124 Tangent Vectors and Normal Vectors 859 iE Tangent Vectors and Normal Vectors The dcetion ofthe uit tangent vstor depends on the orientation ofthe curve Figure 1220 Find a unit tangent vector at a point on a space curve © Find the tangential and normal components of acc Tangent Vectors and Normal Vectors Inthe preceding section, you learned thatthe velocity vector points in the direction of motion, This observation leads to the following definition, which applies to any smooth curve—not just to those for which the parameter represents time. DEFINITION OF UNIT TANGENT VECTOR Let C be a smooth curve represented by ¥ on an open interval /. The unit tangent veetor T(?) a ris defined as ri) TO = rae ri) #0, Recall that a curve is smooth on an interval if ris continuous and nonzero on the interval. So, “smoothness” vector. sufficient to guarantee that a curve has a unit tangent EXAMPLE (Mj Finding the Unit Tangent Vector Find the unit tangent vector to the curve given by n= n+ ey when r= 1 Solution ‘The derivative of r(¢) is iQ =i + 24 Devivaive of So, the unit tangent veetor is, = Defnon oT) = Pol en) 1 + 24 batt fore Fee TAN + Wut 0. When 1 = 1, the unit tangent vector is 1 =-a+ TU) aii 2) as shown in Figure 12.20 a In Example 1, note thatthe diestion of the unit tangent veetor depends on the ation of the curve. For instance, ifthe parabola in Figure 12.20 were given by (+ O24 ro ‘T(1) would stil represent the unit tangent vector at the point (1, 1), but it would point in the ‘opposite direction. Try verlying this .860 Chapter 12 Veclor-Valued Functions Curve: cost + 2sin hk “Tangent line (ava) on ‘The tangent line to a curve at a point is the Hine that passes through the point and is parallel to the unit tangent veetor. In Example 2, the unit tangent vector is used t0 find the tangent line at a point on a helix. EXAMPLE [Ej Finding the Tangent Line at a Point on a Curve Find T() and then find a set of parametric equations for the tangent line to the helix sven by r(f) = 2eos ti + 2 sin sj + rk atthe point (4 423) Solution ‘The derivative of r(t) is r'(¢) = —2 sin ti + 2 cos tj + k, which implies that r(@] = sin? + 4e0s? + 1 = V5. Therefore, the unit tangent vector is ris) Treo] 2 sin tl + 2 e084) + ky) Unit angen vector Te) V5 At the point (V3.3, w/4), = 1/4 and te unit tangent vector is Using the direction numbers a = ~ V3, b= V2, and e = 1, and the point V2.2, 7/4), you can obtain the following parametic equations ith parameter s). ‘This tangent line is shown in Figure 12.21 . In Example 2, there ate infinitely many vectors that are orthogonal to the tangent vector T(). One of these is the vector T'(). This follows from Property 7 of Theorem 12.2. Thats, TE) - TE) = [TO By normalizing the veetor T/(), you obtain a special vector called the prinefpal unit normal vector, as indicated in the following definition 1 > TH-TH=0. ~_DERINITION OF PRINCIPAL UNIT NORMAL VECTOR - | | | Let C be a smooth curve represented by F on an open interval IFT) # 0, then the prineipal unit normal veetor at ris defined as| ‘The principal unit normal wetor points toward the concave side ofthe curv, Figure 1222 Atany point ona cure, aunt normal vector isorthogonal to th unit tangent vctor-The principal unit normal vector points nthe rection in which the cue is turning. Figure 1223 124 Tangent Vectors and Normal Vectors. 861 EXAMPLE [EM Finding the Principal Unit Normal Vector Find N() and N(1) for the curve represented by rd) = 31 + 2%, Solution By differentiating, you obtain PG) = 34 4} and rl) = YO T6F ‘hich implies thatthe unie tangent vector is ir) Irol salen 7 OF Toa TW = + 44H) Unit tangent vor Using Theorem 12.2, differentiate T(0) with respect to ¢ to obtain oral 4 [9+ 16% 2 + ier) ~ 9+ 168 ‘Therefore, the principal unit normal veetor is TK) no = PO °° Fro \ a FETE AE + AD). sit ei oma este ‘When # = 1 he principal unit normal vector is Na) = 5(-41 = 3) as shown in Figure 1222, . ‘The principal unit normal vector ean be difficult to evaluate algebraically, For plane curves, you can simplify the algebra by finding Ti) = xi + YH Unie tangontveeor and observing that N(o) must be either Ny) =o — xO or NM = = VU + a Because VIMOF + DOF = |, it follows that both N,() and N,(9 are unit normal vectors. The principal unit normal veetor N is the one that points toward the concave side of the curve, as shown in Figure 12.22 (see Exercise 94), This also holds for 1s in space. That is for an object moving along a curve Cin space the vector T() points in the direction the object is moving, whereas the vector N(@) is orthogonal to T() and points in the direction in which the object is turning, as shown in Figure 12.23.862 Chapter 12 Vector-Valued Functions Het FG) = 20081842 sin gj + a PS, [N() is horizontal and points toward the Figure 12.24 EXAMPLE [EM Finding the Principal Unit Normal Vector Find the principal unit normal veetor for the helix given by H() = 2eos i + 2sinj + 1k. Solution From Example you know thatthe unit tangent vector is 10) = Be sinti + 20s 4) + K). Usittangent vestr So, (is given by To Sgt Beosat = 2sin i). Because IT (|| = 2/V3, it follows that the principal unit normal veetor is 7) NO= Tray 2 cost — 2 sinj) = cos th ~ sin 4 Pirpal unit normal vector [Note that this vector is horizontal and points toward the z-axis, as shown in Figure 12.24, " Tangential and Normal Components of Acceleration Let's return to the problem of describing the motion of an object along a curve. In the preceding section, you saw that for an object traveling at a constant speed, the velocity and acceleration vectors are perpendicular, This seems reasonable, because the speed would not be constant if any acceleration were acting in the direction of ‘motion. You can verify this observation by noting that ree =0 if |1'(0)| is a constant, (See Property 7 of Theorem 12.2.) However, for an object traveling at a variable speed, the velocity and acceleration vectors are not necessarily perpendicular. For instance, you saw that the acceleration vector for a projectile always points down, regardless of the direction of motion. In general, part of the acceleration (the tangential component) acts inthe line of. ‘motion, and part (the normal component) acts perpendicular to the Tine of motion. In ‘order to determine these two components, you can use the unit vectors T(} and N(), which serve in much the same way as do i and j in representing vectors in the plane. ‘The following theorem states thatthe acceleration vector lies inthe plane determined by Tie) and N() TORENT TeELERATTON ECTON Ifr() is the position vector for a smooth curve C and N(é) exists, then the acceleration vector a(i) lies in the plane determined by T(0) and N(.‘The tangential and normal eomponents of acceleration ae obtained by projecting a ‘onto TandN. Figure 1225 124 Tangent Vectors and Normal Vectors 863 (GRGBE) To simplify the notation, write T for T(), T’ for Te), and so on, Because T= rifle’ = v/v, it follows that vein By differentiating, you obiin Dalit + [vine” Product Re = paiva + Wr (IF) = Dvr + IWIN. N= ravi Because a is written as a linear combination of TT and N, it follows that a lies in the plane determined by T and N. . ‘The coefficients of T and N in the proof of Theorem 12-4 are called the tangential and normal components of acceleration and are denoted by ay = D,{lvi and ay = |v] (TI. So, you can write a(t) = a;T(f) + ayN(). ‘The following theorem gives some convenient formulas for ay and ay. THEOREM 12.5 TANGENTIAL AND NORMAL COMPONENTS OF ACCELERATION fr) the position veetor for a smooth curve C [for which N() exists}, then the tangential and normal components of acceleration are as follows, = Dil va og = bits) = aT = ie] = an = al. ap=ae Note that dy 2 0.'The normal component of acceleration is also called the | centripetal component of acceleration. FRB) Note that a lies in the plane of T and N. So, you can use Figure 12.25 to conclude that, for any time 4, the components of the projection of the acceleration vector onto T and onto N are given by dy = a+ T and ay = a+ N, respectively Moreover, because a = v’ and T = v/ly, you have ayaa =T-a “hi vi In Exercises 96 and 97, you are asked to prove the other parts of the theorem, at ‘The formulas from Theorem 12.5, together with several other formulas from ‘lupe, are summarized on page 877.864 Chapter 12 _vector'Valued Functions ‘The normal component of acceleration is equal to the radi ofthe elinder around hich the els spiraling, Figure 1226 CJEXAMPLE [Ei] Tangential and Normal Components of Acceleration Find the tangential and normal components of acceleration forthe position vector sien by ri) = 3x4 = + Pk Solution Begin by finding the velocity, speed, and acceleration. vi) =r) = 4 + 21k Ia) = OFT Tae = VOR aE a() = e"() = 2k By Theorem 12.5, the tangential component of acceleration is “Tangential component of acceleration and because ji ak vxa=/3 -1 2] = ~21- 6) lo) toe the normal component of acceleration is JTF 36, 2v10 lv x all n= EEG, - 210 Smal eompnen of acceraton IM Viorae Vor ar " s " I Example 5, you could have used the alerative formula foray Follows af avi oy = Ja =F = JP - Git - . vio EXAMPLE [J Finding a, and a, for a Circular Helix Find the tangential and! normal components of acceleration for the helix given by H(i) = bcos ti + bsin tj + ctk, b > 0. Solution FQ) = —bsintl + boost] + ck Vo vo Iwo) a() = r°() = —beos ti ~ bsin rf wire = VF By Theorem 12.5, the t igemtial component of acceleration is fe neler cos tibe sil tcos thd Tangential component ae el Vere ‘of acceleration Moreover, because lal| = /D® cost? ¥ Bsin® 7 = b, you can use the alternative formula for the normal component of acceleration to obiain dy = Val? — ae = VFO = b. beetle Note that the normal component of acceleration is equal to the magnitude of the acceleration, In other words, because the speed is constant, the acceleration is perpendicular to the velocity. See Figure 12.26. aWey ‘The pth of «projectile igure 1227 Exercises 12.4 Tangent Vectors and Normal Vectors 865 EXAMPLE [J Projectile Motion “The positon vector forthe projectile shown in Figure 12.27 is given by r(e) = (S0YZ Ai + (S020 — 162°) Position vector Find the tangential components of acceleration when # = 0, 1, and 25/3/16. Solution vi) = S034 + (50/3 — 3203 os veo] = 2/502 = 16(50) /2r + 162 syed a(t) 324 ‘Acceleration vector “The tangential component of acceleration is _ ve) + ale) JB ‘Tangential component 0 WOT ~ 25 — 16080) 50 + TO of sscleaion A the specified times, you have oy(0) = 228A) _ 1g a» —206 =32(50./2 — 32) 2/502 = 16(50) V2 + 16? a (s A) =22(50/3 - 50/3) _ 4 N16 50/2 You can se fom Figure 12.27 that, the maximum height, when ¢ = 25 3/16, he tangential component is 0. This is reasonable because the direction of motion i horizontal atthe pont andthe tangential component ofthe acceleration sequal to the horizontal component ofthe acceleration 7 ay(1} =Is4 ‘Ste wn ala wut otis oot sunbed ess In Bxereises 1-4, sketch the unit tangent and normal vectors at In Exercises $10, find the unit tangent vector to the curve at the given points. To print an enlarged copy of the graph, go to the specified value ofthe parameter. the website www.mathgraphs.com. 1 , 2 —™™. 13. 16 +28 1 6 ri) = AE 4 DF}, cos tht sin i, 1 = 2 la cos i+ sin j, 1% 9. eli) = 34 = Int 10, rf) = cosh + ef, 1=0 t Jn Exercises 11-16, find the unit tangent yeetor1() and find a set of parametric equations forthe lie tangent to the space Y curve at point P. 1 r= RH =ri+ y+ + tk, P(0,0,0) ltt) Scott + 3sing + sk, P.0,0) 14. l= (un VE=P), POLI, V9) IS. w(t) = (Zeost,2sint,4), PV, V3.4) 16, #1) = (sing, 2e0s4.4sin?e, PCL, V3.1)866 Chapter 12 Vector-Valued Functions GBD in Exercises 17 and 18, use a computer algebra system to graph te space curve. Then find Y() and find a set of parametrie ‘equations for the line tangent to the space curve at point P. Graph the tangent line. 17. 6) = (8,243), PG,9, 18) 18, r() = bik, P(0.4. 7/4) cos 11+ 4 sin Linear Approximation In Exercises 19 and 20, find a set of parametric equations forthe tangent fine to the graph at = fy ‘and use the equations for the line to approximate r{¢, + 01). 19. 6 = (tint Vis =I 20, e(9) = (e-4 Deon 2sin), = 0 n Exercises 21 and 22, verify that the space curves intersect a the given values of the parameters. Find the angle between the ‘tangent vectors to the curves atthe point of intersection. te = (1-28), t= 4 is) = (fs, 25,98), 98 2. ri) (9) = (~fsin?e ~ sins, ~ fsinés ~ sins, 1,008 sin), Jsinscoss+ bs), 6 =0 In Exercises 23~30, find the principal unit normal yector to the ‘curve atthe specified value of the parameter. 23. ri) ei r 26. r() = weosti + msing, = 7 Neat =} Vii Fei etk, T= 0 29,4 = Sool 6nd hy 1-3 3 = int + = In Exercises 31-34, find v(t), a(, Ta), and NO) (i exists) for fan object moving along the path given by the vector-valued function v0). Use the results to determine the form of the path, Is the speed of the object constant or changing? 31. ie) = an 38. rG) = 481 Mr) P+ k In Exercises 35-44, find 11, NO), iy and ay at the + for the plane curve (). 38.) = 36. ri) =F 3. 6) = (FPN DAL t= 38. w= (0 — A+ Di 39. Hl) = + Wr) = eit ete AL wf) =e cos et sin tj, BH) = acosarl + B sin oth 4B. 1) = (eos at + or sin wt, sin — a cos 08), 44. 1) = or sine, 1 coset}, t= fo Circular Motion In Exercises 4548, consider an object moving according to the position function He) 45. Find T(), Nl) ay, and ay. 46. Determine the directions of T and N relative to the position Tanetion cos wt i+ asin ox je 47, Determine the speed of the object at any time ¢ and explain its value relative tothe value of 2. 48. IF the angular velocity ois halved, by what factor is ay changed? In Exercises 49-84, sketch the graph of the plane eurve given by the vector-valued funetion, and, at the point on the eurve determined by rit), sketeh the vectors T and N. Note that N points toward the concave side of the curve. Function time waned 50. r() = PL + SL. i) = 4d + 424 52. n= Qn DI AY 83, r(t) = 2cos ri + 2 sin sj 54, rit) cos 11+ 2 sin In Bxercises $562, find (@), NO), yy and ay a the given time “for the space carver. [Hints Find a), 1), and ay. Solve for N in the equation a() = ayT + agNi] Function _ Time 58, r) = Hh + 2h ok i= 56, 1) = sib ~ Aaj + 2th 12 57, 1) = sos sing ~ 2 int 60. ie) = 20 D+ AY = Ake G1, 0) = e'sin th + eos tf + ek 62. H() = eh + 2 + ethWED In Exercises 63-66, use a computer algebra system to graph the space curve. Then find T(), N(@), a, and ay atthe given time f Sketch T( and N@) on the space curve. Function Time 6. rf Ai + Beos rj + 3 sin rk 64 rl) =(2 + conti + (U— sindj + Sk rm 68. r() = 143 + 66. Hi ona as 67. Define the unit tangent vector. te principal unit normal vector, and the tangential and normal components of, scceeration, Alejo t=1 68, How is che unit tangent vector related to the orientation of acune? Explain 69, (a) Describe the motion ofa particle ifthe normal eomponent ‘of acceleration is 0. (6) Describe the motion of a particle if the tangential ‘component of aceletation is 0, Ph ‘70. An object moves along the path given by + aK. Find o(9) 0), T(9, and N(} GE it exists). What isthe form of the path? Is the sped of the object constant or changing? ‘1. Cyeloidal Motion ‘The figure shows the path of a particle ‘modeled by the vector-valued function n( ‘The figure also shows the vectors v(i}/|v(0|| and a(¢)/ja(| at the indicated values ofr, (rt = sin wt, | — cos 72). (a) Finda and ay at ¢= $= Lande = (b) Deteanine wheter the sped ofthe pares increasing or decreasing teach ofthe indicated vals of. Give reasons for your answers 124 Tangent Vectors and Normal Vectors 867 72. Motion Along an Involute of a Circle The figure shows ‘a particle moving along a path modeled by e() = (cos mt + nisin asin wt ~ atcos ai). The figure also shows the vectors vi) and a(e) fort = Land ¢ = 2 () Find ag and ay at = Land ¢ = 2. (©) Determine whether the speed ofthe particle is increasing or decreasing at each of the indicated values of Give reasons for your answers. In Rxercises 73-78, find the vectors T and N, and the unit binormal vector B= T x N, for the vector-valued function (0) at the given value oft, rani =donraind ete magn ee ek er igre for 73 Figure for 74 15 ri) = 1+ sins} +080, =F 16 Hi) = 241 + Cosi) + eins, = 0 Th xi) =Asintl + deosd +2, 7, i) = 3cos2-+ 3sin24§ +h, =F 79. Projectile Motion Find the tangential and normal compo- nents of acceleration fora projectile fired at an angle @ with the horizontal at an initial speed of vy. What are the components when the projectile is at its maximum height? 80. Projectile Motion Use your results from Exercise 79 to find the tangential and normal components of acceleration for 3 projectile fired at an angle of 45° with the horizontal at an initial speed of 150 fet pee scond, What are the components ‘when the projectile is at its maximum height?868 Chapter 12 Vector-Valued Functions BP 81, Projectile Motion A projectile is launched with an initial velocity of 120 feet per second ata height of $ feet and at an angle of 30° with the horizontal (a) Determine the vector-valued function forthe path of the projectile (b) Use a graphing witty to graph the path and approximate the maximum height and range ofthe projectile (© Find v(0), vCal, and a. (@) Use graphing uty to compete the table [Jos [10 [as [30] 25 | 30 | sei aaa () Use a graphing utility t graph the scalar functions ay and ‘ay. How isthe speedo the projectile changing when ay . and ay have opposite signs? FE 82. Projectile Motion A projectile is launched with an inl velocity of 220 feet per second at a height of 4 feet and at an angle of 45° with the horizontal (@) Determine the vector-valued function for the path of the projectile (©) Use a graphing uslity to graph the path and approximate the maximum height and range ofthe projectile (6) Find v1), v6, and af) (8) Usea graphing wilty to complete the table, [fe os Speed 83. Air Traffic Control Because of a storm, ground controllers ‘nstract the pilot of a plane flying at an altitude of 4 miles to ‘make a 90° turn and climb to an altitude of 4.2 miles. The ‘model for the path of the plane during this maneuver is *) where isthe time in hours and r i the distance in miles (a) Determine the speed ofthe plane, GY b) Use a computer algebra system to calculate ay and ay, Why is one of these equal t 0? 84, Projectile Motion plane flying at an altitude of 36,000 feet ‘a 8 speed of 600 miles per hour releases a bomb, Find the tangential and normal components of acceleration acting on the bomb. 85. Contripetal Acceleration An object is spinning at a constant speed on the end ofa string, according tothe position fonction given in Exervises 45-48, (a) Ifthe angular velocity « is doubled, how is the centripetal ‘component of acceleration changed? (b) Ifthe angular velocity is unchanged but the length of the string is halved, how isthe centepetal component of accel- ‘eration changed? 10 cos 1072, 10sin LOnt,4 +4), OS F< 86. Centripeal Force An object of mass m moves ata constant speed in a cicular path of radius r. The force required 10 produce the centripetal component of acceleration is called the centripetal force ant is piven by F = my*/r. Newton's Law of Universal Gravitation is given by F = Givfm/a, where dis the distance between the centers ofthe two bodies of masses M and 1m, and G isa gravitational constant, Use this law to show that the speed required for circular motion is » = VGH. Orbital Speed In Exercises $7-90, use the result of Exercise 86 to find the speed necessary for the given circular orbit around Barth, Let GM = 9.56 x 10" eubie miles per second per second, and assume the radius of Barth is 4000 miles. £87. The omit ofa space shuttle 115 miles ahove the surface of Earth ‘88, The obit of a space shuttle 245 miles above the surface of Earth 89, The orbit of heat capacity mapping satelite 385 miles above the surface of Barth 9, The exit of communications satellite r miles above the surface ‘of Bart that isin geosynehronous orbit [The satelite completes ‘one orbit per sdereal day (approximately 23 hours, 56 minutes), and therefore appears to remain stationary above a point on Earth | True or False? In Exercises 91 and 92, determine whether the Statement is true oF false. IF is false, explain why or give an example that shows itis False. 91. IF a car's speedometer is constant, then the car cannot be accelerating 92, Ifay = 0 for a moving object, then the object is moving in a straight line 93.8 particle moves along a path modeled by 1) = cosh(bih + sinh(l, where b iss positive constant (@) Show tat he path ofthe panicle is a hyperbola {b) Show that a) = Br. 94, Prove that the principal unit nomal vector N points toward the eoncave side ofa plane curve 98, Prove that he vector Tis for an object moving in astright Tine 96, Povey = BAL 17, Prove that og = Vika PUTNAM: EXAM CHALLENGE 98. A putcle of unit mass moves ona stught line under the | ation ofa force which isa function f(y) ofthe velocity v of | the partite, tue the form ofthis Finetion isnot Known. A | motion i observed, and the distance covered in time # ie found to be connected with ¢ by the formula | ‘afoes determined by observation of the motion, Find the function forthe range of» covered hy the experiment ‘erin wp he Cm on Pen Me Coen ae | | |