UCCM2013/UECM2013 Advanced Calculus

Chapter 1

May 2011

Chapter 1: Vector Functions

Vectors , , are called the standard basis vectors where = 1,0,0 , = 0,1,0 , = 0,0,1 . If = , , , then we can write = + + . The length of is given by = + + = 1,2, 3 and = , , = 4,0,7 , express the vector 2 + 3 , then the dot product of = + in terms of , and .

Example 1. If Solution: If = by , ,

and

and

is the number

given

Example 2. Evaluate 1,2, 3 3,0, 1 . Solution:

Properties of the Dot Product: 1. = proof: 2. Two vectors and are orthogonal if and only if

Example 3. Show that 2,2, 1 is perpendicular to 5, 4,2 . Solution: = , , = ,

= 0.

If

and

, , then the cross product of and is the vector = , ,

UCCM2013/UECM2013 Advanced Calculus Example 4. If Solution: = 1,3,4 and = 2,7, 5 , find

Chapter 1 . and .

May 2011

Theorem. The vector Proof:

is orthogonal to both

1.2

Vector Functions and Space Curves

A vector function is a function whose domain is a set of real numbers and whose range is a set of vectors. We are interested in vector functions whose values are three dimensional , and are the components of the vector , we write vectors. If = + + = , , . Suppose that , and are continuous real functions on the interval I. Then the set C of all points , , in space, where = = = (Equation 1) and t varies throughout I, is called a space curve. The equations in (1) are called parametric equations of C and t is called a parameter.

We can think of C as being traced out by a moving particle whose position at time t is the point , , . The vector function = , , is the position vector of the point , , . Thus, any continuous vector function defines a space curve C that is traced out by the tip of the moving vector .

UCCM2013/UECM2013 Advanced Calculus

Chapter 1 = , ,

May 2011 and 0.

Example 1. Sketch the space curve whose vector equations is Solution:

The line segment from

to

is given by the vector equation = 1 + , 0 1.

Example 2. Find a vector equation and parametric equations for the line segment that joins the point 1,3, 2 to the point Q 2, 1,3 . Solution:

1.3

Derivatives and Integrals of Vector Functions The derivative of a vector function = is given by

if this limit exists.

= lim

UCCM2013/UECM2013 Advanced Calculus

Chapter 1

May 2011

The points P and Q in the figure above have position vectors and + . represents the vector + , which is called the secant vector. If > 0, the scalar multiple has the same direction as +

that lies on the tangent line. Hence, is called tangent vector to the curve defined by at P, exists and provided that 0. . Tangent line at P is the line through P parallel to the tangent vector The unit tangent vector is given by =

. As 0, this vector approaches a vector

The unit tangent vector indicates the direction of the curve. Theorem. If = + + , where , and are differentiable, then = + + + is the derivative of . We write = + sin 2 . Find

The second derivative of a vector function Example 1. Consider = 1+ vector at the point where = 0. Solution: =

and the unit tangent

Example 2. For the curve and the tangent vector 1 . Solution:

+ 2

, find

and sketch the position vector

UCCM2013/UECM2013 Advanced Calculus

Chapter 1

May 2011

Parametric equations of the line parallel to the vector a, b, c and passes through the point

(x0 , y 0 , z 0 ) is

x = x0 + at

y = y 0 + bt

z = z 0 + ct

Example 3. Find parametric equations for the tangent line to the curve with parametric equations =2 = = at the point 0,1, 2 . Solution: and =

Theorem. Suppose function. Then 1. 2. 3. 4. 5. 6. Note: 1. 2. +

are differentiable vector functions, c is scalar, and f is a real-valued + + +

3. Two vectors

= = 0 proof:

and

are orthogonal if and only if

=0

UCCM2013/UECM2013 Advanced Calculus Example 4. Show that if Solution: = , then

Chapter 1 is orthogonal to for all t.

May 2011

The definite integral of a continuous vector function = +

is

Example 5. If Solution:

=2

+ 2 , evaluate

..

1.4

Arc Length and Curvature = , = , , , a . , and = .

Suppose that a space curve has the vector equation Or equivalently, the curve has the parametric equations = Then the length of the curve is = +

= =

Example 1. Find the length of the arc of the circular helix with vector equation , , from the point 1,0,0 to the point 1,0,2 . Solution: Suppose that C is a space curve given by the vector function . Its arc length function s is = = . . = , ,

= ,

If a curve is already given in terms of parameter t, then we may be able to solve for t as a function of : = . Then the curve can be reparametrized in terms of : = . For example, if = 3, then 3 is the position vector of the point that is 3 units of length along the curve from its starting point. Example 2. Reparametrize = , 1,0,0 in the direction of increasing t. Solution: , with respect to arc length measured from

UCCM2013/UECM2013 Advanced Calculus

Chapter 1

May 2011

The curvature of C at a given point is a measure of how quickly the curve changes direction at that point. It is given by = = =

where is the unit tangent vector. Example 3. Show that the curvature of a circle of radius a is 1 Solution:

Theorem. The curvature of the curve given by the vector function = Example 4. Find the curvature of Solution: = , ,

is

at a general point and at 0,0,0 .

For the special case of a plane curve

, we choose x as the parameter. We have 1+

Example 5. Find the curvature of the parabola Solution:

at points 0,0 and 1,1 .

At a given point on a space curve , there are many vectors that are orthogonal to the unit tangent vector . Because = 1 for all t, then = 0. So is orthogonal to . Note that is not a unit vector. We define the unit normal vector as =

The vector = and is also a unit vector.

is called the binormal vector. It is perpendicular to both

and

UCCM2013/UECM2013 Advanced Calculus

Chapter 1 =

May 2011

Example 6. Find the unit normal and binormal vectors for the circular helix , , Solution:

The plane determined by the vectors and at a point P on a curve C is called the normal plane of C at P. The plane determined by the vectors and at a point P on a curve C is called the osculating plane of C at P.

Equation of the plane through

with normal vector +

= , , =0

is given by =

Example 7. Find the equations of the normal plane and osculating plane for , , at the point 0,1, 2 . Solution:

1.5

Motion in Space . The

Suppose a particle moves through space so that its position vector at time t is velocity vector at time t is = . Thus the velocity vector is also the tangent vector. The speed of the particle at time t is = = . Note that = rate of change of distance w.r.t. time.

The acceleration of the particle is defined as 8

UCCM2013/UECM2013 Advanced Calculus =

Chapter 1 =

May 2011

Example 1. The position vector of a particle moving in a plane is velocity, speed and acceleration when t = 1. Solution:

= =

+ , ,

. Find its

Example 2. The position vector of a particle moving in a space is velocity, speed and acceleration. Solution:

. Find its

Example 3. A moving particle starts at an initial position 0 = 1,0,0 with initial velocity 0 = 1, 1,1 . Its acceleration is = 4 , 6 , 1 . Find its velocity and position at time t. Solution:

Newtons Second Law of Motion states that at any time t, if force m producing an acceleration , then =

acts on an object of mass

Example 4. An object of mass m that moves in a circular path with constant angular speed w has position vector = + . Find the force acting on the object. Solution:

A projectile is fired with angle of elevation and initial velocity the projectile is given by 1 = + 2 The parametric equations are therefore 1 = = 2 The horizontal distance, d is given by = sin 2

, The position vector

of

UCCM2013/UECM2013 Advanced Calculus

Chapter 1

May 2011

Proof: Example 5. A projectile is fired with muzzle speed 150 / and angle of elevation 45 from a position 10 m above ground level. Where does the projectile hit the ground, and with what speed ? Solution:

When we study the motion of a particle, it is often useful to resolve the acceleration into two components, one in the direction of the tangent and the other in the direction of the normal. We write for the tangential component and = for the normal component of acceleration. =

Example 6. Find the tangential and normal components of the acceleration vector for the curve = , . Solution: Example 7. Proof the following formula of curvature: = Solution:

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