有向量 a , b , c a, b, c a,b,c及其反对称矩阵 A , B , C A, B, C A,B,C，单位阵 I I I，常用以下运算规则
1、点积
a ⋅ b = b ⋅ a = a T b = b T a a \cdot b = b \cdot a = a^T b = b^T a a⋅b=b⋅a=aTb=bTa
2、叉积
a × b = A b = − b × a = − B a a × b = Ab = -b × a = -Ba a×b=Ab=−b×a=−Ba
3、常用关系式
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Aa = a × a = 0
Aa=a×a=0
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(a × b)^* = (Ab)^* = AB - BA
(a×b)∗=(Ab)∗=AB−BA
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AB = ba^T - b^T a I
AB=baT−bTaI
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(a × b) \cdot c = a \cdot (b × c) = a^TBc
(a×b)⋅c=a⋅(b×c)=aTBc
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a × (b × c) = ABc
a×(b×c)=ABc
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(a × b) × c = (Ab)^*c = (AB-BA)c=ABc-BAc
(a×b)×c=(Ab)∗c=(AB−BA)c=ABc−BAc
∗ ^* ∗表示相应向量的反对称矩阵
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