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CHAPTER 2 Vector Valued Function

This document discusses vector-valued functions and their properties. It begins by introducing vector functions that define curves in space using parametric equations. It provides examples of determining the domain of such functions and sketching graphs. It then covers derivatives and integrals of vector functions, showing that they are taken component-wise. Arc length and curvature of curves are also discussed. Key concepts covered include the unit tangent vector, principal unit normal vector, and binormal vector of a curve. Worked examples are provided throughout to illustrate these vector calculus topics.

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210 views44 pages

CHAPTER 2 Vector Valued Function

This document discusses vector-valued functions and their properties. It begins by introducing vector functions that define curves in space using parametric equations. It provides examples of determining the domain of such functions and sketching graphs. It then covers derivatives and integrals of vector functions, showing that they are taken component-wise. Arc length and curvature of curves are also discussed. Key concepts covered include the unit tangent vector, principal unit normal vector, and binormal vector of a curve. Worked examples are provided throughout to illustrate these vector calculus topics.

Uploaded by

Cylah Eylah
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CHAPTER 2

VECTOR-VALUED FUNCTION
BUM2123
APPLIED CALCULUS
Prepared by :MISS RAHIMAH
JUSOH @ AWANG

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2.1 VECTOR FUNCTIONS


SPACE CURVES
A line or curve equation in 3 - D can be expressed as a
position vector

r xi yj zk
x f (t )

y g (t )

in the parametric equation :

z h(t )

r (t) f (t )i g (t ) j h(t )k
r (t) f (t ), g (t ), h(t )

Example 1

DOMAIN

Determine the domain of the fo11owing function


r t cos t ,1n 4 t , t 1
So1ution:
The first component is defined for a11 t's.
The second component is on1y defined for t 4.
The third component is on1y defined for t 1.
Putting a11 of these together gives the fo11owing domain.

1, 4
This is the 1argest possib1e interva1 for which a11 three
components are defined.

Example 2

(a) What is the line equation of a straight line that


passes the points (1,2,2) and (2,3,-1)? Then sketch
the line.
(b) Sketch the graph of r (t ) ti 3 j (4 t 2 )k

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Solution :

(a) Suppose that when t 0 , ( x0 , y0, z0 ) (1,2,2)


and when t 1 , ( x1,y1 , z1 ) (2,3,-1) . Then
P ( P1 P0 )t P0

Hence, x (2 1)t 1 t 1
y (3 2)t 2 t 2
z (1 2)t 2 3t 2
r (t ) (t 1)i (t 2) j (3t 2)k

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Thus, the line:

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Solution :

(b) Parametric equations of the curve are


x t , y 3, z 4 t 2
Thus, we find that
y 3, z 4 x 2
which is, the graph is the parabola z 4 x on the
2

plane y 3

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Example 3

Sketch the graph of each of the following function


(a)

r (t ) t ,1

(b) r (t ) 6 cos t ,3 sin t

Solution :
(a) The first thing that we need to do is plug in a few values

of t and get some position vectors. Here are a few,

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The sketch of the curve is given as follows (red line).

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Solution :

(b)
As in Question (a), we plug in some values of t.

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The sketch of the curve is given as follows (red line).

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Example 4

Sketch the graph of each of the following function


r (t ) a cos ti a sin tj ctk

CIRCULAR HELIX

THEOREM
2.1

Vector functions inherit the operational properties of vectors.


Thus we have the following theorem.
Suppose F and G are fucntions of t and is a scalar function of t.
Then
(F G )(t ) F (t ) G (t )

(F G )(t ) F (t ) G (t )
Results are vector functions
(F)(t ) (t )F(t )
(F G )(t ) F (t ) G (t )
(F G )(t ) F (t ) G (t )

Result is a scalar functions

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Example 4
For the vector functions F and G defined by F (t ) t 2 i tj sin tk
1
and G (t ) ti j 5k , find
t
(i) (F G )(t )
(ii) (et F )(t )
(iii) (F G )(t )
(iv) (F G )(t )

Solution :
(i) (F G )(t ) F (t ) G (t )
1
(t i tj sin tk ) ti j 5k
t
1
2
(t t )i (t ) j (5 sin t )k
t
2

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Solution :
(ii) (e t F)(t ) e t F (t )

(t 2 e t )i (te t ) j (et sin t )k


(iii) (F G )(t ) F (t ) G (t )
1
(t i tj sin tk ) (ti j 5k )
t
2

j k

t 2 t sin t
1
t
5
t
sin t
(5t
)i (5t 2 t sin t ) j (t t 2 )k
t
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Solution :

(iv) (F G )(t ) F (t ) G (t )
1
(t i tj sin tk ) (ti j 5k )
t
3
t 1 5 sin t
2

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2.2 DERIVATIVES AND INTEGRALS


OF VECTOR FUNCTIONS
Example 5

Find F(t ), and F(t ), if


F (t ) (3t 2 4)i (2t-5) j 4t 3k
Solution :

F(t ) 6ti 2 j 12t 2k


F(t ) 6i 24tk

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THEOREM
2.2

Theorem 4.3 : If F and G are differentiable vector function and


c is a scalar , then
d
dF
(i)
(cF ) c
dt
dt
d
dF dG
(ii)
(F G )

dt
dt
dt
d
dG dF
(iii) (F G ) F

G
dt
dt
dt
d
dG dF
(iv)
(F G ) F

G
dt
dt
dt
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Example 6

If F (t ) 5t 2 i tj t 3k , G (t ) sin ti cos tj, find


d
(i) (F G ),
dt

d
(ii) (F G ),
dt

d
(iii) (F F )
dt

Solution :
d
dG dF
(i)
(F G ) F

G
dt
dt
dt
(5t 2 i tj t 3k ) (cos ti sin tj)
(10ti j 3t 2k ) (sin ti cos tj)
(5t 2 1) cos t 11t sin t
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Solution :

d
dG dF
(ii)
(F G ) F

G
dt
dt
dt
i
j k
i
j k
5t 2 t t 3 10t 1 3t 2
cos t sin t 0
sin t cos t 0
(t 3 sin t 3t 2 cos t)i - (t 3 cos t 3t 2 sin t) j
(5t 2 sin t sin t 11t cos t )k
d
dF
(iii)
(F F ) 2F
dt
dt
100t 3 2t 6t 5
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INTEGRATION OF VECTOR
FUNCTIONS

Integration of vector functions is also done componentwise.


If F (t ) f (t )i g (t ) j h(t )k from some integrable functions
f , g , and h of t on [a, b], then

F(t )dt ( f (t )dt )i ( g (t )dt ) j ( h(t )dt )k

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Example 7

Find F (t )dt if
1

F (t ) (3t 2 4t )i (2t 5) j 4t 3k
Solution :
3

F(t )dt (3t


1

4t )dt i (2t 5)dt j


1
1

[(t 3 2t 2 )i (t 2 5t ) j t 4k ]13

42i - 2 j 80k
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4t dt k
3

2.3 ARC LENGTH AND


CURVATURE

In general,

L
a

In 2-space

dr
dt

or L r ' (t )
a

L
a

In 3-space

L
a

dx
dy

dt
dt

dx
dy
dz

dt
dt
dt

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Notes: Smooth Curve


The graph of the vector function defined by
r(t) is smooth on any interval of t where r is
continuous and r t 0 .
The graph is piecewise smooth on an interval
that can be subdivided into a finite number of
subintervals on which r is smooth.

Example 8
Find the arc length of the parametric curve
(a ) x cos t ,

y sin t ,

(b) x et ,

y et ,

3
z 2 ;0 t
4

z 2t ;0 t 1

3
Ans : L
4
Ans : L e e 1

Example 9
Find the arc length of the graph of r(t)
1
3
(a ) r (t ) t i tj
6t 2k ;2 t 4
2
(b) r (t ) 3 cos ti 3 sin tj 2tk ;0 t 2

Ans : L 58

Ans : L 2 13
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UNIT TANGENT AND PRINCIPAL


UNIT NORMAL VECTORS

UNIT TANGENT VECTOR


If r(t) is a vector function that defines a smooth graph,
then at each point a unit tangent vector is

r t
T t
r t
Example 10

a) Find the derivative of r t 1 t 3 i te t j sin 2tk


b) Find the unit tangent vector at the point where t 0.

UNIT NORMAL VECTOR


If dT dt 0, we define the principle unit normal
vector to the curve r (t ), denoted by N as

dT dt T' (t )
N

dT dt T' (t )
where T is the unit tangent vector to the curve.

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BINORMAL VECTOR
The binormal vector B of a curve is defined as

B T N
where T and N are the unit tangent vector and the principal unit
vector respectively, to the curve r (t ).

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Example 11

Find the unit normal and binormal


vectors for the circular helix
r t cos ti sin tj tk

CURVATURE
The curvature of a smooth curve r (t ) is defined as

dT dt
dr dt

T' (t )
r ' (t )

OR

r r
r

where T is the unit tangent vector to the curve.

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Curvature is the measure of how sharply a curve r(t) in


2-space or 3-space bends.

Example 12

CURVATURE OF A HELIX
Find the curvature of the helix traced out by

r t 2sin t , 2 cos t , 4t

Radius of Curvature

If is the curvature of the smooth curve r (t ),


then its radius of curvature is defined as

2.4 MOTION IN SPACE :


VELOCITY AND ACCELERATION
If a particle moves along the curve given by
position vector r(t ), where t is time, then

dr
velocity v (t )
dt
2

dv d r
acceleration a(t )
2
dt dt

ds
speed v(t )
dt
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Example 13

The position vector of a particle after time t is given by


r (t ) cos ti sin tj t 3
Find the velocity, speed and acceleration of the particle
when t 2.
Solution :
Differentiating w.r.t t , we obtain the velocity

dr
v
(sin t )i (cos t ) j (3t 2 )k
dt
when t 2
v (sin 2)i (cos 2) j 3(2 2 )k
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0.42 j 12k

The speed v for any time t is given by

(- sin t ) 2 (cos t ) 2 (3t 2 ) 2 1 9t 4


when t 2, 1 9(2) 4 12.04
The acceleration a is given by
dv
a
( cos t )i ( sin t ) j 6tk
dt
when t 2, a ( cos 2)i ( sin 2) j 6(2)k
0.42i 0.9 j 12k
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Example 14

Velocity v of a particle in motion is given by


v (t ) et i t 2 j cos 2tk
Find the position vector r (t ) of the
particle r (0) 2i j k

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Solution :

Since v dr dt , we have
r (t )

e dt i t dt j cos 2tdt k
t

1 3
sin 2t
(e c1 )i ( t c2 ) j (
c3 )k
3
2
1 3 sin 2t
t
e i t j
k C
3
2
where C c1i c2 j c3k
t

1 3 sin 2(0)
r (0) e i (0) j
k C
3
2
iC
0

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By using the given value of r (0), we obtain


i C 2i j k
C i jk
Hence we obtain
1 3
sin 2t
t
r (t ) e i t j (
)k i j k
3
2
1 3
sin 2t
t
(e 1)i ( t 1) j (
1)k
3
2
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Example 15

Find the position vector R(t), given the


velocity V(t) and the initial position R(0) for

V t t i e j t k; R 0 i 4 j k
2

2t

The end =)
All our dreams can come true, if we
have the courage to pursue them

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