VECTOR DIFFERENTIATION AND INTEGRATION WITH SCALAR VARIABLE

Introduction:
Vector calculus is used to model mathematically a vast range of engineering phenomena including
electromagnetic fields, electrostatics, heat flow in a nuclear reactors and air flow around air craft.
In the 3 - dimensional engineering world, one wants to know things like the stress and strain inside
a structure, or the vorticity of the air flow over a wing. For such questions, we must know how to
differentiate and integrate vector quantities with three components (in directions i,j,and k) which
depends on three co-ordinates x,y,z.. Vector calculus provides necessary mathematical notations
and techniques for dealing with such issues.

DIFFERENTIATION OF VECTOR FUNCTION:

Let F(t) be a vector function of the scalar variable t. Then the derivative of F(t) with respect to
t is denoted by dF
dt
and defined as dF
dt
= lim F (t+∂t)−F
∂t
(t)
∂t→0
The function F(t) is said to be differentiable if dF
dt
exists. In differentiation of vectors, the compo-
nents are considered i.e we differentiate components by components. If differentiating once gives
its velocity, second derivative gives acceleration.
Example:

Given w̄ = 3t2 i + cos 2tj, find

dw̄
(a) dt

(b) | ddtw̄ |
2
(c) ddtw̄2

Solution:

(a) w̄ = 3t2 i + cos 2tj,

Using chain rule formula to differentiate cos 2t, we have
dy dy du
dt
= .
du dt

dy
let y = cos 2t, u = 2t, so that y = cos u, then du
dt
= 2, du = -sin u = − sin 2t ,
dy dy du
putting it back in the formula, we have dt = du . dt = − sin 2t.2 = −2 sin 2t

Hence,

dw̄
dt
= 6ti − 2 sin 2tj
p √
(b) | ddtw̄ | = (6t)2 + (−2 sin 2t)2 = 36t2 + 4 sin2 2t
2
(c) ddtw̄2 = 6i − 4 cos 2tj

RULES OF VECTOR DIFFERENTIATION

If w̄ and z̄ are vectors and c is a scalar, all these being functions of t, then

d dw̄ dz̄
1 dt
(w̄ + z̄) = dt
+ dt

1
 d
2 dt
(cw̄) = c ddtw̄ + dc
dt
w̄
d
3 dt
(w̄.z̄) = w̄. dz̄
dt
+ dw̄
dt
.z̄
d dz̄ dw̄
4 dt
(w̄ × z̄) = w̄ × dt
+ dt
× z̄

Example:
d
If w̄ = 3ti − t2 j and z̄ = 2t2 i + 3j, verify the result that dt
(w̄.z̄) = w̄. dz̄
dt
+ dw̄
dt
.z̄

solution:
w̄.z̄ = (3ti − t2 j).(2t2 i + 3j) = 6t3 − 3t2

Therefore
d
dt
(w̄.z̄) = 18t2 − 6t Also,

dw̄ dz̄
dt
= 3i − 2tj and dt
= 4ti. So, w̄. dz̄
dt
+ dw̄
dt
.z̄ = (3ti − t2 j).(4ti) + (2t2 i + 3j).(3i − 2tj)

= 12t2 + 6t2 − 6t = 18t2 − 6t

It has been verified that w̄. dz̄

dt
+ dw̄
dt
.z̄ = d
dt
(w̄.z̄)

Some Important formulas to note

1 Vector Operator (▽): It is pronounced del and defined by:

∂ ∂ ∂
(▽) = i ∂x + j ∂y + k ∂z

2 Gradient (ϕ): Let ϕ be a scalar and (▽) a vector operator, then

∂
Gradient = ▽ϕ = (i ∂x ∂
+ j ∂y ∂
+ k ∂z ).ϕ = i ∂ϕ
∂x
+ j ∂ϕ
∂y
+ k ∂ϕ
∂z

3 Unit Vector (â): Given vector ā = a1 ī + a2 j̄ + a3 k̄, then

ā
â = |ā| = √ a1 ī+a
2
2 j̄+a3 k̄
2 2
(a1 ) +(a2 ) +(a3 )

4 Directional Derivative: Directional Derivative of a scalar point function ϕ at a point p(x,y,z)

in the direction of a unit vector ā is equal to = ▽ϕ.ē
ā
where ē = |ā|

▽F
5 Unit Normal Vector: It is given as |▽F |

6 Divergence of a Vector: Let f¯ be any continuously differentiable vector point function. Then
i ∂f
∂x
+ j ∂f
∂y
+ k ∂f
∂z
is called the divergence of f¯ and it is written as divf

∴ divf = i ∂f
∂x
+ j ∂f
∂y
+ k ∂f
∂z

2
 7 Curl of a Vector: Let f¯ be any continuously differentiable vector point function. Then
i × ∂f
∂x
+ j × ∂f
∂y
+ k × ∂f
∂z
is called the curl of f¯ and it is denoted by curlf¯ or ▽ × f¯

∴ curlf¯ = i × ∂f
∂x
+j× ∂f
∂y
+k× ∂f
∂z

Example: Find gradϕ when ϕ(x, y, z) = log(x2 + y 2 + z 2 ) at (1, 1, 1)

solution: ′ (x)
derivative of log = FF (x)
∂ ∂ ∂ ∂ ∂ ∂
gradϕ = (i ∂x + j ∂y + k ∂z ).ϕ = (i ∂x + j ∂y + k ∂z ). log(x2 + y 2 + z 2 )

∂ ∂ ∂
= i ∂x (log(x2 + y 2 + z 2 )) + j ∂y (log(x2 + y 2 + z 2 )) + k ∂z (log(x2 + y 2 + z 2 ))

i( x2 +y2x2 +z2 ) + j( x2 +y2y2 +z2 ) + k( x2 +y2z2 +z2 ) = 2xi+2yj+2zk

x2 +y 2 +z 2

2(xi+yj+zk) 2(i+j+k)
grad ϕ = x2 +y 2 +z 2
, (gradϕ)(1,1,1) = 12 +12 +12
= 32 (i + j + k)

Example 2: find the directional derivative of F = xy + yz + zx in the direction of vector

i + 2j + 2k at the point (1, 2, 0)

solution:
F = xy + yz + zx,

∂ ∂ ∂
gradF = (i ∂x + j ∂y + k ∂z )(xy + yz + zx) = i(y + z) + j(x + z) + k(y + x)

(gradF)(1,2,0) = i(2 + 0) + j(1 + 0)k(2 + 1)

▽F = 2i + j + 3k

Let ē be the unit normal vector along i + 2j + 2k, then

1.ī+2j̄+2k̄ ī+2√
j̄+2k̄ ī+2j̄+2k̄
ē = ā
|ā|
=√ = 9
= 3
(1)2 +(2)2 +(2)2

Directional Derivative (DD) = ▽F.ē

(2i + j + 3k). ī+2j̄+2

3
k̄
= 2+2+6
3
= 10
3

(2) find the DD of ϕ = xyz along the direction of the normal to the surface
x z + y 2 x + yz 2 = 3 at the point (1,1,1)
2

solution:
∂ ∂ ∂
gradϕ = (i ∂x + j ∂y + k ∂z )(xyz) = i(yz) + j(xz) + k(yx)

(▽ϕ)(1,1,1) = i(1) + j(1) + k(1) = i + j + k

F = x2 z + y 2 x + yz 2 − 3 = 0, we need to convert F to a vector by finding the gradient of F

∂ ∂ ∂
▽F = (i ∂x + j ∂y + k ∂z )(x2 z + y 2 x + yz 2 − 3)

▽F = i(2xz + y 2 ) + j(2yx + z 2 ) + k(x2 + 2yz)

(▽F )(1,1,1) = i(2 + 1) + j(2 + 1) + k(1 + 2) = 3i + 3j + 3k

3
 3ī+3j̄+3k̄ 3(ī+j̄+k̄) 3(ī+j̄+k̄) 3(ī+j̄+k̄) (ī+j̄+k̄)
ē = ā
|ā|
=√ = √
9+9+9
= √
3.9
= √
3 3
= √
3
(3)2 +(3)2 +(3)2

DD = ▽F.ē

(i + j + k). (ī+√j̄+
3
k̄)
= (1+1+1)
√
3
= √3
3
we rationalize
√ √
√3 . √3 = 3 3
3 √3 3
DD = 3

(3) find a unit normal vector to the given surface x2 y + 2xz = 4 at the point (2,-2,3)

solution:

given the surface F = x2 y + 2xz − 4 = 0

∂ ∂ ∂
gradF ▽F = (i ∂x + j ∂y + k ∂z )(x2 y + 2xz − 4)

▽F = i(2xy + 2z) + j(x2 ) + k(2x)

▽F = i(2xy + 2z) + x2 j + 2xk

(▽F )(2,−2,3) = i(−8 + 6) + j(4) + k(4) = 2i + 4j + 4k

▽F
unit normal vector = |▽F |

2i+4j+4k 2i+4j+4k 2(−i+2j+2k) (−i+2j+2k)

√
4+16+16
= √
36
= 6
= 3

(4) find divf when f¯ = grad(x3 + y 3 + z 3 − 3xyz)

solution:

f¯ = grad(x3 + y 3 + z 3 − 3xyz)

∂ ∂ ∂
grad = i ∂x + j ∂y + k ∂z

f¯ = (i ∂x
∂ ∂
+ j ∂y ∂
+ k ∂z )(x3 + y 3 + z 3 − 3xyz)

f¯ = i(3x2 − 3yz) + j(3y 2 − 3xz) + k(3z 2 − 3xy)

∂ ∂ ∂
divf = (i ∂x + j ∂y + k ∂z )i(3x2 − 3yz) + j(3y 2 − 3xz) + k(3z 2 − 3xy)

∂ ∂ ∂
= ∂x (3x2 − 3yz) + ∂y
(3y 2 − 3xz) + ∂z
(3z 2 − 3xy)

= 6x + 6y + 6z

divf = 6(x + y + z)

(5) find the curl for f¯ = zi + xj + yk

4
 solution:

i j k
curlf¯ = ∂
∂x
∂
∂y
∂
∂z
z x y
curlf¯ = i( ∂y
∂
(y) − ∂
∂z
(x)) ∂
− j( ∂x (y) − ∂
∂z
(z)) ∂
+ k( ∂x (x) − ∂
∂y
(z))

= i(1 − 0) − j(0 − 1) + k(1 − 0) = i + j + k

curlf¯ = i + j + k

TO FIND ANGLE BETWEEN TWO VECTORS

Evaluate the angle between the normal to the surface xy = z 2 at the points (4,1,2) and (3,3,-3)

solution:

n1 .n2
f = xy − z 2 , angle between two vectors is given by cos θ = |n1 ||n2 |

we find the gradient of f

∂ ∂ ∂
gradf = (i ∂x + j ∂y + k ∂z )(xy − z 2 )

∂ ∂ ∂
gradf = i ∂x (xy − z 2 ) + j ∂y (xy − z 2 ) + ∂z
(xy − z2)

gradf = i(y) + j(x) + k(−2z) = yi + xj − 2zk

n1 = (gradf )( 4, 1, 2) = i(1) + j(4) + k(−2.2) = i + 4j − 4k

n2 = (gradf )( 3, 3, −3) = i(3) + j(3) + k(−2. − 3) = 3i + 3j + 6k

To find the angle

n1 .n2 a1 a2 +b1 b√2 +c1 c2

cos θ = |n1 ||n2 |
=√ = √ 1.3+4.3−4.6
√
12 +42 +42 . 32 +32 +62
a21 +b21 +c21 . a22 +b22 +c22

cos θ = 3+12−24
√ √ = √ −9√ = √ −9
33. 54 33. 54 33.54

SOLENOIDAL VECTOR: A vector is said to be solenoidal if divf¯ = 0. It is also called

”equation of continuity or conservation of mass”.

If f¯ = (x + 3y)i + (y − 2z)j + (x + pz)k is solenoidal, find p.

solution:

f¯ = (x + 3y)i + (y − 2z)j + (x + pz)k

divf¯ = (i ∂x
∂ ∂
+ j ∂y ∂
+ k ∂z )(x + 3y)i + (y − 2z)j + (x + pz)k

divf¯ = ∂
∂x
(x + 3y) + ∂
∂y
(y − 2z) + ∂
∂z
(x + pz)

5
 divf¯ = 1 + 1p, f¯ is solenoidal if divf¯ = 0. We represent divf¯ with 0

∴0=2+p

Hence, p = -2

Irrotational Vector: A vector f¯ is said to be irrotational if curlf¯ = 0

Example: prove that f¯ = yzi + zxj + xyk is irrotational

solution:

i j k
curlf¯ = ∂
∂x
∂
∂y
∂
∂z
yz zx xy
curlf¯ = i( ∂y
∂
(xy) − ∂
∂z
(zx)) ∂
− j( ∂x (xy) − ∂
∂z
(yz)) ∂
+ k( ∂x (zx) − ∂
∂y
(yz))

= i(x − x) − j(y − y) + k(z − z) = 0i − 0j + 0k

∴ f¯ is an irrotational vector.

INTEGRATION OF VECTOR FUNCTION:

It is a well known fact that the integration is the reverse process of the differentiation, Let
F(t) and G(t) be two vector functions of the scalar t such that

d
dt
G(t) = F (t) − − − − − − − − − (1)

Then the vector function G(t) is called the indefinite integral of the vector function F(t) with
respect to t. Symbolically, it is written as
R
F (t)dt = G(t) − − − − − − − −(2)

The vector function F(t) which is being integrated is called the integrand. Let C be a constant
vector which is independent of t, then equation (1) can be written as

d
dt
[G(t) + C] = F (t) − − − − − − − − − (3)
R
F (t)dt = G(t) + C − − − − − − − −(4)

The constant vector C is called the constant of integration.

If dtd G(t) = F (t) is defined over the closed interval [a,b], then the definite integral between the
limits t = a and t = b is defined as
Rb
a
F (t)dt = [G(t) + C]ba G(b) − G(a)

Where a and b are called the limits of integration.

Examples:

6
 R
(1) If F(t) = (t − t2 )i + 2t3 − 3k find F (t)dt
R R
F (t)dt = {(t − t2 )i + 2t3 − 3k} dt
2   
t3 2t4 t2 t3 t4
(t − t )dti + 2t dtj + 3dtk = t2 −
R 2
R 3 R
3
i+ 4
j − 3tk + C = 2
− 3
i+ 2
j − 3tk + C
R1
(2)If F(t) = (t + 1)i + (t2 + t + 1)j + (t3 + t2 + t + 1)k, 0
F (t)dt

solution:

F(t) = (t + 1)i + (t2 + t + 1)j + (t3 + t2 + t + 1)k

R1 R1
0
F (t)dt = 0
{(t + 1)i + (t2 + t + 1)j + (t3 + t2 + t + 1)k} dt
R1 R1 2 R1 3
= 0
(t + 1)dti + 0
(t + t + 1)dtj + 0
(t + t2 + t + 1)dtk
h2 i1 h 3 2
i1 h 4 3 2
i1
= t2 + t + t3 + t2 + t + t4 + t3 + t2 + t
0 0 0
1  1 1
 1 1 1

= 2
+1 + 3
+ +1 +
2 4
+ + +1
3 2

= 23 i + 11
6
j + 50
24
k = 32 i + 11
6
j + 25
12
k