Sections 10.
1–2
Vector-Valued Functions and Curves in Space
Derivatives and Integrals of Vector-Valued
Functions
Math 21a
February 20, 2008
Announcements
) Problem Sessions:
) Monday, 8:30, SC 103b (Sophie)
) Thursday, 7:30, SC 103b (Jeremy)
) Office hours Wednesday 2/20 2–4pm SC
Outline
Vector-valued functions
Derivatives of vector-valued functions
Integrals of vector-valued functions
Recall
− →
If P and Q are two points in the plane, u = O P, and v =
− →
O Q, then the line through P and Q can be parametrized as
r(t) = tv + (1 − t)u
Recall
− →
If P and Q are two points in the plane, u = O P, and v =
− →
O Q, then the line through P and Q can be parametrized as
r(t) = tv + (1 − t)u
This is a function whose domain is R and whose range is a subset
of R3 (the line).
Definition
A vector-valued function or vector function is a function r(t)
whose domain is a set of real numbers and whose range is a set of
vectors.
) We can split r(t) into its components
r(t) = f (t)i + g (t)j + h(t)k
Then f , g , and h are called the component functions of r.
) The range of r is a curve in R2 or R3.
Example
Given the plane curve described by the vector
equation
r(t) = sin(t)i + 2 cos(t)j
(a) Sketch the plane curve.
r(t) = r(t) = sin(t)i + 2
cos(t)j
t
0r(t)
2j r(π/4)
π/2 i x
π −i
−2j
3π/2
2π
2j
Curves and functions
Example
Two particles travel along the space curves
2 2
r1(t) = (3t, 7t − 12, t r2(t) = (4t − 3, t , 5t −
) 6)
Do the particles collide?
Curves and functions
Example
Two particles travel along the space curves
2 2
r1(t) = (3t, 7t − 12, t r2(t) = (4t − 3, t , 5t −
) 6)
Do the particles collide?
Answer
Yes. r1(3) = r2(3).
Outline
Vector-valued functions
Derivatives of vector-valued functions
Integrals of vector-valued functions
Derivatives of vector-valued functions
Definition
Let r be a vector function.
) The limit of r at a point a is defined componentwise:
. Σ
→a
tlim r(t) = t→
lim
a f (t),t →lim t →lim
a g (t), a h(t)
) The derivative of r is defined in much the same way as it is
for real-valued functions:
dr r(t + h) −
r(t)
dt = rj(t) = h→
lim0
h
Example
Given r(t) = (t, cos 2t, sin 2t), find
rj(t).
Example
Given r(t) = (t, cos 2t, sin 2t), find
rj(t).
Answer
(1, −2 sin 2t, 2 cos(2t))
Fact
If r(t) = (f (t), g (t), h(t)), then
.
rj(t) = f j(t), g j(t),
Σ
hj(t)
Fact
If r(t) = (f (t), g (t), h(t)), then
.
rj(t) = f j(t), g j(t),
Σ
hj(t)
Proof.
Follow your nose:
h→ 0 h
1
limr(t +
rj(t) == lim [(fh)(t−+r(t)
η), g (t + η), h(t + η)) − (f (t), g (t),
η→0 η
h(t))]
1
= lim [(f (t + η) − f (t), g (t + η) − g (t), h(t + η) −
η→0 η
h(t))]
. Σ
f (t + η) − f g (t + η) − g h(t + η) −
= lim , lim , lim
η→ 0 (t) η→ 0 (t) η→ 0 h(t)
. η η η
= f j(t), g j(t),
Σ
hj(t)
Example
Given the plane curve described by the vector
equation
r(t) = sin(t)i + 2 cos(t)j
(a) Sketch the plane curve.
(b) Find rj(t)
r(t) = r(t) = sin(t)i + 2
cos(t)j rj(t) = cos(t)i − 2
sin(t)j
t
0r(t)
2j r(π/4)
π/2 i x
π −i
−2j
3π/2
2π
2j
Example
Given the plane curve described by the vector equation
r(t) = sin(t)i + 2 cos(t)j
(a) Sketch the plane curve.
(b) Find rj(t)
(c) Sketch the position vector r(π/4) and the tangent vector
rj(π/4).
r(t) = r(t) = sin(t)i + 2
cos(t)j rj(t) = cos(t)i − 2
sin(t)j
t
0r(t)
2j r(π/4) rj(π/4)
π/2 i x
π −i
−2j
3π/2
2π
2j
Rules for differentiation
Theorem
Let u and v be differentiable vector functions, c a scalar, and f a
real-valued function. Then:
d
1. [u(t) + v(t)] = uj(t) +
dt
vj(t)
d
2. [cu(t)] = cuj(t)
dt
d
3. [f (t)u(t)] = f j(t)u(t) + f
dt
j
(t)u (t)
d
4. [u(t) · v(t)] = uj(t) · v(t) + u(t) ·
dt j
d v (t)
5. [u(t) × v(t)] = uj(t) × v(t) + u(t) ×
dt j
d v (t)
6. [u(f (t))] = f j(t)uj(f
(t))dt
Leibniz rule for cross
products
Let u = (f1(t), g1(t), h1(t)) and v = (f2(t), g2(t), h2(t)). The first
component of u(t) × v(t) is
(u(t) × v(t)) · i = g1h2 − g2h1
Differentiating gives
(u(t) × v(t))j · i = g1j h2 + g1h2j − g2j h1 − g2h1j
= g1j h2 − g2h1j + g1h2j − g2j h1
= (uj(t) × v(t)) · i + (u(t)
× vj(t)) · i
.
= u j (t) × v(t) + u(t) ×
Σ
vj(t) · i
Meet the Mathematician: Isaac Newton
) English, 1643–1727
) Professor at
Cambridge (England)
) Philosophiae
Naturalis Principia
Mathematica
published 1687
Meet the Mathematician: Gottfried Leibniz
) German, 1646–1716
) Eminent philosopher
as well as
mathematician
) Contemporarily
disgraced by the calculus
priority dispute
Smooth curves
Example
Which of the following curves are smooth? That is, which curves
satisfy the property that rj(t) ƒ= 0 for all t?
3 4 5
(a) r(t) = (t , t , t )
3 4 5
(b) r(t) = (t + t, t , t )
3 3
(c) r(t) = (cos t, sin t)
. Σ . Σ
The first curve r(t) = t ,35t 4, t has rj4(t) = 3t2 , 4t3 , 5t , and
not smooth at t = 0. is
z
x y
Projecting r(t) onto the yz -plane gives y = z 4/5, which is
not differentiable at 0.
. .
If r(t) = Σt34 + t, t4 , t5 , then rj (t) = Σ3t2 + 1, 4t3 , 5t , which
is
never 0.
So this curve is smooth.
. Σ
Ifj r(t) =. cos3 t,2 sin3 t , then
r2(t) = Σ −3 cos (t) sin(t), 3 sin (t) cos(t) . This is 0 when
cos t = 0 or sin t = 0, i.e., when t = π/2, π, 3π/2, 2π.
y
x
Outline
Vector-valued functions
Derivatives of vector-valued functions
Integrals of vector-valued functions
Integrals of vector-valued
functions
Definition
Let r be a vector function defined on [a, b]. For each whole number
n, divide the interval [a, b] into n pieces of equal width ∆t.
Choose a point ti∗ on each subinterval and form the Riemann sum
Σn
Sn = r(ti∗) ∆t
i =1
Then define
∫ b Σn
r(t) dt = lim S n = lim r(ti∗)
a
∆t n→∞ n→∞
Σi =1n
Σ Σn Σn
= lim ∗
f (ti ) ∆ti + ∗
g (ti ) ∆tj +
n→ ∞
i =1 h(t ∗) i =1 i =1
i
. ∫ b Σ . ∫ b Σ . ∫ b
= f (t) dt i g (t) dt j h(t)
a + a + a dt
Example
Given r(t) = (t, cos 2t, sin 2t),
find ∫ π
r(t)
dt
0
Example
Given r(t) = (t, cos 2t, sin 2t),
find ∫ π
r(t)
dt
0
Answe
r . Σ
π2
, 0,
2
0
FTC for vector functions
Theorem (Second Fundamental Theorem of Calculus)
If r(t) = Rj(t), then
∫ b
r(t) dt =
R(t)
a
FTC for vector functions
Theorem (Second Fundamental Theorem of Calculus)
If r(t) = Rj(t), then
∫ b
r(t) dt =
R(t)
a
Proof.
Let R(t) = (F (t), G (t), H(t)). To say that Rj(t) = r(t)
means
that F j = f ,∫ G j = g , and H j = h. That and the
b
componentwise
definition of r(t) dt are all you
need.
a
