12.4.

The Cross Product

1. Denition and Basic Properties. We will start from several denitions that have valuable geometrical meanings. All the vectors in this chapter are considered 3-dimensional. Denition 1 Three vectors are called an ordered triple if there is stated which one is the rst, the second, and the third. For example, b a c means that b is the rst vector, a is the second one, and c is the third one. Denition 2 Vectors are called coplanar if they lie in the same plane. For example, vectors 0, 1, 1, j and k are coplanar (since they all lie in the yz -plane), but the three basis vectors i, j , k are not. Denition 3 A triple of non-coplanar vectors a b c is called a right triple (or left triple) if being reduced to the same initial point, the terminal point of the vector c is located on that side of the plane dened by vectors a and b so that from the terminal point of c, the shortest rotation from a to b is seen to be done counter-clockwise (respectively, clockwise). Another illustration is like being reduced to the same initial point, our vectors a, b, c are located correspondingly to the usual location of corresponding ngers on your right (left) hand: thumb c, forenger a, middle nger b. Example 1 If you have three non-coplanar vectors a, b, c, then it is possible to combine six dierent triples from them. Three triples will be right, three triples left. Sketch three non-coplanar vectors and nd these triples. Example 2 The triple composed of three basis vectors, i j k is a right triple. Now, we are ready to the meaningful denition of the cross product. Like the dot product, the cross product is also a product of two vectors. But unlike the dot product, it is a vector. a and b is vector c denoted by c = a b Denition 4 The Cross Product of two vectors satisfying the following three conditions: 1). The magnitude (or length) of c is b sin , | c| = | a| where is the angle between vectors a and b. 2). Vector c is orthogonal (perpendicular) to both, a and b. 3). Vector c is oriented so that the triple a b c is a right triple.

As you could see, if vectors a and b are non-collinear, then their cross product is uniquely dened. If they are collinear, i.e., = 0 or = , the magnitude of c is equal to 0, whence c = 0. Denition 4 reects geometrical meaning of the notion of the cross product. Now, we could get the algebraic form for components of vector c through the components of a and b. a = a1 , a2 , a3 , b = b1 , b2 , b3 , then Theorem 1 If c= i j k a1 a2 a3 , b1 b2 b3 (1)

or, in more formal form, c = a 2 b 3 a 3 b 2 , a 3 b 1 a 1 b 3 , a 1 b 2 a 2 b 1 . (2)

Unlike (2), formula (1) could be easily memorized. But remember, that it is just a symbolic form since the rst line of the determinant contains basis vectors, not numbers. Thus, we have to group scalars near the basis vectors. This yields (2), of course. a b and verify that it is orthogonal to both a and b. Example 3 Find the cross product a = i + 3 j 2 k, b = i + 5 k.

Solution. First of all, let us get the components of our vectors: a = 1, 3, 2 , b = 1, 0, 5 .

Now, we could use formula (1) for their cross product: c = a b= i 1 1 j k 3 2 0 5 = 15 i 3 j + 3 k = 15, 3, 3 .

To check that c is orthogonal to both a and b, we need to show that c a= c a = 0. Indeed, c a = 15 1 + (3) 3 + 3 (2) = 0, Q.E.D. Example 4 Find a non-zero vector orthogonal to the plane through the points P (2, 1, 5), Q(1, 3, 4), and R(3, 0, 6). c b = 15 (1) + (3) 0 + 3 5 = 0.

Solution. If the points P , Q, R belong to some plane, then, clearly, vectors PQ and PR should be parallel to this plane. This means, that we have to nd a vector orthogonal to both PQ and PR. It may be their cross product as follows from Denition 4. So, PQ = 1 2, 3 1, 4 5 = 3, 2, 1 , PR = 3 2, 0 1, 6 5 = 1, 1, 1 .

Clearly, vectors PQ and PR are non-collinear (Check it!), thus, their cross product will not be zero-vector. Now, c = PQ PR = i j k 3 2 1 1 1 1 = i + 2 j + k = 1, 2, 1

that is orthogonal to the same is orthogonal to the plane. Then, any non-zero vector d = plane will be collinear (parallel) to c, whence will have the form d c for some scalar = 0. Thus, the answer is: , 2, , = 0. From the part 1) of Denition 4, we easily get a and b are parallel if and only if Corollary 1 Two non-zero vectors a b = 0. Indeed, if is the angle between vectors a and b, then this condition is necessary and sucient for sin = 0 that means = 0 or = . This is equivalent to collinearity of a and b. If we look at Denition 4 again, and remember the formula for the area of a parallelogram, then we easily get that the length of the cross product a b is equal to the parallelogram built on vectors a and b (when they are reduced to the same initial point, of course). The following Properties of the Cross Product easily follow from Theorem 1. Theorem 2 If a, b, and c are vectors and is a scalar, then 1). a b = b a ( ) ( ) 2). ( a) b= a b = a b ( ) 3). a b + c = a b + a c ( ) 4). a + b c = a c + b c ( ) ( ) 5). a b c = a b c ( ) ( ) 6). a b c = ( a c) b a b c. 3

Warning: The cross product is not commutative. In fact, Property 1) in Theorem 2 is called anti-commutativity. 2. Triple Products. The equation in Property 5) of Theorem 2 is called the Scalar Triple Product of b, and c. If a = a1 , a2 , a3 , b = b 1 , b 2 , b 3 , c = c1 , c2 , c3 , then vectors a, ( ) a b c = a1 (b2 c3 b3 c2 ) + a2 (b3 c1 b1 c3 ) + a3 (b1 c2 b2 c1 ) = a1 a2 a3 b1 b2 b3 . (3) c1 c2 c3

Let us consider the volume V of a parallelepiped built on three vectors a, b, and c reduced to the same initial point. It is equal to the area S of a parallelogram built on vectors b and c (the basement of our parallelepiped) multiplied by the height h of our parallelepiped. If we take a vector orthogonal to the plane of vectors b and c, then h is nothing else but an absolute value of the scalar projection of a to this vector. However, as we have seen in Example 4, the vector orthogonal to the plane is b c. Hence, ( ) b c a h = comp a = . b c b c And, as we already mentioned (see note before Theorem 2), S= b c . Therefore, the volume of the parallelepiped built on vectors a, b, and c is equal to ( ) V =Sh= a b c . (4) However, our proof of this fact contains some gap. (Did you guess, what it is?). Namely, we cancelled the expression b c . But it may be zero if vectors b and c are ( ) collinear. However, in this case, the volume is obviously zero, and a b c = 0. Hence, formula (4) remains valid anyway. Meanwhile, (4) also shows that vectors a, b, and c are coplanar if and ( formula ) only if a b c = 0. The equation in Property 6) of Theorem 2 is called the Vector Triple Product of vectors a, b, and c. It is used, e.g., to derive Keplers First Law of planetary motion (see Chapter 13 in the textbook). Example 5 Check if the points A(1, 3, 2), B (3, 1, 6), C (5, 2, 0), and D(3, 6, 4) lie in the same plane. Solution. Note: You should know that any three points lie in some plane. So, the question is if our four points lie in the same plane. 4

 , AC and AD lie in These points lie in the same plane if and only if the vectors AB the same plane, i.e., when these vectors are coplanar. Hence we need to nd their scalar = 2, 4, 4, AC = 4, 1, 2, AD = 2, 3, 6, and hence triple product. So, AB ( ) AB AC AD = 2 4 4 4 1 2 2 3 6 = 76 76 = 0.

Since this scalar triple product is equal to zero, our vectors are coplanar, whence A, B , C , and D lie in some plane. 3. Torque. As an application of the tools developed, we could mention the notion of torque that is widely used in physics, mechanics, and engineering. In fact, the correct torque is required in the majority of modern mechanics because goals of weight reduction and nancial eciency are dicult to overestimate (and also to achieve). So, all the technical gadgets require precise torque when being assembled. There are many precise torque wrenches and torque limiting tools accessible nowadays. But be careful with them because when assembling something, the correct angle is also important to precise torque measuring. Denition 5 The torque (relative to the origin) is dened to be the cross product of the position and torque vectors (see Figure 4 on Page 791 in the textbook) = rF and measures the tendency of the body to rotate about the origin. So, the torque is a VECTOR. The direction of the torque vector indicates the axis of rotation. Using the formula for the magnitude of the cross product, we get = | sin , | | = rF r| F . where is the angle between vectors r and F In various technical documentation, torque is usually given in N m, lb in, etc. However, the direction may also matter. So, sometimes, you may be supplied with the required angle too (do you remember that a vector is dened by its magnitude and direction?). Example 6 A wrench 30 cm long lies along the positive y -axis and grips a bolt at the origin. A force is applied in the direction 0, 3, 4 at the end of the wrench. Find the magnitude of the force needed to supply 100 N m of torque to the bolt. Solution. First of all, we need to get to the same system (metric). As soon as the magnitude of the torque is expressed in N m, we need to get to meters, i.e., 30 cm = 0.3 m. So, having given the direction of the force vector, 0, 3, 4 . = F F

Then, clearly, r = 0, 0.3, 0, and the torque is equal to = F (0, 0.3, 0 0, 3, 4) = F = rF Hence, we came to the equation 1.2 m. 100 N m = | | = F Thus, the magnitude of the force should be equal to = 100 N = 83 1 N. F 1.2 3 As you can see, the vector products considered can be applied to various problems of geometry, mechanics, engineering, etc. And, as you could also notice, introducing a coordinate system and switching to vectors components may dramatically simplify calculations. In fact, you may use formulas involving angles. But then, you will be involved in a variety of trigonometric equations, inequalities, etc., that are usually not easy to solve. Having vector components and involving vector operations is usually much simpler and more ecient way. The more complicated constructions, the higher probability of getting incorrect results. Vectors may simplify your life! i j k 0 0.3 0 0 3 4 1.2, 0, 0 . = F