Calculus-II

VECTOR FUNCTIONS
•The functions that are real-valued functions.
• Functions whose values are vectors
—such functions are needed to
describe curves and surfaces
in space.
•Vector-valued functions are also used to
describe the motion of objects through space.
 FUNCTION

•In general, a function is a rule that assigns to

each element in the domain an element in the
range.
 VECTOR FUNCTION

•A vector-valued function, or vector function,

is simply a function whose:

– Domain is a set of real numbers.

– Range is a set of vectors.

 VECTOR FUNCTIONS
•Here, considered vector functions r whose values
are three-dimensional (3-D) vectors.

– This means that, for every number t in the domain of r,

there is a unique vector in V3 denoted by r(t).
 COMPONENT FUNCTIONS
If f(t), g(t), and h(t) are the components of
the vector r(t), then f, g, and h are real-valued
functions called the component functions of r.
We can write:
r(t) = ‹f(t), g(t), h(t)› = f(t) i + g(t) j + h(t) k
where t is the independent variable.
 VECTOR FUNCTIONS
Example 1

If
r (t )  t , ln(3  t ), t 
3

then the component functions are:

f (t )  t 3
g (t )  ln(3  t ) h(t )  t
 VECTOR FUNCTIONS
Example 1

The domain of r consists of all values of t for

which the expression for r(t) is defined.

– Therefore, the domain of r is the interval [0, 3).

 LIMIT OF A VECTOR

The limit of a vector function r is defined by

taking the limits of its component functions.
 LIMIT OF A VECTOR
Definition 1
•If r(t) = ‹f(t), g(t), h(t)›, then

lim r (t )  lim f (t ), lim g (t ), lim h(t )

t a t a t a t a

provided the limits of the component functions

exist.
 LIMIT OF A VECTOR
If lim r (t )  L , this definition is equivalent to
t a
saying that the length and direction of the vector
r(t) approach the length and direction
of the vector L.
 LIMIT OF A VECTOR
Example 2

Find lim r (t ),
t o

where t sin t
r (t )  (1  t )i  te j 
3
k
t
 Example 2

LIMIT OF A VECTOR
•According to Definition 1, the limit of r is
the vector whose components are the limits
of the component functions of r:

   1  sin t 
lim r (t )  lim(1  t ) i  lim te j  lim
3
 k
t 0  t 0   t 0   t 0 t 

 ik
 CONTINUOUS VECTOR
FUNCTION
A vector function r is continuous at a
if:
lim r (t )  r (a)
t a
 CONTINUOUS VECTOR
FUNCTIONS
•Suppose that f, g, and h are continuous real-
valued functions
on an interval I.
•Then, the set C of all points (x, y ,z) in
space, where
x = f(t) y = g(t) z = h(t)
and t (parameter) varies throughout the
interval I is called a space curve.
 SPACE CURVES
•It can be observed that C is being traced out by

a moving particle whose position at time t

is:
(f(t), g(t), h(t))
 SPACE CURVES
Consider the vector function
r(t) = ‹f(t), g(t), h(t)›, then r(t) is the position
vector of the point P(f(t), g(t), h(t)) on C.
 SPACE CURVES
•Thus, any continuous vector function r
defines a space curve C that is traced out
by the tip of the moving vector r(t).
 SPACE CURVES
Example 3

Describe the curve defined by the vector

function
r(t) = ‹1 + t, 2 + 5t, –1 + 6t›
x=1+t y = 2 + 5t z = –1 + 6t

r = r0 + tv, where r0 = ‹1, 2 , –1› and v = ‹1, 5, 6›.

 SPACE CURVES
Example 4

Identify the curve whose vector equation is:

r(t) = cos t i + sin t j + t k
 SPACE CURVES
Example 4

The parametric equations for this curve are:

x = cos t y = sin t z=t

 SPACE CURVES
Example 4

Since x2 + y2 = cos2t + sin2t = 1, the curve

must lie on the circular cylinder

x2 + y2 = 1
Example 4
SPACE CURVES
The point (x, y, z) lies directly above the point (x,
y, 0).

This other point moves counterclockwise around

the circle x2 + y2 = 1 in the xy-plane.
 HELIX Example 4
Since z = t, the curve
spirals upward around the
cylinder as t increases.

The curve is called

a helix.
 HELICES
•In 1953, James Watson and
Francis Crick showed that
the structure of the DNA
molecule is that of two
linked,
parallel helixes that are
intertwined.
 Example 5

SPACE CURVES
•Find a vector equation and parametric equations
for the line segment that joins
the point P(1, 3, –2) to the point Q(2, –1, 3).
 Example 5

SPACE CURVES
vector equation for the line segment that joins the
tip of
the vector r0 to the tip of the vector r1:
r(t) = (1 – t) r0 + t r1 0≤t≤1
 Example 5

SPACE CURVES
r0 = ‹1, 3 , –2› and r1 = ‹2 , –1, 3›
to obtain a vector equation of the line
segment from P to Q:

r (t )  (1  t )1,3, 2  t  2, 1,3 0  t 1

r (t )  1  t ,3  4t , 2  5t  0  t 1
 Example 5

SPACE CURVES
The corresponding parametric equations
are:
x=1+t
y = 3 – 4t
z = – 2 + 5t

where 0 ≤ t ≤ 1
 Example 6

SPACE CURVES
Find a vector function that represents
the curve of intersection of the cylinder
x2 + y2 = 1 and the plane y + z = 2.
 SPACE CURVES Example 6
This figure shows how
the plane and the cylinder
intersect.
 SPACE CURVES Example 6
This figure shows the
curve of
intersection C, which is
an ellipse.
 Example 6

SPACE CURVES
The projection of C onto the xy-plane is
the circle x2 + y2 = 1, z = 0.
x = cos t y = sin t

where 0 ≤ t ≤ 2π
 Example 6

SPACE CURVES
From the equation of the plane,

z = 2 – y = 2 – sin t

– So, parametric equations for C

as:
x = cos t y = sin t z = 2 – sin t

where 0 ≤ t ≤ 2π
 Example 6

PARAMETRIZATION
The corresponding vector equation is:

r(t) = cos t i + sin t j + (2 – sin t) k

where 0 ≤ t ≤ 2π

– This equation is called a parametrization

of the curve C.
 SPACE CURVES Example 6
The arrows indicate the
direction
in which C is traced as the
parameter t increases.
 DERIVATIVE
dr r (t  h)  r (t )
 r '(t )  lim
dt h 0 h
if this limit exists.
 SECANT VECTOR
•If the points P and Q have position

vectors r(t) and r(t + h), then PQ represents
the vector r(t + h) – r(t).
 DERIVATIVES
If h > 0, the scalar multiple (1/h)(r(t + h) – r(t))
has the same direction as r(t + h) – r(t).

– As h → 0, it appears
that this vector
approaches a vector
that lies on the
tangent line.
 TANGENT VECTOR
the vector r’(t) is called
the tangent vector to the curve defined by r
at the point P,
provided:
 TANGENT LINE
The tangent line to C at P is defined to be
the line through P parallel to the tangent vector
r’(t).
 UNIT TANGENT VECTOR
the unit tangent vector:

r '(t )
T (t ) 
| r '(t ) |
Theorem 1
DERIVATIVES
If r(t) = ‹f(t), g(t), h(t)› = f(t) i + g(t) j + h(t) k,
where f, g, and h are differentiable functions, then:
r’(t) = ‹f’(t), g’(t), h’(t)›
= f’(t) i + g’(t) j + h’(t) k
 DERIVATIVES
Example 7
a. Find the derivative of
r(t) = (1 + t3) i + te–t j + sin 2t k

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

= 0.
 Example 7 b

DERIVATIVES
As r(0) = i and r’(0) = j + 2k, the unit tangent
vector at the point (1, 0, 0) is:

r '(0) j  2k
T(0)  
| r '(0) | 1 4
1 2
 j k
5 5
Theorem 2

DIFFERENTIATION RULES
Let us suppose:

– u and v are differentiable vector functions

– c is a scalar

– f is a real-valued function
Theorem 2

DIFFERENTIATION RULES
d
1. [u(t )  v(t )]  u'(t )  v'(t )
dt

d
2. [cu(t )]  cu'(t )
dt

d
3. [ f (t )u(t )]  f '(t )u(t )  f (t )u'(t )
dt
Theorem 2

DIFFERENTIATION RULES
d
4. [u(t )  v (t )]  u'(t )  v(t )  u(t )  v'(t )
dt

d
5. [u(t )  v(t )]  u'(t )  v(t )  u(t )  v'(t )
dt

d
6. [u( f (t ))]  f '(t )u'  f (t )  (Chain Rule)
dt
DIFFERENTIATION RULES

r’(t) ∙ r(t) = 0

– That is, r’(t) is orthogonal to r(t).

 DIFFERENTIATION RULES

If a curve lies on a sphere with center the origin,

then the tangent vector r’(t) is always
perpendicular to the position vector r(t).
 INTEGRALS
b

a
r(t)dt
 b
  b
  b

  f (t)dt i   g(t)dt j   h(t)dt k
 a   a   a 
– Evaluate an integral of a vector function by integrating each
component function.
 INTEGRALS
• Fundamental Theorem of Calculus is extended to
continuous vector functions:

r (t) dt  R (t )  a  R (b)  R (a)

b

b
a
– Here, R is an antiderivative of r, that is, R’(t) = r(t).

Here, use the notation ∫ r(t) dt for indefinite integrals

(antiderivatives).
 Example 5

INTEGRALS
If r(t) = 2 cos t i + sin t j + 2t k, then

 r(t)dt   2cos t dt i   sint dt j   2t dt k

 2sint i  cos t j  t k  C2

where:
– C is a vector constant of integration
 2


– r (t ) dt  [2sin t i  cos t j  t k ]0
2 2
0

 2
 2i  j  k
4
 PLANE CURVE LENGTH
The length of a plane curve with parametric
equations
x = f(t), y = g(t), a≤t≤b

is defined as the limit of lengths of inscribed

polygons:
 Formula 1
PLANE CURVE LENGTH
For the case where f’ and g’ are continuous, we
arrived at the following formula:

 f '(t )   g '(t )
b
L
2 2
dt
a

2 2
b  dx   dy 
      dt
a
 dt   dt 
 SPACE CURVE LENGTH
The length of a space curve is defined
in exactly the same way.
 Formula 2
SPACE CURVE LENGTH
If the curve is traversed exactly once as t increases
from a to b, then it can be shown that its length is:

 f '(t )   g '(t )   h '(t )

b
L
2 2 2
dt
a

2 2 2
b  dx   dy   dz 
         dt
a
 dt   dt   dt 
 Formula 3
ARC LENGTH
Notice that both the arc length formulas 1 and 2
can be put into the more compact form

b
L   r '(t ) dt
a
 Example 1
ARC LENGTH
Find the length of the arc of the circular helix
with vector equation
r(t) = cos t i + sin t j + t k
from the point (1, 0, 0) to the point (1, 0, 2π).
 Example 1
ARC LENGTH
Since r’(t) = -sin t i + cos t j + k,
we have:

r '(t )  ( sin t )  cos t  1

2 2

 2
 SMOOTH CURVES
If C is a smooth curve defined by the vector
function r, the unit tangent vector T(t) is given by:
r '(t )
T(t ) 
r '(t )
– This indicates the direction of the curve.
 SMOOTH CURVES
– Very slowly when C is fairly straight.
– More quickly when C bends or twists more sharply.
 NORMAL AND BINORMAL
VECTORS
At a given point on a smooth space curve r(t),
there are many vectors that are orthogonal to the
unit tangent vector T(t).
 NORMAL VECTOR
if r’ is also smooth, we can define the principal
unit normal vector N(t) (simply unit normal) as:

T '(t )
N(t ) 
T '(t )
 NORMAL VECTORS
the normal vector is indicating the direction in
which the curve is turning at each point.
 BINORMAL VECTOR
The vector
B(t) = T(t) x N(t)

is called the bi-normal vector.

 NORMAL & BINORMAL
Example VECTORS
Find the unit normal and bi-normal vectors
for the circular helix

r(t) = cost i + sin t j + t k

 NORMAL & BINORMAL
VECTORS
The figure illustrates Example 6
by showing the vectors T, N,
and B at two locations on the
helix.
 TNB FRAME
In general, the vectors T, N, and B, starting
at the various points on a curve, form a set
of orthogonal vectors—called the TNB frame—
that moves along the curve as t varies.
 TNB FRAME
This TNB frame plays an important
role in:

– The branch of mathematics known as

differential geometry.

– Its applications to the motion of spacecraft.

CURVATURE

T '(t )
 (t ) 
r '(t )
 CURVATURE
The curvature of the curve given by the vector
function r is:

r '(t )  r ''(t )
 (t )  3
r '(t )
 CURVATURE
Observe from the expression for κ(x) or the graph
of κ here that:
κ(x) → 0 as x → ±∞

This corresponds
to the fact that
the parabola appears
to become flatter
as x → ±∞
 SUMMARY
The results are summarized for unit tangent, unit
normal and bi-normal vectors, and curvature.

r '(t ) T '(t )
T(t )  N (t )  , B(t) = T(t) x N(t)
r '(t ) , T '(t )

r '(t )  r ''(t ) T '(t )

 (t )  or  (t ) 
r '(t )
3
r '(t )