NT of MATHEMATICS and STATISTICS

EGE OF SCIENCE AND MATHEMATICS, MSU-ILIGAN INSTITUTE OF TECHNOLOGY

A Commission on Higher Education - Center of Excellence

MODULE 2: Vector-Valued
Functions and Curves

JULIUS V. BENITEZ, Ph.D.

[email protected]

1st Sem. A.Y. 2020-21

DEPARTMENT
.
of MATHEMATICS and STATISTICS
COLLEGE OF SCIENCE AND MATHEMATICS, MSU-ILIGAN INSTITUTE OF TECHNOLOGY
A Commission on Higher Education - Center of Excellence
 .

DMS Department of
MATHEMATICS
and STATISTICS

 Content

VECTOR-VALUED FUNCTIONS AND CURVES

Introduction to Vector-Valued Functions
Curves in Space Using Vector-Valued Functions
Calculus of Vector-Valued Function
Arc Length and parametrization using arc length
Curvature

Module 2: Vector-Valued Functions and Curves J.V. Benitez 1/50

 the location of the plane at a number of times.) Notice that a function that gives us a vector .

in V3 for each time t would do the job nicely. This is the concept of a vector-valued function,
which we define more precisely in Definition 1.1.
DMS Department of
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 Introduction to Vector-Valued Functions

DEFINITION 1.1
A vector-valued function r(t) is a mapping from its domain D ⊂ R to its range
R ⊂ V3 , so that for each t in D, r(t) = v for exactly one vector v ∈ R. We can
For a flight path
always of
writean airplanefunction
a vector-valued (seeasfigure below), it is convenient to
describe the airplane’s location = f any
r(t) at (t)i + g(t)j
given+ h(t)k,
time by the endpoint (1.1) of a
for some scalar functions f, g and h (called the component
vector whose initial point is located at the origin. To do this, we need a functions of r).

(vector-valued)Forfunction that will give us a vector in V3 can

each t, we regard r(t) as a position vector. The endpoint of r(t) then
forbe each
viewed
time t.
This is the concept of a vector-valued function, which is the subject of this
as tracing out a curve, as illustrated in Figure 11.1b. Observe that for r(t) as defined
in (1.1), this curve is the same as that described by the parametric equations x = f (t),
chapter andy will
= g(t)beand zdefine
= h(t). In more precisely
three dimensions, such a later.
curve is referred to as a space curve.
z
t3

t4
t1

t2

O
x
y

FIGURE 11.1a FIGURE 11.1b

Airplane’s flight path Vectors indicating plane’s position
Figure: Airplane’s flight path
at several times

We can likewise define a vector-valued function r(t) in V2 by

Module 2: Vector-Valued Functions and Curves J.V. Benitez 2/50
 .

DMS Department of
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 Curves in Space Using Vector-Valued Functions

Lines in R3 are particular examples of “curves” in R3 . In this section, we

discuss a more general form of a curve in R3 .
Definition 2.1
Let f , g and h be three real-valued functions of a real variable t ∈ D ⊆ R.
Then for every number t ∈ D there is a vector − *r defined by
−
*
r (t) = f (t) ı̂ + g(t) ̂ + h(t) k̂
−
and *
r is called a vector-valued function.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 3/50

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DMS Department of
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 Curves in Space Using Vector-Valued Functions

Remark 2.2
−
If *
r (t) = f (t) ı̂ + g(t) ̂ + h(t) k̂ is a vector-valued equation, we write

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

−
We can likewise define a vector-valued function *
r in V2 by
−
*
r = f (t) ı̂ + g(t) ̂,

for some scalar functions f and g. Although, any variable would do, we
routinely use t to represent the independent variable for vector-valued
functions, since in many applications t represents time.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 4/50

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 Curves in Space Using Vector-Valued Functions

Example 2.3
In R2 , the graph of the curve y = x2 where x ∈ [−1, 1] is a parabola (see
below).

Figure: The parabola y = x2

Module 2: Vector-Valued Functions and Curves J.V. Benitez 5/50

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DMS Department of
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 Curves in Space Using Vector-Valued Functions

We may represent the graph above by the vector-valued function

−
*
r (t) = t ı̂ + t2 ̂,

where t ∈ [−1, 1].

Hence, if y = f (x) (x ∈ D ⊆ R) is an equation of a graph in R2 , then we

may represent the graph by
−
*
r (t) = t ı̂ + f (t) ̂,

where t ∈ D.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 6/50

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DMS Department of
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 Curves in Space Using Vector-Valued Functions

Example 2.4
Represent the following equations in R2 by a vector-valued functions.
1 (x − h)2 + (y − k)2 = r2
(x − h)2 (y − k)2
2 + =1
a2 b2
(x − h)2 (y − k)2
3 − =1
a2 b2

Module 2: Vector-Valued Functions and Curves J.V. Benitez 7/50

 .

DMS Department of
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 Curves in Space Using Vector-Valued Functions

Solution :
1 (x − h)2 + (y − k)2 = r2 :

Let x − h = r cos t and y − k = r sin t. Then

(x − h)2 + (y − k)2 = r2 ⇔ (r cos t)2 + (r sin t)2 = r2

⇔ cos2 t + sin2 t = 1

Hence, we have

x = h + r cos t
, with 0 ≤ t ≤ 2π
y = k + r sin t

Module 2: Vector-Valued Functions and Curves J.V. Benitez 8/50

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DMS Department of
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 Curves in Space Using Vector-Valued Functions

Solution :
(x − h)2 (y − k)2
2 + = 1:
a2 b2
Let x − h = a cos t and y − k = b sin t. Then

(x − h)2 (y − k)2 (a cos t)2 (b sin t)2

+ = 1 ⇔ + =1
a2 b2 a2 b2
⇔ cos2 t + sin2 t = 1

Hence, we have

x = h + a cos t
, with 0 ≤ t ≤ 2π
y = k + b sin t

Module 2: Vector-Valued Functions and Curves J.V. Benitez 9/50

 .

DMS Department of
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 Curves in Space Using Vector-Valued Functions

Solution :
(x − h)2 (y − k)2
3 − = 1:
a2 b2
Let x − h = a cosh t and y − k = b sinh t. Then

(x − h)2 (y − k)2 (a cosh t)2 (b sinh t)2

− = 1 ⇔ − =1
a2 b2 a2 b2
⇔ cosh2 t − sinh2 t = 1

Hence, we have

x = h + a cosh t
, with t ∈ R.
y = k + b sinh t

Module 2: Vector-Valued Functions and Curves J.V. Benitez 10/50

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DMS Department of
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 Curves in Space Using Vector-Valued Functions

Example 2.5
A line L in R3 having parametric equations

x = x0 + ta, y = y0 + tb, z = z0 + tc

can be represented by the vector-valued function

−
*
L (t) = (x0 + ta)ı̂ + (y0 + tb)̂ + (z0 + tc)k̂.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 11/50

 .

DMS Department of
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 Curves in Space Using Vector-Valued Functions

Example 2.6
Consider −
*r (t) = a cos t ı̂ + b sin t ̂ + t k̂. The parametric equations of the
given curve are x = a cos t, y = b sin t, z = t. Eliminating t, we have

x2 y2
= cos2 t and = sin2 t.
a2 b2
Hence, we have
x2 y 2
+ 2 = 1.
a2 b
The curve lies entirely on the elliptical cylinder whose directrix is an ellipse
in the xy plane and whose rulings are parallel to the z−axis. A sketch of
the graph is seen in Figure 3.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 12/50

 x2 y 2 .

+ 2 = 1. DMS
a2 b Department of
MATHEMATICS
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The curve lies entirely on the elliptical cylinder whose directrix is an ellipse
1

in the xy plane and whose rulings are parallel to the z−axis. A sketch of the
 Curves in Space
graph is seen in FigureUsing
2.3. Vector-Valued Functions
z

−
*
Figure 2.3:
Figure: Graph of −
Graph *
rof(t)
r (t)
= a=cos
a cos
t ı̂t +
ı̂ +b sin
b sint t̂̂++tt k̂.
k̂.

−
*Curves
Module 2: Vector-Valued Functions and J.V. Benitez 13/50
 .

DMS Department of
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 Curves in Space Using Vector-Valued Functions

Theorem 2.7
−
If *
r is the vector-valued function defined by
−
*
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂
−
and *
r 0 (t) exists, then
−
*
r 0 (t) = f 0 (t)ı̂ + g 0 (t)̂ + h0 (t)k̂.

Example 2.8
−
Let * −
r (t) = a cos t ı̂ + b sin t ̂ + t k̂. Find *
r 0 (t).

Solution :
−
*
r 0 (t) = −a sin t ı̂ + b cos t ̂ + k̂

Module 2: Vector-Valued Functions and Curves J.V. Benitez 14/50

 .

DMS Department of
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 Calculus of Vector-Valued Function

Definition 3.1
For a vector-valued function −*
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂, the limit of
−
*
r (t) as t approaches a is given by
     
lim −
*
r (t) = lim f (t) ı̂ + lim g(t) ̂ + lim h(t) k̂,
t→a t→a t→a t→a

provided all of the indicated limits exist. If any of the limits indicated on
the RHS fail to exist, then lim −*
r (t) does not exists.
t→a

Module 2: Vector-Valued Functions and Curves J.V. Benitez 15/50

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DMS Department of
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 Calculus of Vector-Valued Function

Example 3.2
Find lim −
r (t), where −
* *
r (t) = (t2 + 1)ı̂ + (5 cos t)̂ + (sin t)k̂.
t→0

Solution :
h i
lim −
*
r (t) = lim (t2 + 1)ı̂ + (5 cos t)̂ + (sin t)k̂
t→0 t→0
h i h i h i
= lim(t2 + 1) ı̂ + lim(5 cos t) ̂ + lim sin t k̂
t→0 t→0 t→0
= 1 · ı̂ + 5 · 1 · ̂ + 0 · k̂
= h1, 5, 0i

Module 2: Vector-Valued Functions and Curves J.V. Benitez 16/50

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DMS Department of
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 Calculus of Vector-Valued Function

Definition 3.3
−
A vector-valued function *
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ is continuous at
t = a, whenever
lim −
r (t) = −
* *
r (a).
t→a

Theorem 3.4
A vector-valued function − *
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ is continuous at
t = a if and only if all of the functions f , g and h are continuous at t = a.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 17/50

 .

DMS Department of
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 Calculus of Vector-Valued Function

Definition 3.5
The derivate − *r 0 (t) of a vector-valued function
−
*
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ is defined by
−
r (t + h) − −
* *
r (t)
−
*
r 0 (t) = lim ,
h→0 h
for any values of t for which the limit exists. When the limit exists for
t = a, we say that −*r is differentiable at t = a.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 18/50

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DMS Department of
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 Calculus of Vector-Valued Function

Theorem 3.6
Let −*
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ be a vector-valued function. Suppose
that f , g, and h are differentiable for some value of t. Then − *
r is also
differentiable at that value of t and its derivative is given by
−
*
r 0 (t) = f 0 (t)ı̂ + g 0 (t)̂ + h0 (t)k̂.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 19/50

 .

DMS Department of
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 Calculus of Vector-Valued Function

Example 3.7
−
Find * −
r 0 (0), where *
r (t) = (t2 + 1)ı̂ + (5 cos t)̂ + (sin t)k̂.

Solution :
−
*
r 0 (t) = (2t)ı̂ + (−5 sin t)̂ + (cos t)k̂
⇒ − *
r 0 (0) = (2 · 0)ı̂ + (−5 sin 0)̂ + (cos 0)k̂
⇒ −
*
r 0 (0) = 0 · ı̂ + 0 · ̂ + 1 · k̂ = h0, 0, 1i

Module 2: Vector-Valued Functions and Curves J.V. Benitez 20/50

 .

DMS Department of
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 Calculus of Vector-Valued Function

Theorem 3.8
Let −r (t) and −
* *
q (t) be differentiable vector-valued functions. If k(t) is
differentiable real-valued function and c ∈ R, then
h i
1 D
−*
r (t) + −
*q (t) =−r 0 (t) + −
* *
q 0 (t)
t
h i
−
* −
*
2 D c r (t) = c r 0 (t)
t
h i
−
* −
* −
*
3 D f (t) r (t) = f 0 (t) r (t) + f (t) r 0 (t)
t
h i
−* −
* −
*0 −
* −
* −
*0
4 D
t r (t) · q (t) = r (t) · q (t) + r (t) · q (t)
h i
−* −
* −
*0 −
* −
* −
*0
5 D
t r (t) × q (t) = r (t) × q (t) + r (t) × q (t)

Module 2: Vector-Valued Functions and Curves J.V. Benitez 21/50

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DMS Department of
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 Calculus of Vector-Valued Function

Definition 3.9
−
*
A vector-valued function R(t) is an antiderivative of the vector-valued
−
*
function −
r (t) whenever R 0 (t) = −
* *
r (t).

Note that if −
*r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ and f , g, and h have
antiderivatives F , G, and H, respectively, then
h i
Dt F (t)ı̂ + G(t)̂ + H(t)k̂ = F 0 (t)ı̂ + G0 (t)̂ + H 0 (t)k̂
= f (t)ı̂ + g(t)̂ + h(t)k̂ = −
*
r (t),

that is, F (t)ı̂ + G(t)̂ + H(t)k̂ is an antiderivative of − *

r (t). More
generally, (F (t) + c1 )ı̂ + (G(t) + c2 )̂ + (H(t) + c3 )k̂ is also an
antiderivative of −*r (t), for any constants c1 , c2 , and c3 .
Module 2: Vector-Valued Functions and Curves J.V. Benitez 22/50
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DMS Department of
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 Calculus of Vector-Valued Function

Definition 3.10
−
*
Let R(t) be an antiderivative of −
*
r (t). We define the indefinite integral of
−
*
r (t) by Z
−
* −
*
r (t) dt = R(t) + c,

where c is an arbitrary constant vector.

Hence, we integrate a vector-valued function by integrating

component-wise; that is,
Z h i Z  Z  Z 
f (t)ı̂+g(t)̂+h(t)k̂ dt = f (t) dt ı̂+ g(t) dt ̂+ h(t) dt k̂.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 23/50

 .

DMS Department of
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 Calculus of Vector-Valued Function

Example 3.11
Z h i
2
Evaluate (t2 + 1)ı̂ + (sin 2t)̂ + (4tet )k̂ .

Solution :
Z h i
2
(t2 + 1)ı̂ + (sin 2t)̂ + (4tet )k̂
Z  Z  Z 
2 t2
= (t + 1) dt · ı̂ + sin 2t dt · ̂ + 4te dt · k̂
h i h i h 2 i
= 31 t3 + t + c1 · ı̂ + − 12 cos 2t + c2 · ̂ + 2et + c3 · k̂

Module 2: Vector-Valued Functions and Curves J.V. Benitez 24/50

 .

DMS Department of
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 Calculus of Vector-Valued Function

Definition 3.12
−
Let *
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ be a vector-valued function. We define
the definite interal of −
*
r (t) on [a, b] as follows:
Z bh i Z b  Z b 
f (t)ı̂ + g(t)̂ + h(t)k̂ dt = f (t) dt ı̂ + g(t) dt ̂
a a a
Z b 
+ h(t) dt k̂.
a

Module 2: Vector-Valued Functions and Curves J.V. Benitez 25/50

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DMS Department of
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 Calculus of Vector-Valued Function

Example 3.13
Z 1 h i
2
Evaluate (t2 + 1)ı̂ + (sin 2t)̂ + (4tet )k̂ .
0

Solution :
Z 1h i
2
(t2 + 1)ı̂ + (sin 2t)̂ + (4tet )k̂
0
" # " # " #
1 1 1
1 3 1 t2
= 3t +t · ı̂ + − 2 cos 2t · ̂ + 2e · k̂
0 0 0
" # " # " #
= 1
3 + 1 · ı̂ + − 1
2 cos 2 + 1
2 cos 0 · ̂ + 2e1 − 2e0 · k̂
 
= 43 ı̂ + − 1
2
cos 2 + 1
2
̂ + (2e − 2)k̂ or 4
3
, − 12 cos 2 + 12 , 2e − 2

Module 2: Vector-Valued Functions and Curves J.V. Benitez 26/50

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DMS Department of
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 Calculus of Vector-Valued Function

Theorem 3.14
−
* −
(Fundamental Theorem of Calculus) If R(t) is an antiderivative of *
r (t)
on [a, b], then
Z b
−
* −
* −
*
r (t) dt = R(b) − R(a).
a

Module 2: Vector-Valued Functions and Curves J.V. Benitez 27/50

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DMS Department of
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 Calculus of Vector-Valued Function

Example 3.15
Z 1h i
Evaluate (sin πt)ı̂ + (6t2 + 4t)̂ dt. ans: 2
π ı̂ + 4̂
0

−
Solution : Let *
r (t) = (sin πt)ı̂ + (6t2 + 4t)̂. Then an antiderivative of
−
*
r (t) is
−
*
R(t) = (− π1 cos πt + c1 )ı̂ + (2t3 + 2t2 + c2 )̂.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 28/50

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DMS Department of
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 Calculus of Vector-Valued Function

Hence,
Z 1h i 1
2 3 2
(sin πt)ı̂ + (6t + 4t)̂ dt = (− π1 cos πt + c1 )ı̂ + (2t + 2t + c2 )̂
0
0
 
1
= (− π cos π + c1 )ı̂ + (2 + 2 + c2 )̂
 
1
− (− π cos 0 + c1 )ı̂ + (0 + 0 + c2 )̂
   
= ( π1 + c1 )ı̂ + (4 + c2 )̂ − (− π1 + c1 )ı̂ + c2 ̂
2
= π
· ı̂ + 4 · ̂

Module 2: Vector-Valued Functions and Curves J.V. Benitez 29/50

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DMS Department of
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 Arc Length and parametrization using arc length

If C is the curve having parametric equations x = f (t), y = g(t) and

z = h(t); f 0 (t), g 0 (t), h0 (t) are continuous on the closed interval [a, b] and
no two values of t give the same point (x, y, z) on C, then the arc length
of the curve from the point (f (a), g(a), h(a)) to the point
(f (b), g(b), h(b)) is determined by
Z b Z b p
L= Dt −
*
r (t) dt = [f 0 (t)]2 + [g 0 (t)]2 + [h0 (t)]2 dt,
a a

−
where *
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 30/50

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DMS Department of
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 Arc Length and parametrization using arc length

Example 4.1
Given the following real-valued vectors, find the length of arc, in the
indicated values of t.   
−
* 2 t3 t3
1 r (t) = t ı̂ + t + ̂ + t − k̂ ; a = 0, b = 1
3 3
2
−
*r (t) = et cos t ı̂ + et sin t ̂ + et k̂ ; a = 0, b = 3

Solution :    
−
* 2 t3 t3
1 r (t) = t ı̂ + t + ̂ + t − k̂ ; a = 0, b = 1
3 3
−
*


r 0 (t) = 2tı̂ + 1 + t2 ̂ + 1 − t2 k̂
p
k−
*
r 0 (t)k = 4t2 + (1 + 2t2 + t4 ) + (1 − 2t2 + t4 )
p p √
= 2t4 + 4t2 + 2 = 2(t2 + 1)2 = 2 · (t2 + 1)
Module 2: Vector-Valued Functions and Curves J.V. Benitez 31/50
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DMS Department of
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 Arc Length and parametrization using arc length

Z 1 Z 1√ √ 1
L= −
* 0
k r (t)k dt = 2 · (t2 + 1) dt = 2 · ( 13 t3 + t)
0 0 0
√ 1 4
√
= 2 · ( 3 + 1) = 3 2

2
−
*
r (t) = et cos t ı̂ + et sin t ̂ + et k̂ ; a = 0, b = 3
−
*
r 0 (t) = (et cos t − et sin t)ı̂ + (et sin t + et cos t)̂ + et k̂
p
k−
*r 0 (t)k = (et cos t − et sin t)2 + (et sin t + et cos t)2 + (et )2
 
= e2t cos2 t − 2e2t cos t sin t + e2t sin2 t
  1/2
2t 2 2t 2t 2 2t
+ e cos t + 2e cos t sin t + e sin t + e

Module 2: Vector-Valued Functions and Curves J.V. Benitez 32/50

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DMS Department of
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 Arc Length and parametrization using arc length

p
k−
*
r 0 (t)k = 2e2t cos2 t + 2e2t sin2 t + e2t
r  
= 2e2t cos2 t + sin2 t + e2t
p √
= 2e2t · 1 + e2t = 3e2t
√
= 3 · et

Hence,
Z 3 Z 3√ √ 3 √
L= −
k*
r 0 (t)k dt = 3 · et dt = 3 · et = 3(e3 − 1)
0 0 0

Module 2: Vector-Valued Functions and Curves J.V. Benitez 33/50

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DMS Department of
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 Arc Length and parametrization using arc length

Example 4.2
Find the arc length of the portion
p of the curve determined by the
intersection of the cone z = x2 + y 2 and the plane y + z = 2 in the first
√
2
√ √ √
octant. ans: 2 ln( 2 + 3) + 3 ≈ 2.54

Solution : Note that since y + z = 2 ⇒ z = 2 − y

p
z = x2 + y 2 ⇒ z 2 = x2 + y 2 ⇒ (2 − y)2 = x2 + y 2
⇒ 4 − 4y + y 2 = x2 + y 2 ⇒ 4 − 4y = x2
⇒ y = 1 − 41 x2
Hence, if x = t, then
y = 1 − 41 t2 and z = 2 − y = 2 − (1 − 14 t2 ) = 1 + 41 t2 .

Module 2: Vector-Valued Functions and Curves J.V. Benitez 34/50

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 Arc Length and parametrization using arc length

Hence,
−
*
r (t) = x(t)ı̂ + y(t)̂ + z(t)k̂ = t ı̂ + (1 − 14 t2 )̂ + (1 + 14 t2 )k̂,

where t ∈ [0, 2]. Thus,

−
*
r 0 (t) = ı̂ − 21 t · ̂ + 12 t · k̂
q q
k−
*
r 0 (t)k = 1 + 14 t2 + 14 t2 = 1 + 12 t2
p
= √12 · 2 + t2 .

Module 2: Vector-Valued Functions and Curves J.V. Benitez 35/50

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 Arc Length and parametrization using arc length

Therefore,
Z 2 Z 2  Z 2p
−
* 0 1 p 2
1
L= k r (t)k dt = √ · 2 + t dt = √ 2 + t2 dt.
0 0 2 2 0
√ √
To evaluate the indefinite integral, let t = 2 tan θ. So, dt = 2 sec2 θ dθ
and integration-by-parts, we obtain
Z p Z p √ Z
2
2 + t dt = 2 + 2 tan θ · 2 sec θ dθ = 2 sec3 θ dθ
2 2

 
= 2 12 sec θ tan θ + 12 ln | sec θ + tan θ| + c0
= sec θ tan θ + ln | sec θ + tan θ| + c0
√ √
2 + t2 t 2 + t2 t
= √ · √ + ln √ + √ + c0
2 2 2 2
p p
1 2 2
= 2 · t 2 + t + ln 2+t +t +c
Module 2: Vector-Valued Functions and Curves J.V. Benitez 36/50
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 Arc Length and parametrization using arc length

Thus,
Z 2p  p p 2
1 1 1
L= √ 2 + t2 dt = √ · 2 · t 2 + t2 + ln 2 + t2 + t
2 0 2 0
 
1 √ √ √
=√ · 21 · 2 2 + 4 + ln 2 + 4 + 2 − 0 − ln 2
2
   √ 
1 √ √ √ 1 √ 6+2
=√ · 6 + ln 6 + 2 − ln 2 = √ · 6 + ln √
2 2 2
 √ 
1 √ √  √ √ √ 
=√ · 6 + ln 3 + 2 = 3 + √1 ln 3+ 2
2 2

Module 2: Vector-Valued Functions and Curves J.V. Benitez 37/50

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 Arc Length and parametrization using arc length

For the curve traced out by the endpoint of the vector-valued function
−
*
r (t) = f (t)ı̂ + g(t)̂ + h(t)k̂ for t ∈ [a, b], we define the arc length
parameter s(t) to be the arc length of that portion of the curve from
u = a to u = t. That is
Z tp Z t
s(t) = [f 0 (u)]2 + [g 0 (u)]2 + [h0 (u)]2 du = Du −
*
r (u) du.
a a

Module 2: Vector-Valued Functions and Curves J.V. Benitez 38/50

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 Arc Length and parametrization using arc length

Illustration 4.3
Find an arc length parameterization of the circle of radius 4 centered at
the origin.

Solution : A parameterization of this circle is given by

x = f (t) = 4 cos t, y = g(t) = 4 sin t, 0 ≤ t ≤ 2π.
Hence, the arc length from u = 0 to u = t is
Z tp
s(t) = [f 0 (u)]2 + [g 0 (u)]2 du = 4t.
0
s
Thus, if t = 4, then we have an arc length parameterization for the circle
as follows:
x = 4 cos( 4s ), y = 4 sin( 4s ), 0 ≤ s ≤ 8π.
Module 2: Vector-Valued Functions and Curves J.V. Benitez 39/50
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DMS Department of
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 Arc Length and parametrization using arc length

Example 4.4
Find an arc length parameterization of the given two-dimensional curve
and give the corresponding vector equation of the curve:
1 circle of radius 2 centered at the origin
2 line segment from the origin to the point (3, 4)
3 line segment from (1, 2) to the point (5, −2)
4
−
*r (t) = t2 ı̂ + t3 ̂, t ≥ 0

Module 2: Vector-Valued Functions and Curves J.V. Benitez 40/50

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 Curvature
−
*
Let R(t) be a vector-valued function.

Definition 5.1
The unit vector along the direction of the first derivative of the
−
*
vector-valued function R(t) is called a unit tangent vector and is given by
−
* −
*0
−
* Dt R(t) R (t)
T (t) = −
* = −
*0 .
kDt R(t)k k R (t)k

Definition 5.2
−
*0
−
* −
* T (t)
A curvature vector K(t) is given by K(t) = − *0 and curvature K(t)
k R (t)k
−
* −
*
is the magnitude of K(t); i.e., K(t) = kK(t)k.
Module 2: Vector-Valued Functions and Curves J.V. Benitez 41/50
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 Curvature

Definition 5.3
−
*
The unit normal vector N (t) is defined as the unit vector having the same
−
* −
*
direction as the curvature vector, K(t) 6= 0 (t) and so
−
*
−
* K(t)
N (t) = .
K(t)
−
* −
*
The unit binormal vector B(t) is a unit vector orthogonal to T (t) and
−
*
N (t) and
−
* −
* −
*
B(t) = T (t) × N (t).
−
* −
* −
* −
*
The vector-valued functions T (t), N (t) and B(t) of a curve R(t) are
called the moving trihedral.

Module 2: Vector-Valued Functions and Curves J.V. Benitez 42/50

 −
*
N (t) and .

−
* −
* −
*
B(t) = T (t) × N (t).
DMS Department of
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−
* −
* −
* −
*
The vector-valued functions T (t), N (t) and B(t) of a curve R(t) are called 1

 Curvature
the moving trihedral .

z
−
*
B(t)

−
*
−
* N (t)
T (t)

Figure:2.4:
Figure The Moving
The Trihedral
Moving Trihedral

Module 2: Vector-Valued Functions and Curves J.V. Benitez 43/50

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 Curvature
Example 5.4
Find the moving trihedral and the curvature at any point of the curve
−
*
R(t) = cos t ı̂ + sin t ̂ + k̂.
−
*
Solution : Given R(t) = cos t ı̂ + sin t ̂ + k̂. Then
−
*0
R (t) = − sin t ı̂ + cos t ̂ + 0 · k̂
−
*0 p
k R (t)k = sin2 t + cos2 t + 0 = 1
−
*0
*
− R (t)
T (t) = −*0 = − sin t ı̂ + cos t ̂ + 0 · k̂
k R (t)k
−
*0
T (t) = − cos t ı̂ − sin t ̂ + 0 · k̂
−
*0
−
* T (t)
K(t) = − *0 = − cos t ı̂ − sin t ̂ + 0 · k̂
k R (t)k
Module 2: Vector-Valued Functions and Curves J.V. Benitez 44/50
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 Curvature

−
*0
−
* T (t)
K(t) = − *0 = − cos t ı̂ − sin t ̂ + 0 · k̂
k R (t)k
−
* p
K(t) = kK(t)k = cos2 t + sin2 t + 0 = 1
−
*
*
− K(t)
N (t) = = − cos t ı̂ − sin t ̂ + 0 · k̂
K(t)
ı̂ ̂ k̂
−
* −
* −
*
B(t) = T (t) × N (t) = − sin t cos t 0
− cos t − sin t 0
= (0 − 0)ı̂ − (0 − 0)̂ + (sin2 t + cos2 t)k̂
−
*
B (t) = k̂

Module 2: Vector-Valued Functions and Curves J.V. Benitez 45/50

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 Curvature

Example 5.5
−
*
Let R(t) = 2b sin 4t ı̂ − b cos2 (2t) ̂ + 2t k̂. Find the moving trihedral of
−
*
the curve of R(t) at t = 0.
−
*
Solution : Given R(t) = 2b sin 4t ı̂ − b cos2 (2t) ̂ + 2t k̂. Then
−0
*
R (t) = 2b cos 4t ı̂ − 4b sin(2t) cos(2t) ̂ + 2 k̂
= 2b cos 4t ı̂ − 2b sin 4t ̂ + 2 k̂

p q
−
*
k R 0 (t)k = 4b2 cos2 4t + 4b2 sin2 4t + 4 = 4b2 · (cos2 4t + sin2 4t) + 4
p p p
= 4b2 · 1 + 4 = 4(b2 + 1) = 2 b2 + 1

Module 2: Vector-Valued Functions and Curves J.V. Benitez 46/50

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 Curvature
Computing the unit tangent vector at t = 0, we obtain:
−
*0  
−
* R (t) 1
T (t) = − * = √ 2b cos 4t ı̂ − 2b sin 4t ̂ + 2 k̂
k R 0 (t)k 2 b2 + 1
−
* 1  
T (t) = √ b cos 4t ı̂ − b sin 4t ̂ + k̂
b2 + 1

−
* 1  
T (0) = √ b cos 0 ı̂ − b sin 0 ̂ + k̂
b2 + 1
1  
=√ b ı̂ − 0 · ̂ + k̂
b2 + 1
*
− 1
T (0) = √ · hb, 0, 1i
b2 + 1

Module 2: Vector-Valued Functions and Curves J.V. Benitez 47/50

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 Curvature

−
* 1  
T (t) = √ b cos 4t ı̂ − b sin 4t ̂ + k̂
b2 + 1
−
*0 1  
T (t) = √ − 4b sin 4t ı̂ − 4b cos 4t ̂ + 0 · k̂
b2 + 1
−
*0 1  
T (0) = √ − 4b sin 0 ı̂ − 4b cos 0 ̂ + 0 · k̂
b2 + 1
−
*0 1   1
T (0) = √ 0 · ı̂ − 4b · ̂ + 0 · k̂ = √ h0, −4b, 0i
b2 + 1 b2 + 1
−
*0 √ 1 h0, −4b, 0i
−* T (t) b2 +1 −4b 1
K(t) = − *0 = √ =√ h0, 1, 0i · √
2
2 b +1 2
b +1 2 b2 + 1
k R (t)k
−2b −
* −2b
= 2 · h0, 1, 0i ⇒ K(0) = 2 · h0, 1, 0i
b +1 b +1
−
* −2b 2 · |b| 2 · |b|
K(t) = kK(t)k = ·1= 2 ⇒ K(0) =
b2 + 1 b +1 b2 + 1
Module 2: Vector-Valued Functions and Curves J.V. Benitez 48/50
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 Curvature
Computing the unit normal vector at t = 0, we obtain:
−
* −
*
−
* K(t) −
* K(0) −2b b2 + 1
N (t) = ⇒ N (0) = = 2 · h0, 1, 0i ·
K(t) K(0) b +1 2 · |b|
*
− b
N (0) = − · h0, 1, 0i
|b|
Computing the unit binormal vector at t = 0, we obtain:
ı̂ ̂ k̂
−
* −
* −
* √ b √ 1
B(0) = T (0) × N (0) = b2 +1
0 b2 +1
b
0 − |b| 0
   
b b2
= 0+ √ ı̂ − (0 − 0)̂ + √ − − 0 k̂
|b| b2 + 1 |b| b2 + 1
*
− b b
B (0) = √ · (ı̂ − 0 · ̂ − b · k̂) = √ · h1, 0, −bi
|b| b2 + 1 |b| b2 + 1
Module 2: Vector-Valued Functions and Curves J.V. Benitez 49/50
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 Curvature

Example 5.6
Let the curve C be traced by the vector-valued function
−
*
R(t) = cos(πt) ı̂ + πt ̂ + sin(πt) k̂.

Find the moving trihedral of C at the point where t = 1.

Solution : Assignment

Module 2: Vector-Valued Functions and Curves J.V. Benitez 50/50