Physics Notes by KK sir

Vectors 1
CHAPTER 3  A vector quantity is specified by a number with
a unit and its direction. E.g. Velocity = 4 m/s
VECTORS (Eastwards), Force = 13 N (along x axis),
Necessity for introducing the Concept of Vectors Acceleration = 5 m/s2 (along the direction of
motion).
Need for vectors - In one-dimensional (straight line)  If a physical quantity is a vector, it has a
motion, only two directions are possible. So the direction, but the converse may or may not be
directional aspect of the quantities like position,
true, i.e., i f a physical quantity has a direction,
displacement, velocity and acceleration can be taken care of
by using (+) and ( ̶ ) signs. But in case of motion in two- it may or may not be a vector, e.g., time,
dimensions (plane) or three dimensions (space), an pressure, surface tension, current, etc., have
object can have a large number (infinite in a directions but are not vectors because they do
plane) of directions. In order to deal with such not obey parallelogram law of addition.
situations effectively, we need to introduce the concept of
new physical quantities, called vectors, in which we take
care of both magnitude and direction.

 In Greek language, the word "vector" means

“carrier" which signifies a directional nature.
Current flowing in wire OC = current in wire AO
In physics, various quantities arc broadly classified
into two categories: 1. Scalars & 2. Vectors + current in wire BO or i = i1+ i2 (always for any
value of θ).
Scalar Quantities - The physical quantities which But if Current was a vector quantity, then
have only magnitude and no direction are called i ≠ i1+ i2 (always for any value of θ), because
scalar quantities or scalars. Resultant (addition) of i1 & i2 would also
Examples - Mass, volume, distance, speed, depends on angle θ between i1 and i2 as per
density, work, power, energy, length, gravitation
constant (G), specific heat, specific gravity, parallelogram law of vector addition.
charge, current, potential, time, electric or
magnetic flux, pressure, surface tension, Representation of Vectors
temperature. (a) Graphically (or pictorially) graphically a
vector is represented by an arrow drawn to
 A scalar quantity can be specified by a single a chosen scale, parallel to the direction of
number, along with the proper unit. E.g. 7 kg, the vector. The length and the direction of
9 s, 5 m etc. the arrow thus represent the magnitude
 Addition, subtraction, division or multiplication and the direction of the vector respectively.
of scalar quantities can be done according to
the ordinary rules of algebra. For example, 6 kg
+ 3 kg = 9 kg, or 4 × 2 s = 8 s. However,
combining vectors requires a different set of
operations.

Vector Quantities - The physical quantities which

have both magnitude and direction and obey the
laws of parallelogram of vector addition are called Thus, the arrow in above fig. represents a vector
A in x-y plane making an angle θ with x-axis.
vector quantities or vectors.

Examples - Displacement, velocity, acceleration,

force, weight, acceleration due to gravity (g),
gravitational field strength, electric field, magnetic
field, dipole moment, torque, linear momentum,
angular momentum.
 Physics Notes by KK sir
Vectors 2
Suppose a body has a velocity of 40 km/hr due
east. If 1 cm is chosen to represent a velocity of
10 km/hr, a line OA, 4 cm in length and drawn
towards east with arrowhead at A Will completely
represent the velocity of the body.
 The point O is called tail or initial point or origin
of the vector OA & point A, end of the vector, is
called tip, head or terminal point of the vector Examples:
OA in the above fig.

(b) Analytically (or in script)

(i) By single letter with an arrow overhead
For example: Force can be represented by ⃗ F (read
as “Vector F”) and its magnitude is represented as
I⃗F l (read as “modulus of F” or “mod of F”), if ⃗
F=
13 N (towards east) then I ⃗ F l = 13 N. ie magnitude
has only numerical value without direction.
(ii) By Bold letters
For example: Force can be represented by F. In
this case, magnitude is represented in the same
way as above such as I ⃗ F l or by same symbol, but
P
Italic I F l = F = 13 N.
⃗
olar and Axial Vectors
Broadly speaking, vectors are of two types:
Tensor Quantities – A tensor quantity is a
physical quantity which have no specified direction
Polar vectors - The vectors which have a starting
like vectors or which haven’t constant value of
or a point of application are called polar vectors,
magnitude like scalars. So it is neither vector nor
Examples: Displacement, velocity, force, etc.
scalar.
E.g. Moment of inertia Representation of Polar Vectors

From the above figures we can observe two things.

Axial vectors - The vectors which represent
(i) On changing rotation direction magnitude of rotational effect and act along the axis of rotation
Moment of inertia doesn’t changes it means it is in accordance with “right hand screw rule” are
not a vector quantity. called axial vectors.
Examples: Angular velocity, torque, angular
(ii) On changing axis of rotation magnitude Moment of
momentum, etc. are axial vectors.
inertia changes it means it is not a scalar quantity.
As shown in Fig. below axial vector have its
Angle between Two Vectors
direction along its axis of rotation depending on its
When the tails or heads of both the vectors anticlockwise or clockwise rotational effect.
coincides, then the angle (00 ≤ angle ≤ 1800)
between two vectors in this position is called angle
between two vectors.
 Physics Notes by KK sir
Vectors 3

Some Definition in Vector Algebra (Kinds of

Vectors)

(1) Equal Vectors

Note: Two equal vectors are always parallel but,

two parallel vectors may not be equal vectors.

(3) Coplanar Vectors - These are vectors which

A, ⃗
lie in the same plane. ⃗ B, and ⃗
C are acting in the
same plane. I.e. XY plane, so they are coplanar
vectors.

(4) Concurrent Vectors (Co-initial Vectors) -

Vectors having the same initial points are called
(2) Collinear Vectors - The vectors which either concurrent vectors or co-initial vectors.
act along the same line or along the parallel lines
are called collinear vectors. These vectors may
act either in the same direction or in the opposite
direction.

Parallel Vectors - Two collinear vectors having

the same direction are called parallel or like
vectors. Angle between them is 00.
A, ⃗
⃗ B, and ⃗
C are concurrent at point O.
Anti-parallel Vectors - Two collinear vectors
acting in opposite directions are called anti- Note: In figure (a), the vector A and B are
parallel, unlike or opposite vectors. The angle coplanar vectors & in figure (b) the vectors A and
between them is 1800 or rr -radian. B are concurrent coplanar vectors.
 Physics Notes by KK sir
Vectors 4
(5) Co- terminus Vectors – The Vectors which (iii) When a vector is multiplied by zero, we get
have common terminal point are called co- zero vectors ⃗A 0 = 0⃗
terminus vectors. (iv) If λ and µ are two different non-zero numbers,
A, ⃗
In the following figure⃗ B, and ⃗
C are co-terminus then the relation A=µ⃗
λ⃗ B
vectors. A and ⃗
Can hold only if both ⃗ B are
zero vectors.

Physical examples of zero vectors

(1) The position vector of a particle lying at the
origin is a zero vector.
(ii) The velocity vector of a stationary object is a
zero vector.
(iii) The acceleration vector of an object moving
(6) Negative of a Vector - A negative vector of a with uniform velocity is a zero vector.
given vector is a vector having same magnitude
with the direction opposite to that of given vector. Note: (i) Zero vectors have no specific direction.
The negative vector of ⃗A is represented by - ⃗A.
(ii) Zero vectors are only of mathematical
importance.

(10) Orthogonal Vectors - Two vectors are said

to be orthogonal if the angle between them is 90°.
(7) Fixed vector - The vector whose initial point is
fixed is called as fixed vector or a localised vector.
For example, the position vector of a particle is a
fixed vector because its initial point lies at the
origin.

(8) Free vector - A vector whose initial point is not (11) Unit Vector - A vector of ‘unit (one)’
fixed is called a free vector or a non-localised magnitude is called a unit vector and the notation
vector. For example, the velocity vector of a for it in the direction of a given ⃗ A is ^
A read as ‘A
particle moving along a straight line is a free cap’, ‘A hat ‘ or ‘A caret’.
vector. Since, Vector = Magnitude x Direction
Thus, ⃗ A = | A| ^
A
(9) Zero Vector or Null Vector ⃗A
Or ^A =
| A|

Properties of zero vectors

(I) When a vector is added to zero vector, we get

the same vector ⃗A + 0⃗ = ⃗
A
(ii) When a real number is multiplied by a zero
vector, we get a zero vector. λ 0⃗ = 0⃗
 Physics Notes by KK sir
Vectors 5
 The direction of unit vector will be same as that
of the vector from which it is obtained. It means
A is parallel to⃗
^ A.
 In every direction, we can obtain a unit vector.
In x, y and z directions, unit vectors are
predefined. Unit vector along +x, +y and +z-
directions are i^ , ^j and k^ read as ‘i cap, j cap & k
^ =¿^j | =¿^k ∨¿= 1.
cap’ and |i∨¿
 i^ , ^j &k^ forms a set of three mutually
perpendicular vectors in a right-handed
coordinate system known as Orthogonal Triad
(a set of three similar things considered as a
unit) of Unit Vectors or Base Vectors.

Further, if m and n are two scalars, then

A = m⃗
(m+ n)⃗ A + n⃗A
and m(n A) = n(m A) = (mn)⃗
⃗ ⃗ A

 The division of vector ⃗A by a non-zero scalar m

No A by 1/m.
is defined as the multiplication of ⃗
te: (i) A unit vector is a dimensionless quantity, (II) Addition and Subtraction of two vectors
so it has no units. (ii) The unit vectors are used to
specify a given direction & they have no other Addition of Vectors
physical significance.

 Now, a unit vector in any other given direction

can be obtained in terms of i^ , ^j &k^ . Or we can
obtain a Unit Vector in a Given Direction.

Vector Operations

In vector algebra, there are four types of

fundamental operations:
(I) Multiplication and Division of vector with a
number or a scalar
(II) Addition (Composition), Subtraction of two
vectors & Resolution (Components) of a Vector
(III) Scalar (or Dot) product of two vectors and
(IV) Vector (or Cross) product of two vectors

(I) Multiplication and Division of Vector with a

number or Scalars
Physics Notes by KK sir
Vectors 6
 Physics Notes by KK sir
Vectors 7

Vector Addition by Analytical Method

(Mathematical Calculation of Resultant)
 Physics Notes by KK sir
Vectors 8
Subtraction of two vectors

Negative of a vector say −⃗ A is a vector of the

same magnitude as vector ⃗ A but pointing in a
direction opposite to that of A.
⃗

A –⃗
Thus, ⃗ B can be written as ⃗
A + (– ⃗
B ) or ⃗A –
B is really the vector addition of A and −⃗
⃗ ⃗ B.
Suppose angle between two vectors A and Bis θ.
⃗ ⃗
Then, angle between ⃗ A and –⃗ B will be 180 – θ
as shown in Fig. below.

Properties of Vector Addition

Note: ⃗A – ⃗B or⃗B–⃗A can also be found by

making triangles as shown in Fig. (a) and (b).

 Vector subtractions is anti-commutative:

⃗A –⃗ B = - (⃗
B–⃗
A)
 Physics Notes by KK sir
Vectors 9
Polar representation of vectors:

When a vector is specified in terms of its

magnitude and angle which it makes with x-axis,
we call it Polar representation.

E.g.: r @ θ 0 (like 10 @ 300)

Addition of vector in Cartesian form

Note: Such representation of ⃗

OC in terms of i,
^ ^j
&k^ is called as “Cartesian representation”.
 Physics Notes by KK sir
Vectors 10

Note: (i) For a point P, there is one and only

one position vector with respect to the origin O.
(ii) Position vector of a point P changes if the
position of the origin O is changed.

The Vector ^ K : To represent the location of a

point in space, we need a third co-ordinate called
the Z co-ordinate which represents the height or
depth over x-y plane which we need to travel to
reach that desired point. This is called z direction
and unit vector along this z direction is called ^
K.

Position Vector & Displacement Vector

To locate the position of any point P in a plane or

space, generally a fixed point of reference called
the origin ‘O’ of a co-ordinate system is taken.

The vector which gives position of P with

reference to the origin ‘O’ of a co-ordinate system
is called the Position vector of P with respect to
origin ‘O’ as shown in figure.

If coordinates of point P are (x, y) then position

vector of point P with respect to origin ‘O’ is
 Physics Notes by KK sir
Vectors 11
Resolution of a Vector along two mutually
perpendicular directions / Rectangular (X & Y)
Components of a Vector In two Dimensions

Consider a vector a⃗ in the xy plane. For simplicity,

we have drawn the vector with its tail at the origin
O. but as a matter of fact,⃗a can be drawn anywhere
in the xy plane.

Resolution of a Vector

It is the process of splitting of a vector into two or

more vectors in such a way that their combined
effect is same as that of the given vector. The
vectors into which the given vector is splitted are
called component vectors. A component of a
vector in any direction gives a measure of the
effect of the given vector in that direction.
The resolution of a vector (splitting of a
vector) is just opposite to the process of vector
addition. In many practical applications, we need
to replace a given vector with a pair of vectors in
two perpendicular directions.

Advantages of writing a vector in component

form
 Physics Notes by KK sir
Vectors 12

(III) Scalar (or Dot) product of two vectors

There are two ways of vector multiplication.

1. Scalar or dot product
Rectangular Components of a 3-D Vector & 2. Vector or cross product.
Direction Cosines

Direction Cosines
 Physics Notes by KK sir
Vectors 13

Dot product in terms of components in

Cartesian system

Properties of dot product

 Physics Notes by KK sir
Vectors 14
Angle between two vectors (IV) Vector (or Cross) product of two vectors

here, θ is the angle between the two vectors.

Rules for determining the direction of⃗A x⃗B or n^

( into or out of the plane containing ⃗A x⃗B)
 Physics Notes by KK sir
Vectors 15
long as you are comfortable with it and are skilled
in its proper use.

Properties of Vector (or Cross) product

(iii) Right Hand Rule

Point the right index finger in the direction of a and

the right middle finger in the direction of b; when
one holds the thumb perpendicular to these two
fingers; it points in the direction of c = a x b.

(iv) Right Hand Palm Rule

1. Start by pointing your thumb in the direction of

vector A (first vector).
2. Extend your fingers in the direction of vector B
(second vector). You may need to rotate your
wrist to get the correct configuration of thumb
and fingers.
3. Your palm establishes the plane between the
two vectors. The direction your palm points is
the direction of the resultant C = A x B.

Note: (i) Note that you may have learned a

version of the right-hand rule that is different from
what is described here. It makes no difference
which version of the right-hand rule you use, as
 Physics Notes by KK sir
Vectors 16
Vector (or Cross) product of Unit Vectors Vector (or Cross) product using Determinant:
Method 2

From the rules above in the figure, we obtain the

following results.

Vector (or Cross) product in terms of

Components in Cartesian System: Method 1
 Physics Notes by KK sir
Vectors 17
Cross Product and Area Vector


 Physics Notes by KK sir
Vectors 18

Proof

As the vectors must balance,

hence by making all the vectors touch its tip and
tail we can get a triangle with sides A,B,C and
angles 1, 2, 3 are

Now by sine rule