CHAPTER 4

DIFFERENTIAL VECTOR CALCULUS

4.1 Vector Functions

4.2 Calculus of Vector Functions

4.3 Tangents
REVIEW: Vectors
Scalar – a quantity only with its magnitude
Example: temperature, speed, mass, volume
Vector – a quantity with its magnitude and its
direction
Example: velocity acceleration, force
z

j
y
i

Vector is denoted by A, A or A.
OA - position vector
AB - displacement vector
Vector Form of a Line Segment
If r0 is vector in 2-space or 3-space with its initial
point at the origin, then the line that passes through
the terminal point of r0 and is parallel to the vector
v can be expressed in vector form as r = r0 + tv .
r = r0 + t(r1 − r0 ) or r = (1 − t )r0 + tr1

Vector Algebra
• Addition

• associative law
A + (B + C ) = (A + B ) + C

• commutative law A + B = B + A
 • multiplication by scalar

kB
B

• distributive law

k (B + C ) = kB ) + kC

• unit vectors: i , j , k

A =< A1, A2, A3 >= A1i + A2 j + A3 k

i =< 1, 0, 0 >, j =< 0, 1, 0 >, k =< 0, 0, 1 >

v
Unit vector, u of v : u =
v
 • scalar product (dot product)
A i B = A B cos θAB

AiB =B iA

A i (B + C ) = A i B + A i C

A i B = A1B1 + A2B2 + A3B3

• vector product (cross product)

A × B = A B sin θAB

A×B

B
A × B = −B × A ≠ B × A

A × (B × C ) ≠ (A × B ) × C

i j k
A × B = A1 A2 A3
B1 B2 B3

A1 A2 A3
A i (B × C ) = B1 B2 B3
C1 C2 C3
4.1 Vector Functions
4.1.1 Vector-valued function
Definition
A vector-valued function ( or simply vector
function) is a function whose domain is a set of
real numbers and whose range is a set of vectors.
Vector function, r (t ):
r (t ) =< f (t ), g(t ), h(t ) >
where f, g, and h are real-valued functions called
the component functions of r ; t is the independent
variable (time).
Note
• If domains are intervals of real numbers, the
vector functions represent a space curve
• If domains are regions in the plane, the vector
functions represent surfaces in space.
4.1.2 Graph of a Vector Function
Consider a particle moving through space during a
time interval I. The coordinates are seen as
functions defined as:
x = f (t ) , y = g(t ) , z = h(t ) , t ∈ I (1)

The points (x , y, z ) = ( f (t ), g(t ), h(t )) make up

the curve in space, called the particle’s path.

Eqn. (1) parameterize the curve. A curve in space

can also be represented in vector form. The vector

r (t ) = f (t )i + g(t )j + h(t )k
is the particle’s position vector.
Definition
Let F be a vector function, and suppose the initial
point of the vector F (t ) is at the origin. The graph
of F is the curve traced out by the terminal point of
the vector F (t ) as t varies over the domain set D.
4.1.3 Vector Functions Operations
Theorem

Let F̂ and Ĝ be vector functions of the real variable

t, and let f (t) be a scalar function. Then

i. ( ˆ + Gˆ ) ( t ) = Fˆ ( t ) + Gˆ ( t )
F

ii. ( f Fˆ )(t ) = f (t ) Fˆ (t )

iii. ( ˆ × Gˆ ) ( t ) = Fˆ ( t ) × Gˆ ( t )
F

iv. ( ˆ • Gˆ ) ( t ) = Fˆ ( t ) • Gˆ ( t )
F

Question 1
Sketch the graph of the vector function
r (t ) = ti + (t 2 + 3)j , −2 ≤ t ≤ 2
Label the position of r (−2), r (1) and r (2).
Question 2
Sketch the graph of the vector function

r (t ) = (3 − t ) i + 2t j + (3t − 2) k

Label the position of r (0).

Question 3

If Fˆ (t ) = t 2 i + 2t j + cos t k and
Gˆ (t ) = t i + t 2 j + 5 k , find

(a) ( Fˆ + Gˆ ) (t )
(b) (sin t Fˆ )(t )

(c) ( ) (t )
Fˆ × ˆ
G ˆ • ⎡Gˆ (t ) × Fˆ (t ) ⎤
F
(d) ⎣ ⎦
4.2 Calculus of Vector Functions
4.2.1 Vector Derivatives
Definition

The derivative Fˆ ′ of a vector F̂ is defined as:

dFˆ ˆ (t + Δt) − Fˆ (t)
F
= Fˆ ′(t) = lim
dt Δt → 0 Δt
where Fˆ (t ) = f (t ), g (t ), h(t )

Theorem
The vector function
ˆ ~ ~ ~
F (t) = f (t)i + g (t) j + h(t)k is differentiable
whenever the component functions f(t), g(t) and h(t)
are all differentiable.
ˆ ~ ~ ~
F ′(t) = f ′(t)i + g ′(t) j + h′(t)k
Example

d
(3i + sin t j ) =
dt
d
(3t 2 i + cos 4t j + te t k ) =
dt
4.2.2 Higher Vector Derivatives

Higher derivatives of a vector function F̂ are

obtained by successively differentiating the
ˆ ~ ~ ~
components of F (t ) = f (t ) i + g (t ) j + h(t )k .

The second derivative of F̂ is the function

ˆ [ ]
ˆ ′ ~ ~ ~
F ′′(t ) = F ′(t ) = f ′′(t ) i + g ′′(t ) j + h′′(t ) k

and the third derivative Fˆ ′′′(t ) is the derivative of

Fˆ ′′(t) and so forth.
Example
ˆ 2t ~ −2t ~ 2t ~
Let F (t ) = e i + e j + te k . Find

(i) unit tangent vector Tˆ (0)

(ii) F̂ ′′(0)
(iii) Fˆ ′(t) • Fˆ ′′(t)

Theorem: Differentiation rules

Suppose F̂ and Ĝ are differentiable vector

functions and c is a scalar and f is a real valued
function. Then
d ˆ ˆ (t)] = Fˆ ′(t) + Gˆ ′(t)
i. dt [ F (t ) + G

d ˆ ˆ ′(t)
ii. dt [cF (t )] = cF

d ˆ (t )] = f ′(t)Fˆ (t ) + f (t)Fˆ ′(t )

iii. dt [ f (t ) F
 d ˆ ˆ (t)] = Fˆ ′(t ) • Gˆ (t ) + Fˆ (t ) • Gˆ ′(t)
iv. dt [ F (t ) • G

d ˆ ˆ (t )] = Fˆ ′(t ) × Gˆ (t ) + Fˆ (t ) × Gˆ ′(t )
v. dt [ F (t ) × G

d ˆ ′ ˆ ′( f (t))
vi. dt [ F ( f (t )] = f (t ) F , chain rule

Likewise, we can obtained the partial derivatives

of a multivariable vector function.
Suppose
Rˆ(t ) = f (t )i + g (t )j + h(t )k
is a differentiable functions of n variables,
t1, t2 , …, tn . Then, the partial derivative of Rˆ (t)
is
∂ ˆ ∂f ∂g ∂h
R(t ) = i + j + k
∂t1 ∂t1 ∂t1 ∂t1
 ∂ ˆ ∂f ∂g ∂h
R(t ) = i + j + k
∂tn ∂tn ∂tn ∂tn
and

∂ 2Rˆ(t ) ∂2 f ∂2g ∂ 2h
= i + j + k
∂t1∂tm ∂t1∂tm ∂t1∂tm ∂t1∂tm

Example
ˆ(u, v ) = 2uvi + (u 2 − 2v )j + (u + v 2 )k .
Let R

∂R ∂R ∂ 2
R ∂ 2
R
Find the partial derivatives ∂u , ∂v , ∂u 2 , ∂v 2
∂R
2
and ∂u∂v .

4.2.3 Vector Integrals

ˆ ~ ~ ~
Let F (t ) = f (t ) i + g (t ) j + h(t )k where f, g¸and
h are continous functions for a ≤ t ≤ b) . Then,
(i) the definite integral of Fˆ (t ) is the vector
function
b
ˆ ⎡ b
⎤ ~ ⎡ b
⎤~
∫a F (t) dt = ⎢⎣∫a f (t) dt ⎥⎦ i + ⎢⎣∫a g(t) dt ⎥⎦ j
⎡b ⎤~
+ ⎢∫ h(t ) dt ⎥ k
⎣a ⎦
(ii) the indefinite integral of Fˆ (t ) is the vector
function

∫ ⎣∫ ⎣∫
ˆ (t) dt = ⎡ f (t) dt ⎤ i + ⎡ g(t) dt ⎤ j
F ⎦ ⎦
+ ⎡⎣ ∫ h(t) dt ⎤⎦ k
Question 1

In questions 1(a) - 1(b), find Fˆ ′, Fˆ ′′, Fˆ ′ , Fˆ ′′ when

t = 1.
(a) F ( ) (
ˆ (t ) = 2t i + t 2 + 3 t j + 2t 2 + 5 k )
ˆ ( t −1) (1−t )
j + ( 2t − 1) k
3
(b) F (t ) = e i + e

Question 2
In questions 2(a) - 2(b), find
d ˆ ˆ
dt
(
F • G and )
d ˆ ˆ
dt
F ×G ( )
.

ˆ (t ) = et i + j + t 2 k , Gˆ (t ) = t 3 i + j − k
F
(a)

Fˆ (t ) = t 2 i − t j + ( 2t + 1) k ,
(b)
Gˆ (t ) = ( 2t − 3 ) i + j − t k
Question 3

∂Fˆ ∂Fˆ ∂ 2 Fˆ ∂ 2 Fˆ ∂Fˆ ∂Fˆ

Find , , 2 , , × for the given
∂x ∂y ∂x ∂y∂x ∂x ∂y

Fˆ ( x, y ) = e xy i + ( x − y ) j + x sin y k .

Question 4
Evaluate the integral in questions 4(a) and 4(b).
(a)
2
∫
0
( 6t i − 4t j + 3 k ) dt
2

(b)
3
∫
1
( t i − e j + ln t k ) dt
3t
4.3 Tangents

Definition
Suppose Fˆ (t ) is differentiable at t0 and that
Fˆ ′(t0 ) ≠ 0 . Then Fˆ ′(t0 ) is defined to be a
tangent vector to the graph of Fˆ (t ) at the point
where t = t0.

Unit tangent vector

If Fˆ (t ) is a vector function that defines a smooth
graph, then at each point a unit tangent is
Fˆ ′(t )
Tˆ(t ) =
Fˆ ′(t )
and the principal unit normal vector is
Tˆ ′(t )
Nˆ (t ) =
Tˆ ′(t )
Unit taangentt vectoors chaange diirectioon alonng the
U
c
curve, but allways have length
l 1.
Smooth curve
The graph of the vector function defined by Fˆ (t )
is said to be smooth on any interval of t where
Fˆ ′(t) is continuous and Fˆ ′(t) ≠ 0 .

A curve that is
smooth has a
continuous turning
tangent

A curve that is not

smooth can have
“sharp” points.
Note that this
graph is piecewise
smooth
Arc length
Let r (t ) = f (t )i + g (t ) j + h (t )k be a
differentiable vector valued function on
[a, b]. Then the arc length s is defined by
b

s = ∫ [ f ′(t )]2 + [g ′(t )]2 + [h ′(t )]2 dt

a
b

( ) ( ) ( )
2 2 2
⌠ dx dy dz
=⎮ + + dt
⌡ dt dt dt
a

In a more compact form:

b

s = ⌠ r ′ (t ) dt
⌡
a

By FTC,
ds
= r ′ (t )
dt
Example
Find the length of the given curve:
r (t ) = t 2 i + 2tj + ln tk , 1≤t ≤e

Solution
The derivative
1
r ′ (t ) = 2ti + 2 j + t k
has length

′ 1
r (t ) = 2t + t for 1 ≤ t ≤ e

Thus,
e
⌠ 1
(
arc length, s = ⌡ 2t + t dt )
1
e
= ⎡⎣t + ln t ⎤⎦ 1 = (e 2 + 1) − (1 + 0)
2

= e2
Binormal Vector
Binormal vector, B = T × N
♦ T , N and B define a moving right handed
vector frame, called Frenet frame or TNB frame
♦ play a role in calculating the paths of particles
moving in space

Question 1

In questions 1(a) - 1(b), find the unit tangent vector T ,

the principal unit normal vector N , the binormal unit
vector B, of the given r (t ) at the indicated t.

r (t ) = a cos t i + a sin t j + btk ,

(a)
; ab > 0, t = π.
2 2 3
(b) r (t ) = t i + t j + t k , t = 1.
3
Question 2

In questions 2(a) - 2(b), the coordinates of a moving

particle are given as a function of time t. Find the
speed v, the unit tangent vector T , as a function of t.
(a) x = et cos t, y = et sin t, z = 0.
(b) x = 5 sin 4t, y = 5 cos 4t, z = 10t.

Question 3
The position vector of a moving particle is
t
r (t ) = ( sin t + cos t ) i + ( sin t − cos t ) j + k .
2
(a) Determine the velocity and speed of the particle.
(b) Determine the acceleration of the particle.
(c) Find a unit tangent to the path of the particle, in
the direction of motion.