Derivatives

of Vector
Functions

Vector Calculus(MATH-243)
Instructor: Dr. Naila Amir
 Vectors And
13
The Geometry Of Space

Book: Thomas’ Calculus Early Transcendentals (14th Edition) By George B. Thomas, Jr.,
Joel Hass, Christopher Heil, Maurice D. Weir.
Chapter: 13 , Section: 13.1
Book: Calculus Early Transcendentals (6th Edition) By James Stewart.
Chapter: 13 , Section: 13.2
Derivatives
The derivative of a vector function 𝐫𝐫(𝑡𝑡) is defined in much the same way as for
real-valued functions.
Definition:
If 𝐫𝐫(𝑡𝑡) is a vector function, then derivative 𝐫𝐫 ′ (𝑡𝑡) is given as:
𝑑𝑑𝑑𝑑 ′ 𝑡𝑡 = lim
𝐫𝐫 𝑡𝑡 + ℎ − 𝐫𝐫 𝑡𝑡
= 𝐫𝐫 ,
𝑑𝑑𝑑𝑑 ℎ→0 ℎ
provided this limit exists.
Derivative Geometric Significance
The geometric significance of this definition is shown as follows. If the points 𝑃𝑃 and
𝑄𝑄 have position vectors 𝐫𝐫(𝑡𝑡) and 𝐫𝐫(𝑡𝑡 + ℎ), then 𝑃𝑃𝑃𝑃 represents the vector:
𝐫𝐫(𝑡𝑡 + ℎ) – 𝐫𝐫(𝑡𝑡).
This can therefore be regarded as a secant vector. If ℎ > 0, then the scalar multiple
(1/ℎ)(𝐫𝐫(𝑡𝑡 + ℎ) – 𝐫𝐫(𝑡𝑡)) has the same direction as 𝐫𝐫(𝑡𝑡 + ℎ) – 𝐫𝐫(𝑡𝑡). As ℎ ⟶ 0, it
appears that this vector approaches a vector that lies on the tangent line.
Derivative Geometric Significance
For this reason, the vector 𝐫𝐫 ′ (𝑡𝑡) is called the tangent vector to the curve defined by 𝐫𝐫
at the point P, provided 𝐫𝐫 ′ (𝑡𝑡) exits and 𝐫𝐫 ′ (𝑡𝑡) ≠ 𝟎𝟎. We require 𝐫𝐫 ′ (𝑡𝑡) ≠ 𝟎𝟎 for a smooth
curve to make sure the curve has a continuously turning tangent at each point. On a
smooth curve, there are no sharp corners or cusps. The tangent line to 𝐶𝐶 at 𝑃𝑃 is defined
to be the line through 𝑃𝑃 parallel to the tangent vector 𝐫𝐫 ′ (𝑡𝑡). The unit tangent vector is
defined as:

𝐫𝐫 ′ 𝑡𝑡
𝑇𝑇 𝑡𝑡 = ′ .
𝐫𝐫 𝑡𝑡
Derivatives
The following theorem provides us with a convenient way for computing the
derivative of a vector function 𝐫𝐫 𝑡𝑡 .

Theorem:
If 𝐫𝐫(𝑡𝑡) = 𝑓𝑓(𝑡𝑡), 𝑔𝑔(𝑡𝑡), ℎ(𝑡𝑡) = 𝑓𝑓(𝑡𝑡) 𝐢𝐢 + 𝑔𝑔(𝑡𝑡) 𝐣𝐣 + ℎ(𝑡𝑡)𝐤𝐤, where 𝑓𝑓, 𝑔𝑔, and ℎ are
differentiable functions, then:
𝐫𝐫 ′ 𝑡𝑡 = 𝑓𝑓 ′ 𝑡𝑡 , 𝑔𝑔′ 𝑡𝑡 , ℎ′ 𝑡𝑡 = 𝑓𝑓 ′ 𝑡𝑡 𝐢𝐢 + 𝑔𝑔′ 𝑡𝑡 𝐣𝐣 + ℎ′ 𝑡𝑡 𝐤𝐤.
Example:
a. Determine the derivative of the vector function:
𝐫𝐫 𝑡𝑡 = 1 + 𝑡𝑡 3 𝐢𝐢 + 𝑡𝑡𝑡𝑡 −𝑡𝑡 𝐣𝐣 + sin(2𝑡𝑡) 𝐤𝐤.
b. Moreover, find the unit tangent vector at the point where 𝑡𝑡 = 0.
Solution:
(a) According to theorem: we differentiate each component of 𝒓𝒓(𝑡𝑡) and get:
𝐫𝐫 ′ 𝑡𝑡 = 3𝑡𝑡 2 𝐢𝐢 + 1 − 𝑡𝑡 𝑒𝑒 −𝑡𝑡 𝐣𝐣 + 2 cos 2𝑡𝑡 𝐤𝐤.
(b) As 𝐫𝐫 ′ 0 = 𝐣𝐣 + 2𝐤𝐤, so the unit tangent vector at the point (1, 0, 0) is given as:

𝐫𝐫 ′ 0 𝐣𝐣 + 2𝐤𝐤 1 2
𝐓𝐓 0 = ′ = = 𝐣𝐣 + 𝐤𝐤.
𝐫𝐫 0 1+4 5 5
Example:
For the curve: 𝐫𝐫(𝑡𝑡) = 𝑡𝑡𝐢𝐢 + (2 − 𝑡𝑡)𝐣𝐣, find 𝐫𝐫 ′ 𝑡𝑡 and sketch the position vector 𝐫𝐫(1)
and the tangent vector 𝐫𝐫 ′ 1 .
Solution:
1 1
We have: 𝐫𝐫 ′ (𝑡𝑡) = 𝐢𝐢 − 𝐣𝐣 and 𝐫𝐫 ′ 1 = 𝐢𝐢 − 𝐣𝐣. The given curve is a plane curve.
2 𝑡𝑡 2
Elimination of the parameter from the equations 𝑥𝑥 = 𝑡𝑡; 𝑦𝑦 = 2 – 𝑡𝑡 gives:
𝑦𝑦 = 2 − 𝑥𝑥 2 , 𝑥𝑥 ≥ 0.
The position vector 𝐫𝐫(1) = 𝐢𝐢 + 𝐣𝐣 starts at the origin. The tangent vector 𝐫𝐫 ′ (1) starts
at the corresponding point (1, 1).
Second Derivative
Just as for real-valued functions, the second derivative of a vector function 𝐫𝐫(𝒕𝒕) is
the derivative of 𝐫𝐫 ′ , that is, 𝐫𝐫 ′′ = 𝐫𝐫 ′ ′ .

For instance, the second derivative of the function:

𝐫𝐫 𝒕𝒕 = 1 + 𝑡𝑡 3 , 𝑡𝑡𝑡𝑡 −𝑡𝑡 , sin(2𝑡𝑡) ,

can be determined as:

𝐫𝐫 ′ 𝒕𝒕 = 3𝑡𝑡 2 , 1 − 𝑡𝑡 𝑒𝑒 −𝑡𝑡 , 2 cos 2𝑡𝑡 ,
𝐫𝐫 ′′ 𝒕𝒕 = 6𝑡𝑡, 𝑡𝑡 − 2 𝑒𝑒 −𝑡𝑡 , −4 sin 2𝑡𝑡 .
Velocity and Acceleration Vectors
If 𝐫𝐫(𝑡𝑡) is the position vector of a particle moving along a smooth curve in space,
then 𝐯𝐯 𝑡𝑡 = 𝐫𝐫 ′ 𝒕𝒕 is the particle’s velocity vector, tangent to the curve. At any
time 𝑡𝑡, the direction of 𝐯𝐯 is the direction of motion, the magnitude of 𝐯𝐯 is the
particle’s speed, and the derivative 𝐚𝐚 𝑡𝑡 = 𝐯𝐯 ′ 𝒕𝒕 = 𝐫𝐫 ′′ 𝒕𝒕 when it exists, is the
particle’s acceleration vector. In conclusion,
1. Velocity is the derivative of position: 𝐯𝐯 𝑡𝑡 = 𝐫𝐫 ′ 𝒕𝒕 .

2. Speed is the magnitude of velocity: Speed = 𝐯𝐯 𝑡𝑡 .

3. Acceleration is the derivative of velocity: 𝐚𝐚 𝑡𝑡 = 𝐯𝐯 ′ 𝒕𝒕 = 𝐫𝐫 ′′ 𝒕𝒕 .

𝐯𝐯 𝑡𝑡
4. The unit vector is the direction of motion at time 𝑡𝑡.
𝐯𝐯 𝑡𝑡
Example:
A person on a hang glider is spiraling upward due to rapidly rising air on a path having
position vector: 𝐫𝐫 𝒕𝒕 = 3 cos 𝑡𝑡 , 3 sin 𝑡𝑡 , 𝑡𝑡 2 . Find
(a) the velocity and acceleration vectors,
(b) the glider’s speed at any time 𝑡𝑡,
(c) the times, if any, when the glider’s acceleration is orthogonal
to its velocity.
Solution:
(a) For the present case the velocity and acceleration vectors
are respectively given as: The path of a hang glider
𝐯𝐯 𝑡𝑡 = 𝐫𝐫 ′ 𝒕𝒕 = −3 sin 𝑡𝑡 , 3 cos 𝑡𝑡 , 2𝑡𝑡 , with position vector:
𝐫𝐫 𝒕𝒕 = 3 cos 𝑡𝑡 , 3 sin 𝑡𝑡 , 𝑡𝑡 2 .
𝐚𝐚 𝑡𝑡 = 𝐫𝐫 ′′ 𝒕𝒕 = −3 cos 𝑡𝑡 , −3 sin 𝑡𝑡 , 2 .
Solution:
(b) The glider’s speed at any time 𝑡𝑡 is given as:
|𝐯𝐯(𝑡𝑡)| = (−3 sin 𝑡𝑡)2 + (3 cos 𝑡𝑡)2 + (2𝑡𝑡)2
= 9 + 4𝑡𝑡 2
The glider is moving faster and faster as it rises along its path.
(c) To find the times when 𝐯𝐯 and 𝐚𝐚 are orthogonal, we look for values of 𝑡𝑡 for which
𝐯𝐯. 𝐚𝐚 = 0,
⟹ −3 sin 𝑡𝑡 , 3 cos 𝑡𝑡 , 2𝑡𝑡 ⋅ −3 cos 𝑡𝑡 , −3 sin 𝑡𝑡 , 2 = 0,
⟹ 9 sin 𝑡𝑡 cos 𝑡𝑡 − 9 sin 𝑡𝑡 cos 𝑡𝑡 + 4𝑡𝑡 = 0 ⟹ 𝑡𝑡 = 0.
Thus, the only time the acceleration vector is orthogonal to 𝐯𝐯 is when 𝑡𝑡 = 0.
Differentiation Rules
Vector Functions of Constant Length
When we track a particle moving on a sphere centered at the origin, the position
vector has a constant length equal to the radius of the sphere. The velocity vector
𝐯𝐯 𝑡𝑡 = 𝐫𝐫 ′ 𝒕𝒕 , tangent to the path of motion, is tangent to the sphere and hence
perpendicular to 𝐫𝐫(𝑡𝑡). Thus, if 𝐫𝐫(𝑡𝑡) is a differentiable vector function of 𝑡𝑡 and the
length of 𝐫𝐫(𝑡𝑡) is constant, then:
𝐫𝐫 𝑡𝑡 ⋅ 𝐯𝐯 𝑡𝑡 = 𝐫𝐫 𝑡𝑡 ⋅ 𝐫𝐫 ′ 𝒕𝒕 = 0.
The converse of above is also true.
Integrals
of Vector
Functions
 Vectors And
13
The Geometry Of Space

Book: Thomas’ Calculus Early Transcendentals (14th Edition) By George B. Thomas, Jr.,
Joel Hass, Christopher Heil, Maurice D. Weir.
Chapter: 13 , Section: 13.2
Book: Calculus Early Transcendentals (6th Edition) By James Stewart.
Chapter: 13 , Section: 13.2
Integrals
The definite integral of a continuous vector function:
𝐫𝐫 𝑡𝑡 = 𝑓𝑓 𝑡𝑡 , 𝑔𝑔 𝑡𝑡 , ℎ 𝑡𝑡 = 𝑓𝑓 𝑡𝑡 𝐢𝐢 + 𝑔𝑔 𝑡𝑡 𝐣𝐣 + ℎ 𝑡𝑡 𝐤𝐤,
can be defined in much the same way as for real-valued functions—except that the
integral is a vector. Thus,
𝑏𝑏
� 𝐫𝐫(𝑡𝑡)𝑑𝑑𝑑𝑑
𝑎𝑎

𝑏𝑏 𝑏𝑏 𝑏𝑏
= � 𝑓𝑓(𝑡𝑡)𝑑𝑑𝑑𝑑 𝐢𝐢 + � 𝑔𝑔(𝑡𝑡)𝑑𝑑𝑑𝑑 𝐣𝐣 + � ℎ(𝑡𝑡)𝑑𝑑𝑑𝑑 𝐤𝐤.
𝑎𝑎 𝑎𝑎 𝑎𝑎

This means that we can evaluate an integral of a vector function by integrating each
component function.
Integrals
We can extend the Fundamental Theorem of Calculus to continuous vector
functions:
b
� 𝐫𝐫(t) 𝑑𝑑𝑑𝑑 = 𝐑𝐑(𝑡𝑡)]𝑏𝑏𝑎𝑎 = 𝐑𝐑 𝑏𝑏 − 𝐑𝐑 𝑎𝑎 ,
a

Here, 𝐑𝐑 is an antiderivative of 𝐫𝐫(𝑡𝑡), that is, 𝐑𝐑′ (𝑡𝑡) = 𝐫𝐫(𝑡𝑡).

For indefinite integrals, we have:

� 𝐫𝐫(𝑡𝑡) 𝑑𝑑𝑑𝑑 = 𝐑𝐑 𝑡𝑡 + 𝐂𝐂.

Example:
If 𝐫𝐫(𝑡𝑡) = 2 cos 𝑡𝑡 𝐢𝐢 + sin 𝑡𝑡 𝐣𝐣 + 2𝑡𝑡 𝐤𝐤, then

�𝐫𝐫(𝑡𝑡)𝑑𝑑𝑑𝑑 = �2 cos 𝑡𝑡 𝑑𝑑𝑑𝑑 𝐢𝐢 + �sin 𝑡𝑡 𝑑𝑑𝑑𝑑 𝐣𝐣 + �2𝑡𝑡𝑡𝑡𝑡𝑡 𝐤𝐤

= 2 sin 𝑡𝑡 𝐢𝐢 − cos 𝑡𝑡 𝐣𝐣 + 𝑡𝑡 2 𝐤𝐤 + 𝐂𝐂,

where: 𝐂𝐂 is a vector constant of integration.
𝜋𝜋
If 0 ≤ 𝑡𝑡 ≤ , then we can evaluate the corresponding definite integral as:
2

𝜋𝜋
𝜋𝜋
2 𝜋𝜋 2
� 𝐫𝐫(𝑡𝑡) 𝑑𝑑𝑑𝑑 = [2 sin 𝑡𝑡 𝐢𝐢 − cos 𝑡𝑡 𝐣𝐣 + 𝑡𝑡 2 𝐤𝐤]02 = 2𝐢𝐢 + 𝐣𝐣 + 𝐤𝐤.
0 4
Example: Revisiting the Flight of a Glider
Suppose that we did not know the path of the glider in a previous example, but
only its acceleration vector is known to us:
𝐚𝐚(𝑡𝑡) = −3cos 𝑡𝑡, −3sin 𝑡𝑡, 2 .

We also know that initially (at time 𝑡𝑡 = 0), the glider departed from the point:
(3,0,0) with velocity 𝐯𝐯(0) = 3𝐣𝐣. Find the glider’s position as a function of 𝑡𝑡. Our
goal is to find 𝐫𝐫(𝑡𝑡) knowing the differential equation:

𝑑𝑑 2 r
𝐚𝐚 𝑡𝑡 = 2 = −3 cos 𝑡𝑡 i − 3 sin 𝑡𝑡 j + 2 k. (I)
𝑑𝑑𝑡𝑡
The initial conditions: 𝐯𝐯(0) = 3𝐣𝐣, 𝐫𝐫(0) = 3𝐢𝐢.
Example: Revisiting the Flight of a Glider
Integrating eq. (I) with respect to 𝑡𝑡 we get:

𝑑𝑑r
𝐯𝐯 𝑡𝑡 = = −3 sin 𝑡𝑡 𝐢𝐢 + 3 cos 𝑡𝑡 𝐣𝐣 + 2𝑡𝑡 𝐤𝐤 + 𝐂𝐂1 .
𝑑𝑑𝑡𝑡
Using the initial conditions: 𝐯𝐯 0 = 3𝐣𝐣 in above we get:

𝑑𝑑r
𝐯𝐯 𝑡𝑡 = = −3 sin 𝑡𝑡 𝐢𝐢 + 3 cos 𝑡𝑡 𝐣𝐣 + 2𝑡𝑡 𝐤𝐤. (II)
𝑑𝑑𝑡𝑡
Integrating eq. (II) with respect to 𝑡𝑡 we get:
𝐫𝐫 𝑡𝑡 = 3 cos 𝑡𝑡 𝐢𝐢 + 3 sin 𝑡𝑡 𝐣𝐣 + 𝑡𝑡 2 𝐤𝐤 + 𝐂𝐂2 . (III)

By using the initial condition: 𝐫𝐫 0 = 3𝐢𝐢, in (III) we will get the glider’s position as:
𝐫𝐫 𝑡𝑡 = 3 cos 𝑡𝑡 𝐢𝐢 + 3 sin 𝑡𝑡 𝐣𝐣 + 𝑡𝑡 2 𝐤𝐤.
 Book: Calculus Early Transcendentals (6th Edition) By
James Stewart.

Chapter: 13

Exercise-13.2: Q – 1, Q – 3 to 29, Q – 33 to 40.

Practice Book: Thomas’ Calculus Early Transcendentals (14th

Questions
Edition) By George B. Thomas, Jr., Joel Hass,
Christopher Heil, Maurice D. Weir.

Chapter: 13

Exercise-13.1: Q – 1 to 30.

Exercise-13.2: Q – 1 to 30.
Arc Length
in Space
The length of a space curve is the limit
of lengths of inscribed polygons.
 Vectors And
13
The Geometry Of Space

Book: Thomas’ Calculus Early Transcendentals (14th Edition) By George B. Thomas, Jr.,
Joel Hass, Christopher Heil, Maurice D. Weir.
Chapter: 13 , Section: 13.3
Book: Calculus Early Transcendentals (6th Edition) By James Stewart.
Chapter: 13 , Section: 13.3
Arc Length
We defined the length of a plane curve with parametric equations:
𝑥𝑥 = 𝑓𝑓 𝑡𝑡 , 𝑦𝑦 = 𝑔𝑔 𝑡𝑡 ; 𝑎𝑎 ≤ 𝑡𝑡 ≤ 𝑏𝑏,
as the limit of lengths of inscribed polygons and, for the case where 𝑓𝑓 ′ (𝑡𝑡) and
𝑔𝑔′ (𝑡𝑡) are continuous, we arrived at the formula:

𝑏𝑏 𝑏𝑏 2 2
𝑑𝑑𝑥𝑥 𝑑𝑑𝑑𝑑
𝐿𝐿 = � 𝑓𝑓 ′ (𝑡𝑡) 2 + 𝑔𝑔′ (𝑡𝑡) 2 𝑑𝑑𝑑𝑑 =� + 𝑑𝑑𝑑𝑑. (1)
𝑑𝑑𝑡𝑡 𝑑𝑑𝑑𝑑
𝑎𝑎 𝑎𝑎
The length of a space curve is defined in exactly the same way.
Arc Length
Suppose that the curve has the vector equation:
𝐫𝐫 𝑡𝑡 = 𝑓𝑓 𝑡𝑡 , 𝑔𝑔 𝑡𝑡 , ℎ 𝑡𝑡 , 𝑎𝑎 ≤ 𝑡𝑡 ≤ 𝑏𝑏,
or, equivalently, the parametric equations:
𝑥𝑥 = 𝑓𝑓 𝑡𝑡 , 𝑦𝑦 = 𝑔𝑔 𝑡𝑡 , 𝑧𝑧 = ℎ 𝑡𝑡 ; 𝑎𝑎 ≤ 𝑡𝑡 ≤ 𝑏𝑏,
where 𝑓𝑓 ′ 𝑡𝑡 , 𝑔𝑔′ 𝑡𝑡 , and ℎ′ (𝑡𝑡) are continuous. If the curve is traversed exactly once as
increases from to , then it can be shown that its length is:
𝑏𝑏 𝑏𝑏 2 2 2
𝑑𝑑𝑥𝑥 𝑑𝑑𝑑𝑑 𝑑𝑑𝑧𝑧
𝐿𝐿 = � 𝑓𝑓 ′ (𝑡𝑡) 2 + 𝑔𝑔′ (𝑡𝑡) 2 + ℎ′ (𝑡𝑡) 2 𝑑𝑑𝑑𝑑 =� + + 𝑑𝑑𝑑𝑑. (2)
𝑑𝑑𝑡𝑡 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝑎𝑎 𝑎𝑎
Notice that both of the arc length formulas (1) and (2) can be put into the more
compact form:
𝑏𝑏

𝐿𝐿 = � 𝐫𝐫 ′ (𝑡𝑡) 𝑑𝑑𝑑𝑑.
𝑎𝑎