3

Derivation of Vector Functions

Vector functions play an essential role in the formalism of mechanics that are
particularly interested in studying the motion of bodies, that is to say, the evolution of
their position in space. But these movements are often dependent on an environment in
which the bodies are bound by specific parameters that are also changing. Vector
functions are, for many reasons, variables during a movement and expressing this
variation is a necessity of formalism. This chapter is devoted to the expression of their
variability, thus their derivation.

3.1. Derivative vector: definition and properties

Consider a vector function f of the variable q defined over the

interval [ a, b ] . We call derivative vector of f on the definition
interval of the function, the limit l ( f q ) , if it exists, such that:

f (q + h)− f (q)
l ( f q ) = lim .
h →0 h

The set of vector values l ( f q ) for q ∈ [ a, b ] defines the

derivative function of f ( q ) on this interval. By applying the same
definition, we see that this operation is linear, which allows us to write
the following operating rules which ensue:

Movement Equations 2: Mathematical and Methodological Supplements, First Edition.

Michel Borel and Georges Vénizélos.
© ISTE Ltd 2017. Published by ISTE Ltd and John Wiley & Sons, Inc.
56 Movement Equations 2

– l ( f1 + f 2 q ) = l ( f1 q ) + l ( f 2 q ) , results that extend to a finite

sum of functions;
dk
– l( k f q) = f + kl( f q);
dq

– l ( f1 i f 2 q ) = l ( f1 q ) i f 2 + f1 i l ( f 2 q ) ;

– l ( f1 ∧ f 2 q ) = l ( f1 q ) ∧ f 2 + f1 ∧ l ( f 2 q ) .

3.2. Derivative of a function in a basis

Consider, in the basis ( e ) = ( x1 x2 x3 ) , the vector function f that

depends on the variable q if at least one of its components in this
basis is a function of this variable. It is written as:

f = f1 ( q ) x1 + f 2 ( q ) x2 + f3 ( q ) x3 = fα ( q ) xα ,

according to the Einstein summation convention, where the repetition

of the index α in the last member of the above expression means a
summation of these terms for the allowable values of the index
( α = 1, 2,3 ) .

We call the derivative of f relative to q in the basis ( e ) , which

d (e) f
is denoted as , the vector whose components in this basis are
dq
the derivatives with respect to q of the components of f in the same
basis ( e ) .

d ( e ) f dfα
= x .
dq dq α

Similarly, we call the differential of f in the basis ( e ) , the

expression written as:
 Derivation of Vector Functions 57

d(e) f
d (e) f = dq .
dq

3.3. Deriving a vector function of a variable

3.3.1. Relations between derivatives of a function in

different bases

3.3.1.1. Position of the problem

Consider another basis ( E ) = ( X 1 X 2 X 3 ) and the expression of
the vector function f in this second basis:

f = F1 ( q ) X 1 + F2 ( q ) X 2 + F3 ( q ) X 3 = Fβ ( q ) X β ,

in which the definition of the derivative is applied

d ( E ) f dFβ
= X .
dq dq β

It is about to compare these two derivative expressions of the

vector function f . The projection of basis ( e ) on ( E ) is represented
by the expressions:

xα = pαβ X β ⇒ fα = pα i Fi ,

where the terms pαβ are the coefficients of a transition table from one
basis to another:

( e ) ( E ) X1 X2 X3
x1 p11 p12 p13
x2 p21 p22 p23
x2 p31 p32 p33

and must express that both these two bases are orthonormal.
58 Movement Equations 2

We can write:

dfα dpα i dF
= Fi + pα i i ,
dq dq dq

d (e) f
and express the derivative vector by projection on basis ( E ):
dq

d ( e ) f dfα dp dF
= pαβ X β = ⎛⎜ α i Fi + pα i i ⎞p X
⎟ αβ β
dq dq ⎝ dq dq ⎠

d (e) f dF dp
= pαβ pα i i X β + pαβ α i Fi X β
dq dq dq
dF dp dF dp
" = δ β i i X β + pαβ α i Fi X β = β X β + pαβ α i Fi X β
dq dq dq dq

where, according to Einstein’s summation convention:

pαβ pα i = p1β p1i + p2 β p2i + p3β p3i = δ β i .

This condensed manner of writing with the Kronecker symbol δ β i

means either the scalar square of one of the unit vectors of basis ( E )
if β = i , and then we get δ β i = 1, or the scalar product of two different
vectors of this basis if β ≠ i , and then δ β i = 0 .

Furthermore, with the same writing convention we obtain:

dFi dFβ
δ βi =
dq dq

and:

d ( e ) f dFβ dp d(E) f dp
= X β + pαβ α i Fi X β = + pαβ α i Fi X β .
dq dq dq dq dq
 Derivation of Vector Functions 59

Thus, when the coefficients pαβ of the bases transition table are
⎛ dpαβ ⎞
independent of q ⎜ = 0, ∀α , β = 1, 2,3 ⎟ , that is to say the
⎝ dq ⎠
position of the two bases ( e ) and ( E ) is invariable in relation to q ,
the derivative of the function f is the same in both bases:

d ( e) f d ( E ) f
= .
dq dq

When the relative position of bases ( e ) and ( E ) depends on the

parameter q , we have:

d (e) f d ( E ) f
− ≠ 0.
dq dq

In the following, we will show that there is a vector qδ ( e, E ) ,

called the rotation rate (or rate of rotation) of the two bases ( e ) and
( E ) relative to each other with respect to the parameter q , such that:

d (e) f d ( E ) f q
− = δ ( e, E ) ∧ f .
dq dq

3.3.1.2. Rotation rate of two bases

Starting from the two expressions:

X β = pαβ xα ; xα = pαγ X γ ,

we obtain:

d ( e ) X β dpαβ dpαβ
= xα = p X .
dq dq dq αγ γ
60 Movement Equations 2

We can also note X β ⋅ X γ = δ βγ under the form pαβ pαγ = δ βγ ; we

then obtain by differentiating this expression:

dpαβ dpαγ
pαγ + p = Dβγ + Dγβ = 0,
dq dq αβ

by writing:

dpαβ d(e) Xβ
Dβγ = p ⇒ = Dβγ X γ .
dq αγ dq

These terms D αβ have the following values arising from their

definition:

⎧ D11 = D22 = D33 = 0

⎨ ,
⎩ D12 + D21 = D23 + D32 = D31 + D13 = 0

which allows one to note the derivatives in the basis ( e ) of the

vectors of the basis ( E ) as functions of the following terms:

d ( e ) X1
– = D12 X 2 + D13 X 3 = D12 X 3 ∧ X 1 + D13 X 1 ∧ X 2
dq ,
" " = ( D31 X 2 + D12 X 3 ) ∧ X 1

d (e) X2
– = D21 X 1 + D23 X 3 = D21 X 2 ∧ X 3 + D23 X 1 ∧ X 2
dq ,
" " = ( D23 X 1 + D12 X 3 ) ∧ X 2

d (e) X3
– = D31 X 1 + D32 X 2 = D31 X 2 ∧ X 3 + D32 X 3 ∧ X 1
dq .
" " = ( D23 X 1 + D31 X 2 ) ∧ X 3
 Derivation of Vector Functions 61

Then, if there is a unique vector:

d (e) X β
V = V1 X1 + V2 X 2 + V3 X 3 , such as = V ∧ Xβ ,
dq

⎧ d ( e ) X1
⎪ dq = −V2 X 3 + V3 X 2 = ( V2 X 2 + V3 X 3 ) ∧ X 1
⎪
⎪⎪ d ( e ) X 2
so that ⎨ = V1 X 3 − V3 X 1 = ( V1 X 1 + V3 X 3 ) ∧ X 2 ,
⎪ dq
⎪ d (e) X
⎪ 3
= −V1 X 2 + V2 X 1 = ( V1 X 1 + V2 X 2 ) ∧ X 3
⎪⎩ dq

by performing the memberwise difference of the two sets of

expressions established above, about the derivatives of the vectors of
the basis ( E ) in the basis ( e ) , and knowing that these vectors X β
are unit vectors and therefore not null, we obtain the three vector
relations:

⎧ ⎡⎣ ( D31 − V2 ) X 2 + ( D12 − V3 ) X 3 ⎤⎦ = 0
⎪⎪
⎨ ⎡⎣ ( D23 − V1 ) X 1 + ( D12 − V3 ) X 3 ⎤⎦ = 0 .
⎪
⎪⎩ ⎡⎣ ( D23 − V1 ) X 1 + ( D31 − V2 ) X 2 ⎤⎦ = 0

The system then makes sense only if all the coefficients of the
vectors X i are all null, which shows both the existence and
uniqueness of the vector V whose components have the values:

⎧ dpα 2 d (e) X2
⎪ 1 V = D = p = i X3
23
dq α 3 dq
⎪
⎪⎪ dpα 3 d(e) X3
⎨ V2 = D31 = pα 1 = i X1 .
⎪ dq dq
⎪ dp d ( e ) X1
⎪ V3 = D12 = α 1 pα 2 = i X2
⎪⎩ dq dq
62 Movement Equations 2

This vector is the rotation rate qδ ( e, E ) relative to the parameter

q of the two bases ( e ) and ( E ) , whose existence was assumed and
such that:

d (e) X β q
= δ ( e, E ) ∧ X β .
dq

Furthermore, according to the results previously established:

d(e) f d(E ) f dp d (e) Xi

− = pαβ α i Fi X β = Diβ X β Fi = Fi
dq dq dq dq ,
" = qδ ( e, E ) ∧ X i Fi = qδ ( e, E ) ∧ f

d(e) f d( E ) f q
⇒ − = δ ( e, E ) ∧ f .
dq dq

This formula is general and applies regardless of the vector f and

the two bases ( e ) and ( E ) being considered.

3.3.1.3. Properties of vector q

δ ( e,E )
The rotation rates form a set that has properties of a non-
commutative group, equipped with an addition law, and obeys like
vectors the equivalent of the Chasles relation:
– a neutral element
d( e) f d (e) f q
− = δ ( e, e ) ∧ f = 0, ∀ f ⇒ δ ( e, e ) = 0 ;
q
dq dq

– associativity: considering three separate bases ( e ) , ( E ) and

( b ) , we can write ∀ f :
d(e) f d ( E ) f
− = qδ ( e, E ) ∧ f
dq dq
,
d ( E ) f d (b) f
− = qδ ( E , b ) ∧ f
dq dq
 Derivation of Vector Functions 63

so by adding memberwise the two expressions,

d (e) f d ( ) f ⎡ q
b
− = ⎣ δ ( E , b ) + qδ ( e, E ) ⎤⎦ ∧ f ,
dq dq

property that is checked regardless of f and the three considered

bases, and which gives:

q
δ ( e, E ) + qδ ( E , b ) = qδ ( e, b ) ;

– the associative property applies to a finite number of bases:

q
δ ( e, E ) = qδ ( e, e1 ) + qδ ( e1 , e2 ) + … + qδ ( ei , ei +1 ) + … + qδ ( en , E ) ;

– an inverse element:
d(e) f d ( E ) f
− = qδ ( e, E ) ∧ f
dq dq
d ( E ) f d (e) f
− = qδ ( E , e ) ∧ f ,
dq dq
∀f ⇒ δ ( e, E ) + qδ ( E , e ) = 0 ,
q

so that qδ ( e, E ) = − qδ ( E , e ) .

3.3.2. Differential form associated with two bases

As the derivatives of a vector function f , with respect to the

variable q on which it depends, in the two bases ( e ) and ( E ) , are
linked by the relationship:

d (e) f d ( E ) f q
− = δ ( e, E ) ∧ f ,
dq dq
64 Movement Equations 2

the differentials of this function in both bases are linked by the

relation:

d (e) f d(E) f
dq − dq = qδ ( e, E ) dq ∧ f
dq dq .
⇒ d ( e ) f = d ( E ) f + qδ ( e, E ) dq ∧ f

If the variable q , itself, depends on a parameter p , we therefore

have f ( q ) = F ( p ) , knowing that the derivatives of the vector
function F in both bases are linked by relation:

d(e) F d( E ) F p
− = δ ( e, E ) ∧ F ,
dp dp

and the differentials of this function, by the relation:

d ( e ) F = d ( E ) F + pδ ( e, E ) dp ∧ F .

But, as F ( p ) = f ( q ) , the above expression can also be

written as:

d ( e ) f = d ( E ) f + pδ ( e, E ) dp ∧ f ,

and therefore, there exists a vector D ( e, E ) , called differential

rotation form, associated with the assembly of the two bases ( e )
and ( E ) , which binds differentials of f in both bases by the
relation:

d ( e ) f = d ( E ) f + D ( e, E ) ∧ f ,

with D ( e, E ) = qδ ( e, E ) dq = pδ ( e, E ) dp .
 Derivation of Vector Functions 65

This vector differential rotation form has the following properties

directly stemmed from those of the rotation rate:

⎧ D ( e, e ) = 0
⎪⎪
⎨ D ( e, E ) = D ( e, b ) + D ( b, E ) .
⎪
⎪⎩ D ( e, E ) = − D ( E , e )

3.4. Deriving a vector function of two variables

Consider a vector function f of two independent variables q1 and

q2 . If it blocks one of the variables to a given value, the problem
comes back to the previous one when varying the second variable. By
blocking the value of q2 , there exists a partial rotation rate:

1
δ ( e, E ) = 1δ1 X + 1δ 2 Y + 1δ 3 Z ,

associated with the partial derivatives of function f with respect to

q1 in the two bases ( e ) and ( E ) , such that:

∂( e ) f ∂( E ) f 1
− = δ ( e, E ) ∧ f .
∂q1 ∂q1

Its components in the basis ( E ) have expressions:

⎧1 ∂( e ) Y ∂( e ) Z
⎪ δ 1 ( e, E ) = Z ⋅ = −Y ⋅
∂q1 ∂q1
⎪
⎪⎪ 1 (
∂ Z e )
∂( e ) X
⎨ 2δ ( e , E ) = X ⋅ = − Z ⋅ .
⎪ ∂q1 ∂q1
⎪ ∂( e ) X ∂( e ) Y
⎪ 1δ 3 ( e, E ) = Y ⋅ = −X ⋅
⎪⎩ ∂q1 ∂q1
66 Movement Equations 2

Similarly, if we set a blocked value for parameter q1 , there is

a partial rotation rate:

2
δ ( e, E ) = 2δ1 X + 2δ 2 Y + 2δ 3 Z ,

associated with partial derivatives of f with respect to q2 , in the two

bases ( e ) and ( E ) , such that:

∂( e ) f ∂( E ) f 2
− = δ ( e, E ) ∧ f ,
∂q2 ∂q2

whose components in the basis ( E ) have expressions:

⎧2 ∂( e ) Y ∂( e ) Z
⎪ 1 δ ( e, E ) = Z ⋅ = −Y ⋅
∂q2 ∂q2
⎪
⎪⎪ 2 ∂( ) Z
e
∂( e ) X
⎨ 2(
δ e , E ) = X ⋅ = − Z ⋅ .
⎪ ∂ q 2 ∂ q 2

⎪ ∂( e ) X ∂( e ) Y
⎪ 2δ 3 ( e, E ) = Y ⋅ = −X ⋅
⎪⎩ ∂q2 ∂q2

When the variables q1 and q2 depend on another variable p by

means of two relations q1 = h1 ( p ) and q2 = h2 ( p ) , we have:

f ( q1 , q2 ) = f [ h1 ( p ) , h2 ( p ) ] = F ( p ) ,

and there exists a rotation rate pδ ( e, E ) associated with the variable

p and the two bases ( e ) and ( E ) , such that:

d(e) f d ( E ) f
− = pδ ( e, E ) ∧ f .
dp dp
 Derivation of Vector Functions 67

By taking the above relations that define the two partial rotation
rates 1δ ( e, E ) and 2δ ( e, E ) , and by multiplying both, in the first by
dq1 dq
and in the second by 2 , we obtain:
dp dp

∂ ( e ) f dq1 ∂ ( E ) f dq1 1 dq
− = δ ( e, E ) 1 ∧ f
∂q1 dp ∂q1 dp dp
,
∂ ( e ) f dq2 ∂ ( E ) f dq2 2 dq
− = δ ( e, E ) 2 ∧ f
∂q2 dp ∂q2 dp dp

and adding them, we obtain:

∂ ( e ) f dq1 ∂ ( e ) f dq2 ∂ ( E ) f dq1 ∂ ( E ) f dq2

+ = + …
∂q1 dp ∂q2 dp ∂q1 dp ∂q2 dp
,
dq dq
… + ⎡⎢ 1δ ( e, E ) 1 + 2δ ( e, E ) 2 ⎤∧ f
⎥⎦
⎣ dp dp

that is to say:

d (e) f d ( E ) f ⎡ 1 dq dq
− = ⎢ δ ( e, E ) 1 + 2δ ( e, E ) 2 ⎤⎥ ∧ f = pδ ( e, E ) ∧ f
dp dp ⎣ dp dp ⎦

This expression is satisfied regardless of the function f . We can

deduce that:

dq1 2 dq
p
δ ( e, E ) = 1δ ( e, E ) + δ ( e, E ) 2 .
dp dp

The differential of f in the two bases is thus linked by the

relation:

d ( e ) f − d ( E ) f = pδ ( e, E ) dp ∧ f = D ( e, E ) ∧ f .
68 Movement Equations 2

The differential rotation form associated with the set of the two
bases is expressed as:

D ( e, E ) = pδ ( e, E ) dp = 1δ ( e, E ) dq1 + 2δ ( e, E ) dq2 .

The two partial rotation rates and the differential rotation form
associated with the set of the two bases ( e ) and ( E ) each check the
properties of the rotation ratio previously established.

3.5. Deriving a vector function of n variables

Now consider a vector function f of n independent variables
q1 ,… , qi ,… , qn and two bases ( e ) and ( E ) .

When all the variables are blocked at a value given for each of
them, with the exception of qi , which varies, there is a partial rotation
rate:
i
δ ( e, E ) = iδ1 X + iδ 2 Y + iδ 3 Z ,

associated with the partial derivatives of function f with respect to

qi in the two bases, such that:

∂( e ) f ∂( E ) f i
− = δ ( e, E ) ∧ f ,
∂qi ∂qi

which is a vector whose components in the basis ( E ) = ( X Y Z ) are

expressed by:

⎧i ∂( e ) Y ∂( e ) Z
⎪ 1 δ ( e, E ) = Z ⋅ = −Y ⋅
∂qi ∂qi
⎪
⎪⎪ i (
∂ Z e )
∂( e ) X
⎨ 2δ ( e , E ) = X ⋅ = − Z ⋅ .
⎪ ∂qi ∂qi
⎪ ∂( e ) X ∂( e ) Y
⎪ iδ 3 ( e, E ) = Y ⋅ = −X ⋅
⎪⎩ ∂qi ∂qi
 Derivation of Vector Functions 69

If the n variables of qi are dependent on another variable p via n

relations qi = hi ( p ) , that is to say:

f ( q1 ,… , qi ,… , qn ) = f [ h1 ( p ) ,… , hi ( p ) ,… , hn ( p ) ] = F ( p ) ,

there is a rotation rate pδ ( e, E ) associated with the variable p and

the two bases ( e ) and ( E ) , such that:

d(e) f d ( E ) f
− = pδ ( e, E ) ∧ f .
dp dp

dqi
Multiplying by the two member of the different relations
dp
referring to the vectors iδ ( e, E ) and by summing up, we obtain,
using the Einstein’s summation notation:

∂( e ) f dqi ∂( E ) f dqi i dq
− = δ ( e, E ) i ∧ f ,
∂qi dp ∂qi dp dp

d (e) f d ( E ) f i dq
so that − = δ ( e, E ) i ∧ f = pδ ( e, E ) ∧ f ,
dp dp dp

and consequently, the relation can be expressed as:

dqi
p
δ ( e, E ) = iδ ( e, E ) for i = 1,…, n .
dp

There is also a vector D ( e, E ) such that:

d ( e ) f − d ( E ) f = pδ ( e, E ) dp ∧ f = iδ ( e, E ) dqi ∧ f = D ( e, E ) ∧ f .
70 Movement Equations 2

The n partial rotation rates iδ ( e, E ) , the relative rotation rate

p
δ ( e, E ) and the differential rotation form D ( e, E ) obey all the
properties related to the functions outlined above.

3.6. Explicit intervention of the variable p

Consider the case of a vector function f of n variables that depend

on another n + 1th variable p , which also depends explicitly on the
latter variable.

f ( q1 ,… , qi ,… , qn , p ) = f [ h1 ( p ) ,… , hi ( p ) ,… , hn ( p ) , p ] = F ( p ) .

There exists a vector rotation rate ( e, E ) associated with the

pδ
variable p and the two bases ( e ) and ( E ) , such that:

d(e) f d ( E ) f
− = p δ ( e, E ) ∧ f .
dp dp

If we now perform the operation, as covered already in the

previous sections, with the partial differential equations relative for
each partial rotation rate iδ ( e, E ) , in adding:

∂( e ) f ∂( E ) f
− = pδ ( e, E ) ∧ f ,
∂p ∂p

we obtain:

⎛ ∂ ( e ) f dqi ∂ ( e ) f ⎞ ⎛ ∂ ( E ) f dqi ∂ ( E ) f ⎞
⎜ ∂q dp + ∂p ⎟ − ⎜ ∂q dp + ∂p ⎟
⎝ i ⎠ ⎝ i ⎠
dq
= ⎡⎢ iδ ( e, E ) i + pδ ( e, E ) ⎤⎥ ∧ f ,
⎣ dp ⎦
 Derivation of Vector Functions 71

so that:

d (e) f d ( E ) f ⎡ i dq
− = ⎢ δ ( e, E ) i + pδ ( e, E ) ⎤⎥ ∧ f = p δ ( e, E ) ∧ f ,
dp dp ⎣ dp ⎦

dqi p
with pδ ( e, E ) = iδ ( e, E ) + δ ( e, E ) .
dp

where P is actually the unique variable of the problem on which the n

other variables of f depend.

We deduce as before the differential expressions of f in the two

bases and the differential rotation form D ( e, E ) associated.

d ( e ) f − d ( E ) f = p δ ( e, E ) dp ∧ f = D ( e, E ) ∧ f ,

so that D ( e, E ) = p δ ( e, E ) dp = iδ ( e, E ) dqi + pδ ( e, E ) dp .

These different vectors associated with the bases ( e ) and ( E )

verify all previously set properties.

3.7. Relative rotation rate of a basis relative to another

When the variable p is time t , the vector t δ ( e, E ) , denoted ω Ee ,

is called the relative rotation rate of the basis ( E ) in relation to the
basis ( e ) .

ωEe = t δ ( e, E ) .

If the rotation of ( E ) in relation to ( e ) depends on n variables

qi that are functions of time t , we obtain:

dqi i
ω Ee = t δ ( e, E ) = iδ ( e, E ) = δ ( e, E ) qi′ ,
dt
72 Movement Equations 2

and when this rotation depends simultaneously on n variables qi but

also explicitly on time t , the expression of the relative rotational
rate is:

ω Ee = t δ ( e, E ) = iδ ( e, E ) qi′ + tδ ( e, E ) .