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18.02 Multivariable Calculus

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18.02 Lecture 1. Thu, Sept 6, 2007 Handouts: syllabus; PS1; ashcards.

Goal of multivariable calculus: tools to handle problems with several parameters functions of several variables. ) has a direction, and a length (|A |). It is represented by Vectors. A vector (notation: A = a directed line segment. In a coordinate system its expressed by components: in space, A a1 , a2 , a3 = a1 + a2 j + a3 k. (Recall in space x-axis points to the lower-left, y to the right, z up). Scalar multiplication Formula for length? Showed picture of 3, 2, 1 and used ashcards to ask for its length. Most students got the right answer ( 14). | = a2 + a2 + a2 by reducing to the Pythagorean theorem in the You can explain why |A 1 2 3 and its projection to the xy -plane, then derived |A | from length plane (Draw a picture, showing A of projection + Pythagorean theorem). +B by head-to-tail addition: Draw a picture in a parallelogram (showed how Vector addition: A A ); addition works componentwise, and it is true that the diagonals are A + B and B on the displayed example. = 3 + 2 j+k A Dot product.
B = a1 b1 + a2 b2 + a3 b3 (a scalar, not a vector). Denition: A B = |A ||B | cos .
Theorem: geometrically, A A = |A |2 cos 0 = |A |2 is consistent with the denition. Explained the theorem as follows: rst, A , B , C = A B . Then the law of cosines gives |C |2 = Next, consider a triangle with sides A |2 + |B |2 2|A ||B | cos , while we get |A |2 = C C = (A B ) (A B ) = |A |2 + |B |2 2A B. |C Hence the theorem is a vector formulation of the law of cosines. B A Applications. 1) computing lengths and angles: cos = . ||B | |A Example: triangle in space with vertices P = (1, 0, 0), Q = (0, 1, 0), R = (0, 0, 2), nd angle at P : 1 PQ PR 1, 1, 0 1, 0, 2 = , cos = 71.5 . = 2 5 10 |P Q ||P R | Note the sign of dot product: positive if angle less than 90 , negative if angle more than 90 , zero if perpendicular. 2) detecting orthogonality. Example: what is the set of points where x + 2y + 3z = 0? (possible answers: empty set, a point, a line, a plane, a sphere, none of the above, I dont know). = 1, 2, 3, Answer: plane; can see by hand, but more geometrically use dot product: call A OP = x + 2y + 3z = 0 |A ||OP | cos = 0 = /2 A OP . So we P = (x, y, z ), then A . get the plane through O with normal vector A

18.02 Lecture 2. Fri, Sept 7, 2007 Weve seen two applications of dot product: nding lengths/angles, and detecting orthogonality. u | cos is the component = |A is a unit vector, A A third one: nding components of a vector. If u along the direction of u along x-axis. . E.g., A = component of A of A pointing Example: pendulum making an angle with vertical, force = weight of pendulum F downwards: then the physically important quantities are the components of F along tangential direction (causes pendulums motion), and along normal direction (causes string tension).
1 Area. E.g. of a polygon in plane: break into triangles. Area of triangle = 2 base height = 1 2 |A||B | sin (= 1/2 area of parallelogram). Could get sin using dot product to compute cos and sin2 + cos2 = 1, but it gives an ugly formula. Instead, reduce to complementary angle = /2 = A rotated 90 counterclockwise (drew a picture). Then area of parallelogram by considering A ||B | sin = |A ||B | cos = A B . = |A = a1 , a2 , then what is A ? (showed picture, used ashcards). Answer: A = a2 , a1 . Q: if A (explained on picture). So area of parallelogram is b1 , b2 a2 , a1 = a1 b2 a2 b1 . a1 a2 = a1 b2 a2 b1 . Determinant. Denition: det(A, B ) = b1 b2 a1 a2 = area of parallelogram.
Geometrically:

b1 b2

, is counterclockwise
or clockwise from A The sign of 2D determinant has to do with whether B without details.
a1 a2 a3 b1 b2 b2 b3 b1 b3 .
b b b Determinant in space: det(A, B, C ) = 1 2 3 = a1
a +a c2 c3
2
c1 c3
3
c1 c2

c1 c2 c3
B, C ) = volume of parallelepiped. Referred to the notes for more about Geometrically: det(A, determinants. Cross-product. (only for 2 vectors in space); gives a vector, not a scalar (unlike dot-product). j k a2 a3 a1 a3 a1 a2
B =
a1 a2 a3 = j

Denition:
A

b2 b3

b1 b3
+ k
b1 b2 .
b1 b2 b3 (the 3x3 determinant is a symbolic notation, the actual formula is the expansion). B | = area of space parallelogram with sides A , B ; direction = normal to Geometrically: |A and B . the plane containing A How to decide between the two perpendicular directions = right-hand rule. 1) extend right hand ; 2) curl ngers towards direction of B ; 3) thumb points in same direction as A B . in direction of A , checked both by geometric description and by Flashcard Question: j =? (answer: k calculation). C | (A n Triple product: volume of parallelepiped = area(base) height = |B ), where n = B C/|B C |. So volume = A (B C ) = det(A, B, C ). The latter identity can also be checked directly using components.