DIFFERENTIATION OF VECTORS

1. ORDINARY DIFFERENTIATION OF VECTORS

Introduction
In this lesson we discuss ordinary differentiation of vectors. We show that
ordinary rules of differentiation in differential calculus are also applicable to
vector calculus, where dot and vector products retain their nature.

Evaluation of Ordinary Derivatives

In vector analysis we compute derivatives of vector functions of a real variable; that is, we
compute derivatives of functions of the type:
𝐹⃗ (t) = f1(t) 𝑖̂ + f2(t) 𝑗̂ + f3(t) 𝑘̂
where f1(t), f2(t), and f3(t) are real functions of the real variable t.
Let 𝐹⃗ (t) be a position vector, extending from the origin to some point P, depending on the
single scalar variable t. Then 𝐹⃗ (t) traces out some curve in space with increasing values of t.
Consider
∆𝐹⃗ 𝐹⃗ (𝑡 + ∆𝑡) − 𝐹⃗ (𝑡)
=
∆𝑡 ∆𝑡

where ∆𝑡 denotes an increment in t. The derivative of 𝐹⃗ (t) with respect to t is given by

𝑑𝐹⃗ ∆𝐹⃗ 𝐹⃗ (𝑡 + ∆𝑡) − 𝐹⃗ (𝑡)
= lim = lim
𝑑𝑡 ∆𝑡→0 ∆𝑡 ∆𝑡→0 ∆𝑡

The following differentiation formulae apply;

𝑑 ⃗ ⃗
1) ⃗ + 𝐺⃗ ) = 𝑑𝐹 + 𝑑𝐺
(𝐹
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑 𝑑𝐺 ⃗
𝑑𝐹 ⃗
2) (𝐹⃗ ∙ 𝐺⃗ ) = 𝐹⃗ ∙ 𝑑𝑡 + 𝑑𝑡 ∙ 𝐺⃗
𝑑𝑡
𝑑 𝑑𝐺 𝑑𝐹⃗ ⃗
3) (𝐹⃗ × 𝐺⃗ ) = 𝐹⃗ × 𝑑𝑡 + 𝑑𝑡 × 𝐺⃗
𝑑𝑡
𝑑 ⃗
4) ⃗ ) = ∅ 𝑑𝐺 + 𝑑∅ 𝐺⃗ where ∅ is a scalar function
(∅𝐺
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑 ⃗⃗ ⃗ ⃗
5) ⃗⃗ ) = 𝐹⃗ ∙ 𝐺⃗ × 𝑑𝐻 + 𝐹⃗ ∙ 𝑑𝐺 × 𝐻
(𝐹⃗ ∙ 𝐺⃗ × 𝐻 ⃗⃗ + 𝑑𝐹 ∙ (𝐺⃗ × 𝐻
⃗⃗ )
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑 ⃗⃗ ⃗ ⃗
6) ⃗⃗ )] = 𝐹⃗ × (𝐺⃗ × 𝑑𝐻) + 𝐹⃗ × (𝑑𝐺 × 𝐻
[𝐹⃗ × (𝐺⃗ × 𝐻 ⃗⃗ ) + 𝑑𝐹 × (𝐺⃗ × 𝐻
⃗⃗ )
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

Higher – order derivatives can also be obtained:

𝑑2 𝐹⃗ 𝑑3 𝐹⃗ 𝑑 2 (∅𝐹⃗ ) 𝑑 2 (𝐴⃗ × 𝐵
⃗⃗ )
, , , , 𝑒. 𝑡. 𝑐.
𝑑𝑡 2 𝑑𝑡 3 𝑑𝑡 2 𝑑𝑡 2
Example
𝑑2 𝑅
⃗⃗
Given 𝑅⃗⃗ = sin 𝑡 𝑖̂ + cos 𝑡 𝑗̂ + 𝑡𝑘̂, find | | 𝑑𝑡 2
Solution
𝑑𝑅⃗⃗
= cos 𝑡 𝑖̂ − sin 𝑡 𝑗̂ + 𝑘̂
𝑑𝑡
 𝑑2 𝑅⃗⃗
= − sin 𝑡 𝑖̂ − cos 𝑡 𝑗̂
𝑑𝑡 2

𝑑2 𝑅⃗⃗
| | = √(− sin 𝑡)2 + (− cos 𝑡)2 = √𝑠𝑖𝑛2 𝑡 + 𝑐𝑜𝑠 2 𝑡 = 1
𝑑𝑡 2

Example
⃗⃗ = sin 𝑡 𝑖̂ − cos 𝑡 𝑗̂, find 𝑑 (𝐴⃗ × 𝐵
If 𝐴⃗ = 5𝑡 2 𝑖̂ + 𝑡𝑗̂ − 𝑡 3 𝑘̂ and 𝐵 ⃗⃗ )
𝑑𝑡

Solution
𝑑 𝑑𝐵⃗⃗ 𝑑𝐴⃗ 𝑖̂ 𝑗̂ 𝑘̂ 𝑖̂ 𝑗̂ 𝑘̂
(𝐴⃗ × 𝐵
⃗⃗ ) = 𝐴⃗ × + ×𝐵 ⃗⃗ = | 5𝑡 2 𝑡 −𝑡 3| + |
10𝑡 1 −3𝑡 2 |
𝑑𝑡 𝑑𝑡 𝑑𝑡
cos 𝑡 sin 𝑡 0 sin 𝑡 −cos 𝑡 0
= (𝑡 3 sin 𝑡 − 3𝑡 2 cos 𝑡)𝑖̂ − (𝑡 3 cos 𝑡 + 3𝑡 2 sin 𝑡)𝑗̂
+ (5𝑡 2 sin 𝑡 − sin 𝑡 − 11𝑡 cos 𝑡)𝑘̂
or
𝑑 𝑑 𝑖̂ 𝑗̂ 𝑘̂
(𝐴⃗ × 𝐵
⃗⃗ ) = | 5𝑡 2 𝑡 −𝑡 3 |
𝑑𝑡 𝑑𝑡
sin 𝑡 − cos 𝑡 0
𝑑
= [𝑖̂(0 − 𝑡 3 cos 𝑡) − 𝑗̂(0 + 𝑡 3 sin 𝑡) + 𝑘̂(−5𝑡 2 cos 𝑡 − 𝑡 sin 𝑡)]
𝑑𝑡
= (𝑡 3 sin 𝑡 − 3𝑡 2 cos 𝑡)𝑖̂ − (𝑡 3 cos 𝑡 + 3𝑡 2 sin 𝑡)𝑗̂
+ (5𝑡 2 sin 𝑡 − sin 𝑡 − 11𝑡 cos 𝑡)𝑘̂

Tangent and Normal Vectors

In mathematics, a tangent vector is a vector that is tangent to a curve or surface at a given
point. The derivative of a vector valued function gives a new vector valued function that is
tangent to the defined curve.
Let 𝑅⃗⃗ (𝑡) be a differentiable vector valued function, then the tangent vector is defined as;

𝑑
⃗⃗(𝑡) =
𝑇 𝑅⃗⃗ (𝑡)
𝑑𝑡

Unit Tangent and Principle Unit Normal Vectors

⃗⃗(𝑡) be a tangent vector, then the unit tangent vector is defined as;
Let 𝑇

⃗⃗(𝑡)
𝑇
𝑇̂(𝑡) =
⃗⃗(𝑡)|
|𝑇

A normal vector is a perpendicular vector. Given a vector in the space, there are infinitely
many perpendicular vectors. Our goal is to select a special vector that is normal to the unit
tangent vector. Geometrically, for a non-straight curve, this vector is the unique vector that
points into the curve.

The unit normal is orthogonal (or normal, or perpendicular) to the unit tangent vector and hence
to the curve as well. Algebraically we can compute the vector using the following definition.
Let 𝑅⃗⃗ (𝑡) be a differentiable vector valued function and let 𝑇
⃗⃗(𝑡) be the tangent vector. Then
the normal vector is the derivative of the tangent vector;

⃗⃗
𝑑𝑇
⃗⃗(𝑡) =
𝑁
𝑑𝑡
̂ (𝑡) is then defined by;
The principal unit normal vector 𝑁

⃗⃗(𝑡)
𝑁
̂ (𝑡) =
𝑁
⃗⃗(𝑡)|
|𝑁

Binormal Vector
The binormal vector is defined to be;

𝐵̂ (𝑡) = 𝑇̂(𝑡) × 𝑁
̂ (𝑡)

It is the cross product of the unit tangent and unit normal vector. Thus, the binormal vector is
orthogonal to both the tangent vector and the normal vector.

Example
Find the unit normal and binormal vectors for 𝑅⃗⃗ (𝑡) = 𝑡𝑖̂ + 3 sin 𝑡 𝑗̂ + 3 cos 𝑡𝑘̂

Solution
We first obtain the tangent vector;

𝑑𝑅⃗⃗
⃗⃗(𝑡) =
𝑇 = 𝑖̂ + 3 cos 𝑡 𝑗̂ − 3 sin 𝑡𝑘̂
𝑑𝑡

The unit tangent vector is now;

⃗⃗(𝑡)
𝑇 𝑖̂ + 3 cos 𝑡 𝑗̂ − 3 sin 𝑡𝑘̂ 𝑖̂ + 3 cos 𝑡 𝑗̂ − 3 sin 𝑡𝑘̂
𝑇̂(𝑡) = = =
⃗⃗(𝑡)| √(1)2 + (3 cos 𝑡)2 + (−3 sin 𝑡)2 √1 + 9(𝑐𝑜𝑠 2 𝑡 + 𝑠𝑖𝑛2 𝑡)
|𝑇
𝑖̂ + 3 cos 𝑡 𝑗̂ − 3 sin 𝑡𝑘̂
=
√10

The normal vector is;

⃗⃗
𝑑𝑇
⃗⃗(𝑡) =
𝑁 = −3 sin 𝑡 𝑗̂ − 3 cos 𝑡𝑘̂
𝑑𝑡

The unit normal vector is;

⃗⃗ (𝑡)
𝑁 −3 sin 𝑡 𝑗̂ − 3 cos 𝑡𝑘̂ −3 sin 𝑡 𝑗̂ − 3 cos 𝑡𝑘̂
̂ (𝑡) =
𝑁 = = = − sin 𝑡 𝑗̂ − cos 𝑡𝑘̂
⃗⃗ (𝑡)| √(−3 sin 𝑡)2 + (−3 cos 𝑡)2
|𝑁 2
√9(𝑠𝑖𝑛 𝑡 + 𝑐𝑜𝑠 𝑡) 2
The binormal vector is now;

𝑖̂ 𝑗̂ 𝑘̂
̂ (𝑡) = |1⁄
𝐵̂ (𝑡) = 𝑇̂(𝑡) × 𝑁 3 cos 𝑡⁄ −3 sin 𝑡⁄ |
√10 √10 √10
0 − sin 𝑡 − cos 𝑡
3 1 1
=− 𝑖̂ + cos 𝑡 𝑗̂ − sin 𝑡 𝑘̂
√10 √10 √10

Velocity and Acceleration

The motion of a particle is described by three vectors: position, velocity and acceleration.
The position vector goes from the origin of the reference frame to the position of the particle.
The Cartesian components of this vector are given by:

𝑟⃗ = 𝑥(𝑡)𝑖̂ + 𝑦(𝑡)𝑗̂ + 𝑧(𝑡)𝑘̂ (𝑚)

The components of the position vector are time dependent since the particle is in motion. In
order to simplify the notation, we will often omit this dependence in the expressions of the
vectors.
The velocity vector is the time derivative of the position vector:

𝑑𝑟⃗ 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝑣⃗ = = 𝑖̂ + 𝑗̂ + 𝑘̂ (𝑚/𝑠)
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

The velocity vector is always tangent to the trajectory of the particle at each point.
The acceleration vector is the time derivative of the velocity vector:

𝑑𝑣⃗ 𝑑2 𝑟⃗
𝑎⃗ = = (𝑚/𝑠 2 )
𝑑𝑡 𝑑𝑡 2

Example
A particle moves along a curve
𝑥 = 2𝑡 2
𝑦 = 𝑡 2 − 4𝑡
𝑧 = 3𝑡 − 5
where 𝑡 is time. Find its velocity at time 𝑡.

Solution

𝑟⃗ = 𝑥𝑖̂ + 𝑦𝑗̂ + 𝑧𝑘̂ = 2𝑡 2 𝑖̂ + (𝑡 2 − 4𝑡)𝑗̂ + (3𝑡 − 5)𝑘̂

𝑑𝑟⃗
Velocity, 𝑣⃗ = 𝑑𝑡 = 4𝑡𝑖̂ + (2𝑡 − 4)𝑗̂ + 3𝑘̂

Example
A particle moves along a curve whose parametric equations are 𝑥 = 𝑒 −𝑡 , 𝑦 = 2 cos 3𝑡, 𝑧 =
2 sin 3𝑡, where 𝑡 is time. Find the magnitudes of the velocity and acceleration at 𝑡 = 0.
Solution
The position vector of the particle is;
𝑟⃗ = 𝑥𝑖̂ + 𝑦𝑗̂ + 𝑧𝑘̂ = 𝑒 −𝑡 𝑖̂ + 2 cos 3𝑡 𝑗̂ + 2 sin 3𝑡 𝑘̂
Then the velocity is;
𝑑𝑟⃗
𝑣⃗ = = −𝑒 −𝑡 𝑖̂ − 6 sin 3𝑡 𝑗̂ + 6 cos 3𝑡 𝑘̂
𝑑𝑡
And the acceleration is;
𝑑𝑣⃗
𝑎⃗ = = 𝑒 −𝑡 𝑖̂ − 18 cos 3𝑡 𝑗̂ − 18 sin 3𝑡 𝑘̂
𝑑𝑡
At 𝑡 = 0,
𝑑𝑟⃗
𝑣⃗ = = −𝑖̂ + 6𝑘̂ and
𝑑𝑡
⃗⃗
𝑑𝑣
𝑎⃗ = = 𝑖̂ − 18𝑗̂. Then,
𝑑𝑡
Magnitude of velocity is |𝑣⃗| = √(−1)2 + (6)2 = √37
Magnitude of acceleration is |𝑎⃗| = √(1)2 + (−18)2 = √325

Example
A particle moves along the curve 𝑥 = 2𝑡 2 , 𝑦 = 𝑡 2 − 4𝑡, 𝑧 = 3𝑡 − 5, where 𝑡 is time. Find the
⃗⃗ = 𝑖̂ − 3𝑗̂ + 2𝑘̂.
components of its velocity and acceleration at 𝑡 = 1 in the direction of 𝑢

Solution
The position vector of the particle is;

𝑟⃗ = 𝑥𝑖̂ + 𝑦𝑗̂ + 𝑧𝑘̂ = 2𝑡 2 𝑖̂ + (𝑡 2 − 4𝑡)𝑗̂ + (3𝑡 − 5)𝑘̂

Then the velocity is;

𝑑𝑟⃗
𝑣⃗ = = 4𝑡𝑖̂ + (2𝑡 − 4)𝑗̂ + 3𝑘̂
𝑑𝑡
And the acceleration is;
𝑑𝑣⃗
𝑎⃗ = = 4𝑖̂ + 2𝑗̂
𝑑𝑡
At 𝑡 = 1,
𝑣⃗ = 4𝑖̂ − 2𝑗̂ + 3𝑘̂ and
𝑎⃗ = 4𝑖̂ + 2𝑗̂
⃗⃗ = 𝑖̂ − 3𝑗̂ + 2𝑘̂ is given by;
The unit vector in the direction of 𝑢

𝑢
⃗⃗ 𝑖̂ − 3𝑗̂ + 2𝑘̂ 𝑖̂ − 3𝑗̂ + 2𝑘̂
𝑢̂ = = =
|𝑢
⃗⃗| √12 + (−3)2 + 22 √14

The component of velocity in the given direction is thus;

𝑖̂ − 3𝑗̂ + 2𝑘̂ 4+6+6 16

𝑣⃗ ∙ 𝑢̂ = (4𝑖̂ − 2𝑗̂ + 3𝑘̂ ) ∙ ( )= =
√14 √14 √14

The component of acceleration in the given direction is;

𝑖̂ − 3𝑗̂ + 2𝑘̂ 4−6 −2
𝑎⃗ ∙ 𝑢̂ = (4𝑖̂ + 2𝑗̂ ) ∙ ( )= =
√14 √14 √14
Exercise
⃗⃗ = (2𝑡 − 3)𝑖̂ + 𝑗̂ − 𝑡𝑘̂, find 𝑑 (𝐴 × 𝑑𝐵) at 𝑡 = 1.
a) If 𝐴⃗ = 𝑡 2 𝑖̂ − 𝑡𝑗̂ + (2𝑡 + 1)𝑘̂ and 𝐵 𝑑𝑡 𝑑𝑡
b) Show that 𝑟⃗ = 𝑒 −𝑡 (𝐶1 cos 2𝑡 + 𝐶2 sin 2𝑡), where 𝐶1 and 𝐶2 are constant vectors, is a
𝑑2 𝑟⃗ 𝑑𝑟⃗
solution of the differential equation 𝑑𝑡 2 + 2 𝑑𝑡 + 5𝑟⃗ = 0
c) Given the curve 𝑥 = 𝑡 2 + 1, 𝑦 = 4𝑡 − 3, 𝑧 = 2𝑡 2 − 6𝑡 find the unit tangent vector to
the curve at 𝑡 = 2.
d) Find the velocity of a particle with position vector 𝑟⃗ = 𝑐𝑜𝑠 2 𝑡𝑖̂ + 𝑠𝑖𝑛2 𝑡𝑗̂ + cos 2𝑡 𝑘̂.
Describe the motion of the particle.
e) A particle moves so that its position vector is given by vector 𝑟⃗ = cos 𝜔𝑡 𝑖̂ + sin 𝜔𝑡 𝑗̂
where vector 𝜔 is a constant. Show that
i) The velocity vector 𝑣⃗ is perpendicular to 𝑟⃗.
ii) The acceleration 𝑎⃗ is directed toward the origin and has magnitude proportional
to the distance from the origin.
iii) 𝑟⃗ × 𝑣⃗ is a constant vector.
 2. PARTIAL DIFFERENTIATION
Introduction
In this lesson we discuss partial differentiation of vectors. We show that partial
rules of differentiation in differential calculus are also applicable to vector
calculus, where dot and vector products retain their nature.

Evaluation of Partial Derivatives

A partial derivative is the rate of change of a multi-variable function when we allow only one
of the variables to change. Specifically, we differentiate with respect to only one variable,
regarding all others as constants. The partial derivatives of scalar functions and vector functions
with respect to a vector variable are defined and used in dynamics of multibody systems.

If 𝐴⃗ is a vector depending on more than one scalar variable, say 𝑥, 𝑦, 𝑧 for example, then we
write 𝐴⃗ = 𝐴⃗(𝑥, 𝑦, 𝑧). The partial derivatives of 𝐴⃗ with respect to 𝑥, 𝑦 and 𝑧 are defined as;
𝜕𝐴⃗ 𝐴⃗(𝑥 + ∆𝑥, 𝑦, 𝑧) − 𝐴⃗(𝑥, 𝑦, 𝑧)
= lim
𝜕𝑥 ∆𝑥→0 ∆𝑥
𝜕𝐴⃗ 𝐴(𝑥, 𝑦 + ∆𝑦, 𝑧) − 𝐴⃗(𝑥, 𝑦, 𝑧)
⃗
= lim
𝜕𝑦 ∆𝑦→0 ∆𝑦
𝜕𝐴⃗ 𝐴⃗(𝑥, 𝑦, 𝑧 + ∆𝑧) − 𝐴⃗(𝑥, 𝑦, 𝑧)
= lim
𝜕𝑧 ∆𝑧→0 ∆𝑧
Higher order derivatives can also be defined;
𝜕 2 𝐴⃗ 𝜕 𝜕𝐴⃗ 𝜕 2 𝐴⃗ 𝜕 𝜕𝐴⃗ 𝜕 3 𝐴⃗ 𝜕 𝜕 2 𝐴⃗ 𝜕 𝜕 𝜕𝐴⃗
= ( ) , = ( ), = ( ) = [ ( )]
𝜕𝑥 2 𝜕𝑥 𝜕𝑥 𝜕𝑥𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑥𝜕𝑧 2 𝜕𝑥 𝜕𝑧 2 𝜕𝑥 𝜕𝑧 𝜕𝑧

𝜕2 𝐴⃗ 𝜕2 𝐴⃗
NB The order of differentiation does not matter, i.e. 𝜕𝑥𝜕𝑦 = 𝜕𝑦𝜕𝑥. However, whichever order is
chosen, the differentiation is always from the right side.

Rules for partial differentiation of vectors are similar to those for ordinary differentiation. Thus,
we have;

𝜕 ⃗
𝜕𝐺 𝜕𝐹 ⃗
1) (𝐹⃗ ∙ 𝐺⃗ ) = 𝐹⃗ ∙ 𝜕𝑥 + 𝜕𝑥 ∙ 𝐺⃗
𝜕𝑥
𝜕 𝜕𝐺 ⃗
𝜕𝐹 ⃗
2) (𝐹⃗ × 𝐺⃗ ) = 𝐹⃗ × 𝜕𝑥 + 𝜕𝑥 × 𝐺⃗
𝜕𝑥
𝜕 𝜕𝐺 ⃗
𝜕∅ ⃗⃗
3) (∅𝐺⃗ ) = ∅ 𝜕𝑥 + 𝜕𝑥 𝐺⃗
𝜕𝑥
𝜕 ⃗⃗ ⃗ ⃗
4) ⃗⃗ ) = 𝐹⃗ ∙ 𝐺⃗ × 𝜕𝐻 + 𝐹⃗ ∙ 𝜕𝐺 × 𝐻
(𝐹⃗ ∙ 𝐺⃗ × 𝐻 ⃗⃗ + 𝜕𝐹 ∙ (𝐺⃗ × 𝐻
⃗⃗ )
𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜕𝑥
𝜕 ⃗⃗ 𝜕𝐺⃗ ⃗
5) ⃗⃗ )] = 𝐹⃗ × (𝐺⃗ × 𝜕𝐻) + 𝐹⃗ × ( × 𝐻
[𝐹⃗ × (𝐺⃗ × 𝐻 ⃗⃗ ) + 𝜕𝐹 × (𝐺⃗ × 𝐻
⃗⃗ )
𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜕𝑥
Example
𝜕2 𝐴⃗
If 𝐴⃗ = (2𝑥 2 𝑦 − 𝑥 4 )𝑖̂ + (𝑒 𝑥𝑦 − 𝑦 sin 𝑥)𝑗̂ + 𝑥 2 cos 𝑦 𝑘̂, find 𝜕𝑥𝜕𝑦

Solution
𝜕 2 𝐴⃗ 𝜕 𝜕𝐴⃗ 𝜕
= ( )= [2𝑥 2 𝑖̂ + (𝑥𝑒 𝑥𝑦 − sin 𝑥)𝑗̂ − 𝑥 2 sin 𝑦 𝑘̂ ]
𝜕𝑥𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑥
= 4𝑥𝑖̂ + (𝑒 𝑥𝑦 + 𝑥𝑦𝑒 𝑥𝑦 − cos 𝑥)𝑗̂ − 2𝑥 sin 𝑦 𝑘̂

Example
𝜕3
If ∅(𝑥, 𝑦, 𝑧) = 𝑥𝑦 2 𝑧 and 𝐴⃗ = 𝑥𝑧𝑖̂ − 𝑥𝑦 2 𝑗̂ + 𝑦𝑧 2 𝑘̂ , find 𝜕𝑥 2 𝜕𝑧 (∅𝐴⃗) at the point (2, −1, 1)

Solution
∅𝐴⃗ = (𝑥𝑦 2 𝑧)(𝑥𝑧𝑖̂ − 𝑥𝑦 2 𝑗̂ + 𝑦𝑧 2 𝑘̂) = 𝑥 2 𝑦 2 𝑧 2 𝑖̂ − 𝑥 2 𝑦 4 𝑧𝑗̂ + 𝑥𝑦 3 𝑧 3 𝑘̂
𝜕
(∅𝐴⃗) = 2𝑥 2 𝑦 2 𝑧𝑖̂ − 𝑥 2 𝑦 4 𝑗̂ + 3𝑥𝑦 3 𝑧 2 𝑘̂
𝜕𝑧
𝜕2 𝜕
(∅𝐴⃗) = (2𝑥 2 𝑦 2 𝑧𝑖̂ − 𝑥 2 𝑦 4 𝑗̂ + 3𝑥𝑦 3 𝑧 2 𝑘̂) = 4𝑥𝑦 2 𝑧𝑖̂ − 2𝑥𝑦 4 𝑗̂ + 3𝑦 3 𝑧 2 𝑘̂
𝜕𝑥𝜕𝑧 𝜕𝑥

𝜕3 𝜕
2
(∅𝐴⃗) = (4𝑥𝑦 2 𝑧𝑖̂ − 2𝑥𝑦 4 𝑗̂ + 3𝑦 3 𝑧 2 𝑘̂) = 4𝑦 2 𝑧𝑖̂ − 2𝑦 4 𝑗̂
𝜕𝑥 𝜕𝑧 𝜕𝑥
At the point (2, −1, 1), this becomes = 4𝑖̂ − 2𝑗̂

Exercise
𝜕2 𝐴⃗ 𝜕2 𝐴⃗ 𝜕2 𝐴⃗
a) If 𝐴⃗ = (2𝑥 2 𝑦 − 𝑥 4 )𝑖̂ + (𝑒 𝑥𝑦 − 𝑦 sin 𝑥)𝑗̂ + 𝑥 2 cos 𝑦𝑘̂ find , 𝑎𝑛𝑑 at the
𝜕𝑥 2 𝜕𝑦 2 𝜕𝑥𝜕𝑦
point (1, 0).
2
⃗⃗ = 2𝑧𝑖̂ + 𝑦𝑗̂ − 𝑥 2 𝑘̂ find 𝜕 (𝐴⃗ × 𝐵
b) If 𝐴⃗ = 𝑥 2 𝑦𝑧𝑖̂ − 2𝑥𝑧𝑗̂ + 𝑥𝑧 2 𝑘̂ 𝑎𝑛𝑑 𝐵 ⃗⃗ )at (1, 0, −2)
𝜕𝑥𝜕𝑦

c) If 𝐶1 𝑎𝑛𝑑 𝐶2 are constant vectors and 𝜆 is a constant scalar, show that

⃗⃗ = (𝐶1 sin 𝜆𝑦 + 𝐶2 cos 𝜆𝑦) satisfies the partial differential equation
𝐻
𝜕 2𝐻⃗⃗ 𝜕 2 𝐻⃗⃗
+ =0
𝜕𝑥 2 𝜕𝑦 2