Mathematics-I

MATH F111
BITS Pilani Dr. Anirudh Singh Rana
Pilani Campus

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 Chapter-13

Vector-Valued Functions and

Motion in Space

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Previously…..

• Limit and continuity of a vector valued function

• Differentiability of a vector valued function
• Differentiation rules for vector valued functions

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 Previously…..

Smooth Curve: A curve traced by 𝐫(𝑡) is

smooth if 𝐫′(𝑡) is continuous and non zero,
that is 𝑓, 𝑔 and ℎ have continuous first
derivatives that are not simultaneously zero.
Ex: The curve given by 𝐫(𝑡) = 2
𝑡𝐢 + (𝑡 + 1)𝐣
is smooth as 𝐫 ′ 𝑡 = 𝐢 + 2𝑡 𝐣 is continuous and
nonzero for all t.

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Previously…..

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Previously…..

𝑑𝑟
= 10𝑠𝑖𝑛2𝑡
𝑑𝑡

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 Preview

In this Chapter, we’ll discuss the following

topics:
• Curves in Space and their Tangents
• Arc length and the unit tangent vector
• Curvature and the unit normal vector
• Torsion and the unit binormal vector

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Vector functions of constant length

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Parametric Equation of a Line

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Parametric Equation of a Line

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 Section 13.2

Integrals of Vector Functions

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Indefinite Integral

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HW

Q. A particle traveling in a straight line is

located at the point (1,−1,2) and has speed 2 at
time t = 0, the particle moves towards the
point (3, 0, 3) with constant acceleration 𝟐𝐢 +
𝐣 + 𝐤. Find its position vector 𝐫 𝑡 at time t.
Sol.
2
2
4𝑡 𝑡 4𝑡
𝐫 𝑡 = 1+𝑡 + 𝐢 − −2 + + 𝐣
6 2 6
𝑡2 2𝑡
+ 3+ + 𝐤
2 11
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Parametric Equations for Ideal
Projectile Motion (13.1 )

differential eq:

initial condition (𝑡 = 0):

solution:

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 Section 13.3

Arc Length in Space

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 • This enables us to find points along these
curves by giving their directed distances
along the curve from some base point.

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Indefinite Integral

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Indefinite Integral

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Length of a curve

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Arc Length Along a Plane Curve

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Arc Length Along a Space Curve

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Arc Length Along a Space Curve

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Arc Length Along a Space Curve

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Arc Length Along a Space Curve

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Arc Length Parameter with Base Point t = t0
The arc length parameter is given by
𝑡

𝑠 𝑡 = 𝐯 𝜏 𝑑𝜏.
𝑡0

• If 𝑡 > 𝑡0 then 𝑠 𝑡 > 0

• If 𝑡 < 𝑡0 then 𝑠 𝑡 < 0
• Every value of s determines a unique point
on the curve.
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 Therefore, 𝑡 = 𝑠/ 2 and the required
reparametrization is obtained by substituting
for t.
𝐫(𝑡(𝑠)) = (cos 𝑠/ 2)𝐢 + (sin 𝑠/ 2)𝐣 + (𝑠/ 2)𝐤

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 Thus
𝑡

𝑠 𝑡 = 𝐯 𝜏 𝑑𝜏 = 7𝑡
0
Now we have,
𝑠(−1) = 7(−1) = −7.
Thus the required arc length is -7.

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Unit Tangent Vector

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Unit Tangent Vector

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Unit Tangent Vector

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Unit Tangent Vector

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Unit Tangent Vector

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HW

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 Section 13.4

Curvature κ, and the Unit Normal

Vector N of a Curve

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Curvature
The curvature of curve C at a given point is a
measure of how quickly the curve changes
direction at that point. Specifically, we define it
to be the magnitude of the rate of change of the
unit tangent vector 𝑻 = 𝑑𝒓/𝑑𝑠 with respect to
arc length s. Hence, the curvature of a curve is
given as
𝑑𝑻
𝜅=
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Curvature

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Formula for Curvature

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Curvature of a straight line

As a tangent to straight line is in the direction

of straight line itself, the rate of change of
tangent line to straight line is zero with respect
to arc length. Hence curvature of a straight line
is zero.
One can also prove it through parametric
representation as given in next slide, but
intuitive way is simpler.
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Computing Curvature of a straight line

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Computing Curvature of a straight line

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Curvature of a circle of radius a

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Curvature of a circle of radius a

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Vector perpendicular to T

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Principal Unit Normal Vector N

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Principal Unit Normal Vector N

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Computational Formula for N

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Computational Formula for N

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Indefinite Integral

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Indefinite Integral c

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Arc Length Along a Plane Curve

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Circle of Curvature for Plane Curves

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Circle of Curvature for Plane Curves

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 Section 13.5

Tangential and Normal Components

of Acceleration

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Binormal Vector B

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Tangential and Normal Components of Acceleration

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Computing Tangential and
Normal Components

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Computing Tangential and
Normal Components

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Computing Tangential and
Normal Components

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Remarks

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Remarks

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Computing Tangential and
Normal Components

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Vector Formula for Curvature

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Vector Formula for Curvature

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Vector Formula for Curvature

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Vector Formula for Curvature

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Vector Formula for Curvature

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Vector Formula for Curvature

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TNB Frame

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Frenet or TNB Frame

The moving right-handed vector frame

associated to the curve formed by the vectors
T, N and B is called Frenet or TNB frame.

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 Figure: The TNB frame of mutually orthogonal unit
vectors traveling along a curve in space.
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The direction of T, N and B in space is given
by the right handed rule.

Figure: The vectors T, N and B make a right handed frame of

mutually orthogonal unit vectors traveling along a curve in space.
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Co-ordinate planes in TNB frame

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Osculating plane at a point P

A plane passing through P and spanned by T

and N. It is orthogonal to B.

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Normal plane at a point P

A plane passing through P and spanned by N

and B. It is orthogonal to T.

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Rectifying plane at a point P

A plane passing through P and spanned by B

and T. It is orthogonal to N.

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Equation of a Plane

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Torsion

Let P be a car climbing up a curved track. The

rate at which the headlight turns from side to
side per unit distance is the curvature of the
track. The rate at which car tends to twist out of
the plane formed by the T and N is the torsion.

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Mathematical Expression for Torsion
• The torsion of a smooth curve is defined as
𝑑𝐁
𝜏=− .𝐍
𝑑𝑠
• τ measures the extent at which the curve
departs from being a plane curve, that is, it
measures how much the curve departs from
the osculating plane.

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 𝑑𝐁
= −τ𝐍,
𝑑𝑠
where τ is called torsion along the curve (minus
sign is a convention which we need to follow).
On taking dot product by N, we obtain
𝑑𝐁
τ=− . 𝐍,
𝑑𝑠
𝑑𝐁
τ = .
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A Computational Formula for Torsion

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 THANK YOU

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