Vector Analysis

Vector Analysis Dr. Falkenberg

Vector Functions

Master Course IT

Prof. Dr. Egbert Falkenberg

Faculty Computer Science & Engineering

Winterterm 2018/19
Faculty 2 M IT WS 2018/19 Slide 1
 Vector Analysis
Agenda: Vector Functions
Dr. Falkenberg

Vector Functions
Definition, Limits, Continuity
Derivatives and Integrals
Arc Length
Curvature

Vector Functions
Definition, Limits, Continuity
Derivatives and Integrals
Arc Length
Curvature

Faculty 2 M IT WS 2018/19 Slide 2

 Vector Analysis
References
Dr. Falkenberg

Vector Functions
Definition, Limits, Continuity
Derivatives and Integrals
Arc Length
Curvature

Recommended: : J. Stewart, Calculus Early

Transcendentals, Sixth Edition, Thomson Brooks/Cole,
Canada, 2008: Chapter 13
The following is mainly based on this chapter.

Faculty 2 M IT WS 2018/19 Slide 3

 Vector Analysis
Vector Functions- Topics and Learning
Dr. Falkenberg
Outcomes
Vector Functions
Definition, Limits, Continuity
Derivatives and Integrals
Arc Length
Curvature

compare: Stewart Chapter 12

1. introduction of vector functions, derivatives and
integrals
2. arc length and curvature
3. motion in space: velocity and acceleration (pp 638)
Upon completion the students can apply the differential
calculus and integral calculus to vector functions in
simple applied problems

Faculty 2 M IT WS 2018/19 Slide 4

 Vector Analysis
Vector Functions- Definition, Limits,
Dr. Falkenberg
Continuity I
Vector Functions
Definition, Limits, Continuity
Derivatives and Integrals
Arc Length
Curvature

I Vector functions: domain a set of real numbers,

range a set of vectors
I components of ~r (t) are real valued functions at the
domain of ~r
√
I Example: ~r : [0, 3) → R3 , ~r (t) = (t 3 , ln(3 − t), t)T
components:
f : [0, 3) → R, f (t) = t 3 ,
g : [0, 3) → R, g(t) = √ ln(3 − t),
h : [0, 3) → R, h(t) = t

Faculty 2 M IT WS 2018/19 Slide 5

 Vector Analysis
Vector Functions- Definition, Limits,
Dr. Falkenberg
Continuity II
Vector Functions
The limit and conitinuity of a vector functions is explained Definition, Limits, Continuity

by the corresponding properties of the component Derivatives and Integrals

Arc Length

functions. Curvature

vector function ~r (t) = (f (t), g(t), h(t))T

I Limit:
I Examine the limits of the components
I limt→a = (limt→a f (t), limt→a g(t), limt→a h(t))T ,
if the limits of the component functions exists.
I Continouity: :
~r continous at a if limt→a ~r (t) = ~r (a), i.e. ~r continous
if all component functions continous √
I Example: ~r (t) = (t 3 , ln(3 − t), t)T , a = 2
√
lim ~r (t) = (lim t 3 , lim ln(3 − t), lim t)T
t→2 t→2 t→2 t→2
√ T
= (8, 0, 2)
= ~r (2)
Faculty 2 M IT WS 2018/19 Slide 6
 Vector Analysis
Vector Functions- Definition, Limits,
Dr. Falkenberg
Continuity III
Vector Functions
Definition, Limits, Continuity

In case of a continous component function the vector Derivatives and Integrals

Arc Length

function throughout the interval I is called a space curve Curvature

C. The set of all points of C are given by the parametric

equations

x = f (t) y = g(t) z = h(t)

Example:
r (t) = (1 + t, 2 + 5t, −1 + 6t)T , t ∈ R:
I ~

x(t) = 1 + t y (t) = 2 + 5t z(t) = −1 + 6

parametric equations of the line passing through the
point A = (1, 2, −6) parallel to the vector (1, 5, 6)T

Faculty 2 M IT WS 2018/19 Slide 7

 Vector Analysis
Vector Functions- Definition, Limits,
Dr. Falkenberg
Continuity IV
Vector Functions
Definition, Limits, Continuity
Derivatives and Integrals

Motion of a particle: Arc Length

Curvature

P(t) = (x(t), y (t)) = (t 2 − 2t, t + 1), t ∈ [−2, 5]

par_eq_ex1.gbb

Faculty 2 M IT WS 2018/19 Slide 8

 Vector Analysis
Vector Functions- Definition, Limits,
Dr. Falkenberg
Continuity V
Vector Functions
Motion of a particle on a circle: Definition, Limits, Continuity
Derivatives and Integrals
P(t) = (x(t), y (t)) = (m1 + r cos(u(t)), m2 + r sin(u(t))) Arc Length
Curvature

compare: par_eq_ex2.gbb
Let u(t) = 32 π(1 − (t − 1)2 ), t ∈ [0, 2]. P starts in
P(0)=(5,1), follows the circle to P(1)=(2,-2) and goes back
to the starting point P(2)=(5,1).

Faculty 2 M IT WS 2018/19 Slide 9

 Vector Analysis
Vector Functions- Definition, Limits,
Dr. Falkenberg
Continuity VI
Vector Functions
Motion of a point on a circle that rolls along a straight line: Definition, Limits, Continuity

P(θ) = (x(θ), y (θ)) = (r θ − r sin(θ), r − cos(θ)) Derivatives and Integrals

Arc Length
Curvature

compare: par_eq_cycloid.gbb
I P starts at the origin
I parameter θ angle of rotation of the circle
I Note: length of OT is the length of the arc PT

Faculty 2 M IT WS 2018/19 Slide 10

 Vector Analysis
Vector Functions- Definition, Limits,
Dr. Falkenberg
Continuity VII
Example: 3D Helix Vector Functions
Definition, Limits, Continuity
~r (t) = (cos t, sin t, t)T , Derivatives and Integrals
Arc Length
t ∈ [0, 2π] Curvature

I x2 + y2 =
cos2 t + sin2 t = 1 ⇒
curve lies on the
cylinder x 2 + y 2 = 1
I (x, y , z) lies above
the circle x 2 + y 2 = 1
in the x,y-plane and
moves around the
z-axis.

Faculty 2 M IT WS 2018/19 Slide 11

 Vector Analysis
Vector Functions- Derivatives and Integrals I
Dr. Falkenberg
The differentiability of a vector functions is explained by
the differentiability of the component functions. Vector Functions
Definition, Limits, Continuity

I derivative ~r 0 of a vector function ~r : Derivatives and Integrals

Arc Length
Curvature

dr ~r (t + h) − ~r (t)
= ~r 0 (t) = lim
dt h→0 h
I ~r (t) tangent vector to the curve defined by ~r at the
Point P, provided ~r 0 (t) exists and ~r 0 (t) 6= ~0
Let ~r (t) = (f (t), g(t), h(t))T , where f, g and h are
differentiable functions, then

~r 0 (t) = (f 0 (t), g 0 (t), h0 (t))T

Remark: As for real valued functions the second

derivative ~r 00 (t) of a vector function ~r is the derivative of ~r 0 ,
i.e. ~r 00 = (~r 0 )0 .

Faculty 2 M IT WS 2018/19 Slide 12

 Vector Analysis
Vector Functions- Derivatives and Integrals II
Dr. Falkenberg

Remark: If ~s(t) denotes the position of a particle P at Vector Functions

Definition, Limits, Continuity

time t, ~v (t) = ~s0 (t) is the velocity of the particle at time t. If Derivatives and Integrals
Arc Length

~s(t) can be differentiated two times on the interval [a,b], Curvature

~a(t) = ~s00 (t) is the acceleration of the particle at time t.

Example: Velocity and acceleration of the cycloid

     
~ r (θ − sin θ) r (1 − cos θ) r sin θ
s(θ) = ,~
v (θ) = ,~
a(θ) =
r (1 − cos θ) r sin θ r cos θ

Faculty 2 M IT WS 2018/19 Slide 13

 Vector Analysis
Vector Functions- Derivatives and Integrals III
t Dr. Falkenberg
Example: ~r (t) = (sin t, 2π cos t)T , t ∈ [0, 2π]
Vector Functions
Definition, Limits, Continuity
Derivatives and Integrals
Arc Length
Curvature

I Find the derivative of ~r (t).

I Find the unit tangent vector at the point with t = π.
I Change the parameter t to u(t) = 2t(2π−t)
π , t ∈ [0, 2π].
What happens at t = π? Does there exist a tangent
vector?
Faculty 2 M IT WS 2018/19 Slide 14
 Vector Analysis
Vector Functions- Derivatives and Integrals IV
Dr. Falkenberg

Differentiation Rules: Suppose ~u and ~v are Vector Functions

differentiable vector functions, c is a scalar and f is a real Definition, Limits, Continuity
Derivatives and Integrals

valued differentiable function. Arc Length

Curvature

I d ~ ~0 ~0
 
~
dt u (t) + v (t) = u (t) + v (t)
I d c~ u (t) = c~u 0 (t)
 
dt
I d f (t)~ u (t) = f 0 (t)~u (t) + f (t)~u 0 (t)
 
dt
I d ~ ~0 0
 
dt u (f (t)) = u (f (t))f (t)
I scalar product:
d ~ ~ ~0 ~ ~ ~0
dt < u (t), v (t) >=< u (t), v (t) > + < u (t), v (t) >
I cross
 product:
d ~ ~ ~0 ~ ~ ~0
dt u (t) × v (t) = u (t) × v (t) + u (t) × v (t)
Example: Show that if |~r (t)| = c (constant), then ~r 0 (t) is
orthogonal to ~r (t) for all t.

Faculty 2 M IT WS 2018/19 Slide 15

 Vector Analysis
Vector Functions- Derivatives and Integrals V
Dr. Falkenberg
The definite integral of a continous vector function can be
expressed in terms of the integrals of the component Vector Functions
Definition, Limits, Continuity

functions. Derivatives and Integrals

Arc Length

Let ~r (t) = (f (t), g(t), h(t))T be a continous vector Curvature

functions on [a, b]:

Z b Z b Z b Z b !T
~r (t) dt = f (t) dt, g(t) dt, h(t) dt
a a a a
Example: ~r (t) = (2 cos t, sint, 2t)T
Z Z Z Z T
~r (t) dt = 2 cos t dt, sin t dt, 2t dt

= (2 sin t, − cos t, t 2 )T + ~c
π/2
π2
Z h iπ/2
~r (t) dt = (2 sin t, − cos t, t 2 )T + = (2, 1, )T
0 0 4

Faculty 2 M IT WS 2018/19 Slide 16

 Vector Analysis
Vector Functions- Arc Length I
Dr. Falkenberg
How can we calculate the length L of a curve?
Vector Functions
Idea: approximate the curve by a polygon line and then Definition, Limits, Continuity

taking the limit as the number of segments of the polygon Derivatives and Integrals
Arc Length

is increased. Curvature

I C: x(t)=f(t), y(t)=g(t), α ≤ t ≤ β
L = limn→∞ ni=1 |Pi−1 Pi |
P
I

Faculty 2 M IT WS 2018/19 Slide 17

 Vector Analysis
Vector Functions- Arc Length II
p Dr. Falkenberg
I |Pi−1 Pi | = (xi − xi−1 )2 + (yi − yi−1 )2
Vector Functions
I By the Mean Value Theorem: Definition, Limits, Continuity
Derivatives and Integrals
0
x(ti ) − x(ti−1 ) = x (ti∗ )∆t, y (ti ) − y (ti−1 ) = y 0
(ti∗∗ )∆t Arc Length
Curvature

I [α, β] divided in n q
parts with equal width ∆t
Pn
I L = limn→∞ i=1 (x 0 (ti∗ ))2 + (y 0 (ti∗∗ ))2 ∆t =
r  2
dx 2
Rβ dy
dt, if x 0 , y 0 are continous


α dt + dt
functions on the given interval
Arc Length of a Space Curve: Let
~r (t) = (x(t), y (t), z(t))T be a space curve with continous
and differentiable component functions on [a, b]. If the
curve is traversed exactly once as t increases form a to b
Z br Z b
dx 2 dy 2 dz 2
L= ( ) + ( ) + ( ) dt = ~r 0 (t) dt
a dt dt dt a

Faculty 2 M IT WS 2018/19 Slide 18

 Vector Analysis
Vector Functions- Arc Length III
Dr. Falkenberg

Remark: The curve must be traversed only once as t Vector Functions

increases from α to β. Otherwise we get the length of the Definition, Limits, Continuity
Derivatives and Integrals

way the particle moves during the time [α, β]. Arc Length
Curvature

Example: Consider the 3D helix ~r (t) = (cos t, sin t, t)T

from the point (1,0,0) to the point (1,0,2π).
I Find the length of the curve.
I Change the parameter t to t(u) = 2πu 2 , u ∈ [0, 1]
and find the arc length of the new curve.
Rt
I Determine the arc length function s(t) = 0 |~r 0 (u)| du
and show that s0 (t) = |~r 0 (t)|
I Reparametrize the curve with respect to the arc
length function s(t). Note that ~r (t(s)) is the position of
the point s units of length along the curve from the
starting point.

Faculty 2 M IT WS 2018/19 Slide 19

 Vector Analysis
Vector Functions- Arc Length IV
Dr. Falkenberg

Vector Functions
Definition, Limits, Continuity
Derivatives and Integrals
Arc Length

Remark: Curvature

I The arc length is independent of the parametrisation

of the curve.
Rt
I From the arc length function s(t) = a |~r 0 (u)| du one
can obtain s0 (t) = |~r 0 (t)|
I A parametrization of a curve with respect to arc
length is often very useful because the arc length
does not depend on a particular coordinate system.

Faculty 2 M IT WS 2018/19 Slide 20

 Vector Analysis
Vector Functions- Curvature I
Dr. Falkenberg
Let C be a smooth space curve defined by ~r (t) on an
interval I. Vector Functions
Definition, Limits, Continuity

~ (t) = ~r 00 (t)
I Unit tangent vector T
Derivatives and Integrals

|~r (t)| Arc Length

Curvature

I Curvature of C at a point: measure of how quickly the

curve changes direction at that point, i.e. the
magnitude of the rate of change of the unit tangent
vector with respect to arc length.
Stewart p 832

~
dT |T~ 0 (t)|
κ(t) = = 0
ds |~r (t)|

I Curvature of a circle of radius a is 1/a.

Faculty 2 M IT WS 2018/19 Slide 21

 Vector Analysis
Vector Functions- Curvature II
Dr. Falkenberg

Vector Functions
Theorem: Curvature of a space curve given by ~r Definition, Limits, Continuity
Derivatives and Integrals
Arc Length

|~r 0 (t) × ~r 00 (t)|

Curvature

κ(t) =
|~r 0 (t)|3

Special case: plane curve given by y=f(x)

|f 00 (x)|
κ(x) =
(1 + (f 0 (x))2 )3/2

Example:
I Curvature of ~r (t) = (t, t 2 , t 3 )T at t=0
I Curvature of y = x 2 at (0,0) and (1,1)

Faculty 2 M IT WS 2018/19 Slide 22

 Vector Analysis
Vector Functions- Curvature III
Dr. Falkenberg
Normal and Binormal Vectors: Let C be a smooth
space curve defined by ~r (t). Vector Functions
Definition, Limits, Continuity

I From |T~ (t)| = 1, we get < T

~ (t), T
~ 0 (t) >= 0, i.e. T
~ 0 (t) Derivatives and Integrals
Arc Length

is othorgonal to T~ (t). Curvature

~ 0 (t)
T
I ~
(Unit) Normal vector: N(t) = ~
|T 0 (t)|
I ~
Binormal vector: B(t) =T ~ (t) × N(t)
~
I ~
B(t) ~ (t) and N(t).
is orthogonal to T ~

Faculty 2 M IT WS 2018/19 Slide 23

 Vector Analysis
Vector Functions- Curvature IV
Dr. Falkenberg

Vector Functions
I Normal plane on C at a point: plane determined by Definition, Limits, Continuity

~
N(t) ~
and B(t) at point ~r (t)
Derivatives and Integrals
Arc Length
Curvature
I Osculating plane of C at a point: plane determined
~ (t) and N(t)
by T ~ at point ~r (t).

Faculty 2 M IT WS 2018/19 Slide 24

 Vector Analysis
Vector Functions- Curvature V
Dr. Falkenberg
Osculating circle of C at ~r (t):
I circle in the osculating plane of C at ~r (t) Vector Functions
Definition, Limits, Continuity
Derivatives and Integrals
I same tangent as C at ~r (t) Arc Length
Curvature

I on the concave side of (toward which N(t) ~ points)

I radius: reciprocal of the curvature

Faculty 2 M IT WS 2018/19 Slide 25

 Vector Analysis
Content I
Dr. Falkenberg

Vector Functions
Definition, Limits, Continuity
Derivatives and Integrals
Arc Length
Curvature

Vector Functions
Definition, Limits, Continuity
Derivatives and Integrals
Arc Length
Curvature

Faculty 2 M IT WS 2018/19 Slide 26