Vector—Valued Functions - Curves and Motion Vector-valued Functions vector whose components are functions * inone variable ne ro =(£0) @-p) 0 =(309) (-0) * in two variables (uv) rur)=(gtuv) | B-D) \ncu.v)) Dr NG Wee Seng Vector—Valued Functions - Curves and Motion Curves of Moving Particles in Space A particle is moving in the three-dimensional space PFO, GO, hO) Its position at time ¢ yz) = (FO,9O,hO) The three equations x= FO, = g(0,2 = hee) are called parametric equations. tis the parameter The position vector of the particle at time ¢ is. FO) r() =| 90 AC), Dr NG Wee SengVector—Valued Functions - Curves and Motion A Familiar Example For particle mouing n the tiveedimensional space along a straight line that posses through 3 ‘andi the direction of the vector nj +e 3n vector of any paint on the path soning parametric equations of he path is yabine z=c4pt Dr NG Wee Seng Vector—Valued Functions - Curves and Motion Derivatives of Vector — valued Functions The derivative vector of r(t) @ fo) fl r= an = a ri represents the velocity of the particle Componentwise differentiation Dr NG Wee SengVector—Valued Functions - Curves and Motion Derivatives of Vector - valued Functions z Velocity Vector r'(¢) 1. _ Gives the direction of motion at time t Fact The velocity vector r’(¢) is tangential to the path at any t € | 2. The speed of the particle at time ¢=| r'()| = VFO) + GO) + HOF Dr NG Wee Seng Vector—Valued Functions - Curves and Motion Derivatives of Vector — valued Functions Let f, g and h be differentiable. The acceleration vector is given by ae e (fo r'() == 9") (acceleration) = f"(Hi+g"(0) i+ h"(Ok no), Dr NG Wee SengVector—Valued Functions - Curves and Motion Tangent Lines PF (C0), 900), RC)) Tangent line at P ctor The tangent line to the curve at P is parallel to the velocity F'(lo) ¥'(Co) = | 9'(to) (to), This line has equatior Dr NG Wee Seng Vector—Valued Functions - Curves and Motion Example Find the line tangent to the given curve at the indicated point. 1@) =thtesy—tk att=1 ‘F (to) f' (to) 1(Q)=| gto) ] +¢{ 9'(to) |, CER I(to), A'(to), WA | Need to find these vectorsVector—Valued Functions - Curves and Motion Example Find the line tangent to the given curve at the indicated point. r(t)=tite'Y—t3k att =1 ‘F (to) F' (to) T(t)=[ g(to) } +e] 9'(to) |,tER (Co), h'(to), Vector—Valued Functions - Curves and Motion Example (i) Find the line tangent to the given curve at the indicated point. r(t)=tite!j—t3k att =1 ‘f (to) F'(to) T(t) =| gto) }+e| g'(to) |, CER (C0), hi (0), ; é 1 iL wo (3) wy=(-2) 1 3? 1 eove(4) .-3,Vector—Valued Functions - Curves and Motion 1 1 ro-(1)+(a}een -1/ \-3 Vector—Valued Functions - Curves and Motion Example (ii) Find the speed of the particle att = 1. 1 vo-(2) 3 Speed ate =1 is |r'(1)l=/12 + Cy +C3) = VTVector—Valued Functions - Integrals Curves of Moving Particles in Space ‘A particle moving in the three-dimensional space traces a path made up of points @y,2) = (f©,g(O,h©) , where ¢ € some interval I represents time z The three equations x= fy = 90.2 = he) are called parametric equations. ‘The position vector of any point on the path is FO r() =| 90) ACO), f.g and h are called the component functions of r(¢) is) = 01+ o(OH + HCO ‘As t varies, r(t) traces a curve which is the path of the moving particle We will simply call r(¢) a curve Dr NG Wee Seng Vector—Valued Functions - Integrals Integrals of Vector - valued Functions FO) Let r(e) =| 9 } = FO) + GO) + GO)k ACO), Indefinite integrals We define the indefinite integral f r(t)dt in terms of its component functions f, g and h by Sede = (J FOae)i+ (f g@ae)j + ([hOde)k. Given the relation between the position vector r(t) and the velocity vector, r'(¢), we can integrate the velocity vector to get the position vector. Similarly, we integrate the acceleration vector to obtain the velocity vector. Dr NG Wee Seng :Vector—Valued Functions - Integrals Integrals of Vector - valued Functions FO tet r() =| 9) ] = FO) + GO) + AO) HCO), Definite Integrals We define the definite integral ?r(t)dt in terms of its component functions f, g and h by SP r@ae = (f2 Fa) i+ (f2. ge) + ( J? h(e)de) Kc. Dr NG Wee Seng ; Vector—Valued Functions - Integrals Example A particle moves in space in such a way that its acceleration vector is t a(t) =( et sine. 2 The initial (¢ = 0) position and initial velocity vector are (1, 0, 1) and xt-(0) ) 0 Find the position vector r(t) of the particle. Dr NG Wee Seng ‘Vector—Valued Functions - Integrals Example t a(t) -( et ) sint a r'() = a(t) = ( re ) sint So +A r'O=fa(eat = ( Ca ) for some constants A, B, C —cost +C, 2 A 2 svene@=a-(a)=(148 )-(0) o/ \-1+¢/ \o, (A 2 sata) Dr NG Wee Seng Vector—Valued Functions - Integrals Example Cee ‘Oe 2 FO) 2 | cost +1 a StaceP w= re-( clear ) ee a Pi 1 P a chen ror(2) =. (: + 2) - (°) : (2) (-:) L R 1 R, uk A —+2t+1 re) — raat — o=f[ro ae —sint+t+1 Dr NG Wee SengVector—Valued Functions - Integrals Remarks Obviously, in the 2-dimensional space, we simply replace FO) rO =| 90 AO), 79 =(50) by and define the derivative and integrals of r(t) accordingly. Dr NG Wee Seng Vector—Valued Functions - Arc Length Arc Length of Curve r (t) The length , L of a smooth curve 8 FO) r(t)=|9(t) ,ast ir J VEO? + GO)? + HOY de canbe expressed as Dr NG Wee Seng Vector—Valued Functions - Arc Length Arc Length of Curve r (t) ‘Two dimensional space The length , L of a smooth curve ro= (68). astsb traced exactly once as ¢ increases from t = a tot = bis given by » t= | FOF+ Gora Dr NG Wee SengVector—Valued Functions - Arc Length A Quick Example Unit Circle Centered (0, 0) L= VF Or + GO) at! cost an an rOQ=(fe,OSts2m i= fh aaa eee 1dt=20 Dr NG Wee Seng Vector—Valued Functions - Arc Length Example A particle moves along the helix r(t) = (cos t)i+ (sin) j+1k fromt = 0 tot = 2n. How long is the path? 5 1 = | \FOF+COF+ WO At = = 1 = { JE simdye+ (cose + GP at = { V2ae= 22m 2 3 3Vector—Valued Functions - Introduction to Line Integrals Y Recall y = f(x) >0 fora 0 after summing the areas of rectangles covering the shaded part, where the rectangles have a small width At So we are summing sae which leads to the above integral Atypical rectangle has area f(x At Dr NG Wee Seng 5Vector—Valued Functions - Introduction to Line Integrals eee x(0) Sa) on the x — y plane We want to integrate f(x,y) alonga curve C: r(t) = ( Dr NG Wee Seng Vector—Valued Functions - Introduction to Line Integrals Line Integral Over Two-dimensional Space Curve ‘The part of the surface z = f(x, y) where (x,y) lies on the curve C x(t) cr) = re fon xy —plane Dr NG Wee SengVector—Valued Functions - Introduction to Line Integrals Line Integral Over Two-dimensional Space Curve Again, using the Riemann Sum Theory, we must sum up areas of “rectangles” ~ * o* wv es Atypical “rectangle” is : Area= f(x(t),y(t)) x As where As =arc length ( taken to be the width of rectangle) Itcan be shown that As ~ Y(x'(6)? + @”"()7Ae Vector—Valued Functions - Introduction to Line Integrals Line Integral Over Two-dimensional Space Curve ‘Again, using the Riemann Sum Theory, we must sum up areas of “rectangles” Foo, 7 Il, a) A typical rectangle is : ve, or e eos Area f (x(t), y(t)) x V@(O)? + O/@y2ae So the integral of f along C turns out to be > [reoxm{eor+ooraVector—Valued Functions - Introduction to Line Integrals Line Integral Over Smooth Curves in 2-D If f(x,y) is defined on a smooth curve C: r(t) = x(Q)1 + ¥OI a@ [revo (OY +O" (O)at Special Case when f(x, y) . J Sevas = i V@WPFO'WyAdt = arclength : 2 Vector—Valued Functions - Introduction to Line Integrals Line Integral Over Smooth Curves in 3-D If f(y.) is defined on a smooth curve C: r(t) = xi + yj +zOK a@ ii FO, YO) | @'(O)? +0" O)?dt sabled in your web browser. Press play to start.Vector—Valued Functions - Introduction to Line Integrals Line Integral Over Smooth Curves in 3-D If f@y,2) Isdefined on a smooth curve C: r(t) = x(t)i + y(t)j +20 @<¢t | [email protected]@r+or ae J Qx+ids f(cose-sinr-+1)(Csin)® + (cosi) al 0 iCVector—Valued Functions - Introduction to Line Integrals iF (vx+t)ds =f (cosr-sins-+1) (sin? +(cost)* dr 0 (cosr-sins +1)dt : Identity i ae cosA-sinA = eT s2eelh 4 al a ul eel Vector—Valued Functions - Introduction to Line Integrals Example 2 Find the line integral J x+3y? +z ds Where Cis line segment joining (0, 0, 0) and (1, 1,1) 3 We first need to parametrize C , that is, to represent C as r(t) = xi + YO) +2(Ok In general , a parametrization for the line segment joining A(x,,¥;,Z;) to B(xz, 2,22) is re (= Oar + tx) 1+ (= Oy + Oy) + (A — Oar + t22) Zz Aly 1%) ae. Blx2, Ya, 22) x ‘As tincreases from t= 0 = to t= 1, we move from AtoB.Vector—Valued Functions - Introduction to Line Integrals Cis line segment joining (0, 0,0) to (1, 1, 1) SoC canbe parametrized as r(c) =ti +e} +tk using 7r(Q) = (62 + (1-H) 1+ (2 + A - On) I+ (2 + -Oa)k Vector—Valued Functions - Introduction to Line Integrals J x43? +2ds © r(Q =cl +e) +tk x() x) ye), > free. (©, ) | @' OP +0'O)F? +@'(O)Pae f xtay+zar=[(eae+/ +P +P d= DB c °Vector—Valued Functions - Parametric Surfaces Parametric Surfaces So far, our definition of a surface in three-dimensions has been the es graph of z= fay). Cartesian Equation We now introduce a more general way of representing a surface using parametric equations.Vector—Valued Functions - Parametric Surfaces Parametric Surfaces Consider a vector function r(u, v) of two variables u and v, defined on some domain D in atwo — dimensional space, by ru, v) = x(u, vi + y(u,v)j + 20, v)K where the component functions x(u,v),y(u,v) and z(u,v) have continuous partial derivatives. For each (u, v) in D, r(u,v) represents the position vector of a point in space. These points constitute a surface. We call this a parametric surface. Vector—Valued Functions - Parametric Surfaces Parametric Surfaces versus Space CurvesVector—Valued Functions - Parametric Surfaces Parametric Surfaces r(u,v) = x(u,v)i + yu, v)j + 2(u, vk Domain D Vector—Valued Functions - Parametric Surfaces Parametrization of surfaces of theform z = g(x,y) We can set sf x= y= and z = g(u,v) sothat r(u,v) =uit+vjt+guv)kVector—Valued Functions - Parametric Surfaces Example 1 Show that he following parametric equations represent a sphere in the three-dimensional space. x =asinacosB, y = asinasinB, z = acosa A sphere of radius r and centered at the origi has Cartesian equation eee eee care xtyte r*sin?a(cos?p + sin?) +r?cos*a = 1?(cos’a + sin?a) =r Vector—Valued Functions - Parametric Surfaces Normal Vector & Tangent Plane to Parametric Surfaces r(u,v) = x(u, v)i+ yu, v)j + 2(u, v)k Rats, ee Ty = Xui t+ Yuj + Zuk ty =xi+yjt+ 2k where a Xu = 5X v) a Yu = FU) and soon Itcan be shown that the vector, X Tr, is vector perpendicular to the surface at the point (1, )Vector—Valued Functions - Parametric Surfaces Recall Vector (Cross ) Product Determinants is oa = (+)<(2) = te-Ie h+ bale © app /a\_ [Pp ¢ B b)x(q pone C, PF, where [4 3 1 1 A B @ pl =AD—BC isthe determinant of the 2x2 matrix (7 5) Vector—Valued Functions - Parametric Surfaces Tangent Plane to Parametric Surfaces r(u,v) = x(u, v)i+ yu, v)j +2, v)k Point (a,b, f(a,b)) Root n=", XT,Vector—Valued Functions - Parametric Surfaces Example2 Find a Cartesian equation of the tangent plane to the surface with parametric surface z=ut2v at the point where u = Landv = 1. u = andy = 1>x=1,y=1,z=3 The pointof tangency is (1,1,3) r(u,v) = (u,v) i+ yu, v) J + z(u,v) k Wit vt ut 2v)k Ty = Xul + Yuj + Zuke Ty = Xpit yyj + 2yk ty =2ui+ O§+(1+0)k r=0i+ 2vj+(+2)k Dn Normal vector ® “ = Qu 0 —2v nexry=(0))x (20) = (tu) 1 2 4uv Vector—Valued Functions - Parametric Surfaces Qu 0 2p" eo ac) 1 2 Auv, a When u = 1andv 2) texte (-s) isa normal vector 4 Ty = Xyi t+ Yuj + Zuk ry = xypit+ yyj + zpk n=", XTyVector—Valued Functions - Parametric Surfaces tae”) Normal vector "= (4) The point of tangency is (1, 1,3) A vector equation of the required plane is 2) 1) (-2 re(=i)= (i) (-i)~« 4 3; “ ty = Xui + Yuj + Zuk Ty = xpi + Yoj + Zk n=", XT Vector—Valued Functions - Parametric Surfaces vector equation of the required plane is 2 , «(-1)- 6 4 % letting r= () z ~2x —4y +42 =6 ty = Xui + Yuj + Zuk Ty = Xi + yyj + Zyk al 3 ial yn ers My Oy