 For rotation about the z axis:

iˆ ⋅ iˆ′ = cos φ = ˆj ⋅ ˆj ′, kˆ ⋅ kˆ′ = 1

iˆ ⋅ ˆj ′ = − sin φ
ˆj ⋅ iˆ′ = sin φ

For rotation about the y′ axis:

iˆ ⋅ iˆ′ = cos θ = kˆ ⋅ kˆ′, ˆj ⋅ ˆj ′ = 1

iˆ ⋅ k̂ ′ = sin θ
kˆ ⋅ iˆ′ = − sin θ

 cos θ 0 − sin θ   cos φ sin φ 0   cos θ cos φ cosθ sin φ − sin θ 

I     
T = 0 1 0   − sin φ cos φ 0  =  − sin φ cos φ 0 
 sin θ 0 cosθ   0 0 1   sin θ cos φ sin θ sin φ cosθ 


1.14
3 ˆj ⋅ iˆ′ = sin 30D = 1 kˆ ⋅ iˆ′ = 0
iˆ ⋅ iˆ′ = cos 30D = 2
2
iˆ ⋅ ˆj ′ = − sin 30D = −
1 ˆj ⋅ ˆj ′ = cos 30D = 3 kˆ ⋅ ˆj ′ = 0
2 2

ˆj ⋅ kˆ′ = 0 kˆ ⋅ kˆ′ = 1
iˆ ⋅ kˆ′ = 0
 3 1   3
 0 3+ 
2 2  2
 Ax′    2   
 A  = − 1 3    3 
 y′   2 2 0   3  =  2 3 − 1
 Az ′     −1
 0 0 1     −1 
   
 
K
A = 3.232iˆ′ + 1.598 ˆj ′ − kˆ′

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1.15 1. Rotate thru φ about z-axis φ = 45D Rφ
2. Rotate thru θ about x’-axis θ = 45 D
Rθ
3. Rotate thru ψ about z’-axis ψ = 45D Rψ

 1 1 
 2 0
 2 
 1 1 
Rφ =  − 0
2 2
 
 0 0 1
 
 

   1 1 
1 0
0 0   2 2
   
 1 1   1 1 
Rθ =  0 Rψ =  − 0
 2 2  2 2
 
 1 1   0 0 1
0 −   
 2 2  
 1 1 1 1 1 
 2− 2
+
2 
2 2 2
  1 α 
 1 1 1 1 1 
R (ψ ,θ , φ ) = Rψ Rθ Rφ =  − − − +  or  0  = R (ψ ,θ , φ )  β 
 
2 2 2 2 2 2 2 0 γ 
     
 1 1 1 
 − 
 2 2 2
1 α 
K K K   K  
Condition is: x′ = Rx where x′ =  0  and x =β 
0 γ 
   
K K
Since x ⋅ x = 1 we have: ψ + β + α 2 = 1
2 2

1 2 1 2 1
After a lot of algebra: α = − , β= + , γ =
2 4 2 4 2
K
1.16 v = vτˆ = ctτˆ
K v2 c 2t 2
a = vτˆ + nˆ = cτˆ + nˆ
ρ b

6
 b K K
at t = , v = τˆ bc and a = cτˆ + cnˆ
c
K K
v ⋅a c bc 1
cos θ = = =
va bc 2c 2 2
θ = 45D
K
1.17 v ( t ) = −ib
ˆ ω sin (ω t ) + ˆj 2bω cos (ω t )
1 1
K
v = ( b 2ω 2 sin 2 ω t + 4b 2ω 2 cos 2 ω t ) 2 = bω (1 + 3cos 2 ω t ) 2
K
a ( t ) = −ib
ˆ ω 2 cos ω t − ˆj 2bω 2 sin ω t
1
K
a = bω 2 (1 + 3sin 2 ω t ) 2
K π K
at t = 0, v = 2bω ; at t= , v = bω
2ω
K
1.18 v ( t ) = ib
ˆ ω cos ω t − ˆjbω sin ω t + kˆ 2ct
K
a ( t ) = −ib
ˆ ω 2 sin ω t − ˆjbω 2 cos ω t + kˆ 2c
1 1
K
a = ( b 2ω 4 sin 2 ω t + b 2ω 4 cos 2 ω t + 4c 2 ) 2 = ( b 2ω 4 + 4c 2 ) 2

K
1.19  ˆr + rθeˆθ = bke kt eˆr + bce kt êθ
v = re
K
( ) ( )
r − rθ 2 eˆr + rθ + 2rθ eˆθ = b ( k 2 − c 2 ) e kt eˆr + 2bcke kt êθ
a = 
K K
v ⋅a b 2 k ( k 2 − c 2 ) e 2 kt + 2b 2 c 2 ke 2 kt
cos φ = = 1
va 1
be ( k + c ) be ( k − c ) + 4c k
kt 2 2 2 kt  2 2 2 2 2 2
 
k ( k 2 + c2 ) k
cos φ = 1
= 1
, a constant
(k 2
+c ) (k
2 2 2
+c 2
) (k 2
+c )
2 2

K
1.20 a = (R
 − Rφ ) eˆ + ( 2 Rφ + Rφ ) eˆ + 
R φ zeˆz
K
a = −bω 2 eˆR + 2ceˆz
1
K
a = ( b 2ω 4 + 4c 2 ) 2

7
 K
1.21 r ( t ) = iˆ (1 − e − kt ) + ˆje kt
K
r ( t ) = ike
ˆ − kt + ˆjkekt
K
r ( t ) = −ikˆ 2 e − kt + ˆjk 2 ekt

K
1.22 v = eˆr r + eˆφ rφ sin θ + eˆθ rθ
K π  1  π
v = eˆφ bω sin  1 + cos ( 4ω t )   − eˆθ b ω sin ( 4ω t )
2  4  2
K π  π
v = eˆφ bω cos  cos ( 4ω t )  − eˆθ bω sin ( 4ω t )
8  2
1
 π  π 2
2
K
v = bω cos 2  cos 4ω t  + sin 2 4ω t 
 8  4 

Path is sinusoidal oscillation about the equator.

K K
1.23 v ⋅ v = v2
K K
dv K K dv
⋅v + v ⋅ = 2vv
dt dt
K K
2v ⋅ a = 2vv
K K
v ⋅ a = vv

8
 K
d K K K dr K K K d K K
1.24  r ⋅ ( v × a )  = ⋅ (v × a ) + r ⋅ (v × a )
dt dt dt
K K
K K K K  dv K   K da  
= v ⋅ ( v × a ) + r ⋅  × a  +  v ×  
 dt   dt  
K  K K 
= 0 + r ⋅ 0 + ( v × a )
d K K K K K K
 r ⋅ ( v × a )  = r ⋅ ( v × a )
dt

K K
1.25 v = vτˆ and a = aτ τˆ + an nˆ

K K
K K v ⋅a
v ⋅ a = vaτ , so aτ =
v

1
a 2 = aτ2 + an2 , so an = ( a 2 − aτ2 ) 2

−b 2ω 3 cos ω t ⋅ sin ω t + b 2ω 3 sin ω t ⋅ cos ω t + 4c 2t

1.26 For 1.14, aτ = 1

(b ω
2 2
cos 2 ω t + b 2ω 2 sin 2 ω t + 4c 2t 2 ) 2
4c 2t
aτ = 1

(b ω
2 2
+ 4c t )
2 2 2

1
 2 2 16c 4t 2 2
a n =  b ω + 4c − 2 2
2

 b ω + 4c 2 t 2 
b 2 k ( k 2 − c 2 ) e 2 kt + 2b 2 c 2 ke 2 kt 1
For 1.15, aτ = 1
= bke ( k + c )
kt 2 2 2

be ( k + c )
kt 2 2 2

1 1
an = b 2 e 2 kt ( k 2 + c 2 ) − b 2 k 2 e 2 kt ( k 2 + c 2 )  = bce kt ( k 2 + c 2 ) 2
2 2

 

2
K K v
1.27 v = vτˆ , a = vτˆ + nˆ
ρ
K K v 2 v3
v × a = v ⋅ an = v =
ρ ρ

9
1.28

K ˆ sin θ + ˆjb cos θ

rD P = ib
K ˆ θ cos θ − ˆjbθ sin θ
vrel = ib
K
( ) (
ˆ θ cosθ − θ 2 sin θ − ˆjb θ sin θ + θ 2 cosθ
arel = ib )
π K K
at the point θ = , vrel = −v
2
K
So, vrel = bθ = v
v v aD
θ = θ = =
b b b
K v2 v2
Now, arel = vrelτˆ + rel nˆ = aDτˆ + n̂
ρ b
1
K  2 v4  2
arel =  aD + 2 
 b 
K K K K K K
vP = v + vrel and aP = aD + arel
K  a v2  a v2 
aP = iˆ  aD + b  D cos θ − 2 sin θ   − ˆjb  D sin θ + 2 cosθ 
 b b  b b 
1
K  v4 2v 2 2
aP = aD  2 + 2 cos θ + 2 2 − sin θ 
 aD b aDb 
K
aP is a maximum at θ = 0 , i.e., at the top of the wheel.
2v 2
−2sin θ − cosθ = 0
aDb
 v2 
θ = tan −1  − 
 aDb 

 x -x 0   x x 0   2 x 0 0
2

1.29 RR  = x x 0 − x x 0 = 0 2 x 2 0  Therefore, x = 1
    
    
2
0 0 1 0 0 1  0 0 1 
   
The transformation represents a rotation of 45o about the z-axis (see Example 1.8.2)

10
1.30
(a) a = iˆ cos θ + ˆj sin θ
a
b = iˆ cos ϕ + ˆj sin ϕ
θ
b
( )(
a ⋅ b = cos (θ − ϕ ) = iˆ cos θ + ˆj sin θ ⋅ iˆ cos ϕ + ˆj sin ϕ )
φ
cos (θ − ϕ ) = cos θ cos ϕ + sin θ sin ϕ

(b) ( ) (
b × a = kˆ sin (θ − ϕ ) = iˆ cos θ + ˆj sin θ × iˆ cos ϕ + ˆj sin ϕ )
sin (θ − ϕ ) = sin θ cos ϕ − cos θ sin ϕ
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