SRI / Calculus / Vector-Valued Functions

VECTOR VALUED FUNCTIONS

Or called vector function.

Recall
Parametric equations
x = f (t )

y = g (t )

z = h(t )

DEFINITION
A function of the form
r (t ) = f (t ) i + g (t ) j

Plane

r (t ) = f (t ) i + g (t ) j + h(t ) k

Space

is a vector-valued function, where the component functions f, g, h are real valued

functions of the parameter t.

NOTATION

r (t ) = f (t ) i + g (t ) j = < f (t ), g (t ) >
r (t ) = f (t ) i + g (t ) j + h(t ) k = < f (t ), g (t ), h(t ) >

GRAPH OF VECTOR-VALUED FUNCTIONS

If r(t) is a vector-valued function in 2-plane or 3-space, then the graph of r(t) is

defined to be the parametric curve represented by the parametric equations
corresponding to r(t).

Example :
The graph of r (t ) = t i + t 2 j + t 3 k is the parametric curve represented by the
equations x = t , y = t 2 , z = t 3 .

P
r

C
y
x

r called as radius vector or position vector for C.

SRI / Calculus / Vector-Valued Functions

Example 1
Sketch the graph and a radius vector of
(a)

r (t ) = (cos t ) i + (sin t ) j , 0 t 2

(b)

r (t ) = (cos t ) i + (sin t ) j + 2k , 0 t 2

Solution
Since x 2 + y 2 = sin 2 t + cos 2 t = 1
(a)

(b)
z

2
t
1

------------------------------------------------------------------------------------------------------------Example 2
Sketch the space curve represented by the vector-valued function

0 t 2

r (t ) = 2(cos t ) i + 2(sin t ) j + t k ,
Solution

x = 2 cos t

y = 2 sin t and z = t

Thus, x 2 + y 2 = 2 2 cos 2 t + 2 2 sin 2 t = 4

z
When,

t = 2

t = 0 ; ( x, y, z ) = (2, 0, 0)
t = 12 ; ( x, y, z ) = (0, 2, 12 )
t = ; ( x, y, z ) = (2, 0, )

t =

t = 32 ; ( x, y, z ) = (0, 2, 32 )
t = 2 ; ( x, y, z ) = (2, 0, 2 )

t=0
x

SRI / Calculus / Vector-Valued Functions

Example 3

Sketch the space curve represented by the vector-valued function

0 t 4

r (t ) = 4(cos t ) i + 4(sin t ) j + t k ,
Solution

x = 4 cos t , y = 4 sin t and z = t

Thus, x 2 + y 2 = 4 2 cos 2 t + 4 2 sin 2 t = 16
When,

t = 4

t = 3

t = 2

t =

t = 0 ; ( x, y, z ) = (4, 0, 0)
t = ; ( x, y, z ) = (4, 0, )
t = 2 ; ( x, y, z ) = (4, 0, 2 )
t = 3 ; ( x, y, z ) = (4, 0, 3 )

t = 4 ; ( x, y, z ) = (4, 0, 4 )

t =0

------------------------------------------------------------------------------------------------------------Example 4

Sketch a graph of the curve traced out by the endpoint of the vector-valued function

r (t ) = 3(cos t ) i 2(sin t ) j , t .
Solution

From x = 3 cos t and y = 2 sin t ,

Thus,
2

x y
2
2
+
= cos t + sin t = 1
3 2

or
x y
+
=1
3 2

which is the equation of an ellipse.

y
2

SRI / Calculus / Vector-Valued Functions

Example 5

Represent the parabola given by y = x 2 + 1 by a vector-valued function.

Solution

Let x = t , then y = t 2 + 1
So
r (t ) = t i + (t 2 + 1) j
y
t=2

t=2

t=1

t=1

t=0
x

------------------------------------------------------------------------------------------------------------LIMITS & CONTINUITY

Definition of Limit
If r is a vector-valued function such as that r (t ) = f (t ) i + g (t ) j , then

] [

lim r (t ) = lim f (t ) i + lim g (t ) j

t a

t a

t a

provided f and g have limits as t a .

If r is a vector-valued function such as that r (t ) = f (t ) i + g (t ) j + h(t )k , then

] [

] [

lim r (t ) = lim f (t ) i + lim g (t ) j + lim h(t ) k

t a

t a

t a

t a

provided f, g and h have limits as t a .

Definition of Continuity
A vector-valued function r is continuous at the point given by t = a if the limit of
r(t) exists as t a and
lim r (t ) = r ( a )
t a

A vector-valued function r is continuous on an interval I if it is continuous at

every point in the interval.

SRI / Calculus / Vector-Valued Functions

Example 1

Find the limit of r (t ) = (cos t ) i + (sin t ) j + t k at t =

. Then discuss the continuity.

Solution

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

t
t 4
t 4
4
t 4

=
While

2
2

i+
j+ k
2
2
4

r = cos i + sin
4
4
=

j+ k
4
4

2
2

i+
j+ k
2
2
4

Since lim r (t ) = r , thus r is continuous at t = .

t
4
4
4
------------------------------------------------------------------------------------------------------------Example 2

Discuss the continuity of the vector-valued function given by r (t ) = t i + a j + (a 2 t 2 )k

at t = 0 .
Solution

[ ] [ ] [

lim r (t ) = lim t i + lim a j + lim( a 2 t 2 ) k

t 0

t 0

t 0

= 0i + a j + a2 k
= a j + a2 k

While

r (0) = 0 i + a j + (a 2 0 2 )k
= 0i + a j + a2 k
= a j + a2 k

Since lim r (t ) = r (0) , Thus, r is continuous at t = 0 .

t 0

t 0

SRI / Calculus / Vector-Valued Functions

DIFFERENTIATION

Definition

The derivative of a vector-valued function r is defined by

r (t + t ) r (t )
r (t ) = lim
t 0
t

Notation

d
[r (t )],
dt

Dt [r (t )],

dr
dt

Theorem

If r (t ) = f (t ) i + g (t ) j , where f and g are differentiable functions of t, then

r(t ) = f (t )i + g (t ) j
If r(t ) = f (t ) i + g (t ) j + h(t ) k , where f, g and h are differentiable functions of t,
then

r (t ) = f (t )i + g (t ) j + h(t )k

Higher-Order Differentiation

If r (t ) = f (t ) i + g (t ) j + h(t ) k , then

1st Order

d r df
dg
dh
=
i+
j+
k
dt dt
dt
dt

2nd Order

d 2g
d 2h
d2r d2 f
=
i
+
j
+
k
dt 2
dt 2
dt 2
dt 2

n-th Order

dnr dn f
d ng
d nh
=
i
+
j
+
k
dt n
dt n
dt n
dt n

Properties of The Derivative

Let r and u be differentiable vector-valued functions of t, let f be a differentiable

real-valued function of t, and c be a scalar.
Dt [c r ] = c r
1.
2.

Dt [r u ] = r u

3.

Dt [ f r ] = f r + r f

4.

Dt [r u ] = r u + r u

5.

Dt [r u ] = r u + r u

6.

Dt [r ( f )] = r ( f ) f

7.

If r r = c , then r r = 0

SRI / Calculus / Vector-Valued Functions

RECALL

The Dot Product

u v = u1v1 + u2v2 + u3v3

The Cross Product

u v = u1 u 2
v1 v2

u3
v3

i
= u1
v1

u2
v2

j
u2
v2

k
u3
v3

i
i u1
v1

u3
u1
i
v3
v1

j
u2
v2

k
u3
v3

u3
u
j+ 1
v3
v1

u2
v2

i
j
j + u1 u 2
v1 v 2

k
u3
v3

= (u 2 v3 u3v2 ) i (u1v3 u3v1 ) j + (u1v2 u 2 v1 )k

------------------------------------------------------------------------------------------------------------Note :

The minus sign in front of the j -component

Method for 2 2 determinants

a b
c

= ad bc

------------------------------------------------------------------------------------------------------------Example 1

Find the derivative of each of the following vector-valued functions.

1
(a)
r (t ) = t 2 i 4 j
(b)
r (t ) = i + ln t j + e 2t k
t
Solution

(a)

r(t ) = 2t i 0 j = 2t i

(b)

r (t ) =

1
1
i + j + 2e 2t k
2
t
t

SRI / Calculus / Vector-Valued Functions

Example 2

For the vector-valued function given by r (t ) = (cos t ) i + (sin t ) j + 2t k , find

r (t ), r (t ), r (t ) r (t ) , r (t ) r (t )

Solution

(a)

r (t ) = (sin t ) i + (cos t ) j + 2k

(b)

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

(c)

r (t ) r (t ) = sin t cos t sin t cos t = 0

(d)

r (t ) r (t ) = sin t
cos t

cos t
sin t

k
2 = 2(sin t ) i 2(cos t ) j + k
0

------------------------------------------------------------------------------------------------------------INTEGRATION

Definition

If r (t ) = f (t ) i + g (t ) j , where f and g are continuous on [ a, b ], then

r (t ) dt =

f (t ) dt i + g (t ) dt j

b
b
r (t ) dt = f (t ) dt i + g (t ) dt j
a

a
b

If r (t ) = f (t ) i + g (t ) j + h(t ) k , where f, g and h are continuous on [ a, b ], then

r (t ) dt =

f (t ) dt i + g (t ) dt j + g (t ) dt k

b
b
b
r (t ) dt = f (t ) dt i + g (t ) dt j + h(t ) dt k
a

a
b

SRI / Calculus / Vector-Valued Functions

Example 1

Evaluate the indefinite integral

(a)
(t i + 3 j ) dt
(b)

1
1

r (t ) dt = 3 t i +
j + e t k dt
0
t +1

Solution

(a)

(t i + 3 j ) dt =

(b)

t2
i + 3t j + C
2

1
1

r (t ) dt = 3 t i +
j + e t k dt
0
t +1

1
1
1
1

= 3 t dt i +
dt j + e t dt k
0
0 t +1 0

= t 4 / 3 i + ln | t + 1 |
4
0
=

1
0

j + e t

1
0

3
1
i + (ln 2) j + 1 k
4
e

------------------------------------------------------------------------------------------------------------TANGENT VECTORS & NORMAL VECTORS

Definition Tangent Vector

The unit tangent vector T(t) at t is defined to be

T (t ) =

r (t )
,
r (t )

r (t ) 0

Definition Normal Vector

If T (t ) 0 , then the principal unit normal vector at t is defined to be

N (t ) =

T (t )
T (t )

Definition Binomial Vector

The unit binomial vector at t is defined to be

B ( t ) = T ( t ) N (t )

SRI / Calculus / Vector-Valued Functions

10

RECALL

Magnitude
u = u12 + u 22 + u 32

------------------------------------------------------------------------------------------------------------Example 1

Find the unit tangent vectors normal tangent to the curve given by r = t i + t 2 j .
Solution

The unit tangent vector

T (t ) =
=
=

T (t ) =

8t
i+
2(1 + 4t 2 ) 3 / 2

r (t )
r(t )
1
12 + (2t ) 2
1
1 + 4t 2

1 + 4t 2 (2) 2t

4t
2 + 8t 2 8t 2
i
+
j
(1 + 4t 2 ) 3 / 2
(1 + 4t 2 ) 3 / 2
1
=
[ 4t i + 2 j ]
(1 + 4t 2 ) 3 / 2
=

T (t ) =

1
[4t i + 2 j ]
(1 + 4t 2 )3 / 2

16t 2 + 4
(1 + 4t 2 ) 3

4(4t 2 + 1)
=
(1 + 4t 2 ) 3
=

2
1 + 4t 2

(i + 2t j )

8t
2 1 + 4t 2

( 1 + 4t 2 ) 2

(1 + 4t 2 ) (2) 8t 2
4t
=
i+
j
(1 + 4t 2 ) 3 / 2
(1 + 4t 2 ) 1 + 4t 2

(i + 2t j )

SRI / Calculus / Vector-Valued Functions

N (t ) =

11

T (t )
T (t )
4t i + 2 j

(1 + 4t 2 )3 / 2
2
1 + 4t 2
4t i + 2 j

1 + 4t 2
=

(1 + 4t 2 )3 / 2
2
1
=
(4t i + 2 j )
2 1 + 4t 2
------------------------------------------------------------------------------------------------------------Example 2

Find T (t ), T (1), N (t ) and N (1) for the curve represented by r = 3t i + 2t 2 j

Solution

T (t ) =

T (1) =

r (t )
r (t )

3 i + 4t j
9 + 16t 2

3 i + 4(1) j

1
= (3 i + 4 j )
9 + 16(1) 2 5

T (t ) =

32t (3 i + 4t j )
2(9 + 16t )

2 3/ 2

9 + 16t 2
16t (4t j )

(4 j )

4j
16t (3 i )

+
2 3/ 2
2 3/ 2
(9 + 16t )
(9 + 16t )
9 + 16t 2
64t 2 j + 4(9 + 16t 2 ) j
48t i
+
=
(9 + 16t 2 ) 3 / 2
(9 + 16t 2 ) 3 / 2
36 j
48t i
=
+
(9 + 16t 2 ) 3 / 2 (9 + 16t 2 ) 3 / 2
12
=
(4t i + 3 j )
(9 + 16t 2 ) 3 / 2
=

SRI / Calculus / Vector-Valued Functions

12

From theorem (properties-1 : Dt [c r ] = c r )

T (t ) =

12
( 4t i + 3 j )
(9 + 16t 2 )3 / 2

(4t i + 3 j )

= | 12 |

N (t ) =

(9 + 16t 2 ) 3 / 2

= | 12 |

16t 2 + 9
(9 + 16t 2 ) 3

= | 12 |

12
1
=
2 2
(9 + 16t )
9 + 16t 2

T (t )
T (t )

12(4t i + 3 j ) 9 + 16t 2

=
(9 + 16t 2 )3 / 2
12
1
=
(4t i + 3 j )
9 + 16t 2

1
N (1) = (4i + 3 j )
5
------------------------------------------------------------------------------------------------------------Example 3

Find the principal unit normal vector for the helix given by

r (t ) = 2(cos t ) i + 2(sin t ) j + t k .
Solution

The unit tangent vector

[2(sin t ) i + 2(cos t ) j + k ]
r (t )
T (t ) =
=
r (t )
4 sin 2 t + 4 cos2 t + 1

=
=
=

[2(sin t ) i + 2(cos t ) j + k ]
4(sin 2 t + cos2 t ) + 1
[2(sin t ) i + 2(cos t ) j + k ]
4 +1
1
[2(sin t ) i + 2(cos t ) j + k ]
5

SRI / Calculus / Vector-Valued Functions

13

T (t ) =

1
[ 2(cos t ) i 2(sin t ) j ]
5

N (t ) =

T (t )
T (t )

1
[ 2(cos t ) i 2(sin t ) j ]
5
1
[ 2(cos t ) i 2(sin t ) j ]
5
1
[ 2(cos t ) i 2(sin t ) j ]
5
1
2(cos t ) i 2(sin t ) j
5

1
[2(cos t ) i 2(sin t ) j ]
5
=
1
4 cos 2 t + 4 sin 2 t
5
1
[2(cos t ) i 2(sin t ) j ]
=
4(cos 2 t + 4 sin 2 t )
1
[2(cos t ) i 2(sin t ) j ]
4
1
= [2(cos t ) i 2(sin t ) j ]
2
= (cos t ) i (sin t ) j
=

------------------------------------------------------------------------------------------------------------MOTION IN A PLANE AND SPACE CURVE

If r (t ) = x(t ) i + y (t ) j , then
Velocity

v(t ) =

d r (t )
= x(t ) i + y(t ) j
dt

a (t ) =

d v (t ) d 2 r (t )
=
= x(t ) i + y(t ) j
dt
dt 2

Acceleration

Speed

v(t ) =

d r (t )
= [ x(t )]2 + [ y(t )]2
dt

SRI / Calculus / Vector-Valued Functions

14

If r (t ) = x(t ) i + y (t ) j + z (t )k , then
Velocity

v(t ) =

d r (t )
= x(t )i + y(t ) j + z(t )k
dt

a (t ) =

d v (t ) d 2 r (t )
=
= x (t ) i + y (t ) j + z (t ) k
dt
dt 2

Acceleration

Speed

d r (t )
= [ x (t )]2 + [ y (t )]2 + [ z (t )]2
dt

v(t ) =

------------------------------------------------------------------------------------------------------------Example 1

Find the velocity, speed, and acceleration vector of a particle that moves along the plane
t
t
curve C described by r (t ) = 2 sin i + 2 cos j .
2
2
Solution

Velocity

Speed

d r (t )
dt
t
t
= cos i sin j
2
2

v(t ) =

v(t ) =

d r (t )
dt

= cos 2

t
t
+ sin 2
2
2

=1

Acceleration
d v(t )
dt
d 2 r (t )
=
dt 2
t
1
t
1
= sin i cos j
2
2 2
2

a(t ) =

SRI / Calculus / Vector-Valued Functions

15

Example 2

A particle moves trough 3-space in such way that its velocity at time t is v(t ) = i + t j + t 2 k .
Find the coordinates of the particle at time t = 1 given that the particle is the point
(1 , 2, 4) at time t = 0 .
Solution

Integrate the velocity

r (t ) = v(t ) dt
= (i + t j + t 2 k ) dt

= t i + 12 t 2 j + 13 t 3 k + C
Since the coordinate of the particle at time t = 0 are (1 , 2, 4), the position vector at time
t = 0 is
r (0) = i + 2 j + 4k
So by comparing

r (0) = 0i + 0 j + 0k + C = i + 2 j + 4k
Then

r (t ) = t i + 12 t 2 j + 13 t 3 k i + 2 j + 4k
t2

t3

= (t 1) i + + 2 j + + 4 k
2

r (1) = 0i + 52 j + 133 k
------------------------------------------------------------------------------------------------------------Example 3

Find the velocity and position of an object at any time t, given that its acceleration is
a(t ) = < 6t , 12t + 2, e t > , its initial velocity is v(0) = < 2, 0, 1 > and its initial position is
r (0) = < 0, 3, 5 > .
Solution

v(t ) = [6t i + (12t + 2) j + e t k ] dt

= 3t 2 i + (6t 2 + 2t ) j + e t k + C
v(0) = < 2, 0, 1 > ;

v(0) = 0 i + 0 j + k + C = 2 i + 0 j + k
Thus,

v(t ) = (3t 2 + 2) i + (6t 2 + 2t ) j + e k k

SRI / Calculus / Vector-Valued Functions

16

r (t ) = [(3t 2 + 2) i + (6t 2 + 2t ) j + e k k ] dt
= (t 3 + 2t ) i + (2t 3 + t 2 ) j + e k k + D
r (0) = < 0, 3, 5 > ;

r (0) = 0i + 0 j + k + D = 0 i + 3 j + 5k
Thus

r (t ) = (t 3 + 2t ) i + (2t 3 + t 2 + 3) j + (e k + 4)k

------------------------------------------------------------------------------------------------------------ARC LENGTH FUNCTION

Definition of Arc Length

Let C be a smooth curve given by r(t) on an interval [a, b]. Then arc length is
s=
=
=

v(t ) dt

a
b

r (t ) dt

a
b

[ x(t )]2 + [ y (t )]2 + [ z (t )]2 dt

Definition of Arc Length Function

Let C be a smooth curve given by r(t) defined on the closed interval [a, b]. For
a t b , the arc length function is given by

s (t ) =
=

r (t ) dt

[ x(t )]2 + [ y (t )]2 + [ z (t )]2 dt

The arc length s is called the arc length parameter

SRI / Calculus / Vector-Valued Functions

17

Example 1

Find the length of one turn of helix

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

The helix makes one full turns as t runs from 0 to 2 .

s=
=
=
=

v(t ) dt

t = 2

0
2

(sin t ) i + (cos t ) j + k dt

0
2

sin 2 t + cos 2 t + 12 dt

0
2

2 dt

= 2 2

t =0

------------------------------------------------------------------------------------------------------------Example 2

Find the length of one turn of helix given by r (t ) = b(cos t ) i + b(sin t ) j + 1 b2 t k as

shown in figure.
t = 2

y
x

t =0

Solution

s=
=
=
=

b(sin t ) i + b(cos t ) j + 1 b 2 k dt

0
2

b 2 sin 2 t + b 2 cos 2 t + (1 b 2 ) dt

0
2

b 2 + 1 b 2 dt

0
2
0

= 2

dt

SRI / Calculus / Vector-Valued Functions

18

Example 3

Find the arc length function of one turn of helix with vector equation
r (t ) = (cos t ) i + (sin t ) j + t k from (1, 0, 0) in the direction of increasing t.
Solution

The initial point (1, 0, 0) corresponds to parameter value t = 0 .

s (t ) =
=
=
=
=

v(t ) dt

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

dt

0
t

sin 2 t + cos 2 t + 12 dt

1 + 1 dt

0
t

2 dt

= 2 [t ]0
t

= 2t
------------------------------------------------------------------------------------------------------------Example 4

Find the arc length function of s(t) for the line segment given by r (t ) = (3 3t ) i + 4t j
as shown in figure.

y
4

Solution

s (t ) =
=
=
=

r (t ) dt

3 i + 4 j dt

0
t

[3]2 + [4]2 dt

0
t

= 5t

25 dt

SRI / Calculus / Vector-Valued Functions

19

Example 5

Find the arc length of the curve traced out by endpoint of the vector-valued function
r (t ) = < 2t , ln t , t 2 > for 1 t e .
Solution

s (t ) =
=
=
=

r (t ) dt

2t i + (ln t ) j + t 2 k

dt

1
2

1
2 + + (2t ) 2 dt
t

4t 2 + 1 + 4t 4
dt
t2

e
1

(2t 2 + 1) 2
dt
1
t2
2
e 2t + 1
dt
=
1
t
e
1
= 2t + dt
1
t
=

= t 2 + ln | t |

e
1

= e2

------------------------------------------------------------------------------------------------------------CURVATURE

Definition of Curvature

Let C be a smooth curve (in the plane or in space) given by r(t). The curvature of
C, denoted by ( = Greeks symbol, kappa) is given by

d T / dt
d r / dt
T
T

SRI / Calculus / Vector-Valued Functions

20

The curvature varies from point to point along a curve. (except circle)

Definition of Radius of Curvature

The radius of curvature is given by

d r / dt
d T / dt

------------------------------------------------------------------------------------------------------------Example 1

1
Find the curvature of the curve given by r (t ) = 2t i + t 2 j t 3 k .
3
Solution

2i + 2t j t 2 k 2i + 2t j t 2 k 2i + 2t j t 2 k
r(t )
=
T (t ) =
=
=
r(t )
t2 + 2
4 + 4t 2 + t 4
(t 2 + 2) 2

T (t ) =
=
=

(t 2 + 2)[2 j 2t k ] (2i + 2t j t 2 k )[2t ]

(t 2 + 2) 2
(2t 2 + 4) j (2t 3 4t )k 4t i 4t 2 j + 2t 3 k
(t 2 + 2) 2
4t i + (4 2t 2 ) j 4t k
(t 2 + 2) 2

T (t ) =

4t i + (4 2t 2 ) j 4t k
(t 2 + 2) 2

(4t ) 2 + (4 2t 2 ) 2 + (4t 2 ) 2
[(t 2 + 2) 2 ] 2

16t 2 + 16 16t 2 + 4t 4 + 16t 2

(t 2 + 2) 2

16 + 4t 4 + 16t 2
=
(t 2 + 2) 2
=
=

4 4 + t 4 + 4t 2
(t 2 + 2) 2
2 (t 2 + 2) 2
(t 2 + 2) 2

2(t 2 + 2)
2
= 2
2
2
t +2
(t + 2)

SRI / Calculus / Vector-Valued Functions

d T / dt
d r / dt

21

2 1
2
2
= 2
t + 2 t + 2 (t + 2) 2
2

------------------------------------------------------------------------------------------------------------Example 2

Show that the curvature of a circle of radius r is = 1 / r .

Solution

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

Circle :

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

r(t )
=
=
= (sin t ) i + (cos t ) j
r
r(t )
r 2 sin 2 t + r 2 cos 2 t

T (t ) =

T (t ) = (cos t ) i (sin t ) j

d T / dt
d r / dt

cos 2 t + sin 2 t 1
=
r
r

------------------------------------------------------------------------------------------------------------Example 3

Find for the circular helix x = a cos t , y = a sin t , z = ct where a > 0 .

Solution

Helix : r (t ) = a(cos t ) i + b(sin t ) j + ct k

a (sin t ) i + a (cos t ) j + c k a(sin t ) i + a(cos t ) j + c k
r(t )
=
=
r(t )
a2 + c2
a 2 sin 2 t + a 2 cos 2 t + c 2

T (t ) =

T (t ) =

a(cos t ) i a(sin t ) j

d T / dt
d r / dt

a2 + c2

a 2 cos 2 t + a 2 sin 2 t
1

2
2
2
2
a +c
a +c

a
= 2
a + c2

SRI / Calculus / Vector-Valued Functions

22

TANGENTIAL & NORMAL COMPONENTS OF ACCELERATION

Theorem of Acceleration Vector

If r(t) is the position vector for a smooth curve C and N(t) exists, then the
acceleration vector a(t) lies in the plane determined by T(t) and N(t).

Definition

If r(t) is the position vector for a smooth curve C (for which N(t) exists), then the
tangential and normal components of acceleration are as follows.
va
Tangential, aT = Dt [ v ] = a T =
v
Normal, a N = v

va
=
v

T = a N =

aT

Note that a N > 0 . The normal component of acceleration is also called the
centripetal component of acceleration.

------------------------------------------------------------------------------------------------------------Example 1

Find the tangential and normal components of acceleration for the position function given
by r (t ) = 3t i t j + t 2 k .
Solution

v(t ) = r(t ) = 3i j + 2t k
a (t ) = r (t ) = 2k

aT =

4t
v a (3i j + 2t k ) 2k
=
=
v
9 + 1 + 4t 2
10 + 4t 2

Since
i

v a = 3 1 2t = 2i 6 j
0 0 2
Thus,
aN =

va
v

4 + 36
10 + 4t 2

2 10
10 + 4t 2

SRI / Calculus / Vector-Valued Functions

23

Example 2

Find the tangential and normal components of acceleration for the helix given by
r (t ) = b(cos t ) i + b(sin t ) j + ct k ,
b > 0.
Solution

v(t ) = r(t ) = b sin t i + b cos t j + c k

a (t ) = r (t ) = b cos t i b sin t j
v a ( b sin t i + b cos t j + c k ) ( b cos t i b sin t j )
=
v
b 2 sin 2 t + b 2 cos 2 t + c 2

aT =

b 2 sin t cos t b 2 cos t sin t

b2 + c2

=0

a (t ) = b 2 cos 2 t + b 2 sin 2 t = b

Since
Thus,

aN =

aT = b 2 0 = b
2

------------------------------------------------------------------------------------------------------------Example 3

Suppose that a particle moves through 3-space so that its position vector at time t is
r (t ) = t i + t 2 j + t 3 k
Find the tangential and normal component of acceleration at time t and t = 1.
Solution
v(t ) = r (t ) = i + 2t j + 3t 2 k

a (t ) = r(t ) = 2 j + 6t k
aT =

2
4t + 18t 3
v a (i + 2t j + 3t k ) ( 2 j + 6t k )
=
=
v
1 + 4t 2 + 9t 4
1 + 4t 2 + 9t 4

v a = 1 2t 3t 2 = 6t 2 i 6t j + 2k
0 2 6t

aN =

va
v

36t 4 + 36t 2 + 4
1 + 4t 2 + 9t 4

=2

9t 4 + 9t 2 + 1
9t 4 + 4t 2 + 1