Cartesian Coordinate System

and Vectors
 Coordinate System

Coordinate system: used to describe the position

of a point in space and consists of

1. An origin as the
reference point
2. A set of coordinate
axes with scales and
labels
3. Choice of positive
direction for each axis
4. Choice of unit vectors
at each point in space Cartesian Coordinate System
Vectors

 Vector

A vector is a quantity
that has both
direction and
magnitude. Let a
vector be denoted
r by
the symbol A
r
The magnitude of A
r
is denoted by | A |! A

 Application of Vectors

(1) Vectors can exist at any point P in space.

(2) Vectors have direction and magnitude.

(3) Vector Equality: Any two vectors that have the

same direction and magnitude are equal no matter
where in space they are located.
 Vector Addition
r r
Let A and B rbe rtworvectors. Define a
new vector C = A + B ,the vector
r r
addition of A and B by the geometric
construction shown in either figure
 Summary: Vector Properties
Addition of Vectors
r r r r
1. Commutativity A+B =B+A
r r r r r r
2. Associativity (A + B) + C = A + (B + C)
r r r r r r
3. Identity Element for Vector Addition 0 such that A + 0 = 0 + A = A
r r r
4.
r
( )
Inverse Element for Vector Addition !A such that A + !A = 0

Scalar Multiplication of Vectors

r r r r
1. Associative Law for Scalar Multiplication b (cA) = (bc)A = (cb A) = c (bA)
r r r r
2. Distributive Law for Vector Addition c (A + B) = c A + c B
r r r
3. Distributive Law for Scalar Addition (b + c) A = b A + c A
r r
4. Identity Element for Scalar Multiplication: number 1 such that 1A=A
 Vector Decomposition

Choose a coordinate system

with an origin and axes. We
can decompose a vector
into component vectors
along each coordinate axis,
for example along the x,y,
and z-axes of a Cartesian
coordinate system. A vector
at P can be decomposed
into the vector sum,

r r r r

A = A x + A y + A
z
Unit Vectors and Components

The idea of

multiplication by real

numbers allows us to

define a set of unit

vectors at each point

in space (i , j, k
)
with |i |= 1, | j |= 1, | k |= 1

Components:

r
A = ( Ax , Ay , Az )
r r r r
A x = Ax i, A y = Ay j,

A z = Az k A = Ax i + Ay j + Az k

Vector Decomposition in Two
Dimensions
Consider a vector
r
A = ( Ax , Ay , 0)
x- and y components:
Ax = A cos(! ), Ay = Asin(! )
Magnitude: A= Ax2 + Ay2

Ay Asin(! )
Direction: =
Ax Acos(! )
= tan(! )

! = tan "1 ( Ay / Ax )
 Vector Addition

r
A = A cos(! A ) i + Asin(! A ) j
r
B = B cos(! B ) i + Bsin(! B ) j

r r r
Vector Sum: C = A + B
Components
Cx = Ax + Bx , C y = Ay + By
C x = C cos(! C ) = A cos(! A )+ B cos(! B )

C y = C sin(! C ) = Asin(! A ) + Bsin(! B )

r
C = ( Ax + Bx ) i + ( Ay + By ) j = C cos(!C ) i + C sin(!C ) j
Checkpoint Problem: Vector
Decomposition

Two horizontal ropes are attached to a post that is

stuck in the ground. The ropes pull the post
r
producing the vector forces A = 70 N i + 20 N j
r
and B = !30 N i + 40 N j as shown in the figure.
Find the direction and magnitude of the horizontal
component of a third force on the post that will
make the vector sum of forces on the post equal to
zero.
Checkpoint Problem: Sinking

Sailboat
A Coast Guard ship is located 35 km away
from a checkpoint in a direction 420 north of
west. A distressed sailboat located in still
water 20 km from the same checkpoint in a
direction 360 south of east is about to sink.
Draw a diagram indicating the position of
both ships. In what direction and how far
must the Coast Guard ship travel to reach
the sailboat?
Preview: Vector Description of
Motion
r
Position r (t ) = x(t )i + y (t )j

r
Displacement !r (t ) = !x(t ) i + !y (t ) j

r dx(t ) dy (t )
Velocity v (t ) = i+ j ! vx (t )i + v y (t )j
dt dt

Acceleration r dvx (t ) dv y (t )
a(t ) = i+ j ! ax (t )i + a y (t )j
dt dt
 Dot Product
A scalar quantity
r r r r
Magnitude: A " B = A B cos !

The dot product can be positive, zero, or negative

Two types of projections: the dot product is the parallel
component of one vector with respect to the second vector
times the magnitude of the second vector

r r r r r r r r r r
A " B = A (cos ! ) B = A B A " B = A (cos ! ) B = A B
Dot Product Properties

r r r r
A!B = B!A
r r r r
cA ! B = c( A ! B)
r r r r r r r
( A + B) ! C = A ! C + B ! C
Dot Product in Cartesian Coordinates

With unit vectors i , j and k

i ! i = j ! j = k ! k = 1 i " i = | i || i | cos(0) = 1
i " j =| i || j |cos(! /2) = 0
i ! j = i ! k = j ! k = 0
Example:
r r
A = Axi + Ayj + Az k
, B = B i + B j + B k
x y z

r r
A ! B = Ax Bx + Ay By + Az Bz
Checkpoint Problem: Scalar

Product

In the methane molecule, CH4 , each hydrogen atom is at the

corner of a tetrahedron with the carbon atom at the center. In
a coordinate system centered on the carbon atom, if the
direction of one of the C--H bonds is described by the vector
r
A = i + j +and
k the direction rof an adjacent C--H is
described by the vector B = i ! j ! k, what is the
angle between these two bonds.
 Summary: Cross Product
Magnitude: equal to the area of the parallelogram defined by
the two vectors
)( )
r r r r r r r
(
r
A # B = A B sin ! = A B sin ! = A sin ! B (0 $ ! $ " )

Direction: determined by
the Right-Hand-Rule
Properties of Cross Products

r r r r
A ! B = "B ! A
r r r r r r
c( A ! B) = A ! cB = cA ! B
r r r r r r r
( A + B) ! C = A ! C + B ! C
Cross Product of Unit Vectors

Unit vectors in Cartesian coordinates

i " j =| i || j | sin (! 2 ) = 1

i " i =| i || j | sin(0) = 0
r
i ! j = k
i ! i = 0
r
j ! k
= i j ! j = 0
r
!i = j k
k !k =0
Components of Cross Product

r r
A = Axi + Ayj + Az k
, B = B i + B j + B k
x y z

r r
A ! B = ( Ay Bz " Az By )i + ( Az Bx " Ax Bz )j + ( Ax By " Ay Bx )k
i j k
= Ax Ay Az
Bx By Bz
Checkpoint Problem: Vector
Product
Find a unit vector perpendicular to
r
A = i + j ! k
and
r
B = !2i ! j + 3k .
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8.01SC Physics I: Classical Mechanics

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