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VECTOR FUNCTIONS
VECTOR FUNCTIONS
12.2
Derivatives and Integrals
of Vector Functions
In this section, we will learn how to:
Develop the calculus of vector functions.
DERIVATIVES
DERIVATIVE
Equation 1
dr
r (t + h) r (t )
= r '(t ) = lim
h 0
dt
h
if this limit exists.
DERIVATIVE
SECANT VECTOR
uuur
vectors r(t) and r(t + h), then PQ represents
the vector r(t + h) r(t).
This can therefore
be regarded as
a secant vector.
DERIVATIVES
As h 0, it appears
that this vector
approaches a vector
that lies on the
tangent line.
TANGENT VECTOR
TANGENT LINE
r '(t )
T (t ) =
| r '(t ) |
DERIVATIVES
DERIVATIVES
Theorem 2
DERIVATIVES
Proof
r '(t )
1
= lim [r (t + t ) r (t )]
t 0 t
1
= lim f (t + t ), g (t + t ), h(t + t ), f (t ), g (t ), h(t )
t 0 t
f (t + t ) f (t ) g (t + t ) g (t ) h(t + t ) h(t )
,
,
= lim
t 0
t
t
t
f (t + t ) f (t )
g (t + t ) g (t )
h(t + t ) h(t )
, lim
, lim
= lim
t 0
t 0
t 0
t
t
t
= f '(t ), g '(t ), h '(t )
DERIVATIVES
Example 1
DERIVATIVES
Example 1 a
DERIVATIVES
Example 1 b
r '(0)
j + 2k
T(0) =
=
| r '(0) |
1+ 4
1
2
=
j+
k
5
5
DERIVATIVES
Example 2
Example 2
DERIVATIVES
We have:
r '(t ) =
1
2 t
ij
and
1
r '(1) = i j
2
Example 2
DERIVATIVES
t , y = 2 t gives:
y = 2 x 2,
x0
DERIVATIVES
Example 2
Example 3
DERIVATIVES
y = sin t
z=t
DERIVATIVES
Example 3
DERIVATIVES
Example 3
Example 3
DERIVATIVES
x = 2t
y =1
z=
+t
DERIVATIVES
SECOND DERIVATIVE
DIFFERENTIATION RULES
DIFFERENTIATION RULES
Theorem 3
Suppose:
u and v are differentiable vector functions
c is a scalar
f is a real-valued function
DIFFERENTIATION RULES
Theorem 3
Then,
d
1. [u(t ) + v (t )] = u'(t ) + v'(t )
dt
d
2. [cu(t )] = cu'(t )
dt
d
3. [ f (t )u(t )] = f '(t )u(t ) + f (t )u'(t )
dt
DIFFERENTIATION RULES
Theorem 3
d
4. [u(t ) v (t )] = u'(t ) v (t ) + u(t ) v'(t )
dt
d
5. [u(t ) v (t )] = u'(t ) v (t ) + u(t ) v'(t )
dt
d
6. [u( f (t ))] = f '(t )u' ( f (t ) )
dt
(Chain Rule)
DIFFERENTIATION RULES
DIFFERENTIATION RULES
Proof
FORMULA 4
Let
u(t) = f1(t), f2(t), f3(t)
v(t) = g1(t), g2(t), g3(t)
Then, u(t ) ? v (t )
= f1 (t ) g1 (t ) + f 2 (t ) g 2 (t ) + f3 (t ) g3 (t )
3
= fi (t ) gi (t )
i =1
Proof
FORMULA 4
d
d 3
[u(t ) v (t )] = fi (t ) gi (t )
dt
dt i =1
3
d
= [ fi (t ) gi (t )]
i =1 dt
3
= [ f i '(t ) gi (t ) + f i (t ) gi '(t )]
i =1
3
i =1
i =1
= f i '(t ) gi (t ) + fi (t ) gi '(t )
= u'(t ) v (t ) + u(t ) v'(t )
DIFFERENTIATION RULES
Example 4
DIFFERENTIATION RULES
Example 4
Since
r(t) r(t) = |r(t)|2 = c2
and c2 is a constant,
Formula 4 of Theorem 3 gives:
d
0 = [r (t ) r (t )]
dt
= r '(t ) r (t ) + r (t ) r '(t )
= 2r '(t ) r (t )
DIFFERENTIATION RULES
Thus,
r(t) r(t) = 0
This says that r(t) is orthogonal to r(t).
DIFFERENTIATION RULES
INTEGRALS
INTEGRALS
INTEGRALS
r (t ) dt
n
= lim r (t ) t
n
i =1
*
i
n
n
*
*
= lim f (ti ) t i + g (ti ) t j
n
i =1
i =1
*
+ h(ti ) t k
i =1
n
INTEGRALS
Thus,
r(t)dt
b
b
b
INTEGRALS
Example 5
INTEGRALS
r (t ) dt = [2sin t i cos t j + t k ]0
= 2i + j +