CHAPTER 1

VECTOR-VALUED
FUNCTIONS

By the end of this chapter, you will be able to:

Describe the Vector Functions and Space Curves

Find the Derivatives and Integrals of Vector Functions
Find the Arc Lenght and Curvature
Find the Unit Tangent, Normal, and Binormal Vectors
Find the Speed, Velocity and Acceleration
 Chapter 1 Vector-Valued Functions

1.0 INTRODUCTION
A vector function or vector-valued functions is primarily a branch of calculus that deals
with background knowledge for the engineers, programmers, and others. Vector
function has lots of uses in the real world, from daily life to the complicated stuff of
engineers, physicists, astronomers, and etc.

For example, the teammate of robot needs to take into account the positions and
velocities of each robot. There is a considerable amount of mathematics behind this
play that can be described using vector functions with the time variable. Another
example is when the location of the airplane or airplane’s flight path can be described
by vector function in three dimensions. Figure 1 shows the application of vector
functions indicating the motion which required the value of position and velocity for
each of the time variable.

Also, vector-valued functions provide a useful method for studying various curves both
in the plane and in three-dimensional space. We can apply this concept to calculate the
velocity, acceleration, arc length, and curvature of an object’s trajectory.

Figure 1 Application of vector functions

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1.1 VECTOR FUNCTIONS AND SPACE CURVES

A vector-valued function, or vector function, is simply a function whose domain
is a set of real numbers and whose range is a set of vectors. We are most interested in
vector functions r whose values are three-dimensional vectors. This means that for
every number t in the domain of r , there is a unique vector in V3 denoted by r (t ) . In

3D space, we can denote a vector as a position vector, r (t ) f (t ) i g (t ) j h(t ) k

where f (t ), g (t ) and h(t ) are the components of the vector r (t ) . The letter t denote
the independent variable because it represents time in most applications of vector
functions.

There is a close connection between continuous vector and space curves, C. Suppose
that f, g and h are continuous real-valued functions on an interval I. Then the set C of
all points ( x, y, z ) in space where x f (t ), y g (t ), z h(t ) and t varies throughout
the interval I, is called space curve. These equations also known as parametric
equations of C and t is called a parameter.

A vector function can be expressed in several forms which are in single vector form,
r (t ) f (t ) i g (t ) j h(t ) k or in component form, r (t ) f (t ), g (t ), h(t ) .

Example 1
(a) Express each of the following parametric equations in a single vector and
component form.
(i) x et , y ln(t 1), z t2

2
(ii) x sin t , y 5, z
t 1
(iii) x t 1, y sin t , z ln(t 2 1)

(b) Write the parametric equations for each of the following vector functions.
1
(i) r (t ) cos t i 2
j 3k
t 1

(ii) r (t ) 5i 4 t2 j e 2t k

(iii) r (t ) sin(t 1) i ln(t 4) j (t 2 1) k

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 Chapter 1 Vector-Valued Functions

Solution:
(a)(i) single vector form : r (t ) et i ln(t 1) j t 2 k

component form : r (t ) et , ln(t 1), t 2

2
(a)(ii) single vector form : r (t ) sin t i 5j k
t 1
2
component form : r (t ) sin t , 5,
t 1

(a)(iii) single vector form : r (t ) ( t 1) i sin t j ln(t 2 1)k

component form : r (t ) t 1, sin t , ln(t 2 1)

1
(b)(i) x cos t , y 2
, z 3
t 1

(b)(ii) x 5, y 4 t2 , z e 2t

(b)(iii) x sin(t 1) , y ln(t 4), z (t 2 1)

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Exercise 1
Express the parametric equations for each of the following vector functions.
2
(a) r (t ) 3
i e(t 1)
j cos(t 2 4)k
t 1
(b) r (t ) ln t 3 i sin(t 2) j 5 t k

(c) r (t ) sin(t 3)i e3t j (t 3 1) k

Solution:
(a)

(b)

(c)

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 Chapter 1 Vector-Valued Functions

1.2 DOMAIN OF VECTOR FUNCTIONS

Let y f x is a general notation for any functions. The domain is defined as the full set of
x-values that can plugged into a fuction to produce a valid output of y-values.

In vector function, the domain of r (t ) f (t ) i g (t ) j h(t ) k is the set of all t’s for which
all the components in the vector functions are defined. In other words we want to find where
the domains intersect for each components.

Recall!! How to find the domain of several functions?

Type of functions:
(1) Polynomial
The domain is all real numbers (valid for all values of t ).

(2) Radical Function

Set the terms inside the radical sign to 0 (greater or equal to zero) and solve to
find the t-values. The domain is t-value obtained.

(3) Fraction Function

t except
the t-value obtained (Note: the bottom terms also can be written in radical function).

(4) Logarithmic Function

t-
values. The domain is t-value obtained (Note: the term in the parentheses also can
be written in radical function).

(5) Exponential Function

The domain is depends on its power (can be written in other functions). Then, the
domain is referred to the domain of the other functions.

(6) Trigonometric Function

The domain is depends on its argument (can be written in other functions). Then,
the domain is referred to the domain of the other functions.

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Example 2
Find the domain of the following vector functions.

(a) r (t ) sin t 1, ln 1 t , t 1

(b) r (t ) t 2 1, 1n 4 t , t 1

2
(c) r (t ) , cos(t 4), ln(64 t 2 )
t 7
3
(d) r (t ) e2t , t 2 4,
t 9

Solution:
(a) Domain for each component :
1st component : t then t 1
2nd component : t then t 1
3rd component : t 1

Therefore, the domain of r (t ) is the interval (-1, 1).

(b) Domain for each component :

1st component : all values of t
2nd component : t then t 4
3rd component : t then t 1

Therefore, the domain of r (t ) is the interval [-1, 4).

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 Chapter 1 Vector-Valued Functions

(c) Domain for each component :

1st component : t then t 7
2nd component : all values of t

3rd component : t2 t2 then 8 t 8

Therefore, the domain of r (t ) is the interval (-8,-7) (-7, 8).

(d) Domain for each component :

1st component : all values of t
2
2nd component : t t2 then t 2 and t 2
3rd component : t then t 9

Therefore, the domain of r (t ) is the interval (- ,-2] [2,9) (9, ).

Exercise 2
Determine the domain of the following vector functions.
1
(a) r (t ) , ln(t 2 4),5t
t 2

1
(b) r (t ) , e 4t , 1 t 2
t 1

(c) r (t ) sin(t 2 1)i cos 3 t j ln 2 tk

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Solution:
(a)

(b)

(c)

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 Chapter 1 Vector-Valued Functions

1.3 LIMITS OF VECTOR FUNCTIONS

The limit of a vector function r (t ) is defined by taking the limits of its component
functions as follows.

If r (t ) f (t ), g (t ), h(t ) , then

lim r (t ) lim f (t ), lim g (t ), lim h(t )

t a t a t a t a

provided the limits of the component function exist.

Note:
(1) Limits of vector functions obey the same rules as limits of real-valued functions.
(2) Method for finding limits (recall):
(a) Limit at a point (Substitution, Factorization, Conjugate Multiplication)
(b) Limit at infinity (Substitution, Factorization by dividing the expression
by the highest power of the function in the denominator)
(c) Also, we need to recall limits of trigonometric functions as follows.
sin t 1 cos t
(i) lim 1 (ii)
t t t t

Example 3
Find the limits of the following vector functions.

sin 3t
(a) lim r (t ) for r (t ) ln(t 1), 3e t ,
t 3t

16 t 2 4 sin 4t
(b) lim r (t ) for r (t ) , t 2,
t t2 sin 6t

3t 5 1 t2 1
(c) lim r (t ) for r (t ) ,3 2 ,
t t 4 t 3t 5

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Solution:
sin 3t
(a) r (t ) ln(t 1), 3e t ,
3t

t sin 3t
lim r (t ) lim ln(t 1) , lim 3e , lim
t t t t 3t
sin 3t
e
t 3t
j k

16 t 2 4 sin 4t
(b) r (t ) , t 2,
t2 sin 6t

16 t 2 4 sin 4t
lim r (t ) lim , lim t 2 , lim
t t t2 t t sin 6t

We can calculate the limit for each component separately, then combine the answer.

16 t 2 4 16 t 2 4 16 t 2 4
lim lim
t t2 t t2 16 t 2
4

16 t 2 4 16 t 2 4 16 t 2 16
lim
t
t2 16 t 2 4

t2
lim
t
t2 16 t 2 4

1
2

1
8

t
t

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 Chapter 1 Vector-Valued Functions

4t sin 4t
sin 4t
sin 4t 4t 4t
lim lim lim lim 4t
t sin 6t t 6t t 6t t sin 6t
sin 6t
6t 6t
sin 4t
4 2 1 2
lim lim 4t
t 6 t sin 6t 3 1 3
6t
Final answer,
1 2 1 2
lim r (t ) = , 2, or i 2j k
t 8 3 8 3

3t 5 1 t2 1
(c) r (t ) ,3 2 ,
t 4 t 3t 5

3t 5 1 t2 1
lim r (t ) lim , lim 3 2 , lim
t t t 4 t t t 3t 5

We can calculate the limit for each component separately, then combine the answer.

3t 5 1
lim 3 5lim
3t 5
lim t t t
t t
lim 3
t t t t 4 1
lim1 4 lim
t t t t t

1
t t2

t2 1 t2 1 1
1
t 2
1 t t 2
t2 1
lim lim lim lim
t t t 3t 5 t 3t 5 t 5
3
t t t

Final answer,
1 1
lim r (t ) = 3,3, or 3i 3j k
t 3 3

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 ADVANCED CALCULUS WORKBOOK for Engineering Technology Students

Exercise 3
Determine the limits of the following vector functions.

t 3 t2 1 t 1
(a) lim , cos(t 1), ln(2 t 2 ) (b) lim , e , ln(t 1)
t 1 t 3 t 1 t 1

cos t 1 tan t sin 3t t 2 1 2t 1

(c) lim , , (d) lim e 2t
, ,
t t cos t t t t 2t 2 1 t 2 1

Solution:
(a)

(b)

(c)

(d)

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 Chapter 1 Vector-Valued Functions

1.4 DERIVATIVES OF VECTOR FUNCTIONS

For the most part, to compute derivatives of vector function is just need to be familiar
with differentiation rules of scalar functions. The following theorem is convenient
method for computing the derivative of a vector function r (t ) which is differentiating
each component of r (t ) .

Theorem 1

If r (t ) f (t ), g (t ), h(t ) f (t ) i g (t ) j h(t ) k where f (t ) , g (t ) and h(t ) are

differentiable functions, then

r (t ) f (t ), g (t ), h (t ) f (t ) i g (t ) j h (t ) k

Differentiation Rules

If r1 (t ) and r2 (t ) are differentiable vector function and c is a scalar, then

d
Multiply with Constant : (cr1 ) cr1
dt

d
Sum & Difference : (r1 r2 ) r1 r2
dt

d
Derivative of Dot Product : ( r1 r2 ) r1 r2 r1 r2
dt

d
Derivative of Cross Product : ( r1 r2 ) r1 r2 r1 r2
dt

Note: Please recall operation of Dot and Cross Products.

Example 4
Find r (t ) and r (t ) for the following vectors.

(a) r (t ) ln(t 1) i sin 2t j (t 3 1)k

1
(b) r (t ) i cos t 2 j e 2t k
t 1
(c) r (t ) t t 2 ,sin t , te3t

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Solution:
According to the Theorem, differentiate each of component of r (t ) .
(a) Step 1 : Differentiate r (t ) , to get

r (t ) t 1 i 2 cos 2t j 3t 2 k

Step 2 : Differentiate r (t ) , to get

r (t ) i 4sin 2t j 6t k

(b) Step 1 : Differentiate r (t ) , to get

1
r t i t j t 3k
(t 1) 2

Step 2 : Differentiate r (t ) , to get

2
r t i t j t 2k
(t 1)3

(c) Step 1 : Differentiate r (t ) , to get

r (t ) 1 2t , cos t , 3t 1 e3t

Step 2 : Differentiate r (t ) , to get

r (t ) 2,sin t , 9t 6 e3t

Example 5
If r1 (t ) et i j t k and r2 (t ) sin t i 2t 2 j k , find
d d
(a) (r1 r2 ) (b) ( r1 r1 )
dt dt
d d
(c) ( r1 r2 ) (d) (r1 r2 )
dt dt

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 Chapter 1 Vector-Valued Functions

Solution:
d
(a) ( r1 r2 ) r1 r2
dt

et i k cos t i 4t j

et cos t i 4t j k

d
(b) ( r1 r1 ) r1 r1 r1 r1
dt
2 r1 r1
2 et i j tk et i k

2 e 2t t
2e 2t 2t

d
(c) (r1 r2 ) r1 r2 r1 r2
dt

et i j tk cos t i 4t j et i k sin t i 2t 2 j k

et cos t 4t et sin t 1
et cos t 4t et sin t 1

d
(d) (r1 r2 ) r1 r2 r1 r2
dt

i j k i j k
et t et
t t t t2

t2 i t t j t et t k

t2 i et t j t 2 et k

4t 2 2t 2 i t cos t e t sin t j 4t et cos t 2t 2 et k

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Exercise 4
If r1 (t ) t 2 i et j sin t k and r2 (t ) cos t i 2t j 4t 3k , find

d d
(a) (r1 r2 ) (b) (r1 r2 )
dt dt
d d
(c) ( r1 r2 ) (d) ( r1 r2 )
dt dt

Solution:
(a)

(b)

(c)

(d)

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 Chapter 1 Vector-Valued Functions

1.5 INTEGRATIONS OF VECTOR FUNCTIONS

The definite integral of a continuos vector function r (t ) can be defined in much the
same way as for real-valued functions.

We can express the integral of r (t ) in terms of the integrals of its component

functions f (t ), g (t ) and h(t ) as follows,
b b b b
r (t ) dt f (t ) dt i g (t ) dt j h(t ) dt k
a a a a

Example 6
Evaluate the integral.
2
(a) i t 2 j sin 2t k dt
t

(b) 3t 3 i cos 3t j 2e3t k dt

2
(c) t sin(2t ) i cos t j 2tet k dt

Solution:
2
(a) i t 2 j sin 2t k dt
t
2
dt i t 2 dt j sin 2tdt k
t
t3 cos 2t
2 ln t C1 i C2 j C3 k
3 2
t3 cos 2t
2 ln t i j k C where C = C1i C2 j C3k
3 2

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 ADVANCED CALCULUS WORKBOOK for Engineering Technology Students

(b) 3t 3 i cos 3t j 2e3t k dt

3t 3 dt i cos 3t dt j 2e3t dt k

3t 4 sin 3t 2e3t
i j k
4 3 3
4
4 2e 2e
i j k
4 3 3 3 3
4
3 2e 3 2
i k
4 3 3

(c)
2
t sin(2t ) i cos t j 2tet k dt

We can also integrate each component separately, then combine the answer.

For component i : Use Integration By Part

u t
dv sin(2t ) dt
du
1 cos(2t )
dt v
du dt 2

1 cos 2t 1 1
t cos 2t dt t cos 2t sin 2t C1
2 2 2 4
1 1
t sin(2t ) dt i t cos 2t sin 2t C1 i
2 4

For component j :

cos t dt j sin t C2 j

For component k : Use Integration By Substitution

u t2
du 2t dt

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 Chapter 1 Vector-Valued Functions

eu du eu C3
2
et C3
2 2
2tet dt k et C3 k

Final answer,
2
t sin(2t ) i cos t j 2tet k dt
1 1 2
t cos 2t sin 2t C1 i sin t C2 j et C3 k
2 4
1 1 2
t cos 2t sin 2t i sin t j et k C
2 4

Exercise 5
Solve the following integral.

(a) 3t i 2 cos t j e 2t k dt

(b) ln t i 5t j 3e t k dt

t
(c) 2
i sin 2 t j dt
t 1

(d) t2 j te2t k dt

Solution:
(a)

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(b)

(c)

(d)

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 Chapter 1 Vector-Valued Functions

1.6 ARC LENGTH

A basic question to ask about a curve is “how long is it?”. Then the length of a space
curve is defined as the arc length of the vector function. There is a formula to get the
value of the length.

Suppose that the curve has the vector equation r (t ) f (t ), g (t ), h(t ) in the
interval a t b , then its length is given by
b b
L r (t ) dt [ f (t )]2 [ g (t )]2 [ h (t )]2 dt
a a

Note:
(1) If the interval of the arc is given from point to point, we need to find the
parameters t which defined for all components between the vector and the
points.

(2) Calculate r (t ) to the simplest form, so that the integration process will be

easier.

Example 7
Find the arc length of the vector equation r (t ) cos 2t i sin 2t j 2t k from

point A to point B( 1, ).

Solution:
Step 1 : r (t ) 2sin 2t i 2 cos 2t j 2k

2 2 2
Step 2 : r (t ) 2 sin 2t 2 cos 2t 2

4 sin 2 2t cos 2 2t 4 use Trigo Identity: sin 2 2t cos 2 2t 1

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Step 3 : To find limit of integration from points A to B ( 1, ):

Consider point A , then Consider point B( 1, ) , then

t t cos 2t 1 2t ,3
t 3
t ,
2 2
t t t t
3 3
t t
2 2 2 2
t t 2t t
2
Parameter t defined for all component, Parameter t defined for all component,
t t
2

Therefore, the limit of integration is described by the parameter interval t .

2

/2 /2 8
Step 4 : Evaluate, L 8 dt 8t
2

Example 8
Find the arc length of the following vector functions.
3
(a) r (t ) cos3 t i sin 3 t j 2k ; t
4
(b) r (t ) 4 ln t i t 2 j 4t k ; 1 t 2

Solution:
(a) Step 1 : r (t ) t 2
t i 2
t t j k

2 2 2 2 2
Step 2 : r (t ) 3sin t t t t

9sin 2 t cos4 t 9sin 4 t cos 2 t

9sin 2 t cos2 t cos 2 t sin 2 t
2
3sin t cos t
3sin t cos t

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 Chapter 1 Vector-Valued Functions

3
Step 3 : The parameter interval t
4
3
Step 4 : L 4
3sin t cos t dt use Intg by Subs: u sin t du cos t dt
3 3
4
u2 4
3u du 3
2
3 2
3 3 3 2
(sin t ) 2 4 sin sin
2 2 4
2
3 2 3
2 2 4

4
(b) Step 1 : r (t ) i 2t j 4k
t

2
4 2 2
Step 2 : r (t ) 2t 4
t

4t 4 16t 2 16
t2
4(t 4 4t 2 4)
Let t 2 x ; x2 4x 4 ( x 2)2
t2
(t 2 2) 2
2
t2
2
2 t
t

Step 3 : The parameter interval 1 t 2

2 2
Step 4 : L 2 t dt
1 t

2
t2
2 ln t
2 1

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22 12
2 ln 2 ln1
2 2
2 ln 2 3

Exercise 6
Find the arc lenght of the following vector functions.
(a) r t t i t j t k t

6 2
(b) r (t ) t i t3 j t k ;2 t 4
2

(c) Find the arc length of the vector equation r (t ) cos t i t j sin t k from

point A to point B (1, 2 , ) .

Solution:
(a)

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 Chapter 1 Vector-Valued Functions

(b)

(c)

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1.7 CURVATURE
Application of curvature in our real life is when you imagine that you have to design a
new highway. Nearly all roads have curves and need to avoid both natural and human
made obstacle. So that vehicles are able to maintain a reasonable speed on your new
road, you should avoid the curves that are too sharp. In doing this, you need some
concept towards the sharpness of the curve of the road. That is why we have to learn
about the curvature. In simple words, curvature is the relation between of velocity,
v (t ) r (t ) and tangent vector, T (t ) .

The curvature, (t ) of a smooth curve r (t ) is defined as

T (t ) r (t ) r (t )
(t ) or (t ) 3
r (t ) r (t )

where T (t ) is the unit tangent vector to the curve.

The curvature is the measure of how “sharply” a curve r (t ) in 2-space or 3-space

“bends”.

(a) The curvature is zero when the curve (b) The curvature is large when the
is straight curve is sharply bent

Figure 2 Example of Curvature

Note:
(1) There are two formulae of curvature, so you must choose which one is
suitable with the question needs.
(2) The curvature (t ) of a curve is a scalar quantity not a vector.

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 Chapter 1 Vector-Valued Functions

Unit Tangent Vector, T (t )

If r (t ) is a vector function that defines a smooth graph or a length one pointing
in the direction of the curve, then at each point a unit tangent vector is given by,
r (t )
T (t )
r (t )

Example 9
If r (t ) sin 2t i 1 t3 j te t
k . Then,

(a) find the unit tangent vector of r (t ) at the point where t .

T (t )
(b) find the curvature, (t ) using (t ) at t .
r (t )

Solution:
(a)

Step 1 : r (t ) 2 cos 2t i 3t 2 j 1 t e t
k

2 2 t 2
Step 2 : r (t ) 2 cos 2t 3t 2 1 t e

r (t ) 2 cos 2t i 3t 2 j 1 t e t
k
Step 3 : The unit tangent vector , T (t )
r (t ) 2 cos 2t
2
3t 2
2
1 t e t 2

Step 4 : The unit tangent vector when t ,

2
i j e k
T
2 2 2 2
2cos 2 e

2i k
4 1
1
2i k
5

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(b)
2 2
2 2 1
T 5 5 1
r 2 2
1
2
5

Example 10

Find the curvature of the helix r (t ) 2 sin t i 2 cos t j 4t k at the point where

T (t ) r (t ) r (t )
t by using the formula (a) (t ) and (b) (t ) 3
.
r (t ) r (t )

Figure 3 Helix on a Cylinder

Solution:

T (t )
(a) Using formula (t ) .
r (t )

Step 1 : r (t ) 2 cos t i 2 sin t j 4 k

2 2 2
Step 2 : r (t ) 2 cos t 2sin t 4

4 cos 2 t sin 2 t 16 use Trigo Identity: cos 2 t sin 2 t 1

41 16
2 5

Step 3 : The unit tangent vector is

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 Chapter 1 Vector-Valued Functions

r (t )
T (t )
r (t )
2 cos t i 2 sin t j 4 k
2 5
2c
T ) i j k
2 5 2 5 2 5
1 2
i k
5 5

sin t cos t
Step 4 : T t i j Differentiate T t n T )
5 5
T i j
5 5
1
T ) j
5

2
1 1
Step 5 : T )
5 5

1
T 5 1
Step 6 :
r 2 5

r (t ) r (t )
(b) Using formula (t ) 3
r (t )

Step 1 : r (t ) 2 cos t iˆ 2 sin t ˆj 4 kˆ

r( ) iˆ ˆj kˆ

Step 2 : r (t ) 2 sin t iˆ 2 cos t ˆj

r ( ) iˆ ˆj 2,

i j k
Step 3 : r ( ) r ( )

i j k

2 2
Step 4 : r ( ) r ( )

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2 2
Step 5 : r ( )

r( ) r ( ) 4 5 4 5 1
Step 6 : 3
= 3
r( ) 2 5

Example 11
Find the curvature of the twisted cubic r (t ) t i t2 j t 3 k at the point where t

r (t ) r (t )
by using the formula (t ) 3
.
r (t )

Figure 4 Twisted Cubic

Solution:
Step 1 : r (t ) 1 i 2t j 3t 2 k
r( ) i j k

Step 2 : r (t ) 2 j 6t k
r ( ) j k

i j k
Step 3 : r( ) r ( ) j j k

2
Step 4 : r( ) r ( )

2
Step 5 : r( )

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 Chapter 1 Vector-Valued Functions

r r ) 2
Step 6 : 3 3
2
r 1

Exercise 7
Find the curvature of the vector r (t ) t , cos 2t , 3t at the point where t by using

r (t ) r (t )
the formula (t ) 3
.
r (t )

Solution:

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 ADVANCED CALCULUS WORKBOOK for Engineering Technology Students

1.8 THE NORMAL AND BINORMAL VECTORS

At a given point on a smooth space curve r (t ) , there are many vectors that are orthogonal

to the unit tangent vector T (t ) . By observing that, because T (t ) 1 for all t , then

T t T t . Or it is called that T (t ) is orthogonal to T (t ) . Note that T (t ) is itself not

a unit vector.

But at any point where t , we can be define the principal unit normal
vector N (t ) or simply Unit Normal Vector as,

T (t )
N (t )
T (t )

where T (t ) is the unit tangent vector to the curve r (t ) .

Meanwhile, the vector which is perpendicular to the tangent vector, T (t ) and normal
vector, N (t ) is called the Binormal Vector, B (t ) .

The binormal vector B (t ) of a curve is defined as

B (t ) T (t ) N (t )

Figure 5 The Tangent, Normal and Binormal Vectors

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 Chapter 1 Vector-Valued Functions

Example 12
Find the unit tangent vector, T (t ) normal vector, N (t ) and binormal vector, B (t ) for the

circular helix r (t ) cos 2t i sin 2t j t k.

Solution:
Step 1 : r (t ) 2sin 2t 2i 2 cos 2t j k

2 2
Step 2 : r (t ) 2sin 2t 2 cos 2t (1)2 4 sin 2 2t cos 2 2t 1 5

r (t ) 2sin 2t 2 cos 2t 1
Step 3 : The unit tangent vector is T (t ) i j k
r (t ) 5 5 5

4 cos 2t 4sin 2t
Step 4 : Derivative of unit tangent vector is T (t ) i j
5 5

2 2
4cos 2t 4sin 2t 16 4
Step 5 : T (t ) cos 2 2t sin 2 2t
5 5 5 5

Step 6 : The unit normal vector is

4
cos 2t i sin 2t j
T (t ) 5
N (t ) cos 2t i sin 2t j
T (t ) 4
5

Step 7 : The binormal vector is

B(t ) T (t ) N (t )
i j k
2sin 2t 2 cos 2t 1
5 5 5
t t
sin 2t cos 2t 2 sin 2 2t 2 cos 2 2t
i j k
5 5 5 5
sin 2t cos 2t 2
= i j k
5 5 5

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Example 13

If r (t ) t i 3sin t j 3cos t k , find the vectors T (t ), N (t ) , and B(t ) at t .

2
Solution:
Step 1 : r (t ) i 3 cos t j 3sin t k

2 2 2
Step 2 : r (t ) 1 3cos t 3sin t 1 9 cos 2 t sin 2 t 1

Step 3 : The unit tangent vector is

r (t ) 1
T (t ) i 3cos t j 3sin t k
r (t )
1 1 3
T i 3cos j 3sin k
2 1 2 2

Step 4 : Derivative of unit tangent vector is

1
T (t ) 3sin t j 3cos t k Differentiate T (t ), not T
2
1 3
T j k
2 2 2

2
3 3
Step 5 : T
2

Step 6 : The unit normal vector is

3
T
2
N
2 3
T
2

Step 7 : The binormal vector is

i j k
1 3
B T N
2 2 2

3 1
i j k

3 1

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 Chapter 1 Vector-Valued Functions

Exercise 8
Find the vectors T (t ), N (t ) , and B(t ) of the following curves

(a) r (t ) et i et cos t j et sin t k at t

(b) r (t ) 2ti et j e t k at t

Solution:
(a)

(b)

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 ADVANCED CALCULUS WORKBOOK for Engineering Technology Students

1.9 MOTION IN SPACE : VELOCITY, ACCELERATION,

SPEED
In this section we will study how the ideas of tangent and normal vectors and curvature
can be used to study the motion of an object, including its velocity and acceleration, along
a space curve. Suppose a particle moves through space so that its position vector at time
t is r (t ) , then

VELOCITY v (t ) r (t )

ACCELERATION a (t ) v (t ) r (t )

SPEED v (t ) r (t )

Note:
(1) If given r (t ) , to find v (t ) and a (t ) we need to use Differentiation.
(2) If given a (t ) , to find v (t ) and r (t ) we need to use Integration.

Example 14
The position vector of an object moving in a plane is given by r (t ) t3 i t2 j t k

. Find its velocity, speed, and acceleration when t 1 .

Solution:
The velocity is, v (t ) r (t ) 3t 2 i 2t j k
when t 1;
v (1) 3(1) 2 i 2(1) j k 3i 2j k

2 2 2
The speed is, v (t ) r (t ) 3t 2 2t 1 9t 4 4t 2 1
when t 1;
v (1) 9(1) 4 4(1) 2 1 14

The acceleration is, a (t ) v (t ) 6t i 2j

when t 1;
a (1) 6(1) i 2j 6i 2j

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 Chapter 1 Vector-Valued Functions

Example 15
The position vector of a particle after time t is given by r (t ) cos 2t i sin 2t j t 3k .

Find its velocity, speed, and acceleration of the particle when t 2 .

Solution:
The velocity is, v t r (t ) 2 sin 2t i 2 cos 2t j 3t 2 k

when t 2;
v 2 2sin 2(2) i 2 cos 2(2) j 3(2) 2 k 2sin 4 i 2 cos 4 j 12k

2 2 2
The speed is, v t 2 sin 2t 2 cos 2t 3t 2

4 sin 2 2t cos 2 2t 9t 4 4 9t 4

when t 2;
v 2 1 9(2) 4 148

The acceleration is, a (t ) v (t ) 4 cos 2t i 4 sin 2t j 6t k

when t 2;
a (t ) 4 cos 2(2) i 4sin 2(2) j 6(2) k 4 cos 4 i 4 sin 4 j 12 k

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 ADVANCED CALCULUS WORKBOOK for Engineering Technology Students

Example 16
The acceleration, a (t ) of a particle in motion is given by a (t ) e3t i t2 j cos 2t k . Find

the velocity, v (t ) and position, r (t ) vectors if given the initial velocity is

v( ) i j k and initial position is r ( ) i j.

Solution:
Step 1 : Given that the velocity is a (t ) e3t i t 2 j cos 2t k , , then integrate a (t ) to
get v (t ) ,
v (t ) a (t ) dt e 3t i t2 j cos 2t k dt

e3t dt i t 2 dt j cos 2t dt k

e 3t t3 sin 2t
C1 i C2 j C3 k
3 3 2
e 3t t3 sin 2t
i j k C where C = C1i C2 j C3 k
3 3 2

Step 2 : Substitute t into v (t ) in step 1

e
v i j k C
3 3 2
1
= i C
3

Step 3 : To find vector C , compare the given v ( ) 2i j k with v ( ) from step 2

1
v( ) i C 2i j k
3
5
C i j k
3

Step 4 : Therefore, the position vector v (t ) is

e 3t t3 sin 2t
v (t ) i j k C
3 3 2
e 3t t3 sin 2t 5
= i j k i j k
3 3 2 3
e 3t 5 t3 sin 2t
= i 1 j 1 k
3 3 3 2

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 Chapter 1 Vector-Valued Functions

Step 5 : To find r (t ) , we need to integrate v (t ) in step 4

e 3t 5 t3 sin 2t
r (t ) v (t ) dt i 1 j 1 k dt
3 3 3 2
e 3t 5 t3 sin 2t
dt i 1 dt j 1 dt k
3 3 3 2
e 3t 5 t4 cos 2t
t C1 i t C2 j t C3 k
9 3 12 4
e 3t 5 t4 cos 2t
t i t j t k C
9 3 12 4

Step 6 : Substitute t into r (t ) in step 5

e
r i j k C
9 3 12 4
1 1
= i k C
9 4

Step 7 : To find vector C , compare the given r ( ) i j with r ( ) from step 6

1 1
r( ) i k C i j
9 4
1
C i j k
9 4

Step 8 : Therefore, the position vector r (t ) is

e 3t 5 t4 cos 2t
r (t ) t i t j t k C
9 3 12 4
e 3t t4 t
= t i t j t k i j k
9 3 12 4 9 4
e 3t t4 t
= t i t 1 j t k
9 3 9 12 4 4

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 ADVANCED CALCULUS WORKBOOK for Engineering Technology Students

Example 17
2t
The velocity v (t ) of a particle in motion is given by v (t ) cos t i e j ln(t 1) k . Find

the position vector r (t ) if r ( ) i 2j k.

Solution:
Step 1 : Given that the velocity is v (t ) cos t i e 2t
j ln(t 1) k , then integrate v (t )

to get r (t ) ,
2t
r (t ) v (t ) dt cos t i e j ln(t 1) k dt

For component i ,

cos t dt i sin t C1 i

For component j ,
2t
2t e
e dt j C2 j
2

For component k : Use Integration By Part

u ln(t 1)
du 1 dv dt
dt t 1 v t
1
du dt
t 1
t
t ln(t 1) dt use integration by Subs, u t 1 t u 1
t 1

du u 1 1
1 du dt dt 1 dt u ln u (t 1) ln(t 1)
dt u u
t
t ln(t 1) dt t ln(t 1) (t 1) ln(t 1)
t 1

ln(t 1) dt k t ln(t 1) (t 1) ln(t 1) C3 k

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 Chapter 1 Vector-Valued Functions

Therefore,
2t
e
r (t ) sin t C1 i C2 j t ln(t 1) (t 1) ln(t 1) C3 k
2
2t
e
sin t i j t ln(t 1) (t 1) ln(t 1) k C
2

Step 2 : Substitute t into r (t ) in step 1

e
r i j k C
2
1
= j k C
2

Step 3 : To find vector C , compare the given r ( ) i 2j k with r ( ) from step 2

1
r j k C i 2j k
2
5
C i j
2

Step 4 : Therefore, the position vector r (t ) is

2t
e
r (t ) sin t i j t ln(t 1) (t 1) ln(t 1) k C
2
2t
e 5
= sin t i j t ln(t 1) (t 1) ln(t 1) k i j
2 2
2t
e 5
= sin t 1 i j t ln(t 1) (t 1) ln(t 1) k
2 2

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 ADVANCED CALCULUS WORKBOOK for Engineering Technology Students

Exercise 9
Find the velocity, speed, and acceleration of the following position vectors.
(a) r (t ) t 3 sin t i t2 j e t
k at t

1
(b) r (t ) cos t i j sin 2 t k at t
t 2

Solution:
(a)

(b)

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 Chapter 1 Vector-Valued Functions

Exercise 10
Find the position vector, r (t ) if given the velocity v (t ) t 2 i e2t j t k and the initial

position r i j k.

Solution:

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 ADVANCED CALCULUS WORKBOOK for Engineering Technology Students

Exercise 11
Find the velocity, v (t ) and the position, r (t ) vectors of the following acceleration, a (t )
with the intial velocity, v and the initial position, r ( ) .

(a) a (t ) i e tj; v i j r i j
2
(b) a (t ) t 1 j e 2t k ; v i j r k

(c) a (t ) 4t i 6t j k; v i j k r( ) i

Solution:
(a)

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 Chapter 1 Vector-Valued Functions

(b)

(c)

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 ADVANCED CALCULUS WORKBOOK for Engineering Technology Students

Exercise 12
A moving particle starts at an initial position, r k with initial velocity, v i . Its
acceleration is a (t ) 3t 2 1 i e 2t j cos t sin t k . Find its velocity, v (t ) and

position, r (t ) vectors at time t .

Solution:

-------------------------------------------End of Chapter 1------------------------------------------

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 Chapter 1 Vector-Valued Functions

ADDITIONAL EXERCISE

1. Express each of the following parametric equations in a single vector and component
forms.
1
(a) x t t 2, y t 6sin t , z t
t
t2 5 t
(b) x t , y t e , z t 1 3t
3
3
(c) x t ln t , y t cot t 8, z t 5 t3
5
3
(d) x t , y t t 2 cos t , z t e t

t 1

2. Write the parametric equations for each of the following vector functions.
(a) r t t 1 t 2 , t 1 , e 2t

(b) r t ln 3t , t 2 cos t , 5e3t

3. Determine the domain of the following vector functions.

1 t 1
(a) r t cos t 4, ln t 1 , (c) r t sin 2t i 4t j e k
t 1
t 1 2
(b) r t t 2 4,sin 2t , (d) r t t 2 1, cos 2t ,
t2 1 t 2
1

4. Determine the limits of the following vector functions.

t 1 3
(a) lim ln t , t 2 1, t 3 (d) lim e 3t , 2
,
t 2 t 1 t 1 t 2
sin 3t 2 t 1 1 t 3
(b) lim , t 3, (e) lim e 3t
, ,
t t t 1 t t 2 t2 2

1 t2 1 1 t2 1 t
(c) lim t 2
1, e , 2t
(f) lim , ,e
t t2 t t t

5. Find r t and r t for the following vectors.

3
(a) r t 2t 3 i 6 t j k
t
(b) r t te t
i t ln t j t cos t k

t2
(c) r t 2 ln t 1 i t2 j k
2

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 ADVANCED CALCULUS WORKBOOK for Engineering Technology Students

(d) r t 2 cos t i 3sin t j 4t k

6. If r1 t 2t 3 i t 2 1 j 8k and r2 t et i 2e t j e 2t k , find
d d
(a) (r1 r2 ) (b) (r1 r2 )
dt dt

7. Compute,
d
(a) 3t 2 i et j 2t k cos t i sin 2t j 3t 2 k
dt
d
(b) 1, t , t 2 t 2 , 2t ,1
dt

8. Solve each of the following integrals.

1
(a) (t 1)i cos t j k dt
t 1
2 3t
(b) tet i 2
k dt
t 1

(c) 3t i 3t sin t j dt

ln 2
(d) et i et cos et j dt

9. Find the arc length of the following vector functions.

(a) r t cos t t sin t i sin t t cos t j for t
2
(b) r t e 2t
i e 2t
j e 2t
k for t
3
(c) r t cos t i sin t j t k for 2
t
(d) r t ln t i 2t j t 2 k for 1 t 4
t3 t2 1
(e) r t i j k for t
3 2 2

(f) r t et i e t j t 2k for t

Find the arc length of the following vector functions.

(a) r (t ) 2sin t i 2 cos t j from the point A to the point B( 2, )
(b) r (t ) 4 cos t i 4 sin t j t k from the point A to the point
B( , 2 )

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 Chapter 1 Vector-Valued Functions

r ( t ) r (t )
11. Find the curvature by using the formula (t ) 3
for,
r (t )
(a) r (t ) e 2t
i 2t j 4k at the point where t
(b) r (t ) 2 cos t i 3sin t j at the point where t

12. Find the T (t ) , N (t ) , B (t ) , and (t ) of the following space curves.

(a) r t 3sin t i 3cos t j 4t k
(b) r t et cos t i et sin t j 2k

(c) r t sin t i 2 cos t j sin t k

13. Find the velocity, speed, and acceleration of the following position vector r t .
t2
(a) r t t 3
1 i t 2
5 j k at t 2
2
(b) r t e 2t i sin t j t 2 cos t k at t

14. Find the position vector r (t ) of the following vectors if given the acceleration a (t )
with the initial velocity v and the initial position r ( ) .
(a) a (t ) 1 k ;v i j; r( ) 5j
(b) a t t t v r
(c) a (t ) t2 t tet v r
1
(d) a (t ) e 2t t 2 t t v r
4

51