Tangent Vectors and Normal Vectors

If a body is moving along a curve, the i, j, and k directions may not be

the significant directions. For example, consider a body moving along a
curve.

1.0
1.0

Rather than i and j, many times it would be better to get the unit 2
vectors shown above, one parallel to the velocity vector and the other
perpendicular to the velocity vector.
We can get a unit vector in the direction of motion- it is the vector called
The Unit Tangent Vector. This vector (or direction) is very important
when studying the motion of a body.
Def: The unit tangent vector is the vector
ab
ab
l abl
For all ab gives a vector of magnitude 1 in the
direction of motion. Note that ab very likely
changes when changes.
Example: Let ab a b
a b
a b
a b

Think of as time where Then this vector function
describes the movement of a particle going
counter-clockwise around a circle, starting at a b

T(1.57) = (-1,0) =-i

T(0) = (0, 1) = j
2

We would also like to get the unit vector perpendicular to

the unit tangent vector. For example, when we
would like the unit vector pointing towards the origin.
In fact, for any t, we would like the unit vector pointing toward the
origin . This unit vector is called the Principal Unit Normal
Vector.
In general, it is given by
ab
This vector is orthogonal to ab
ab
l abl
It points inward as shown in the examples below.

N(t)

N(t)

Another N(t)

Example: Find the unit tangent and principal unit normal vectors to the
curve defined by ab a b Find these vectors when

ab
a b

a b

a b

l abl
a b
ab

a b
a b
Finding ab using this formula is hard.
l abl
Note that is really not necessary to go through all the work below.

But let's give it a try. Use the quotient rule:

a b

a b

a b ab
a b

a b a b

a b a b

a b

a b

l a b l
a b
ab

a b

a b

a b

a b

a b

a b

a b
a b
a b a b

l a b l

a b
a b

We can find ab an easier way!

If a b then a vector perpendicular to is a b
or a b a b a b and
a b a b a b
a b
Note that a1b
and ab are perpendicular.

a b
a b
Therefore ab
or

If we graph a b we can determine which is correct.

Note that points inward and it points towards the SE.

(1,1)
N

must have a positive x-component and negative

a b
y-component

Note: the velocity vector and the acceleration vector are not necessarily
parallel nor perpendicular.
Theorem: If ab is the position vector for a smooth curve and ab
exists, then ab lies in the plane determined by ab and ab

ll
l l
ll

l l
ll ll ll ll

l l

ll lll l

Since is linear combination of and

it must lie in the plane determined by and .

k1T
k2N

k1T+k2N

ll and lll l .

Note that and

In the diagram above,

allb is the tangential component of acceleration

denoted by and lll l is the normal component

of acceleration denoted by
Here are some ways we can compute these components.

allb

ll
l l
lll l
ll
ll

aN

aT

aN

aT

the projection of on T
the projection of on N
Some proofs:
Remember that l l=llll where is the angle
between and is parallel to So is the angle shown
below.

aN

aT

l l
ll ll

l l
llll
l l

l l
ll ll
ll

Problem (#37)
Find ab ab and at for the curve
ab a b

a b

a b =

l l
a b
a b
a b

ab
a b

but as noted about, it is difficult to find using

l l
this formula. Here is the easier way.

ab and ab are perpendicular. Therefore

ab is either
or
Look at the graph of

ab a b

ab
a b
a b
a b
a b

10
8
6
4
2
-5

-4

-3

-2

-1

The normal vector at a b points downward into the 2nd

quadrant. This means the x-coord. is negative and the y-coord.

is negative. Therefore ab

ab a b and ab a b
ab a b and ab a b
At

a b a b

ll

ll

ll