Calculus of Vector Valued Functions

Limits and Continuity Derivatives Integrals Arclength Exercises
Calculus of Vector-Valued Functions

Mathematics 54 - Elementary Analysis 2
Institute of Mathematics
University of the Philippines-Diliman
1 / 18
Definition Examples
Limits and Continuity of Vector Functions
Definition.
Given ~
R (t) = x (t) , y (t) , z (t) .
1
We define the limit of ~
R as t approaches a by
D
E
lim~
R (t) = limx (t) , limy (t) , limz (t) ,
ta
ta
ta
ta
provided that lim x (t), lim y (t), and lim z (t) exist.
ta
ta
ta
The function ~
R (t) is continuous at t = a if
~
R (a) exists;
lim ~
R (t) exists;
ta
~
R (a) = lim ~
R (t).
ta
2 / 18
Definition Examples
Limits of Vector Functions

Example
Evaluate the following limits:
t 2 4 sin (2t 4)
1
lim~
R (t) where ~
R (t) = t + 1,
,
.
t2
t 2
t 2
|t 1| sin(t) tan(t)
2
lim~
, 2
,
.
R (t) where ~
R (t) =
t1
t 1 t 1
t 1
We have
lim~
R (t)
t2
t2 4
sin (2t 4)
= lim (t + 1) , lim
, lim
t2
t2 t 2 t2
t 2
2 cos (2t 4)
= 3, lim (t + 2) , lim
(LHopitals Rule)
t2
t2
1
= 3, 4, 2 .
3 / 18
Definition Examples
Limits of Vector Functions
Note that for t 1 , t < 1. We have
sin(t)
tan(t)
|t 1|
lim~
, lim 2
, lim
R (t) = lim
t1
t1 t 1 t1 t 1 t1
t 1
(t 1)
sin(t)
tan(t)
= lim
, lim 2
, lim
t1
t 1 t1 t 1 t1 t 1
cos(t)
sec2 (t)
= 1, lim
(LHopitals Rule)
, lim
t1
t1
2t
1
D
E
= 1, , .
2
4 / 18
Definition Examples
Continuity of Vector Functions

Example
Determine whether the function
sin(t) , t 1, et , t 6= 0
~
t
R (t) =
2 + k,
t =0
is continuous at t = 0.
Solution:
R (0) = 2 + k.
a. ~
R (0) exists. ~
sin(t)
b. lim~
R (t) = lim
, lim(t 1), lim et = 1, 1, 1
t0
t0
t0
t0
t
~
~
c. R (0) = 1, 2, 1 6= 1, 1, 1 = lim R (t)
t0
Hence, ~
R(t) is discontinuous at t = 0.
5 / 18
Definition Examples
Continuity of Vector Functions

Example
Find value/s of t such that
~
R (t) =
sin(t 2)
1
, t + 1, t
2t
e 1
is continuous.
Solution:
Possible discontinuities at t = 0, 2.
R (0) is undefined. Also
When t = 0. Note that ~
lim
t0+
et
1
= +
1
and
lim
t0 et
1
=
1
Therefore, lim~
R (t) does not exist.
t0
6 / 18
~
R (t) =
sin(t2)
2t
, t + 1, et11
Definition Examples
When t = 2. Note that ~

R (2) is also undefined but observe that
E
D
, t + 1, et 11
lim~
R (t) = lim sin(t2)
2t
t2
t2
1
,
lim
(t
+
1),
lim
= lim sin(t2)
t
2t
e 1
t2
= 1, 3,
t2
t2
e2 1
Hence, ~
R is continuous at every t R\{0, 2}.
7 / 18
Definition Examples
Derivative of ~
R (t) = x (t) , y (t) , z (t)
Derivative of ~
R is defined by ~
R0 (t) = lim
tt
~
R(t+t)~
R(t)
, if this limit exists.
t
1
t is a scalar, the vectors
~
R(t+t)~
R(t)
and ~
R (t + t) ~
R (t)
t
Since
are parallel.
As t 0, the vector
~
R (t + t) ~
R (t) becomes a vector
tangent to the graph of ~
R (t).
0
So ~
R (t) is a vector having one of
its representations to be tangent
to the graph of ~
R (t) in the
direction of the increasing
parameter t.
8 / 18
Definition Examples
Derivative of ~
R (t) = x (t) , y (t) , z (t)
~
R (t + t) ~
R (t)
t0
t
x (t + t) , y (t + t) , z (t + t) x (t) , y (t) , z (t)

= lim
t0
t
x (t + t) x (t)
y (t + t) y (t)
z (t + t) z (t)
= lim
, lim
, lim
t0
t0
t0
t
t
t
0
0
0
= x (t) , y (t) , z (t)
~
R0 (t) = lim
Theorem
Given ~
R (t) = x (t) , y (t) , z (t) . Then ~
R0 (t) = x0 (t) , y 0 (t) , z0 (t) provided that
x0 (t) , y 0 (t) and z0 (t) exist.
9 / 18
Definition Examples
Derivatives of Vector Functions
Example
Determine ~
R0 (t) and ~
R00 (t) if
~
R (t) = ln t, sec t, tan1 t .
Solution.
We have
1
1
, sec t tan t,
t
1 + t2
~
R0 (t)
~
R00 (t)
2t
1
= 2 , sec3 t + sec t tan2 t,
t
(1 + t 2 )2
10 / 18
Definition Examples
Tangent Line
Example
Determine a vector equation of the tangent line to ~

R (t) = ln t, et , t 3 at
the point corresponding to t = 2.
Solution.
R(t).
Note that ~
R0 (t) gives the direction of the line tangent to the curve ~
The point of tangency is the terminal point of the vector ~
R(2) which is
(ln 2, e2 , 8).
Recall that line passing through the point (x0 , y0 , z0 ) and is parallel to
the vector
equation
a, b, c has the vector
~L(t) = x0 + at, y0 + bt, z0 + ct .

~
R0 (t) =
~
R0 (2) = 21 , e2 , 12
L(t) = ~R(2) + t~R0 (2) = ln 2 + 2t , e2 e2 t, 8 + 12t .

1
t,
et , 3t 2
11 / 18
Definition Examples
Theorems on Differentiation
Let ~
F (t) and ~
G (t) be vector functions and f (t) be a real-valued function.
1
(~
F +~
G)0 (t) = ~
F 0 (t) + ~
G0 (t)
(f ~
F )0 (t) = f (t) ~
F 0 (t) + ~
F (t) f 0 (t)
(~
F ~
G)0 (t) = ~
F (t) ~
G0 (t) + ~
G (t) ~
F 0 (t)
(~
F ~
G)0 (t) = ~
F (t) ~
G0 (t) + ~
F 0 (t) ~
G (t)
0
0
0
(~
F f ) (t) = ~
F f (t) f (t)
12 / 18
Definition Examples
Theorems on Differentiation
Example
Let ~
F (t) = t 1, t 3 , cos t , ~
G (t) = ln t, sinh t, 4 and f (t) = et . Evaluate:
1
2
(~
F ~
G)0 (t)
(~
G f )0 (t)
Solution.
1
0
~
F ~
G (t)
3
=
t 1, t , cos t
, cosh t, 0 + ln t, sinh t, 4 1, 3t 2 , sin t
t
t 1
=
+ ln t + t 3 cosh t + 3t 2 sinh t + 4 sin t
t
t
1
t
e
,
cosh
e
,
0
(~
G f )0 (t) =
t
e
t
t
=
1, e cosh e , 0
13 / 18
Integrals of Vector Functions
Given ~
R (t) = x (t) , y (t) , z (t) .
Z
indefinite integral :
b
Z
definite integral :
a
~
R (t) dt =
~
R (t) dt =
y (t) dt,
b
Z
x (t) dt,
x (t) dt,
z (t) dt
b
Z
y (t) dt,
z (t) dt
Example
R
Given ~
R (t) = t 2 1, cos 2t, 2e2t . Evaluate ~
R (t) dt.
~
R (t) dt
Z
=
t 1 dt,
Z
cos 2t dt,
2t
2e dt
1 3
1
2t
=
t t + C1 , sin 2t + C2 , e + C3 C1 , C2 , C3 constants
3
2
1 3
1
2t
=
t t, sin 2t, e
+~
C, where ~
C = C1 , C2 , C3
3
2
14 / 18
Integrals of Vector Functions
Example
Evaluate
Z 1
3
3
(3 t) 2 + (3 + t) 2 + k dt.
0
Solution.
Z 1
Z 1
Z 1
3
3
(3 t) 2 dt, (3 + t) 2 dt,
dt
0
1
1
5 1
25 (3 t) , 52 (3 + t) 2 , t
2 5/2
2 35/2 , 25 35/2 , 1
5
5
=
=
5
2
15 / 18
Arclength of a Space Curve

Recall of Length of Arc of a Plane Curve
Given a plane curve with parametric equations x = x(t), y = y(t), a t b.
The length of the curve is given by
bq
Z
s=
2
(x0 (t))2 + y 0 (t) dt.
The length of a space curve is defined in the same way.
Given ~
R (t) = x (t) , y (t) , z (t) , t [a, b]
The length of the graph of ~
R is given by
Z
s
=
=
bq
Za b
a
(x0 (t))2 + y 0 (t) + (z0 (t))2 dt
0
~
R (t) dt.
16 / 18
Arclength of a Vector Function

Example
E
D 3
Find the length of the curve given by ~
R (t) = 4t 2 , 3sint, 3cost where
t [0, 2].
Note that
D 1
E
~
R0 (t) = 6t 2 , 3cost, 3sint .
Z 2 r
1 2
6t 2 + (3cost)2 + (3sint)2 dt
=
0
Z 2p
=
36t + 9dt
0
3 t=2
1
27 1
= 3 (4t + 1) 2
=
= 13.
6
2
t=0
17 / 18
Exercises
ln t
.
t
t 1
Find the derivative of ~

R (t) = sin2 (3t + 1), ln(t 2 1),
Evaluate lim
tan1 t, e2t ,
t
.
t2 + 1
Find the
vector
p equation ofthe tangent line to the graph of
~
R (t) = 1 + 2 t, t 3 t, t 3 + t at the point (3, 0, 2).
Evaluate the integral
sin2 t cos t, cos2 t sin t, tan2 t dt.
2
Find the length of the graph of ~
R (t) = 2t, t 2 , t 3 , t [0, 1].
3
Set-up the definite integral that represents the arc length of the curve
sin t
~
R(t) = e3t
+ ln(t + cos t)k from the point (1, 0, 0) to point
2t +
(e3 , 0, ln( 1)).
18 / 18

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Limits and Continuity Derivatives Integrals Arclength Exercises