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Question: How to create orthonormal triads with "Physics:-Vectors"

Question:How to create orthonormal triads with "Physics:-Vectors"

olivier107 10 Maple 2023
basis orthonormal physics
October 21 2023
2

Hello,
I recently discovered the "Physics" package wich provides tools for manipulating abstract vectors (non-component).
In the "Physics:-Vectors", an orthonormal basis (i,j,k) is available and my main concern is how to generate arbitrary other 3D orthonormal bases to be able to calculate results in "vectorial form" without manipulating vectors' components.

To better explain my needs I have setup a kind of minimal example in the attached file where some questions are asked.

Thanks in advance for any feedback.

orthonormal-triads.mw

NULL

restart

with(Physics)

with(Physics[Vectors])

Creation of 2 rotation matrices

dir1 := `<,>`(0, 0, 1)

dir2 := `<,>`(0, 1, 0)

seq(assign(cat(R, i), Student:-LinearAlgebra:-RotationMatrix(theta[i], eval(cat(dir, i)))), i = 1 .. 2)

print(R1, R2)

Matrix(%id = 36893490614987576012), Matrix(%id = 36893490614987577572)

 (1)

whattype(R1)

Creation of  orthogonal unit "Physics:-Vectors" from previous matrices

x1_ := _i*R1[1, 1]+_j*R1[2, 1]+_k*R1[3, 1]``

y1_ := _i*R1[1, 2]+_j*R1[2, 2]+_k*R1[3, 2]

z1_ := _i*R1[1, 3]+_j*R1[2, 3]+_k*R1[3, 3]NULL

NULL

x2_ := _i*R2[1, 1]+_j*R2[2, 1]+_k*R2[3, 1]NULL

y2_ := _i*R2[1, 2]+_j*R2[2, 2]+_k*R2[3, 2]

z2_ := _i*R2[1, 3]+_j*R2[2, 3]+_k*R2[3, 3]

Q1: Is there a more elegant way of creating "Physics:-Vectors" from matrices ?

Now, suppose that we want to compute `&x`(`#mover(mi("x1"),mo("&rarr;"))`, `#mover(mi("y2"),mo("&rarr;"))`) : since `#mover(mi("y2"),mo("&rarr;"))` = `#mover(mi("j"),mo("&and;"))` we have `&x`(`#mover(mi("x1"),mo("&rarr;"))`, `#mover(mi("y2"),mo("&rarr;"))`) = sin(`#mover(mi("x1"),mo("&rarr;"))`, `#mover(mi("j"),mo("&and;"))`)*`#mover(mi("z1"),mo("&rarr;"))` and sin(`#mover(mi("x1"),mo("&rarr;"))`, `#mover(mi("j"),mo("&and;"))`)*`#mover(mi("z1"),mo("&rarr;"))` = sin((1/2)*Pi-`&theta;__1`)*`#mover(mi("z1"),mo("&rarr;"))` and sin((1/2)*Pi-`&theta;__1`)*`#mover(mi("z1"),mo("&rarr;"))` = cos(theta[1])*`#mover(mi("z1"),mo("&rarr;"))`

The cross product operator  `&x`(x1_, y2_) yields

cos(theta[1])*_k

 (2)

(which is a correct answer) instead of cos(theta[1])*`#mover(mi("z1"),mo("&rarr;"))` because vector `#mover(mi("z1"),mo("&rarr;"))` has is not known as a unit basis vector.

Similarly, `&x`(z1_, x1_) yields -sin(theta[1])*`#mover(mi("i"),mo("&and;"))`+cos(theta[1])*`#mover(mi("j"),mo("&and;"))` instead of  `#mover(mi("y1"),mo("&rarr;"))` as it would be the case when computing `&x`(_k, _i) ?

Q2: Is there a way to declare new triads of "Physics:-Vectors" with properties similar to the provided triad _i, _j, _k ?

Q3: Is the code defining the canonical basis i, _j, _kavailable for inspection and inspiration to setup orthonormal triads ?

Q4: Is it possible to get a (column) matrix of the vector components ? The function Physics:-Vectors:-Component(y1_, n) can only get 1 component at a time and only in the canonical basis i, _j, _k.

NULL

restart

with(Physics)

with(Physics[Vectors])NULL

After a proper definition of 2 new vector bases `#mover(mi("x1"),mo("&rarr;"))`, `#mover(mi("y1"),mo("&rarr;"))`, `#mover(mi("z1"),mo("&rarr;"))` and `#mover(mi("x2"),mo("&rarr;"))`, `#mover(mi("y2"),mo("&rarr;"))`, `#mover(mi("z2"),mo("&rarr;"))`, the position vector OM_ := l__1*x1_+l__2*x2_NULLNULL

l__1*x1_+l__2*x2_

 (3)

NULL

projected on `#mover(mi("x2"),mo("&rarr;"))` would yield directly Typesetting[delayDotProduct](l__1, `#mover(mi("x2"),mo("&rarr;"))`.`#mover(mi("x1"),mo("&rarr;"))`, true)+l__2 instead of expand(OM_.x2_)

l__1*Physics:-Vectors:-`.`(x1_, x2_)+l__2*Physics:-Vectors:-Norm(x2_)^2

 (4)

because of the unit vectors.

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