Larson, Essentials Calculus Ch10 SHCC 2024

Chapter 10
Vector-Valued
Functions
10.1
A Curve in Plane and Space
• In parametric equations, each point in the
curve is represented by its xyz coordinates.
• Treating the point as the terminal point of a
vector => You get vector-valued function!
r(t) is called the position vector!
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10.1 Definition of
A Vector-Valued Function
• Representing the x(t), y(t) and z(t) in

parametric equations as the component
functions of the position vector!
10.1 Definition of
A Vector-Valued Function
The input t is still a scalar The output is a vector!
• The domain of a vector-valued function is the

intersection of the domains of all component
functions

10.1
Example: Sketching a Plane Curve
Vector Function
Parametric equations
XY function
Ellipse!

10.1
Example: Sketching a Helix
Cylinder!

10.1 Definition of the
Limit of a Vector-Valued Function
Computational aspect:
Note: the limit of vector function is a constant vector!

10.1 Graphical Representation
of the Limit of a Vector-Valued Function
Graphical aspect:

10.1 Definition of Continuity
of a Vector-Valued Function
Motion:
Continuous position vector

means “No teleportation”!
(瞬間移動)

10.2 Definition of the Derivative
of a Vector-Valued Function
= lim [r/t]
Derivative = limit (the rate of change) = limit (change of output / change of input)
For r(t): change of input = t (i.e., the change of time)

: change of output = r (i.e., the change of position vector)
10.2 Differentiation of
Vector-Valued Functions
Graphical aspect:
Note that:
in
r’(t)= lim [r/t]
The t (scalar) in
the denominator
will not change
the direction of r
r’(t) is a vector tangent to the curve of r(t) and

points to the direction of increasing t value!
r‘(t) is also a vector function!
Computational aspect:

Example:

10.2
Properties of the Derivative
(Linear Operator)
(Product rule)
(Chain rule)

10.2
r(t)=f1i+g1j and u(t)=f2i+g2j => r(t)• u(t)=f1f2+g1g2
Example: property (4)
Example: property (7)
For circular motion (圓周運動)

with ||r(t)||=c, the tangent vector
r’(t) is always orthogonal to the
position vector r(t)!
10.2
Example:

10.2 Definition of Integration
of Vector-Valued Functions

10.2 Integration
Anti-derivative of vector-valued function:
(1) A new vector function and is not unique!

(2) Vector C is the integration constant!
Example:

10.2 Integration
Example:

10.2 Integration
Definite integral of vector-valued function is a constant vector!
Example:

10.3
The Velocity Vector
Since r is the displacement (位移向量), then

[r/t] = mean velocity (平均速度向量)
lim [r/t] = instantaneous velocity = r’(t)
(瞬時速度向量)
10.3 Definitions of
Velocity and Acceleration
(瞬時速率)

10.3
Example:
Note:
r(t)• v(t)=0 (圓周運動 => r and v orthogonal!)
v(t)• a(t)=0 (等速率圓周運動 => v and a orthogonal!)
10.3
Example:

10.3
Example: find the position vector by integration
Initial conditions:
(1) “start from rest” = (2) “start from P(1,2,0)”=
For v(t):
For r(t): Final result:

10.3
Projectile Motion (拋物線運動)

10.3
Position Vector of Projectile
(initial conditions)

10.4
Tangent and Normal Vector

10.4
T’(t) is orthogonal to T(t) and is called the (principal) normal vector!

10.4

10.4
Example: continued
The principal normal vector always points to the

concave side of the curve!
10.4
Proof:

10.4
Proof: continued
The principal normal vector always points to the

concave side of the curve!

10.4

10.4
a(t)
 a(t) lies on the T-N plane because it is the linear

combination of T and N!
 a(t) can be decomposed to T and N components!
10.4 Tangential and
Normal Components of Acceleration
向心加速度: always non-negative!
 Dt[||v||]=0 when ||v||=constant (等速率運動) => aT =0 !

 ||T’||=0 when T=constant vector (不改變運動方向) => aN =0 !
10.4 Tangential and
aN
a
T

aT
aN=|a|sin and |va|=|v||a|sin

10.4 Tangential and
Example:
Practice:
find aN in alternative way:

10.4 Tangential and
Example:

10.5
Arc Length of a Space Curve
Length of r’(t)
• The integration of instantaneous

displacement becomes the total arc length!

10.5
Example:
Final result:

10.5
Example:

10.5
Definition of Arc Length Function
Change the upper limit to a variable of time (t), instead of constant b:
s(t) is the accumulated s(b)=total arc length

arc length from the initial
point (u=a) to some point
(u=t) s(a)=0

10.5
Instantaneous displacement = instantaneous speed * dt

10.5
Both arc length (s) and position vector (r) are functions of t
They are related!
The position vector r can be written a function of arc length (s)!
Example:

10.5
Both arc length (s) and position vector (r) are functions of t
They are related!
The position vector r can be written a function of arc length (s)!
Example:

10.5
Definition of Curvature
K is the rate of change of T with respect to arc length

=> (given a fixed ds) The more the T changes in direction, the larger K is!

10.5
Definition of Curvature
Example: Curvature of a circle

10.5
Formulas for Curvature
Proof:

10.5
Proof:

10.5
Example:

10.5
Curvature in x-y Coordinates

10.5
Acceleration, Speed, and Curvature
Example: 等速率圓周運動
(1) No tangential acceleration

aT = 0 because the speed (ds/dt)
will not change!
(2) Only normal acceleration

aN = (speed*speed)/radius
10.5
Acceleration, Speed, and Curvature
Example:

10.5 Summary of Velocity,
Acceleration, and Curvature

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Chapter 10

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• Representing the x(t), y(t) and z(t) in

The input t is still a scalar The output is a vector!

• The domain of a vector-valued function is the

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Note: the limit of vector function is a constant vector!

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Continuous position vector

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For r(t): change of input = t (i.e., the change of time)

r’(t) is a vector tangent to the curve of r(t) and

r‘(t) is also a vector function!

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Example: property (7)

For circular motion (圓周運動)

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(1) A new vector function and is not unique!

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Since r is the displacement (位移向量), then

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For r(t): Final result:

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T’(t) is orthogonal to T(t) and is called the (principal) normal vector!

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The principal normal vector always points to the

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The principal normal vector always points to the

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 a(t) lies on the T-N plane because it is the linear

向心加速度: always non-negative!

 Dt[||v||]=0 when ||v||=constant (等速率運動) => aT =0 !

aN=|a|sin and |va|=|v||a|sin

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• The integration of instantaneous

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s(t) is the accumulated s(b)=total arc length

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Instantaneous displacement = instantaneous speed * dt

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K is the rate of change of T with respect to arc length