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Introduction
The area known as vector calculus is used to model mathematically a vast range of engineering
phenomena including electrostatics, electromagnetic elds, air ow around aircraft and heat ow
in nuclear reactors. In this Block we introduce briey the dierential and integral calculus of
vectors.
have a knowledge of vectors, in cartesian
form
Prerequisites be able to calculate the scalar and vector
products of two vectors
Before starting this Block you should . . .
be able to dierentiate and integrate scalar
functions.
y P
r
C
If r represents the position vector of an object which is moving along a curve C, then the position
vector will be dependent upon the time, t. We write r = r(t) to show the dependence upon
time. Suppose that the object is at the point P with position vector r at time t and at the point
Q with position vector r(t + t) at the later time t + t as shown in the next gure.
P
PQ
r(t)
Q
r(t + t)
x
Then P Q represents the displacement vector of the object during the interval of time t. The
length of the displacement vector represents the distance travelled while its direction gives the
direction of motion. The average velocity during the time from t to t + t is dened as the
displacement vector divided by the time interval t, that is,
PQ r(t + t) r(t)
average velocity = =
t t
If we now take the limit as the interval of time t tends to zero then the expression on the right
hand side is the derivative of r with respect to t. Not surprisingly we refer to this derivative as
the instantaneous velocity, v. By its very construction we see that the velocity vector is always
tangential to the curve as the object moves along it. We have:
r(t + t) r(t) dr
v = lim =
t0 t dt
Now, since the x and y coordinates of the object depend upon the time, we can write the position
vector r in cartesian coordinates as:
dv d2 r
a= = 2 = r = xi + yj + zk
dt dt
Solution
dw
1. (a) If w = 3t2 i + cos 2tj, then dierentiation with respect to t yields: = 6ti 2 sin 2tj
dt
dw
(b) = (6t)2 + (2 sin 2t)2 = 36t2 + 4 sin2 2t
dt
d2 w
(c) = 6i 4 cos 2tj
dt2
Solution
(a) w z = (3ti t2 j) (2t2 i + 3j) = 6t3 3t2 . Then
d
(w z) = 18t2 6t
dt
Also
dw dz
= 3i 2tj = 4ti
dt dt
so
dz dw
w +z = (3ti t2 j) (4ti) + (2t2 i + 3j) (3i 2tj)
dt dt
= 12t2 + 6t2 6t = 18t2 6t
d dz dw
We have veried (w z) = w + z
dt dt
dt
i j k
d
(b) w z = 3t t2 0 = (9t + 2t4 )k
implying (w z) = (9 + 8t3 )k
2t2 3 0 dt
Also,
i j k
dz
w = 3t t 0
2
dt 4t 0 0
= 4t3 k
i j k
dw
z = 3 2t 0
dt
2t2 3 0
= (9 + 4t3 )k
and so,
dz dw d
w + z = 4t3 k + (9 + 4t3 )k = (9 + 8t3 )k = (w z)
dt dt dt
as required.
dr d2 r
(a) dt
(b) dt2
dB d2 B
(a) dt
(b) dt2
Show also that the position vector and velocity vector are perpendicular.
Answer
2. Integration of Vectors
If a vector depends upon time t, it is often necessary to integrate it with respect to time. Recall
that i, j and k are constant vectors and must be treated thus in any integration. Hence the
integral,
I = (f (t)i + g(t)j + h(t)k) dt
Solution
1 1 1 1
2
rdt = 3t dt i + t dt j + 1 + 2t dt k
0 0 0 0
3
1
3t2 1
t 1 3 1
= i+ j + t + t2 0 k = i + j + 2k
2 0 3 0 2 3
2. Given v = i 3j + k, evaluate:
1 2
(a) v dt, (b) v dt
0 0
3. 4i + 2j 7k, 8i + 2j
2. (a) i 3j + k (b) 2i 6j + 2k
3. (a) 0.333i + 0.632j + 0.5k (b) 6.333i + 0.0855j + 2.5k (c) 21i + 0.3496j + 7.5k
4. no.