chapter 12.

:÷÷÷¥
Dot product Direction
& COSINES
Angles Example :

Akai,Az .az) bkbnbz.bz)

}zp
a- C-2,313 b--41,27

A. b' a.
-

bitazbztazbz a lat ¥712 -514

-243+34)tK2)

:÷÷÷÷÷÷:÷÷÷÷÷
A- (Ayaz) bib .bz)
,
Compaq .

mic
i

E- - -
-
- -
-
is
'

Direction
Angles of E-a.B.ir Work
za Direction cosines of E- Cosa SB cosy F- force
w=fd

↳µ
, ,

d-distance
-

COSA
-_Yaj÷=% ,
COSB -_

Afa, COS
)E¥, *
onlywhen force is
along line of motions

eat!
I
¥9
A

C05atco5Btco5y-_ I l
S
×
E
'
#
a .be/allb/cosO- Y
p Q
G- La ,.az.az) alcosx.la/cosBlakosy) 2-

* if a and bare parallel , 0,718 -

-

Iakcosa,cosB cosy) ,
E- constant force
Yala (cost,cosB cosy) D-displacement (PQ)

a÷%÷÷o
-_ vector
Example : ,

""
cmoemdpiroenctinfnceositheesuo.EE#oer*wIE:Eoso
*

:÷:÷÷÷÷÷:÷÷
Example :

can

::÷÷÷ien ÷
.

: ÷÷÷:÷÷÷:
Example:
a -12,2 D -

b=L5 -3,2),
2=740 B=58° 7=370
,

lat-E.FM/=r9=z-M5t3tzz--f38

-
vectors

rigor
orthogonal a→Q
a and bare

if
perpendicular
-0=92, thus :
S S
÷ P
.

a. b' -

lallblcosfiyz) Projab projab

a. b=0 vector projection of b onto a (PJ)
-

zero vector is perpendicular to all vectors -

scalar projection times unit vector

projab-ff.at#T=fa;bzaO-
-

of a. b> o
acute

scalar projection of bontoa:

signed magnitude
off of:b .
of the vector
projection
negative if Mykola
-

-
← a. bio
a- obtuse
-

Compab -_
AI
lat
a
 Cross Product
chapter
Triple Product
12.4

a- La ,az as) b Lb .bz.bz)

-
-
-

, , ,
-

/#

÷
D= Lazbz azbz , Gzb , azb,)
:
ax - -
A .bz , a .bz -

Tass:b omens:O:3;D:c: 's area

tween
a and bxc
.

ax a
-

- O 7 -/

/ §! !}/ aw Jia b,
,
Jaz ka
bz bz
,
) KAh-tbxcllallcoso-l-ta.us xcx
A- Ibxcl A- Ialkosotn
use ICOSOI

aebxctf !! ! }/
incase own
"
by : Ii ta: :/ .it/a:a:/ -
.

the volume of parallelepiped

"÷÷÷÷÷÷÷÷±i÷±± :÷i÷÷÷÷÷i"
Example :
is themagnitude of their
a- -4,34) b- 52,7, -57
scalar triple product
-

-
If V=Oj a
,
b, and c are coplanar

= -

43itbs.tk
=
If Ygf 4/374+-7/3
-

vector axb is =L (18) 4136) -71-183=0

orthogonal to
- -

,b,
a Etc are coplanar
both a and b

If -0 is the between
angle
-

a and b (O ta) then,

Torque(T)
Iaxbtlallblsino F- force
F
-

a- =rx r position vector

-
-

right hand rule body

-

hand 's measures the

tendency of the
-

:
right fingers
to rotate around the
curl in a rotation from a tob then
, origin
thumb points toward axb -
Direction of
torque vector axis of rotation
-
-

=
I
-

I -61=1 rxfflrllflsin-0 E- angle between

-
Es fuoergforsand position
.

%=%" 'b' fin =ta×b '

z
A ' a' ' b' sin tax "

i ,

it:
E
K- j f j ,

m÷÷÷÷÷÷÷÷÷
,
jxk=i Example :

i
'

in .
Cixi)xj=8×j=§ } not associative

Distributive
property:
Ux (vtw) -
-
Uxvtuxw
 Lines
chapter 12.5
Z -

line from rotor :

segment parallel if their normal

.int?:.n::+n::::..::i¢:%ae..aran
-
, s are
.

is:*: site:c
f€
-

on .
-
road r: position vectors intersect & aren't parallel

)=
- - - -
- -

of Po and P ,
7-
-

×
-
E: vector of PPP Example: i
-

①
-

if two planes aren't parallel

2--22-3=33-1 ①
x -

x=tt2
.

"
online :'t.int#i::::tioannoointii:x:s:::o:e. In:i÷÷÷÷:÷÷÷÷±÷÷e ..

Y 35-4 * with two lines

'

Vector of L:
-

equation
-
,

coso÷÷¥I÷÷÷÷÷÷
2=-75+2 you need different
F- rottv E- scalar 4,3, -7>
parameters * Example :
not parallel
Xtyt2=1 x
2yt3z= I -

in.tn#nino:isr . planes
-

plane in space is determined E- cos

- '
(E) 2720
# by a point Polxo yo Zo)
and
, ,

orthogonal
× an vector n
Y -

(aka normal vector) every plane through the

✓= La b. c)
,
* tv-tta.tb.EC> * a,b,c are direction
" Origin has a scalar equation

/
r=Lx, y,2) & ro = (Xo, yo ,Zo ) numbers of L *
equal to 0 .

E- -
each plane has a
unique
⇐YR> Gotta yottbzottc)
=
,
normal vector

* xo.at#y-.gEtbt*z=zotcecteiR) Distances
#
•
r →

ok T or
-
-
-
-

ro
of line (L)

b÷
parametric equations /
point Poko, yo ,2o)
# -

\
pocxo.y.io)
through the & ,

parallel to thx, yid -

vector equation of the piano :

Example : no (r -
ro)
-
- O # nor '- noro f

P(5 1,3) v=it4j -2k

,
-
scalar
equation of the plane: Po

ro=L5 1,37 a x ( Xo)tb(y )t C (2-20)=0

yo
- -

:÷÷÷÷:÷:
,

" ¥.im#e....:::i
point (6,5, )
I on the line 2. (x -
2) +3 ( y 4)
- t 412+13=0

n÷÷÷÷÷÷÷
'

÷::÷÷÷÷:;.m÷. .
.
.io.

linear
equation in x. ,z :
33¥
y 15023+10) KO) 11
-
- -

÷ ÷:÷ ÷ ÷:÷ ÷ ÷
Example:
-

FEI
-

A- (2,4, -3) 8 (3, -1,1 ) a×+by+cz+d=o

v 'Ll , -5,4>
D= -
(axotbyotczo) D= I
6

:÷ ÷ ÷ ÷ ÷ ÷ ÷
a- I ;b= 5; c -
4
Example:
- -
-

A- *
*
using point X=2t3t
y=
-
UE 2=5 the

=K =3 EA x
-
-
Yu ; y Yy
' -
-
= -
y
-
- 8 =3

of intersection :(-4,8
plane :( 14,114,0) 3)
"
intersects point
xy
,
 Cylinders
chapter -12.6

"ri¥÷i¥:
-

cylinder : a surface that consists Example : Example:

of all lines (called rulings) that are
d (x,p)=2d (x, l) 4y2tz2 x
key 42+4
-
-
-

÷÷÷÷÷÷÷÷÷÷÷÷÷:÷
"""

.
:c::*::::*:
copies of the same parabola x
x
=4y2tz2 } big picture
" "" """ "

\ , 105 projvoxf-

# →
y
projvox
-
-

9I Ea)
05.8 (1)

Quadric Surfaces ↳yrs Como> .

=
yes) -
-
so,y, o>

surface : 458,27 cosy -

=
(x, 0,27
quadratic
- ,
of
graph a second -

d Gsp)2=f2dCx, l)]Z
degree equation in three variables ×, y , and z
(X -
1)Ztyzt 22=41×2+22)
AXZ t By't C 22+5=0
or

A X't By't I2=0

÷÷÷÷÷¥÷÷÷
Ellipsoid paraboloid Hyperboloid of Two sheets
Hyperbolic
2

Iazt¥t¥ =/ -

I = -

¥22 -
horizontal traces in z -
- k are

ellipses if k>c or KC C
all traces ellipses
-

are
horizontal traces are
hyperbolas
-
-

If a=b=c the
- vertical traces are hyperbolas
-

, ellipsoid -
vertical traces are parabolas 2 minus indicate 2 sheets
is a
-

signs
sphere

Elliptic Paraboloid Hyperboloid of One sheet cone

Z

' q l
l
l
l
l
l

if
l l

II the
-

t
- -

×
y
-
-

't '
-
.

f- =I

a
'
y
b-2 horizontal traces are ellipses
tY£ Iz =L
-

horizontal traces
-

ellipses
-
-
are
-
vertical traces in the planes
Vertical traces are parabolas horizontal traces are ellipses k are hyperbolas
-

x K and
- -

y
-
-
-

- the variable raised to the 1st -

vertical traces are hyperbolas if k¥0 but are pairs of
indicates the axis
power axis of symmetry is the variable
-

lines if k=O
of the paraboloid whose coefficient is negative
 Derivatives
chapter 1.32
Integrals
-

adf.rhtt-nin.fr"mn- gabrctsdt (Sahfctsdt)it( Sabgtttdt)j

-
-

(Sabha)dt)k
-
unit tangent vector :
t

Tft)=r#
'
Ir I Fundamental Theorem of calculus

PI
ZA
secant vector
Sabre > de -
-
Rft) )! Rcb)
-
-
Rca)

rft th) rft) -

R is the antiderivative of rct)

o¥
¥¥i¥¥÷÷÷÷÷÷ii:÷
Example

XL
y

=
@Sint)it C- costsjtftzjk
rtt)
Tangent Vector

ZA
rftth) rct)
-

fr Sinti -

costjttktc
f
T
r'(t) don't forget !

c¥"

: ÷ ÷ ÷ ÷
Ea . 7¥ .
o BCS) :( 5,5+2,35)
#
XL
y intersect at E- I & 5-0

:÷÷÷÷÷÷÷÷÷÷÷÷÷÷:*
i
'

.
{ (01=491,37
'

÷÷÷÷÷÷÷÷÷÷÷÷÷÷
Example F. I Kost 247+43)
rtt) ( Itt )it (te E)jtlsinzt)k
- =
's
-
-
-
-

'"

'

43055+6-04 -

G) tacos "
Differentiation
Tok
0¥77 oitfsitE.sk
'
- -

Rules
-

* ¥ (ult) + VCE))
-
- U'(E) t V' (t)
-

second derivative
r' (t) :(r' CES'
'
*
adz [cult)) -
- cult) C- scalar

d¥ffCE) Uct)) f- (E) Ult) tf (E) U' (t)

'
* -
-

*
d¥[ult) .
Vct) )
-
- U' (t) VCE) t ult) V'(t)
.
-

*
# Cult) x Htt] U' A) xvtt) tuft)
-

-
x V' CE)

*
⇐ [uffft))]=f 't)u' (fft))
 chapter 1.33

Length of a Curve curvature a a

µ
-
Smooth parametrization : if on interval I T
TWO frame
and r' (t) # O
'
r is continuous on I
with T, N, and z
Length
-

of a
space curve with

:÷÷÷÷÷÷÷÷÷÷
""

:" :÷÷÷÷:
in

,ga,G'GDZtDFdt fddstf unuitectoarngent ←

k= F-

)2t(¥Yt(f dt
(II k=lT
Ty
'
Ir HII

=
fablr.CH/dt Example
I

:
r (E) = a cost it asintj
Example Example
"

:÷÷÷÷÷÷÷÷÷÷÷÷÷÷÷ ÷:÷÷÷÷÷: i
:*
k)
' Tft)= C- Sinti tcostj t

IT # I
KH) = =L
ftp.fzfcosti-sintj)
'
, T

"""

÷÷÷÷÷÷÷÷÷:
-

÷:i÷÷÷÷÷÷÷÷÷÷÷÷÷÷:c
"
Blt)
fisint close Y )

" "÷:t÷ :÷ ÷ ÷ ÷ ÷ ÷
where t=e
Example -
cost -
Sint O

htt Lt,t3t3)
Arc Function
Length
cost . ' >
train
-
- -

r' (t)=G,2t, 3T)

ya
(t) = (0,2 , Gt)
"
✓

S¥#§
of Cat P : plane determined

¥4
normal plane
-

'
Ir (t )I=f¥¥ vectors N and
by normal and binomial

:÷÷÷:÷÷÷
.
"

#
X L
Y
Ir Cttxr (E) f- t¥¥4
' ''

= 2 atIt
T and N
Zn

+I

" "" ""b

t "*
i÷÷ .
'

I
1403=2 *
origin* p
[
=/!
I •

osculating
-

du plane
if
y=fc×)
-

\
- :
x >
"

ds If G) I y

d-j-lr.CH/ Kant312
[It (f (x))2)
'
-

osculating circlet circle of curvature : circle

-
helpful to parametrize a curve
that lies same
on
osculating plane
respect to arc
length
,
with

parametrized in terms of S
re NORMAL & Bihormale tangent
and
as

radius of
C at P

f- 11k
,
lies on concave side of C

by substituting for
t r=rCtCs)) :
Vectors ya

4¥
5×2
Tft) a
osculating
Example Blt) circle

f.otrzdu ft # -
- E- SITE -

principal unit normal vector (Nlt)) :

#

NCE) =T
0 ×
(5/52)it Sin (she)jt(She)k
i
rftcs)) -
- cos
'
IT CHI
-
Binormal vector ( Oct)) :

BCE) - Tct) x NCE)

to both T and N*
* perpendicular
 Partial Derivatives
chapter Derivatives
14.3

if
Higher
partial derivative of f with respect 2- f- (x y) :
-

tox at Ca b) = f× Ca b) , , -

(Fx )×=f××=¥() = =
32¥
fxla b) lingo flath.ba)
)y=f×y=Iy(f¥)
=
,
h -
Cf × = =

partial derivative of f with respect

to
y at La b) ,
=

fyca,b)
- Cf
y )×=fy×= # (IFJ )=£y=dI÷y
) (fy)y=fyy= (Fy) 22¥ f÷z =

zfCa,bthb
- =

Fy La b)
=
,
h

::÷:o÷±÷
f Cx , y) Example
-

fxcx y)=f×=
,

f- (x, y
)=x3tx2y3 2y2
-

fycx y ,
)=
fy=y=¥yf(× , Y) f× = 3×2+2y3x
fy=3x2yZ -
4
y

÷÷÷::÷:÷÷
'
:c: ::÷ .

to find fy regard X as constant

derivatives of
-

a
order 3T
partial
-

and differentiate fcx y)

,
with respect example
to
Y
f×yy=Lfxy)y=÷f(I¥=Y¥x

¥÷¥÷÷÷÷÷÷
Example
partial Differential
Equations
.÷÷÷÷:
.

YI t
fy¥tf¥=O (3D)

Interpretations wave
equation:
-

II
Ju '
= a
-
if 2- f- (x.y) is a Surface S

then fca, b) point P (ab, C)

°
= C :

lies on S
-
partial derivatives f× Ca,b) and

Fyca b) , are the slopes of the

tangent
lines at Pca,b, c) in the planes y b El -
- x' a
-

partial derivatives are also rates of

change where Z -
- f- Cx y)
, ,
then f÷ is

the rate of change z with respect to

when is fixed
x
y

Functions of 2T Variables

nofCxth,y,2yz
)
Fx (x y 2)
, ,
=

regard y and z as constants and

to ×
differentiate with respect

:÷÷÷÷
Example
FCX y ,2)=e×Ylnz
,
 chapter 14.4
tangent planes

÷÷:÷÷÷÷÷÷:÷÷÷÷:
Example

/ -
Ti

E,
z
-
- f- (x , ) =
y ×2t3xy y -
'

"
t -
-
-
= .
065 ← 02 Id 2 but dz is easier
,
\ f (2. 05,296) f (2,3)

/
02
- -
-

Y
= .
6449
f (x
surfaces : z
y)
-

XL -

-
P (Xo,Yo, Zo) is a point on S
- C , El Cz curves
intersecting g- yo & x=xo
Functions of 3T Variables
T, El linear approximation:
Tz tangent lines to C El Cz at
-
-
are ,

point P f (x y 2)If Ca,b c)tf (Gb, c) (x a)tfyla,b, c)(y b)

, , ,
- -

tangent plane has both T, El Tz tfzca b. c) Cz c),

-

), then the increment of w :

tangent plane equation : if w=fCx , y
-
-
z
,

Z -

Zo= Fx(Xo, yo) Cx Xo) -

tfy Go yo) Cy ,
-

yo ) DW f (Xt DX, left by,2+02) f (x, Y

-
-
-
2)
,

differential dw :

÷÷÷÷÷÷÷÷÷
-

Example
aw an
:* :* .

Z -
3=44-13+2(y l) -

2=4×+2y -3

Linear Approximations
-
linearization of f at Ca , b)
((x , y) = f Ca b) tf × Ca, b) (x a) tfyca,b) (y
,
-
-
b)

-
linear approximation / tangent plane approximation
( (x ,
g) If ( a.b) tfxla b) (x a)tfyca b) (y b) ,
-

,
-

-
if the partial derivatives f- × and fy exist near

Ca,b) and are continuous at La,b) ,

then f is

differentiable at La b) ,

Differentials
differentials: dx a
dy are independent variables
-

total differential : dz

dz=f×Cx g)dxtfylx y) dy
, ,
= dxt
¥ydy
ZA
(a tox, b toy, flat ox , b toys)
surface z=fCx , y)
•

¥¥¥¥¥÷ ¥
can. . . .

f Ca,b)
O

..

tangent plane
z Ha,b) =f× Ca,b) (x a)
tfyca,b) Cy b)
-
- -
 Polar coordinates
chapter 1.53

*÷ ÷ ÷ ÷ ÷÷i ÷:÷÷:÷÷
example
polar rectangle:
-

volume in first octant

R={(r.ES/atrEb.dEO-B } bounded by clylinderlxty t)

-

center of subrectangle:

fpoiarcoordina.es//#F/IfCx,yS--yo-- o-j
polar
-

y g- z

Rij{cr.ES/ri.,EXri-Oj-iEyE-Oj} I

l F
aye
{ f- Oi -
i
f) Ydxdyyxlo
Bij " O O
"

:
÷÷
qq.E.ec#cosoE.ri*sinoE)ri*oroo- tho 3) 's - =

polar y-rs.no
if f is continuous on the polar rectangle R
-

J
% ,
OEatrtb.tn EOEB OEB xE2x

f)
and where -

{ffcx.yldtt-ffaflrcosorsino-jrd.de
rsinordrdo

O O

-
ALWAYS replace DA with rdrd0 921

Example f) Msm -0 drdo =

fnfzxtuyzda IIE:L [shinoda

'
' °°
.

dr

YZO lEx2ty2E4 ,

OEOETI 1Er 's

zr3sinO I

:
sine
f- (O -
C- 1) =
}
8cosOtl6sin2f -
Cosa -

§7cosotI5sin2G do

7050-+1%(1-0520)
done
.

§ 5/2052-0 do
'
> cos -0+15/2
-

°7sinot Ey sin 20/5

'

5¥
'
15¥ o
-
- -
 chapter
Moment
154
Expected
-
Density
density :
& Mass
-

moment of inertia about

of Inertia
x-axis:
-
X -
mean and Y -
mean
Values
(expected values):

PHY)=lim8F ffyflxiy)dA
Where om and OA are the mass
I×= ffyzpa ,y> da
p
,
M
,=§§xfCx,y)dA ME
IR
'

and area of the small rectangle

-

moment of inertia about y-axis:

-

normally distributed variable:

" →"" o"
that contains G. y) fC×j= e-

Y"
Iy=gg×zpc× y> da ,

/④/#/##
Hii Bij D where u mean -
-
I E- Standard deviation

moment of inertia about the origin (polar

-

÷÷÷
g.EE.ir
.
moment or -
inertia :

I
-
Io=ffcx2ty2)pCx,y)dA y E
-
-

-
D

Z Io=I×tIy
-

radius of gyration of a lamina p~Ety "

proportional
"
to
total mass : about an axis:
kFty
-

p
-

K constant
-
-
-

fi .¥pCx¥sy¥j)oA MR? I of lamina

€
m mass
-
-

m=
in , E- moment of inertia

=
ffpcx ,y)dA -

radius of gyration (Eg) with respect

D
to the x-axis :
is
p symmetric
Moments & Center mEf=I× region is
symmetric
5=0

Of MASS -

radius of gyration (E) with respect about the

y-axis
r
-
- l r
-

-2 Of -0 Ex
-

moment about x-axis: to the y-axis:

TY 2
1 EREZ
ME! Ig
Mx=§§xpCx,y)dA

t÷÷÷÷÷÷÷÷÷÷÷÷÷÷÷÷ : "

⑧
Ba -
PCAEXEB

joint density
,
c EYED

function
)=§b§fCx.y)dydx
properties: Mx
-

-
.

ffypda
8g I =7zIk
-

coordinates (K ,-y) of the center of

TB
-

D
f(× , yyzo
mass of lamina occupying the
region Sino
ya
y r
-
-

D with the
qzfcx.yldA-fffcx.gs
density function play)
"§§
dxdy I
-
-

rsin-O.kr.rdrdox-MMI-tmfpfxpcx.LT
-
o -
o
DA
X e, y

§"sm0dO°§kr3dr
-

are independent when:

J Mmt-mtffypcx.ly
=
)dA )
-
-

fzcy f(x.y)=f G) ,

where mass (m) is

m
-
-

ffpcx g) ,
DA

lamina: thin sheet of uniform thickness

-

centroid : p -
-
I