VECTOR DIF-

FERENTIAL
CALCULUS
By
Dagnachew
Jenber
VECTOR DIFFERENTIAL CALCULUS
Definition of a
Curve and Its
Parametrization By
Unit tanget,
Normal and
Dagnachew Jenber
Binormal
vectors
College Of Natural and Social Science
kervature and Department of Mathematics
Torsion
Addis Ababa Science and Technology University
Vector and Addis Ababa, Ethiopia
Scalar fields

Gradient of
Scalar fields December 4, 2018
Divergence and
Curl

1 / 69
 Definition of a Curve and Its Parameterization

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Definition.
Definition of a
Curve and Its A space curve is a range of a continuous vector – valued
Parametrization
function on an interval of real numbers.
Unit tanget,
Normal and
Binormal
vectors
Example
kervature and
Torsion
Any point, a line, line segment, circle, parabola, a circular helix,
Vector and ellipse, etc.
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

2 / 69
 Definition of a Curve and Its Parameterization

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Notation. We denoted a curve by coordinates (f (t0 ), g(t0 ), h(t0 )), shown in
C, and the vector – valued function, the figure.
Definition of a r , whose range is the Curve C. Here
Curve and Its we say that C is parameterized by r ,
Parametrization
or that r is the parameterization of C .
Unit tanget, A Cartesian coordinate system being
Normal and given, we usually represent a curve C
Binormal
vectors by a vector function
kervature and
r (t ) = f (t )i + g(t )j + h(t )k
Torsion

Vector and to each value t0 of the real variable t

Scalar fields
there corresponds a point of C having
Gradient of the position vector r (t0 ), i.e., the
Scalar fields

Divergence and
Curl

3 / 69
 Examples of Parameterization of some Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a A straight line

Curve and Its
Parametrization A straight line L through a point A with position vector a in
Unit tanget,
Normal and
the direction of a constant vector b is represented by
Binormal
vectors
r (t ) = a + tb = (a1 + b1 t )i + (a2 + b2 t )j + (a3 + b3 t )k
kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

4 / 69
 Examples of Parameterization of some Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By Ellipse and Circle
Dagnachew
Jenber
The vector function
Definition of a
Curve and Its
Parametrization
r (t ) = (x0 + a cos(t ))i + (y0 + b sin(t ))j
Unit tanget,
Normal and represents an ellipse in the xy - plane with center (x0, y0 ) and
Binormal
vectors the principal axis in the direction of the x and y axes.
kervature and
Torsion
If a = b, then
Vector and
Scalar fields r (t ) = (x0 + a cos(t ))i + (y0 + a sin(t ))j
Gradient of
Scalar fields
is an equation of a circle centered at (x0, y0 ) with radius a.
Divergence and
Curl

5 / 69
 Examples of Parameterization of some Curves

VECTOR DIF-
FERENTIAL
CALCULUS
Circular helix
By
Dagnachew
Jenber The twisted curve C
represented by the vector
Definition of a
Curve and Its function
Parametrization

Unit tanget,
Normal and r (t ) = r cos(t )i + rsin(t )j + ctk
Binormal
vectors

kervature and is called a circular helix. It

Torsion
lies on the cylinder
Vector and
Scalar fields

Gradient of x2 + y2 = r 2
Scalar fields

Divergence and
Curl shown in the figure.

6 / 69
 Examples of Parameterization of some Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Definition
A plane curve is a curve that lies in a plane. A curve that is
Definition of a
Curve and Its not a plane curve is called a twisted curve.
Parametrization

Unit tanget,
Normal and Example
Binormal

A graph of continuous function of one variable y = f (x ) is a plane

vectors

kervature and
Torsion curve; whereas a circular helix is a twisted curve. That is, a plane
Vector and curve C: r (t ) = ti + f (t )j , which is the graph of y = f (x ) as shown in
Scalar fields

Gradient of
the figure
Scalar fields

Divergence and
Curl

7 / 69
 Closed Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Definition
Definition of a
Curve and Its
Parametrization
A curve C is closed iff it has a parameterization r on [a, b]
Unit tanget, such that
Normal and
Binormal r (a) = r (b)
vectors

kervature and In other words a curve is closed on [a, b] iff its initial and
Torsion
terminal points coincide.
Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

8 / 69
 Closed Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a Example
Curve and Its
Parametrization
1. The unit circle C: r (t ) = cos(t )i + sin(t )j , for 0 ≤ t ≤ 2π , is
Unit tanget,
Normal and
closed since
Binormal
vectors
r (0) = r (2π)
kervature and
Torsion 2. Line-segments, cycloids, circular helix, etc are not closed.
Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

9 / 69
 Smooth and Piece-wise smooth Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By Definition
Dagnachew
Jenber
1 A vector – valued function r on an interval I is said to
Definition of a
Curve and Its be smooth iff it has continuous derivative on I and
Parametrization
r 0(t ) , 0, for all interior points of I .
Unit tanget,
Normal and A curve C is smooth if it has a smooth parameter.
Binormal
vectors 2 A continuous vector – valued function r defined on an
kervature and
Torsion
interval I is said to be piece – wise smooth iff I is
Vector and
composed of finite number of sub intervals on each of
Scalar fields which r is smooth and r has one – sided derivative at
Gradient of
Scalar fields
each interior point of I
Divergence and
Curl

10 / 69
 Smooth and Piece-wise smooth Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a Example
Curve and Its
Parametrization The circular helix r (t ) = cos(t )i + sin(t )j + tk is smooth for
Unit tanget,
Normal and
−∞ < t < ∞, since
Binormal
vectors
r 0(t ) = − sin(t )i + cos(t )j + k , 0 for all t ∈ R = (−∞, ∞)
kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

11 / 69
 Smooth and Piece-wise smooth Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Exercise
Definition of a
Curve and Its
Parametrization
Show that
Unit tanget,
Normal and r (t ) = r0 (t − sin(t ))i + r0 (1 − cos(t ))j
Binormal
vectors

kervature and for −2π ≤ t ≤ 2π, which parameterizes two arches of a

Torsion
cycloid, is piece – wise smooth.
Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

12 / 69
 Arc Length of Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Definition
Definition of a
Curve and Its
Parametrization
Suppose C is a curve with a piece – wise smooth
Unit tanget,
parameterization r on [a, b]. The length L of C is defined by
Normal and
Binormal ∫ b  
vectors  dr 
L=  dt
kervature and
a dt
 
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

13 / 69
 Arc Length of Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a Example
Curve and Its
Parametrization Find the length of the curve C which is parametrized by
Unit tanget,
Normal and √
Binormal 6
vectors r (t ) = ti + t 2 j + t 3 k for − 1 < t < 1
kervature and
2
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

14 / 69
 Arc Length of Curves

VECTOR DIF-
FERENTIAL
CALCULUS Solution.
b
∫  
By  dr 
Dagnachew L=  dt
 dt 
Jenber a

Definition of a
Curve and Its √
1 1 √
∫   ∫  
Parametrization  d 6
=  (ti + + dt = (i + 6tj + 3t k )dt
2 3
  2

Unit tanget,  dt t j t k )
Normal and −1 2 
−1
 
Binormal
vectors
∫ 1 q √ ∫ 1 √
= (1) + ( 6t ) + (3t ) dt = 1 + 6t 2 + 9t 4 dt
kervature and
2 2 2 2
Torsion

Vector and
−1 −1
Scalar fields ∫ 1 p ∫ 1
Gradient of
Scalar fields = (3t + 1) dt =
2 2 (3t 2 + 1)dt = 4 units
−1 −1
Divergence and
Curl
=⇒ L = 4 units
15 / 69
 Arc Length of Curves

VECTOR DIF-
FERENTIAL
CALCULUS Definition
By
Dagnachew Let C be a smooth curve parameterized by
Jenber

Definition of a r (t ) = x (t )i + y (t )j + z (t )k
Curve and Its
Parametrization

Unit tanget, on an interval I , and let a ∈ I be fixed number. The arc

Normal and
Binormal length function S(t ) is defined by
vectors
∫ t   ∫ tp
kervature and  dr 
Torsion s(t ) =  du =
    (x 0(u))2 + (y 0(u))2 + (z 0(u))2 du
Vector and a du a
Scalar fields

Gradient of
ds p
Scalar fields
⇐⇒ = || r 0(t )|| = (x 0(t ))2 + (y 0(t ))2 + (z 0(t ))2
Divergence and dt
Curl

16 / 69
 Arc Length of Curves

VECTOR DIF-
FERENTIAL
CALCULUS Exercise
By
Dagnachew
Jenber
1 Which parameterization is smooth or piece – wise
smooth?
Definition of a
Curve and Its
Parametrization a. r (t ) = 2ti + t 2 j + ln(t )k b. r (t ) = | t | i + tj + tk
Unit tanget,
Normal and
Binormal 2 Find a smooth parameterization of the curve
vectors
Aline segment from (−3, 2, 1) to (4, 0, 5)
kervature and
Torsion The circle in the plane z = −1 centered at (2, 4, −1) with
Vector and radius r = 25
Scalar fields
3 Find the length of the curve C parameterized by
Gradient of
Scalar fields

Divergence and r (t ) = cos3 (t )i + sin3 (t )j for 0 ≤ t ≤ 2π

Curl

17 / 69
 Unit tanget, Normal and Binormal vectors to Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew Definition
Jenber
Recall that if C is the graph of a smooth vector-valued
Definition of a
Curve and Its function r (t ) in 2-space or 3-space, then the vector r 0(t ) is
Parametrization
nonzero, tangent to C and points in the direction of
Unit tanget,
Normal and increasing parameter. Thus, by normalizing r 0(t ) we obtain a
Binormal
vectors unit vector
r 0(t )
kervature and T (t ) = 0
Torsion || r (t )||
Vector and
Scalar fields that is tangent to C and points in the direction of increasing
Gradient of parameter. We call T (t ) the unit tangent vector to C at t .
Scalar fields

Divergence and
Curl

18 / 69
 Unit tanget, Normal and Binormal vectors to Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a Example
Curve and Its
Parametrization Find the unit tangent vector to the graph of
Unit tanget,
Normal and
Binormal r (t ) = t 2 i + t 3 j
vectors

kervature and
Torsion at the point where t = 2.
Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

19 / 69
 Unit tanget, Normal and Binormal vectors to Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber Definition
Recall that if a vector-valued function r (t ) has constant norm, then r (t ) and
Definition of a r 0 (t ) are orthogonal vectors. In particular, T (t ) has constant norm 1, so T (t )
Curve and Its
Parametrization and T 0 (t ) are orthogonal vectors. This implies that T 0 (t ) is perpendicular to
the tangent line to C at t , so we say that T 0 (t ) is normal to C at t . It follows
Unit tanget,
Normal and that if T 0 (t ) , 0, and if we normalize T 0 (t ), then we obtain a unit vector
Binormal
vectors T 0 (t )
N (t ) =
kervature and | | T 0 (t ) | |
Torsion
that is normal to C and points in the same direction as T 0 (t ). We call N (t ) the
Vector and principal unit normal vector to C at t or more simply the unit-normal vector.
Scalar fields
Observe that the unit normal vector is only defined at points where T 0 (t ) , 0.
Gradient of
Scalar fields

Divergence and
Curl

20 / 69
 Unit tanget, Normal and Binormal vectors to Curves

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a Example
Curve and Its
Parametrization
Find T (t ) and N (t ) for the circular helix
Unit tanget,
Normal and
Binormal x = a cos(t ), y = a sin(t ), z = ct
vectors

Where a > 0.
kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

21 / 69
 Unit tanget, Normal and Binormal vectors to Curves

VECTOR DIF-
FERENTIAL Definition
CALCULUS
By If C is the graph of a vector valued function r (t ) in 3-space,
Dagnachew
Jenber then we define the binormal vector to C at t to be

B(t ) = T (t )xN (t )
Definition of a
Curve and Its
Parametrization

Unit tanget,
Normal and It follows from properties of the cross product that B(t ) is
Binormal
vectors
orthogonal to both T (t ) and N (t ) and is oriented relative to
kervature and T (t ) and N (t ) by the right hand rule. Moreover, T (t )xN (t ) is a
Torsion
unit vector since
Vector and
Scalar fields π
Gradient of
B(t ) = T (t )xN (t ) = || T (t )|||| N (t )||| sin( )| = 1
Scalar fields 2
Divergence and
Curl Thus, {T (t ), N (t ), B(t )} is a set three mutually orthogonal unit
vectors.
22 / 69
 Kervature

VECTOR DIF-
FERENTIAL
CALCULUS
By Suppose that C is the graph of a smooth vector-valued function
Dagnachew
Jenber in 2-space or 3-space that is parametrized in terms of arc length.
Definition of a
Figure below suggests that for a curve in 2-space the "sharpness"
Curve and Its
Parametrization
of the bend in C is closely related to dT /ds, which is the rate of
Unit tanget,
change of the unit tangent vector T with respect to s. (Keep in mind
Normal and
Binormal
that T has constant length, so only its direction changes).
vectors

kervature and If C is a straight line (no bend), then the direction of T remains
Torsion
constant (Figure (a) below);
Vector and
Scalar fields If C bends slightly, then T undergoes a gradual change of direction
Gradient of (Figure (b) below);
Scalar fields
And if C bends sharply, then T undergoes a rapid change of
Divergence and
Curl direction (Figure (c) below).

23 / 69
 Kervature

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its
Parametrization

Unit tanget,
Normal and
Binormal
vectors

kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

24 / 69
 Kervature

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
The situation in 3-space is more complicated because bends in
Definition of a
Curve and Its
a curve are not limited to a single plane they can occur in all
Parametrization
directions, as illustrated by the following figure.To describe the
Unit tanget,
Normal and bending characteristics of a curve in 3-space completely, one must
Binormal
vectors
take into account dT /ds, dN /ds, and dB/ds.
kervature and
Torsion A complete study of this topic would take us too far afield, so we
Vector and will limit our discussion to dT /ds, which is the most important of
Scalar fields
these derivatives in applications.
Gradient of
Scalar fields

Divergence and
Curl

25 / 69
 Kervature

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its
Parametrization

Unit tanget,
Normal and
Binormal
vectors

kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

26 / 69
 Kervature

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Definition
Definition of a
Curve and Its
Parametrization
If C is a smooth curve in 2-space or 3-space, then the
Unit tanget, curvature of C, denoted by κ = κ(s)(κ = Greek"kappa"), is
Normal and
Binormal defined by  
vectors  dT 
kervature and
κ =  
Torsion
ds
Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

27 / 69
 Kervature

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Theorem
Definition of a
Curve and Its
If r (t ) is a smooth vector-valued function in 2-space or 3-space,
Parametrization then for each value of t at which T 0(t ) and r 00(t ) exist, the
Unit tanget,
Normal and
curvature κ can be expressed as
Binormal
| | T 0 (t )| |
vectors κ(t ) = | | r 0 (t ) | |
kervature and
Torsion
| | r 0 (t )xr 00 (t ) | |
Vector and κ(t ) = | | r 0 (t ) | | 3
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

28 / 69
 Kervature

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a Example
Curve and Its
Parametrization
Find κ(t ) for the circular helix
Unit tanget,
Normal and
Binormal x = a cos(t ), y = a sin(t ), z = ct
vectors

Where a > 0.
kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

29 / 69
 Kervature

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Example
Definition of a
Curve and Its
Parametrization
The graph of the vector equation
Unit tanget,
Normal and
Binormal r (t ) = 2 cos(t )i + 3 sin(t )j
vectors

kervature and
Torsion
for 0 ≤ t ≤ 2π is ellipse.
Vector and
Find the curvature of the ellipse at the endpoints of the major and minor axes.
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

30 / 69
 Torsion

VECTOR DIF-
FERENTIAL
CALCULUS
By Definition of Torsion
Dagnachew
Jenber Let C be a curve that is parametrized by
Definition of a
Curve and Its r (t ) = f (t )i + g(t )j + h(t )k
Parametrization

Then, the Torsion, τ is defined by

Unit tanget,
Normal and
Binormal
vectors  0 0 0

f
kervature and  00 g00 h00 
Torsion f g h 

Vector and f 000 g 000 h000
τ=
Scalar fields

Gradient of || r 0(t )Xr 00(t )|| 2

Scalar fields

Divergence and
Curl

31 / 69
 Torsion

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its
Example
Parametrization

Unit tanget,
Find the Torsion of the curve parametrized by
Normal and

x = a cos(t ), y = a sin(t ), z = ct
Binormal
vectors

kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

32 / 69
 Vector and scalar fields

VECTOR DIF-
FERENTIAL Definition
CALCULUS
By Let D be a set in R2 (a plane region). A vector field on R2
is a function F that assigns to each point (x, y ) in D a
Dagnachew
Jenber

Definition of a
two-dimensional vector F (x, y ). That is, for two variables real
Curve and Its
Parametrization
valued functions, f and g,
Unit tanget,
Normal and F (x, y ) = f (x, y )i + g(x, y )j
Binormal
vectors

kervature and Let E be a subset of R3 . A vector field on R3 is a function

Torsion
F that assigns to each point (x, y, z ) in E a three-dimensional
vector F (x, y, z ). That is, for three variables real valued
Vector and
Scalar fields

Gradient of functions, f , g, and h,

Scalar fields

Divergence and
Curl F (x, y, z ) = f (x, y, z )i + g(x, y, z )j + h(x, y, z )k

33 / 69
 Vector and scalar fields

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew Example
Jenber

Definition of a
According to Newton’s Law of Gravitation, the gravitational force
Curve and Its F (x, y, z ) exerted by a given point mass m at the origin on a unit
Parametrization

Unit tanget,
point mass located at a point (x, y, z ) other than the origin, given by
Normal and
Binormal
Gm(xi + yj + zk )
vectors
F (x, y, z ) = − p
kervature and
Torsion
( x 2 + y 2 + z 2 )3
Vector and
Scalar fields is a vector-field , sometimes called the gravitational force, where
Gradient of G is universal gravitational constant.
Scalar fields

Divergence and
Curl

34 / 69
 Vector and scalar fields

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew Example
Jenber

Definition of a
According to Coulomb’s Law the eclectic force E (x, y, z ) exerted
Curve and Its
Parametrization
by a charge q located at the origin on a positive unit charge located
Unit tanget,
at a point (x, y, z ) other than the origin, given by
Normal and
Binormal q
vectors E (x, y, z ) = p (xi + yj + zk )
kervature and 4π0 ( x 2 + y 2 + z 2 )3
Torsion

Vector and
Scalar fields
is a vector – field, usually called the electric field, where 0 is a
Gradient of
constant called the permittivity of empty space.
Scalar fields

Divergence and
Curl

35 / 69
 Vector and scalar fields

VECTOR DIF-
FERENTIAL
CALCULUS
Example
By
Dagnachew
Jenber The velocity of a solid rotating about the z – axis with angular
Definition of a
velocity ωk , given by
Curve and Its
Parametrization
V (x, y, z ) = (ωk )x (xi + yj + zk )
Unit tanget,
Normal and  
Binormal  i j k
vectors
= 0 0 1
 
kervature and
Torsion x y z 
Vector and
Scalar fields

Gradient of
= −ωyi + ωxj
Scalar fields

Divergence and is an example of vector – field, usually called the velocity field.
Curl

36 / 69
 Gradient of scalar fields

VECTOR DIF-
FERENTIAL
CALCULUS
Note.
By Any real valued functions are called a scalar field or a scalar
Dagnachew
Jenber function.
Definition of a
Curve and Its
Parametrization If f is a scalar function of two variables, recall from Applied math-
Unit tanget, ematics IIB that its gradient Of (or grad f ) is defined by
Normal and
Binormal
vectors
Of (x, y ) = fx (x, y )i + fy (x, y )j
kervature and
Torsion

Vector and
Therefore Of is really a vector field on R2 and is called a gradient
Scalar fields vector field. Likewise, if f is a scalar function of three variables, its
Gradient of
Scalar fields
gradient is a vector field on R3 given by
Divergence and
Curl Of (x, y, z ) = fx (x, y, z )i + fy (x, y, z )j + fz (x, y, z )k

37 / 69
 Gradient of scalar fields

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its
Parametrization Example
Unit tanget,
Normal and
Binormal
Find the gradient vector field of f (x, y ) = x 2 y − y 3 .
vectors

kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

38 / 69
 A conservative Vector field and potential function

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a Definition
Curve and Its
Parametrization
A vector field F is called a conservative vector field if it is the
Unit tanget,
Normal and gradient of some scalar function, that is, if there exists a
Binormal
vectors function f such that F = Of . In this situation f is called a
kervature and potential function for F .
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

39 / 69
 Aconservative vector field and potential functions

VECTOR DIF-
FERENTIAL
CALCULUS
Not all vector fields are conservative, but such fields do arise fre-
By quently in physics. For example, the gravitational field F in previous
Dagnachew
Jenber
Example is conservative because if we define
mMG
Definition of a f (x, y, z ) = p
x 2 + y 2 + z2
Curve and Its
Parametrization

Unit tanget, then

Normal and
∂f ∂f ∂f
Binormal
Of = i+ j+ k
vectors
∂x ∂y ∂z
kervature and
Torsion
−mMGx −mMGy −mMGz
Vector and
= i+ j+ k
Scalar fields
(x 2 +y +z )
2 2 3/2 (x + y + z )
2 2 2 3/2 (x + y 2 + z 2 )3/2
2
Gradient of
Scalar fields = F (x, y, z )
Divergence and
Curl
⇐⇒ Of = F (x, y, z )
40 / 69
 Aconservative vector field and potential functions

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Example
Curve and Its
Parametrization Find a function f such that Of = F for the following conservative
Unit tanget,
Normal and
vector fields
F (x, y ) = (3 + 2xy )i + (x 2 − 3y 2 )j
Binormal
vectors 1
kervature and
Torsion
2 F (x, y, z ) = (y 2 )i + (2xy + e3z )j + (3ye3z )k
Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

41 / 69
 Equations of field lines

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew Remark
Jenber

Definition of a 1 Since the domains of scalar and vector fields are sets of
Curve and Its
Parametrization points in space, these functions are sometimes called
Unit tanget, point functions.
Normal and
Binormal
vectors
2 Given a non – zero vector field defined at every point of
a region in space, any curve passing through the region
kervature and
Torsion is called a field line of F , provided that at every point on
Vector and the curve, F is tangent to the curve.
Scalar fields
For a force field the field lines are called lines of force.
Gradient of
Scalar fields

Divergence and
Curl

42 / 69
 Equations of field lines

VECTOR DIF-
FERENTIAL
CALCULUS
The field lines of F do not depend on the magnitude of F at any
By
Dagnachew point, but only on the direction of the field.
Jenber

Definition of a If the field line through some points has parametric equation r = r (t )
Curve and Its
Parametrization then its tangent vector r 0(t ) must be parallel to F (r (t )) for all t .
Unit tanget, Since F is tangent to the curve, then
Normal and
Binormal
vectors dr
= λ(t )F (r (t )) for some scalar function λ(t )
kervature and
Torsion
dt
Vector and
Scalar fields dx dy dz
=⇒ i+ j+ k
Gradient of
Scalar fields
dt dt dt
Divergence and
Curl = λ(t )f (x, y, z )i + λ(t )g(x, y, z )j + λ(t )h(x, y, z )k

43 / 69
 Equations of field lines

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
dx dy dz
Definition of a =⇒ = λ(t )f (x, y, z ), = λ(t )g(x, y, z ), = λ(t )h(x, y, z )
Curve and Its
Parametrization
dt dt dt
Unit tanget,
Normal and dx dy dz
Binormal =⇒ λ(t )dt = = =
vectors f (x, y, z ) g(x, y, z ) h(x, y, z )
kervature and
Torsion dx dy dz
=⇒ = =
Vector and f (x, y, z ) g(x, y, z ) h(x, y, z )
Scalar fields

Gradient of From this relation we can find equation of field lines.

Scalar fields

Divergence and
Curl

44 / 69
 Equations of field lines

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its
Parametrization Example
Unit tanget,
Normal and
Binormal
Find the field lines of the velocity field V (x, y ) = −ωyi + ωxj
vectors

kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

45 / 69
 Equations of field lines

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a Example
Curve and Its
Parametrization
Find the field lines of the gravitational force field
Unit tanget,
Normal and
(x − x0 )i + (y − y0 )j + (z − z0 )k
 
Binormal
vectors F (x, y, z ) = −km
kervature and
((x − x0 )2 + (y − y0 )2 + (z − z0 )2 )3/2
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

46 / 69
 Equations of field lines

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber Exercise
Definition of a
Curve and Its 1 Find the field lines of
Parametrization
F (x, y, z ) = xzi + 2x 2 zj + x 2 k
Unit tanget,
Normal and V (x, y, z ) = xzi + yzj + xk
Binormal
vectors 2 Sketch the field lines for
kervature and

F (x, y, z ) = O ln(x 2 + y 2 )
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

47 / 69
 Directional Derivative

VECTOR DIF-
FERENTIAL
CALCULUS
Definition
By
Dagnachew
Jenber
Let f be a function defined on a set containing a disk D
centered at (x0, y0 ) , and let u = a1 i + a2 j be a unit vector.
Definition of a
Curve and Its Then the directional derivative of f at (x0, y0 ) in the direction
Parametrization
of u is denoted and defined by
Unit tanget,
Normal and
f (x0 + ha1, y0 + ha2 ) − f (x0, y0 )
 
Binormal
vectors Du f (x0, y0 ) = lim
kervature and
h−→0 h
Torsion

Vector and provided the limit exists.

Scalar fields

Gradient of
Scalar fields Directional derivative of a function of three variables is
Divergence and
Curl
defined similarly.

48 / 69
 Directional Derivative

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Theorem
Definition of a
Curve and Its
Parametrization
Let f be differentiable at (x0, y0 ). Then f has a directional
Unit tanget,
derivative at (x0, y0 ) in every direction. More over, if u = a1 i + a2 j
Normal and
Binormal
is a unit vector, then
vectors

kervature and Du f (x0, y0 ) = fx (x0, y0 )a1 + fy (x0, y0 )a2

Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

49 / 69
 Directional Derivative

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its
Parametrization Example
Unit tanget,
Normal and Let f (x, y ) = xy 2 and a = i − 2j , find a directional derivative in the
Binormal
vectors direction a.
kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

50 / 69
 Directional Derivative

VECTOR DIF-
FERENTIAL
CALCULUS
By
Exercise
Dagnachew A particle travels along the parabola y = x 2 from left to right. The
Jenber
temperature at any point (x, y ) in the plane is
Definition of a
Curve and Its 40
Parametrization T (x, y ) =
1 + x2 + y2
Unit tanget,
Normal and
Binormal
vectors 1 What is the rate of change of the temperature experienced by the
kervature and particle as it travels along the parabola at the moment the particle
Torsion passes through the point (−2, 4)?.
Vector and
Scalar fields 2 Suppose the particle travels at a speed of 5 meters per second. How fast
Gradient of is the temperature changing with respect to time as the particle passes
Scalar fields
through the point (−2, 4)?.
Divergence and
Curl

51 / 69
 Normal vector field to a level curve

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its Theorem
Parametrization

Unit tanget, Let C be a level curve f (x, y ) = k of function f . Let (x0, y0 ) be a

Normal and
Binormal
point on C, and assume that f is differentiable at (x0, y0 ). If C is
vectors
smooth and Of (x0, y0 ) , 0, then Of (x0, y0 ) is normal to C at (x0, y0 ).
kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

52 / 69
 Normal vector field to a level curve

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its
Parametrization Example
Unit tanget,
Normal and
Assuming that the curve x 2 − xy + 3y 3 = 5 is smooth, find a unit
Binormal
vectors
vector that is perpendicular to the curve at (1, −1).
kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

53 / 69
 Normal vector field to a level surface

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a Theorem
Curve and Its
Parametrization
Let C be a level surface f (x, y, z ) = k of function f . Let (x0, y0, z0 )
Unit tanget,
Normal and be a point on C, and assume that f is differentiable at (x0, y0, z0 ). If
Binormal
vectors C is smooth and Of (x0, y0, z0 ) , 0, then Of (x0, y0, z0 ) is normal to
kervature and C at (x0, y0, z0 ).
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

54 / 69
 Normal vector field to a level surface

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its
Example
Parametrization

Unit tanget,
Find a normal vector to the surface
Normal and

xy 3 z 2 = 4 at (−1, −1, 2)
Binormal
vectors

kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

55 / 69
 Normal vector field to a level surface

VECTOR DIF-
FERENTIAL
CALCULUS
Exercise
By
Dagnachew
Jenber 1 Find the gradient of the function at the given point.
x +3y
Definition of a
f (x, y ) = 5x +2y
at (1, 23 )
Curve and Its
Parametrization f (x, y, z ) = ze−x tan(y ) at (0, π, −2)
Unit tanget,
Normal and
2 Find the direction in which f increases most rapidly at
Binormal the given point, and find the max.directional derivative
vectors
at the point.
kervature and
Torsion f (x, y ) = ex (cos(y ) + sin(y )) at (0, 0)
f (x, y, z ) = ex + ey + e2z at (1, 1, −1)
Vector and
Scalar fields

Gradient of
Scalar fields
3 Find a vector normal to the surface
Divergence and
ex (sin(y ) + sin(z )) = 2e at (1, π/2, π/2).
Curl

56 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS
By Definition
Dagnachew
Jenber Consider the differential operator O = ∂∂x i + ∂∂y j + ∂∂z k , then
Definition of a the divergence of a continuously differentiable vector field
F (x, y, z ) = f (x, y, z )i + g(x, y, z )j + h(x, y, z )k is denoted and
Curve and Its
Parametrization

Unit tanget, defined by

Normal and
Binormal
vectors ∂ ∂ ∂
O.F = ( i+ j+ k ).(f (x, y, z )i + g(x, y, z )j + h(x, y, z )k )
kervature and
Torsion
∂x ∂y ∂z
Vector and
Scalar fields ∂f ∂g ∂h
= + +
Gradient of
Scalar fields
∂x ∂y ∂z
Divergence and
Curl

57 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its
Parametrization Example
Unit tanget,
Normal and
If u(x, y, z ) = x 3 + y 3 + z 3 − 3xyz , then find the divergence of
Binormal
vectors
Ou(x, y, z ).
kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

58 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Definition
Jenber
Given a vector field F , if O.F = 0, then F is said to be
Definition of a divergence free or Solenoidal.
Curve and Its
Parametrization

Unit tanget, Example

Normal and
Binormal
vectors Show that the gravitational force field
kervature and
Torsion −km
G(x, y, z ) = (xi + yj + zk )
Vector and
Scalar fields (x 2 + y 2 + z 2 )3/2
Gradient of
Scalar fields is divergence free.
Divergence and
Curl

59 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL Definition
CALCULUS
By The curl of a continuously differentiable vector field
Dagnachew
Jenber F (x, y, z ) = f (x, y, z )i + g(x, y, z )j + h(x, y, z )k is denoted and
Definition of a
defined by
Curve and Its
Parametrization
∂ ∂ ∂
OxF = ( i+ j+ k )x (f (x, y, z )i + g(x, y, z )j + h(x, y, z )k )
∂x ∂y ∂z
Unit tanget,
Normal and
Binormal
vectors
∂h ∂g ∂f ∂h ∂g ∂f
     
= i+ j+
kervature and
Torsion − − − k
∂y ∂z ∂z ∂x ∂x ∂y
Vector and
Scalar fields  
Gradient of
i j k
=  ∂∂x ∂∂y ∂∂z 
Scalar fields
 
Divergence and f
Curl g h

60 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its
Parametrization Example
Unit tanget,
Normal and If F (x, y, z ) = x3 i − xyj − yz k , then find the curl of F .
Binormal
vectors

kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

61 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a
Curve and Its
Parametrization Definition
Unit tanget,
Normal and
Given a vector-field F , if OxF = 0 , then the vector field F is
Binormal
vectors
called irrotational.
kervature and
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

62 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber Exercise
Definition of a
Curve and Its 1 Prove that every conservative vector field is irrotational,
Parametrization
and the curl of any vector field is solenoidal.
Unit tanget,
Normal and
Binormal
2 Prove that for any constant vector a , O.(Rxa) = 0,
vectors where R = xi + yj + zk
kervature and
Torsion 3 Determine the constant a so that the vector field
Vector and F = (x + 3y )i + (y − 2z )j + (x + az )k is solenoidal.
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

63 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a Physical interpretation for Divergence:

Curve and Its
Parametrization A revealing interpretation of the divergence of a vector field arises
Unit tanget, from the study of fluid flowing through a region. Suppose V repre-
Normal and
Binormal sents the velocity field of fluid, for instance, air flowing through a
surface, such as a screen. Then in physical terms,O.V (x, y, z ) rep-
vectors

kervature and
Torsion resents the rate (with respect to time) of mass flow per unit volume
Vector and of the fluid from the point (x,y,z).
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

64 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS Physical interpretation for Divergence
By
Dagnachew
Jenber 1 A point (x, y, z ) is a source if O.V (x, y, z ) ≥ 0.
Definition of a This means that there is a positive mass flow from point
Curve and Its
Parametrization (x, y, z ).
Unit tanget,
Normal and
2 A point (x, y, z ) is a sink if O.V (x, y, z ) ≤ 0.
Binormal This means that there is a negative mass flow from
vectors

kervature and
point (x, y, z ).
Torsion
3 If O.V (x, y, z ) = 0 for all (x, y, z ) in a region, then there
Vector and
Scalar fields are neither sources nor sinks in the region.
Gradient of
Scalar fields
4 A fluid whose velocity field is divergence free is called
Divergence and
incompressible
Curl

65 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber

Definition of a Example
Curve and Its

Let V (x, y, z ) = x 3 yz 2 i + x 2 y 2 z 2 j + x 2 yz 3 k be the velocity field of a

Parametrization

Unit tanget,
Normal and fluid at (x, y, z ).
Binormal
vectors Determine which points in space are sources, sinks?. Where is the
kervature and fluid incompressible?.
Torsion

Vector and
Scalar fields

Gradient of
Scalar fields

Divergence and
Curl

66 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Physical interpretation for curl:
Definition of a
Curve and Its Suppose the vector field V (x, y, z ) represents the velocity of a fluid
Parametrization

Unit tanget,
flowing through a solid region. Then it turns out that curl of
Normal and V (x, y, z ) measures the tendency of the fluid to curl, or rotate, about
Binormal
vectors an axis. More specifically particles in the fluid tend to rotate about
kervature and
Torsion
an axis in the direction of OXV (x, y, z ), and the length of OXV (x, y, z )
Vector and
measures the swiftness of the motion of the particles around the
Scalar fields axis.
Gradient of
Scalar fields

Divergence and
Curl

67 / 69
 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS Example.
By Consider the motion of a rigid body rotating about a fixed axis
Dagnachew
Jenber through O. If Ω is the angular velocity, then the velocity V of any
Definition of a
particle P (x, y, z ) of the body is given by
Curve and Its
Parametrization
V (x, y, z ) = ΩX (xi + yi + zk )
Unit tanget,
Normal and
Binormal If Ω = ω1 i + ω2 j + ω3 k , then
vectors

kervature and
V (x, y, z ) = ΩX (xi + yi + zk ) = (ω1 i + ω2 j + ω3 k )X (xi + yj + zk )
Torsion

Vector and  
Scalar fields
 i j k 
= ω1 ω2 ω3 
 
Gradient of 
Scalar fields
x y z
Divergence and
Curl
= (ω2 z − ω3 y )i + (ω3 x − ω1 z )j + (ω1 y − ω2 x )k
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 Divergence and curl, and their physical interpretations

VECTOR DIF-
FERENTIAL
CALCULUS
By
Dagnachew
Jenber
Therefore
Curl (V ) = (2ω1 i + 2ω2 j + 2ω3 k )
Definition of a
Curve and Its
Parametrization

Unit tanget, = 2(ω1 i + ω2 j + ω3 k ) = 2Ω

Normal and
Binormal curl (V )
vectors =⇒ Ω =
kervature and
2
Torsion
That is, the angular velocity of rotation at any point is equal to half
Vector and
Scalar fields the curl of the velocity vector.
Gradient of In general, the curl of any vector point function gives the measure
Scalar fields
of the angular velocity at any point of the vector field.
Divergence and
Curl

69 / 69