12 CHAPTER 1. VECTORS IN EUCLIDEAN SPACE Let u=(u 1 ,u 2 ,u 3 ), v=(v 1 ,v 2 ,v 3 ), w=(w 1 ,w 2 ,w 3 ) be vectors in 3 . Then u+(v+w)=(u 1 ,u 2 ,u 3 )+((v 1 ,v 2 ,v 3 )+(w 1 ,w 2 ,w 3 )) = (u 1 ,u 2 ,u 3 )+(v 1 +w 1 ,v 2 +w 2 ,v 3 +w 3 ) by Theorem 1.4(b) = (u 1 +(v 1 +w 1 ),u 2 +(v 2 +w 2 ),u 3 +(v 3 +w 3 )) by Theorem 1.4(b) = ((u 1 +v 1 )+w 1 ,(u 2 +v 2 )+w 2 ,(u 3 +v 3 )+w 3 ) by properties of real numbers = (u 1 +v 1 ,u 2 +v 2 ,u 3 +v 3 )+(w 1 ,w 2 ,w 3 ) by Theorem 1.4(b) = (u+v)+w This completes the analytic proof of (b). Figure 1.2.6 provides the geometric proof. u+(v+w)=(u+v)+w u u+v v+w w v Figure 1.2.6 Associative Law for vector addition (c) We already discussed this on p.10. (d) We already discussed this on p.10. (e) We will prove this for a vector v=(v 1 ,v 2 ,v 3 ) in 3 (the proof for 2 is similar): k(lv)=k(lv 1 ,lv 2 ,lv 3 ) by Theorem 1.4(a) = (klv 1 ,klv 2 ,klv 3 ) by Theorem 1.4(a) = (kl)(v 1 ,v 2 ,v 3 ) by Theorem 1.4(a) = (kl)v (f) and (g): Left as exercises for the reader. QED A unit vector is a vector with magnitude 1. Notice that for any nonzero vector v, the vector v 1 ‖v‖ is a unit vector which points in the same direction as v, since ‖v‖ > 0 and ∥ ∥ v∥ ‖v‖ ∥= ‖v‖ ‖v‖ = 1. Dividing a nonzero vector v by‖v‖ is often called normalizing v. There are specific unit vectors which we will often use, called the basis vectors: i=(1,0,0), j=(0,1,0), and k=(0,0,1) in 3 ; i=(1,0) and j=(0,1) in 2 . These are useful for several reasons: they are mutually perpendicular, since they lie on distinct coordinate axes; they are all unit vectors:‖i‖=‖j‖=‖k‖=1; every vector can be written as a unique scalar combination of the basis vectors: v=(a,b)=ai+bj in 2 , v=(a,b,c)=ai+bj+ck in 3 . See Figure 1.2.7.
1.2 <strong>Vector</strong> Algebra 13 2 z z v=(a,b,c) y 2 1 j x 0 i 1 2 (a) 2 y v=(a,b) bj x 0 ai (b) v=ai+bj 2 x 1 k i 0 1 j (c) 3 1 2 y ck ai 0 x bj (d) v=ai+bj+ck y Figure 1.2.7 Basis vectors in different dimensions Whenavectorv=(a,b,c)iswrittenasv=ai+bj+ck,wesaythatvisincomponent form, and that a, b, and c are the i, j, and k components, respectively, of v. We have: v=v 1 i+v 2 j+v 3 k,k a scalar=⇒ kv=kv 1 i+kv 2 j+kv 3 k v=v 1 i+v 2 j+v 3 k,w=w 1 i+w 2 j+w 3 k=⇒ v+w=(v 1 +w 1 )i+(v 2 +w 2 )j+(v 3 +w 3 )k √ v=v 1 i+v 2 j+v 3 k=⇒‖v‖= v 2 1+v 2 2+v 2 3 Example 1.4. Let v=(2,1,−1) and w=(3,−4,2) in 3 . (a) Find v−w. Solution: v−w=(2−3,1−(−4)−1−2)=(−1,5,−3) (b) Find 3v+2w. Solution: 3v+2w=(6,3,−3)+(6,−8,4)=(12,−5,1) (c) Write v and w in component form. Solution: v=2i+j−k, w=3i−4j+2k (d) Find the vector u such that u+v=w. Solution: ByTheorem1.5,u=w−v=−(v−w)=−(−1,5,−3)=(1,−5,3),bypart(a). (e) Find the vector u such that u+v+w=0. Solution: By Theorem 1.5, u=−w−v=−(3,−4,2)−(2,1,−1)=(−5,3,−1). (f) Find the vector u such that 2u+i−2j=k. Solution: 2u=−i+2j+k=⇒ u=− 1 2 i+j+ 1 2 k (g) Find the unit vector v ‖v‖ . ( v Solution: ‖v‖ = √ 1 (2,1,−1)= 2 2 +1 2 +(−1) 2 ) √ 2 1 , √6 , −1 √ 6 6
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188 Bibliography Pogorelov, A.V., A
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202 GNU Free Documentation License
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Index Symbols D....................
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212 Index iterated integral .......