ENGINEERING MATHEMATICS

(MATH 112)

F.A Wireko, PhD

(asenso.wireko@gmail.com)

Department Of Mathematics

Kumasi Technical University

June 1, 2023
F.A Wireko, PhD (asenso.wireko@gmail.com)
ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 1 / 33
 LECTURE THREE

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
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(MATHTechnical
112) University
June 1, 2023 2 / 33
 Cont....

Definition
lim →
−
r (t) = lim ⟨f (t), g (t), h(t)⟩
t→∞ t→∞
= ⟨ lim f (t), lim g (t), lim h(t)⟩
t→∞ t→∞ t→∞
= lim f (t)i + lim g (t)j + lim h(t)k
t→∞ t→∞ t→∞

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 3 / 33
 Example

Compute
 
sin(3t − 3) 2t
lim →
−
r (t) where →
−
r (t) = t 3, ,e
t→1 t −1

Solution
 
sin(3t − 3)
lim →
−
r (t) = lim t , lim 3
, lim e 2t
t→1 t→1 t→1 t −1 t→1
 
3 3cos(3t − 3) 2t
= lim t , lim , lim e
t→1 t→1 1 t→1
 
= 1, 3, e 2

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 4 / 33
 Derivatives

Def
d →
[−
r (t)] = ⟨f ′ (t), g ′ (t), h′ (t)⟩
dt
= f ′ (t)i + g ′ (t)j + h′ (t)k

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 5 / 33
 Example

Compute →
−
r (t) for
→
−
r (t) = t 6 i + sin(2t)j − ln(t + 1)k

Solution

→
− 1
r (t) = 6t 5 i + 2cos(2t)j − k
t +1

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 6 / 33
 Integrals

Z Z Z Z 
→
−
r (t)dt = f (t)dt, h(t)dt + →
−
g (t)dt,
c
Z b Z b Z b Z b 
→
−
r (t)dt = f (t), g (t), h(t)dt
a a a a

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 7 / 33
 Example

R →
−
Compute r dt for  
→
−
r (t) = sin(t), 6, 4t

Solution

Z Z Z Z 
r (t)dt = sin(t)dt, 6dt, 4tdt
 
= − cos(t), 6t, 2t 2
+→
−
c

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 8 / 33
 Cont....

R1→−
Compute 0 r (t)dt for
→
−
r (t) = ⟨sin(t), 6, 4t⟩

Solution
Z 1  1
→
− 3
r (t)dt = ⟨−cos(t), 6(t), 2t ⟩
0 0
= ⟨−cos(1), 6, 2⟩ − ⟨−1, 0, 0⟩
= ⟨1 − cos(1), 6, 2⟩

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 9 / 33
 Tangent , Normal And Binormal Vectors

Here, we discuss the application of derivatives for vector function

As we know, the derivatives of a function is the slope of the tangent

line

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 10 / 33
 Cont....

Definition
Given the vector function, →
−
r (t), the derivatives, →
−r (t) is called the
tangent vector provided it exists and → −r (t) ̸= 0

The tangent line to →

−r (t) at P is then the line that passes through the
point P and is parallel to the tangent vector →−
r ′ (t)

NB: → −
r ′ (t) ̸= 0, because it will have no magnitude and consequently no
direction

Provided →
−
r ′ (t) ̸= 0, the Unit Tangent Vector to the curve is given by

→
− →
−r ′ (t)
T (t) = →−
|| r (t)||

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 11 / 33
 Cont.....

Figure

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 12 / 33
 Example

Given the vector function →

−
r (t) = t 2 i + 2sintj + 2costk,
Find the general formula for
The tangent vector to the curve

The unit tangent vector to the curve

The vector equation of the tangent line to the curve given by r (t) and
t = π3

Solution
The tangent vector, →
−r (t) is given as the derivatives of the vector
→
−
function, r (t),:
→
−r ′ (t) = 2ti + 2costj − 2sintk
For the unit tangent vector , we need the tangent vector →
−
r ′ (t) and
→
−
its length, || r ′ (t)||
F.A Wireko, PhD (asenso.wireko@gmail.com)
ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 13 / 33
 Cont....

→
−r ′ (t) = 2ti + 2costj − 2sintk
q
||→
−
r ′ (t)|| = (2t)2 + (2cost)2 + (2sint)2
p
= 4t 2 + 4
Therefore ;
→
− 1
T (t) = √ (2ti + 2costj − 2sintk)
4t 2 + 4
→
− 2t 2cost 2sint
T (t) = √ i+√ j−√ k
2
4t + 4 2
4t + 4 4t 2 + 4

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 14 / 33
 Cont....
To find the vector equation of the tangent line, we need
π
Tangent vector evaluated of t = 3
π
a point on the line, vector function t = 3
r ′ (t) = 2ti + 2costj − 2sintk
       
π π π π
r′ =2 i + 2cos j − 2sin k
3 3 3 3
2π √
= i + j − 3k
3
The point will be

r (t) = t 2 i + 2sintj + 2costk

     
π π π π
r = i + 2sin j + 2cos k
3 9 3 3
π2 √
= i + 3j + k
9
F.A Wireko, PhD (asenso.wireko@gmail.com)
ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 15 / 33
 Cont....

Then we have the vector equation as ,

π √ √
 2   
→
− 2π
r (t) = , 3, 1 + t , 1, − 3
9 3

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 16 / 33
 Cont....

The Unit Normal Vector is given as ;

→
−′
→
− T (t)
N (t) = →−′
|| T (t)||

The unit normal is orthogonal to the unit tangent vector and to the
curve .

The Binormal vector is also defined as ;

→
− →
− →
−
B (t) = T (t) × N (t)

The binormal vector is orthogonal to both the tangent and the normal
vector

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 17 / 33
 Cont...

Figure: Diagram of Binormal, normal and the tangent

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 18 / 33
 Example

Given the vector function →

−
r (t) = ⟨t, 3sint, 3cost⟩ Find :
The unit normal vector

The binormal vector

Solution

To get the unit normal vector , we need the unit tangent vector and
its magnitude.
→
−r ′ (t) = ⟨1, 3cost, −3sint⟩
√
||→
−
p
r ′ (t)|| = 1 + 9cos 2 t + 9sin2 t = 10

Then :  
→
− 1 3 −3
T (t) = √ , √ , √ sint
10 10 10
F.A Wireko, PhD (asenso.wireko@gmail.com)
ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 19 / 33
 Cont....

 
→
−′ −3 3
T (t) = 0, √ sint, − cost
10 10
→
−′ 3
|| T (t)|| = √
10
Therefore, the unit noraml vector is ;
√ 
→
− 10 3 −3
N (t) = 0, √ sint, √ cost
3 10 10
= ⟨0, −sint, −cost⟩

The Binormal vector ;

→
− →
− →
−
B (t) = T (t) × N (t)

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 20 / 33
 Cont....

 
 i j k 
 
 
−3
=  √110 √3 cost
 
10
√
10
sint 

 
 
 0 −sint −cost 
−3 1 1
= √ i + √ cost − √ sint
10 10 10

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 21 / 33
 Arc Length With Vector Function

Here we consider
→
−
r (t) = ⟨f (t), g (t), h(t)⟩
on the interval a ≤ t ≤ b

We can parametrize →
−
r as ;

x = f (t), y = g (t) and z = h(t)

Then the lenght of →

−
r (t) will be given as ;
Z b q
L= [f ′ (t)]2 + [g ′ (t)]2 dt
a

for 2D

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
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(MATHTechnical
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 Cont....

Also for 3D Z b q
L= [f ′ (t)]2 + [g ′ (t)]2 + [h′ (t)]2 dt
a

check that the length can be rewritten as the magnitude of → −

r (t). Thus ,
q
||→
−
r ′ (t)|| = [f ′ (t)]2 + [g ′ (t)]2 + [h′ (t)]2

Therefore , Z b
L= ||→
−
r ′ (t)||dt
a

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 23 / 33
 Example

Determine the length of the curve →

−
r (t) = ⟨2t, 3sin(2t), 3cos(2t)⟩ on the
interval 0 ≤ t ≤ 2π

Solution
We will first need the tangent vector and its magnitude
→
−r ′ (t) = ⟨2, 6cos(2t), −6sin(2t)⟩
√
||→
−
r ′ (t)|| = 2 10

Therefore Z b
L= ||→
−
r ′ (t)||dt
a
Z 2π √
= 2 10dt
0
√
L = 4π 10
F.A Wireko, PhD (asenso.wireko@gmail.com)
ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 24 / 33
 Cont....

To tell exactly where we are on the curve, we need to re - parameterize the

function. We call this arc length function and is given as ;
Z t
s(t) = ||→
−
r ′ (t)||dt
0

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 25 / 33
 Example

Given →
−
r (t) = ⟨2t, 3sin(2t), 3cos(2t)⟩, Find
The arc length function
√
π 10
Where on the curve are we after traveling for a distance of 3 ?

Solution
From the previous example
√
||→
−
r ′ (t)|| = 2 10
The arc length function will be
√
Z t
s(t) = 2 10du
0
√

= 2 10u
√
s(t) = 2 10t
F.A Wireko, PhD (asenso.wireko@gmail.com)
ENGINEERING
Department Of
MATHEMATICS
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(MATHTechnical
112) University
June 1, 2023 26 / 33
 Cont...

Therefore :
s
t= √
2 10
Now we plug t = √s into the original vector and re-parameterize the
2 10
function as :
    
→
− s s s
r [t(s)] = √ , 3sin √ , 3cos √
10 10 10

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
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(MATHTechnical
112) University
June 1, 2023 27 / 33
 Cont....
To determine where we are on the curve , after travelling for a
distance of π/3, we make the substitution
    
→
− s s s
r [t(s)] = √ , 3sin √ , , 3cos √
10 10 10
√
π 10
s=
3
→
− √ π
r [t(π 10/3)] = , 3sin(π/3), 3cos(π/3)
3
 √ 
π 3 3 3
= , ,
3 2 2
√
Therefore after travelling for distance π 310 , we will be on the point
 √ 
π 3 3 3
P= , ,
3 2 2
F.A Wireko, PhD (asenso.wireko@gmail.com)
ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 28 / 33
 Curvature
Here, we discuss the curvature of a smooth curve. The curvature measures
how fast a curve is changing direction at a given point
Definition
A curve is said to be smooth if →
−
r ′ (t) is continuous and →
−
r ′ (t) ̸= 0
The curvature for a curve is given as;
 →−
d T 
k =
 
ds 
→
−
where T is the unit tangent vector and is the arc length.
Due to the complex nature , we prefer to use;
→
−
|| T ′ (t)|| ||→
−
r ′ (t) × →−r ”(t)||
k= →− ′
and k = ′
|| r (t)|| ||r (t)||3

For these, we do not need to reparametrize the curve function

F.A Wireko, PhD (asenso.wireko@gmail.com)
ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 29 / 33
 Example

Determine the curvature for

→
−
r (t) = ⟨t, 3sint, 3cost⟩

Solution
We can use any of the formula, Thus
→
−
|| T ′ (t)|| →
−
k= → − ′
r ′ (t) = ⟨1, 3cost, −3sint⟩
|| r (t)||
→
−′ 1 3 −3
T (t) = ⟨ √ , √ cost, sint⟩
10 10 10
→
−′ 3 3
T (t) = ⟨0, − √ sint, − cost⟩
10 10
→
−′ 3
|| T (t)|| = √
10
F.A Wireko, PhD (asenso.wireko@gmail.com)
ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 30 / 33
 Cont.....

→
− √3
|| T ′ (t)|| 3
k= →− ′
= √10 =
|| r (t)|| 10 10
The curvature being constant indicates that the curve is changing the
same rate at every point along the line

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 31 / 33
 Example

Determine the curvature of →

−
r (t) = t 2 i + tk

Solution
We use the second method ;
→
−r ′ (t) = 2ti + k
→
−
r ”(t) = 2i
 
 i j k
r ′ (t) × r ”(t) = 2t 0 1  = 2j
 
 2 0 0
||r ′ (t) × r ”(t)|| = 2
p
||r ′ (t)|| = 4t 2 + 1
Then the curvature at any value of t will be ,
2
k=
(4t + 1)1/2
2
F.A Wireko, PhD (asenso.wireko@gmail.com)
ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 32 / 33
 THANK YOU

F.A Wireko, PhD (asenso.wireko@gmail.com)

ENGINEERING
Department Of
MATHEMATICS
Mathematics Kumasi
(MATHTechnical
112) University
June 1, 2023 33 / 33