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Calculus
Vector-Valued Functions
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Outline
1
Vector-Valued Functions
Motion in Space
Curvature
Parametric Surfaces
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (1.1)
Sketch a graph of the curve traced out by the endpoint of the
two-dimensional vector-valued function
r(t) = (t + 1)i + (t2 2)j.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
t R.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (1.5)
Match each of the vector-valued functions
r1 (t) = hcos t, ln t, sin ti, r2 (t) = ht cos t, t sin t, ti,
r3 (t) = h3 sin 2t, t, ti and r4 (t) = h5 sin3 t, 5 cos3 t, ti with the
corresponding computer-generated graph.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Arc Length in R2
Recall from section 5.3 that if f and f 0 are continuous on the
interval [a, b], then the arc length of the curve y = f (x) on that
interval is given by
Z
s=
bq
1 + (f 0 (x))2 dx
bq
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Arc Length in R3
Suppose that a curve in three dimensions is traced out by the
end point of the vector-valued function
r(t) =< f (t), g(t), h(t) >,
where f , f 0 , g, g0 , h and h0 are all continuous for t [a, b] and
where the curve is traversed exactly once as t increases from a
to b. For this situation, the arc length is given by
Z
s=
bq
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Figure: [9.7a]
Approximate arc
length in R2 .
Figure: [9.7b]
Approximate arc
length in R3 .
Figure: [9.7c]
Improved arc length
approximation.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (1.7)
Find the arc length of the curve traced out by the endpoint of
the vector-valued function r(t) = he2t , sin t, ti, for 0 t 2.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Figure: [9.9a] z =
y + z = 2.
p
x2 + y2 and
Figure: [9.9b] x = t, y = 1 t4 ,
2
z = 1 + t4 .
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
ta
ta
ta
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Definition (2.1)
For a vector-valued function r(t) = h f (t), g(t), h(t)i, the limit of
r(t) as t approaches a is given by
D
E
lim r(t) = limh f (t), g(t), h(t)i = lim f (t), lim g(t), lim h(t) ,
ta
ta
ta
ta
ta
provided all of the indicated limits exist. If any one of the limits
indicated on the right-hand side of (2.1) fails to exist, then
lim r(t) does not exist.
ta
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (2.1)
Find limht2 + 1, 5 cos t, sin ti.
t0
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (2.2)
1
2t
2
Find lim e + 5, t + 2t 3,
.
t0
t
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Definition (2.2)
The vector-valued function r(t) = h f (t), g(t), h(t)i, is
continuous at t = a whenever
lim r(t) = r(a)
ta
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
ta
Further since
lim < f (t), g(t), h(t) >=< lim f (a), lim g(a), lim h(a) >
ta
ta
ta
ta
ta
ta
ta
ta
ta
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Theorem (2.1)
A vector-valued function r(t) = h f (t), g(t), h(t)i is continuous at
t = a if and only if all of f , g and h are continuous at t = a.
Notice that Theorem 2.1 says that if you want to determine
whether or not a vector-valued function is continuous, you need
only check the continuity of each component function.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (2.3)
Determine for what values of t the vector-valued function
r(t) = he5t , ln(t + 1), cos ti is continuous.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (2.4)
Determine for what values of t the vector-valued function
1
r(t) = htan t, |t + 3|, t2
i is continuous.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
f 0 (t) = lim
Definition (2.3)
The derivative r0 (t) of the vector-valued function r(t) is defined
by
r(t + t) r(t)
,
t0
t
r0 (t) = lim
for any values of t for which the limit exists. When the limit
exists for t = a, we say that r is differentiable at t = a.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Theorem (2.2)
Let r(t) = h f (t), g(t), h(t)i and suppose that the components
f , g and h are all differentiable for some value of t. Then r is
also differentiable at that value of t and its derivative is given by
r0 (t) = h f 0 (t), g0 (t), h0 (t)i.
Theorem 2.2 says that the derivative of a vector-valued function
is found directly from the derivatives of the individual
components.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (2.5)
Find the derivative of r(t) = hsin(t2 ), ecos t , t ln ti.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
r0 (a) = lim
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
r(a + t) r(t)
will
t
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Theorem (2.4)
kr(t)k = constant if and only if r(t) and r0 (t) are orthogonal, for
all t.
Theorem 2.4 implies that:
1
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (2.7)
Evaluate the indefinite integral
Z D
dt.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Definition (2.6)
For the vector-valued function r(t) = h f (t), g(t), h(t)i, we define
the definite integral of r(t) by
Z
r(t)dt =
a
*Z
Z
f (t)dt,
+
h(t)dt .
g(t)dt,
a
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Theorem (2.5)
Suppose that R(t) is an antiderivative of r(t) on the interval
[a, b]. Then,
Z
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (2.8)
Z
Evaluate
0
sin t, 6t2 + 4t dt.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
The Newtons second law of motion states that the net force
acting on an object equals the product of the mass and the
acceleration.
Using vector notation, we have the vector form of Newtons
second law:
F = ma
Here, m is the mass, a is the acceleration vector and F is the
vector representing the net force acting on the object.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
t1
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
t1
= (r mv)|tt21
The term r mv is referred to as the angular linear momentum
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (3.5)
A stationary merry-go-round of radius 5 feet is started in motion
by a push consisting of a force of 10 pounds on the outside
edge, tangent to the circular edge of the merry-goround, for 1
second. The moment of inertia of the merry-go-round is I = 25.
Find the resulting angular velocity of the merry-go-round.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (3.6)
Show that torque equals the derivative of angular momentum.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Recognizing that
q
[f 0 (u)]2 + g0 (u)]2 + h0 (u)]2 = ||r0 (u)||,
we can write this more simply as
Z t
s(t) =
||r0 (u)|| du
a
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (4.1)
Find an arc length parameterization of the circle of radius 4
centered at the origin.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Notice that
T(t) =
r0 (t)
||r0 (t)||
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Definition (4.1)
The curvature of a curve is the scalar quantity
dT
=
ds
.
Computing the curvature of given curve by the definition
is not a simple matter. To do so, we would need to first find
the arc length parameter and the unit tangent vector T(t),
rewrite T(t) in terms of the arc length parameter s and then
differentiate with respect to s
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
dT ds
dT
=
,
dt
ds dt
dT
kT 0 (t)k
=
ds
= ds
dt
Recall that
Z
s(t) =
||r0 (u)||du
||T 0 (t)||
||r0 (t)||
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (4.3)
Find the curvature of a straight line.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (4.4)
Find the curvature for a circle of radius a.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Theorem (4.1)
The curvature of the curve traced out by the vector-valued
function r(t) is given by
=
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
kr0 (t)k3
|f 00 (t)|
{1 + [f 0 (t)]2 }3/2
|f 00 (x)|
{1 + [f 0 (x)]2 }3/2
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (4.6)
Find the curvature of the parabola y = ax2 + bx + c. Also, find
the limiting value of the curvature as x .
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
r0
kr0 k
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Definition (5.1)
The principal unit normal vector N(t) is a unit vector having
the same direction as T0 (t) and is defined by
N(t) =
T0 (t)
.
kT0 (t)k
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Note that
ds
= kr0 (t)k > 0
dt
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
dT
dT ds
=
.
dt
ds dt
This gives us
dT
T 0 (t)
ds
N(t) =
=
dT
kT 0 (t)k
k k
ds
ds
dT
1 dT
dt
= ds =
ds
dT
ds
k k
dt
ds
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
1 dT
ds
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
dT
points in the
ds
direction in which T is turning as arc
length increases. That is, N(t) will
always point to the concave side of
the curve.
This says that
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Definition (5.2)
We define the binormal vector B(t) to be
B(t) = T(t) N(t).
Notice that since T and N are unit vectors and orthogonal to
each other, the magnitude of B is 1.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Figure: [9.25] The TNB frame for r(t) = hsin 2t, cos 2t, ti.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
r0 (t)
kr0 (t)k
ds
,
dt
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
T 0 (t)
T 0 (t) = kT 0 (t)kN(t)
kT 0 (t)k
ds
dt
ds
N(t)
dt
2
N(t)
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
ds
dt
2
N(t)
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (5.5)
Find the tangential and normal components of acceleration for
an object with position vector r(t) = h2 sin t, 2 cos t, 4ti.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
It is simple to compute
aT =
d2 s
dt2
Figure: [9.31]
Components of a(t).
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Figure: [9.31]
Components of a(t).
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Solving
kak2 = a2T + a2N
for aN , we get
aN =
kak2 a2T
Figure: [9.31]
Components of a(t).
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
2
d2 s
ds
a(t) = 2 T(t) +
N(t)
dt
dt
Taking the cross product of both sides of this equation with T
gives us
2
2
ds
ds
d2 s
TN =
B
Ta= 2TT+
dt
dt
dt
Hence
kT ak =
ds
dt
2
kBk =
ds
dt
2
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Parametric Surfaces
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Figure: [9.35] x2 + y2 + z2 = 4.
Figure: [9.36] z =
p
4 x 2 y2 .
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
ex + ex
2
ex ex
2
Notice that
cosh2 x sinh2 x = 1
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Figure: [9.37] x2 + y2 z2 = 4.
Figure: [9.38] z =
p
x2 + y2 4.
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Example (6.3)
Find parametric equations for the hyperbolic paraboloid
z = x 2 y2 .
Vector-Valued Functions The Calculus of Vector-Valued Functions Motion in Space Curvature Tangent and Normal Vect
Figure:
p [9.39a] Portion of
z = x2 + y2 inside x2 + y2 = 4.