Main results
Note that the vector
g
=
b
×
c
g=b \times c
g=b×c is perpendicular to the plane on which vectors
b
b
b and
c
c
c lie. Thus, taking the cross product of vector
g
g
g with an arbitrary third vector, say
a
a
a, the result will be a vector perdendicular to
g
g
g and thus lying in the plane of vectors
b
b
b and
c
c
c. Therefore, one can express the vector
f
=
a
×
g
f=a \times g
f=a×g as a linear combination of the vectors
b
b
b and
c
c
c, i.e.,
f
=
k
1
b
+
k
2
c
.
f=k_1b+k_2c.
f=k1b+k2c.
Taking the scalar product of the both sides of this expression with vector
a
a
a, and noting that
a
T
f
=
0
a^{\mathrm{T}}f=0
aTf=0 one obtains
k
1
a
T
b
+
k
2
a
T
c
=
0.
k_1 a^{\mathrm{T}}b+k_2 a^{\mathrm{T}}c=0.
k1aTb+k2aTc=0.
For this equality to be valid for any
a
a
a,
b
b
b, and
c
c
c, one is tempted to write
k
1
=
λ
(
a
T
c
)
,
k
2
=
−
λ
(
a
T
b
)
,
k_1=\lambda \left( a^{\mathrm{T}}c \right), \quad k_2 = -\lambda \left( a^{\mathrm{T}}b \right),
k1=λ(aTc),k2=−λ(aTb), in which the unknown proportionality constant
λ
\lambda
λ has been introduced so as serve to hold true for the above solutions with no loss in generalty.
Thus, one has
f
=
a
×
(
b
×
c
)
=
λ
(
a
T
c
)
b
+
λ
(
a
T
b
)
c
.
f = a \times \left( b \times c \right) = \lambda \left( a^{\mathrm{T}}c \right) b + \lambda \left( a^{\mathrm{T}}b \right) c.
f=a×(b×c)=λ(aTc)b+λ(aTb)c.
Selecting arbitrarily a a a, b b b, and c c c, and substituting in the above equality, one obtains λ = 1 \lambda=1 λ=1.
Hence, one eventually obtains the vector identity (向量恒等式)
a
×
(
b
×
c
)
=
(
a
T
c
)
b
−
(
a
T
b
)
c
a \times \left( b \times c \right) = \left(a^{\mathrm{T}}c\right) b - \left(a^{\mathrm{T}}b\right) c
a×(b×c)=(aTc)b−(aTb)cand
(
a
×
b
)
×
c
=
(
c
T
a
)
b
−
(
c
T
b
)
a
.
\left( a \times b \right) \times c= \left(c^{\mathrm{T}}a\right) b - \left(c^{\mathrm{T}}b\right) a.
(a×b)×c=(cTa)b−(cTb)a.
Other rules:
Rule 1.
For
x
,
y
,
z
∈
R
3
x, y, z \in \mathbb{R}^3
x,y,z∈R3, we have
x
T
y
×
z
x
T
=
−
x
T
z
y
T
x
×
−
x
T
x
z
T
y
×
+
x
T
y
z
T
x
×
x^{\mathrm{T}}y^{\times}zx^{\mathrm{T}} = -x^{\mathrm{T}}zy^{\mathrm{T}}x^{\times}-x^{\mathrm{T}}xz^{\mathrm{T}}y^{\times}+x^{\mathrm{T}}yz^{\mathrm{T}}x^{\times}
xTy×zxT=−xTzyTx×−xTxzTy×+xTyzTx×
x T y × z = z T x × y = y T z × x x^{\mathrm{T}}y^{\times}z=z^{\mathrm{T}}x^{\times}y=y^{\mathrm{T}}z^{\times}x xTy×z=zTx×y=yTz×x
x T y × = − y T x × x^{\mathrm{T}}y^{\times} = -y^{\mathrm{T}}x^{\times} xTy×=−yTx×
x × y × = y x T − x T y I 3 x^{\times}y^{\times}=yx^{\mathrm{T}}-x^{\mathrm{T}}y\boldsymbol{I}_3 x×y×=yxT−xTyI3
Rule 2
[ x T ; y T ; z T ] [x^{\mathrm{T}};y^{\mathrm{T}};z^{\mathrm{T}}] [xT;yT;zT]行列式 − z y T x × − x z T y × + y z T x × -zy^{\mathrm{T}}x^{\times}-xz^{\mathrm{T}}y^{\times}+yz^{\mathrm{T}}x^{\times} −zyTx×−xzTy×+yzTx×
Rule 3
x × x × x × = − x T x x × x^\times x^\times x^\times=-x^Txx^\times x×x×x×=−xTxx×
Rule 4
x × y × z + y × z × x + z × x × y = 0 x^\times y^\times z + y^\times z^\times x+z^\times x^\times y=0 x×y×z+y×z×x+z×x×y=0
syms x1 x2 x3 y1 y2 y3 z1 z2 z3
x=[x1;x2;x3];y=[y1;y2;y3];z=[z1;z2;z3];
cross(x,cross(y,z))+cross(y,cross(z,x))+cross(z,cross(x,y))
simplify(ans)