Page 1

AY2018-19 Semester 1 MA1511 Engineering Calculus

MA1511 Engineering Calculus

Chapter 3 Vector-valued Functions

3.1 Curves and Motion in Space

Curves of Moving Particles in Space

Let 𝐼 be an open interval. A particle moving in the three-dimensional space traces a path (space curve
or simply, curve) made up of points (𝑥, 𝑦, 𝑧) = (𝑓(𝑡), 𝑔(𝑡), ℎ(𝑡)) , where 𝑡 ∈ 𝐼 represents time.

The three equations 𝑥 = 𝑓(𝑡), 𝑦 = 𝑔(𝑡) and 𝑧 = ℎ(𝑡 ) are called parametric equations. The
position vector of any point on the path is

𝑓(𝑡)
𝐫(𝑡) = (𝑔(𝑡))
ℎ(𝑡)

A familiar example of a three-dimensional path defined parametrically is a straight line defined by

𝑎 + 𝑚𝑡 𝑎 𝑚
𝐫(𝑡) = ( 𝑏 + 𝑛𝑡 ) = (𝑏 ) + 𝑡 ( 𝑛 ), 𝑡 ∈ 𝐑.
𝑐 + 𝑝𝑡 𝑐 𝑝

Dr NG Wee Seng
 Page 2
AY2018-19 Semester 1 MA1511 Engineering Calculus

Derivatives of Vector – valued Functions

The velocity vector and acceleration vector are given respectively by

𝑓 ′ (𝑡) 2 𝑓 ′′ (𝑡)
𝑑 𝑑
𝐫 ′ (𝑡) = 𝐫(𝑡) = (𝑔′ (𝑡)) (velocity), 𝐫 ′′ (𝑡) = 2 𝐫(𝑡) = (𝑔′′ (𝑡)) (acceleration)
𝑑𝑡 𝑑𝑡
ℎ′ (𝑡) ℎ′′ (𝑡)
The velocity vector 𝐫 ′ (𝑡) is tangent to the path at any 𝑡 ∈ 𝐼
The magnitude | 𝐫 ′ (𝑡)| of velocity measures the speed of the particle.

Remarks (Smooth Curves and Piece-wise smooth Curves)

𝑓(𝑡)
A curve 𝐫(𝑡) = (𝑔(𝑡)) , 𝑡 ∈ 𝐼 is said to be smooth if the derivatives 𝑓 ′ (𝑡), 𝑔′ (𝑡) and ℎ′(𝑡) are
ℎ(𝑡)
𝑓′(𝑡) 0
continuous on 𝐼 and 𝐫′(𝑡) = (𝑔′(𝑡)) ≠ (0) for all 𝑡 ∈ 𝐼. Geometrically, a smooth curve has no sharp
ℎ′(𝑡) 0
corners ( cusps ).

Piecewise Smooth Curves

A piecewise smooth curve is made up of a finite number of smooth curves.

In MA1511, we deal only with smooth curves.

Dr NG Wee Seng
 Page 3
AY2018-19 Semester 1 MA1511 Engineering Calculus

Tangent Lines To Smooth Curves

𝑓(𝑡)
Let 𝐫(𝑡) = (𝑔(𝑡)) be a smooth curve and let 𝑃(𝑓(𝑡0 ), 𝑔(𝑡0 ), ℎ(𝑡0 )) be a point on the curve. The
ℎ(𝑡)
tangent line to the curve at 𝑃 is parallel to the tangent vector
𝑓 ′ (𝑡0 )
𝐫 ′ (𝑡0 ) = (𝑔′ (𝑡0 ))
ℎ′ (𝑡0 )

Result 3.1A (Tangent Lines to Parametric Curves)

𝑓(𝑡)
A vector equation of the tangent line to a curve 𝐫(𝑡) = ( 𝑔(𝑡) ) at the point where 𝑡 = 𝑡0 is
ℎ(𝑡)
𝑓(𝑡0 ) 𝑓 ′ (𝑡0 )
𝐫(𝑡) = (𝑔(𝑡0 )) + 𝑡 (𝑔′ (𝑡0 )) , 𝑡 ∈ 𝐑
ℎ(𝑡0 ) ℎ′ (𝑡0 )

Remarks
1. In the above result, 𝑡 is a dummy variable. Each value of t corresponds to a specific point on
the tangent line.

2. For problems where two or more space curves are involved , different symbols should be used
when finding intersection of the curves. For example, to find the intersection (if any) of the
following two space curves representing the paths of two moving particles
2𝑡 𝑡
𝐶1 : 𝐫1 (𝑡) = ( ) and 𝐶2 : 𝐫2 (𝑡) = ( )
𝑡 1 − 𝑡
we solve
𝐫1 (𝑠) = 𝐫1 (𝑡)
1
using different symbols (𝑠 and 𝑡) for the time taken. This will lead to the solutions 𝑠 = 3 and
2 2 1
𝑡 = 3 . It follows that that the two paths cross at the point (3 , 3). Since this occurs when 𝑠 ≠ 𝑡 ,
we conclude that the two moving particles do not collide .

Dr NG Wee Seng
 Page 4
AY2018-19 Semester 1 MA1511 Engineering Calculus

Video Example 3.1.1

Find the line tangent to the given curve at the indicated point.

𝐫(𝑡) = 𝑡𝐢 + 𝑒 1−𝑡 𝐣 − 𝑡 3 k at 𝑡 = 1
1 1
Answer: 𝐫(𝑡) = ( 1 ) + 𝑡 (−1), 𝑡 ∈ 𝐑
−1 −3

Dr NG Wee Seng
 Page 5
AY2018-19 Semester 1 MA1511 Engineering Calculus

Differentiation Rules for Vector-valued Functions

Let u(𝑡) and v(𝑡) be two vector-valued functions of 𝑡 , C be a constant vector, 𝑐 be a constant
scalar and 𝑓 be a differentiable scalar function.
𝑑
1. 𝐂=𝟎
𝑑𝑡
𝑑 𝑑
2. 𝑐𝐮(𝑡) = 𝑐 𝐮(𝑡)
𝑑𝑡 𝑑𝑡
𝑑
3. (𝐮(𝑡) + 𝐯(𝑡)) = 𝐮′(𝑡) + 𝐯′(𝑡)
𝑑𝑡
𝑑
4. 𝑓(𝑡)𝐮(𝑡) = 𝑓 ′ (𝑡)𝐮(𝑡) + 𝑓(𝑡)𝐮′(𝑡)
𝑑𝑡
𝑑
5. 𝐮(𝑡) ∙ 𝐯(𝑡) = 𝐮′(𝑡) ∙ 𝐯(𝑡) + 𝐯′(𝑡) ∙ 𝐮(𝑡)
𝑑𝑡
𝑑
6. 𝐮(𝑡) × 𝐯(𝑡) = 𝐮′(𝑡) × 𝐯(𝑡) + 𝐮(𝑡) × 𝐯′(𝑡)
𝑑𝑡
𝑑
7. 𝐮(𝑓(𝑡)) = 𝑓 ′ (𝑡) 𝐮′(𝑓(𝑡))
𝑑𝑡

Remarks
In the two dimensional space,
𝑓(𝑡)
𝐫(𝑡) = ( ), 𝑎 ≤ 𝑡 ≤ 𝑏
𝑔(𝑡)
Derivatives and related quantities can be defined accordingly. For example,
𝑓 ′ (𝑡)
𝐫 ′ (𝑡) = ( ′ )
𝑔 (𝑡)

′ 𝑓′′ (𝑡)
𝐫 ′(𝑡) = ( ′ )
𝑔′ (𝑡)

Dr NG Wee Seng
 Page 6
AY2018-19 Semester 1 MA1511 Engineering Calculus

Two Examples of Space Curves and Their Parametric Equations

1. Line Segments

The line segment joining two distinct points, 𝐴(𝑥1 , 𝑦1 , 𝑧1 ) and 𝐵(𝑥2 , 𝑦2 , 𝑧2 ) has parametric
representations
𝑥1 𝑥2 (1 − 𝑡)𝑥1 + 𝑡𝑥2
𝑦 𝑦
𝐫(𝑡) = (1 − 𝑡) ( 1 ) + 𝑡 ( 2 ) = ((1 − 𝑡)𝑦1 + 𝑡𝑦2 ) , 0 ≤ 𝑡 ≤ 1.
𝑧1 𝑧2 (1 − 𝑡)𝑧1 + 𝑡𝑧2

To see this, we first write

⃗⃗⃗⃗⃗ = 𝑡𝐴𝐵
𝐴𝑃 ⃗⃗⃗⃗⃗ for some 0 ≤ 𝑡 ≤ 1

This gives

⃗⃗⃗⃗⃗ − ⃗⃗⃗⃗⃗⃗
𝑂𝑃 ⃗⃗⃗⃗⃗ − ⃗⃗⃗⃗⃗⃗
𝑂𝐴 = 𝑡( 𝑂𝐵 𝑂𝐴 )
and hence,

𝑂𝑃 = (1 − 𝑡)⃗⃗⃗⃗⃗⃗
𝐫(𝑡) = ⃗⃗⃗⃗⃗ 𝑂𝐴 + 𝑡 ⃗⃗⃗⃗⃗⃗⃗
𝑂𝐵
as required.
Note that 𝑡 = 0 and 𝑡 = 1 give the points 𝐴 and 𝐵 respectively.

Remark
In a two-dimensional space, the line segment joining two distinct points 𝐴(𝑥1 , 𝑦1 ) and
𝐵(𝑥2 , 𝑦2 ) has parametric representations
(1 − 𝑡)𝑥1 + 𝑡𝑥2
𝐫(𝑡) = ( ),0 ≤ 𝑡 ≤ 1
(1 − 𝑡)𝑦1 + 𝑡𝑦2

Dr NG Wee Seng
 Page 7
AY2018-19 Semester 1 MA1511 Engineering Calculus

2. Circles (In a 2-Dimensional Space)

A circle of radius 𝑟 centered at the origin (0, 0) has parametric representations

𝑟 cos 𝑡
𝐫(𝑡) = ( ) , 0 ≤ 𝑡 ≤ 2𝜋
𝑟 sin 𝑡
where 𝑡 = 0 and t = 2𝜋 both correspond to the point (1, 0) and the direction of increasing
𝑡 is an anti-clockwise traversal of the circle from the initial point (1, 0) back to the same point,
(1, 0)

Remark
The range of values of 𝑡 has to be adjusted when C is a sector of a circle.
For example, if C is a semi-circle from (0, 1) to (0, -1) in an anti-clockwise sense,
𝜋 3𝜋
then ≤𝑡≤ (see the above diagram)
2 2

Dr NG Wee Seng
 Page 8
AY2018-19 Semester 1 MA1511 Engineering Calculus

3.2 Integrals of Vector – valued Functions

Let
𝑓(𝑡)
𝐫(𝑡) = (𝑔(𝑡)) = (𝑓(𝑡))𝐢 + (𝑔(𝑡))𝐣 + (ℎ(𝑡))𝐤
ℎ(𝑡)
Indefinite Integrals

We define the indefinite integral ∫ 𝐫(𝑡)𝑑𝑡 in terms of its component functions 𝑓, 𝑔 and ℎ by

∫ 𝐫(𝑡)𝑑𝑡 = (∫ 𝑓(𝑡)𝑑𝑡)𝐢 + (∫ 𝑔(𝑡)𝑑𝑡)𝐣 + (∫ ℎ(𝑡)𝑑𝑡)𝐤 .

For example, if
𝐫(𝑡) = 2𝑡 𝐢 + (sin 𝑡)𝐣 + (cos 𝑡)𝐤
then,

∫ 𝐫(𝑡)𝑑𝑡 = ( ∫ 2𝑡𝑑𝑡 )𝐢 + (∫ sin 𝑡 𝑑𝑡)𝐣 + (∫ cos 𝑡 𝑑𝑡)𝐤

=( 𝑡 2 + 𝐶1 )𝐢 + (− cos 𝑡 + 𝐶2 ) 𝐣 + (sin 𝑡 + 𝐶3 )𝐤
where 𝐶1 , 𝐶2 and 𝐶3 are arbitrary constants. Note that we do not use the same integration constant
for the three integrals.

Given the relation between the position vector 𝐫(𝑡) and the velocity vector, 𝐫 ′ (𝑡), we can integrate
the velocity vector to get the position vector. Similarly, we integrate the acceleration vector to obtain
the velocity vector.

Definite Integrals
𝑏
We define the definite integral ∫𝑎 𝐫(𝑡)𝑑𝑡 in terms of its component functions 𝑓, 𝑔 and ℎ by
𝑏 𝑏 𝑏 𝑏
∫𝑎 𝐫(𝑡)𝑑𝑡 = (∫𝑎 𝑓(𝑡)𝑑𝑡) 𝐢 + (∫𝑎 𝑔(𝑡)𝑑𝑡) 𝐣 + (∫𝑎 ℎ(𝑡)𝑑𝑡) 𝐤 .

Dr NG Wee Seng
 Page 9
AY2018-19 Semester 1 MA1511 Engineering Calculus

Video Example 3.2.1

A particle moves in space in such a way that its acceleration vector is
𝑡
a(𝑡) = ( 𝑒 𝑡 )
sin 𝑡
The initial (t = 0) position and initial velocity vector are (1, 0, 1) and 2i .Find the position vector
r(𝑡) of the particle.

𝑡3
+ 2𝑡 + 1
6
Answer: 𝐫(𝑡) = ( )
𝑒𝑡 − 𝑡 − 1
− sin 𝑡 + 𝑡 + 1

Dr NG Wee Seng
 Page 10
AY2018-19 Semester 1 MA1511 Engineering Calculus

3.3 Arc Length

The length , 𝐿 of a smooth curve
𝑓(𝑡)
𝐫(𝑡) = (𝑔(𝑡) ), 𝑎 ≤ 𝑡 ≤ 𝑏
ℎ(𝑡)

traced exactly once as 𝑡 increases from 𝑡 = 𝑎 to 𝑡 = 𝑏 is given by

Result 3.3A (Length of Curve)

𝑏

𝐿 = ∫ √(𝑓′(𝑡))2 + (𝑔′(𝑡))2 + (ℎ′(𝑡))2 𝑑𝑡

𝑎

Remarks
1. For a curve in a two-dimensional space:
𝑓(𝑡)
𝐫(𝑡) = ( ), 𝑎 ≤ 𝑡 ≤ 𝑏,
𝑔(𝑡)
𝑏

𝐿 = ∫ √(𝑓′(𝑡))2 + (𝑔′(𝑡))2 𝑑𝑡
𝑎

2 For a curve defined explicitly by 𝑦 = 𝑓(𝑥) , if we represent C by the following pair of

parametric equations
𝑥 = 𝑡, 𝑦 = 𝑓(𝑡)
where 𝑎 ≤ 𝑡 ≤ 𝑏 for some real numbers a and 𝑏 , a < b, then the above formula gives the
length of C
𝑏

𝐿 = ∫ √1 + (𝑓′(𝑡))2 𝑑𝑡
𝑎

Dr NG Wee Seng
 Page 11
AY2018-19 Semester 1 MA1511 Engineering Calculus

To illustrate the arc length formula, we consider a two-dimensional unit circle centered at the origin
(0, 0) which can be parametrised by the vector function
cos 𝑡
𝐫(𝑡) = ( ) , 0 ≤ 𝑡 ≤ 2𝜋.
sin 𝑡
The length of the circumference of this circle, which we know is 2π, can be found by the above
formula :
2𝜋 2𝜋

L = ∫ √(− sin 𝑡) 2 + (cos 𝑡)2 𝑑𝑡 = ∫ √1𝑑𝑡 = 2𝜋.

0 0

Video Example 3.3.1

A particle moves along the helix
r(𝑡) = (𝑐𝑜𝑠 𝑡)i + (sin t) j + t k
from 𝑡 = 0 to 𝑡 = 2𝜋.
How long is the path?
Answer: 2√2𝜋

Dr NG Wee Seng
 Page 12
AY2018-19 Semester 1 MA1511 Engineering Calculus

3.4 Line Integrals

Line Integrals and Areas
Given a positive function 𝑓 defined on an interval [𝑎, 𝑏], the area between the curve 𝑦 = 𝑓(𝑥) and
the 𝑥 −axis for 𝑎 ≤ 𝑥 ≤ 𝑏 is given by the definite integral
𝑏

∫ 𝑓(𝑥)𝑑𝑥 .
𝑎

height = 𝑓(𝑥, 𝑦)

Similarly, given a positive continuous function 𝑓(𝑥, 𝑦) and a curve 𝐶 on the 𝑥 – 𝑦 plane, the area of
the “fence” whose base is the curve 𝐶 and whose height above any point (𝑥, 𝑦) on C is 𝑓(𝑥, 𝑦) is
given by the so-called line integral of 𝒇 along 𝑪 , denoted by


C
f ( x, y ) ds.

The value of the above integral is given by Result 3.4A .

Result 3.4A (Line Integrals over Two-dimensional Smooth Curves)
If 𝑓(𝑥, 𝑦) is defined on a smooth curve 𝐶 : 𝐫(𝑡) = 𝑥(𝑡) 𝐢 + 𝑦(𝑡) 𝐣 , 𝑎 ≤ 𝑡 ≤ 𝑏 , the line
integral of 𝑓 along 𝐶 , denoted by 
C
f ( x, y ) ds is given by

C
f ( x, y ) ds =

Dr NG Wee Seng
 Page 13
AY2018-19 Semester 1 MA1511 Engineering Calculus

Remarks
1. The above formula is applicable to any continuous function defined along any smooth curve.

2. When 𝑓(𝑥, 𝑦) = 1, the line integral 

C
f ( x, y ) ds gives the length of the curve C.

Video Example 3.4.1

Find the line integral   yx  1 ds

C
where 𝐶 is the upper half of the unit circle 𝑥 2 + 𝑦 2 = 1
from (1, 0) to (-1, 0)
Answer: 𝜋

Dr NG Wee Seng
 Page 14
AY2018-19 Semester 1 MA1511 Engineering Calculus

Line Integrals over Three -dimensional Smooth Curves

If 𝑓(𝑥, 𝑦, 𝑧) is defined on a smooth curve 𝐶 : 𝐫(𝑡) = 𝑥(𝑡) 𝐢 + 𝑦(𝑡) 𝐣 +𝑧(𝑡) 𝐤 , 𝑎 ≤ 𝑡 ≤ 𝑏, the

line integral of 𝑓 along 𝐶 , denoted by 

C
f ( x, y, z ) ds is
𝑏

∫ 𝑓(𝑥(𝑡), 𝑦(𝑡), 𝑧(𝑡))√(𝑥 ′ (𝑡))2 + (𝑦 ′ (𝑡))2 + (𝑧′(𝑡))2 𝑑𝑡

𝑎
Remark
When 𝑓(𝑥, 𝑦) = 1, the line integral 
C
f ( x, y ) ds gives the length of the curve C.

Line Integrals over Two -dimensional Piecewise Smooth Curves

Let 𝐶 be a piece-wise smooth curve that is a union of smooth curves 𝐶1 , 𝐶2 , … , 𝐶𝑛 joined together in a
continuous manner (that is, the terminal point of 𝐶1 = the initial point of 𝐶2 , and so on ).

We define the line integral of 𝑓 over 𝐶 as the sum of the individual line integrals


C
f ( x, y) ds   f ( x, y) ds   f ( x, y) ds  ...   f ( x, y) ds
C1 C2 Cn

Orientation of Curves
Given a curve C represented by 𝐫(𝑡) = 𝑥(𝑡) 𝐢 + 𝑦(𝑡)𝐣 , 𝑎 ≤ 𝑡 ≤ 𝑏, the direction of the movement
along the curve corresponding to increasing (decreasing) values of 𝒕 gives what we call a positive
(negative) orientation of the curve.

For example, if C is the line joining (0, 0) to (1, 1), the representation r(𝑡) = 𝑡 𝐢 + 𝑡 𝐣 , 0 ≤ 𝑡 ≤ 1
corresponds to a positive orientation.

In computing line integrals, we assume 𝐶 is positively oriented.

Dr NG Wee Seng
 Page 15
AY2018-19 Semester 1 MA1511 Engineering Calculus

Video Example 3.4.2

Find the line integral 

C
x  3 y 2  z ds where 𝐶 is line segment joining (0, 0, 0) to (1, 1, 1)
Answer: 2√3

Dr NG Wee Seng
 Page 16
AY2018-19 Semester 1 MA1511 Engineering Calculus

3.5 Parametric Surfaces

Parametric Surfaces
So far, our definition of a surface in three-dimensions has been the graph of a function 𝑓 defined
explicitly by

𝑧 = 𝑓(𝑥, 𝑦).
We now introduce a more general way of representing a surface using parametric equations.

Consider a vector function 𝐫(𝑢, 𝑣) of two variables 𝑢 and 𝑣, defined on some domain 𝐷 in a two-
dimensional space by

𝐫(𝑢, 𝑣) = 𝑥(𝑢, 𝑣)𝐢 + 𝑦(𝑢, 𝑣)𝐣 + 𝑧(𝑢, 𝑣)𝐤

+ 𝑧(𝑢, 𝑣)𝐤
where the component functions 𝑥(𝑢, 𝑣), 𝑦(𝑢, 𝑣) and 𝑧(𝑢, 𝑣) have continuous partial derivatives.

For each (𝑢, 𝑣) in 𝐷 , 𝐫(𝑢, 𝑣) represents the position vector of a point in space. These points
constitute a surface.
We call this a parametric surface.

Parametrization of Surfaces Defined Explicitly by 𝒛 = 𝒈(𝒙, 𝒚)

It is easy to see that surfaces defined explicitly by 𝑧 = 𝑔(𝑥, 𝑦) can be parametrized by the equations

𝑥 = 𝑢, 𝑦 = 𝑣 and 𝑧 = 𝑔(𝑢, 𝑣)

Dr NG Wee Seng
 Page 17
AY2018-19 Semester 1 MA1511 Engineering Calculus

Video Example 3.5.1

Show that the following parametric equations represent a sphere in the three-dimensional space.
𝑥 = 𝑎𝑠𝑖𝑛 𝛼 𝑐𝑜𝑠 𝛽, 𝑦 = 𝑎𝑠𝑖𝑛 𝛼 𝑠𝑖𝑛 𝛽, 𝑧 = 𝑎𝑐𝑜𝑠 𝛼
0 ≤ 𝛼 ≤ 𝜋, 0 ≤ 𝛽 ≤ 2𝜋.

Dr NG Wee Seng
 Page 18
AY2018-19 Semester 1 MA1511 Engineering Calculus

Normal Vector to Parametric Surfaces

We recall Result 1.4A which gives the following equation of the tangent plane to a surface defined
explicitly by 𝑧 = 𝑔(𝑥, 𝑦) at the point (𝑥, 𝑦) = (𝑎, 𝑏):

𝑔𝑥 (𝑎, 𝑏) 𝑔𝑥 (𝑎, 𝑏) 𝑎
𝐫  (𝑔𝑦 (𝑎, 𝑏)) = (𝑔𝑦 (𝑎, 𝑏))  ( 𝑏 )
−1 −1 𝑔(𝑎, 𝑏)
𝑥
where 𝐫 = (𝑦).
𝑧

For a surface defined parametrically by

𝐫(𝑢, 𝑣) = 𝑥(𝑢, 𝑣)𝐢 + 𝑦(𝑢, 𝑣)𝐣 + 𝑧(𝑢, 𝑣)𝐤 , (𝑢, 𝑣) ∈ 𝐷,

we define the vectors of partial derivatives, 𝐫𝒖 , 𝐫𝒗 defined by

𝐫𝑢 = 𝑥𝑢 𝐢 + 𝑦𝑢 𝐣 + 𝑧𝑢 𝐤

𝐫𝑣 = 𝑥𝑣 𝐢 + 𝑦𝑣 𝐣 + 𝑧𝑣 𝐤

The parametric surface is said to be smooth if 𝐫𝒖 × 𝐫𝒗 ≠ 𝟎 for all (𝑢, 𝑣) in 𝐷.

Given a smooth surface 𝐫(𝑢, 𝑣) and a point P where (𝑢, 𝑣) = (𝑢0 , 𝑣0 ) , the vectors 𝐫𝑢 (𝑢0 , 𝑣0 ) and
𝐫𝑣 (𝑢0 , 𝑣0 ) are parallel to the tangent plane to the surface at P. It follows that the vector

(𝐫𝒖 × 𝐫𝒗 )(𝑢0 , 𝑣0 ) is a normal vector to the tangent plane at P.

Dr NG Wee Seng
 Page 19
AY2018-19 Semester 1 MA1511 Engineering Calculus

Hence, a vector equation of the tangent plane at P can be determined.

Result 3.5A
Let 𝑃 be the point on the parametric surface

r(𝑢, 𝑣) = 𝑥(𝑢, 𝑣)𝐢 + 𝑦(𝑢, 𝑣)𝐣 + 𝑧(𝑢, 𝑣)𝐤 , (𝑢, 𝑣) ∈ 𝐷

with position vector r(𝑢0 , 𝑣0 ) = 𝑥0 𝐢 + 𝑦0 𝐣 + 𝑧0 𝐤 and let n = (𝐫𝒖 × 𝐫𝒗 ) (𝑢0 , 𝑣0 ) be the vector
𝐫𝒖 × 𝐫𝒗 evaluated at (𝑢0 , 𝑣0 ).

A vector equation of the tangent plane at 𝑃 to the surface is given by

𝑥0
r  n= (𝑦0 )  𝐧
𝑧0
𝑥
where 𝐫 = (𝑦) is the position vector of any point on the tangent plane.
𝑧

Dr NG Wee Seng
 Page 20
AY2018-19 Semester 1 MA1511 Engineering Calculus

Video Example 3.5.2

Find a Cartesian equation of the tangent plane to the surface with parametric equations

𝑥 = 𝑢2 , 𝑦 = 𝑣 2 , 𝑧 = 𝑢 + 2𝑣

at the point where 𝑢 = 1 and 𝑣 = 1.

Answer: 𝑥 + 2𝑦 − 2𝑧 + 3 = 0

End of Chapter 3

“I can calculate the motion of heavenly bodies, but not the madness of people.”

– Isaac Newton

Dr NG Wee Seng