1.

5 Vector calculus

a- basis { v7 I }
✓
☐

f- IR , .
. . .

: ☐

"
(f) =
f- (E) TI
T
coefficient fats fi :
IR →
IR

DF
dd¥ (fi ) v5
'

at
= =

v7 -

É
"

IR Rm "
:
FER
☐
,

Std basis Std basis Rm

.
.

☒
,e→u{ Sei -eñ }
Sei

F-p.to/Fp-.)laieE)Ffp--)fdFp-)(aiei)--aidTpI)(
,
-
,
.

.p→→aiéi
. . .

E)
becomes lover

aiqFI-yp.gs/
a

-
index

linear map = ai 0£ =

g.
→
pin ,
-

entries of Jacobian
matrix

Jacobian matrix ( DEF ) ! =

/p
Re G- IR
"
Is IRM
Chain Rule ☐

¥ -
FOG

( F. G) g-
d
dfgcq , dGq→
= °

( DCF G) g-¥ =
@ Faqs ) ! ,
( DG
g- %
" "
J
@ ( Fo G)
0×1 .

g- a ,g , 1g
2 Local Curve
Theory
2. 1 Basic
Definitions and
Examples
Def A regular cuweinR3_ is a
function
I :( a. b) IRS that→
is of class 0 and
( acb )

Ñ ' (t) dis

satisfies -1-8 for all
=
(t)
-df t c- ( a
,
b) .

Def velocity vector at time to c- ( a , b)

÷a:÷
=
an
,

velocity vector
field : t to
¥21T ) 0%-1%7
(a. b) IRS
€ÉÉ
→

Quit) tangent vector field :

P •

J
¥ vector field
T☒:= -

:( a. b) →
IRS
1%7 * 0%-11=3
tangent line at to :

et .
:=
{ alto) + ✗ Tlt ) . 1 AER }
→
Examples ② ñ tf
•

5,1+7 =
+

Ii A) =P -1-5 velocity •
→ Ed
¥-1 →
ñ
unit vector
tangent

② 224-7 := it (
log f) F. ,
8+-8 ,
la b) =/
,
0
,
-
)
dñz
velocity dt
=
f- F -1-5 -0
→

vector •→☒p
unit target

,¥÷y= ¥ IDB a-
THE

Note Image (a) =

Image (a)
③ ☒ (t) =
It ? 0,0 )
•

dais
= (24%0)--8 if t=o
at
=D not
regular cure
A

④ Ey Ltl Lt , flt 07

•
=

to fat sin -
- - -
-

i.
¥+4 =
( 1
, f-
'
Ct , 0 ) =/ O

g f
'

8D
Image lñi ) =

graph of f
⑤ 5511-3--4-3,40 )
dat = (31-3240)--0
at if E- 0

not
=D a
regular curve

Image last)= { (1-38,0) It R }

c-

{( ✗ 1×1%0) / ✗ c- IR }
F-
-

=p
graph of f- A) =/ 1%
✗

t¥•
= ✗

t F

kink
is is
even
though
smooth
Def A re
parameterization of a curve

a :( a
,
b) →
IRS is
bijective map
:( c , d) la , b)
g →

S.t. and I
b) ( c. d)
g g- :( a
,
-
are .

the is

Alt) : =
a ( get]

Example ② Ñlt ) -
Ti +
( logt) P -
J ( log f) = I ( GH ) )

it gltl -10Gt
 so there parameterization is

g
: ( Qos) -
R , get)=logt smooth
'

g- (t) - ee smooth

RIK If p is the
pep .
curve
arising from a
,
then

Image (A) =
Image (a)

Prop 1.9 If g :(c.

d) -
la , b) is a
rep .
of ✗ and f- dog ,

then the unit

tangent vector
field J of S
is
equal to ±
Fog
Ronit tangent vector field of ✗

Rink velocity
vector
field of S

d-dtso-s-ddt-acgu-D-E.GE?s' A)
=

v.
f. of a

Proof Jlt)= ¥-11 =

d(8"→)g =
é(g g
la 'lgHDgYH| la 'lgHD ) ⑨ A) 1
1%-4-4
T¥ -7+-1
g) (f) depending
on whether
'
g > 0

or
g' so
☐
2. 2 Are length
e- fat I :[ a ,b] R?
Def A regular segment is a
→ acts

"
%¥ " * * " " ""

*↳
£ ° "

Def reparaineterizations g :[ e. d ]
-
fait ] as before .

Def The
length of a
regular segment a :[ a ,b] -1123 is ¥
/
ein __ti1%É1dt
↳ •
✗ (b)
Prop 2.1 The
length invariant
is under
reparameterizatim :

If :[ a. ☐ IRS
segment g :[eid ]
a →
is [ ,b ] is
reg rep
-
a
,
.

A :[ c. d) →
IR? SH ) -

alga)) ,
then
l (a) =
lls )
d
Proof lls) =

fed / d¥ (r) dr =

{ 1¥ lgcr) ) / dr
-

Jed
"

/
"

( glr ) ) / Think
'

g- ( ) dr :
= ✗ r

Acr)
d A' Ir) =¥
→

{ / ¥9 (gcr )) 1g Cry
"
'
dr
=
t "

got
_-

case g
'
> 0 :

d b
? i I
=/ 1¥ /
-
-
-
-
-
-

am Iger )) gkr )dr

' '

lab 1%-1
a.
.

A) dt =l( a) :
F- :

t=gcr) & • D

dt=gYrWdr
Case '
0
g < :

lls) = -

Jed 1¥ / Coger ) )
gYr)dr
= -

I 1%+1 chat =

!b1%f / A) dt -11×7 ☐

Def The ardeugthfct of ✗ ( based at to) is

S : la , b) → IR

Sci ) : __

{
-

EGICF.to ] )
""
[ to .ES
)
if

it
Eat

E> to
.

Y
%)
=
¥ 1%-1 dt
Thin ② s :( a
, b) - s ( Cais) ) = :( c. d)
is a re
parameterization .

② silt) =
1%+14-1
Proof ② clear
② 5--1%+1 > 0 C2
is =D s is and
strictly increasing
-

invertible
Let = 51 :
( d) la , b) differentiable
g c. →

s ( gcr )) =
r ( b/c they are inverses ]

/ glr))
'
S
g' ( r ) =L

g ( )
g¥m continuous in
'
=D r = r

"

-1,1¥
G) continuous
g.
"
=

,
S /glr )) g' Ir )

' "
( ) continuous
g r = . -
.

's
=D is C
g ☐
'

Def a :( a
/ b) →
R is a unit
speed curve

it 1%1=-1
The
parameterization by arekugth
Given :( b) IR
'
let :( b) kid )
regular
→
a a
, curve s a
→

, ,

be its
arclergth ( based at some to c- ( ab ) )
Let -1
( Cid ) la , b) and set
g :=s
:

A := dog
-

Then A is a unit
speed curve .

Proof
¥1k =/¥+181M / ¥14M 1÷¥
)g;÷=
>

1☐
-

,
gkr)=¥m=gi
Slg ( )) r = r

'
s ( glr)) '
( r ) =/
g