Section 10.1 Vector-Valued Functions

C H A P T E R 1 0
Vector-Valued Functions
Section 10.1 Vector-Valued Functions
1. r (t ) =
1 t
i + j − 3t k 2. r (t ) = ln ti − et j − tk
t +1 2
1 Component functions: f (t ) = ln t
Component functions: f (t ) =
t +1 g (t ) = − e t
g (t ) =
t h(t ) = −t
2
Domain: (0, ∞)
h(t ) = −3t
Domain: ( −∞, −1) ∪ ( −1, ∞)
(
3. r(t ) = F(t ) + G (t ) = cos ti − sin tj + )
t k + (cos ti + sin tj) = 2 cos ti + tk
Domain: [0, ∞)
i j k
4. r(t ) = F(t ) × G (t ) = sin t cos t 0 = cos 2 ti − sin t cos tj + sin 2 tk
0 sin t cos t
Domain: ( −∞, ∞)
5. r (t ) = 1 t 2i
2
− (t − 1) j
(a) r (1) = 1i
2
(b) r(0) = j
(c) r( s + 1) = (s + 1) i − ( s + 1 − 1) j = (s + 1) i − sj
1 2 1 2
2 2
(d) r ( 2 + Δt ) − r ( 2) = 1
2
(2 + Δt ) i − ( 2 + Δt − 1) j − ( 2i − j) = 2 + 2Δt +
2
( 1
2
( Δt )2 )i − (1 + Δt ) j − 2i + j
= 2Δt + ( 1
2
( Δt )
2
)i − (Δt ) j = 1
2
Δt ( Δt + 4) i − Δ t j
6. r(t ) = cos ti + 2 sin tj

(a) r(0) = i
π  2
(b) r  = i+ 2j
4 2
(c) r(θ − π ) = cos(θ − π )i + 2 sin(θ − π ) j = −cos θ i − 2 sin θ j
π  π  π  π   π  π 
(d) r + Δt  − r  = cos + Δt i + 2 sin  + Δt  j −  cos i + 2 sin j
6  6 6  6   6 6 
7. P(0, 0, 0), Q(5, 2, 2)


v = PQ = 5, 2, 2
r(t ) = 5ti + 2tj + 2tk , 0 ≤ t ≤ 1

x = 5t , y = 2t , z = 2t , 0 ≤ t ≤ 1, Parametric equation
(Answers may vary.)
618 © 2019 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
Section 10.1 Vector-Valued Functions 619
8. P( − 3, − 6, −1), Q( −1, − 9, − 8)

v = PQ = −1 + 3, − 9 + 6, − 8 + 1 = 2, − 3, − 7
r(t ) = ( − 3 + 2t )i + ( − 6 − 3t ) j + ( −1 − 7t )k , 0 ≤ t ≤ 1
x = − 3 + 2t , y = − 6 − 3t , z = −1 − 7t , 0 ≤ t ≤ 1, Parametric equation
(Answers may vary.)
9. r (t ) ⋅ u(t ) = (3t − 1)(t 2 ) + ( 14 t )(−8) + 4(t )

3 3
= 3t 3 − t 2 − 2t 3 + 4t 3 = 5t 3 − t 2 , a scalar.
No, the dot product is a scalar-valued function.
10. r(t ) ⋅ u(t ) = (3 cos t )( 4 sin t ) + ( 2 sin t )( −6 cos t ) + (t − 2)(t 2 ) = t 3 − 2t 2 , a scalar.

No, the dot product is a scalar-valued function.
11. r (t ) = ti + 2tj + t 2k , − 2 ≤ t ≤ 2 16. x = t 3 , y = t 2

x = t , y = 2t , z = t 2 y = x2 3
So, z = x 2 . Matches (b) y
7
6
12. r (t ) = cos(π t )i + sin (π t ) j + t 2k , −1 ≤ t ≤ 1 5
4
x = cos(π t ), y = sin (π t ), z = t 2 3
2
So, x 2 + y 2 = 1. Matches (c) −5 − 4 −3 −2 − 1 1 2 3 4 5

x
−2
−3
13. r (t ) = ti + t 2 j + e0.75t k , − 2 ≤ t ≤ 2
x = t , y = t 2 , z = e0.75t 17. x = cos θ , y = 3 sin θ
So, y = x 2 . Matches (d) y2
x2 + = 1, Ellipse
9
2t
14. r(t ) = ti + ln tj +
y
k , 0.1 ≤ t ≤ 5
3
2t 2
x = t , y = ln t , z =
3 1
x
So, z = 2x and y = ln x. Matches (a) −3 −2 2 3
3
t
15. x =  t = 4x
4
y = t −1 18. x = 3 sec θ , y = 2 tan θ
y = 4x − 1 x2 y2
= + 1, Hyperbola
y 9 4
4 y
3
2 12
1 9
x 6
−4 −3 −2 −1 1 2 3 4 3
−2 x
− 12 − 9 − 6 6 9 12
−3
−6
−9
− 12
© 2019 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
620 Chapter 10 Vector-Valued Functions
19. x = −t + 1 z
27. y = x + 5
y = 4t + 2 5 (0, 6, 5)
Let x = t , then y = t + 5
4
z = 2t + 3 3
(2, − 2, 1) (1, 2, 3) r(t ) = ti + (t + 5) j
Line passing through
the points: (0, 6, 5), (1, 2, 3) 1
3 4 5 y 28. y = ( x − 2)
2
6
3
Let x = t , then y = (t − 2) .
x 2
r(t ) = ti + (t − 2) j
2
20. x = 2 cos t , y = 2 sin t , z = t z
7
x2 y2 29. x 2 + y 2 = 25
+ =1
4 4
Let x = 5 cos t , then y = 5 sin t.
z = t
Circular helix r(t ) = 5 cos ti + 5 sin tj
−3 y
3 3
x x2 y2
30. − =1
16 4
21. x = 2 sin t , y = 2 cos t , z = e−t z Let x = 4 sec t , y = 2 tan t.
6
r(t ) = 4 sec ti + 2 tan tj
2 2
x + y = 4
−t
z = e
31. z = x 2 + y 2 , x + y = 0
Let x = t , then y = − x = −t z
−3
3 3
y
and z = x 2 + y 2 = 2t 2 . ( 2, − 2, 4 ) 5 (− 2, 2, 4)
x
So, x = t , y = −t , z = 2t 2 .
2t3
22. x = t , y = t 2 , z = 3 r (t ) = ti − tj + 2t 2k
−3
y = x2 , z = 2 x3 1 2 y
2 3
3 3
x
t −2 −1 0 1 2
x −2 −1 0 1 2 32. x 2 + y 2 = 4, z = x 2
x = 2 sin t , y = 2 cos t
y 4 1 0 1 4
z = x 2 = 4 sin 2 t
z − 16
3
− 23 0 2
3
16
3
π π π 3π
z t 0 π
6 4 2 4
6 )2, 4, 163 )
4 x 0 1 2 2 2 0
2
y 2 3 2 0 − 2 −2
2
x 5 y
−2 z 0 1 2 4 2 0
−4
−6 )− 2, 4, − 163 )
r (t ) = 2 sin ti + 2 cos tj + 4 sin 2 tk
z
23. u(t ) = r (t ) + 2k = 3t 2i + (t − 1) j + (t + 2)k
4
24. u(t ) = r(t ) + i = (3t 2 + 1)i + (t − 1) j + tk
25. u(t ) = 3t 2i + 2(t − 1) j + tk −3
3 3 y
x
26. u(t ) = 3t i + (t − 1) j + 3tk
2
33. x 2 + y 2 + z 2 = 4, x + z = 2
Let x = 1 + sin t , then z = 2 − x = 1 − sin t and x 2 + y 2 + z 2 = 4.

π π π π
t − − 0
(1 + sin t )
2
+ y + (1 − sin t ) = 2 + 2 sin t + y = 4
2 2 2 2 2 6 6 2
z 1 3
y 2 = 2 cos 2 t , y = ± 2 cos t x 0 1 2
3
2 2
x = 1 + sin t , y = ± 2 cos t 6 6
y 0 ± ± 2 ± 0
z = 1 − sin t −3 2 2
y
r (t ) = (1 + sin t )i + 2 cos tj − (1 − sin t )k and
3 3 3 1
x z 2 1 0
2 2
r (t ) = (1 + sin t )i − 2 cos tj + (1 − sin t )k −3
34. x 2 + z 2 = 4, y 2 + z 2 = 4 z
3
Subtracting, you have x 2 − y 2 = 0 or y = ± x. (0, 0, 2)
So, in the first octant, if you let x = t , then x = t , y = t , z = 4 − t2 .

2
3 y
r(t ) = ti + tj +
4 4
4 − t2k x (2, 2, 0)
35. y 2 + z 2 = ( 2t cos t ) + ( 2t sin t ) = 4t 2 = 4 x 2

2 2
 sin t 
39. lim et i + j + e−t k  = i + j + k
z
t →0  t 
16 because
12
sin t cos t
8 lim = lim = 1 ( L'Hôpital's Rule)
4 t →0 t t →0 1
4
5 8
6 12
7
16  1 
x y
40. lim  e − t i + j + t1 t k 
t →∞  t 
Note that lim t1 t = 1 because if y = t1 t , then
t →∞
1
( ) + (e−t sin t ) = e−2t = z 2
2 2
36. x 2 + y 2 = e−t cos t ln y = ln t → 0 as t → ∞.
t
z Hence, y → 1.
160
120
So, the limit is 0i + 0 j + k = k.
80
1 1
40
41. r(t ) = i + j
120 80
40
40
2t + 1 t
x 80
120
y 1
The function is not continuous at t = − and t = 0. So,
2
37. lim (ti + cos tj + sin tk ) = π i − j  1  1 
t →π
r(t ) is continuous on the intervals  − ∞, − ,  − , 0 ,
 2  2 
and (0, ∞).
 1 − cos t 
38. lim t 2i + 3tj + k = 0
t →0 t 
42. r(t ) = ti + arcsin tj + (t − 1)k
1 − cos t sin t
because lim = lim = 0. Continuous on [−1, 1]
t →0 t t →0 1
( L'Hôpital's Rule)
43. r(t ) = e −t , t 2 , tan t 49. r (t ) = cos ti + sin tj +

1
tk , 0 ≤ t ≤ 4π
π
π z
Discontinuous at t = + nπ
2
4
 π π 
Continuous on  − + nπ , + nπ  3
 2 2 
44. r(t ) = 8, t, 3
t 1
−2
−1
Continuous on [0, ∞) 1
1
2 2 y
45. Yes. r(t ) represents a line. Answers will vary.
50. (a) View from the negative x-axis: ( −20, 0, 0)

46. Not necessarily. For example, the function
r (t ) = t 3i + t 3 j + t 3k represents a line. (b) View from above the first octant: (10, 20, 10)
47. Answers will vary. Sample answer: (c) View from the z-axis: (0, 0, 20)
 i + j, t ≥ 3 (d) View from the positive x-axis: ( 20, 0, 0)

r (t ) = 
− i + j, t < 3
48. (a) x = −3 cos t + 1, y = 5 sin t + 2, z = 4
(x − 1) ( y − 2)
2 2
+ = 1, z = 4
9 25
(b) x = 4, y = −3 cos t + 1, z = 5 sin t + 2
(y − 1) ( z − 2)
2 2
+ = 1, x = 4
9 25
(c) x = 3 cos t − 1, y = −5 sin t − 2, z = 4
(x + 1) ( y + 2)
2 2
+ = 1, z = 4
9 25
(d) x = −3 cos 2t + 1, y = 5 sin 2t + 2, z = 4
(x − 1) ( y − 2)
2 2
+ = 1, z = 4
9 25
(a) and (d) represent the same graph
51. Let r(t ) = x1(t )i + y1(t ) j + z1 (t )k and u(t ) = x2 (t )i + y2 (t ) j + z2 (t )k. Then:
{
lim r(t ) × u(t ) = lim  y1 (t ) z2 (t ) − y2 (t ) z1 (t ) i −  x1 (t ) z2 (t ) − x2 (t ) z1 (t ) j +  x1 (t ) y2 (t ) − x2 (t ) y1 (t )k
t →c t →c
}
= lim y1 (t ) lim z2 (t ) − lim y2 (t ) lim z1 (t ) i − lim x1 (t ) lim z2 (t ) − lim x2 (t ) lim z1 (t ) j
t → c t →c t →c t →c  t → c t →c t →c t →c 
+ lim x1 (t ) lim y2 (t ) − lim x2 (t ) lim y1 (t )k
t → c t →c t →c t →c 
= lim x1 (t )i + lim y1 (t ) j + lim z1 (t )k  × lim x2 (t )i + lim y2 (t ) j + lim z2 (t )k 
t → c t →c t →c  t → c t →c t →c 
= lim r(t ) × lim u(t )
t →c t →c
52. Let r(t ) = x1(t )i + y1(t ) j + z1 (t )k and u(t ) = x2 (t )i + y2 (t ) j + z2 (t )k. Then:
lim r(t ) ⋅ u(t ) = lim  x1 (t ) x2 (t ) + y1 (t ) y2 (t ) + z1 (t ) z2 (t )

t →c t →c
= lim x1 (t ) lim x2 (t ) + lim y1 (t ) lim y2 (t ) + lim z1 (t ) lim z2 (t )

t →c t →c t →c t →c t →c t →c
= lim x1 (t )i + lim y1 (t ) j + lim z1 (t )k  ⋅ lim x2 (t )i + lim y2 (t ) j + lim z2 (t )k 

t → c t →c t →c  t → c t →c t →c 
= lim r (t ) ⋅ lim u(t )
t →c t →c
53. Let r(t ) = x(t )i + y(t ) j + z (t )k. Because r is 58. r (t ) = ti + t 2 j + t 3k

continuous at t = c, then lim r (t ) = r (c). u( s ) = ( −2 s + 3)i + 8sj + (12 s + 2)k
t →c
r(c) = x(c)i + y(c) j + z(c)k  x(c), y(c), z(c) Equating components

t = −2 s + 3
are defined at c.
t 2 = 8s
( x (t )) + ( y(t )) + ( z (t ))
2 2 2
r = t 3 = 12 s + 2
(−2s + 3) = 8s
2
( x(c)) + ( y(c)) + ( z (c))

2 2 2
lim r = = r (c)
t →c
4 s 2 − 12 s + 9 = 8s
So, r is continuous at c. 4s 2 − 20 s + 9 = 0
(2s − 9)( 2 s − 1) = 0
54. Let
 1, if t ≥ 0 For s = 1,
2
t = −2 ( 12 ) + 3 = 2.
f (t ) = 
−1, if t < 0 For s = 9,
2
t = −2( 92 ) + 3 = −6 and t 2
( 92 ) = 36
= 8
and r(t ) = f (t )i. Then r is not continuous at c = 0, and t 3 = 12 ( 92 ) = 54. Impossible.
whereas, r = 1 is continuous for all t. The paths intersect at ( 2, 4, 8), but at different times
55. No, not necessarily. See Exercise 58. (t = 2 and s = 1

2 ). No collision.
56. Yes. See Exercise 57.
57. r (t ) = t 2i + (9t − 20) j + t 2k

u( s ) = (3s + 4)i + s 2 j + (5s − 4)k.
Equating components:
t 2 = 3s + 4
9t − 20 = s 2
t 2 = 5s − 4
So, 3s + 4 = 5s − 4  s = 4
9t − 20 = s 2 = 16  t = 4.
The paths intersect at the same time t = 4 at the point
(16, 16, 16). The particles collide.
Section 10.2 Differentiation and Integration of Vector-Valued Functions
( )
1. r(t ) = 1 − t 2 i + tj, t0 = 3 5. r(t ) = t 4i − 5tj
r′(t ) = 4t 3i − 5 j
x (t ) = 1 − t 2 , y ( t ) = t
y
r′
6. r(t ) = t i + (1 − t 3 ) j
4
x = 1 − y2 (−8, 3)
r 2
r(3) = − 8i + 3j 1
x r′(t ) = i − 3t 2 j
r′(t ) = − 2ti + j −16 −12 −8 −4 2 t
−2
r′(3) = − 6i + j 7. r (t ) = 3 cos3 ti + 2 sin 3 tj + k
−4
r′(t0 ) is tangent to the curve at t0 = 3. r′(t ) = 9 cos 2 t ( − sin t )i + 6 sin 2 t (cos t ) j

π = − 9 sin t cos 2 ti + 6 sin 2 t cos tj
2. r (t ) = cos ti + sin tj, t0 =
2
x(t ) = cos t , y (t ) = sin t y 8. r (t ) = 4 t i + t 2 t j + ln t 2k
x2 + y 2 = 1 2  t2  2
r′ (0, 1) r′(t ) = i +  2t t + j + k
π  t  2 t t
r  = j r
2 x 2 5t 3 2 2
1 = i + j+ k
r′(t ) = −sin ti + cos tj t 2 t
π 
r′  = −i 9. r (t ) = e − t i + 4 j + 5tet k
2
r′(t ) = −e − t i + (5et + 5tet )k
r′(t0 ) is tangent to the curve at t0 .
10. r(t ) = t 3 , cos 3t , sin 3t

3. r(t ) = et , e 2t , t0 = 0
y r′(t ) = 3t 2 , −3 sin 3t , 3 cos 3t
= (e )
2
x (t ) = e , y (t ) = e
t 2t t
11. r (t ) = t sin t , t cos t , t

3
2
y = x , x > 0
r′
r(0) = 1, 1
2
r′(t ) = sin t + t cos t , cos t − t sin t , 1
r′(t ) = et , 2e 2t (1, 1)
1
r 12. r(t ) = arcsin t , arccos t , 0
r′(0) = 1, 2
x
1 2 3 1 1
r′(t ) = ,− ,0
r′(t0 ) is tangent to the curve at t0 .
2
1−t 1 − t2
3π 1 2
4. r (t ) = 2 cos ti + 2 sin tj + tk , t0 = 13. r (t ) = t 3i + t j
2 2
x 2 + y 2 = 4, z = t (a) r′(t ) = 3t 2i + tj
r′(t ) = −2 sin ti + 2 cos tj + k (b) r′′(t ) = 6ti + j
 3π  3π z (c) r′(t ) ⋅ r′′(t ) = 3t 2 (6t ) + t = 18t 3 + t

r  = −2 j + k
 2 2 ) 0, −2,
3π
2 2π)
 3π  r′ 14. r(t ) = (t 2 + t )i + (t 2 − t ) j
r′  = 2i + k
 2  r π (a) r′(t ) = ( 2t + 1)i + ( 2t − 1) j
−2
1
(b) r′′(t ) = 2i + 2 j
2
2
(c) r′(t ) ⋅ r′′(t ) = ( 2t + 1)( 2) + ( 2t − 1)( 2) = 8t
x y
Section 10.2 Differentiation and Integration of Vector-Valued Functions 625
15. r(t ) = 4 cos ti + 4 sin tj
(a) r′(t ) = −4 sin ti + 4 cos tj
(b) r′′(t ) = −4 cos ti − 4 sin tj
(c) r′(t ) ⋅ r′′(t ) = ( −4 sin t )( −4 cos t ) + 4 cos t ( −4 sin t ) = 0
16. r(t ) = 8 cos ti + 3 sin tj
(a) r′(t ) = −8 sin ti + 3 cos tj
(b) r′′(t ) = −8 cos ti − 3 sin tj
(c) r′(t ) ⋅ r′′(t ) = ( −8 sin t )( −8 cos t ) + 3 cos t ( −3 sin t ) = 55 sin t cos t
1 2 1
17. r (t ) = t i − tj + t 3k
2 6
1 2
(a) r′(t ) = ti − j + t k
2
(b) r′′(t ) = i + tk
1 2 1
(c) r′(t ) ⋅ r′′(t ) = t (1) + ( −1)(0) + t (t ) = t + t 3
2 2
i j k
 
1 2
(d) r′(t ) × r′′(t ) = t −1 t
 2 
 
1 0 t 
 1 
= ( − t )i −  t 2 − t 2  j + k
 2 
1
= − ti − t 2 j + k
2
( )
18. r(t ) = t 3i + 2t 2 + 3 j + (3t − 5)k
(a) r′(t ) = 3t 2i + 4tj + 3k
(b) r′′(t ) = 6ti + 4 j
(c) r′(t ) ⋅ r′′(t ) = 3t 2 (6t ) + 4t ( 4) + 3(0)

= 18t 3 + 16t
 i j k
 
(d) r′(t ) × r′′(t ) = 3t 2 4t 3
 6t 4 0 

= (0 − 12)i − (0 − 18t ) j + (12t 2 − 24t 2 )k
= −12i + 18tj − 12t 2k
19. r(t ) = cos t + t sin t , sin t − t cos t , t

(a) r′(t ) = − sin t + sin t + t cos t , cos t − cos t + t sin t , 1
= t cos t , t sin t , 1
(b) r′′(t ) = cos t − t sin t , sin t + t cos t , 0

(c) r′(t ) ⋅ r′′(t ) = (t cos t )(cos t − t sin t ) + t sin t (sin t + t cos t ) + 1(0)
= t cos 2 t − t 2 cos t sin t + t sin 2 t + t 2 sin t cos t
= t (cos 2 t + sin 2 t ) = t
 i j k
 
(d) r′(t ) × r′′(t ) =  t cos t t sin t 1
 cos t − t sin t sin t + t cos t 0 
 
= ( − sin t − t cos t )i + (cos t − t sin t ) j + (t cos t sin t + t 2 cos 2 t − t sin t cos t + t 2 sin 2 t )k
= ( − sin t − t cos t )i + (cos t − t sin t ) j + t 2k
= − sin t − t cos t , cos t − t sin t , t 2
20. r(t ) = e −t , t 2 , tan t
(a) r′(t ) = − e −t , 2t , sec 2 t
(b) r′′(t ) = e − t , 2, 2 sec 2 t tan t
(c) r′(t ) ⋅ r′′(t ) = − e − 2t + 4t + 2 sec 4 t tan t
 i j k 
 
(d) r′(t ) × r′′(t ) = − e − t 2t 2
sec t 
 e−t 2 2 sec 2 t tan t 

= 2t ( 2 sec 2 t tan t ) − 2 sec 2 t  i − − 2e − t sec 2 t tan t − e − t sec 2 t  j + − 2e − t − 2te − t  k
= 4t sec 2 t tan t − 2 sec 2 t  i + 2e − t sec 2 t tan t + e − t sec 2 t  j − 2e− t + 2te− t  k
21. r(t ) = t 2i + t 3 j 2t 2t 2
23. r(t ) = i + j
r′(t ) = 2ti + 3t 2 j 8 + t3 8 + t3
16 − 4t 3 32t − 2t 4
r′(0) = 0 r′(t ) = i + j
(t 3 + 8) (t 3 + 8)
2 2
Smooth on ( −∞, 0), (0, ∞)

r′(t ) ≠ 0 for any value of t .
(Note: t = 0 corresponds to a cusp at ( x, y) = (0, 0). ) r is not continuous when t = −2.
Smooth on ( −∞, −2), ( −2, ∞)
22. r(θ ) = 2 cos3 θ i + 3 sin 3 θ j
r′(θ ) = −6 cos 2 θ sin θ i + 9 sin 2 θ cos θ j 24. r (t ) = ti − 3tj + tan tk
 nπ  r′(t ) = i − 3 j + sec 2 tk ≠ 0
r′  = 0
 2  π2n + 1
r is smooth for all t ≠ + nπ =
π.
 nπ ( n + 1)π  2 2
Smooth on  , , n any integer.
 2 2   π π 
Smooth on intervals of form  − + nπ , + nπ ,
 2 2 
n is an integer.
Section 10.2 Differentiation and In tegration of Vector-Valued Functions 627
25. r (t ) = ti + 3tj + t 2k , u(t ) = 4ti + t 2 j + t 3k

r′(t ) = i + 3 j + 2tk , u′(t ) = 4i + 2tj + 3t 2k
(a) r′(t ) = i + 3j + 2tk
d
(b) 3r (t ) − u(t ) = 3r′(t ) − u′(t )
dt 
= 3(i + 3 j + 2tk ) − ( 4i + 2tj + 3t 2k )
= (3 − 4)i + (9 − 2t ) j + (6t − 3t 2 )k
= − i + (9 − 2t ) j + (6t − 3t 2 )k
d
(c) (5t )u(t ) = (5t )u′(t ) + 5u(t )
dt
= 5t ( 4i + 2tj + 3t 2k ) + 5( 4ti + t 2 j + t 3k )
= ( 20t + 20t )i + (10t 2 + 5t 2 ) j + (15t 3 + 5t 3 )k

= 40ti + 15t 2 j + 20t 3k
d
(d) r (t ) ⋅ u(t ) = r(t ) ⋅ u′(t ) + r′(t ) ⋅ u(t )
dt 
= (t )( 4) + (3t )( 2t ) + (t 2 )(3t 2 ) + (1)( 4t ) + (3)(t 2 ) + ( 2t )(t 3 )
= ( 4t + 6t 2 + 3t 4 ) + ( 4t + 3t 2 + 2t 4 )
= 8t + 9t 2 + 5t 4
d
(e) r (t ) × u(t ) = r (t ) × u′(t ) + r′(t ) × u(t )
dt 
= 7t 3i + ( 4t 2 − 3t 3 ) j + ( 2t 2 − 12t )k  + t 3i + (8t 2 − t 3 ) j + (t 2 − 12t )k 
= 8t 3i + (12t 2 − 4t 3 ) j + (3t 2 − 24t )k
d
(f ) r ( 2t ) = 2r′( 2t )
dt
= 2 i + 3j + 2( 2t )k 
= 2i + 6 j + 8tk
1
26. r(t ) = ti + 2 sin tj + 2 cos tk , u(t ) = i + 2 sin tj + 2 cos t k
t
1
r′(t ) = i + 2 cos tj − 2 sin tk , u′(t ) = − 2 i + 2 cos tj − 2 sin tk
t
(a) r′(t ) = i + 2 cos tj − 2 sin tk
d
(b) 3r (t ) − u(t ) = 3r′(t ) − u′(t )
dt 
 1 
= 3(i + 2 cos tj − 2 sin tk ) −  − 2 i + 2 cos tj − 2 sin t k 
 t 
 1
=  3 + 2 i + (6 cos t − 2 cos t ) j + ( − 6 sin t + 2 sin t )k
 t 
 1
=  3 + 2 i + 4 cos tj − 4 sin tk
 t 
d
(c) (5t )u(t ) = (5t )u′(t ) + 5u(t )
dt 
 1  1 
= 5t  − 2 i + 2 cos tj − 2 sin tk  + 5 i + 2 sin tj + 2 cos tk 
 t  t 
 5  5 
=  − i + 10t cos tj − 10t sin tk  +  i + 10 sin tj + 10 cos tk 
 t   t 
= 10(t cos t + sin t ) j + 10(cos t − t sin t )k
d
(d) r (t ) ⋅ u(t ) = r (t ) ⋅ u′(t ) + r′(t ) ⋅ u(t )
dt 
  1   1 
= (t ) − 2  + ( 2 sin t )( 2 cos t ) + ( 2 cos t )( − 2 sin t ) + (1)  + ( 2 cos t )( 2 sin t ) + ( − 2 sin t )( 2 cos t )
  t    t  
 1  1 
=  − + 4 sin t cos t − 4 sin t cos t  +  + 4 sin t cos t − 4 sin t cos t 
 t  t 
= 0(t ≠ 0)
d
(e) r(t ) × u(t ) = r(t ) × u′(t ) + r′(t ) × u(t )
dt 
  2   2  
= − 4i +  − 2 cos t + 2t sin t  j +  2t cos t + 2 sin t k 
  t   t  
  2   2  
+ 4i +  − sin t − 2 cos t  j +  2 sin t − cos t k 
  t   t  
 1 1    1  1 
= 2  t − sin t −  2 + 1cos t  j + 2 1 + 2 sin t +  t − cos t k
 t t    t   t 
d
(f ) r( 2t ) = 2r′( 2t )
dt
= 2(i + 2 cos( 2t ) j − 2 sin ( 2t )k )
= 2i + 4 cos( 2t ) j − 4 sin ( 2t )k
27. r (t ) = ti + 2t 2 j + t 3k , u(t ) = t 4k
(a) r (t ) ⋅ u(t ) = t 7
(i) Dt r (t ) ⋅ u(t ) = 7t 6

(ii) Alternate Solution:
Dt r(t ) ⋅ u(t ) = r (t ) ⋅ u′(t ) + r′(t ) ⋅ u(t ) = (ti + 2t 2 j + t 3k ) ⋅ ( 4t 3k ) + (i + 4tj + 3t 2k ) ⋅ (t 4k ) = 4t 6 + 3t 6 = 7t 6
i j k
(b) r(t ) × u(t ) = t 2t 2 t 3 = 2t 6i − t 5 j
0 0 t4
(i) Dt r (t ) × u(t ) = 12t 5i − 5t 4 j
i j k i j k
(ii) Alternate Solution: Dt r(t ) × u(t ) = r (t ) × u′(t ) × r′(t ) × u(t ) = t 2t 2
t + 1 4t 3t 2 = 12t 5i − 5t 4 j
3
0 0 4t 3 0 0 t4
28. r(t ) = cos ti + sin tj + tk , u(t ) = j + tk
(a) r (t ) ⋅ u(t ) = sin t + t 2
(i) Dt r (t ) ⋅ u(t ) = cos t + 2t

Dt r (t ) ⋅ u(t ) = r (t ) ⋅ u′(t ) + r′(t ) ⋅ u(t )
= (cos ti + sin tj + tk ) ⋅ k + ( −sin ti + cos tj + k ) ⋅ ( j + tk ) = t + cos t + t = 2t + cos t
i j k
(b) r(t ) × u(t ) = cos t sin t t = (t sin t − t )i − (t cos t ) j + cos tk
0 1 t
(i) Dt r (t ) × u(t ) = (t cos t + sin t − 1)i − (cos t − t sin t ) j − sin tk
Dt r(t ) × u(t ) = r(t ) × u′(t ) + r′(t ) × u(t )
i j k i j k
= cos t sin t t + −sin t cos t 1 = (sin t + t cos t − 1)i + (t sin t − cos t ) j − sin tk
0 0 1 0 1 t
29.  (2ti + j + 9k )dt = t 2i + tj + 9tk + C 32.


 ln ti +
1 
j + k  dt = (t ln t − t )i + ln tj + tk + C
t 
 (4t i + 6tj − 4 )
t k dt = t 4i + 3t 2 j − 83 t 3 2k + C (Integration by parts)
3
30.
5t
 (i + 4t j + 5t k ) dt = ti + t 4 j +
3
1  2 33. k + C
31.   i + j − t 3 2k  dt = ln t i + tj − t 5 2k + C ln 5
 t  5
 1 
 sec
2
34. ti + j dt = tan ti + arctan tj + C
1 + t 2 
 (e i + j + t cos tk ) dt = et i + tj + (cos t + t sin t )k + C

t
35.
(Note: Integration by parts needed for  t cos t dt. )
 1 
 (e sin t i + cot tj) dt = − (cos t + sin t )e − t  i + ln sin t j + k + C
−t
36.
 2 
(Note: Integration by parts needed for the first integral. Also, you could combine the constants k + C. )
1
1 1 t 2  1
+ tj − k ) dt = 4t 2i +  j − [tk ]0 = 4i + j − k
1
37.  0 (8ti 0 2
 0 2
π 2 π 2
38. 0 (5 cos ti + 6 sin tj + k ) dt = [5 sin ti − 6 cos tj + tk ]0
 π 
=  5i + k  − ( − 6 j)
 2 
π
= 5i + 6 j + k
2
2
 2 
(ti + et j − tet k ) dt = t2 i + et j 0 − (t − 1)et k  0 = 2i + (e2 − 1) j − (e2 + 1)k
2 2 2
39. 0  0
40. ti + t 2 j = t 2 + t 4 = t 1 + t 2 for t ≥ 0
3
1 + t 2 dt =  13 (1 + t 2 )  = (103 2 − 1)
3 3 32
0 ti + t 2 j dt = 0 t   0
1
3
41. r(t ) =  (4e

2t
i + 3et j) dt = 2e2t i + 3et j + C 43. r(t ) =  (te
−t 2
) 1 2
i − e − t j + k dt = − e − t i + e − t j + t k + C
2
r(0) = 2i + 3j + C = 2i  C = −3j 1 1
r(0) = − i + j + C = i − j + k  C = i − 2 j + k
r(t ) = 2e 2t i + 3(et − 1) j 2 2
 1 2
42. r′(t ) =  − 32 j dt = −32tj + C1 r(t ) = 1 − e −t i + (e −t − 2) j + (t + 1)k
 2 
r′(0) = C1 = 600 3i + 600 j  2 − e−t 2 
=  i + (e −t − 2) j + (t + 1)k
r′(t ) = 600 3i + (600 − 32t ) j  2 
 
r (t ) =  600 3i + (600 − 32t ) j dt
= 600 3ti + (600t − 16t 2 ) j + C

r(0) = C = 0
r(t ) = 600 3ti + (600t − 16t 2 ) j
 1 1 1  1
44. r(t ) =   i + j + k  dt = arcsin ti − j + ln tk + C
1 − t2 t2 t  t
π  π
r(1) = i − j + C = 2i  C =  2 − i + j
2  2
 π  1
r(t ) =  arcsin t + 2 − i + 1 −  j + ln t k
 2   t
45. At t = t0 , the graph of u(t ) is increasing in the x, y, 47. Let r(t ) = x(t )i + y(t ) j + z (t )k. Then
and z directions simultaneously. cr(t ) = cx(t )i + cy(t ) j + cz(t )k and
46. Sample answer: f (t ) = ti + 3tj, g(t ) = 4i − tj d

cr (t ) = cx′(t )i + cy′(t ) j + cz′(t )k
dt 
f (t ) ⋅ g(t ) = 4t − 3t 2
= c  x′(t )i + y′(t ) j + z′(t )k  = cr′(t ).
0 (4t − 3t ) dt
1 1 1
0 f (t ) ⋅ g(t ) dt = 2t 2 − t 3  = 1
2
=
0
1
1 1 t 2 3t 2  1 3
0 f (t ) dt = 0 (ti + 3tj) dt =  i+ j = i + j
2 2 0 2 2
1
1 1  t2  1
0 g(t ) dt = 0 (4i − tj) dt = 4ti − j = 4i − j
 2 0 2
( f (t) dt) ⋅ ( g(t) dt) = 2 − 34 ≠ 1

1
0 0
1
48. Let r(t ) = x1(t )i + y1(t ) j + z1 (t )k and u(t ) = x2 (t )i + y2 (t ) j + z2 (t )k.
r (t ) ± u(t ) =  x1 (t ) ± x2 (t ) i +  y1 (t ) ± y2 (t ) j +  z1 (t ) ± z2 (t )k

d
r(t ) ± u(t ) =  x1′ (t ) ± x2′ (t ) i +  y1′ (t ) ± y2′ (t ) j +  z1′ (t ) ± z2′ (t )k
dt       
=  x1′ (t )i + y1′ (t ) j + z1′ (t )k  ±  x2′ (t )i + y2′ (t ) j + z2′ (t )k  = r′(t ) ± u′(t )
   
49. Let r(t ) = x(t )i + y(t ) j + z (t )k , then w(t )r(t ) = w(t ) x(t )i + w(t ) y(t ) j + w(t ) z(t )k.
d
w(t )r(t ) = w(t ) x′(t ) + w′(t ) x(t ) i + w(t ) y′(t ) + w′(t ) y(t ) j + w(t ) z′(t ) + w′(t ) z (t )k
dt 
= w(t )  x′(t )i + y′(t ) j + z′(t )k  + w′(t )  x(t )i + y (t ) j + z (t )k  = w(t )r′(t ) + w′(t )r(t )
50. Let r(t ) = x1(t )i + y1(t ) j + z1 (t )k and u(t ) = x2 (t )i + y2 (t ) j + z2 (t )k.
r(t ) × u(t ) =  y1 (t ) z2 (t ) − z1 (t ) y2 (t ) i −  x1 (t ) z2 (t ) − z1 (t ) x2 (t ) j +  x1 (t ) y2 (t ) − y1 (t ) x2 (t )k

d
r(t ) × u(t ) =  y1 (t ) z2′ (t ) + y1′ (t ) z2 (t ) − z1 (t ) y2′ (t ) − z1′ (t ) y2 (t ) i −  x1 (t ) z2′ (t ) + x1′ (t ) z2 (t ) − z1 (t ) x2′ (t ) − z1′ (t ) x2 (t ) j
dt     
+  x1 (t ) y2′ (t ) + x1′ (t ) y2 (t ) − y1 (t ) x2′ (t ) − y1′ (t ) x2 (t )k
 
{     }
=  y1 (t ) z2′ (t ) − z1 (t ) y2′ (t ) i −  x1 (t ) z2′ (t ) − z1 (t ) x2′ (t ) j +  x1 (t ) y2′ (t ) − y1 (t ) x2′ (t )k

{     }
+  y1′ (t ) z2 (t ) − z1′ (t ) y2 (t ) i −  x1′ (t ) z2 (t ) − z1′ (t ) x2 (t ) j +  x1′ (t ) y2 (t ) − y1′ (t ) x2 (t )k

= r(t ) × u′(t ) + r′(t ) × u(t )
51. Let r(t ) = x(t )i + y(t ) j + z(t )k. Then r ( w(t )) = x( w(t ))i + y ( w(t )) j + z ( w(t ))k and
d
r( w(t )) = x′( w(t )) w′(t )i + y′( w(t )) w′(t ) j + z′( w(t )) w′(t )k (Chain Rule)
dt 
= w′(t )  x′( w(t ))i + y′( w(t )) j + z′( w(t ))k  = w′(t )r′( w(t )).
52. Let r(t ) = x(t )i + y(t ) j + z (t )k. Then r′(t ) = x′(t )i + y′(t ) j + z′(t )k.
r(t ) × r′(t ) =  y(t ) z′(t ) − z (t ) y′(t ) i −  x(t ) z′(t ) − z (t ) x′(t ) j +  x(t ) y′(t ) − y(t ) x′(t )k
d
r(t ) × r′(t ) =  y(t ) z′′(t ) + y′(t ) z′(t ) − z (t ) y′′(t ) − z′(t ) y′(t ) i −  x(t ) z′′(t ) + x′(t ) z′(t ) − z (t ) x′′(t ) − z′(t ) x′(t ) j
dt 
+  x(t ) y′′(t ) + x′(t ) y′(t ) − y(t ) x′′(t ) − y′(t ) x′(t )k
=  y(t ) z′′(t ) − z (t ) y′′(t ) i −  x(t ) z′′(t ) − z (t ) x′′(t ) j +  x(t ) y′′(t ) − y(t ) x′′(t )k = r(t ) × r′′(t )
53. Let r(t ) = x1(t )i + y1 (t ) j + z1 (t )k , u(t ) = x2 (t )i + y2 (t ) j + z2 (t )k , and v(t ) = x3 (t )i + y3 (t ) j + z3 (t )k. Then:
r(t ) ⋅ u(t ) × v(t ) = x1 (t )  y2 (t ) z3 (t ) − z2 (t ) y3 (t ) − y1 (t )  x2 (t ) z3 (t ) − z2 (t ) x3 (t ) + z1 (t )  x2 (t ) y3 (t ) − y2 (t ) x3 (t )

d
r(t ) ⋅ (u(t ) × v(t )) = x1 (t ) y2 (t ) z3′ (t ) + x1 (t ) y2′ (t ) z3 (t ) + x1′ (t ) y2 (t ) z3 (t ) − x1 (t ) y3 (t ) z2′ (t )
dt 
− x1 (t ) y3′ (t ) z2 (t ) − x1′ (t ) y3 (t ) z2 (t ) − y1 (t ) x2 (t ) z3′ (t ) − y1 (t ) x2′ (t ) z3 (t ) − y1′ (t ) x2 (t ) z3 (t )
+ y1 (t ) z2 (t ) x3′ (t ) + y1 (t ) z2′ (t ) x3 (t ) + y1′ (t ) z2 (t ) x3 (t ) + z1 (t ) x2 (t ) y3′ (t ) + z1 (t ) x2′ (t ) y3 (t )
+ z1′ (t ) x2 (t ) y3 (t ) − z1 (t ) y2 (t ) x3′ (t ) − z1 (t ) y2′ (t ) x3 (t ) − z1′ (t ) y2 (t ) x3 (t )
{
= x1′ (t )  y2 (t ) z3 (t ) − y3 (t ) z2 (t ) + y1′ (t ) − }
 x2 (t ) z3 (t ) + z2 (t ) x3 (t ) + z1′ (t )  x2 (t ) y3 (t ) − y2 (t ) x3 (t )
{     }
+ x1 (t )  y2′ (t ) z3 (t ) − y3 (t ) z2′ (t ) + y1 (t ) − x2′ (t ) z3 (t ) + z2′ (t ) x3 (t ) + z1 (t )  x2′ (t ) y3 (t ) − y2′ (t ) x3 (t )
 
+ {x (t )  y (t ) z ′ (t ) − y ′ (t ) z (t ) + y (t ) − x (t ) z ′ (t ) + z (t ) x ′ (t ) + z (t )  x (t ) y ′ (t ) − y (t ) x ′ (t )}
1
 2 3 3 2
 
1 2 3 2
 3
 1 2 3 2
 3
= r′(t ) ⋅ u(t ) × v(t ) + r(t ) ⋅ u′(t ) × v(t ) + r (t ) ⋅ u(t ) × v′(t )
54. Let r(t ) = x(t )i + y(t ) j + z (t )k. If r(t ) ⋅ r(t ) is

constant, then:
x 2 (t ) + y 2 (t ) + z 2 (t ) = C
d 2
 x (t ) + y 2 (t ) + z 2 (t ) = Dt [C ]
dt 
2 x(t ) x′(t ) + 2 y (t ) y′(t ) + 2 z (t ) z′(t ) = 0
2  x(t ) x′(t ) + y (t ) y′(t ) + z (t ) z′(t ) = 0
2 r(t ) ⋅ r′(t ) = 0.
So, r(t ) ⋅ r′(t ) = 0.
55. r (t ) = 2 cos ti + 3 sin tj

(a) Ellipse (b) r′(t ) = −2 sin ti + 3cos tj
y
r′′(t ) = −2 cos ti − 3 sin tj
2 r′(t ) = 4 sin 2 t + 9 cos 2 t
1
x Minimum of r′(t ) is 2, (t = π 2).
−3 −1 1 3
−1
−2 Maximum of r′(t ) is 3, (t = 0).
r ′′(t ) = 4 cos 2t + 9 sin 2 t
Minimum of r ′′(t ) is 2, (t = 0).
 π
Maximum of r ′′(t ) is 3,  t = .
 2
Section 10.3 Velocity and Acceleration 633
56. r(t ) = et sin ti + et cos tj

r′(t ) = (et cos t + et sin t )i + (et cos t − et sin t ) j
r′′(t ) = ( −et sin t + et cos t + et sin t + et cos t )i + (et cos t − et sin t − et sin t − et cos t ) j = 2et cos ti − 2et sin tj
r(t ) ⋅ r′′(t ) = 2e 2t sin t cos t − 2e 2t sin t cos t = 0
So, r(t ) is always perpendicular to r′′(t ).
π
57. (a) t = : both components positive
4
5π
t = : x-component negative, y -component positive
6
5π
t = : x-component positive, y -component negative
4
(b) No. There is a cusp when t = 0, at (1, 0).
58. True 61. False.

d
59. False. The definite integral is a vector, not a real number. r (t ) ⋅ u(t ) = r (t ) ⋅ u′(t ) + r′(t ) ⋅ u(t )
dt 
60. False. Let r(t ) = cos t i + sin t j + k. (See Theorem 1.2, part 4)
r (t ) = 2
d
 r (t )  = 0
dt  
r′(t ) = −sin t i + cos t j
r′(t ) = 1
Section 10.3 Velocity and Acceleration
1. r(t ) = 3ti + (t − 1) j, (3, 0) 2. r (t ) = t 2i + tj, ( 4, 2)
(a) v(t ) = r′(t ) = 3i + j (a) v(t ) = r′(t ) = 2ti + j
Speed = v(t ) = 32 + 12 = 10 Speed = v(t ) = 4t 2 + 1

a(t ) = r′′(t ) = 0 a(t ) = r′′(t ) = 2i
(b) At (3, 0), t = 1. (b) At ( 4, 2), t = 2.
v(1) = 3i + j, a(1) = 0 v( 2) = 4i + j, a( 2) = 2i
(c) x = 3t , y = t − 1 (c) x = t 2 , y = t
x x = y 2 , parabola
y = − 1, line
3 y
y
4
v
2 (4, 2)
v 2 a
(3, 0)
x
4 6 x
2 4 6 8
−2
−2
−4 −4
3. r(t ) = 2 cos ti + 2 sin tj, ( 2, 2 )

(a) v(t ) = r′(t ) = − 2 sin ti + 2 cos tj (c) x = 2 cos t , y = 2 sin t
Speed = v(t ) = 4 sin 2 t + 4 cos 2 t = 2 x 2 + y 2 = 4, circle

a(t ) = − 2 cos ti − 2 sin t j y
π
( )
3
(b) At 2, 2 ,t = . v
( 2, 2)
4
a
π  x
v  = − 2i + 2j −3 3
4
π 
a  = − 2i − 2j −3
4
4. r(t ) = t − sin t , 1 − cos t , (π , 2)
(a) v(t ) = v′(t ) = 1 − cos t , sin t (c) x = t − sin t , y = 1 − cos t

y
Speed = v(t ) = (1 − cos t ) + sin 2 t =
2
2 − 2 cos t
4
a(t ) = sin t , cos t (π , 2)

2 v
(b) At (π , 2), t = π . a
x
v(π ) = 2, 0 , a(π ) = 0, −1
π 2π
5. r(t ) = ti + 5tj + 3tk , t = 1

7. r(t ) = ti − tj + 9 − t 2 k, t = 0
(a) v(t ) = r′(t ) = i + 5 j + 3k t
(a) v(t ) = r′(t ) = i − j − k
Speed = v(t ) = 12 + 52 + 32 = 35 9 − t2
a(t ) = r′′(t ) = 0 t2 18 − t 2
Speed = v(t ) = 1+1+ =
(b) v(1) = i + 5 j + 3k 9 − t2 9 − t2
9
a(1) = 0 a(t ) = r′′(t ) = − k
(9 − t 2 )
32
1 2
6. r (t ) = ti + t 2 j + t k, t = 4 (b) v(0) = i − j
2
9 1
(a) v(t ) = r′(t ) = i + 2tj + tk a ( 0) = − k = − k
93 2 3
Speed = v(t ) = 1 + 4t 2 + t 2 = 1 + 5t 2
a(t ) = r′′(t ) = 2 j + k
(b) v( 4) = i + 8 j + 4k
a( 4) = 2 j + k
8. r(t ) = 4t , 3 cos t , 3 sin t , t = π
(a) v(t ) = r′(t ) = 4, − 3 sin t , 3 cos t
Speed = v(t ) = 42 + ( − 3 sin t ) + (3 cos t ) =

2 2
16 + 9 = 5
a(t ) = r′′(t ) = 0, − 3 cos t , − 3 sin t
(b) v(π ) = 4, 0, − 3
a(π ) = 0, 3, 0
9. r(t ) = et cos t , et sin t , et , t = 0
(a) v(t ) = r′(t ) = et cos t − et sin t , et sin t + et cos t , et
Speed = v(t ) = e 2t (cos t − sin t ) + e 2t (cos t + sin t ) + e 2t

2 2
= et 3
a(t ) = r′′(t )
= et cos t − et sin t − et sin t − et cos t , et sin t + et cos t + et cos t − et sin t , et
= − 2et sin t , 2et cos t , et
(b) v(0) = 1, 1, 1
a(0) = 0, 2, 1
1 4 11. a(t ) = i + j + k , v(0) = 0, r (0) = 0

10. r (t ) = ln t , ,t , t = 3
t2
v (t ) =  (i + j + k ) dt = ti + tj + tk + C
1 2
(a) v(t ) = r′(t ) = , − 3 , 4t 3 v(0) = C = 0, v(t ) = ti + tj + tk , v(t ) = t (i + j + k )
t t
t2
1 4 r (t ) =  ( ti + tj + tk ) dt = (i + j + k ) + C
speed = v(t ) = + 6 + 16t 6 2
t2 t
t2
1 6 r (0) = C = 0, r (t ) = (i + j + k ),
a(t ) = r′′(t ) = − 2 , 4 , 12t 2 2
t t
r ( 2) = 2(i + j + k ) = 2i + 2 j + 2k
1 2
(b) v ( 3) = ,−
3 3 3
, 12 3
1 2
a ( 3) = − , , 36
3 3
12. a(t ) = tj + tk , v(1) = 5 j, r (1) = 0

t2 t2
v (t ) =  (tj + tk ) dt
j+ k +C =
2 2
1 1 9 1
v(1) = j + k + C = 5 j  C = j − k
2 2 2 2
 t2 9  t2 1
v ( t ) =  +  j +  − k
 2 2   2 2
 t 2 9  t2 1   t3 9   t3 1 
r (t ) =   2 +  j +  − k  dt =  + t  j +  − t k + C
2  2 2    6 2   6 2 
14 1 14 1
r (1) = j− k +C = 0  C = − j+ k
3 3 3 3
 t3 9 14   t3 1 1
r ( t ) =  + t −  j +  − t + k
6 2 3 6 2 3
17 2
r ( 2) = j+ k
3 3
13. a(t ) = −cos ti − sin tj, v(0) = j + k , r (0) = i

v (t ) =  (−cos ti − sin tj) dt = −sin ti + cos tj + C
v ( 0) = j + C = j + k  C = k
v(t ) = −sin ti + cos tj + k
r (t ) =  (−sin ti + cos tj + k ) dt = cos ti + sin tj + tk + C
r ( 0) = i + C = i  C = 0
r(t ) = cos ti + sin tj + tk
r( 2) = (cos 2)i + (sin 2) j + 2k
14. a(t ) = e i − 8k , v(0) = 2i + 3 j + k , r(0) = 0

t
v (t ) =  (e i − 8k ) dt
t
= et i − 8tk + C
v(0) = i + C = 2i + 3 j + k  C = i + 3 j + k
v(t ) = (et + 1)i + 3 j + (1 − 8t )k
r (t ) =  (e + 1)i + 3 j + (1 − 8t )k  dt
t
= (et + t )i + 3tj + (t − 4t 2 )k + C
r(0) = i + C = 0  C = −i
r(t ) = (et + t − 1)i + 3tj + (t − 4t 2 )k
15. r(t ) = 40(cos 22°)ti + (1 + 40(sin 22°)t − 4.9t 2 ) j

v(t ) = r′(t ) = 40(cos 22°)i + ( 40(sin 22°) − 9.8t ) j
The maximum height occurs when
40 sin 22°
y′(t ) = 40(sin 22°) − 9.8t = 0  t = ≈ 1.529.
9.8
The maximum height is
2
 40   40 
y = 1 + 40(sin 22°) sin 22°  − 4.9 sin 22°  ≈ 12.5 meters.
 9.8   9.8 
105
When x = 105, t = ≈ 2.831.
40 cos 22°
For this value of t , y ≈ 4.15 meters.
So the ball clears the 3-meter fence.
 1  v  v 
16. r(t ) = (v0 cos θ )ti + h + (v0 sin θ )t − gt 2  j = 0 ti + 1 + 0 t − 4.9t 2  j
 2  2  2 
v0 v
t = 100 when 1 + 0 t − 4.9t 2 = 1.
2 2
2
100 2 v0  100 2   100 2  1002 (9.8)
t = ,   − 4.9  = 0, 100 − = 0
v0 2  v0   v0  v02
v02 = 100(9.8), v0 = 980 = 14 5, v0 = 14 5 ≈ 31.30 m sec

The maximum height is reached when the derivative of the vertical component is zero.
tv0 14 5
y (t ) = 1 + − 4.9t 2 = 1 + t − 4.9t 2 = 1 + 7 10t − 4.9t 2
2 2
y′(t ) = 7 10 − 9.8t = 0
7 10
t = ≈ 2.259
9.8
2
 7 10   7 10   7 10 
 9.8  = 1 + 7 10  9.8  − 4.9 9.8  = 26 meters
Maximum height: y 
     
17. x(t ) = t (v0 cos θ ) or t =

v0 cos θ
y (t ) = t (v0 sin θ ) − 4.9t 2 + h
x  x2   4.9 
y = (v0 sin θ ) − 4.9 2 2  + h = ( tan θ ) x −  2 sec2 θ  x 2 + h
v0 cos θ v
 0 cos θ  v
 0 
18. h = 7 feet, θ = 35°, 30 yards = 90 feet

r(t ) = (v0 cos 35°)ti + 7 + (v0 sin 35°)t − 16t 2  j
(a) v0 cos 35°t = 90 when 7 + (v0 sin 35°)t − 16t 2 = 4

90
t =
v0 cos 35°
2
 90   90 
7 + (v0 sin 35°)  − 16  = 4
 v0 cos 35°   v0 cos 35° 
129,600
90 tan 35° + 3 =
v02
cos 2 35°
129,600
v02 =
cos 2 35°(90 tan 35° + 3)
v0 ≈ 54.088 ft sec
(b) The maximum height occurs when y′(t ) = v0 sin 35° − 32t = 0.
v0 sin 35
t = ≈ 0.969 sec
32
At this time, the height is y(0.969) ≈ 22.0 ft.
(c) x(t ) = 90  (v0 cos 35°)t = 90
90
t = ≈ 2.0 sec
54.088 cos 35°
19. r(t ) = (v0 cos θ )ti + h + (v0 sin θ )t − 4.9t 2  j
= (100 cos 30°)ti + 1.5 + (100 sin 30°)t − 4.9t 2  j
The projectile hits the ground when −4.9t 2 + 100( 12 )t + 1.5 = 0  t ≈ 10.234 seconds.
So the range is (100 cos 30°)(10.234) ≈ 886.3 meters.
The maximum height occurs when dy dt = 0.

100 sin 30 = 9.8t  t ≈ 5.102 sec
The maximum height is y = 1.5 + (100 sin 30°)(5.102) − 4.9(5.102) ≈ 129.1 meters.
2
20. r(t ) = (v0 cos θ )ti + h + (v0 sin θ )t − 4.9t 2  j
= (v0 cos 8°)ti + (v0 sin 8°)t − 4.9t 2  j

50
x = 50 when (v0 cos 8°)t = 50  t = . For this value of t , y = 0:
v0 cos 8°
2
 50   50 
(v0 sin 8°)  − 4.9  = 0
 v0 cos 8°   v0 cos 8° 
50 tan 8° =
(4.9)( 2500)  v02 =
(4.9)50 ≈ 1777.698  v ≈ 42.2 m sec
0
v02 cos 2 8° tan 8° cos 2 8°
21. r(t ) = (v cos θ )ti + (v sin θ )t − 4.9t 2  j

(a) You want to find the minimum initial speed v as a function of the angle θ . Because the bale must be thrown to the a
position (5, 3), you have
5 = (v cos θ )t
3 = (v sin θ )t − 4.9t 2 .
t = 5 (v cos θ ) from the first equation. Substituting into the second equation and solving for v , you obtain:
2
 5   5 
3 = (v sin θ )  − 4.9 
 v cos θ   v cos θ 
 sin θ   1 
3 = 5  − 122.5 2 
 cos θ   v cos 2
θ 
 1   sin θ 
122.5 2  = 5  −3
 v cos θ   cos θ 
2
1  sin θ  cos 2 θ 5 sin θ cos θ − 3 cos 2 θ

= 5 − 3 =
 cos θ
2
v  122.5 122.5
122.5
v2 =
5 sin θ cos θ − 3 cos 2 θ
122.5
You minimize f (θ ) = .
5 sin θ cos θ − 3 cos 2 θ
 
5 cos 2 θ − 5 sin 2 θ + 6 sin θ cos θ 
f ′(θ ) = −122.5

(5 sin θ cos θ − 3 cos2 θ ) 
2

f ′(θ ) = 0  5 cos ( 2θ ) + 3 sin ( 2θ ) = 0
tan ( 2θ ) = − 5 3
θ ≈ 1.0556 ≈ 60.48°
Substituting into the equation for v, v ≈ 9.30 m sec.
(b) If θ = 45°,
2
16 = (v cos θ )t = v t
2
2
8 = (v sin θ )t − 16t 2 = v t − 16t 2
2
122.5 122.5
From part (a), v 2 = = = 122.5  v ≈ 11.07 m sec.
( )( ) ( )
2
5 2 2 2 2 −3 2 2 1
22. (a) θ = 10°, v0 = 20 m sec

2
r(t ) = ( 20 cos 10°)ti + 0 + ( 20 sin 10°)t − 4.9t 2  j
r(t ) ≈ (19.7t )i + (3.47t − 4.9t 2 ) j
Maximum height: 0.615 m 0 15

0
Range: 13.962 m
(b) θ = 10°, v0 = 45 m sec 5
r(t ) = ( 45 cos 10°)ti + 0 + ( 45 sin 10°)t − 4.9t  j 2
r(t ) ≈ ( 44.32t )i + (7.81t − 4.9t 2 ) j
Maximum height: 3.115 m 0

0
80
Range: 70.673 m
(c) θ = 45°, v0 = 20 m sec

12
r(t ) = ( 20 cos 45°)ti + 0 + ( 20 sin 45°)t − 4.9t 2  j
r(t ) ≈ (14.14t )i + (14.14t − 4.9t 2 ) j

0
Range: 40.816 m
(d) θ = 45°, v0 = 45 m sec
60
r(t ) = ( 45 cos 45°)ti + 0 + ( 45 sin 45°)t − 4.9t 2  j
r(t ) ≈ (31.82t )i + (31.82t − 4.9t 2 ) j

0
Range: 206.632 m
(e) θ = 60°, v0 = 20 m sec
20
r(t ) = ( 20 cos 60°)ti + 0 + ( 20 sin 60°)t − 4.9t 2  j
r(t ) ≈ (10t )i + (17.32t − 4.9t 2 ) j

0
Range: 35.348 m
(f ) θ = 60°, v0 = 45 m sec
80
r(t ) = ( 45 cos 60°)ti + 0 + ( 45 sin 60°)t − 4.9t  j 2
r(t ) ≈ ( 22.5t )i + (38.97t − 4.9t 2 ) j

0
Range: 178.949 m
(
23. (a) r(t ) = t (v0 cos θ )i + tv0 sin θ − 4.9t 2 j ) (b) y (t ) = tv0 sin θ − 4.9t 2
v0 sin θ dy v sin θ
t (v0 sin θ − 4.9t ) = 0 when t = . = v0 sin θ − 9.8t = 0 when t = 0 .
4.9 dt 9.8
 v sin θ   v02  Maximum height:

Range: x = v0 cos θ  0  =   sin 2θ
 4.9   9.8   v sin θ  v02 sin 2 θ v 2 sin 2 θ
y 0  = − 4.9 0
The range will be maximum when  9.8  9.8 9.82
dx  v2  π π v02 sin 2 θ
=  0 2 cos 2θ = 0 or 2θ = , θ = rad. =
dt 19.6
 9.8  2 4
π
Maximum height when sin θ = 1, or θ = .
2
1 2 1 
24. To find the range, set y (t ) = h + (v0 sin θ )t − gt = 0 then 0 =  g t 2 − (v0 sin θ )t − h. By the Quadratic Formula,
2 2 
(discount the negative value)
(−v0 sin θ ) − 4(1 2) g ( −h)

2
v0 sin θ + v0 sin θ + v02 sin 2 θ + 2 gh
t = = second.
2 (1 2) g  g
At this time,
 v sin θ + v02 sin 2 θ + 2 gh  v cos θ   2 gh  
x(t ) = v0 cos θ  0  = 0  v0 sin θ + v02  sin 2 θ + 2  
 g  g   v0  
   
v02 cos θ  2 gh 
=  sin θ + sin 2 θ +  meters.
g  v02 
25. r(t ) = b(ω t − sin ω t )i + b(1 − cos ω t ) j

v(t ) = b(ω − ω cos ω t )i + bω sin ω t j = bω (1 − cos ω t )i + bω sin ω t j
a(t ) = (bω 2 sin ω t )i + (bω 2 cos ω t ) j = bω 2 sin (ω t )i + cos(ω t ) j
v (t ) = 2bω 1 − cos(ω t )
a(t ) = bω 2
(a) v(t ) = 0 when ω t = 0, 2π , 4π , .
(b) v(t ) is maximum when ω t = π , 3π , , then v (t ) = 2bω.
26. r (t ) = b(ω t − sin ω t )i + b(1 − cos ω t ) j

v(t ) = bω (1 − cos ω t )i + (sin ω t ) j
Speed = v(t ) = bω 1 − 2 cos ω t + cos 2 ω t + sin 2 ω t = 2 bω 1 − cos ω t .

The speed has a maximum value of 2bω when ω t = π , 3π , 
27 km h = 7.5 m sec = 7.5 rad sec (since b = 1).
So, the maximum speed of a point on the tire is twice the speed of the tractor:
2(7.5) m sec = 15 m sec = 54 km h
27. v(t ) = −bω sin (ω t )i + bω cos(ω t ) j

r(t ) ⋅ v(t ) = −b 2ω sin (ω t ) cos(ω t ) + b 2ω sin (vt ) cos(ω t ) = 0
So, r(t ) and v(t ) are orthogonal.
28. Speed = v = b 2ω 2 sin 2 (ω t ) + b 2ω 2 cos 2 (ω t ) = b 2ω 2 sin 2 (ω t ) + cos 2 (ω t ) = bω
29. a(t ) = −bω 2 cos(ω t )i − bω 2 sin (ω t ) j = −bω 2 cos(ω t )i + sin (ω t ) j = −ω 2r (t )
a(t ) is a negative multiple of a unit vector from (0, 0) to (cos ω t , sin ω t ) and so a(t ) is directed toward the origin.
30. a(t ) = bω 2 cos(ω t )i + sin (vt ) j = bω 2 36. r(t ) = x(t )i + y(t ) j + z(t )k Position vector
v(t ) = x′(t )i + y′(t ) j + z′(t )k Velocity vector

31. The particle could be changing direction. For example,
a(t ) = x′′(t )i + y′′(t ) j + z′′(t )k Acceleration vector
let r(t ) = cos ti + sin tj. Then the speed is r (t ) = 1,
Speed = v(t ) = x′(t ) + y′(t ) + z′(t )
2 2 2
but a(t ) is not constant.
= C , C is a constant.
32. Let r2 (t ) = 4r1 (t ). Then r2′ (t ) = 4r1′(t ) and
d
x′(t ) + y′(t ) + z′(t )  = 0
2 2 2
v 2 (t ) = r2′ (t ) = 4 r1′(t ) = 4 v1 (t ) . dt  
2 x′(t ) x′′(t ) + 2 y′(t ) y′′ (t ) + 2 z′(t ) z′′(t ) = 0
33. No. This is true for uniform circular motion only.
2  x′(t ) x′′(t ) + y′(t ) y′′(t ) + z′(t ) z′′(t ) = 0
34. a(t ) = sin ti − cos tj v (t ) ⋅ a(t ) = 0
v (t ) =  a(t ) dt = −cos ti − sin tj + C1 Orthogonal
v(0) = −i = −i + C1  C1 = 0
v(t ) = −cos ti − sin tj 37. r(t ) = x(t )i + y(t ) j
r (t ) = y(t ) = m( x(t )) + b, m and b are constants.

 v(t ) dt = −sin ti + cos tj + C2
r ( 0) = j = j + C 2  C 2 = 0 r(t ) = x(t )i + m( x(t )) + b j
r(t ) = −sin ti + cos tj v(t ) = x′(t )i + mx′(t ) j
2 2
The path is a circle. s( t ) =  x′(t ) + mx′(t ) = C , C is a constant.
35. The angle at time t1 is obtuse. C
So, x′(t ) =
The angle at time t2 is acute. 1 + m2
x′′(t ) = 0
The speed is decreasing at time t1 because the projectile
is reaching its maximum height. a(t ) = x′′(t )i + mx′′(t ) j = 0.
The speed is increasing at time t2 because the object is
accelerating due to gravity. 38. True
39. False. For example, r (t ) = t 3i. Then v (t ) = 3t 2 i and

a(t ) = 6t i. v(t ) is not orthogonal to a(t ).
40. False. Consider r(t ) = t 2 , − t 2 . Then v(t ) = 2t , − 2t
and v(t ) = 8t 2 .

Section 10.1 Vector-Valued Functions

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Section 10.1 Vector-Valued Functions

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C H A P T E R 1 0

6. r(t ) = cos ti + 2 sin tj

7. P(0, 0, 0), Q(5, 2, 2)

r(t ) = 5ti + 2tj + 2tk , 0 ≤ t ≤ 1

9. r (t ) ⋅ u(t ) = (3t − 1)(t 2 ) + ( 14 t )(−8) + 4(t )

10. r(t ) ⋅ u(t ) = (3 cos t )( 4 sin t ) + ( 2 sin t )( −6 cos t ) + (t − 2)(t 2 ) = t 3 − 2t 2 , a scalar.

11. r (t ) = ti + 2tj + t 2k , − 2 ≤ t ≤ 2 16. x = t 3 , y = t 2

So, x 2 + y 2 = 1. Matches (c) −5 − 4 −3 −2 − 1 1 2 3 4 5

24. u(t ) = r(t ) + i = (3t 2 + 1)i + (t − 1) j + tk

25. u(t ) = 3t 2i + 2(t − 1) j + tk −3

Let x = 1 + sin t , then z = 2 − x = 1 − sin t and x 2 + y 2 + z 2 = 4.

So, in the first octant, if you let x = t , then x = t , y = t , z = 4 − t2 .

35. y 2 + z 2 = ( 2t cos t ) + ( 2t sin t ) = 4t 2 = 4 x 2

43. r(t ) = e −t , t 2 , tan t 49. r (t ) = cos ti + sin tj +

45. Yes. r(t ) represents a line. Answers will vary.

50. (a) View from the negative x-axis: ( −20, 0, 0)

 i + j, t ≥ 3 (d) View from the positive x-axis: ( 20, 0, 0)

48. (a) x = −3 cos t + 1, y = 5 sin t + 2, z = 4

51. Let r(t ) = x1(t )i + y1(t ) j + z1 (t )k and u(t ) = x2 (t )i + y2 (t ) j + z2 (t )k. Then:

52. Let r(t ) = x1(t )i + y1(t ) j + z1 (t )k and u(t ) = x2 (t )i + y2 (t ) j + z2 (t )k. Then:

lim r(t ) ⋅ u(t ) = lim  x1 (t ) x2 (t ) + y1 (t ) y2 (t ) + z1 (t ) z2 (t )

= lim x1 (t ) lim x2 (t ) + lim y1 (t ) lim y2 (t ) + lim z1 (t ) lim z2 (t )

= lim x1 (t )i + lim y1 (t ) j + lim z1 (t )k  ⋅ lim x2 (t )i + lim y2 (t ) j + lim z2 (t )k 

53. Let r(t ) = x(t )i + y(t ) j + z (t )k. Because r is 58. r (t ) = ti + t 2 j + t 3k

r(c) = x(c)i + y(c) j + z(c)k  x(c), y(c), z(c) Equating components

( x(c)) + ( y(c)) + ( z (c))

55. No, not necessarily. See Exercise 58. (t = 2 and s = 1

57. r (t ) = t 2i + (9t − 20) j + t 2k

Section 10.2 Differentiation and Integration of Vector-Valued Functions

r′(t0 ) is tangent to the curve at t0 = 3. r′(t ) = 9 cos 2 t ( − sin t )i + 6 sin 2 t (cos t ) j

10. r(t ) = t 3 , cos 3t , sin 3t

11. r (t ) = t sin t , t cos t , t

r′(t ) = −2 sin ti + 2 cos tj + k (b) r′′(t ) = 6ti + j

 3π  3π z (c) r′(t ) ⋅ r′′(t ) = 3t 2 (6t ) + t = 18t 3 + t

15. r(t ) = 4 cos ti + 4 sin tj

(a) r′(t ) = −4 sin ti + 4 cos tj

(b) r′′(t ) = −4 cos ti − 4 sin tj

(c) r′(t ) ⋅ r′′(t ) = ( −4 sin t )( −4 cos t ) + 4 cos t ( −4 sin t ) = 0

16. r(t ) = 8 cos ti + 3 sin tj

(a) r′(t ) = −8 sin ti + 3 cos tj

(b) r′′(t ) = −8 cos ti − 3 sin tj

(c) r′(t ) ⋅ r′′(t ) = ( −8 sin t )( −8 cos t ) + 3 cos t ( −3 sin t ) = 55 sin t cos t

(a) r′(t ) = 3t 2i + 4tj + 3k

(b) r′′(t ) = 6ti + 4 j

(c) r′(t ) ⋅ r′′(t ) = 3t 2 (6t ) + 4t ( 4) + 3(0)

19. r(t ) = cos t + t sin t , sin t − t cos t , t

(b) r′′(t ) = cos t − t sin t , sin t + t cos t , 0

20. r(t ) = e −t , t 2 , tan t

(a) r′(t ) = − e −t , 2t , sec 2 t

(b) r′′(t ) = e − t , 2, 2 sec 2 t tan t

(c) r′(t ) ⋅ r′′(t ) = − e − 2t + 4t + 2 sec 4 t tan t

Smooth on ( −∞, 0), (0, ∞)

25. r (t ) = ti + 3tj + t 2k , u(t ) = 4ti + t 2 j + t 3k

(a) r′(t ) = i + 3j + 2tk

= ( 20t + 20t )i + (10t 2 + 5t 2 ) j + (15t 3 + 5t 3 )k

= 8t 3i + (12t 2 − 4t 3 ) j + (3t 2 − 24t )k

(i) Dt r (t ) ⋅ u(t ) = 7t 6

(i) Dt r (t ) × u(t ) = 12t 5i − 5t 4 j

28. r(t ) = cos ti + sin tj + tk , u(t ) = j + tk

(a) r (t ) ⋅ u(t ) = sin t + t 2

(i) Dt r (t ) ⋅ u(t ) = cos t + 2t

29.  (2ti + j + 9k )dt = t 2i + tj + 9tk + C 32.

 (e i + j + t cos tk ) dt = et i + tj + (cos t + t sin t )k + C