Professional Documents
Culture Documents
Unit III
Functions
In this unit, we discuss on some basic concepts on functions and types of functions, the conditions on which
a function has an inverse, the method of finding the derivative of the inverse of a function without finding
the formula for the inverse function, how to define the inverse trigonometric functions, derivatives of the
inverse trigonometric functions, Hyperbolic Functions, inverse hyperbolic functions and their derivatives,
the L’Hopital’s rules and some of the applications of these inverse functions in integrating some special
types of integrals.
Example 1.Let A = ( 1, 1) and B = , . Show that f (x) = x 2 and g (x) = x , x A
2 2 2
are functions from A into B.
Solution x ( 1, 1), x 2 [0, 1) , and Since the square of a real number and the
2 2
product of two real numbers are unique, every member
of A has a unique image under both functions in B.
Therefore, both f and g are functions from A into B.
Example 2.Let A = ( 1, 1) and B = , . Show that g (x) = x is an onto function while
2 2 2
f (x) = x 2 is not an onto function from A into B.
Solution i) Let y , . We need to check for the existence of an x in ( 1, 1) such that g (x) = y.
2 2
58
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
2 2
Now y = x x= y . But y , 1 y 1. Hence x ( 1, 1), so
2 2 2
range
of g is B.
Therefore, g is onto.
ii) f (x) = x 2 x ( 1, 1) f (x) [0, 1). Hence any y , \ [0, 1) doesn’t
2 2
belong
to range of f .
Therefore, f is not an onto function.
Example 3 Let A = ( 1, 1) and B = , . Prove that g (x) = x , x A is a one to one
2 2 2
function
from A into B.
Solution Proof by contradiction
Suppose there exists an element in B that has two distinct pre-images in A.
Example 4 Show that the function given in example 3 is a 1 1 function from A into B.
Solution Follows from the results of example 2 and example 3.
The inverse of a function f from A into B is a function from B into A if and only if f is a 1 1
function from A into B. Hence the inverse of a real valued function f on any subset of the set of real
numbers is a function if and only if f is either strictly increasing or strictly decreasing on that interval.
Properties of Inverses
Let f be a function from A into B. If the inverse of f from B into A is a function it is usually denoted by
1
f and these functions satisfy the condition that
59
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
1 (y)
f (x) = y if and only if f = x x A and y B.
Furthermore; the two functions have the following relations.
i) f 1 1
(x) = f (x) x dom. f.
1
ii) f f ( x) = x x dom. f.
iii) f f 1
( y ) = y y range of f.
Even if we know that a 1 1 function has an inverse it may be difficult to find a formula for the
inverse function. Now let us state some simple method of finding the relations on the continuity and
differentiability of these functions with out finding the formula for the inverse function.
f ' (y) =
1 1
f ' ( x)
for x such that f (x) = y, provided that f (x) 0.
Example 5 Let f (x) = x 3 + 3x +2. Then find f 1 ' (2) and f 1 ' (6).
Solution f being a polynomial, it is differentiable with f (x) = 3x2 + 3 > 0 x .
Thus f is strictly increasing and hence it has an inverse. Now let y = f (x). Then
y = 2 and y = x 3 + 3x +2 x 3 + 3x + 2 = 2 x = 0. Hence f ' (0) = 3.
Therefore, f 1 ' (2) =
1
3
and f 1 ' (6) =
1
6
.
Example 6 Find a formula for f 1 ' (y) if f (x) = 3 x .
Solution Now domain of f = range of f = .
2
1 3 1 2
If f (x) = 3 x , then f (x) = x and y = 3 x if and only if x = y3. Moreover; f (x) = x
3 3
Therefore, f 1 ' (y) = 3 x 2 .
Exercises 3.1
60
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
In exercises 1-8, find an interval on which each of the following functions has an inverse.
1 x
1. f (x) = x 3 5 x 1 2. f (x) = sin 2
x 3. f (x) = 2 4. f (x) =
1 x 1 x2
x
5. f (x) = 4x 3 1 6. f ( x) 3 x x 7. f ( x) 8. f ( x) x 5 x 3
1 x
1
9. Find ( f ) ' (2e2), where f (x) = x ℓn x.
This section mainly focuses on how to develop a method of defining the inverses of the trigonometric
functions and then on how to find their derivatives and their applications in integrating some special types
of integrals.
We fully discuss on the sine, tangent and secant functions and the other trigonometric functions are left to
the reader.
I. Let f (x) = sin x.
The sine function f (x) = sin x is neither strictly increasing nor strictly decreasing in its entire domain, and
hence the sine function has no inverse in its entire domain. Now we need to choose an interval on which the
sine function has an inverse on the restricted domain. To do so, choose an interval around the origin on
which the sine function is strictly increasing and the cosine function is non-negative, since the sine and the
cosine functions are related by the identity
sin 2 x cos 2 x 1 , x .
Restrict its domain to , , so that the new function becomes strictly increasing on the restricted
2 2
domain and the cosine function is non-negative.
3 1 2
1 1
i) sin 0 ii) sin iii) sin
2 2
61
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
1
Solutions i) Let x = sin 0.
x = sin 1
0 and x , sin x = 0 and x 2 , 2
2 2
x = n , where n Z and x , x = 0.
2 2
Therefore, sin 1 0 = 0.
3
1
ii) Let x = sin .
2
3 3
x = sin 1 and x , sin x = and x ,
2 2 2 2 2 2
x= + (4n + 1) , where n Z and x , x= .
6 2 2 2 3
3 = .
1
Therefore, sin 2
3
1 2
iii) Let x = sin .
2
1 2 2
x = sin and x , sin x = and x ,
2 2 2 2 2 2
x= + (4n 1) , where n Z and x , x= .
4 2 2 2 4
= .
1 2
Therefore, sin
2
4
From the definition of the arcsine function we get:
y = sin 1
x if and only if x = sin y x 1, 1 and y , .
2 2
Therefore, In general we can conclude that:
sin ( sin 1
x ) = x , x 1, 1
1
and sin (sin x ) = x, x , .
2 2
Now we need to find the derivative of the arcsine function and its applications on evaluating some integrals.
1
y = sin x if and only if x = sin y.
Hence taking the derivative of both sides of x = sin y with respect to x, we get:
dy dy 1
1 = (cos y) =
dx dx cos y
But y , , cos y > 0 and hence cos y = 1 sin 2 y = 1 x2 .
2 2
Therefore
62
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
sin
1
1
x '= x
1 x2
1, 1 .
From the nature of the derivative of the arcsine function we can observe that integrals of the form
dx
2 2 , where a > 0 can be evaluated by substituting x = a sin t.
a x
dx
Example 2 Integrate 2 2 , where a > 0.
a x
Solution Let x = a sin t.
dx
Then dx = a cos t dt and a
2
x
2
= a cos t. Hence 2 2 = dt = t + c, where c .
a x
dx 1 x
Therefore, 2 2 = sin + c, where c .
a x a
3 3
2
Example 3 Evaluate dx .
9x 2
0
Solution Let x = 3 sin t. Then dx = 3 cos t dt and 9 x 2
= 3 cos t.
3 3
2
dx
3
Hence =
dt = t = .
3
9x 2 0 3
0 0
3 3
2
dx
Therefore, = .
9x 2 3
0
63
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
f 1 : , ,
2 2
whose value at any x , usually denoted by
1
arctan x or tan x , is defined by:
y = tan 1
x if and only if x = tan y y , .
2 2
1 1 1 1
i) tan 0 ii) tan 3 iii) tan
3
1
Solutions i) Let x = tan 0.
x = tan 1
0 and x , tan x = 0 and x ,
2 2 2 2
x = n , where n Z and x , x = 0.
2 2
Therefore, tan 1 0 = 0.
1
ii) Let x = tan 3.
x = tan 1
3 and x
, tan x = 3 and x ,
2 2 2 2
x= + n, where n Z and x , x= .
3 2 2 3
Therefore, tan 1 3 = .
3
1 1
iii) Let x = tan .
3
1 1 1
x = tan and x , tan x = and x ,
3 2 2 3 2 2
x= + 2n, where n Z and x , x= .
6 2 2 6
1 1
Therefore, tan = .
3 6
From the definition of the arctangent function we get:
y = tan 1
x if and only if x = tan y , y , .
2 2
Therefore, In general we can conclude that:
tan ( tan 1
x ) = x , x ,
64
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
1
and tan (tan x ) = x, x , .
2 2
We need to find the derivative of the arctangent function and its applications on evaluating some integrals.
1
Now y = tan x if and only if x = tan y. Hence taking the derivative of both sides of x = tan y, we get:
dy dy 1
1 = ( sec 2 x ) =
dx dx sec 2 y
But y , , sec y > 0 and hence sec 2 y = 1 tan 2
y =1 x2.
2 2
Therefore, tan 1
x '=
1 x2
1
,x
, .
From the nature of the derivative of the arctan function we can observe that integrals of the form
dx
a2 x 2 , where a > 0 can be evaluated by substituting x = a tan t.
dx
Example 5 Integrate 2 2 , where a > 0.
a x
Solution Let x = a tan t. Then dx = a sec 2 t dt and a
2
x 2
= a2 sec 2 t .
dx 1 1
Hence a2 x 2 = dt =
t + c, where c .
a a
dx 1 1 x
Therefore, a2 x 2 = tan + c, where c .
a a
3
dx
Example 6 Evaluate 9 x 2 .
0
Solution Let x = 3 tan t. Then dx = 3 sec 2 t dt and 9 x
2
= 9 sec 2 t .
3
dx 1 4 1
Hence 4 =
0 9 x
2 =
3 dt =
3
t
0 0 12
.
3
dx
Therefore, 9 x 2 = 12 .
0
The secant function f (x) = sec x is neither strictly increasing nor strictly decreasing, and hence it has no
inverse in its entire domain. The secant function being the reciprocal of the cosine function and the cosine
65
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
sin 2 x cos 2 x 1
Now we need to choose an interval, around the origin, on which the sine function is non-negative.
If we restrict its domain to 0, , , in which sine function is non-negative, then this new
2 2
function becomes one-to-one in the restricted domain.
66
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
and sec 1 (sec x) = x, x 0, , .
2 2
Furthermore, taking the derivative of both sides of x = sec y with respect to x, we get:
dy dy 1
1 = (tan y) (sec y) = sec y tan y
dx dx
But y 0, , , tan y = sec 2 y 1 = x2 1 and sec y tan y > 0.
2 2
Therefore,
sec 1 x ' = x
1
x21
x
1, 1 ' .
From the nature of the derivative of the arcsecant function we can observe that integrals of the form
dx
, where a > 0 can be evaluated by substituting x = a sec t.
x x2 a2
dx
Example 8 Integrate .
x x2 9
67
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
y = cos 1 x if
cos ' =
1
1 x ( 1
Cosine [ 1 , 1] [0, ] x
and only if x = cos 1 x2
y , 1)
Exercises 3.2
In exercises 1-5, simplify the given expressions.
1. arcsin (sin ) 2. arccos (sin ) 3. cos (2 arcsin x) 4. sin (2 arcsin x) 5.
4 6
cos (arctan x )
In exercises 6-10, find the derivative of each of the following functions.
f ( x ) cos 1 x2 1 x 1 x 1 1 arctan x
6.
7. f ( x ) tan 8. f ( x) 2 3 arctan x
x 1
9. f ( x ) x arcsin x 1 x 2
10. f ( x ) x arctan x 2
In exercises 11-16, integrate the given indefinite integrals.
x
dx e dx
11. 12. 1 e 2x 13.
x 2 4x 7
arctan 2 x dx
1 4x 2
68
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
dx dx
14. x 4x 4
25
15. a 2sin 2 x b 2 cos 2 x , where a, b > 0 16.
x3
2 x 2 4 x 3 dx
1
dx
0 x 2 4x 7
21. Let f (x) = arcsin x arccos x . Show that f ' ( x ) = 0 and conclude that arcsin x arccos x =
.
2
Other types of functions called the hyperbolic functions defined below plays fundamental roles in various
disciplines, in particular in integrating some special types of integrals.
Definition 3.8 Let t be a real number. The hyperbolic cosine of t, denoted cosh t
and the hyperbolic sine of t, denoted sinh t are defined by:
cosh t =
1
2
et e
t
and sinh t =
1
2
et e
t
Note that: i) Dom. Cosh = dom. Sinh = and range of sinh = while range of cosh = [1, ).
ii) Hyperbolic cosine is an even function while hyperbolic sine is an odd function.
iii) cosh 2 t sinh 2
t = 1, t .
The other four hyperbolic functions, namely the hyperbolic tangent, the hyperbolic secant and the
hyperbolic cosecant are defined by:
sinh t 1 cosh t 1
tanh t = , sech t = , coth t = and csch t = .
cosh t cosh t sinh t sinh t
69
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
x = sinh t x =
1
2
et e
t
2x = e t e t
2x e t = e 2t 1 e 2t 2 x e t 1 = 0 e t x x2 1 .
Since e t 0 for any t , et x x2 1 . Hence t = n
x x 2 1
.
Therefore, the inverse of the hyperbolic sine function f (x) = sinh t is given by the formula
x n x 2 1
1
sinh x
Therefore, sinh
1
x ' 1
x .
x 2 1
Since the hyperbolic tangent function f (x) = tanh t is one-to-one in its domain, hence there is no need to
restrict its domain. However; tanh t 1, so the inverse function will be defined for x 1.
Now let x = tanh t.
t
et e e 2t 1
x = tanh t x = t t x= x e 2t + x = e 2t
1 1 + x =
e e e 2t 1
e 2 t 1 x
2t 1 x 1 1 x
e t= n
1 x
.
1 x 2
1 1 1 x
tanh x = n
1 x
for x 1.
2
70
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
Since sech t is not one-to-one we need to restrict the domain to [0, ). Moreover 0 sech t 1 and so the
inverse function will be defined only for 0 x 1. Now let x = sech t.
2
x = sech t x = t t x e 2t + x = 2 e t x e 2t 2 e t x = 0
e e
1 1 x 2 .
et
x
1 1 x 2
Since e t 1 for any t [0, ), t = n .
x
Therefore, the inverse of the function sech t is given by the formula
1 1 x2
sec h 1 x = n for 0 x 1.
x
Therefore, sec h
1
x ' 1
for 0 x 1.
x 1 x2
The table below presents the inverses, derivatives and domains of the remaining three hyperbolic functions.
Hyperbolic Identities
I Addition
a) sinh ( x y ) sinh x cosh y cosh x sinh y c)
tanh x tanh y
tanh ( x y )
1 tanh x tanh y
71
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
Exercises 3.3
In exercises 1-6, prove that:
1 sinh 2 x cosh 2 x 1 1
1. = coth x 2. sinh x 2 1 = cosh x for x ≥ 1.
1 sinh 2 x cosh 2 x
1
1 1
cosh x
3. cosh x21 = sinh x for x ≥ 0. 4. If y = 2
, then
x 1
dy
(1 x 2 ) xy 1 .
dx
cosh t
t 1
5. for t > 0, x 2 1 dx sinh 2t
1
2 4
6. If a = c cosh x and b = c sinh x, then show that ( a b) 2 e 2 x a 2 b 2 c 2 .
In exercises 7 and 8 find the derivative of f if
7. f ( x) coth ln x 1
8. f ( x ) cosh tanh
1
2x
In exercises 9 and 10 evaluate each of the following integrals.
72
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
1 4
cosh x
0
9. t cosh t sinh t dt 10. 1 x
dx
im
.
x
73
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
im f ( x)
If f (x ) = 0 = im g (x) and im = L, then
xa xa x a g ( x)
f ( x) f ( x)
im = L = im .
x a g ( x) x a g ( x)
im im im
An analogous result holds if is replaced by or where c (a,
xa x b x c
b).
In the latter case f and g need not be differentiable at c.
b) Suppose f and g are differentiable on (a, ) and g (x) 0 for x > a.
f ( x)
im f ( x ) = 0 = im g ( x ) and im
If = L, then
x x x g ( x)
f ( x) f ( x)
im = L = im .
x g ( x) x g ( x)
im im
An analogous result holds if is replaced by .
x x
5x 3x
Example 1 Find im x .
x 0
Solution Since
im 5 x 3 x = 0 = im x
, applying L’Hopital’s rule we get:
x 0 x 0
74
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
1
arcsin x 1 x2 1
im 2 = im = im = 1.
x 1 x x 1 x
x 1 1 x2
1 x2
arcsin x
Therefore, im 2 = 1.
x 1 1 x2
x
im e x 1
Example 4 Find .
x 0 x2
im e x x 1 im x 2 , applying L’Hopital’s rule we get:
Solution Since =0=
x0 x0
x
im e x 1 im e
x 1
im e x 1 im 2 x
2 = . But =0= .
x 0 x x 0 2x x 0 x0
Applying L’Hopital’s rule once more we get:
x
im e x 1 im e
x 1
im
ex 1
2 = = = .
x 0 x x 0 2x x0 2 2
x
im e x 1 1
Therefore, = .
x 0 x2 2
The Intermediate Form
im f ( x)
If f (x ) = or and = im g (x) = or , then we say that im has
xa xa x a g ( x)
im im
the indeterminate form . The same notion can be applied if is replaced by ,
xa
xa
im im im
, and .
xa x x
im f ( x)
If f (x ) = or , im g (x) = or and im = L,
xa xa x a g ( x)
then
f ( x) f ( x)
im = L = im .
x a g ( x) x a g ( x)
im im im
An analogous result holds if is replaced by or where c
xa x b x c
(a, b).
In the latter case, neither f nor g will be differentiable at c.
b) Suppose f and g are differentiable on (a, ) and g (x) 0 for x > a.
75
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
f ( x)
im f ( x ) = or , im g ( x ) = or and im
If = L,
x x x g ( x)
then
f ( x) f ( x)
im = L = im .
x g ( x) x g ( x)
im im
An analogous result holds if is replaced by .
x x
1
im x
Example 5 Find 1 .
x0 x2
e
1
im 1 x2
Solution. x = = im e . Hence apply L’Hopital’s rule.
x 0
x 0
1 1
1
im x x2 x2
1 = im 1 2 = im x e = 0.
x0 x2 x 0 x 2 x 0
e 3 2
e x
1
im x
Therefore, 1 = 0.
x0 x2
e
Example 6 Find
im x n 1 .
x
x0
n 1
im x n 1 = im x im n 1 = = im 1
Example 7 and .
x0 x x 0 1 x0 x x 0 x
x
Hence by apply L’Hopital’s rule we get:
im x n 1 = im x
= 0.
x0 x x 0
Therefore,
im x n 1 = 0.
x0 x
im 1 x
Example 8 Find n x .
x 0
im 1 x
im x n ( n 1x ) im x n (n 1x )
Solution n x = x 0 e = x0 = 1.
x 0 e
im 1 x
Therefore, n x = 1.
x 0
1
2 n (n x )
Example 9 Find im x .
x
76
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
1
n (n x )
Solution 10 im = = im x 2
.
x
x
1 1 2
2 n (n x ) im x n x
Thus im x = 1
= im x n x = 0.
x 2 x x
x
1
x 2 n (n x )
Therefore, im = 0.
x
indeterminate forms 0 or
.
0
im x n x .
Example 11 Find
x 0
n x
Solution Since
im x = 0 and im n x = , im x n x = im .
x0 1 x
x0 x0 x 0
77
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
dx
x 4x 4
25
i) x x2 4
ii)
dx
4
3 2
x 2
4x 8
3
78
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
dx
4. Integrate
a sin x b 2 cos 2 x
2 2 , where a and b are positive real numbers.
5. Simplify the expressions
i) cos (2 arcsin x) ii) sin (2 arcsin x)
6. Show that for any real numbers x and y
i) sinh ( x y ) sinh x cosh y cosh x sinh y ii)
cosh ( x y ) cosh x cosh y sinh x sinh y
7. Prove that:
1
i) sinh 1
x 2
1 = cosh x for x ≥ 1.
'=
1
1 n x 2 1 1
ii) cosh x = x for x 1and cosh x for x ( 1, 1).
x 21
x n x 2 1
1
(Hint: use the fact that sinh x
).
1
iii) cosh 1
x 2
1 = sinh x for x ≥ 0.
im 1 x 1 x im e x e x x 2 2
iv) v)
x 0 x x 0 sin 2 x x 2
Unit I
Vectors, Lines and Planes
1.1 Vectors
1.1.1 Scalar and Vector Quantities
A scalar is a quantity that is determine by its magnitude (its number of units measured in a suitable scale).
Examples 1 Mass, length, temperature, voltage are examples of scalar quantities.
Quantities that have both magnitude and direction are called vectors. A vector is usually represented by an
arrow, the length of the arrow represents the magnitude of the vector and the arrow head indicates the
direction of the vector.
Examples 2 Velocity, acceleration, displacement and force are examples of vector quantities.
79
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
When a vector is represented by an arrow, say AB , the point A is called the initial point (tail) and B is
called the terminal point (head) of the vector. Vectors can also be represented by a single letter (usually
small letter) with a bar over it such as a , b etc.
Example 3
terminal point
a
initial point
Definition 1.1 Two non-zero vectors a and b are said to be equal, denoted a = b , if
and only if they have the same direction and magnitude, regardless of the
position of their initial points.
Definition 1.2 A Vector is called a free vector, provided that its magnitude and direction
are fixed, but its position is indeterminate. If the initial point of a free
vector is fixed, then it is called a localized vector.
Definition 1.3 Two ( free) Vector are equal if and only if they have the same magnitude
and direction.
Definition 1.4 A vector of magnitude ( modulus) unity ( one) is called a unit vector.
Definition 1.5 Any vector whose magnitude is zero and direction indeterminate
is called a null ( zero) vector. A null vector is denoted by 0 .
80
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
A
Note that: For any non-zero vector A , A
is a unit vector in the direction of that of vector
A.
1.1.3 Vectors in 2 and 3
From this definition, the initial point (tail) of a vector can be anywhere with out changing the direction and
the magnitude of the vector.
Vector Addition
Definition 1.7 Let AB and BC be two vectors in a plane. Then the sum AB + BC is the
vector represented by AC .
Theorem. 1.1
a) For any two vectors a and b
a + b = b + a .
b) For any three vectors a , b and c
a + (b + c )=(a + b )+ c .
For any vector a there exists a vector – a such that a + (– a )= 0 .– a , called the opposite of
vector a , has the same magnitude and opposite in direction to that of a .
Subtraction of Vectors
For any two vectors a and b , a – b is the vector defined by adding a and – b pictorially
illustrated as follows:
81
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
b b
a ( b )
a
a
Scalar Multiplication
Definition 1.8 Let a be any vector and k be any scalar. k a is a vector whose magnitude is
k times a and its direction is that of a if k > 0, opposite to that of a if
k < 0 and indeterminate if k = 0.
Definition 1.9 For any two vectors a and b and any two scalars m and n
i) m ( a + b ) = ma +m b ii) (m + n) a = m a + n a
Definition 1.10 Two vectors a and b are said to be parallel if a =t b for some real
number t.
Let a and b be any two non-zero vectors which are not parallel. Then any vector u in the plane of
a and b can be uniquely expressed as
u =s a +t b
Note that: Any position vector is uniquely determined by the coordinates of its terminal point.
Now the position vector (1, 0) is usually denoted by i and (0, 1) by j . The vectors i and j , being
perpendicular , i , j is called an orthogonal base.
Note that: For any non-zero free vector a there is a unique position vector b such that a = b .
82
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
Now let (x, y) be the terminal point of a position vector u . Then u can be expressed as:
u =x i +y j .
Similarly, if r is a free vector with initial point P(x1, y1) and terminal point Q(x2, y2) can be expressed as:
r = (x2 – x1) i + (y2 – y1) j .
Notation: u = (x, y) represents the position vector u with terminal point (x, y).
Note that: i = (1, 0) and j = (0, 1) are unit position vectors determined by the coordinates of their
terminal points.
Similarly, i = (1, 0, 0), j = (0, 1, 0) ) and k = (0, 0, 1) are mutually perpendicular
unit position vectors in 3.
Now let (x, y, z) be the terminal point of a position vector u in 3. Then u can be expressed as:
u =x i +y j +z k .
The length (norm) of a vector u = (x, y, z) is denoted and defined by:
2
u x y2 z2
Similarly, if r is a free vector with initial point P(x1, y1, z1) and terminal point Q(x2, y2, z2) can be
expressed as:
r = (x2 – x1) i + (y2 – y1) j + (z2 – z1) k
Example 4 Let r = (2, 0, 5). Find the coordinates of the terminal point of the vector that is
equal to r if P (2, 3, 1) is its initial point.
Solution Let Q (x, y, z) be the terminal point of the required vector.
Then PQ = r (x – 2, y – 3, z – 1) = (2, 0, 5)
x – 2 = 2, y – 3 = 0 and z – 1 = 5
x = 4, y = 3 and z = – 4.
Therefore, (4, 3, – 4) is the terminal point of the required vector.
Example 5 Let u = (2, 0, 5) and let P (0, 3, – 6) and Q (– 4, 3, 4) be the initial point and
terminal points of a vector. Find a real number t such that u =t PQ
Definition 1.11 Let a and b be any two non-zero free vectors, and let (x1, y1) and (x2, y2) be
position vectors associated to a and b respectively. The angle between a and b
is defined to be the angle between the two position vectors (x 1, y1) and (x2, y2).
83
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
Note that: The angle between any two non-zero position vectors satisfies the condition
0
Further more; if = 0 or = , then the two position vectors are parallel and
if = , then the two position vectors are perpendicular.
2
Definition 1.12 Let a and b be any two non-zero free vectors. The scalar (dot or inner)
product
a . b = a b cos
Note that: a , b and cos are numbers and hence scalar (dot) product of any two
non-zero vectors is a scalar quantity.
and cos 0 = 1.
ii) The scalar product of any two non-zero perpendicular vectors a and b is zero.
.b
i.e. a = 0, since = and cos = 0.
2 2
iii) If is the angle between two non-zero vectors a and b , then
a . b
cos = a b
i) a .b = b . a ii) k ( a .b ) = (k a ) . b =
a . (k b )
iii) a .( b c) = a . b + a . c
84
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
a .b = x1 x2 y1 y2
1. A. B A B (Cauchy-Schwarz Inequality)
A B
2. A + B (Triangle Inequality)
i) a =4 i +3 j and b =8 i 6 j
i) a .b = (3, 4)
. (4, 3) = 12 12 = 0.
and ii) a .b = ( 4, 3)
. (8, 6) = 32 18 = 50.
Example 7 Given: The angle between two unit vectors p and q is 60. Then find
i) p q ii) the angle between and +
.
p p q
Solutions i) p q 2
= ( p + q ) ( p + q )
= p 2
+2 p q cos 60 + q 2
= 2 (1 + cos 60)
= 3.
Therefore, p q = 3.
85
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
= 3 cos ii)
From i) and ii) we get:
3
3 cos = 1.5 cos =
2
= 30.
Therefore, the angle between p and p + q 30.
Example 8 Given: a = i and b = i + j . Find the value of k such that
i) a +k b is orthogonal to a
ii) a +k b is orthogonal to b
Solutions a = 1 and b = 2.
Now a
.( a +k b )=0 a 2
+ k a b = 0 1 + k = 0 k = 1.
Therefore, k = 1.
Now b
.( a +k b )=0 k b 2
+ a b = 0 1 + 2k = 0 k =
0.5.
Therefore k = 0.5.
Example 9 Find the angle between ( 6 , 1, 1) and the positive x axis.
Solution Let A = ( 6 , 1, 1) and B = (1, 0, 0) be two position vectors.
Then A B = A B cos
A B 6 3
Hence, cos = cos = = .
A B 8 2 6
Therefore, the angle between ( 6 , 1, 1) and the positive x axis is .
6
Definition 1.13 Let A = (a1, a2, a3) be a non-zero vector. The angles , and (between 0 and
inclusively) that A makes with the positive x, y and z axes respectively are called the
direction angles of A.
86
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
Now take the unit vectors i , j and k . From this definition we get:
a1 a2 a3
cos = , cos = and cos =
A A A
Furthermore;
a1 = A cos , a2 = A cos = and a3 = A cos
Solution A = ( 2) 2 02 32 = 13 .
2 3
Hence cos = , cos = 0 and cos = .
13 13
1 2 1 1 3
= cos
, = cos 0 and = cos
.
13 13
1 2 1 3
Therefore, cos
, and cos are the direction cosines of A.
13
2
13
Definition 1.14 Let A be a non-zero vector. The projection of a vector B onto A, denoted by
Pr oj B
A is defined as:
A.B
Pr oj B A
A A 2
Pr oj B
Note that: A is a vector parallel to A.
Pr oj B Pr oj A
Example 11 Let A = ( 2, 3, 1) and B = (0, 1, 1). Find A and B .
Solution A = 14 , B = 2 and A. B = 2.
Pr oj B 1 Pr oj A
Therefore, A = A and B = B.
7
87
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
A. B
Pr oj B B cos
Proof A A B .
Pr oj B
Therefore, A B .
Now let A and B be orthogonal vectors and let C be a vector in the same plane as A and B.
Then we can express C as a linear combination of vectors parallel to A and B as follows:
Pr oj C Pr oj C
C= A + B
In this case, we say that vector C is resolved into vectors parallel to A and B.
Example 12 Let A = (0, 1, 2), B = (0, 2, 1) and C = (0, 5, 4). Resolve C into vectors parallel
to A and B.
Pr oj C A.C C B.C
A = 2
A and Pr oj B = B.
A B 2
Pr oj C 13 Pr oj C 6
Hence A = A and B = B.
5 5
13 6
Therefore, C = A + B.
5 5
Example 13 Let A = (1, 0, 3), B = ( 3, 0, 1) and C = (2, 0, 5). Resolve C into vectors parallel to A and B.
Pr oj C A.C C B.C
A = 2
A and Pr oj B = B.
A B 2
Pr oj C 9 Pr oj C 1
Hence A = A and B = B.
5 10
9 1
Therefore, C = A B.
5 10
1.1.9 Cross Product
Definition 1.15 Let A = (a1, a2, a3) and B = (b1, b2, b3) be two vectors. The cross (Vector)
product of A and B, written A B is defined by:
A B = (a2 b3 b2a3) i + (a3 b1 a1 b3) j + (a1 b2 a2 b1) k
Now let us see a simple method how to recall the formula for the cross product of A and B
88
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
i j k
AB= a1 a2 a3
b1 b2 b3
+ + +
i j k i j
a1 a2 a3 a1 a2
b1 b2 b3 b1 b2
0 2 2
=2 i + 10 j + 10 k
Therefore, A B = 2 i + 10 j + 10 k .
i j k
AB = 0 2 2
5 1 0
=2 i 10 j 10 k
Therefore, A B = 2 i 10 j 10 k .
Remark: i j = k , j k = i and k i = j .
Properties of Cross Product
iii) A (B + C) = (A B) + (A C)
89
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
and (A + B) C) = (A C) + (B C)
iv) (m A) B = m (A B) = A (m B).
= (a22 b32 2 a2a3b2b3 + b22 a32) + (a12 b32 2 a1a3b1b3 + b12 a32)
+ (a12 b22 2 a1a2b1b2 + a22b12)
= a12 (b22 + b32) + a22 (b12+ b32 ) + a32 (b12+ b22 )
(2 a2a3b2b3 + 2 a1a3b1b3 + 2 a1a2b1b2)
= (a12 +a22 + a32) (b12 + b22 + b32 ) (a1b1 + a2b2 + a3b3)2
= A 2 B 2( A B cos ) 2
= A 2 B 2 A 2 B 2 cos 2
= A 2 B 2 (1 cos 2 )
= A 2 B 2 sin 2
Therefore, A B = A B sin .
Corollary 1.5.1 Two non-zero vectors A and B are parallel if and only if A B = 0 .
90
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
Proof A B = 0 A B =0
A B sin
sin = 0
= 0 or = .
A∥ B.
Now cos = sin and sin = cos , because co-functions of complementary angles
are equal.
Therefore, A . ( B C ) = ( A B ) . C .
ii) Vector Triple Product
For any three vectors A, B and C, A ( B C ) is called the Vector triple product of
A, B and C.
Example 18 Show that for any three vectors A, B and C
A ( B C ) ( A B) C
91
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
1.2 Lines in 3
A line in space is determined by a point p0 (x0, y0, z0) on ℓ and a non-zero vector L parallel to it.
Now let ℓ be a line parallel to a non-zero vector L and let p0 (x0, y0, z0) be a fixed point on ℓ.
Let p (x, y, z) be an arbitrary point on ℓ. We need to express p in terms of p0 and L.
ℓ ∥ L Po P ∥ L
Solution Now r
0 = i 3 j 5 k and L = 4 i 3 j 2 k .
r = ( i 3 j 5 k )+ t(4 i 3 j 2 k )
92
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
Hence (x, y, z) = ( x0 at ) i ( y0 b t ) j ( z0 c t ) k
x = x0 at , y = y0 b t and z = z0 c t . (i)
These equations are called the parametric equations of ℓ and t is called the parameter.
Example 20 Find the parametric equation of the line that contain ( 2, 1, 3) and is parallel to
4 i 2 k.
Solution Now (x0, y0, z0) = ( 2, 1, 3) and L = 4 i 2 k .
Then x = 2 4 t , y = 1 and z = 3 2 t .
Therefore, x = 2 4 t , y = 1 and z = 3 2 t is the required solution.
In the above parametric equations of a line ℓ if a, b, and c are non-zero real numbers then
We can express (i) as follows:
xx 0 y y0 z z0
t ; where t .
a b c
This form of the equations of a line is called the Symmetric form of the equation of a line.
Example 21 Find the symmetric equations of the line containing the points P1 (2, 3, 1) and
P2 (5, 0, 4).
Solution Now take L = PP0 = 3 i 3 j 5 k and (x0, y0, z0) = (2, 3, 1).
x2 y 3 z 1
Therefore t 3
3
5
; where t is the required equation.
Example 22 Find the vector, parametric and symmetric equations of the line containing the point
P ( 3, 4, 5) which is parallel to 4 i 3 k .
Solution (x0, y0, z0) = ( 3, 4, 5).
i) Vector equation
Hence r = ( 3, 4, 5) + t (4, 0, 3).
= ( 3 + 4 t, 4, 5 3 t)
= ( 3 + 4 t) i + 4 j + (5 3 t) k
93
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
x2 y 3 z 1
Therefore, t 3
3
5
; where t is the required equation.
x 3 z 5
Therefore, t 4
3
and y 4 ; where t is the required equation.
Example 23 Show that the line containing the points (0, 0, 5) and (1, 1, 4) is perpendicular to the
x y 5 z 9
line with equation .
7 4 3
Solution Let P (0, 0, 5) and Q (1, 1, 4).
We need to show that PQ and n = (7, 4, 3) are perpendicular.
Now (1, 1, 1) . (7, 4, 3) = 0.
Therefore, the two lines are perpendicular.
Given a line ℓ and a non-zero vector L parallel to ℓ, we wish to determine the distance D between
ℓ and a point P1 (not on ℓ).
To do so choose a point P0 on ℓand let be the angle between ℓ and P0 P1 , where 0 ≤ ≤ π.
Now D = P0 P1 sin , but L P0 P1 = L P0 P1 sin .
L P0 P1
Therefore, D is the distance of P1 from the line ℓ.
L
Example 24 Find the distance D from the point (2, 1, 0) to the line with equation
x = 2, y + 1 = z = t.
Solution Take any point P0 on the line. Say P0 ( 2, 1, 0).
P1 (2, 1, 0) and L = (0, 1, 1). Hence P0 P1 = (4, 2, 0).
Now L P0 P1 =2 i + 4 j 4 k , L P0 P1 = 6 and L = 2 .
Therefore, D = 3 2 units.
94
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
1.4 Planes in 3
Given a point P0 and a non-zero vector n , there exists one and only one plane J containing P0
and perpendicular to n .
Let P0 (x0, y0, z0) be a given point, n = (a, b, c) be a non-zero vector and let P (x, y, z) be an
arbitrary point on the plane J containing P0 and which is perpendicular to n .
n is perpendicular to the plane J.
n is perpendicular to P0 P1 .
a x + b y + c z = d; where d = n ·P 0 .
Example 25 Find the equation of the plane that contains the point (5, 1, 2) and has normal to
2 i 3 k .
Solution P0 (5, 1, 2) and n = (2, 0, 3).
Example 26 Find the equation of the plane that contains the point (2, 2, 1) and which is
1 x y 2
perpendicular to the line with equation has normal to 3z .
2 3
1
Solution P0 (2, 2, 1) and n = (2, 3, ).
3
1 29
Now (2, 2, 1) · (2, 3, )= .
3 3
1 29
Therefore, 2 x + 3 y + z= is the required equation of the plane.
3 3
Note that: i) Three distinct points P0, P1 and P2 in 3 are collinear if and only if
P0 P1 P0 P2 = 0.
95
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
ii) Three distinct non-collinear points P0, P1 and P2 in 3 determine a unique plane.
Let P0, P1 and P2 be three distinct non-collinear points in 3. To determine the equation of the
plane J that contains these points, we need to solve:
P0 P1 · (PP 0 1 P0 P2 ) = 0.
Example 27 Find the equation of the plane that contains (1, 0, 1), (2, 1, 1) and (2, 0, 3).
Solution Let P0 (1, 0, 1), P1 (2, 1, 1) and P2 (2, 0, 3).
Then P0 P1 = (3, 1, 0) and P0 P2 = (1, 0, 2).
Hence P0 P1 P0 P2 = (2, 6, 1).
Therefore, 2 x 6 y + z = 1 is the required equation of the plane.
We need to determine the distance D between a point P1 to a plane J whose normal is the non-zero
vector n = (a, b, c). To do so choose a point P0 on J and let be the angle between n
and P0 P1 , where 0 ≤ ≤ π.
D= P0 P1 cos .
Now n . P P
0 1 = n P0 P1 cos .
n . P P
0 1
Hence D = n
.
n . P P
0 1
Therefore, D = n
for any point P0 on J.
Example 28 Calculate the distance D between the point P1 (2, 3, 1) and the plane
4 x + 2y + z = 0.
Solution Let P0 (1, 2, 0) be a point on the plane. Now n = ( 4, 2, 1) and P0 P1 = (1, 1, 1).
. P P
Hence n 0 1 = 3 and n = 21 .
3
Therefore, D = units.
7
Example 29 Calculate the distance D between the point P1 (2, 3, 1) and the plane that passes
through A( 3, 0, 2), B(1, 1, 2) and C( 1, 1, 1).
Solution Let P0 ( 3, 0, 2). Now P0 P1 = (5, 3, 3) and n = AB . AC
= ( 3, 12, 6).
. P P
Hence n 0 1 = 39 and n = 189 .
96
Produced by Tekleyohannes Negussie, July 2009
Unit III Functions
13
Therefore, D = units.
21
97
Produced by Tekleyohannes Negussie, July 2009