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!
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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

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10.1
Example: Sketching a Plane Curve
Vector Function

Parametric equations

XY function

Ellipse!

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10.1
Example: Sketching a Helix

Cylinder!

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10.1 Definition of the
Limit of a Vector-Valued Function
Computational aspect:

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

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

Graphical aspect:

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10.1 Definition of Continuity
of a Vector-Valued Function

Motion:

Continuous position vector

means “No teleportation”!
(瞬間移動)

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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)
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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!
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10.2 Differentiation of
Vector-Valued Functions

r‘(t) is also a vector function!

Computational aspect:

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10.2 Differentiation of
Vector-Valued Functions
Example:

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10.2
Properties of the Derivative

(Linear Operator)

(Product rule)

(Chain rule)

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10.2
Properties of the Derivative
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)!
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10.2
Properties of the Derivative
Example:

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10.2 Definition of Integration
of Vector-Valued Functions

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10.2 Integration
of Vector-Valued Functions
Anti-derivative of vector-valued function:

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

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

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10.2 Integration
of Vector-Valued Functions
Example:

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

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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)
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10.3 Definitions of
Velocity and Acceleration

(瞬時速率)

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10.3
Velocity and Acceleration
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!)
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10.3
Velocity and Acceleration
Example:

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10.3
Velocity and Acceleration
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:

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10.3
Projectile Motion (拋物線運動)

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10.3
Position Vector of Projectile

(initial conditions)

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10.4
Tangent and Normal Vector

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10.4
Tangent and Normal Vector

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

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10.4
Tangent and Normal Vector

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10.4
Tangent and Normal Vector

Example: continued

The principal normal vector always points to the

concave side of the curve!
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10.4
Tangent and Normal Vector
Proof:

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10.4
Tangent and Normal Vector
Proof: continued

The principal normal vector always points to the

concave side of the curve!

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10.4
Tangent and Normal Vector

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10.4
Tangent and Normal Vector

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!
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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 !
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10.4 Tangential and
Normal Components of Acceleration

aN
a
T

aT

aN=|a|sin and |va|=|v||a|sin

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10.4 Tangential and
Normal Components of Acceleration
Example:
Practice:
find aN in alternative way:

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10.4 Tangential and
Normal Components of Acceleration
Example:

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10.5
Arc Length of a Space Curve

Length of r’(t)

• The integration of instantaneous

displacement becomes the total arc length!

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10.5
Arc Length of a Space Curve
Example:

Final result:

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10.5
Arc Length of a Space Curve
Example:

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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

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10.5
Definition of Arc Length Function

Instantaneous displacement = instantaneous speed * dt

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10.5
Definition of Arc Length Function
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:

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10.5
Definition of Arc Length Function
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:

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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!

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10.5
Definition of Curvature
Example: Curvature of a circle

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10.5
Formulas for Curvature

Proof:

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10.5
Formulas for Curvature

Proof:

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10.5
Formulas for Curvature
Example:

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10.5
Curvature in x-y Coordinates

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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
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10.5
Acceleration, Speed, and Curvature
Example:

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10.5 Summary of Velocity,
Acceleration, and Curvature

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