Lecture 9

Scalar is numerical
Vector has magnitude and direction
Vectors can be expressed in Cartesian or Polar form
o Cartesian: sum of components

Polar: magnitude and angle formed with x-axis

r^ =|r|<

Converting between Polar and Cartesian

o Polar to Cartesian

r x =|r|cos ,

r y =|r|sin

Cartesian to Polar

^ y ^j
r =r x i+r

|r|= r 2x +r 2y ,

=tan 1 (

ry
)
rx

Unit vector dimensionless vector with a magnitude of 1

o

u^ AB=

v AB

|v AB|

Lecture 10

Position vectors give position of one point relative to another

o

^ ( y 2 y 1 ) ^j
r =( x2 x1 ) i+

3-D vectors can be expressed in Cartesian or Magnitude with Direction Angles

^ y ^j+r z k^
r =r x i+r

Cartesian:

Magnitude with direction angles:

^
r =|r|( cos x i+cos
y ^j+ cos z k^ )

To find the angle, divide the Cartesian direction by the

magnitude and arc cos the result

Lecture 11

Vector addition

)
(
A +
B ) +
C =
A +(
B +C

Associative:

Commutative:

R=
A+
B =
B +
A

Parallelogram method: take the two vectors, connect at bases, draw lines
perpendicular to vector edges. Draw vector from starting point to new
corner; that is added vector.

Lecture 12

Dot Product can be used to:

o Determine angle between two vectors
o Determine component of one vector in the direction of another
Dot Product is found:
o

or

A
B= A x B x + A y B y + A z Bz

Angle Between Vectors

o

A
B=|A||B|cos

A
B
| A||B|

cos =

Components

=
F
o

Scalar component of F parallel to r:

r
|r|

F
r
)
|r|
F=F

(
o

Vector component of F parallel to r:

Vector component of F perpendicular to r:

F =
F

Scalar component of F perpendicular to r:

|F|
:|
F |=

Lecture 13

Cross Product can be used to:

o Determine direction perpendicular/normal to a plane
o Moment produced by a force/torque

Cross product defined as:

o

Where

A
B=(|
A||
B|sin ) u^

u^ = unit vector normal to plane containing

B
o

Where

= angle between
A and

Properties:
o

Anticommutative property:

A
B=
B
A

A and

Associative property (in terms of scalar):

Distributive property:

Cross product:

s (
A
B )=( s
A )
B =
A ( s
B)

)
(
A +
B)
C =(
A
C )+ (
B C

( A y B z A z B y ) ^x + ( A z B x A x Bz ) ^j+ ( A x B y A y Bx ) k^

Lecture 14

1k

Imaginary Numbers have the form

where k is a positive real

number

i= 1

o Engineers use j instead of i because i is used for current

Rewriting imaginary numbers
o

20=i 20=i 45=2i 5

Complex Numbers
o

Ex.

Form:

Z =a+ib

Similar to component form vectors

o Can even be graphed in a similar way

^ ^j
r =a i+b

Modulus of Complex Numbers

o Same as magnitude; different name
o

|Z|= a2 +b 2

Powers of i
o

Z =a+ib

i= 1

i =1

i =i

i =1

Multiplying Complex Numbers

o Use FOIL
Complex Conjugate
o Complex Conjugate of z=a+ib is z=a-bi
o Multiplying complex number by its conjugate = modulus squared
Dividing Complex Numbers
o

Z 1 (a+ib) (a+ib) cid

=
=

Z 2 (c +id) (c+ id) cid

Lecture 15

Newtons 1st Law: A body moving linearly or at rest will continue moving or
remain at rest unless acted on by a non-zero net force
Newtons 2nd Law: The acceleration of a particle is proportional to the net
force acting on the particle and is in the same direction as the force
Newtons 3rd Law: For every action, there is an equal and opposite reaction
Free body Diagram
o Identifies all external forces acting on the body, and the direction they
point in
No internal forces
o Replace physical contacts with equivalent forces

Lecture 16

Moment of a Force: measure of a forces ability to twist or rotate about a

point
o Is a vector; has magnitude and direction

M o=Fd

where M is moment/torque; F is force applied, d is distance from

the hinge perpendicular to the force

Right hand rule: The way your fingers curl around an axis is the positive
rotation for that axis