Calculus III 2

Vector-Valued Functions
Calculus-III
Dr. Imran Rashid Department of Mathematics COMSATS Institute of Information Technology, Islamabad, Pakistan
imranrashid@comsats.edu.pk
Calculus-III,
BCE-III Spring 2013
Outline
Vector-Valued Functions Parametric Curves in 3Space Calculus of Vector-Valued Functions Change of Parameter; Arc Length Unit Tangent, Normal, and Binormal Vectors Curvature
Calculus-III,
BCE-III Spring 2013
Parametric Curves in Vector-Valued Functions
3Space
Calculus of Vector-Valued Functions Change of Parameter; Arc Length Unit Tangent, Normal, and Binormal Vectors Curvature
Calculus-III,
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3Space
Parametric Curves in 3Space
Calculus-III,
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3Space
Overview
When a body (or objet) travels through space, the equation x
= f (t ), y = g (t ),
and z
= h(t )
that the body's coordinates as
functions of time serve as parametric equations for the body's motion and path. With vector notation, we condense these into a single equation
r(t ) = f (t )i + g (t )j + h(t )k
that gives the body's position as a vector function of time. For an object moving in xy plane, the component function h (t ) is zero for all time (that is, identically zero).
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Overview
The position vector r
= OP
of a particle moving through space is a function of time.
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Overview
The point
(x , y , z ) = (f (t ), g (t ), h(t )),
I,
makes up the curve
in space that we call the particle's path.
Calculus-III,
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Overview
The point
(x , y , z ) = (f (t ), g (t ), h(t )),
I,
makes up the curve
in space that we call the particle's path. The equations x
= f (t ), y = g (t ),
and z
= h(t )
parameterize the curve.
Calculus-III,
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Overview
The point
(x , y , z ) = (f (t ), g (t ), h(t )),
I,
makes up the curve
in space that we call the particle's path. The equations x
= f (t ), y = g (t ),
and z
= h(t )
parameterize the curve. A curve in space can also be represented in vector form. The vector
r = OP = f (t )i + g (t )j + h(t )k
from the origin to the particle's position P (f (t ), g (t ), h (t )) at time t is the particle's position vector.
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Calculus-III,
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Overview
The functions f
, g,
and h are the component functions
(components) of the position vector.
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Overview
The functions f
, g,
(components) of the position vector. We think of the particle's path as the curve traced by time interval I .
during the
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Overview
The functions f
, g,
(components) of the position vector. We think of the particle's path as the curve traced by time interval I . The equations x
during the
= f (t ), y = g (t ),
and z
= h(t )
is a vector function or vector-valued function on a domain set D is a rule that assigns a vector in space to each element in D .
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Graphing Helix
The vector function real values of t .
r(t ) = (cos t )i + (sin t )j + t k
is dened for all
The upper half of the helix r
= (cos t )i + (sin t )j + t k
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Calculus-III,
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Domain of Vector-Valued Function

Example: The component functions of
r(t ) = t , t 2 , t 3 = t i + t 2 j + t 3 k
are x (t )
= t,
y (t )
= t 2,
z (t )
= t3
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Example: The component functions of
r(t ) = t , t 2 , t 3 = t i + t 2 j + t 3 k
are x (t ) The domain of
= t,
y (t )
= t 2,
z (t )
= t3
r(t )
is the set of allowable values for t . If the
r(t )
is
dened in terms of component functions and the domain is not specied explicitly, then it will be understood that the domain is the intersection of the natural domains of the component functions; that is called the natural domain of
r(t ).
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Example: Find the natural domain of
r(t ) =
x (t ) are
ln |t
1|, e t ,
= ln |t 1|i + e t j + = et ,
z (t )
Solution: The natural domains of the component functions
= ln |t 1|,
y (t )
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3Space

Example: Find the natural domain of
r(t ) =
x (t ) are
ln |t
1|, e t ,
= ln |t 1|i + e t j + = et ,
z (t )
Solution: The natural domains of the component functions
= ln |t 1|,
y (t )
(, 1] (1, +),
(, +),
[0, +)
respectively. The intersection of these sets is
[0, 1) (1, +)
. So the natural domain of 0
r(t )
is or t
t<1
>1
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Vector form of a line segment

The line through the terminal point of vector
v:
r0
and is parallel to the
r = r0 + t v.
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v:
r0
r = r0 + t v.
or
The two-point vector form of a line is
r = r0 + t (r1 r0 )
r = (1 t )r0 + t r1 .
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v:
r0
r = r0 + t v.
or
r = r0 + t (r1 r0 )
r = (1 t )r0 + t r1 .
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v:
r0
r = r0 + t v.
or
r = r0 + t (r1 r0 )
r = (1 t )r0 + t r1 .
The line segment traced from

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r0
to
r1
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r = (1 t )r0 + t r1
(0 t 1)
3Space
Calculus of Vector-Valued Functions
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Limit
Let
r(t ) = f (t )i + g (t )j + h(t )k be a vector. We say that r has limit L as t

t t0
lim
vector function and
approaches t0 and we write lim
r(t ) = L
if and only if
t t0
r(t ) L = 0
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Limit
Let
r(t ) = f (t )i + g (t )j + h(t )k be a vector. We say that r has limit L as t

t t0
lim
vector function and
approaches t0 and we write lim
r(t ) = L
if and only if
t t0
r(t ) L = 0
then
Theorem: If
r(t ) =
x (t ), y (t ), z (t )
= x (t )i + y (t )j + z (t )k,
t t0
lim
r(t ) =
=
t t0 t t0
lim x (t ), lim y (t ), lim z (t ) t t0 t t0
lim x (t )
i+
t t0
lim y (t )
j+
t t0
lim z (t )
provided the limits of the component functions exist. Conversely, the limits of the component functions exist provided approaches a limiting vector as t approaches t0 .
Calculus-III,
r(t )
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Continuity
Denition: A vector valued function in its domain if lim (t ) t t0 at every point in its domain. t
= t0
r(t ) is continuous at a point = r(t0 ). The function is continuous
Note As in the case for real-valued functions, we say that
r(t )
is
continuous on an interval I if it is continuous at each point of I A vector valued function
r(t )
is continuous at t
only if its component functions are continuous
= t0 if and at t = t0 .
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Derivative
If
r(t ) is a
vector-valued function, we dene the derivative of
respect to t to be the vector-valued function
r with
given by
r (t ) =
The domain of
h0
lim
r(t + h) r(t )
h
consists of all values of t in the domain of
r(t ) for
which the limit exists.
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Derivative
If
r(t ) is a
r with
given by
r (t ) =
The domain of The function
h0
lim
r(t + h) r(t )
h
r(t ) for
r(t )
is dierentiable at t if the above limit exists.
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Derivative
If
r(t ) is a
r with
given by
r (t ) =
h0
lim
r(t + h) r(t )
h
r(t ) for r(t )
r (t )
r(t )
is a vector that is tangent to the curve C at the tip of
and points in the direction of increasing parameter.
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Derivative
If
r(t ) is a
r with
given by
r (t ) =
h0
lim
r(t + h) r(t )
h
r(t ) for r(t )
r (t )
r(t )
is a vector that is tangent to the curve C at the tip of
and points in the direction of increasing parameter. The standard notations for derivative of d dt
r(t )
are d
[r(t )],
dt
r (t ),
or
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Derivative Geometrically
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Geometric Interpretation of the Derivative

Suppose that C is the graph of a vector-valued function that
r (t )
r (t )
r(t )
and
exists and is nonzero for a given value of t . If the vector
is positioned with its initial point at the terminal point of the
radius vector
r(t ),
then
r (t )
is tangent to C and points in the
direction of increasing parameter.
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Geometric Interpretation of the Derivative

Suppose that C is the graph of a vector-valued function that
r (t )
r (t )
r(t )
and
exists and is nonzero for a given value of t . If the vector
is positioned with its initial point at the terminal point of the
radius vector
r(t ),
then
r (t )
is tangent to C and points in the
direction of increasing parameter.
Theorem: If
r(t )
is a vector-valued function, then
is dierentiable are the
at t if and only if each of its component functions is dierentiable at t , in which case the component functions of
r (t )
derivatives of the corresponding component functions of
r(t ).
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Derivative of a Vector Function

Let
and
be dierentiable vector functions of t , d dt
a constant
vector, k any scalar, and f any dierentiable scalar function. 1. Constant Function Rule 2. Scalar Multiple Rule d dt d dt 3. Sum Rule
C=0
[k u(t )] =
k f
u (t )
(t )u(t ) + f (t )u (t )
[f (t )u(t )] =
d dt
[u(t ) + v(t )] = u (t ) + v (t )
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Derivative Rules
4. Dierence Rule d dt 5. Dot Product Rule d dt
[u(t ) v(t )] = u (t ) v (t )
[u(t ) v(t )] = u (t ) v(t ) + u(t ) v (t )
6. Cross Product Rule d dt 7. Chain Rule
[u(t ) v(t )] = u (t ) v(t ) + u(t ) v (t )

d dt
[u(f (t ))] = f (t )u (f (t ))
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Tangent Lines
r(t ), and let r(t0 ) be the radius vector from the origin to r (t0 ) exists and r (t0 ) = 0, then we call r (t0 ) a tangent vector to the graph of r(t ) at r(t0 ), and we call the line through P that is parallel to the tangent line to the graph of r(t ) at r(t0 )
function P . If Denition: Let P be a point on the graph of a vector-valued
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Tangent Lines
r(t ), and let r(t0 ) be the radius vector from the origin to r (t0 ) exists and r (t0 ) = 0, then we call r (t0 ) a tangent vector to the graph of r(t ) at r(t0 ), and we call the line through P that is parallel to the tangent line to the graph of r(t ) at r(t0 )
function P . If Denition: Let P be a point on the graph of a vector-valued
The tangent line to the graph of

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r(t )
at
r0
is given by
r = r + tv
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Derivatives of Dot and Cross Products

Theorem: If
r(t )
and
is a vector-valued function and
r(t )
is constant
for all t , then that is ,
r(t ) r (t ) = 0 r (t )
are orthogonal vectors for all t .
r(t )
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Derivatives of Dot and Cross Products

Theorem: If
r(t )
and d dt d dt
is a vector-valued function and
r(t )
is constant
for all t , then that is ,
r(t ) r (t ) = 0 r (t )
are orthogonal vectors for all t . d 2 dt d
r(t )
Proof: As It follows with
[r1 (t ) r2 (t )] = r1 (t )
that
+
d
d 1 dt
r2 (t )
r1 = r2 = r
[r(t ) r(t )] = r(t )

d dt
dt d
[ r(t ) 2 ] =
r(t ) r
dt
r(t )
dt
But
r(t )
2 is constant, so its derivative is zero. Thus

2
r(t )
dt
=0
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Antiderivatives and Denite Integrals

An antiderivative for a vector-valued function vector-valued function
R(t )
r(t )
is a
such that
R (t ) = r(t )
Using integral notation
r(t )dt = R(t ) + C

where
represents an arbitrary constant vector.
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Antiderivatives and Denite Integrals

An antiderivative for a vector-valued function vector-valued function
R(t )
r(t )
is a
such that
R (t ) = r(t )
Using integral notation
r(t )dt = R(t ) + C

where
represents an arbitrary constant vector.
Like dierentiation of a vector-valued function, antiderivative is also performed component wise.

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Rules of Integration
Theorem: Let
r(t ), r1 (t ),
and
r2 (t )
be vector-valued functions that and let k be a scalar.
are continuous on the interval a
t b,
Then the following rules of integration hold:
b
(a)
r(t )dt = k
b a
r(t )dt
b a
(b)
[r1 (t ) + r2 (t )]dt = [r1 (t ) r2 (t )]dt =
r1 (t )dt + r1 (t )dt
b a
r2 (t )dt r2 (t )dt
(c)
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Change of Parameter; Arc Length
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Smooth Parametrization
A curve represented by that
r(t ) is smoothly parameterized by r(t ), r(t ) is a smooth function of t if r (t ) is continuous and r (t ) = 0 for any allowable value of t .
or
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Arc Length
The arc length L of parametric curve x is L
= x (t ), y = y (t ), z = z (t )
b
(a t b )
2
=
a
dx dt
dy dt
dz dt
dt
that can have vector form by letting
r(t ) = x (t )i + y (t )j + z (t )k
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Arc Length
= x (t ), y = y (t ), z = z (t )
b
(a t b )
2
=
a
dx dt
dy dt
dz dt
dt
r(t ) = x (t )i + y (t )j + z (t )k
d
dt
dx dt
i+
dy dt
j+
dz dt
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Arc Length
= x (t ), y = y (t ), z = z (t )
b
(a t b )
2
=
a
dx dt
dy dt
dz dt
dt
r(t ) = x (t )i + y (t )j + z (t )k
d
dt d
dx dt dx dt
i+
2
dy dt
j+
dy dt
dz dt
k
dz dt
dt
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Arc Length
Theorem: If C is the graph of a smooth vector-valued function then its arc length L from t
r(t ),
=a
to t
=b
is
b
L
=
a
dt
dt
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Using Arc Length as a Parameter

Step 1. Select an arbitrary point on the curve C to serve as a reference point. Step 2. Starting from the reference point, choose one direction along the curve to be the positive direction and the other to be the negative direction. Step 3. If P is a point on the curve, let s be the signed arc length along C from the reference point to P , where s is positive if P is in the positive direction from the reference point and s is negative if P is in the negative direction.
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A parametric representation of a curve with arc length as the parameter is called an arc length parametrization of the curve. Note that a given curve will generally have innitely many dierent arc length parameterizations, since the reference point and orientation can be chosen arbitrarily.
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Example: Find the arc length parametrization of the circle x
+ y 2 = a2
with counterclockwise orientation and y s
(a, 0)
as the
reference point. Solution: x
= a cos t ,
s
= a sin t
or t s
= at
y
(0 t 2 ) s =
a
= a cos( ),
a
= a sin( )
a
( 0 s 2 a )
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Change of Parameter
A change of parameter in a vector-valued function substitution t
r(t )
is a
r(g ( ))
= g ( )
that produces a new vector-valued function
having the same graph as
r(t ),
but possibly, traced
dierently as the parameter
increases.
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Change of Parameter
A change of parameter in a vector-valued function substitution t
r(t )
is a
r(g ( ))
= g ( )
that produces a new vector-valued function
having the same graph as
r(t ),
but possibly, traced
dierently as the parameter
increases.
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Change of Parameter
Example: Find a change of parameter t
= g ( )
for the circle
r(t ) = cos t i + sin t j

such that
(0 t 2 )
increases over the
(a) the circle is traced counterclockwise as interval [0, 1]; (b) the circle is traced clockwise as
increases over the interval
[0, 1].
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Change of Parameter
Example: Find a change of parameter t
= g ( )
for the circle
r(t ) = cos t i + sin t j

such that
(0 t 2 )
increases over the
(a) the circle is traced counterclockwise as interval [0, 1]; (b) the circle is traced clockwise as
increases over the interval
[0, 1].
Solution (a): If we choose g to be an increasing function, then it will follow from the relationship t
= g ( )
that t increases when
increases, ensuring that the circle will be traced counterclockwise as
increases. We also want to choose g so that t increases from
0 to 2 as
increases from 0 to 1. A simple choice of g that
satises all of the criteria is the linear function t

Calculus-III, BCE-III which is the desired change of parameter.
= g ( ) = 2 ,
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Change of Parameter
The resulting representation of the circle in terms of
is
r(g ( )) = cos 2 i + sin 2 j
(0 1)
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Change of Parameter
The resulting representation of the circle in terms of
is
r(g ( )) = cos 2 i + sin 2 j
(0 1)
Solution (b): To ensure that the circle is traced clockwise, we will choose g to be a decreasing function such that t decreases from 2 to 0 as
increases from 0 to 1. A simple choice of g that
achieves this is the linear function t
resulting representation of the circle in terms of
= g ( ) = 2 (1 ). is
The
r(g ( )) = cos(2 (1 ))i + sin(2 (1 ))j r(g ( )) = cos 2 i sin 2 j

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(0 1 )
(0 1)
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Change of Parameter
When making a change of parameter t function
r(t ),
= g ( )
in a vector-valued is smooth. The
it will be important to ensure that the new
vector-valued function
r(g ( ))
is smooth if
r(t )
following theorem establishes the condition under which it happens.
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Change of Parameter
When making a change of parameter t function
r(t ),
= g ( )
in a vector-valued is smooth. The
it will be important to ensure that the new
vector-valued function
r(g ( ))
is smooth if
r(t )
following theorem establishes the condition under which it happens.
Theorem (Chain Rule): Let
r(t )
be a vector-valued function that is
dierentiable with respect to t . If t
= g ( )
is a change of
parameter in which g is dierentiable with respect to
r(g ( ))
then
is dierentiable with respect to d
and
dt
dt d
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Change of Parameter
A change of parameter t It follows that t is continuous imply that nonzero.
= g ( )
in which
r(g ( ))
is smooth if
r(t )
is smooth is called a smooth change of parameter.
dr dr d is continuous and nonzero if dt is continuous and
dt = g ( ) will be a smooth change of parameter if d dt and d = 0 for all values of , since these conditions
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Change of Parameter
= g ( )
in which
r(g ( ))
is smooth if
r(t )
dt d dt If d
If
>0 <0
for all for all
then it is a positive change of parameter. then it is a negative change of parameter.
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Change of Parameter
= g ( )
in which
r(g ( ))
is smooth if
r(t )
dt d dt If d
If
>0 <0
for all for all
then it is a positive change of parameter. then it is a negative change of parameter.
A positive change of parameter preserves the orientation of a parametric curve, and a negative change of parameter reverses it.
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Finding Arc Length Parameterizations

Theorem: Let C be the graph of a smooth vector-valued function
r(t )
and let
r(t0 )
be any point on C . Then the following formula
denes a positive change of parameter from t to s , where s is an arc length parameter having
r(t0 )
t t0
as its reference point d
du
du
In component form
t
s
=
t0
dx du
dy du
dz du
du
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Example: Find the arc length parametrization of the circular helix
r = cos t i + sin t j + t k
that has reference point the given helix.
r(0) = (1, 0, 0) and the same orientation as
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Example: Find the arc length parametrization of the circular helix
r = cos t i + sin t j + t k
that has reference point the given helix. Example: A bug walks along the trunk of a tree following a path modeled by the circular helix in last example. The bug starts at the reference point
r(0) = (1, 0, 0) and the same orientation as
(1, 0, 0)
and walks up the helix for a distance of 10
units. what are the bug's al coordinates?
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Properties of Arc Length Parameterizations

Theorem: (a) If C is the graph of a smooth vector-valued function
r(t ), where
t is a general parameter, and if s is the arc length parameter for C dened by formula above, then for every value of t the tangent vector has length d
dt
ds dt
(b) If C is the graph of a smooth vector-valued function tangent vector to C has length d
r(s ),
where s is an arc length parameter, then for every value of s the
ds
=1
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Properties of Arc Length Parameterizations
(c) If C is the graph of a smooth vector-valued function d
r(t ), and if
dt
=1
for every value of t , then for any value of t0 in the domain of parameter s
r, the
= t t0
is an arc length parameter that has its
reference point at the point on C where t
= t0 .
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Unit Tangent, Normal, and Binormal Vectors
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Unit Tangent Vectors

If C is the graph of a smooth vector-valued function the vector
r,
then
is nonzero, tan-
gent to C , and points in the direction of increasing parameter. Thus by normalizing tain a unit vector
we ob-
T(t ) =
r (t ) r (t )
that is tangent to C and points in the direction of increasing parameter. gent vector to C at point t .
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Unit Normal Vectors

If a vector-valued function
r (t )
r(t )
has constant norm, then
are orthogonal vectors. In particular,
T (t )
1, so
T(t )
and
T (t )
T(t )
r(t )
and
has constant norm
are orthogonal vectors. This implies that
is perpendicular to the tangent line to C at t , that is
T (t ),
normal to C at t . It follows that if we obtain a unit vector
T (t ) = 0,
T (t )
is
and normalizing
N(t ) =
call
T (t ) T (t ) T (t ).
We
that is normal to C and points in the same direction as
N(t )
the principal unit normal vector to C at t , or more
simply, the unit normal vector. Observe that the unit normal vector is dened only at points where excludes straight lines.
Calculus-III,
T (t ) = 0.
Unless stated otherwise,
we will assume that this condition is satised. In particular, this
BCE-III Spring 2013
3Space
T and N for curves parameterized by arc length

In case where unit tangent
r(s ) is parameterized by arc length, we compute T(s ) and the unit normal vector N(s ) as: T(s ) = r (s ) N(s ) = r (s ) r (s )
of
Calculus-III,
BCE-III Spring 2013
3Space

In case where unit tangent
r(s ) is parameterized by arc length, we compute T(s ) and the unit normal vector N(s ) as: T(s ) = r (s ) N(s ) = r (s ) r (s )
of
Example: The circle of radius a with counterclockwise orientation and centered at the origin can be represented by the vector-valued function
r = a cos t i + a sin t j
(0 t 2 )
Parameterize this circle by arc length and nd
T(s )
and
N(s ).
Calculus-III,
BCE-III Spring 2013
3Space
Calculus-III,
BCE-III Spring 2013
3Space
Binormal Vectors in 3Space

If C is the graph of a vector-valued function
r(t )
in 3-space, then
we dene the binormal vector to C at t to be
B(t ) = T(t ) N(t )
Calculus-III,
BCE-III Spring 2013
3Space

r(t )
in 3-space, then
B(t ) = T(t ) N(t )

It follows from properties of the cross product that orthogonal to both and
N(t )
T(t )
and
N(t )
B(t )
is
and is oriented relative to
T(t )
by the right-hand rule.
Calculus-III,
BCE-III Spring 2013
3Space

r(t )
in 3-space, then
B(t ) = T(t ) N(t )

It follows from properties of the cross product that orthogonal to both and
N(t )
T(t )
and
N(t )
B(t )
is
and is oriented relative to
T(t )
by the right-hand rule.
Moreover,
T(t ) N(t )
is a unit vector since
T(t ) N(t ) = T(t )

Thus,
N(t )
sin(
)=1
{T(t ), N(t ), B(t )}
is a set of three mutually orthogonal unit
vectors.
Calculus-III,
BCE-III Spring 2013
3Space
Planes Determined by
T, N and B
Calculus-III,
BCE-III Spring 2013
3Space
Coordinate Sysytem Determined by

The coordinate system determined by the other two by the right-hand rule:
T, N and B
and
T(t ), N(t ),
B (t )
is
right-handed in the sense that each of these vectors is related to
B(t ) = T(t ) N(t ), N(t ) = B(t ) T(t ), T(t ) = N(t ) B(t )
Calculus-III,
BCE-III Spring 2013
3Space

T, N and B
and
T(t ), N(t ),
B (t )
is

This coordinate system is called the Frenet
TNB-frame
or sometimes the
Frenet frame in honor of the French mathematician Jean Frederic
(1816 1900)
who pioneered its application to the study of
space curves.
Calculus-III,
BCE-III Spring 2013
3Space

T, N and B
and
T(t ), N(t ),
B (t )
is

This coordinate system is called the Frenet
TNB-frame
or sometimes the
Frenet frame in honor of the French mathematician Jean Frederic
(1816 1900)
who pioneered its application to the study of
space curves. Typically, the xyz coordinate system determined by the unit vectors
i, j,
and
remains xed, whereas the
TNBframe
changes
as its origin moves along the curve C .

Calculus-III,
BCE-III Spring 2013
3Space
TNBframe along the curve C
Calculus-III,
BCE-III Spring 2013
3Space
The binormal
B (t )
can be expressed directly in terms of
r(t )
as
B(t ) =
r (t ) r (t ) r (t ) r (t )
Calculus-III,
BCE-III Spring 2013
3Space
The binormal
B (t )
can be expressed directly in terms of
r(t )
as
B(t ) =
terms of
r (t ) r (t ) r (t ) r (t ) r (s ) r (s ) r (s )
BCE-III Spring 2013
In the case where the parameter is arc length it can be expressed in
r(s )
as
B (s ) =
Calculus-III,
3Space
Curvature
Calculus-III,
BCE-III Spring 2013
3Space
What is Curvature
Calculus-III,
BCE-III Spring 2013
3Space
What is Curvature
Denition: If C is a smooth curve in 2-space or 3-space that is parameterized by arc length, then the curvature of C , denoted by
= (s ) (
is Greek kappa), is dened by
(s ) =
ds
= r (s )
Calculus-III,
BCE-III Spring 2013
3Space
What is Curvature
= (s ) (
(s ) =
Observe that
ds
= r (s )
dT length of ds that measures the curvature. In general, the curvature

will vary from point to point along a curve.
(s )
is a real-valued function of s , since it is the
Calculus-III,
BCE-III Spring 2013
3Space
What is Curvature
= (s ) (
(s ) =
Observe that
ds
= r (s )
dT length of ds that measures the curvature. In general, the curvature

will vary from point to point along a curve. Example: Show that the circle of radius a parameterized by arc length
(s )
is a real-valued function of s , since it is the
r(s ) = a cos
s a
i + a sin
s a
(0 s 2 a)
has a constant curvature.

Calculus-III,
BCE-III Spring 2013
3Space
Formulas for Curvature

Theorem: If curvature (a)
r(t )
is a smooth vector-valued function in 2-space or
3-space, then for each value of t at which
T (t )
and
r (t ) exist, the
can be expressed as
(t ) =
T (t ) r (t ) r (t ) r (t ) r (t ) 3
(b)
(t ) =
Calculus-III,
BCE-III Spring 2013
3Space
Formulas for Curvature

Theorem: If curvature (a)
r(t )
is a smooth vector-valued function in 2-space or
3-space, then for each value of t at which
T (t )
and
r (t ) exist, the
can be expressed as
(t ) =
T (t ) r (t ) r (t ) r (t ) r (t ) 3
(t )
for the circular helix y
(b)
(t ) =
Example: Find x
= a cos t ,
= a sin t ,
= ct ;
where a
> 0.
Calculus-III,
BCE-III Spring 2013
Thank you for attention!
Calculus-III,
BCE-III Spring 2013

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Vector-Valued Functions

BCE-III Spring 2013

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

Parametric Curves in 3Space

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

that the body's coordinates as

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

The position vector r

of a particle moving through space is a function of time.

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

makes up the curve

in space that we call the particle's path.

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

makes up the curve

in space that we call the particle's path. The equations x

parameterize the curve.

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

makes up the curve

in space that we call the particle's path. The equations x

Parametric Curves in Vector-Valued Functions

and h are the component functions

(components) of the position vector.

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

and h are the component functions

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

and h are the component functions

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

r(t ) = (cos t )i + (sin t )j + t k

is dened for all

The upper half of the helix r

Parametric Curves in Vector-Valued Functions

Domain of Vector-Valued Function

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

Domain of Vector-Valued Function

is the set of allowable values for t . If the

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

Domain of Vector-Valued Function

Solution: The natural domains of the component functions

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

Domain of Vector-Valued Function

Solution: The natural domains of the component functions

respectively. The intersection of these sets is

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

Vector form of a line segment

and is parallel to the

BCE-III Spring 2013

Parametric Curves in Vector-Valued Functions

Vector form of a line segment

and is parallel to the

is dened for all

vector-valued function, we dene the derivative of

vector-valued function, we dene the derivative of

is dierentiable at t if the above limit exists.

vector-valued function, we dene the derivative of

is dierentiable at t if the above limit exists.

vector-valued function, we dene the derivative of

is dierentiable at t if the above limit exists.