Math L11

BITS Pilani, K K Birla Goa Campus
BITSPilani
K K Birla Goa Campus
Engineering Mathematics I
(MATH ZC 161)
Dr. Amit Setia (Assistant Professor)
Department of Mathematics
BITSPilani
K K Birla Goa Campus
Chapter 7: Vectors
Summary of lecture 10
7.1 Vectors in 2-space
7.2 Vectors in 3-space
7.3 Dot product
7.4 Cross product
BITS Pilani, K K Birla Goa Campus BITS Pilani, K K Birla Goa Campus
7.4 Cross product
11/09/2012 3 Engineering Mathematics I (MATH ZC 161)
Outline of lecture 11
7.5 Lines and planes in 3-Space
9.1 Vector functions
9.2 Motion on a curve
9.3 Curvature and Components of Acceleration
9.3 Curvature and Components of Acceleration
Vector Equation of a line
( ) ( )
( )
1 1 1 1 2 2 2
1 1 2 2
2
:
Let , , is any point on the line.
If , ,
Now is parallel to
To find the equation of line through
, , and , ,
P x y z
O
P x
P OP OP
y z P x y z
= = = r r r
a = r - r r - r


Now is parallel to
is the vector equation
t
t
=
= +
2 1 2
2
2
a = r - r r - r
r - r a
r r a
of a line
where t is a parameter &
is a direction vector a
Parametric equation
2 2 2 1 2 3
2 1 2 2 2 3
The vector equation of a line
, , , , , ,
, , , ,
t
x y z x y z t a a a
x y z x a t y a t z a t
x x a t
= +
= +
= + + +
= +

2
r r a
2 1
2 2
2 3
1 2
These are called the parametric equations for
the line through P and P
x x a t
y y a t
z z a t
= +

= +
`
= +
)
Problem
Solution
Symmetric equations of a line
1 2
2 1
2 2
The parametric equations of the line through P and P is
x x a t
y y a t
z z a t
= +

= +
`
= +
)

2 3
2 2 2
1 2 3
1 2
are known as symmetric equations of the line through
P and P
z z a t
x x y y z z
t
a a a
= +
)

= = =
Problem
Solution
Vector Equation of a Plane
( )
( )
1 1 1 1
Let , , is any point on the plane.
To find the equation of plane through
, , and normal to the plane
P x y z
P x y z n
( )
( )
1 1
1
If , ,
Then the vector equation of the plane is
. 0
P x y z
OP OP = =
=
r
r
r
n r

Cartesian Equation of a Plane
( ) ( )
1
The vector equation of a plane is
0 1
If the normal vector is
a b c
=
= + +
n r r
n i j k
i
( )
( ) ( ) ( )
1 1 1
then equation 1 implies
0
is called cartesian equation of a plane
and also known as point -normal form of
th
a b c
a x x b y y c z z
= + +
+ + =
n i j k
e equation of a plane
Theorem 7.5.1
Plane with Normal Vector
( )
The graph of an equation
0
, , not all zero ,
ax by cz d
a b c
+ + + =
( )
, , not all zero ,
is a plane with the normal vector
a b c
a b c = + + n i j k
Vector Equation of a Plane
( )
( ) ( )
( )
1 1 1 1
2 2 2 2 3 3 3 3
Let , , is any point
To find the equation of plane through
on the plane.
three noncollinear points , , ,
, , and , ,
P
P x y z
P x y z P
x y z
x y z

( )
( )
1 1 2 2 3 3
1
If , , , ,
Then is in the pla
P x y z
OP OP OP OP = = = =
r r r r
r r

( ) ( ) ( )
2 1 3 1 1
ne.
the vector equation of the plane is
. 0
= (

r r r r r r
Problem
Problem
Solution
( )
15
so the point of intersection is 5, 0,
2
Similarly, 0 3 10, 5, 0
is the point of intersection.
z t
| |
|
\
= =
Solved Problems for practice
Solved Problems for practice
Problem
Chapter 9: Vector Calculus
Chapter 9: Vector Calculus
2
3
A function
: R R
: R R
is called a vector valued function
or
r
r
Vector Valued Functions
is called a vector valued function
e.g.
( ) ( ), ( ) ( ) ( ) and
( ) ( ), ( ), ( ) ( ) ( ) ( )
are vector valuedfunctions
r t f t g t f t g t
r t f t g t h t f t g t h t
=< >= +
=< >= + +
i j
i j k
s parameter t varies,we can envision the curve C
being traced by moving arrowhead of (t).
A
r
being traced by moving arrowhead of (t). r
Graph the curve traced by vector function:
( ) cos sin t t t t = + + r i j k
Problem
parametric equations of the curve are
cos , , sin
by eliminating parameter t fromequations
1st &3 ,
x t y t z t
rd we get
= = =
Solution
2 2 2 2
1st &3 ,
(cos ) (sin ) 1
rd we get
x z t t + = + =
Problem:
(Curve of intersection)
2 2 2
Find the vector function that finds intersection
of curve C between givensurfaces
9, 9 x y z x + = =
2 2 2
9, 9 x y z x + = =
Solution
2 2
3cos ,
3sin
9 9cos 9sin ,
x t
y t
z t t
=
=
= =
2 2
2
9 9cos 9sin ,
( ) 3cos 3sin 9sin
z t t
r t t i t j t k
= =
= + +
Limit of a vector function
lim ( ), lim ( ) andlim ( ) exist
then
t a t a t a
f t g t h t

limr(t) = <lim ( ), lim ( ) , lim ( )
t a t a t a t a
f t g t h t

>
Properties of limits
1 1 2 2
1 1
lim ( ) and lim ( ) ,
then
( ) lim ( ) , is a scalar
t a t a
t a
If r t L r t L
i cr t cL c

= =
=
1 2 1 2
1 2 1 2
( ) lim[ ( ) ( )]
( ) lim ( ) ( ) .
t a
t a
ii r t r t L L
iii r t r t L L
+ = +
= i
Continuity of vector function
A vector function r is said to be continuous at
if
( ) ( ) is defined
t a
i r a
=
( ) ( ) is defined
( ) lim ( ) exists, and
( ) lim ( ) ( )
t a
t a
i r a
ii r t
iii r t r a
=
Derivative of vector function
0
The derivative of a vector function r is
( ) ( )
lim
t
dr r t t r t
dt t

+
=

Differentiation of components
If ( ) ( ), ( ), ( ) ,
where , , are differentiable,
then
r t f t g t h t
f g h
= < >
then
, ,
dr df dg dh
dt dt dt dt
=< >
Problems
2 3 1
Find '( ) and ''( ) for the given vector function
( ) tan
r t r t
r t t i t j t k
= + +
Solution
2
2
2 2
1
'( ) 2 3
1
2
( ) 2 6
(1 )
r t ti t j k
t
t
r t i tj
t
= + +
+
= +
+
2 2
(1 ) t +
Smooth Curves
When the component functions of a vector
have continous first derivatives and
0 (a, b)
r
dr
t
0 (a, b)
then is said to be a smooth function and
the curve traced by is called smooth curve.
dr
t
dt
r
C r

Geometric Interpretation of r(t)
If the vector '( ) 0 at a point P,
then vector '( ) maybe drawn tangent
to the curve at P.
r t
r t

Tangent line at P is defined as a line through P
parallel to '( ). r t
Problem
3 2
Find parametric equations of the tangent line to
the given curve at the indicated value of
6
, , (2 1) ; 1
t
t
x t t y z t t = = = + =
, , (2 1) ; 1
1
x t t y z t t
t
= = = + =
+
Solution
3 2
2
2
6
( ) ( ) (2 1) ; (1) 3 9
1
6 3
'( ) (3 1) (8 4) ; '(1) 2 12 .
( 1) 2
t
r t t t i j t k r j k
t
r t t i j t k r i j k
t
= + + + = +
+
= + + + = + +
+
( 1) 2
using the point (0,3,9) and the direction vector '(1),
3
we have 2 , 3 , 9 12
2
t
r
x t y t z t
+
= = + = +
Higher Order Derivatives
Higher-order derivatives of a vector function are
also obtained by differentiating is comopnents.In
case of second derivative, we have
case of second derivative, we have
''( ) ''( ), ''( ), ''( )
''( ) ''( ) ''( )
r t f t g t h t
f t i g t j h t k
=< >
= + +
Problems
2 3 1
Find ''( ) for the given vector function
( ) tan
r t
r t t i t j t k
= + +
Solution
2
2
2 2
1
'( ) 2 3
1
2
( ) 2 6
(1 )
r t ti t j k
t
t
r t i tj
t
= + +
+
= +
+
2 2
(1 ) t +
Chain Rule
If r is differentiable vector function and ( ) is a
differentiable scalar function,then the derivative of
( ) with respect to t is
s u t
r s
=
'( ) '( )
dr dr ds
r s u t
dt ds dt
= =
Chain Rule example
3 4
( ) cos2 sin2 , ,
s
r s si sj e k where s t
then
dr dr ds
= + + =
4
3 3
3 4 3 4 3 3
[ 2sin2 2cos2 3 ]4
8 sin(2 ) 8 cos(2 ) 12
s
t
dr dr ds
dt ds dt
si sj e k t
t t i t t j t e k
=
= +
= + +
Rules of Differentiation
1 2
1 2
1 2
Let , differentiable vector functions and ( ),
differentiable scalar function
[ ( ) ( )]
( ) '( ) '( )
r r be u t
d r t r t
i r t r t
dt
+
= +
1 2
1
1 1
1 2
1 2 1 2
( ) '( ) '( )
[ ( ) ( )]
( ) ( ) '( ) '( ) ( )
[ ( ). ( )]
( ) ( ). '( ) '( ). ( )
i r t r t
dt
d u t r t
ii u t r t u t r t
dt
d r t r t
iii r t r t r t r t
dt
= +
= +
= +
1 2
1 2 1 2
[ ( ) ( )]
( ) ( ) '( ) '( ) ( )
d r t r t
iv r t r t r t r t
dt
= +
Integrals of a vector Functions
If , , are integrable ,then the indefinite and
definite integrals of a vector function
( ) ( ) ( ) ( ) are defined respectively
f g h
r t f t i g t j h t k = + +
( ) [ ( ) ] [ ( ) ] [ ( ) ]
( ) [ ( ) ] [ ( ) ] [ ( ) ]
b b
a a
r t dt f t dt i g t dt j h t dt k
r t dt f t dt i g t dt j h t dt k
= + +
= + +

b b
a a

Integrals of a vector Function
2 2
2 2
( ) 6 4 8cos 4
then
( ) [ 6 ] [ 4 ] [ 8cos 4 ]
t
t
r t t i e j tk
r t t dt i e dt j tdt k
= + +
= + +

3 2
1 2 3
3 2
1 2 3
[2 ] [ 2 ] [2sin 4 ]
2 2 2sin 4
where
t
t
t c i e c j t c k
t i e j tk c
c c i c j c k
= + + + + +
= + +
= + +

Length of a space curve
If ( ) ( ) ( ) ( ) is a smooth function,
then the length of the curve traced by is given by
b
b
r t f t i g t j h t k
r
= + +

2 2 2
[ '( )] [ '( )] [ '( )] || '( ) ||
b
b
a
a
s f t g t h t dt r t dt = + + =

Problem
Find the length of the curve traced by vector function
on indicatedinterval
( ) cos sin ; 0 2 r t a t i a t j ct k t = + +
Solution
2 2 2
2 2
'( ) sin cos ;
|| '( ) || ( sin ) ( cos )
r t a ti a tj ck
r t a t a t c
a c
= + +
= + +
= +
2 2
2
2 2 2 2 2 2 2
0
0
| 2
a c
s a c dt a c t a c
= +
= + = + = +

Motion of a curve
A body moves along so that its position at time t is
given by the vector ( ) ( ) ( ) ( ) .
( ) '( ) '( ) '( ) '( )
C
r t f t i g t j h t k
v t r t f t i g t j h t k
= + +
= = + +
( ) '( ) '( ) '( ) '( )
( ) ''( ) ''( ) ''( ) ''( )
are called an accelerat d respective velocit l io . n y y
v t r t f t i g t j h t k
a t r t f t i g t j h t k
= = + +
= = + +
Problem
If ( ) is the position vector of moving particle
( ) 2cos (1 sin ) ;
3
r t
r t t i t j t

= + + =
find the velocity and acceleration
vectors at the indicated time
Solution
1
( ) 2sin cos ; ( / 3) 3
2
3
( ) 2cos sin ; ( / 3)
2
v t ti tj v i j
a t ti tj a i j
= + = +
= =
2
Arc length as parameter
Acurve inthe plane or in space can be parameterized
in terms of arc length s
2 2 2
Scalar function || ( ) || is the speed of the particle.
|| ( ) || || ||
v t
dr dx dy dz
v t
dt dt dt dt
| | | | | |
= = + +
| | |
\ \ \
Arc length parameterization
0
speed is related to arc length '( ) || ( ) ||
|| ( ) ||
t
t
dt dt dt dt
s by s t v t
s v t dt
\ \ \
=
=

Problem
(Arc length as parameter)
( )
Find the arc length parametrization of the helix
r 2cos 2sin , 0 t t i t j t k t = + +
Solution
(Arc length as parameter)
( )
( )
( )
0 0
r 2cos 2sin , 0
r 5
r 5 5
t t
t t i t j t k t
t
s t dt dt t
= + +
= = =


( )
0 0
5
r 2cos 2sin
5 5 5
s
t
s s s
s i j k
=
| | | | | |
= + +
| | |
\ \ \

2 2 2
To see this |
If a particle moves with a constant spe
| v || v.v
ed c,
then its acceleration vector is perpendicular
to the velocityvector .
c or c
v
= =
To see this || v || v.v
we differentiate both sides with respect to t,
(v.v) v v v
v. .v 2v. 0
v
Then
c or c
d d d d
dt dt dt dt
d
= =
= + = =
.v 0 ( ).v( ) 0 for all or a t t t
dt
= =
Unit tangent vector
'( ) is a tangent vector to the curve C,
'( )
( ) is a unit tangent vector.
|| '( ) ||
But if is parameterized by arclength s ,
r t
r t
T t
r t
C
=
But if is parameterized by arclength s ,
then unit tangent vector to the curve is given by .
The quantity ||r'(t)|| is related to arc length s
b
C
dr
ds
y || '( ) ||
ds
r t
dt
=
By chain Rule
andso
dr dr ds
dt ds dt
=
'( )
( )
|| '( )
and
/
||
so
dr
d
r t
T t
r
dt ds dt
t
dr ds
d s t dt
=
= = =
Curvature
( ) be a vector function defining a smooth
curve . If s is the arc length parameter and
is the unit tanget vector,then the curvature
Let r t
C
dr
T
ds
=
of at a point is
|| ||
is called kappa.
ds
C
dT
k
ds
=
Now since curves are generally not parameterized
by arclength,it is convinient to express in terms of . t
dT ds
dt dt
dT
ds
=
/
|| '( ) ||
|| ||
|| '( ) ||
dt dt
dT ds
dt dt
T t
ds
dT
ds
r t
dT
ds
=
= =
2
1 1 . 1
differentiating w.r.t. t, we get
2 . 0
T T TT
dT
T
= = =
=
Principal normal
2 . 0
At a point P on ,
the vecotrs and are orthogonal.
T
dt
C
dT
T
dt
=

( )
If 0,
/
the vecotr N
/
dT
dt
dT dt
t
dT dt
=
( )
the vecotr N
/
is a to the curve C at P with
direction given by / .
N is als
unit normal
principal no o called rmal. as
t
dT dt
dT dt
=
Tangential and Normal
Components of Acceleration
Velocity of particle is given by v( )
where speed is ( )
Differentiating this gives us acceleration
v
t vT
ds
t
dt
v
=
= =
Differentiating this gives us acceleration
( )
dv
a t
dT
dt
T
d
v
t
= +
( )
2
( )
|| / ||
& N
/
/
dv
a t v N T
dt
dT dt
t
v dT dt
dT dt
= +
= =
( )
2
/
( )
thus ,
arenormal and tangential components of acceleration
N T
N T
v dT dt
a t a N a T
dv
a v a
dt
= +
= =

The Binormal
A third unit vectordefined by
( ) ( ) ( )
, , are three mutually orthogonal vectors
implies
B t T t N t
T N B
=
implies
( ) ( ) ( ),
( ) ( ) ( ),
( ) ( ) ( )
B t T t N t
N t B t T t
T t N t B t
=
=
=
& is Nor
& isos
mal
culatingpl
plane
a e n
Plane of
N B
T N
& is Nor
& is Rectify
mal plane
ingpla e n T B
N B
v
( ) ( )
N T
T
a
vT
a vT N a vT T
v a
a =
= +
=
i
i
i i
| & 0 & 1
tangent component of acceleration
'( ) '' v
|| |
( )
|| ''( | ) ||
N T
T
T
v
a N a T T N T T
dv r t r t
dt r
a
a
a
v t
a
=
= + = =
= = =
i i
i i
,
v ( ) ( )
| & & 0
|| || 1
N T
N T
N
on other hand
a vT a vT N a vT T vB
a N a T T N B T T
Since B
a a
a
= = + =
= + = =
=

2
3 3
|| || 1
|| '( ) ''( ) ||
|| '( ) ||
|| v || || '( ) ''( ) ||
||
|| v ||
|| v |
v || || '
|
( ) ||
N
Since B
r t r t
v
r t
a r t r
a
a
t
r t
= =
= =
=
Radius of Curvature
1
, , The reciprocal of curvature iscalled of radius of
curvature
=
Problem
2
Find the unit tangent
( ) ( cos sin ) ( sin cos ) r t t t t i t t t j t k = + + +
Solution
Problem
Calculate , , and for circular helix
( ) cos sin
T N B
r t a t i a t j ct k
= + +
Solution
Problem
Find the curvatureof elliptical helix described by
( ) cos sin , 0, 0, 0 r t a t i a t j ct k a b c = + + > > >
Solution
Problem
2 2 2
Find tangential and normal acceleration
( ) ( 1) 2 r t t i t j t k = + +
Solution
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BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

BITS Pilani, K K Birla Goa Campus

11/09/2012 62 Engineering Mathematics I (MATH ZC 161)

11/09/2012 67 Engineering Mathematics I (MATH ZC 161)

BITS Pilani, K K Birla Goa Campus

11/09/2012 76 Engineering Mathematics I (MATH ZC 161)

11/09/2012 79 Engineering Mathematics I (MATH ZC 161)

BITS Pilani, K K Birla Goa Campus

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