Mechanics I

(APPM1028A and APPM1029A)

Lecture M9
Integrating Vector Functions
Mechanics I (APPM1028A/1029A) — Lecture M9 2

1 Introduction

• In Lecture M7 we were concerned with differentiating vector functions.

• If r (t) = hx(t) , y(t) , z(t)i is the position vector of a particle at time t with respect to the origin of a coordinate system,
then differentiating the position vector with respect to time we obtain the particle’s velocity vector;
dr dx dy dz
= h , , i
dt dt dt dt
= h v1 (t) , v2 (t) , v3 (t) i (1)

= v (t) .

• Differentiating the velocity vector with respect to time we obtain the particle’s acceleration vector;
dv dv1 dv2 dv3
= h , , i
dt dt dt dt
= h a1 (t) , a2 (t) , a3 (t) i (2)

= a (t) .

dv d2 r
• Note that a (t) = = 2.
dt dt
Mechanics I (APPM1028A/1029A) — Lecture M9 3

2 Integrating Vector Functions

• In this lecture we will be concerned with integrating vector functions.

• If a (t) = ha1 (t) , a2 (t) , a3 (t)i is the acceleration vector for a particle at time t, then integrating the acceleration vector
with respect to time we obtain the particle’s velocity vector;
Z Z Z
v (t) = hv1 (t) , v2 (t) , v3 (t)i = h a1 (t) dt, a2 (t) dt, a3 (t) dti. (3)

• Integrating the velocity vector with respect to time we obtain the particle’s position vector;
Z Z Z
r (t) = hx(t) , y(t) , z(t)i = h v1 (t) dt, v2 (t) dt, v3 (t) dti. (4)

• It must be noted that the process of integration results in the appearance of arbitrary constants of integration in
the resulting vector functions for velocity and position. The value of these arbitrary constants of integration can be
determined if the particle’s velocity and position are known at any given time (so-called initial conditions).
Mechanics I (APPM1028A/1029A) — Lecture M9 4

• Example 1.

◦ A particle has constant acceleration

a (t) = h5 m/s2 , 10 m/s2 , 0 m/s2 i. (5)

◦ Integrating the acceleration vector with respect to time t we have that

v (t) = h(5t + c1 ) m/s, (10t + c2 ) m/s, c3 m/si (6)

where c1 , c2 and c3 are arbitrary constants of integration.

◦ If the velocity of the particle at time t = 0 is v (0) = h1 m/s, 2 m/s, 3 m/si then applying this initial condition to
the velocity vector (6) have that

v (0) = hc1 m/s, c2 m/s, c3 m/si = h1 m/s, 2 m/s, 3 m/si (7)

from which it follows that c1 = 1, c2 = 2 and c3 = 3.

◦ Thus, the particle’s velocity vector at time t is

v (t) = h(5t + 1) m/s, (10t + 2) m/s, 3 m/si. (8)

Mechanics I (APPM1028A/1029A) — Lecture M9 5

• Example 2.

◦ The velocity at time t (in seconds) of a particle is

v (t) = h2 m/s, 4t m/s, sin t m/si. (9)

◦ Integrating the velocity vector with respect to time we have that

r (t) = h(2t + c1 ) m, 2t2 + c2 m, (− cos t + c3 ) mi

(10)

where c1 , c2 and c3 are arbitrary constants of integration.

◦ If the position of the particle at time t = 0 is r (0) = h1 m, 2 m, 3 mi then applying this initial condition to the
above position vector (10) we have that

r (0) = hc1 m, c2 m, (−1 + c3 ) mi = h1 m, 2 m, 3 mi (11)

from which it follows that c1 = 1, c2 = 2 and c3 = 4.

◦ Thus, the particle’s position vector at time t is

r (t) = h(2t + 1) m, 2t2 + 2 m, (4 − cos t) mi.

(12)