Chapter 12

Vector-Valued Functions
12.1

Vector Functions

2
1. Since the square root function
S is only defined for nonnegative values, we must have t 9 0.
So the domain is (, 3) [3, ).

2. Since the natural logarithm is only defined for positive values, we must have 1 t2 > 0. So
the domain is (1, 1).
3. Since the inverse sine function is only defined for values between -1 and 1, the domain is
[1, 1].
4. The vector function is defined for all real numbers.
5. r(t) = sin ti + cos tj cos2 tk
6. r(t) = cos2 ti + 2 sin2 tj + t2 k
7. r(t) = et i + e2t j + e3t k
8. r(t) = 16t2 i + 50tj + 10k
9. x = t2 ,

y = sin t,

z = cos t

10. r(t) = t sin t(i + k) = t sin ti + 0j + t sin tk so x = t sin t,

11. x = ln t,

y = 1 + t,

12. x = 5 sin t sin 3t,

z = t3

y = 5 cos 3t,

z = 5 cos t sin 3t
48

y = 0,

z = t sin t

12.1. VECTOR FUNCTIONS

13.

49

14.

15.

4
y

16.

17.

18.

19.

20.

y
x

21.
z

y
x

Note: the scale is distorted in this graph. For t = 0, the graph starts at (1, 0, 1). The upper
loop shown intersects the xz-plane at about (286751, 0, 286751).

50

CHAPTER 12. VECTOR-VALUED FUNCTIONS

22.

23.

10
10

10

24.
z

y
x

25. r(t) = h4, 0i + h0 4, 3 0it = (4 4t)i + 3tj, 0 t 1

y

26. r(t) = h0, 0, 0i + h1 0, 1 0, 1 0it = ti + tj + tk, 0 t 1

12.1. VECTOR FUNCTIONS

27. x = t, y = t, z = t2 + t2 = 2t2 ; r(t) = ti + tj + 2t2 k
z

28. x = t, y = 2t, z = t2 + 4t2 + 1 = 5t2 1; r(t) = ti + 2tj 5t2 1k

z

y
x

29. x = 3 cos t, z = 9 9 cos2 t = 0 sin2 t; y = 3 sin t; r(t) = 3 cos ti + 3 sin tj + 9 sin2 tk

y
x

30. x = sin t, z = 1, y = cos t; r(t) = sin ti + cos tj + k

51

52

CHAPTER 12. VECTOR-VALUED FUNCTIONS

y
x

31. x = t, y = t, z = 1 2t; r(t) = ti + tj + (1 2t)k

y
x

32. x = 11,

y = t,

z = 3 + 2t;

r(t) = i + tj + (3 + 2t)k

y
x

33. (b); Notice that the y and z values consistently increase while the x values oscillate rapidly
between -1 and 1. The only vector fucntion that describes this behavior is (b).
34. (c); The trace of the graph on the xyplane would look like a circle, while the z value oscillates
between 0 and 1. The only vector function that describes this behavior is (c).
35. (d); Notice that the z value is contant. The only vector function that satisfies this constraint
is (d).
36. (a); Notice that the x values consistently increase while the trace of the graph on the yz-plane
would look like a circle. The only vector function that describes this behavior is (a).

12.1. VECTOR FUNCTIONS

53

37. Letting x = at cos t, y = bt sin t, and z = ct, we have

c2 t 2
z2
= 2 = t2 = t2 cos2 t + t2 sin2 t
2
c
c
a2 t2 cos2 t b2 t2 sin2
+
=
a2
b2
x2
y2
= 2 + 2
a
b

38.
z

39. Letting x = aekt cos t, y = bekt sin t, and z = cekt , we have

c2 ekt
z2
=
= e2kt = e2kt cos2 t + e2kt sin2 t
c2
c2
a2 e2kt cos2 t b2 e2kt sin2 t
=
+
a2
b2
2
2
x
y
+ 2
a2
b

40.
z

y
x

41. x2 + y 2 + z 2 = a2 sin2 kt cos2 t + a2 sin2 kt sin2 t + a2 cos2 kt

= a2 sin2 kt + a2 cos2 kt
= a2

54
42.

CHAPTER 12. VECTOR-VALUED FUNCTIONS

k=1

k=2

k=3
z
z

k=4

k = 10

k = 20

43. (a)
z

(b) r1 (t) = ti + tj + (4 t2 )k
r2 (t) = ti tj + (4 t2 )k
(c)
z

44. C lies on the surface of the sphere of radius a.

12.2. CALCULUS OF VECTOR FUNCTIONS

55

45.

46.

k = 0.1

k = 0.2

k = 0.3
z

y
y

y
x

47.

k=2

k=4
z

48.

k=

1
10

k=1
z

y
x

12.2

y
x

Calculus of Vector Functions

1. lim [t3 i + t4 j + t5 k] = 23 i + 24 j + 25 k = 8i + 16j + 32k

t2

56

CHAPTER 12. VECTOR-VALUED FUNCTIONS

2. r(t) =

sin 2t
ln t
i + (t 2)5 k +
k. Using LH
opitals Rule,
t
1/t

lim+ r(t) =

t0


1/t
2 cos 2t
k
= 2i 32j
i + (t 2)5 j +
1
1/t2

3. Using
opitals Rule, we have
 LH



t2 1 5t 1 2et1 2
2t 5t 1 2et1
lim
,
,
= lim =
,
,
i = h2, 2, 2
t1
t1
t1 t+1
t1
1 t+1
1

4. Since lim tan1 t = , we have

t
2




e2t
1
e1
1
1
1
lim
,
,
tan
t
,
,
tan
t
=
lim
t 2e2t + t 2et + 5
t 2 + te2t 2 + 5et


1

=
, 0,
2
2
The last equality follows from using LH
opitals Rule to get
lim te2t = lim

1
t
= lim
=0
t 2e2t
e2t

5. lim [4r1 (t) + 3r2 (t)] = 4(i 2j + k) + 3(2i + 5j + 7k) = 2i + 23j + 17k
t

6. lim r1 (t) r2 (t) = (i 2j + k) = (i 2j + k) (2i + 5j + 7k) = 1

t

7. Notice that the k component ln(t 1) is not defined at t = 1. Therefore, r(t) is not continuous
at t = 1.
8. Notice that sin t, tan t, and cos t are each continuous at t = 1 since the sine, cosine, and
tangent function are continuous on their domains. Therefore, since each of the component
functions are continuous at t = 1, we know that r(t) is continuous at t = 1.
9. r0 (t) = 3i + 8tj + (10t 1)k
so r0 (1) = 3i + 8j + 9k = h3, 8, 9i
r(1.1) r(1)
h3(1.1) 1, 4(1.1)2 , 5(1.1)2 (1.1)i h3(1) 1, 4(1)2 , 5(1)2 (1)i
while
=
0.1
0.1
h2.3, 4.84, 4.95i h2, 4, 4i
=
0.1
h0.3, 0.84, 0.95i
= h3, 8.4, 9.5i
=
0.1
5
i + (6t + 1)j 3(1 t)2 k
(1 + 5t)2
5
so r0 (0) =
i + j + 3k = h5, 1, 3i
1

10. r0 (t) =

12.2. CALCULUS OF VECTOR FUNCTIONS

57

1
, 3(0.05)2 + (0.05), (1 + 0.05)3
r(0.05) r(0)
1 + 5(0.05)
while
=
0.05
0.05
h0.8, 0.0575, 0.857375i h1, 0, 1i
=
0.05
h0.2, 0.0575, 0.142625i
=
0.05
= h4, 1.15, 2.8525i
11. r0 (t) =

1
1
i 2 j;
t
t

r00 (t) =

12. r0 (t) = ht sin t, 1 sin ti;

1
k;
1 + t2

1
, 3(0)2 + (0), (1 0)3
1 + 5(0)

1
2
i + 3j
t2
t

r00 (t) = ht cos t sin t, cos ti

13. r0 (t) = h2te2t + e2t , 3t2 , 8t 1i;

14. r0 (t) = 2ti + 3t2 j +

r00 (t) = h4te2t + 4e2t , 6t, 8i

r00 (t) = 2i + 6tj

15. r0 (t) = 2 sin ti +6 cos tj

r0 (/6) = i + 3 3j

2t
k
(1 + t2 )2
16. r0 (t) = 3t2 i + 2tj
r0 (1) = 3i 2j
y

8t
k
(1 + t2 )2
0
r (1) = j 2k

17. r0 (t) = j

18. r0 (t) = 3 sin

ti + 3 costj + 2k
3
2
3 2
r0 (/4) =
i+
j + 2k
2
2

y
x

y
x

58

CHAPTER 12. VECTOR-VALUED FUNCTIONS

1
1
8
19. r(t) = ti + j + t3 k; r(2) = 2i + 2j + k; r0 (t) = i + tj + t2 k; r0 (2) = i + 2j + 4k
2
3
3
Using the point (2, 2, 8/3) and the direction vector r0 (2), we have x = 2 + t, y = 2 + 2t, z =
8/3 + 4t.
20. r(t) = (t3 t)i+

6t
j+(2t+1)2 k;
t+1

r(1) = 3j+9k;

r0 (t) = (3t2 1)i+

6
j+(8t+4)k;
(t + 1)2

3
r0 (1) = 2i + j + 12k. Using the point (0, 3, 9) and the direction vector r0 (1), we have x =
2
2t, y = 3 + 23 , z = 9 + 12t.
p

2 =
6
21. r0 (t) = het + tet , 2t + 2, 3t2 1i so r0 (0) = h1, 2, 1i and |r0 (0)| = 12 + 22 + (1)

r0 (0)
1
2 1
h1, 2, 1i

The unit tangent vector at t = 0 is given by 0

= , ,
=
|r (0)|
6
6
6
6
To find the parametric equations of the tangent line at t = 0, we first compute r(0) =
1
2 1
h0, 0, 0i. The tangent line is then given in vector form as p(t) = h0, 0, 0i + t , ,
=
6
6
6


1
2 1
1
2
1
t, t, t or in parametric form as x = t, y = t, z = t.
6
6
6
6
6
6
p

2 + (2)2 + (1)2 =
22. r0 (t) = h3 cos 3t, 2 sec2 2t, 1i so r0 () = h3, 2, 1i and |r0 ()| = (3)
14.


3
2
1
r0 ()
h3, 2, 1i
= , ,
The unit tangent vector at t = is given by 0
=
|r ()|
14
14
14
14
To find the parametric equations of the tangent line at t = , we first compute r0 () = h1, 0, i.
The tangent line is then given in vector
 form as
3
2
1
p(t) = h1, 0, i + t , ,
14
14
14


3
2
1
= 1 t, t, + t
14
14
14
2
1
3
or in parametric form as x = 1 t, y = t, z = + t
14
14
14
*
+
1
3
23. r(/3) =
,
,
2 2 3
r0 (t) = h *
sin t, cos t, 1i+

3 1
r0 (/3) =
, ,1
2 2
so the tangent
* line+is given
* by
+

1
3
3 1
p(t) =
,
,
+t
, ,1
2 2 3
2 2
*
+

1
3
3 1
=

t,
+ t, + t
2
2
2
2 3
24. r(0) = h6, 1, 1i
r0 (t) = h3et/2 , 2e2t , 3e3t i

12.2. CALCULUS OF VECTOR FUNCTIONS

59

r0 (0) = h3, 2, 3i So the tangent line is given by

r(t) = h6, 1, 1i + th3, 2, 2i
= h6 3t, 1 + 2t, 1 + 3ti
d
[r(t) r0 (t)] = r(t) r00 (t) + r0 (t) r0 (t) = r(t) r00 (t)
dt
d
d
[r(t) (tr(t))] = r(t) (tr(t))+ = r(t) (tr0 (t) + r(t)) + r0 (t) (tr(t))
26.
dt
dt
= r(t) (tr0 (t)) + r(t) r(t) + r0 (t) (tr(t)) = 2t(r(t) r0 (t)) + r(t) r(t)

25.

27.

d
d
[r(t) (r0 (t) r00 (t))] = r(t) (r0 (t) r00 (t)) + r0 (t) (r0 (t) r00 (t))
dt
dt
= r(t) (r0 (t) r000 (t) + r00 (t) r00 (t)) + r0 (t) (r0 (t) r00 (t))
= r(t) (r0 (t) r000 (t))

28.

d
d
[r1 (t) (r2 (t) r3 (t))] = r1 (t) (r2 (t) r3 (t)) + r0 (t) (r2 (t) r3 (t))
dt
dt
= r1 (t) (r2 (t) r03 (t) + r02 (t) r3 (t) + r01 (t) (r2 (t) r3 (t))
= r1 (t) (r2 (t) r03 (t)) + r1 (t) (r02 (t) r3 (t)) + r1 (t) (r2 (t) r3 (t))

d
1
[r1 (2t) + r2 ( 1t )] = 2r0 (2t) 2 r02 ( 1t )
dt
t
d 3 2
30.
[t r(t )] = t3 (2t)r0 (t2 ) + 3t2 r(t2 ) = 2t4 r0 (t2 ) + 3t2 r(t2 )
dt
2
Z 2

Z 2

Z 2

Z 2
2
2
3
1 2 
2
3
31.
r(t)dt =
tdt i +
3t dt j +
4t dt k = t  i + t3 1 j + t4 1 k = i + 9j + 15k
2 1
2
1
1
1
1

Z 4

Z 4

Z 4
Z 4

2t + 1dt i +
32.
tdt j +
sin tdt k
r(t)dt =
29.

4
4
4


26
1
2 3/2 
1
16
3/2 
= (2t + 1)  i t  j cos t k =
i j
3
3

3
3
0
0
0
Z

Z

Z

Z
2
33.
r(t)dt =
tet dt i +
e2t dt j +
tet dt k




1 t2
1 2
1 2t
1
t
t
+ c2 j + e + d3 k = et (t 1)i + e2t j + et k + c,
= [te e + c1 ]i + e
2
2
2
2
where c = c1 i + c2 j + c3 k.
Z

Z

Z

Z
1
t
t2
34.
r(t)dt =
dt i +
dt j +
dt k
1 + t2
1 + t2
1 + t2


Z 

1
1
1
2
k
= [tan t + c1 ]i +
ln(1 + t ) + c2 j +
1
2
1 + t2


1
= [tan1 t + c1 ]i +
ln(1 + t2 ) + c2 j + [t tan1 t + c3 ]k
2
1
= tan1 ti + ln(1 + t2 )j + (t tan1 t)k + c,
2

60

CHAPTER 12. VECTOR-VALUED FUNCTIONS

where c = c1 i + c2 j + c3 k.


R

R
R
R
6dt i + 6tdt j + 3t2 dt k = [6t + c1 ]i + [3t2 + c2 ]j + [t3 + c3 ]k
35. r(t) = r0 (t)dt =
Since r(0) = i + 2j + k = c1 i + c2 j + c3 k, c1 1, c2 = 2, and c3 = 1. Thus,
r(t) = (6t + 1)i + (3t2 2)j + (t3 + 1)k



R
R



R
t sin t2 dt i + cos 2tdt j = 21 cos t2 + c1 i + 21 sin 2t + c2 j
36. r(t) = r0 (t)dt =
Since r(0) = 32 = ( 12 + c1 )i + c2 j, c1 = 2, and c2 = 0. Thus,

r(t) =


1
1
2
cos t + 2 i sin 2tj.
2
2

R

R

R

R
37. r0 (t) = r00 (t)dt =
12tdt i +
3t1/2 dt j +
2dt k = [6t2 + c1 ]i + [6t1/2 + c2 ]j +
[2t + c3 ]k
Since r0 (1) = j = (6 + c1 )i + (6 + c2 )j + (2 + c3 )k, c1 = 6, c2 = 7, and c3 = 2. Thus,
r0 (t) = (6t2 6)i + (6t1/2 + 7)j + (2t 2)k.
Z
r(t) =

Z

r (t)dt =


Z

Z

1/2
(6t 6)dt i +
(6t + 7)dt j +
(2t 2)dt k
2

= [2t3 6t + c4 ]i + [4t3/2 + 7t + c5 ]j + [t2 2t + c6 ]k.

Since
r(1) = 2i k = (4 + c4 )i + (3 + c5 )j + (1 + c6 )k,
c4 = 6, c5 = 3, and c6 = 0. Thus,
r(t) = (2t3 6t + 6)i + (4t3/2 + 7t 3)j + (t2 2t)k.
38. r0 (t) =

r00 (t)dt =

Z


Z

Z

sec2 tdt i +
cos tdt j +
sin tdt k

= [tan t + c1 ]i + [sin t + c2 ]j + [cos t + c3 ]k

Since r0 (0) = i + j + k = c1 i + c2 j + c3 k, c1 = 1, c2 = 1, and c3 = 0. Thus,
r0 (t) = (tan t + 1)i + (sin t + 1)j + cos tk.
Z
r(t) =

r0 (t)dt =

Z


Z

Z

(tan t + 1)dt i +
(sin t + 1)dt j +
cos tdt k.

= [ln | sec t| + c4 ]i + [ cos t + t + c5 ]j + [sin t + c6 ]k

Since r(0) = j + 5k = (1 + c5 )j + (c6 )k, c4 = 0, c5 = 0, and c6 = 5. Thus,
r(t) = (ln | sec t| + t)i + ( cos t + t)j + (sin t + 5)k.
p

39. r0 (t) = a sin ti + a cos tj + ck; |r0 (t)| = (a sin t)2 + (a cos t)2 + c2 = a2 + c2
2

R 2
a2 + c2 dt = a2 + c2 t0 = 2 a2 + c2
s= 0

12.2. CALCULUS OF VECTOR FUNCTIONS

61

40. r0 (t) = i +
p(cos t t sin t)j + (sin t + t cos t)k

|r0 (t)| = 12 + (cos t t sin t)2 + (sin t + t cos t)2 = 2 + t2


R

s = 0 2 + t2 dt = 2t 2 + t2 + ln |t + 2 + t2 | 0 = 2 2 + 2 + ln( + 2 + 2 ) ln 2
t
t
t
41. r0 (t) = (2e
+ et sin 2t)j + et k
p sin 2t + e cos 2t)i + (2e cos 2t

2
0
2t
2
2t
2t
|r (t)| = 5e cos 2t + 5e sin 2t + e = 6e2t = 6et

3
R 3 t
s= 0
6e dt = 6et  = 6(e3 1)
0

42. r0 (t) = 3i + 2 3tj + 2t2 k; |r0 (t)| = 32 + (2 3t)2 + (2t2 )2 = 9 + 12t2 + 4t4 = 3 + 2t2

1
R1
s = 0 (3 + 2t2 )dt = 3t + 23 t3  = 3 + 23 = 11
3
0

Rt
s
43. From r0 (t) = h9 cos t, 9 sin ti, we find |r0 (t)| = 9. Therefore, s = 0 9du = 9t so that t = . By
9 E
D
D
s
s
sE
s
. Note that r0 (s) = sin , cos
substituting for t in r(t), we obtain r(s) = 9 sin , 9 cos
9
9
9
9


r

s
s
so that r0 (s) = sin2 + cos  = 1.
9
9

Rt
44. From r(t) = h5 sin t, 12, 5 cos ti, we find |r0 (t)| = 169 = 13. Therefore, s = 0 13du = 13t
s
s 12
5
s
. By substituting for t in r(t), we obtain r(s) = h5 cos 13
, 13 s, 13
cos 13
i.
so that t =
13


5
s 12 5
s
0
Note that r (t) = 13 sin 13 , 13 , 13 cos 13 so that
r
25 144
25
25
s
0
sin
+ 169 +
cos2 13
|r (s)| =
=1
169
13
169

Rt
45. From r0 (t) = h2, 3, 4i, we find |r0 (t)| = 29. Therefore,
 s = 0 29du = 20t so that

2
3
4
s
t = . By substituting for t in r(t), we obtain r(s) = 1 + s, 5 s, 2 + s .
29
29
29
29
r
D
E
9
16
4
2
3
4
Note that r0 (s) = 29 , 29 , 29 so that r0 (s) =
+
+
= 1.
29 29 29
t
t
t
t
46. From r0 (t)
p= he cos t e sin t, e sin t + e cos t, 0i we find

|r0 (t)| = e2t cost 2e2t cos t sin t + e2t sin2 t + e2t sin2 t + 2e2t sin t cos t + e2t cos2 t = 2e2t = et 2.



Rt
Therefore, s = 0 eu 2du = 2(et 1) so that t = ln s2 + 1 . By substituting for t in r(t),
we obtain

 

 
 E
D
s + 1 cos(ln s + 1
s + 1 sin ln s + 1
r(s) =
,
, 1 Note that
2 
2 
D 2  
 2
 

 
 E
r0 (s) = 12 cos ln s2 + 1 12 sin ln s2 + 1 , 12 sin ln s2 + 1 + 12 cos ln s2 + 1 , 0
so that v
 

 

 

 

u
u 1 cos2 ln s + 1 cos ln s + 1 sin ln s + 1 + 1 sin2 ln s + 1
u 2
 2

 2

 2
 2
 2

|r0 (s)| = t
+ 12 sin2 ln s2 + 1 + sin ln s2 + 1 cos ln s2 + 1 + 21 cos2 ln s2 + 1
s
 

 

s
s
= cos2 ln + 1
+ sin2 ln + 1
=1
2
2

62

CHAPTER 12. VECTOR-VALUED FUNCTIONS

d
d
d
(r r) = |r|2 = c2 = 0 and
dt0
dt
dt
Thus, r is perpendicular to r.

47. Since

d
dt (r

r) = r r0 + r0 r = 2r r0 , we have r r0 = 0.

48. Let v = ai + bj and r(t) = x(t)i + y(t)j. Then

Z

Z
v r(t)dt =

r(t)dt.
a

y(t)dt = v

x(t)dt + b

[ax(t) + by(t)]dt = a

Rt
49. From r(t) = r0 + tv, we get r0 (t) = v so that |r0 (t)| = |v|. Therfore s = 0 |r0 (t)|du =
Rt
s
|v|du = |v|t which gives t =
. Substituting for t in r(t), we have r0 (s) = r0 +
0
|v|
v
|v|
s
0
0
v . Note that r (s) = |v| so that |r (s)| = |v| = 1.
|v|v = r0 + s
|v|


p
s
3 4
,
50. (a) |h3, 4i| = 32 + (4)2 = 5 so r(s) = h1, 2i + h3, 4i = h1, 2i + s
5
5 5

(b) r(t)
+ th1, 2, 1i and |h1, 2, 1i| = 1 + 4 + 1 = 6 so r(s) = h1, 1, 10i +
 = h1, 1, 10i 
2 1
1
s , ,
6
6
6

12.3

Motion on a Curve

1. v(t) = 2ti + t3 j; v(1) = 2i + j; |v(1)| =

a(t) = 2i + 3t2 j; a(1) = 2i + 3j

4+1=

5;

y
a

v
x

2
j; v(1) = 2i 2j; |v(1)| = 4 + 4 = 2 2;
3
t
6
a(t) = 2i + 4 j; a(1) = 2i + 6j
t

2. v(t) = 2ti

y
a

12.3. MOTION ON A CURVE

63

3. v(t) = 2 sinh 2ti + 2 cosh 2tj; v(1) = 2j; |v(0)| = 2;

a(t) = 4 cosh 2ti + +4 sinh 2tj; a(0) = 4i

1
4. v(t) = 2 sin ti + cos tj; v(/3) = 3i + j;
2
p

1/4
=
13/2;
a(t)
=
2
cos
ti sin tj;
|v(/3)| = 3 +

3
a(/3) = i
j
2

y
v
a
x

5. v(t) = (2t 2)i + k; v(2) = 2j + k; |v(2)| =

a(t) = 2j; a(2) = 2j

4+1=

5;

v
a
y
x

6. v(t) = i + j; v(2) = i + j + 12k; |v(2)| =

a(t) = 6tk; a(2) = 12k

1 + 1 + 144 =

146;

z
a
v

y
x

64

CHAPTER 12. VECTOR-VALUED FUNCTIONS

7. v(t) = i + 2tj + 3t2 k;

mathbf v(1) = i + 2j + 3k; |v(1)| = 1 + 1 + 9 = 14;

a(t) = 2j + 6tk; a(1) = 2j + 6k

v
y

8. v(t) = i + 3t2 j + k;

v(1) = i + 3j + k; |v(1)| = 1 + 9 + 1 = 11;

a(t) = 6tj; a(1) = 6j

v
a
y
x

9. The particle passes through the xy-plane when z(t) = t2 5t = 0 or t = 0, 5 which gives us the
points (0, 0, 0) and (25, 115, 0). v(t) = 2ti + (3t2 2)j + (2t 5)k; v(0) = 2j 5k, v(5) =
10i + 73j + 5k; a(t) = 2i + 6tj + 2k; a(0) = 2i + 30j + 2k
10. If a(t) = 0, then v(t) = c1 and r(t) = c1 t + c2 . The graph of this equation is a straight line.

11. Initially we are given s0 = 0 and v0 = (480 cos 30 )i + (480 cos 30 )j = 240 3i + 240j. Using
a(t) = 32j we find
Z
v(t) =

a(t)dt = 32tj + c

240 3i + 240j = v(0) = c

v(t) = 32tj + 240 3i + 240j = 240 3i + (240 32t)j

Z

r(t) = v(t)dt = 240 3ti + (240t 16t2 )j + b

0 = r(0) = b.

(a) The shells trajectory is given by r(t) = 240 3ti + (240t 16t2 )j or x = 240 3t, y =
240 16t2 .
(b) Solving dy/dt = 240 32t = 0, we see that y is maximum when t = 15/2. The maximum
altitude is y(15/2) = 900 ft.
(c) Solving y(t) = 240t 16t2 = 16t(15 t) = 0, we see that the
shell is at ground level
when t = 0 and t = 15. The range of the shell is s(15) = 3600 3 6235 ft.

12.3. MOTION ON A CURVE

65

(d) From (c), impact is when t = 15. The speed at impact is

p

|v(15)| = |240 3i + (240 32 15)j| = 2402 3 + (240)2 = 480 ft/s.

12. Initially we are given s0 = 1600j and v0 = (480 cos 30 )i + (480 sin 30 )j = 240 3i + 240j.
Using a(t) = 32j we find
Z
v(t) = a(t)dt = 32tj + c

240 3i + 240j = v(0) = c

v(t) = 32tj + 240 3i + 240j = 240 3i + (240 32t)j

Z

r(t) = v(t)dt = 240 3ti + (240t 16t2 )j + b

1600j = r(0) = b.

(a) The shells trajectory is given by r(t) = 240 3ti+(240t16t2 +1600)j or s = 240 3t, y =
240t 16t2 + 1600.
(b) Solving dy/dt = 240 32t = 0, we see that y is maximum when t = 15/2. The maximum
altitude is y(15/2) = 2400 ft.
(c) Solving y(t) = 16t2 + 240t + 1600 = 16(t 20)(t + 5) = 0, we
see that the shell hits
the ground when t = 20. The range of the shell is x(20) = 4800 3 8314 ft.
(d) From (c), impact is when t = 20. The speed at impact is
p

|v(20)| = |240 3i + (240 32 20)j| = 2402 3 + (400)2 = 160 13 577 ft/s.

13. We are given s0 = 81j and v0 = 4i. Using a(t) = 32j, we have
Z
v(t) =

a(t)dt = 32tj + c
4i = v(0) = c

v(t) = 4i 32tj
Z
r(t) =

v(t)dt = 4ti 16t2 j + b

81j = r(0) = b

r(t) = 4ti + (81 16t2 )j.

Solving y(t) = 81 16t2 = 0, we see that the car hits the water when t = 9/4. Then
p

|v(9/4)| = |4i 32(9/4)j| = 42 + 722 = 20 13 72.11ft/s.

66

CHAPTER 12. VECTOR-VALUED FUNCTIONS

14. Let be the angle of elevation. Then v(0) = 98 cos i + 98 sin j. Using a(t) = 9.8j, we have
Z
v(t) = a(t)dt = 9.8tj + c
98 cos i + 98 sin j = v(0) = c
v(t) = 98 cos i + (98 sin 9.8t)j
r(t) = 98t cos i + (98t sin 4.9t2 )j + b.
Since r(0) = 0, b = 0 and r(t) = 98t cos i + (98t sin 4.9t2 )j. Setting y(t) = 98t sin
4.9t2 = t(98 sin 4.9t) = 0, we see that the projectile hits the ground when t = 20 sin .
Thus, using x(t) = 98t cos , 490 = s(t) = 98(20 sin ) cos or sin 2 = 0.5. Then 2 = 30 or
150 . The angles of elevation are 15 and 75 .

s 2
s 2
i+
j. Using a(t) =
15. Let s be the initial speed. Then v(0) = s cos 45 i + s sin 45 j =
2
2
32j, we have
Z
v(t) = a(t)dt = 32j + c

s 2
s 2
i+
j = v(0) = c
2
2
!

s 2
s 2
i+
32t j
v(t) =
2
2
!

s 2
s 2
r(t) =
ti +
t 16t2 j + b.
2
2
Since r(0) = 0, b = 0 and

s 2
r(t) =
ti +
2

s 2
2
t 16t j.
2

2
Setting
y(t) = s 2t/2 16t = t(2 2/2 16t) = 0 we see that the ball hits the ground when
t
= 2s/32. Thus, using x(t) = s 2t/2 and the fact that 100 yd = 300 ft, 300 = x(t) =

s 2
s2
( 2s/32) =
and s = 9600 97.98 ft/s.
2
32
16. Let s be the initial speed and the initial angle. Then v() = s cos i + s sin j. Using a(t) =
32j, we have
Z
v(t) = a(t)dt = 32tj + c
s cos i + s sin j = v(0) = c
v(t) = s cos i + (s sin 32t)j
r(t) = st cos i + (st sin 16t2 )j + b.

12.3. MOTION ON A CURVE

67

Since r(0) = 0, b = 0 and r(t) = st cos i + (st sin 16t2 )j. Setting y(t) = st sin
16t2 = t(s sin 16t) =, we see that the ball hits the ground when t = (s sin )/16. Using
x(t) = st cos i, we see that the range of the ball is


s sin
s2 sin cos
s2 sin 2
x
=
=
.
16
16
32
2

For
2 = 30 , the range is s sin 60 /32 = 3s /64 and for = 60 the range is s sin 120 /32 =
3s /64. In general, when the angle is 90 then range is
[s2 sin 2(90 )]/32 = s2 [sin(180 2)]/32 = s2 (sin 2)/32.
Thus, for angles and 90 , the range is the same.
17. r0 (t) = v(t) = r0 sin ti + r0 cos tj; v = |v(t)| =
00
2
2
= v/r0 ; a(t)
q = r (t) = r0 cos ti r0 sin tj

r02 2 sin2 t + r02 2 cos2 t = r0

r02 4 cos2 t + r02 4 sin2 t = r0 2 = r0 (v/r0 )2 = v 2 /r0 .

p

18. (a) v(t) = b sin ti + b cos tj + ck; |v(t)| = b2 sin2 t + b2 cos2 t + c2 = b2 + c2

Rt
Rt
ds 2
(b) s = 0 |v(t)|du = 0 b2 + c2 du = t b2 + c2 ;
= b + c2
dt
p
d2 s
= 0; a(t) = b cos tib sin tj; |a(t)| = b2 cos2 t + b2 sin2 t = |b|. Thus, d2 s/dt2 =
(c)
6
2
dt
|a(t)|.
a = |a(t)| =

19. Let the initial speed of the projectile be s and let the target be
at (x0 , y0 ). Then vp (0) = s cos i + s sin j and vt (0) = 0. Using
a(t) = 32j, we have
R
vp (t) = a dt = 32tj + c
s cos i + s sin j = vp (0) = c
vp (t) = s cos i + (s sin 32t)j
rp (t) = st cos i + (st sin 16t2 )j + b.

y
(x0,y0)

x0 tan

x0

Since rp (0) = 0, b = 0 and rp (t) = st cos i + (st sin 16t2 )j. Also, vt (t) = 32tj + c and since
vt (0) = 0, c = 0 and vt (t) = 32tj. Then rt (t) = 16t2 tj + b. Since rt (0) = x0 i + y0 j, bx0 i + y0 j
and rt (t) = x0 i+(y0 16t2 )j. Now, the horizontal component of rp (t) will be x0 when t = x0 /s cos
at which time the vertical component of rp (t) will be
(sx0 /s cos ) sin 16(x0 /s cos )2 = x0 tan 16(x0 /s cos )2 = y) 16(x0 /s cos )2 .
Thus, rp (x0 /s cos ) = rt (x0 /s cos ) and the projectile will strike the target as it falls.
20. The initial angle is = 0, the initial height is 1024 ft, and the initial speed is s = 180(5280)/3600 =
264 ft/s. Then x(t) = 264t and y(t) = 16t2 + 1024. Solving y(t) = 0 we see that the pack
hits the ground at t = 8 seconds. The horizontal distance tranvelled is x(8) = 2112 feet. From
the figure in the text, tan = 1024/2112 = 16/33 and 0.45 radian or 25.87 .
21. By Problem 17, a = v 2 /v0 = 15302 /(4000 5280) 0.1108. We are given mg = 192, so
m = 192/32 and we = 1192 (192/32)(0.1108) 191.33 lb.

68

CHAPTER 12. VECTOR-VALUED FUNCTIONS

22. By problem 17, the centripetal acceleration is v 2 /r0 . Then

<mv2/r0, 32 m>
the horizontal force is mv 2 /r0 . The vertical force is 32m.
The resultant force is U = (mv 2 /r0 )i + 32mj. From the
figure, we see that tan = (mv 2 /r0 )/32m = v 2 /32r0 . Using
r0 = 60 and v = 44 we obtain tan = 442 /32(60) 1.0083
and 45.24 .

< 0, 32m>

<mv2/r0, 0>

23. Solving x(t) = (v0 cos )t for t and substituting into y(t) 21 gt2 + (v0 sin )t + s0 we obtain
1
y= g
2

x
v0 cos

2
+ (v0 sin )

x
g
x2 + (tan )x + s0 ,
+ s) = 2
v0 cos
2v0 cos2

which is the equation of a parabola.

24. Since the projectile is launched from ground level, s0 = 0. To find the maximum height
we maximize y(t) = 21 gt2 + (v0 sin )t. Solving y 0 (t) = gt + v0 sin = 0, we see that
t = (v0 /g) sin is a critical point. Since y 00 (t) = g 0,

H=y

v0 sin
g


=

1 v02 sin2
v0 sin
v02 sin2
g
+
v
sin

=
0
2
g2
g
2g

is the maximum height. To find the range we solve y(t) = 21 gt2 + (v0 sin )t = t(v0 sin
1
2 gt) = 0. The positive solution to this equation is t = (2v0 sin )/g. The range is thus
x(t) = (v0 cos )

2v0 sin
v 2 sin 2
= 0
.
g
g

25. Letting r(t) = x(t)i + y(t)j + z(t)k, the equation dr/dt = v is equivalent to dx/dt =
6t2 x, dy/dt = 4ty 2 , dz/dt = 2t(z + 1). Separating the variables and integrating, we
obtain x/x = 6t2 dt, dy/y 2 = 4tdt, dz/(z + 1) = 2tdt, and ln x = 2t3 + c1 , 1/y =
2t2 + c2 , ln(z + 1) + t2 + c3 . Thus,
3

r(t) = k1 e2t i +

2
1
j + (k3 et 1)k.
2t2 + k2

26. We require the fact that dr/dt = v. Then

d
dp dr
dL
= (r p = r
+
p = + v p = + v mv = + m(v v) = + 0 = .
dt
dt
dt
dt
27. (a) Since F is directed along r we have F = cr for some constant c. Then
= r F = r (cr) = c(r r) = 0.
(b) If = 0 then dL/dt = 0 and L is constant.

12.4. CURVATURE AND ACCELERATION

69

28. (a) Since the cannon is pointing directly to the left, tha parmetric equations describing the
path of the cannon ball are given by
1
x(t) = v0 t, y(t) = gt2 + s0
2
r

2s0
The cannon ball will touch the groun when y = 0, which occurs at t =
. At that
g
r
r

2s0
2s0
time, x is given by x =
= v0
. Notice that this x value will be farther
g
g
to the left with increasing values of v0 . Therefore, the cannon ball travels farther with
more gunpowder.
r
2s0
(b) As shown in part (a), the cannon ball will touch the groun when t =
. This value
g
of t is independent of v0 . This occurs because v0 has no vertical component.
(c) If the cannon ball is dropped, we have v0 = 0. Therefore, the parametric equations
describing the cannon ball motion are given by
1
x(t) = 0, y(t) = gt2 + s0 .
2
r
2s0
. Therefore the cannon ball touches the ground at the
As before, y = 0 when t =
g
same time regardless of whether it is fired or dropped.

12.4

Curvature and Acceleration

1. r0 (t) = t sin ti + t cos tj + 2tk;

sin t
cos t
2
T= i+ j+ k
5
5
5

|r0 (t)| =

t2 sin2 t + t2 cos2 t + 4t2 = 5t;

2. r0 (t) = et ( sin t + cos t)i + et (cos t + sin t)i + 2et k,

|r0 (t)| = [et (sin2 t2 sin t cos t+cos2 t)+e2t (cos2t+2 sin t cos t+sin2 t)+2e2t ]1/2 = 4e2t = 2et ;
1
1
2
T(t) = ( sin t + cos t)i + (cos t + sin t)j +
k
2
2
2
p
3.
We assume a > 0. r0 (t) = a sin ti + a cos tj + ck; |r0 (t)| = a2 sin2 t + a2 cos2 t + c2 =
a2 + c2 ;
a sin t
a cos t
c
dT
a cos t
a sin t
T(t)
i+
j+
k;
=
i
j,
2 + c2
2 + c2
2 + c2
2 + c2
dt
a
a
a
a
a2 + c2
s


2
2
2
2
 dT 

 = a cos t + a sin t = a
; N = cos ti sin tj;
 dt 
2
a2 +
a2 + c2
a2 + c2
 c



i
j
k




a
cos
t
c
a
sin
t
 = c sin t i c cos t + a

B = T N =  2
k;

2
2
2
2
2
a
+
c
a
+
c
a
+
c
a2 + c2
a2 + c2
a2 + c2




cos t
sin t
0

2
2
|dT/dt|
a/ a + c
a
=
=
= 2
2
2
r0 (t)
a
+
c2
a +c

70

CHAPTER 12. VECTOR-VALUED FUNCTIONS

|r0 ; (1)| = 3;
1
T(t) = (1 + t2 + t4 )1/2 (i + tj + t2 k), T(1) (i + j + k);
3
dT
1
t
2
4 3/2
3
2
= (1 + t + t )
(2t + 4t )i + [(1 + t + t)1/2 (1 + t2 + t)3/2 (2t + 4t3 )]j
dt
2
2
2
2
4 1/2 t
2
4 3/2
3
[2t(1 + t + t )
(1 + t + t )
(2t + 4t )]k;

2
 r
d

1
1 1
2
1
d
1
T(1) = i + k,  T(1) =
+ = ; N(1) = (i k)k,
dt
dt
3
3
3
3
3
2




i
j
k



1
B(1) =  1/ 3 1/ 3 1/3  = (i 2j + k);
6
 1/ 2
0
1/ 2 



d

2/ 3
2
=  T(1) = |r0 (1)| =
=
dt
3
3

1
5. From Example 1 in the text, a normal to the osculating plane is B(/4) = 26
(3i 3j + 2 2k).

The point onthe curve
An equation

when t = /4 is ( 2, 2, 3/4).

of theplane is 3(x
2) 3(y 2) + 2 2(z 3/4(= 0, 3x 3y + 2 2z = 3/2, or 3 2x 3 2y + 4z = 3.
4. r0 (t) = i + tj + t2 k;

|r0 (t)| =

1 + t2 + t4 ,

6. From Problem 4, a normal to the osculating plane is B(1) = 16 (i 2j + k). The point on the
curve when t = 1 is (1, 1/2, 1/3). An equaiton of the plane is (x1)2(y 1/2)+(z 1/3) = 0
or x 2y + z = 1/3.

7. v(t) = j + 2tk, |v(t)| = 1 + 4t2 ; a(t) = 2k; v a = 4t, v a = 2i, |v a| = 2;

4t
2
aT =
, aN =
2
1 + 4t
1 + 4t2
8. v(t) = 3
p
psin ti + 2 cos tj + k,
p
|v(t)| = 9 sin2 t + 4 cos2 t = 1 = 5 sin2 t + 4 sin2 t + 4 cos2 t + 1 = 5 sin2 +1;
a(t) = 3 cos ti 2 sin tj; v a = 9 sin t cos
cos t,
qt 4 sin t cos t = 5 sin t

2
v a = 2 sin ti 3 cos tj + 6k, |v a| = 4 sin +(cos2 t + 36 = 5 cos2 t + 8;
s

5 sin t cos t
cos2 t + 8
aT p
, aN =
sin2 t + 1
sin2 t + 1

9. v(t) = 2ti + 2tj + 4tk, |v(t)| = 2 6t, t > 0; a(t) = 2i + 2j + 4k; v a = 24t, v a = 0;

24t
aT = = 2 6, aN = 0, t > 0
2 6t

10. v(t) = 2ti 3t2 j = 4t3 k, |v(t)| = t 4 + 9t2 + 16t4 , t >); a(t) = 2i
6tj + 12t2 k;
3
5
4
3
2
2
v a = 4t + 18t + 48t ; v a =12t i 16t j 6t k, |v a| = 2t 36t4 + 64t2 + 9;
4 + 18t2 + 48t4
2t 36t4 + 64t2 + 9
aT =
, aN =
t>0
4 + 9t2 + 16t4
4 + 9t2 + 16t4

11. v(t) = 2i + 2tj, |v(t)| = 2 1 + t2 ; a(t) = 2j; v a = 4k, |v a| = 4;

2t
2
aT =
, aN =
2
1+t
1 + t2

12.4. CURVATURE AND ACCELERATION

71

t
2t
1 t2
1
1 + t2
i+
j, |v(t)| =
; a(t) =
i+
j;
12. v(t) =
2
2
2
2
2
1+t
1+t
1+t
(1 + t )
(1 + t2 )2
2t
t t3
1
1
va=
+
; va=
k, |v a| =
;
(1 + t2 )3
(1 + t2 )3
(1 + t2 )2
(1 + t2 )2
2 3
2 2
t/(1 + t )
t
1
a/(1 + t )
aT =
=
=
, aN =
2
2
2
2
2
(1 + t )3/2
(1 + t2 )3/2
1 + t )/(1 + t
1 + t /(1 + t )
13. v(t) = 5 sin ti + 5 cos tj, |v(t)| = 5; a(t) = 5 cos ti 5 sin tj;
v a = 25k, |v a| = 25; aT = 0, aN = 5

v a = 0,

p
0
14. v(t) = sinh ti + cosh tj, |v(t)| = sinh t2 + cosh2 t a(t) = cosh ti + sinh tj
v a = 2 sinh t cosh t; v a = (sinh2 t cosh2 t)k = k, |v a| = 1;
1
2 sinh t cosh t
, aN = p
aT = p
2
2
2
sinh + cosh
sinh + cosh2

15. v(t) = et (i + j + k), |v(t)| = 3et ; a(t) = et (i + j + k); v a = 3e2t ; v a = 0,

|v a| = 0; aT = 3et , aN = 0

16. v(t) = i + 2j + 4k, |v(t)| = 21; a(t) = 0; v a = 0, v a = 0, |v a| = 0; aT =

0, aN = 0
p
17. v(t) = a sin ti + b cos tj + ck, |v(t)| = a2p
sin2 t + b2 cos2 +c2 ; a(t) = a cos ti b sin tj;
v a = bc sin tip ac cos tj + abk, |v a| = b2 c2 sin2 t + a2 c2 cos2 t + a2 b2
b2 c2 sin2 t + a2 c2 cos2 t + a2 b2
|v a|
=
=
|v|3
(a2 sin2 t + b2 cos2 t + c2 )3/2
p
18. (a) v(t) = a sin ti + b cos tj, |v(t)| = a2 sin2 t + b2 cos2 t; a(t) = a cos ti b sin tj;
ab
v a = abk; |v a| = ab; = 2 2
(a sin t + b2 cos2 t)3/2
(b) When a = b, |v(t)| = a, |v a| = a2 , and = a2 /a3 = 1/a.
19. The equation of a line is v(t) = b + tc, when b and c are constant vectors.
v(t) = c, |v(t)| = |c|; a(t) = 0; v a = 0; = |v a|/|v|3 = 0
20. v(t) = a(1 cos t)i + a sin tj; v() = 2ai, |v()| = 2a; a(t) = a sin ti + a cos tj,
 i
j k 

|v a|
2a2
1

a() = aj; |v a| =  2a 0 0  = 2a2 k; |v a| = 2a2 ; =
=
=
3
3
|v|
8a
4a
 0 a 0 
p
21. v(t) = f 0 (t)i + g 0 (t)j, |v(t)| = [f 0 (t)]2 + [g 0 (t)]2 ; a(t) = f 00 (t)i + g 00 (t)j;
v a = [f 0 (t)g 00 (t) g 0 (t)f 00 (t)]k, |v a| = |f 0 (t)g 00 (t) g 0 (t)f 00 (t)|;
|v a|
|f 0 (t)g 00 (t) g 0 (t)f 00 (t)|
=
=
|v|3
([f (t)]2 + [g 0 (t)]2 )3/2
22. For y = F (x), r = xi + F (x)j. We identify f (x) = x and g(x) = F (x) in Problem 21. Then
f 0 (x) = 1, f 00 (x) = 0, g 0 (x) = F 0 (x), g 00 (x) = F 00 (x), and = |F 00 (x)|/(1 + [F 0 (x)]2 )3/2 .

72

CHAPTER 12. VECTOR-VALUED FUNCTIONS

23. F (x) = x2 ,
F 00 (x) = 2,

F (0) = 0,

F (1) = 1;

F 00 (0) = 2,

F 00 (1) = 2;

F 0 (x) = 2x,

F 0 (0) = 0, F 0 (1) = 2;
2
1
(0) =
= 2; (0) = ;
2
3/2
2
(1 + 0 )

2
2
= 0.18;
2
3/2
(1+ 2 )
5 5

5 5
5.59; Since 2 > 2/5 5, the curve is sharper at (0, 0).
(1) =
2
(1) =

24. F (x) = x3 ,

F (1) = 1,

F 0 (1/2) = 3/4;

F (1/2) = 1/8;

F 00 (x) = 6x, F 00 (1) = 6,

F 0 (x) = 3x2 ,

F 0 (1) = 3,

F 00 (1/2) = 3;

(1) =

3
0.19;
5 10

5 10
(1) =
5.27;
3
3
3
125
=
1.54; ( 21 ) =
0.65
( 12 ) =
125/64
192
[1 + (3/4)2 ]3/2
Since 1.54 > 0.19, the curve is sharper at (1/2, 1/8).

|6|
(1+32 )3/2

10 10

|F 00 (x)|
.
|1 + (F 0 (x))2 |3/2
2
Now, F 0 (x)2x, F 00 (x) = 2, and (F 0 (x))2 = 4x2 so that =
.
(1 + 4x2 )3/2
As x , the denominator grows without bound. Therefore, (x) 0 as x .

25. Letting F (x) = x2 , we can use Problem 22 to get (x) =

x
26. (a)

3t(2t2 + 1) t4 + 4t2 + 1
2t(t2 + 2)

;
(t4 + t2 + 1)5/2
(t4 + t2 + 1)3/2 t4 + 4t2 + 1
critical numbers occur at t = .271469, t = 0, and t = .271469.

(b) 0 (t) =

(c) Maximum of 1.017182 occurs at t = .271469 and t = .271469.

27. Since (c, F (c)) is an inflection point and F 00 exists on an interval containg c, we must have
F 00 (c) = 0. Therefore, using the formula from Problem 22, we see that the curvature is zero.
28. We use the fact that T N = 0 and T T = N N = 1. Then
|a(t)|2 = a a = (an N + at T) (an N + at T) = a2N N N + 2an at N T + a2T T T = a2N + a2T .

CHAPTER 12 IN REVIEW

73

Chapter 12 in Review
A. True/False
1. True; |v(t)| =

2. True; the curvature of a circle of radius a is = a1 .

3. True
4. False; consider r(t) = t2 i. In this case, v(t) = 2ti and a(t) = 2i. Since v a = 4t, the velocity
and acceleration vectors are not orthogonal for t 6= 0.
5. True
6. False; see Problem 20c in Section 14.2
7. True
8. True
9. False; consider r1 (t) = r2 (t) = i.
10. True,

d
dr dr
dr
d
|r(t)|2 = (r r) = r
+
r = 2r .
dt
dt
dt
dt
dt

B. Fill in the Blanks

1. y = 4
2. 0
3. r0 (t) = h1, 2t, t2 i so r0 (1) = h1, 2, 1i
4. r00 (t) = h0, 2, 2ti so r00 (1) = h0, 2, 2i


 i j j 



5. r0 (1) r00 (1) =  1 2 1  = h2, 2, 2i so r0 (1) r00 (1) = 12.

 0 2 2 

r0 (1) r00 (1)

12
2

Since r0 (1)| = 6, we have (1) =

=
.
=
|r0 (1)|3
6
6 6


r0 (1)
h1, 2, 1i
1
2
1
6. T(1) = 0
=
= , ,
|r (1)|
6
6
6
6


0
2
r (t)
h1, 2t, t i
1
2t
t2
7. T(t) = 0
=
=
,
,
|r (t)|
1 + 4t2 + t4
1 + 4t2 + t4
1 + 4t2 + t4  1 + 4t2 + t4

2
4
2(t + 2)
2(t 1)
2t(2t2 + 1)
.
So T0 (t) =
, 4
, 4
4
2
3/2
2
3/2
(t + 4t
(t + 4t + 1)
(t + 4t2 + 1)3/2
 + 1)
q
6
1
6
1
1
1
1
0

.
This gives T0 (1) =
,
0,
=
,
0,
and
|T
(1)|
=
6 + 6 =
3/2
63/2
6
6
3
D
E 6
1

1
,
0,
0
T (1)
1
1
6
6
Therefore N(1) = 0
=
= h , 0, i.
1

|T (1)|
( 3)
2
2

74

CHAPTER 12. VECTOR-VALUED FUNCTIONS


 i
 1
8. B(1) = T(1) N(1) =  6
1


j
2
6



k  

1 1 1
1
=
, ,
6 
3
3
3
1 
2

9. A normal to the normal plane is T(1) =

1 , 2 , 1
6
6
6

so we can use n = h1, 2, 1i as a vector

1
3 i,

normal to the plane. Since r(1) = h1, 1,

the point (1, 1, 13 ) lies on the normal plane at t = 1.
Thus an equation of the normal plane is (x 1) + 2(y 1) + (z 13 ) = 0 or x + 2y + z = 1)
3
or 3x + 6y + 3z = 10
D
E
1 1
10. A normal to the osculating plane is B(1) = 13 ,
,
. So we can use n = h1, 1, 1i as a
3
3
normal vector. Using the point (1, 1, 31 ), an equation of the osculating plane is (z 1) (y
1) + (z 13 ) = 0 or x y + z = 31 or 3x 3y + 3z = 1.

C. Exercises

R
cos2 t + sin2 +1dt = 0 2dt = 2

Rt
2. r0 (t) = 5i + j + 7k; s(t) = 0 25 + 1 + 49du = 5 3t; s(3) = 15 3. Solving 5 3t = 80 3,

we see that the distance traveled will be 80 3 when t = 16 or at the point (80, 17, 112).

1. r0 (t) = cos ti + sin tj + k;

3. r(3) = 27i + 8j + k;

s=

Rp
0

r0 (t) = 6ti =

is x = 27 18t, y = 8 + t, z = 1 + t.

2
+ k;
t+1

r0 (2) = 18i + j + k. The tangent line

5.

4.
z

y
x

6.

d
d
d
[r1 (t) r2 (t)] = r1 (t) r2 (t) + r1 (t) r2 (t)
dt
dt
dt
= (t2 i + 2tj + t3 k) (i + 2tj + 2tk) + (2ti + 2j + 2t2 k) [ti + t2 j + (t2 + 1)k]
= (4t2 2t4 )i 3t3 j + (2t3 + 2t)k + (2t2 + 2 3t4 )i (5t3 + 2t)j + (2t3 + 2t)k
= (2 + 6t2 5t4 )i (8t3 + 2t)j + (4t3 + 4t)k
d
d
[r1 (t) r2 (t)] = [(2t3 + 2t t5 )i (2t4 + t2 )j + (t4 + 2t2 )k]
dt
dt
= (2 + 6t2 5t4 )i (8t3 + 2t)j + (4t3 + 4t)k

CHAPTER 12 IN REVIEW
7.

75

d
d
d
[r1 (t) r2 (t)] = r1 (t) r2 (t) + r1 (t) r2 (t)
dt
dt
dt
= (cos ti sin tj + 4t3 k) (2ti + sin tj + 2e2t k)
( sin ti cos tj + 12t2 k) (t2 i + sin tj + e2t k)
= (2t cos t sin t cos t + 8t3 e2t t2 sin t sin t cos t + 12t2 e2t
= 2t cos t t2 sin t 2 sin t cos t + 8t3 e2t + 12t2 e2t
d
d
[r1 (t) r2 (t)] = [t2 cos t sin2 t + 4t3 e2t ] = t2 sin t + 2t cos t 2 sin t cos t + 8t3 e2t + 12t2 e2t
dt
dt

8.

d
d
[r1 (t) (r2 (t) r3 (t))] = r1 (t) [r2 (t) r3 (t)] + r0 (t) [r2 (t) r3 (t)]
dt
dt
= r1 (t) [(r2 (t) r03 (t)) + (r02 (t) r3 (t))] + r01 (t) (r2 (t) r3 (t))
= r1 (t) (r2 (t) r03 (t)) + r1 (t) r02 (t) r3 (t)) = r01 (t) (r2 (t) r3 (t))

9. We are given F = ma = 2j; v(0) = i + j + k. and r(0) = i + j. Then

Z
Z
2
2
v(t) = a(t)dt =
jdt = tj + c
m
m
i = j + k = v(0) = c


2
v(t) = i +
t+1 j+k
m


1 2
t + t j + tk + b
r(t) = ti +
m
i + j = r(0) = b


1 2
r(t) = (t + 1)i +
t + t + 1 j + tk
m
The parametric equations are x = t, y =

1 2
t + t + 1, z = t.
m

10.
y

x
v

v(t) = i 3t2 j, v(1)

a(t) = 6tj, a(1) = 6j
= i 3j;
|v(1)| = |i 3j| = 1 + 9 = 10

76

CHAPTER 12. VECTOR-VALUED FUNCTIONS

11. v(t) = 6i + j + 2tk; a(t) = 2k. To find when the particle passes through the plane, we solve
6t + t + t2 = 4 or t2 5t + 4 = 0. This gives t = 1 and t = 4. v(1) = 6i + j + 2k, a(1) = 2k;
v(4) = 6i + j + 8k, a(4) = 2k
12. We are given r(0) = i + 2j + 3k.
Z
r(t) =

Z
v(t)dt =

(10ti + (3t2 4t)j + k)dt = 5t2 i + (t3 2t2 )j + tk + c

i + 2j + 3k = r(0) = c

r(t) = (1 5t2 )i + (t3 2t2 + 2)j + (t + 3)k

r(t) = 19i + 2j + 5k

R
13. v(t) = a(t)dt = ( 2 sin ti + 2 cos tj)dt = 2 cos
ti + 2 sin
tj + c;
i + j +
k = v(/4)
=
i
+
j
+
c,
c
=
k;
v(t)
=

2
cos
ti
+
2 sin tj + k;

r(t) = 2 sin
ti
2
cos
tj+tk+b;
i+2j+(/4)k
=
r(/4)
=
ij+(/4)k+b,
b = 2i+3j;

r(t) = (2 2 2 sin t)i + (3 2 cos t)j + tk; r(3/4) = i + 4j + (3/4)k

3
3
14. v(t) = ti + t2 j tk; |v| = t t2 + 2, t > 0; a(t) = i + 2tj k; v a = t + 2t
+ t = 2t+ 2t ;
3
2
2

2t + 2t
2 + 2t
t 2
2t
v a = t2 bi + t2 k, |v at2 2; aT =
=
, aN =
=
;
2
2
2
2
t t +2
t +2
t t +2
t +2

t2 2
2
=
= 3 2
3/2
2
t (t + 2)
t(t + 2)3/2
R

0
15. r0 (t) = sinh
= sinh 1i + cosh 1j + k;
p ti + cosh tj + k, r (1)

2
2
0
|r (t)| = sinh t + cosh t + 1 = 2 cosh2 t = 2 cosh t; |r0 (1)| = 2 cosh 1;
1
1
1
1
T = tanh ti + j + sech tk, T(1) = (tanh 1i + j + sech 1k);
2
2
2
2
dT
1
d
1
1
1
2
= sech ti sech t tanh tk;
T(1) = sech2 1i sech 1 tanh 1k,
dt
2
2
2
dt
2
p
d

sech
1
1
2
2
 T(1) ==
sech 1 + tanh +1 = sech 1; N(1) = sech 1i tanh 1k;
 dt

2
2
1
1
1
B(1) = T(1) N(1) = tanh 1i + (tanh2 1 + sech2 1)j sech 1k
2
2
2
1
= ( tanh 1i + j sech 1k)
2



d
(sech 1)/ 2
1
= sech2 1
=  T(1) /|r0 (1)| =
dt
2
2 cosh 1

16. The parametric equations describing the path of the ball are

x(t) = 66 cos(30 )t = 33 3ty(t) = 16t2 + 66 sin(30 )t + 148 = 16t2 + 33t + 148

The ball touches the ground when y(t) = 0 or 16t2 + 33t + 148 = 0. This occurs when
t 4.243. The ball therefore strikes the ground
at x(4.243) = 242.52 ft.
The velocity of the
ball at time t is v(t) = h33 3, 32t + 33i. The impact velocity is given
by v(4.243) = h33 3, 32(4.243) + 33i h57.158, 102.776i. The impact speed is then
|v(4.243)| 117.6 ft/s.